CN113445568B

CN113445568B - Excavator track control method and device and excavator

Info

Publication number: CN113445568B
Application number: CN202110909876.8A
Authority: CN
Inventors: 孙鸿远; 宋海楠; 王威
Original assignee: Sany Heavy Machinery Ltd
Current assignee: Sany Heavy Machinery Ltd
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2023-02-03
Anticipated expiration: 2041-08-09
Also published as: CN113445568A

Abstract

The invention provides an excavator track control method, an excavator track control device and an excavator, wherein the method comprises the following steps: receiving switching operation of a user on a handle of the excavator, responding to the switching operation, selecting a target track mode from a plurality of track modes, and unlocking a specific key corresponding to the target track mode on the handle; receiving the operation of a user on a specific key in a target track mode; and responding to the operation of the specific key, and controlling the track of the target action executed by the excavator. The excavator track control method and device and the excavator provided by the invention can avoid the operation of a user on the excavator display device in the process of excavator track control, can realize the track control of the excavator through simpler operation, can reduce the operation difficulty of the excavator track control, can avoid the distraction of the user in the process of operating the excavator, and can improve the operation safety.

Description

Excavator track control method and device and excavator

Technical Field

The invention relates to the technical field of engineering machinery, in particular to an excavator track control method and device and an excavator.

Background

The excavator can play an important role in the aspects of facility construction, emergency rescue, disaster relief and the like. The excavator can be controlled to perform excavation and other work on a work site based on the operation of an excavator driver.

The excavator track control can realize one-key land leveling or slope repairing and other operations through controlling the motion track of the excavator bucket, and can assist the excavator to operate more accurately and efficiently. However, in the related art, when the excavator trajectory control is performed, a driver needs to operate a display device of the excavator and input control parameters to realize the excavator trajectory control. The operation of a driver in the existing excavator track control method is complicated.

Disclosure of Invention

The invention provides an excavator track control method and device and an excavator, which are used for overcoming the defect of complexity in operation in the prior art and realizing excavator track control through simpler operation.

The invention provides an excavator track control method, which comprises the following steps:

receiving switching operation of a user on a handle of the excavator, responding to the switching operation, selecting a target track mode from a plurality of track modes, and unlocking a specific key corresponding to the target track mode on the handle;

receiving the operation of a user on the specific key in the target track mode;

and responding to the operation of the specific key, and controlling the track of the target action executed by the excavator.

According to the excavator trajectory control method provided by the invention, the plurality of trajectory modes comprise: land leveling mode, hill trimming mode, straight push mode, and flat lift mode.

According to the excavator trajectory control method provided by the invention, the receiving of the switching operation of the user on the handle of the excavator and the selection of the target trajectory mode from the plurality of trajectory modes specifically comprise the following steps:

receiving switching operation of the user on a switching key arranged on the handle;

switching a trajectory mode of the excavator to the target trajectory mode in response to the switching operation.

According to the excavator track control method provided by the invention, the track mode corresponds to the specific keys on the handle, and the number of the specific keys is determined according to the control requirements of the track mode.

According to the excavator track control method provided by the invention, the receiving of the operation of the specific key by the user in the target track mode specifically comprises the following steps:

sliding the bucket rod action switch in the specific key;

adjusting a height or an angle of a bucket of the excavator in response to a sliding operation of the arm operation switch;

operating a bucket rod action datum line switch in the specific key;

and adjusting the height of the datum line of the excavator bucket rod action in response to the operation of the bucket rod action datum line switch.

According to the excavator trajectory control method provided by the invention, the receiving of the operation of the user on the specific key in the target trajectory mode specifically comprises the following steps:

performing sliding operation on a movable arm action switch in the specific key;

adjusting a height or an angle of a boom of the excavator in response to a sliding operation of the boom actuation switch;

operating a movable arm action datum line switch in the specific key;

and adjusting the reference line angle of the excavator boom action in response to the operation of the boom action reference line switch.

