CN113006191B - Excavator, operation control method and device of excavator and storage medium - Google Patents
Excavator, operation control method and device of excavator and storage medium Download PDFInfo
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- CN113006191B CN113006191B CN202110286736.XA CN202110286736A CN113006191B CN 113006191 B CN113006191 B CN 113006191B CN 202110286736 A CN202110286736 A CN 202110286736A CN 113006191 B CN113006191 B CN 113006191B
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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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2289—Closed circuit
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses an excavator, an operation control method and device of the excavator and a storage medium, wherein the operation control method of the excavator comprises the following steps: acquiring operation data for representing an operation level of an operator; judging whether the operation data exceeds a standard range corresponding to the operation data; when the operation data exceeds the standard range, generating a prompt message corresponding to the operation data, wherein the prompt message comprises a correction mode of the operation action of the operator, so that the prompt message can be timely, definitely and pointedly sent out, the operator can improve the operation action and improve the operation level according to the prompt, and the purposes of reducing the oil consumption and improving the efficiency are achieved.
Description
Technical Field
The present invention relates to the field of mechanical devices, and in particular, to an excavator, an operation control method and apparatus for the excavator, and a storage medium.
Background
At present, the operation level of the excavator operator is uneven, and under the same operation working condition, the operation efficiency of the excavator operator with rich experience is higher than that of the new excavator operator, and the oil consumption is lower. When the new excavator is operated, the conditions of large and unsmooth action impact, large redundant actions (large action amplitude of the oil cylinder and the motor), large frequency of pressure-holding overflow and the like often exist, and at the moment, if the excavator cannot timely and effectively correct prompt, the oil consumption of the excavator is high, and the efficiency cannot be fully exerted.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide an excavator, and an operation control method, apparatus and storage medium for the excavator, so as to help an excavator operator correct bad operation behavior, and achieve the purposes of reducing oil consumption and improving efficiency.
According to a first aspect, an embodiment of the present invention provides an operation control method of an excavator, including:
acquiring operation data for representing an operation level of an operator;
judging whether the operation data exceeds a standard range corresponding to the operation data;
when the operation data exceeds the standard range, generating a prompt message corresponding to the operation data, wherein the prompt message comprises a correction mode of the operation action of the manipulator.
According to the operation control method for the excavator, provided by the embodiment of the invention, the operation data used for representing the operation level of the operator is obtained, when the operation data exceeds the standard range, the prompt message corresponding to the operation data is generated, and the prompt message contains the correction mode of the operation action of the operator, so that the prompt message can be timely, clearly and pointedly sent out, the operation action can be improved, the operation level can be improved according to the prompt message by the operator, and the purposes of reducing oil consumption and improving efficiency can be achieved.
With reference to the first aspect, in a first implementation manner of the first aspect, the operation data for characterizing an operation level of the manipulator includes: the hydraulic control system comprises a movable arm oil cylinder displacement of an excavator, a bucket rod oil cylinder displacement of the excavator, a bucket oil cylinder displacement of the excavator, a movable arm acceleration of the excavator, a bucket rod acceleration of the excavator, a bucket acceleration of the excavator, a loading rotation angle of the excavator, an overflow valve opening frequency of the excavator and an overflow flow of the excavator.
With reference to the first embodiment of the first aspect, in a second embodiment of the first aspect, when the operation data for characterizing the operation level of the manipulator is a bucket acceleration of the excavator and/or a boom acceleration of the excavator and/or an arm acceleration of the excavator, the modification is to increase compliance of the operation action.
With reference to the first embodiment of the first aspect, in a third embodiment of the first aspect, when the operation data for characterizing the operation level of the manipulator is a boom cylinder displacement of the excavator and/or a stick cylinder displacement of the excavator and/or a bucket cylinder displacement of the excavator, the modification manner includes reducing an amplitude of the operation motion and optimizing a loading height.
With reference to the first embodiment of the first aspect, in a fourth embodiment of the first aspect, when the operation data for characterizing the operation level of the manipulator is a loading swing angle of the excavator, the modification manner is to reduce the loading swing angle.
With reference to the first embodiment of the first aspect, in a fifth embodiment of the first aspect, when the operation data for characterizing the operation level of the manipulator is an opening frequency of an overflow valve of the excavator and/or an overflow flow rate of the excavator, the modification manner is to reduce overflow.
