CN112127414A - Excavator control method and system and operation mode switching method and system - Google Patents
Excavator control method and system and operation mode switching method and system Download PDFInfo
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- CN112127414A CN112127414A CN202011023256.6A CN202011023256A CN112127414A CN 112127414 A CN112127414 A CN 112127414A CN 202011023256 A CN202011023256 A CN 202011023256A CN 112127414 A CN112127414 A CN 112127414A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
Abstract
The invention relates to excavator control, and aims to solve the problem that safety accidents are easily caused by insufficient operation mode confirmation after the existing excavator starts to work or operation modes are switched; the excavator control method and system and the operation mode switching method and system are provided, wherein the control method comprises the following steps: after the excavator is electrified, acquiring a current operation mode and enabling the excavator to be in an action control forbidden state; broadcasting action prompt information of the excavation action one by one, and acquiring a handle operation signal after each broadcasting action; broadcasting the next piece if the digging action corresponding to the handle operation signal is consistent with the digging action corresponding to the action prompt information; and if the excavating action of all the action prompt information is consistent with the excavating action of the handle operation signal, enabling the excavator to be in an action control enabling state. In the invention, the recognition of the operator to the current operation mode is strengthened through the comparison and confirmation of the excavation action, and the misoperation caused by the inconsistency of the operation mode in the awareness of the operator and the current operation mode of the machine is avoided.
Description
Technical Field
The present invention relates to an excavator control, and more particularly, to an excavator control method and system and an operation mode switching method and system.
Background
The existing electric control excavating machine comprises a controller, a handle connected with the controller, proportional valves controlled by the controller to realize various operation actions, and a touch display device for displaying machine setting and states and setting machine operation modes. Under a certain set operation mode, the controller controls the corresponding proportional valve according to the input signal of the handle, so that the working device of the excavator realizes corresponding action. The signals output by the handles correspond to the swinging directions of the handles, and the swinging directions of each handle are only four, namely swinging in the front-back left-right directions. Excavators are typically equipped with two left and right handles for controlling eight motions.
The excavator generally has a plurality of operation modes, common operation modes include an ISO mode, an MHI mode, a BHL mode and an SCM mode, and the swinging direction of the handle and the machine executing action in each mode are as shown in the following table. It follows that in different operating modes, the machine performs different actions, even with the same handle action.
TABLE 1 comparison table of handle actions and machine execution actions in different modes
In the conventional excavator, an operator usually touches the display device to switch between the operation modes. In the conventional operation mode switching method, an operator may select and determine a desired operation mode from a plurality of operation mode options on the touch display device. The controller controls the corresponding proportional valve according to the handle action and the determined operation mode when the machine works.
There is a certain security risk with such existing switching of operation modes. First, the switching does not sufficiently confirm the switching intention of the operator, and although the operator completes the switching of the machine operation mode by touching a certain operation mode selected on the display device, the switching operation is too simple, and the operator may miss the selection of the operation mode due to inattention, for example, the operator intends to select the MHI mode, but inadvertently selects the BHL mode, at this time, the operator operates the handle according to the MHI mode selected in consciousness, for example, the operator swings the left handle forward to intend to perform a right swing action, but since the machine is actually the BHL mode, the digging action corresponding to the forward swing of the left handle is boom down, which results in the operating action in the consciousness of the operator being inconsistent with the action actually performed by the machine; in another case, the operator recognizes the switching of the operation mode in mind and performs the switching operation on the touch display device, but the controller does not receive a new operation mode change instruction due to signal interference, and the machine still controls the proportional valve according to the original operation mode by the operation of the handle. In both cases, the operator or the equipment is not sufficiently checked for switching at the time of switching the operation mode, and there is a possibility that the operation actually performed by the equipment does not match the operation intention of the operator, which may cause a safety accident.
Disclosure of Invention
The invention aims to solve the technical problem that safety accidents are easily caused due to insufficient operation mode confirmation after the existing excavator starts to work or the operation mode is switched, and provides an excavator control method and system and an operation mode switching method and system.