According to the excavator track control method provided by the invention, the specific keys corresponding to the track mode are selected from the handle keys by a user according to the use habit, and the unselected keys are in a locking failure state in the target track mode.

According to the excavator track control method provided by the invention, the method further comprises the following steps:

receiving a key function setting input of a user;

and determining the function of the specific key corresponding to the track mode according to the key function setting input.

The present invention also provides an excavator trajectory control device, comprising:

the mode confirmation module is used for receiving switching operation of a user on a handle of the excavator, responding to the switching operation, selecting a target track mode from a plurality of track modes, and unlocking a specific key corresponding to the target track mode on the handle;

the operation confirmation module is used for receiving the operation of the user on the specific key in the target track mode;

and the track control module is used for responding to the operation of the specific key and controlling the track of the target action executed by the excavator.

The invention also provides an excavator, which comprises the excavator track control device.

According to the excavator track control method, the excavator track control device and the excavator, the current track mode of the excavator is switched to the target track mode by responding to the switching operation of the user on the handle of the excavator, the specific key corresponding to the target track mode is unlocked, and then the track of the target action executed by the excavator is controlled by responding to the operation of the user on the specific key in the target track mode, so that the operation of the user on the display device of the excavator in the process of controlling the track of the excavator can be avoided, the track control of the excavator can be realized by simpler operation, the operation difficulty of the track control of the excavator can be reduced, the distraction of the user in the process of operating the excavator can be avoided, and the operation safety can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic flow chart of an excavator trajectory control method provided by the present invention;

FIG. 2 is a schematic diagram of a datum line elevation of the movement of the excavator stick in the excavator trajectory control method provided by the present invention;

FIG. 3 is a second schematic diagram of the datum line elevation of the excavator stick motion in the excavator trajectory control method provided by the present invention;

FIG. 4 is a schematic diagram illustrating a datum line lowering of the motion of the arm of the excavator in the method for controlling the track of the excavator according to the present invention;

FIG. 5 is a second schematic diagram illustrating a datum line lowering of the movement of the excavator stick according to the method for controlling the excavator trajectory provided by the present invention;

FIG. 6 is a schematic diagram illustrating the rotation of a reference line of the movement of the boom of the excavator in the method for controlling the track of the excavator according to the present invention;

FIG. 7 is a second schematic diagram illustrating the rotation of a reference line of the movement of the boom of the excavator in the method for controlling the trajectory of the excavator according to the present invention;

FIG. 8 is a third schematic diagram illustrating a rotation of a reference line of an excavator boom in the excavator trajectory control method according to the present invention;

FIG. 9 is a fourth schematic diagram illustrating a rotation of a reference line of the excavator boom in the excavator trajectory control method according to the present invention;

FIG. 10 is a schematic structural diagram of a left handle and a right handle in the method for controlling the track of the excavator according to the present invention;

FIG. 11 is a second schematic structural view of the left handle and the right handle in the excavator trajectory control method provided by the present invention;

FIG. 12 is a second flowchart of the excavator trajectory control method according to the present invention;

FIG. 13 is a schematic structural diagram of an excavator trajectory control device provided by the present invention;

fig. 14 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the display device of the excavator can be used for displaying the operation parameters of the excavator for the operator of the excavator to view. The display device of the excavator can also realize user interaction, and an excavator driver can input control parameters, start or disable a certain function and the like through operation on the display device of the excavator.

The excavator driver is used to operate the excavator only by using the handle, and the handle and the display device of the excavator are frequently switched in the operation process, so that the operation habit of the excavator driver is not met. The vibration generated during the operation of the excavator is likely to cause the error touch when the excavator driver operates on the display device, and may cause the excavator to perform wrong actions or other more serious safety accidents. The excavator driver frequently looks over display device when the operation, also can disperse excavator driver's attention, has the potential safety hazard.

Fig. 1 is a schematic flow chart of an excavator trajectory control method provided by the invention. The excavator trajectory control method of the present invention is described below with reference to fig. 1. As shown in fig. 1, the method includes: step 101, receiving a switching operation of a user on a handle of the excavator, responding to the switching operation, selecting a target track mode from a plurality of track modes, and unlocking a specific key corresponding to the target track mode on the handle.