According to a second aspect, an embodiment of the present invention provides an operation control device of an excavator, including:
the acquisition module is used for acquiring operation data used for representing the operation level of the manipulator;
the judging module is used for judging whether the operation data exceeds a standard range corresponding to the operation data;
and the prompting module is used for generating a prompting message corresponding to the operation data when the operation data exceeds the standard range, wherein the prompting message comprises a correction mode of the operation action of the manipulator.
According to a third aspect, an embodiment of the present invention provides an excavator, including: the monitoring device is used for acquiring operation data used for representing the operation level of the manipulator; the monitoring device, the memory and the processor are in communication connection with each other, the memory stores computer instructions, and the processor executes the computer instructions, so as to execute the operation control method of the excavator in the first aspect or any implementation manner of the first aspect.
With reference to the third aspect, in a first implementation manner of the third aspect, the monitoring device includes: acceleration sensor, displacement sensor, angle sensor, flow sensor.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing the computer to execute the operation control method of the excavator according to the first aspect or any one of the embodiments of the first aspect.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
FIG. 1 is a schematic flow chart of an excavator operation control method according to an embodiment 1 of the present invention;
FIG. 2 is a schematic view showing the construction of an operation control device for an excavator according to embodiment 2 of the present invention;
fig. 3 is a schematic diagram showing the structure of an excavator operation control system according to embodiment 3 of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
Example 1
The embodiment 1 of the invention provides an operation control method of an excavator. Fig. 1 is a flow chart of an excavator operation control method according to embodiment 1 of the present invention. As shown in fig. 1, the excavator operation control method of embodiment 1 of the present invention includes the steps of:
s101: operation data for characterizing an operation level of an operator is acquired.
In embodiment 1 of the present invention, operation data for characterizing the operation level of the manipulator can be acquired in real time during the operation of the excavator by the manipulator.
As a specific embodiment, the operation data for characterizing the level of operation of the manipulator comprises one or more of the following: the hydraulic control system comprises a movable arm oil cylinder displacement of an excavator, a bucket rod oil cylinder displacement of the excavator, a bucket oil cylinder displacement of the excavator, a movable arm acceleration of the excavator, a bucket rod acceleration of the excavator, a bucket acceleration of the excavator, a loading rotation angle of the excavator, an overflow valve opening frequency of the excavator and an overflow flow of the excavator. Therefore, the operation data can comprehensively measure the operation level of the excavator.
According to the research, when the excavator hand is in actual operation, the extension and retraction amplitude (namely displacement) of the movable arm, the bucket rod and the bucket cylinder has great influence on the oil consumption and the efficiency of the machine, and the excavator hand with rich experience has relatively fixed extension and retraction amplitude of the cylinder during operation, so that the excavator hand can not use the full stroke of three cylinders to perform the operation, thereby being beneficial to improving the efficiency and reducing the oil consumption; the acceleration of the movable arm, the bucket rod and the bucket is also an important parameter for representing the operation level of the excavator hand, when the acceleration of the oil cylinder is large, the fluctuation of the pressure of the hydraulic system is caused, the instantaneous high pressure is generated, the oil consumption of the machine is increased, meanwhile, the shaking of the excavator is also caused, the operation efficiency is reduced, the three oil cylinders of the excavator hand with rich experience act smoothly and softly during operation, the large acceleration is not generated, and the efficiency is improved and the oil consumption is reduced; the turning angle of the loading is also embodied by experience of the excavator, and the experienced excavator can plan the positions among the earthwork, the excavator and the loading truck, so that the turning angle of the loading is reduced as much as possible, and the efficiency is improved, and the oil consumption is reduced; the opening frequency and overflow flow rate of the overflow valve of the excavator are also important references for measuring the manual operation level of the excavator, because the overflowed hydraulic oil directly returns to the oil tank and does not do work, the larger the opening frequency of the overflow valve is, the larger the overflow flow rate is, the more energy is wasted, and the oil consumption is naturally increased.
Specifically, the displacement of a movable arm oil cylinder of the excavator and/or the displacement of a bucket rod oil cylinder of the excavator and/or the displacement of a bucket oil cylinder of the excavator can be obtained through a displacement sensor; acquiring a boom acceleration of the excavator and/or an arm acceleration of the excavator and/or a bucket acceleration of the excavator through an acceleration sensor; the loading rotation angle of the excavator can be obtained through an angle sensor; the overflow valve opening frequency of the excavator and/or the overflow flow rate of the excavator can be obtained through a flow sensor.