The technical scheme for realizing the purpose of the invention is as follows: provided is an excavator control method, characterized in that:
the method comprises the steps that after the excavator is powered on, a current operation mode is obtained, and the excavator is in an action control forbidden state;
broadcasting action prompt information of all or part of mining actions in the current operation mode one by one;
acquiring a handle operation signal of the control handle after broadcasting an action prompt message; broadcasting next action prompt information if the corresponding excavation action of the handle operation signal in the current operation mode is consistent with the excavation action corresponding to the current action prompt information; and if the digging actions corresponding to all the action prompt messages are consistent with the digging actions corresponding to the handle operation signals acquired after the action prompt messages are broadcasted under the current operation mode, enabling the excavator to be in an action control enabling state. In the invention, the mining action corresponding to the handle operation signal is compared with the mining action corresponding to the action prompt information for confirmation, so that the recognition of the operator to the current operation mode is strengthened, and the misoperation caused by the fact that the operation mode in the awareness of the operator is inconsistent with the current operation mode of the machine is avoided.
The action control forbidden state is that the excavator control unit can not output control signals to each proportional valve for realizing various excavation actions, namely the control unit can not output control signals to the proportional valve or the transmission path of the control signals between the control unit and the proportional valve is cut off, at the moment, even if the handle has action operation signals, the proportional valve does not do corresponding action, and the hydraulic executive component can not realize corresponding excavation action. The action control enabling state is that when the control handle has handle operation signal output corresponding to the excavation action, the control unit outputs a control signal to the corresponding proportional valve according to the handle operation signal, so that the proportional valve makes corresponding action to enable the hydraulic actuating piece to realize corresponding excavation action.
In the present invention, the reporting of the action prompt information may adopt visual information or voice information or a combination of the two to let the operator know, for example, the action prompt information is reported on the display by using animation or static characters, or simultaneously reported by voice, or reported by voice alone, and the operator is prompted to operate the handle to simulate the operation of the digging action.
The excavation operation generally includes eight kinds of arm opening, arm retracting, boom lowering, boom raising, bucket retracting, bucket opening, left swing, right swing, and the like. The handles comprise a left handle and a right handle, each handle has four swinging actions of forward, backward, leftward and rightward, and the two handles have eight swinging actions in total and correspond to eight digging actions. The broadcasted action prompt information is excavation action information, and an operator performs corresponding handle operation according to the action prompt information, for example, when the current operation mode is the ISO mode, if the broadcasted action prompt information is "arm open", the operator should swing the left handle forward, and the excavation action (arm open) corresponding to the handle operation signal output by swinging the left handle forward in the current ISO operation mode is consistent with the excavation action corresponding to the current action prompt information. If the operator swings the left handle to other directions or operates the right handle, the corresponding digging action of the handle operation signal in the current ISO operation mode is inconsistent with the corresponding digging action of the current action prompt message. And if the mining action corresponding to any action prompt message is inconsistent with the mining action corresponding to the handle operation signal acquired after the action prompt message is broadcasted in the current operation mode, broadcasting handle operation action error information and re-broadcasting the current action prompt message or re-broadcasting the action prompt messages of all the mining actions in the current operation mode one by one. In the excavator control method, the action prompt information of all the excavation actions is reported in a random sequence one by one.
The present invention also provides an excavator control system for achieving the object, including:
the proportional valves are used for controlling the hydraulic executive part to realize corresponding excavation actions;
the control handle is used for outputting a handle operation signal for controlling the excavation action;
the control unit is used for controlling the proportional valve according to the handle operation signal in the action control enabling state;
the method is characterized in that: the system also comprises an information broadcasting unit;
after the control unit is powered on, acquiring a current operation mode and enabling the control unit to be in an action control forbidden state; the information broadcasting unit broadcasts action prompt information of all digging actions or part of digging actions in the current operation mode one by one;
acquiring a handle operation signal of the control handle after broadcasting an action prompt message; broadcasting next action prompt information if the corresponding excavation action of the handle operation signal in the current operation mode is consistent with the excavation action corresponding to the current action prompt information;
and if the digging actions corresponding to all the action prompt messages are consistent with the digging actions corresponding to the handle operation signals acquired after the action prompt messages are broadcasted under the current operation mode, enabling the excavator to be in an action control enabling state.