The main body of the execution according to the embodiment of the present invention is an excavator trajectory control device.

The excavator in the embodiment of the invention can be provided with two handles, namely a left handle and a right handle. The left handle and the right handle are respectively and electrically connected with the track control device of the excavator, for example: the left handle and the right handle are respectively and electrically connected with the track control device of the excavator through a CAN bus; or the left handle and the right handle can be in communication connection with the track control device of the excavator. Besides the functions of a conventional excavator handle, the left handle and the right handle are also provided with a plurality of keys, and the track mode switching of the excavator, the track control of the action executed by the excavator and the like can be realized only according to the operation of the keys by an excavator driver without the operation of the excavator driver on a display device of the excavator.

It should be noted that, in the embodiment of the present invention, the user is an excavator driver.

It should be noted that, the excavator can automatically complete a preset series of actions according to the related control instructions in different trajectory modes, for example: if the track mode of the excavator is the land leveling mode, the excavator can automatically finish land leveling according to the related control command. The excavator can have a plurality of track modes, and the track mode of the excavator in the embodiment of the invention is not particularly limited.

Before the excavator trajectory control method according to the present invention performs trajectory control on the excavator, it is necessary to determine whether the auxiliary function of the excavator is disabled. If it is determined that the auxiliary function of the excavator is disabled, the auxiliary function of the excavator may be turned on based on an operation of the user on the display device of the excavator.

The target action may refer to an action that the user needs to perform by the excavator. For example: the target action may be a flat ground action, a hill-drop action, a flat lift action, a straight push action, or the like.

The operation performed by the arm drive may be referred to as an arm operation; an operation performed by boom driving may be referred to as a boom operation.

The target motion and the target track mode have a corresponding relation, that is, a certain target motion can be performed only in the target track mode corresponding to the target motion.

The user can determine a target track mode corresponding to the target action according to the predetermined target action.

The user can select a target track mode from a plurality of track modes by switching the excavator handle, and unlock a specific key corresponding to the target track mode on the excavator handle.

For example: the switching operation performed by the user on the excavator handle may include: at least one short-time pressing operation to a predetermined switching key, and a long-time pressing operation to the switching key. Specifically, the user can switch the current track mode of the excavator to the next track mode according to a predetermined sequence by performing short-time pressing operation on the switching key once, and can switch the track mode of the excavator to the target track mode by performing at least one short-time pressing operation on the switching key; after the track mode of the excavator is determined to be the target track mode, a user can unlock a specific key corresponding to the target track mode on the handle of the excavator through long-time pressing operation of the switching key.

Another example is: the switching operation performed by the user on the excavator handle may further include: and confirming the long-time pressing operation of the key for the predetermined mode representing the target track mode. Specifically, the excavator handle may have a plurality of mode confirmation keys, each mode confirmation key may represent a trajectory mode, and a user may switch a current trajectory mode of the excavator to the target trajectory mode by long-time pressing of the mode confirmation key representing the target trajectory mode, and simultaneously unlock a specific key on the excavator handle corresponding to the target trajectory mode.

The user may determine whether the current trajectory mode of the excavator is the target trajectory mode based on the content displayed on the excavator display device.

In the embodiment of the present invention, the switching operation performed by the user on the handle of the excavator is not particularly limited. The specific time duration of the short time and the long time can be determined according to actual conditions, for example: the short duration may be less than 1 second, and the long duration may be 3 seconds or more. The embodiment of the invention does not limit the specific time duration of the short time and the long time.

According to the functions of the keys on the handle of the excavator, the specific key corresponding to each target track mode can be determined. The user can control the track of the excavator executing the target action by operating the specific key corresponding to the target track mode in the target track mode.

And 102, receiving the operation of the user on a specific key in the target track mode.

The excavator trajectory control device may receive the operation of the specific key after the user operates the specific key corresponding to the target trajectory mode in the target trajectory mode.