S102: and judging whether the operation data exceeds a standard range corresponding to the operation data.
In embodiment 1 of the present invention, a standard range corresponding to any one of the operation data for characterizing the operation level of the manipulator may be set in advance. The standard ranges corresponding to different operation data may be the same or different. For example, the standard ranges are set for the boom cylinder displacement of the excavator, the arm cylinder displacement of the excavator, the bucket cylinder displacement of the excavator, the boom acceleration of the excavator, the arm acceleration of the excavator, the bucket acceleration of the excavator, the loading rotation angle of the excavator, the overflow valve opening frequency of the excavator, and the overflow flow rate of the excavator, respectively.
S103: when the operation data exceeds the standard range, generating a prompt message corresponding to the operation data, wherein the prompt message comprises a correction mode of the operation action of the manipulator.
In the embodiment 1 of the invention, the prompting message can be in a voice form, or can be in a form of a buzzer alarm plus a display screen text prompt.
As a specific embodiment, when the operation data for representing the operation level of the manipulator is the bucket acceleration of the excavator and/or the boom acceleration of the excavator and/or the arm acceleration of the excavator, the modification mode includes reducing the amplitude of the operation action and optimizing the loading height. For example, when the acceleration values of the movable arm, the bucket rod and the bucket exceed the respective standard ranges, the voice prompt is "please improve the action flexibility, reduce the impact and save the fuel oil".
As a specific embodiment, when the operation data for representing the operation level of the manipulator is the displacement of a boom cylinder of the excavator and/or the displacement of an arm cylinder of the excavator and/or the displacement of a bucket cylinder of the excavator, the modification mode is to improve the flexibility of the operation action. For example, when the displacement values of the movable arm, the bucket rod and the bucket exceed the respective standard ranges, the voice prompt is "please reduce the action range or optimize the loading height, so that the fuel is saved".
As a specific embodiment, when the operation data for representing the operation level of the manipulator is the loading rotation angle of the excavator, the modification mode is to reduce the loading rotation angle. For example, when the value of the turning angle of the loading exceeds the standard range, the voice prompt is used for reducing the turning angle of the loading and saving fuel.
As a specific embodiment, when the operation data for representing the operation level of the manipulator is the overflow valve opening frequency of the excavator and/or the overflow flow rate of the excavator, the modification manner is to reduce overflow. For example, when the opening frequency of the main overflow valve and the secondary overflow valve is too high and the overflow flow is too large and exceeds the standard range, the voice prompt is used for reducing the overflow of the excavator and saving fuel.
Therefore, according to the embodiment 1 of the invention, through real-time data detection and prompt, the bad operation record of the operator can be timely detected, and through voice prompt, correction suggestions are effectively given, so that the operation level of the excavator operator is improved.
According to the operation control method for the excavator, provided by the embodiment 1, the operation data used for representing the operation level of the operator are obtained, when the operation data exceeds the standard range, the prompt message corresponding to the operation data is generated, and the prompt message comprises the correction mode of the operation action of the operator, so that the prompt message can be timely, clearly and pointedly sent out, the operator can improve the operation action and the operation level according to the prompt, and the purposes of reducing oil consumption and improving efficiency are achieved.
Example 2
In correspondence with embodiment 1 of the present invention, embodiment 2 of the present invention provides an operation control device of an excavator. Fig. 2 is a schematic structural view of an excavator operation control device according to embodiment 2 of the present invention. As shown in fig. 2, the excavator operation control device of embodiment 2 of the present invention includes an acquisition module 20, a judgment module 22 and a prompt module 24.
Specifically, the acquiring module 20 is configured to acquire operation data for characterizing an operation level of the manipulator.
A judging module 22, configured to judge whether the operation data exceeds a standard range corresponding to the operation data.
And the prompting module 24 is used for generating a prompting message corresponding to the operation data when the operation data exceeds the standard range, wherein the prompting message comprises a correction mode of the operation action of the manipulator.
As a specific embodiment, the operation data for characterizing the operation level of the manipulator includes: the hydraulic control system comprises a movable arm oil cylinder displacement of an excavator, a bucket rod oil cylinder displacement of the excavator, a bucket oil cylinder displacement of the excavator, a movable arm acceleration of the excavator, a bucket rod acceleration of the excavator, a bucket acceleration of the excavator, a loading rotation angle of the excavator, an overflow valve opening frequency of the excavator and an overflow flow of the excavator.