The excavator control method and the excavator control system are used for fully confirming the operation mode of an operator before the excavator is powered on and is in operation with or without starting an engine. After the excavator is powered up, the machine may be in a certain operating mode, not necessarily the operator selected operating mode, due to default settings or a set memory function. The excavator control method and the excavator control system can enable an operator to fully confirm the current operation mode, and avoid misoperation.
The technical scheme for realizing the purpose of the invention is to provide an excavator operation mode switching method, which is characterized in that:
inputting a target operation mode to be switched;
broadcasting action prompt information of all excavation actions or part of excavation actions in the target operation mode one by one;
acquiring a handle operation signal of the control handle after broadcasting an action prompt message; broadcasting next action prompt information if the corresponding digging action of the handle operation signal in the target operation mode is consistent with the digging action corresponding to the current action prompt information;
and if the mining actions corresponding to all the action prompt messages are consistent with the mining actions corresponding to the handle operation signals acquired after the action prompt messages are broadcasted in the target operation mode, setting the target operation mode as the operation mode of the excavator. The scheme is used for strengthening the recognition of the replaced operation mode by an operator after the operation mode of the excavator is switched, and the potential safety hazard caused by operating the machine according to the desired operation mode without the operator concentrating on selecting the operation mode which is not desired by the operator is avoided.
In the method for switching the excavator operation modes, the state of the excavator is detected after the target operation mode to be switched is input, and if the state of the excavator meets the state required by the operation mode setting, the action prompt information of each excavating action is broadcasted one by one. Since the operation mode switching of the excavator is preferably performed in a safe state, a condition required for the operation mode switching may be set, for example, only when the engine of the excavator is not started and the pilot oil passage is locked, and therefore, the state of the excavator is detected before the operation mode is switched, and the mode switching is started when the engine of the excavator is detected to be in a stopped state and the pilot oil passage is locked.
In the method for switching the excavator operation modes, the current operation mode is acquired after the target operation mode to be switched is input, if the target operation mode is inconsistent with the current operation mode, the action prompt information of each excavating action in the target operation mode is reported one by one, and if the target operation mode is consistent with the current operation mode, the action prompt information means that an operator does not select a new operation mode, namely, action verification is not needed.
In the method for switching the operation modes of the excavator, if the digging action corresponding to any one piece of action prompt information is inconsistent with the digging action corresponding to the handle operation signal acquired after the action prompt information is broadcasted in the target operation mode, action operation error information is broadcasted, and the current action prompt information is broadcasted again or the action prompt information of each digging action in the target operation mode is broadcasted again one by one.
The present invention also provides an excavator operation mode switching system, including:
a mode setting unit for inputting a target operation mode to be switched;
the control handle is used for outputting a handle operation signal for controlling the excavation action;
it is characterized by also comprising: the system comprises an information broadcasting unit and a control unit;
after the mode setting unit inputs a target operation mode to be switched, the control unit broadcasts action prompt information of all digging actions or part of digging actions in the target operation mode one by one through the information broadcasting unit, obtains a handle operation signal after each action prompt information is broadcast, and broadcasts next action prompt information when the digging action corresponding to the handle operation signal in the target operation mode is consistent with the digging action corresponding to the current action prompt information; and when the digging actions corresponding to all the action prompt messages are consistent with the digging actions corresponding to the handle operation signals acquired after the action prompt messages are broadcasted under the target operation mode, setting the target operation mode as the operation mode of the excavator.
In the system for switching the excavator operation modes, the system further comprises a detection unit for detecting the state of the excavator; and when the state of the excavator meets the excavator operation mode setting condition, the mode setting unit inputs a target operation mode to be switched and then broadcasts action prompt information of each excavating action one by one.
The excavator operation mode switching method and the excavator operation mode switching system are used for switching the excavator operation modes, the recognition of an operator on a new operation mode to be switched is enhanced, and operation safety accidents caused by the fact that the operation mode in the awareness of the operator is inconsistent with the operation mode actually set by the machine are avoided.