And 103, responding to the operation of the specific key, and controlling the track of the target action executed by the excavator.

After receiving the operation of the specific key by the user, the excavator trajectory control device can respond to the operation of the specific key and realize the control of the trajectory of the target action executed by the excavator by adjusting the height or the angle of the excavator bucket.

Adjusting the height or angle of the excavator bucket according to a preset track to realize the control of the track of the target action executed by the excavator, and the method specifically comprises the following steps: the method comprises the steps of obtaining the motion trail of the excavator, obtaining an initial control signal of a motion mechanism in the excavator at the current moment according to the motion trail, and adjusting the height or the angle of a bucket of the excavator according to the initial control signal. And acquiring parameters used for representing the actual load of the movement mechanism at the same moment, and acquiring the adjustment quantity of the initial control signal based on the parameters. After obtaining the adjustment amount of the initial control signal, the initial control signal and the adjustment amount may be summed (e.g., algebraic sum) to be a final control signal for the hydraulic system, the moving mechanism, and the like, and the final control signal may be sent to the hydraulic system, the moving mechanism, and the like, so as to further adjust the height or angle of the excavator bucket and implement the first target motion by one key. Wherein, the moving mechanism in the excavator comprises one or more of a movable arm, an arm and a bucket.

It should be noted that, in general, the flow of trajectory control performed by the excavator includes: the method comprises the steps of electrifying a machine, starting an engine, carrying out a series of operations (including opening an auxiliary operation setting interface, starting an auxiliary operation function and inputting control parameters) on an excavator display device by a user, operating a handle by the user and controlling a starting track. On the basis of the excavator trajectory control method of the embodiment of the invention, the process of the excavator for performing trajectory control only comprises the following steps: the machine is electrified, the engine is started, and a user operates a specific key corresponding to the target track mode on the handle of the excavator to start track control. The excavator track control method greatly simplifies the process of carrying out track control on the excavator, improves the use willingness of a user to use the excavator track control function, and can improve the use efficiency of the excavator track control function.

According to the embodiment of the invention, the current track mode of the excavator is switched to the target track mode in response to the switching operation of the user on the handle of the excavator, the specific key corresponding to the target track mode is unlocked, and then the track of the target action executed by the excavator is controlled in response to the operation of the specific key by the user in the target track mode, so that the operation of the user on the display device of the excavator in the process of controlling the track of the excavator can be avoided, the track control of the excavator can be realized through simpler operation, the operation difficulty of the track control of the excavator can be reduced, the distraction of the user in the process of operating the excavator can be avoided, and the operation safety can be improved.

Based on the content of the above embodiments, the plurality of track modes include: land leveling mode, hill trimming mode, straight push mode, and flat lift mode.

Specifically, the track mode of the excavator is a land leveling mode, and the excavator can perform land leveling operation. The ground leveling action is a function of a backhoe and is a stick action driven by a stick. The track mode of the excavator is a slope repairing mode, and the excavator can perform slope repairing actions. The hill-repairing action is a function of a backhoe and is a bucket rod action driven by a bucket rod. The track mode of the excavator is a direct-push mode, and the excavator can perform direct-push action. The direct pushing action is a function of a backhoe and is a bucket rod action driven by a bucket rod. The track mode of the excavator is a leveling mode, and leveling action can be performed during excavation. The pan motion is a boom action driven by a boom as a function of a face shovel.

In the embodiment of the invention, the track mode of the excavator can be a flat ground mode, a slope repairing mode, a straight pushing mode or a flat lifting mode, and the track of the excavator for executing the target action can be controlled in different track modes.

Based on the content of the above embodiments, receiving a switching operation of a user on a handle of an excavator, and selecting a target trajectory mode from a plurality of trajectory modes specifically includes: receiving the switching operation of a user on a switching key arranged on a handle of the excavator.

Specifically, a button provided on a handle of the excavator to switch the track mode of the excavator may be used as the switch button.