As a specific embodiment, when the operation data for representing the operation level of the manipulator is the bucket acceleration of the excavator and/or the boom acceleration of the excavator and/or the stick acceleration of the excavator, the modification is to increase the flexibility of the operation action.
As a specific embodiment, when the operation data for representing the operation level of the manipulator is the displacement of the boom cylinder of the excavator and/or the displacement of the arm cylinder of the excavator and/or the displacement of the bucket cylinder of the excavator, the modification mode comprises the steps of reducing the amplitude of the operation action and optimizing the loading height.
As a specific embodiment, when the operation data for representing the operation level of the manipulator is the loading rotation angle of the excavator, the modification mode is to reduce the loading rotation angle.
As a specific embodiment, when the operation data for representing the operation level of the manipulator is the overflow valve opening frequency of the excavator and/or the overflow flow rate of the excavator, the modification manner is to reduce overflow.
The details of the excavator operation control device may be understood correspondingly with reference to the corresponding relevant descriptions and effects in the embodiment shown in fig. 1, and will not be repeated here.
Example 3
The embodiment of the invention also provides the excavator, which comprises a monitoring device, a processor and a memory, wherein the monitoring device is used for acquiring operation data used for representing the operation level of an operator, and the processor and the memory can be connected through a bus or other modes.
As a specific embodiment, the monitoring device comprises an acceleration sensor, a displacement sensor, an angle sensor and a flow sensor. The movable arm, the bucket rod and the bucket can be provided with a displacement sensor and an acceleration sensor for monitoring the displacement and the acceleration of the oil cylinder of the movable arm, the bucket rod and the bucket. Flow sensors may be provided at the primary and secondary relief valve outlets for monitoring relief valve opening frequency and relief flow. The angle sensor is arranged on the front cross beam of the excavator rotating platform and used for detecting the loading rotation angle.
The processor may be a central processing unit (Central Processing Unit, CPU). The processor may also be any other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof.
The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the acquisition module 20, the determination module 22, and the prompt module 24 shown in fig. 2) corresponding to the excavator operation control method in the embodiment of the present invention. The processor executes various functional applications of the processor and data processing by running non-transitory software programs, instructions, and modules stored in the memory, that is, implements the operation control method of the excavator in the above-described method embodiment.
The memory may include a memory program area and a memory data area, wherein the memory program area may store an operating system, at least one application program required for a function; the storage data area may store data created by the processor, etc. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory may optionally include memory located remotely from the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory and when executed by the processor, perform the method of controlling the operation of the excavator in the embodiment shown in fig. 1.
The details of the excavator may be understood correspondingly with respect to the corresponding relevant descriptions and effects of the embodiments shown in fig. 1 to 2, and will not be repeated here.
Specifically, in embodiment 3 of the present invention, the excavator performs the operation control method of the excavator in the embodiment shown in fig. 1 by the excavator operation control system. Fig. 3 is a schematic structural diagram of an excavator operation control system in embodiment 3 of the present invention, and as shown in fig. 3, the excavator operation control system includes an operation data detection module (i.e. the above monitoring device), an operation data collection module, an operation data processing module (i.e. the above judgment module and prompt module), and a manipulator terminal prompt module.
Specifically, the operation data detection module includes: (1) displacement and acceleration sensors of three oil cylinders of the movable arm, the bucket rod and the bucket; (2) a loading rotation angle sensor; (3) and the flow sensors are arranged at the outlets of the main overflow valve and the secondary overflow valve and are used for detecting the opening frequency and the overflow flow of the overflow valve. And the operation data collection module is used for receiving the data information acquired by the sensor and sending the data information to the data processing module.
Operating the data processing module, the functions comprising: (1) analyzing the received data of each sensor, and comparing the data with the preset standard range of each operation parameter; (2) and when a certain operation parameter exceeds the standard range, acquiring a prompting instruction of the corrected excavator operation mode.
The manipulator terminal prompting module is used for: and a correction mode instruction is provided for an operator in a voice mode.
It will be appreciated by those skilled in the art that implementing all or part of the above-described embodiment method may be implemented by a computer program to instruct related hardware, where the program may be stored in a computer readable storage medium, and the program may include the above-described embodiment method when executed. Wherein the storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations are within the scope of the invention as defined by the appended claims.