Compared with the prior art, the method and the device can strengthen the recognition of the operator on the operation mode of the machine, fully confirm the operation mode and avoid operation safety accidents caused by the fact that the operation mode in the awareness of the operator is inconsistent with the operation mode actually set by the machine.
Drawings
FIG. 1 is a block diagram of the excavator control principles of the present invention.
Fig. 2 is a flow chart of operation mode confirmation before the excavator is operated.
Fig. 3 is an excavator operation mode switching system in the present invention.
Fig. 4 is a flowchart of an excavator operation mode switching method according to the present invention.
Part names and serial numbers in the figure:
the device comprises a touch display 1, a control unit 2, a proportional valve 3, a control handle 4, a communication line 5 and a detection unit 6.
Detailed Description
The following description of the embodiments refers to the accompanying drawings.
The first embodiment.
As shown in fig. 1, the excavator control system in this embodiment includes a proportional valve 3, a control handle 4, a control unit 2, and a touch display 1.
The proportional valve 3 comprises a bucket recovery proportional valve, a bucket opening proportional valve, an arm recovery proportional valve, an arm opening proportional valve, a movable arm lifting proportional valve, a movable arm descending proportional valve, a left rotation proportional valve and a right rotation proportional valve, and is respectively connected to the driving oil paths of the corresponding bucket oil cylinder, arm oil cylinder, movable arm oil cylinder and rotation motor to control the action of the corresponding hydraulic executive component, so as to realize the corresponding excavating action. The excavating action comprises bucket recovery, bucket opening, bucket rod recovery, bucket rod opening, movable arm lifting, movable arm descending, left rotation and right rotation.
The manipulation handle 4 is connected to a control unit, and includes a left handle and a right handle, each having four swing directions of forward, backward, leftward and rightward. The same handle can swing in a composite manner in the front-back direction and the left-right direction, for example, swinging the handle in the front right direction can be regarded as swinging operation of the operating handle in the front-back direction and swinging operation in the back direction. The two handles total eight swinging motions corresponding to eight digging motions.
Touch display 1 is connected with control unit 2 through communication line 5, and touch display 1 has integrateed information broadcast unit and mode setting unit, and touch display 1 except showing the operating condition parameter of excavator, can also report relevant information to the operator with forms such as developments or static figure, characters, pronunciation, for example, report action suggestion information, handle operation action error message.
When the excavator is in the action control enabling state, the control unit 2 controls the corresponding proportional valve according to the current operation mode and a handle operation signal output by the control handle, and corresponding action is realized. When the excavator is in the motion control prohibition state, the control unit 2 may receive the handle operation signal output from the manipulation handle 4, but may not output the proportional valve control signal to the proportional valve 3.
As shown in fig. 2, the operation mode confirmation method before the operation of the excavator in the present embodiment is as follows:
after the excavator is powered on, namely the control unit is powered on, the control unit acquires the current operation mode and enables the excavator to be in an action control forbidden state. When the engine is in the operation control prohibition state, the control unit cannot output a control signal to the proportional valve regardless of whether the engine is started or closed or whether the pilot is locked.
After the front operation mode is obtained, action prompt information is broadcasted to an operator one by one in a mode of combining animation graphs, characters and voice or in an independent mode on the touch display, and the operator is prompted to operate the control handle to achieve mining actions corresponding to the action prompt information. The mining action corresponding to the reported action prompt information can be all mining actions in the current operation mode or part of mining actions.