By switching the switching key, the track mode of the excavator can be switched to the target track mode, for example: the user can switch the current track mode of the excavator to the next track mode according to a predetermined sequence by performing short-time pressing switching operation on the switching key; the track mode of the excavator can be switched to the target track mode through at least one switching operation of pressing the switching key for a short time.

After the user performs the switching operation on the switching key, the excavator trajectory control device may receive the switching operation.

And switching the track mode of the excavator to the target track mode in response to the switching operation.

Specifically, after receiving the switching operation, the excavator trajectory control device may switch the trajectory mode of the excavator to the target trajectory mode at least once in a predetermined order in response to the switching operation.

In general, switching the trajectory mode of the excavator requires the user to perform the following operations on the display device of the excavator: the method comprises the steps of entering an auxiliary operation setting interface by clicking an auxiliary control switch, closing a current track mode on the auxiliary operation setting interface, performing sliding and clicking operations on the auxiliary operation setting interface, switching to a page of a required auxiliary operation mode, and opening the required auxiliary operation mode. According to the excavator track control method provided by the embodiment of the invention, the process of switching the track mode of the excavator only comprises the following steps: the user switches the switch button on the excavator handle, and the original complex switching process can be simplified into one-key switching.

According to the embodiment of the invention, the track mode of the excavator is switched to the target track mode by responding to the switching operation of the user on the switching key arranged on the handle of the excavator, so that the operation of the user on the display device of the excavator when the track mode of the excavator is switched can be avoided, the operation of switching the track mode of the excavator can be simplified, and the operation difficulty and the operation complexity of the track control of the excavator can be reduced.

Based on the content of the above embodiments, the track mode corresponds to the specific keys on the handle, and the number of the specific keys is determined according to the control requirement of the track mode.

Specifically, each track mode may correspond to a plurality of specific keys disposed on the handle of the excavator, and the number of the specific keys corresponding to each track mode may be determined according to the control requirement of each track mode.

It should be noted that the control requirement of any trajectory pattern may be predetermined.

According to the embodiment of the invention, each track mode of the excavator corresponds to different specific keys, and the data of the specific key corresponding to any track mode is determined according to the control requirement of the track mode, so that the excavator can be more conveniently and quickly subjected to track control based on the operation of the specific key corresponding to the target track mode in the target track mode according to the actual control requirement.

Based on the content of the foregoing embodiments, receiving an operation of a user on a specific key in the target track mode specifically includes: the arm operating switch of the specific key is operated to slide.

Specifically, the specific key corresponding to the target track mode may include a stick motion switch.

The arm action switch may be a slide switch. The user can adjust the height or the angle of the excavator bucket by sliding the bucket rod action switch, and further can control the track of the target action executed by the excavator.

The sliding operation of the arm operation switch by the user may include a sliding operation of sliding the arm operation switch in a first sliding direction or a sliding operation of sliding the arm operation switch in a second sliding direction.

The height or angle of the excavator bucket is adjusted in response to the sliding operation of the arm operation switch.

When a sliding operation of sliding the arm operation switch in a first sliding direction is received, the target operation can be performed in the first direction in response to the sliding operation, and the height or angle of the excavator bucket is adjusted, so that trajectory control for performing the target operation in the first direction is realized.

When the sliding operation of sliding the arm operation switch in the second sliding direction is received, the target operation can be executed in the second direction in response to the sliding operation, and the track of the target operation executed by the excavator in the second direction is controlled by adjusting the height or the angle of the excavator bucket.

It should be noted that the first direction may be a direction away from the cab of the excavator; the second direction may be a direction facing the excavator cab.

According to the embodiment of the invention, the height or the angle of the bucket of the excavator is adjusted by responding to the operation of the user on the bucket rod action switch arranged on the handle of the excavator, so that the track of the target action executed by the excavator is controlled, the operation of the user on the display device of the excavator when the track of the target action executed by the excavator is controlled can be avoided, the track control of the excavator can be realized through simpler operation, the operation difficulty of the track control of the excavator can be reduced, the distraction of the user in the process of operating the excavator can be avoided, and the operation safety can be improved.