Claims (9)
1. An operation control method of an excavator, comprising:
acquiring operation data for representing an operation level of an operator;
judging whether the operation data exceeds a standard range corresponding to the operation data, wherein the standard range corresponding to different operation data can be the same or different;
when the operation data exceeds the standard range, generating a prompt message corresponding to the operation data, wherein the prompt message comprises a correction mode of the operation action of the manipulator, and the prompt message adopts a voice mode or adopts a mode of alarming by a buzzer and displaying screen text prompt;
the operation data for characterizing the operation level of the manipulator includes: the hydraulic control system comprises a movable arm oil cylinder displacement of an excavator, a bucket rod oil cylinder displacement of the excavator, a bucket oil cylinder displacement of the excavator, a movable arm acceleration of the excavator, a bucket rod acceleration of the excavator, a bucket acceleration of the excavator, a loading rotation angle of the excavator, an overflow valve opening frequency of the excavator and an overflow flow of the excavator.
2. The method according to claim 1, characterized in that: when the operation data used for representing the operation level of the manipulator is the bucket acceleration of the excavator and/or the movable arm acceleration of the excavator and/or the bucket rod acceleration of the excavator, the correction mode is to improve the flexibility of the operation action.
3. The method according to claim 1, characterized in that: when the operation data used for representing the operation level of the operation hand is the displacement of the movable arm oil cylinder of the excavator and/or the displacement of the bucket rod oil cylinder of the excavator and/or the displacement of the bucket oil cylinder of the excavator, the correction mode comprises the steps of reducing the amplitude of the operation action and optimizing the loading height.
4. The method according to claim 1, characterized in that: when the operation data used for representing the operation level of the manipulator is the loading rotation angle of the excavator, the correction mode is to reduce the loading rotation angle.
5. The method according to claim 1, characterized in that: when the operation data used for representing the operation level of the manipulator is the opening frequency of the overflow valve of the excavator and/or the overflow flow rate of the excavator, the correction mode is to reduce overflow.
6. An operation control device for an excavator, comprising:
the acquisition module is used for acquiring operation data used for representing the operation level of the manipulator;
the judging module is used for judging whether the operation data exceeds the standard range corresponding to the operation data, and the standard ranges corresponding to different operation data can be the same or different;
the prompting module is used for generating a prompting message corresponding to the operation data when the operation data exceeds the standard range, wherein the prompting message comprises a correction mode of the operation action of the manipulator, and the prompting message adopts a voice mode or adopts a mode of alarming by a buzzer and displaying screen text prompting;
the operation data for characterizing the operation level of the manipulator includes: the hydraulic control system comprises a movable arm oil cylinder displacement of an excavator, a bucket rod oil cylinder displacement of the excavator, a bucket oil cylinder displacement of the excavator, a movable arm acceleration of the excavator, a bucket rod acceleration of the excavator, a bucket acceleration of the excavator, a loading rotation angle of the excavator, an overflow valve opening frequency of the excavator and an overflow flow of the excavator.
7. An excavator, comprising:
the monitoring device is used for acquiring operation data used for representing the operation level of the manipulator;
the excavator comprises a monitoring device, a memory and a processor, wherein the monitoring device, the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions, so that the operation control method of the excavator is executed by the processor.
8. The excavator of claim 7 wherein the monitoring device comprises: acceleration sensor, displacement sensor, angle sensor, flow sensor.
9. A computer-readable storage medium storing computer instructions for causing the computer to execute the operation control method of the excavator according to any one of claims 1 to 5.
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| CN107130654A (en) * | 2017-05-24 | 2017-09-05 | 成都跟驰科技有限公司 | A kind of control method of excavator |
| CN111258336B (en) * | 2020-02-28 | 2023-08-25 | 雷沃重工集团有限公司 | Method, system and readable storage medium for controlling bucket position |
| CN111335397A (en) * | 2020-03-13 | 2020-06-26 | 三一重机有限公司 | Excavator overflow control method and device, excavator and readable storage medium |
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| CN205369364U (en) * | 2015-10-28 | 2016-07-06 | 徐州徐工挖掘机械有限公司 | Energy -conserving suggestion device of excavator |
| CN111678555A (en) * | 2020-07-01 | 2020-09-18 | 雷沃工程机械集团有限公司 | Novel testing system and method for oil consumption and working efficiency of excavator |
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