The operator operates the swing control handle according to the action prompt information, and the control handle outputs a handle operation signal to the control unit. The control unit acquires a handle operation signal of the control handle after broadcasting an action prompt message, and determines the digging action corresponding to the handle operation signal according to the current operation mode. And broadcasting next action prompt information if the corresponding excavation action of the handle operation signal in the current operation mode is consistent with the excavation action corresponding to the current action prompt information. For example, if the current operation mode is the ISO mode, if the mining action indicated by the broadcasted action prompt information is "arm open", and after the action prompt information is broadcasted, the operator swings the left handle forward, the mining action corresponding to the acquired handle operation signal is "arm open", which is consistent with the mining action corresponding to the current action prompt information, the control unit broadcasts the next action prompt information through the touch display, and so on, until all the action prompt information to be broadcasted is broadcasted. If the excavation motion indicated by the broadcasted action prompt information is used as 'bucket rod open', then an operator swings the left handle leftwards, the excavation motion corresponding to the acquired handle operation signal is used as 'left rotation', at the moment, the excavation motion corresponding to the handle operation signal is inconsistent with the excavation motion indicated by the action prompt information, at the moment, handle operation motion error information is broadcasted through the touch display, the operator is prompted to perform wrong operation, and the current action prompt information is broadcasted again or the action prompt information of each excavation motion in the current operation mode is broadcasted again one by one.
When all the action prompt messages are completely broadcasted, and the excavation actions corresponding to all the action prompt messages are consistent with the excavation actions corresponding to the handle operation signals acquired after the action prompt messages are broadcasted in the current operation mode, the excavator is in an action control enabling state. So that the excavator can be normally operated. In the following operation process, the control unit outputs control signals to the corresponding proportional valve according to handle operation signals of the control handle, so that the corresponding hydraulic executive component acts, and corresponding excavation action is realized.
In the embodiment, the mining action corresponding to the handle operation signal is compared with the mining action corresponding to the action prompt information for confirmation, so that the recognition of the operator to the current operation mode is strengthened, and misoperation caused by the fact that the operation mode in the awareness of the operator is inconsistent with the current operation mode of the machine is avoided.
Example two.
As shown in fig. 3, the operation mode switching system in the present embodiment includes a joystick 4, a control unit 2, a touch display 1, and a detection unit 6.
The control handle 4 is connected to the control unit, and includes a left handle and a right handle, each handle has four swinging directions of forward, backward, leftward and rightward, the same handle can swing in a composite manner of swinging in the forward and backward direction and the leftward and rightward direction, for example, swinging the handle in the forward and rightward direction can be regarded as two swinging operations of swinging the handle forward and backward at the same time. The two handles correspond to eight excavating actions such as bucket recovery, bucket opening, bucket rod recovery, bucket rod opening, movable arm lifting, movable arm descending, left rotation and right rotation one by one.
Touch display 1 and detecting element 6 are connected with the control unit 2 through communication line 5, and touch display 1 has integrateed information broadcast unit and mode setting unit, and touch display 1 except showing the operating condition parameter of excavator, can also report relevant information to the operator with forms such as developments or static figure, characters, pronunciation to report action suggestion information, handle operation action error message to can carry out touch operation selection operation mode on touch display 1.
The detection unit 6 is used for detecting the state of the excavator, and mainly detects whether the engine is closed or not, whether the pilot oil path is locked or not, and the like.
As shown in fig. 4, the excavator operation mode switching method in the present embodiment is as follows:
the operator inputs a target operation mode to be switched on the touch display. The control unit obtains a current operation mode and compares the current operation mode with a target operation mode input by the touch display, if the two operation modes are the same, the mode switching control is not performed if a new operation mode is not input, and if the two operation modes are not consistent, the new operation mode is input if the new operation mode is not input, the subsequent mode switching operation is performed.
After the target operation mode is obtained, the detection unit detects the state of the excavator, and if the state of the excavator meets the state required by the operation mode setting, action prompt information of each excavating action is broadcasted one by one. For example, if it is detected that the engine of the excavator is not started and the pilot lock is performed, the state meets the safety condition required for the mode switching of the excavator, and the subsequent operation mode switching control operation can be performed. And if the state of the excavator does not accord with the adjustment required by the operation mode switching, broadcasting corresponding information to prompt an operator to carry out related operation until the state of the excavator accords with the operation mode switching requirement.