And operating the arm action datum line switch in the specific key.

Specifically, in the process of controlling the track of the target action executed by the excavator, the height of the reference line of the action of the arm of the excavator may need to be adjusted.

The specific key corresponding to the target track mode may include a lever action datum switch.

The bucket rod action datum line switch can be a combined pressing key and comprises two sub-keys. The user can adjust the height of the datum line of the action of the bucket rod of the excavator by operating the bucket rod action datum line switch.

The operation of the user on the arm action reference line switch may include a pressing operation on a first sub-button in the arm action reference line switch, or a pressing operation on a second sub-button in the arm action reference line switch.

The datum line of the excavator arm action can be determined according to actual conditions, such as: the horizontal plane where the lowest point of the excavator bucket is located can be used as a datum line for the action of the excavator bucket rod.

And responding to the operation of the bucket rod action datum line switch to adjust the datum line height of the bucket rod action of the excavator.

If the pressing operation of the first sub-button in the bucket rod action datum line switch is received, the datum line of the excavator bucket rod action can be vertically lifted upwards by a target distance in response to the pressing operation.

When the pressing operation of the second sub-button in the arm action datum line switch is received, the datum line of the excavator arm action can be vertically lowered downwards by the target distance in response to the pressing operation.

Fig. 2 is a schematic diagram of a datum line elevation of the excavator arm movement in the excavator trajectory control method provided by the invention. As shown in fig. 2, the bucket of the excavator is a backhoe, and the reference line of the excavator stick motion is the horizontal plane where the lowest point of the excavator bucket is located. After receiving the pressing operation of the first sub-button in the arm movement reference line switch, in response to the above operation, the reference line of the excavator arm movement can be lifted vertically upward by the target distance to the reference line of the excavator arm movement after the lifting indicated by the broken line.

Fig. 3 is a second schematic diagram illustrating a datum lifting of the excavator arm in the excavator trajectory control method according to the present invention. As shown in fig. 3, the bucket of the excavator is a face shovel, and the reference line of the excavator arm motion is the horizontal plane where the connection point of the excavator bucket and the link is located. After receiving the pressing operation of the first sub-button in the arm movement reference line switch, in response to the above operation, the reference line of the excavator arm movement can be lifted vertically upward by the target distance to the reference line of the excavator arm movement after the lifting indicated by the broken line.

Fig. 4 is a schematic diagram illustrating a lowering of a datum line of an excavator arm movement in the excavator trajectory control method according to the present invention. As shown in fig. 4, the bucket of the excavator is a backhoe, and the reference line of the excavator stick motion is the horizontal plane where the lowest point of the excavator bucket is located. After receiving the pressing operation of the second sub-button in the arm movement reference line switch, in response to the above operation, the reference line of the excavator arm movement may be lowered vertically downward by the target distance to the reference line of the excavator arm movement after the lifting indicated by the broken line.

Fig. 5 is a second schematic view illustrating a lowering of a datum line of the movement of the excavator arm in the excavator trajectory control method according to the present invention. As shown in fig. 5, the bucket of the excavator is a face shovel, and the reference line of the excavator arm motion is the horizontal plane where the connection point of the excavator bucket and the link is located. After receiving the pressing operation of the second sub-button in the arm movement reference line switch, in response to the above operation, the reference line of the excavator arm movement may be lowered vertically downward by the target distance to the reference line of the excavator arm movement after the lifting indicated by the broken line.

It should be noted that the target distance may be determined according to actual situations. The specific value of the target distance is not particularly limited in the embodiment of the present invention. Preferably, the target distance may be 10 centimeters.

According to the embodiment of the invention, the height of the datum line of the action of the bucket rod of the excavator can be adjusted by responding to the operation of the bucket rod action datum line switch in the specific key by a user, so that the track control of the excavator can be realized more flexibly and more accurately.

Based on the content of the foregoing embodiments, receiving an operation of a user on a specific key in the target track mode specifically includes: the boom operation switch of the specific key is operated to slide.

Specifically, the specific key corresponding to the target track mode may include a boom operation switch.

The boom operation switch may be a slide switch. The user can adjust the height or angle of the boom of the excavator by sliding the boom operation switch, and further can control the track of the target action executed by the excavator.

The sliding operation performed by the user on the boom operation switch may include a sliding operation in which the boom operation switch is slid in the third sliding direction or a sliding operation in which the boom operation switch is slid in the fourth sliding direction.

The height or angle of the boom of the excavator is adjusted in response to a sliding operation of the boom actuation switch.

If a sliding operation of sliding the boom actuation switch in the third sliding direction is received, the target actuation may be performed in the third direction in response to the sliding operation, and the control of the trajectory of the target actuation performed in the third direction by the excavator may be realized by adjusting the height or angle of the boom of the excavator.

When a sliding operation for sliding the boom operation switch in the fourth sliding direction is received, the target operation can be performed in the fourth direction in response to the sliding operation, and the control of the trajectory of the target operation performed by the excavator in the fourth direction is realized by adjusting the height or angle of the boom of the excavator.

It should be noted that the third direction may be an upward direction perpendicular to the ground; the fourth direction may be a downward direction perpendicular to the ground.

According to the embodiment of the invention, the height or the angle of the movable arm of the excavator is adjusted by responding to the operation of the movable arm action switch arranged on the handle of the excavator by a user, so that the control on the track of the target action executed by the excavator is realized, the operation of the user on the display device of the excavator when the track of the target action executed by the excavator is controlled can be avoided, the track control of the excavator can be realized by simpler operation, the operation difficulty of the track control of the excavator can be reduced, the distraction of the user in the process of operating the excavator can be avoided, and the operation safety can be improved.

And operating a boom action reference line switch in the specific key.

Specifically, in the process of controlling the track of the target action executed by the excavator, the reference line angle of the action of the boom of the excavator may need to be adjusted.

The specific key corresponding to the target track mode may include a boom movement reference line switch.

The movable arm action datum line switch can be a combined pressing key and comprises two sub keys. The user can adjust the angle of the reference line of the movement of the movable arm of the excavator by operating the movable arm movement reference line switch.

The operation of the boom movement reference line switch by the user may include a pressing operation of a first sub-key in the boom movement reference line switch or a pressing operation of a second sub-key in the boom movement reference line switch.

The reference line of the excavator boom movement may be determined according to actual conditions, for example: the plane which is perpendicular to the central axis of the excavator bucket and is the lowest point of the excavator bucket can be used as a datum line of the action of the movable arm of the excavator.

And responding to the operation of a boom action reference line switch, and adjusting the reference line angle of the excavator boom action.

If a pressing operation of a first sub-key in the boom action reference line switch is received, the reference line of the excavator boom action may be rotated clockwise by a target angle in response to the above operation.

If a pressing operation of the second sub-key in the boom action reference line switch is received, the reference line of the excavator boom action may be rotated counterclockwise by a target angle in response to the above operation.

Fig. 6 is one of schematic reference line rotation diagrams of the excavator boom movement in the excavator trajectory control method according to the present invention. As shown in fig. 6, the excavator bucket is a backhoe, and the reference line of the excavator boom movement is a plane perpendicular to the central axis of the excavator bucket and at which the lowest point of the excavator bucket is located. After receiving the pressing operation of the first sub key in the boom action reference line switch, the reference line of the excavator boom action may be rotated clockwise by the target angle to the reference line of the excavator boom action after the rotation indicated by the dotted line in response to the above operation.

Fig. 7 is a second schematic view illustrating the rotation of the reference line of the movement of the boom of the excavator in the method for controlling the trajectory of the excavator according to the present invention. As shown in fig. 7, the excavator bucket is a face shovel, and the reference line of the excavator boom movement is a plane perpendicular to the central axis of the excavator bucket and at which the excavator bucket and the connecting rod are connected. After receiving the pressing operation of the first sub key in the boom movement reference line switch, the reference line of the excavator boom movement may be rotated clockwise by the target angle to the rotated reference line of the excavator boom movement indicated by the dotted line in response to the above operation.