And if the target operation mode is acquired and the excavator accords with the operation mode switching condition, the action prompt information is broadcasted to the operator one by one in a form of animation graphics, characters and voice combination or an independent mode on the touch display, and the operator is prompted to operate the control handle to realize the excavation action corresponding to the action prompt information. The mining action corresponding to the reported action prompt information can be all mining actions in the target operation mode or part of mining actions.
The operator operates the swing control handle according to the action prompt information, and the control handle outputs a handle operation signal to the control unit. The control unit acquires a handle operation signal of the control handle after broadcasting an action prompt message, and determines the digging action corresponding to the handle operation signal according to the target operation mode. And broadcasting next action prompt information if the corresponding digging action of the handle operation signal in the target operation mode is consistent with the digging action corresponding to the current action prompt information. For example, if the target operation mode is the MHI mode, if the mining action indicated by the broadcasted action prompt information is "boom down", and after the action prompt information is broadcasted, the operator swings the right handle forward, the mining action corresponding to the acquired handle operation signal is "boom down", and is consistent with the mining action corresponding to the current action prompt information, the control unit broadcasts the next action prompt information through the touch display, and so on, until all the action prompt information to be broadcasted is broadcasted. If the excavation motion indicated by the broadcasted action prompt information is used as 'boom descending', then an operator swings the left handle forwards, the excavation motion corresponding to the acquired handle operation signal is used as 'right turning', at the moment, the excavation motion corresponding to the handle operation signal is inconsistent with the excavation motion indicated by the action prompt information, at the moment, handle operation motion error information is broadcasted through the touch display, the operator is prompted to perform wrong operation, and the current action prompt information is broadcasted again or the action prompt information of each excavation motion in the current operation mode is broadcasted again one by one.
And if the mining actions corresponding to all the action prompt messages are consistent with the mining actions corresponding to the handle operation signals acquired after the action prompt messages are broadcasted in the target operation mode, setting the target operation mode as the operation mode of the excavator, and broadcasting the operation mode switching success and displaying the operation mode after the operation mode switching on the touch display. After the operation mode of the excavator is successfully switched, the engine can be started, and a pilot is opened to carry out normal operation.
The scheme is used for enabling an operator to intensively know the changed operation mode when the operation mode of the excavator is switched, and avoiding potential safety hazards caused by the fact that the operator carelessly selects the operation mode which is not the desired operation mode and operates the machine according to the desired operation mode.
Claims (10)
1. A control method of an excavator is characterized in that
The method comprises the steps that after the excavator is powered on, a current operation mode is obtained, and the excavator is in an action control forbidden state;
broadcasting action prompt information of all or part of mining actions in the current operation mode one by one;
acquiring a handle operation signal of the control handle after broadcasting an action prompt message; broadcasting next action prompt information if the corresponding excavation action of the handle operation signal in the current operation mode is consistent with the excavation action corresponding to the current action prompt information;
and if the digging actions corresponding to all the action prompt messages are consistent with the digging actions corresponding to the handle operation signals acquired after the action prompt messages are broadcasted under the current operation mode, enabling the excavator to be in an action control enabling state.
2. The shovel control method according to claim 1, wherein the motion prompt messages for all the digging motions are reported in a random order, one by one.
3. The excavator control method according to claim 1 or 2, wherein if the excavation action corresponding to any one of the action prompt messages is inconsistent with the excavation action corresponding to the handle operation signal acquired after the action prompt message is broadcasted in the current operation mode, the handle operation action error message is broadcasted and the current action prompt message is rebroadcast or the action prompt messages of the excavation actions in the current operation mode are rebroadcast one by one.
4. An excavator control system comprising:
the proportional valves are used for controlling the hydraulic executive part to realize corresponding excavation actions;
the control handle is used for outputting a handle operation signal for controlling the excavation action;
the control unit is used for controlling the proportional valve according to the handle operation signal in the action control enabling state;
the method is characterized in that: also comprises an information broadcasting unit which is used for broadcasting information,
after the control unit is powered on, acquiring a current operation mode and enabling the control unit to be in an action control forbidden state; the information broadcasting unit broadcasts action prompt information of all digging actions or part of digging actions in the current operation mode one by one;
acquiring a handle operation signal of the control handle after broadcasting an action prompt message; broadcasting next action prompt information if the corresponding excavation action of the handle operation signal in the current operation mode is consistent with the excavation action corresponding to the current action prompt information;
and if the digging actions corresponding to all the action prompt messages are consistent with the digging actions corresponding to the handle operation signals acquired after the action prompt messages are broadcasted under the current operation mode, enabling the excavator to be in an action control enabling state.
5. An excavator operation mode switching method is characterized in that:
inputting a target operation mode to be switched;
broadcasting action prompt information of all excavation actions or part of excavation actions in the target operation mode one by one;
acquiring a handle operation signal of the control handle after broadcasting an action prompt message; broadcasting next action prompt information if the corresponding digging action of the handle operation signal in the target operation mode is consistent with the digging action corresponding to the current action prompt information;
and if the mining actions corresponding to all the action prompt messages are consistent with the mining actions corresponding to the handle operation signals acquired after the action prompt messages are broadcasted in the target operation mode, setting the target operation mode as the operation mode of the excavator.
6. The excavator operation mode switching method according to claim 5, wherein the state of the excavator is detected after the target operation mode to be switched is input, and the action prompt information of each excavation action is individually reported if the state of the excavator satisfies the state required for operation mode setting.
7. The excavator operation mode switching method according to claim 5, wherein a current operation mode is acquired after a target operation mode to be switched is input, and if the target operation mode is not consistent with the current operation mode, action prompt information of each excavating action in the target operation mode is reported one by one.
8. The excavator operation mode switching method according to any one of claims 5 to 7, wherein if the excavation action corresponding to any one of the action prompt messages is inconsistent with the excavation action corresponding to the handle operation signal acquired after the action prompt message is broadcasted in the target operation mode, the handle operation action error message is broadcasted, and the current action prompt message is broadcasted again or the action prompt messages of the excavation actions in the target operation mode are broadcasted again one by one.
9. An excavator operating mode switching system comprising:
a mode setting unit for inputting a target operation mode to be switched;
the control handle is used for outputting a handle operation signal for controlling the excavation action;
it is characterized by also comprising: an information broadcasting unit and a control unit,
after the mode setting unit inputs a target operation mode to be switched, the control unit broadcasts action prompt information of all digging actions or part of digging actions in the target operation mode one by one through the information broadcasting unit, obtains a handle operation signal after each action prompt information is broadcast, and broadcasts next action prompt information when the digging action corresponding to the handle operation signal in the target operation mode is consistent with the digging action corresponding to the current action prompt information; and when the digging actions corresponding to all the action prompt messages are consistent with the digging actions corresponding to the handle operation signals acquired after the action prompt messages are broadcasted under the target operation mode, setting the target operation mode as the operation mode of the excavator.
10. The excavator operation mode switching system as claimed in claim 9, wherein the system further comprises a detection unit for detecting an excavator state; and when the state of the excavator meets the excavator operation mode setting condition, the mode setting unit inputs a target operation mode to be switched and then broadcasts action prompt information of each excavating action one by one.
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| CN113062377A (en) * | 2021-03-31 | 2021-07-02 | 上海三一重机股份有限公司 | Positive and negative hand switching method and system for electric control excavator, electronic equipment and storage medium |
| CN113323067A (en) * | 2021-04-29 | 2021-08-31 | 中联重科土方机械有限公司 | Control method, processor and device for engineering machinery and engineering machinery |
| CN113565162A (en) * | 2021-07-27 | 2021-10-29 | 徐州徐工挖掘机械有限公司 | Excavator, accurate control method and system thereof, vehicle-mounted terminal and storage medium |
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| CN113323067A (en) * | 2021-04-29 | 2021-08-31 | 中联重科土方机械有限公司 | Control method, processor and device for engineering machinery and engineering machinery |
| CN113565162A (en) * | 2021-07-27 | 2021-10-29 | 徐州徐工挖掘机械有限公司 | Excavator, accurate control method and system thereof, vehicle-mounted terminal and storage medium |
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Application publication date: 20201225 |