Fig. 8 is a third schematic diagram illustrating the rotation of the reference line of the excavator boom in the excavator trajectory control method according to the present invention. As shown in fig. 8, the excavator bucket is a backhoe, and the reference line of the excavator boom movement is a plane perpendicular to the central axis of the excavator bucket and at which the lowest point of the excavator bucket is located. After receiving the pressing operation of the second sub key in the boom action reference line switch, the reference line of the excavator boom action may be rotated counterclockwise by a target angle to the reference line of the excavator boom action after the rotation indicated by the dotted line in response to the above operation.

Fig. 9 is a fourth schematic diagram illustrating a rotation of a reference line of an excavator boom in the excavator trajectory control method according to the present invention. As shown in fig. 9, the excavator bucket is a face shovel, and the reference line of the excavator boom movement is a plane perpendicular to the central axis of the excavator bucket and on which the connection point of the excavator bucket and the link is located. After receiving the pressing operation of the second sub key in the boom action reference line switch, the reference line of the excavator boom action may be rotated counterclockwise by a target angle to the reference line of the excavator boom action after the rotation indicated by the dotted line in response to the above operation.

It should be noted that the target angle may be determined according to actual conditions. The specific value of the target distance is not particularly limited in the embodiment of the present invention. Preferably, the target distance may be 3 °.

According to the embodiment of the invention, the height of the reference line of the action of the movable arm of the excavator can be adjusted by responding to the operation of the movable arm action reference line switch in the specific key by a user, and the track control of the excavator can be realized more flexibly and more accurately.

Based on the content of the above embodiments, the specific key corresponding to the track mode is selected by the user from the handle keys according to the use habit, and the unselected keys are in the lock failure state in the target track mode.

Specifically, for any track mode, the user can determine one or more of the keys arranged on the handle of the excavator as the specific key corresponding to the track mode according to the use habit.

After receiving the switching operation of a user on a switching key in a specific key in a target track mode, unlocking the specific key corresponding to the target track mode, and keeping other unselected keys which are not the specific key corresponding to the target track mode in a locking failure state in the target track mode.

According to the embodiment of the invention, a user selects the specific key corresponding to each track mode from the keys arranged on the handle of the excavator according to the use habits, and after the specific key corresponding to the target track mode is unlocked, other unselected keys which are not the specific key corresponding to the target track mode are still in a locking failure state in the target track mode, so that the specific key for operation can be determined according to different operation habits of the user, the user experience can be improved, and the safety of track control on the excavator can be improved by locking other keys which are not the specific keys.

Based on the content of the above embodiments, the method further includes: a key function setting input of a user is received.

The user can input the key function setting determined according to the operation habit.

The excavator trajectory control device may receive a key function setting input by a user.

After receiving the key function setting input of the user, the function of the specific key corresponding to each track mode can be determined according to the key function setting input.

According to the embodiment of the invention, the function of the specific key corresponding to each track mode is determined by setting input according to the key function of the user, so that the track control of the excavator can be carried out through personalized operation based on the operation habits of different users, and the user experience can be prompted.

In order to facilitate understanding of the excavator trajectory control method provided by the present invention, the excavator trajectory control method provided by the present invention is described below by way of an example. FIG. 10 is a schematic structural diagram of a left handle and a right handle in the excavator trajectory control method provided by the present invention. Fig. 11 is a second schematic structural diagram of the left handle and the right handle in the excavator trajectory control method provided by the present invention. As shown in fig. 10 and 11, the left handle 1 is provided on the left hand side of the user, and the right handle 2 is provided on the right hand side of the user.

It should be noted that raising or lowering the height of the excavator bucket is accomplished by the stick drive. In accordance with the operation habit of the user in a normal situation, the user is more accustomed to controlling the excavator to perform the auxiliary operation of arm driving by the left-hand operation, and therefore, the button to be driven by the arm is positioned on the right handle on the right-hand side of the user.

The left handle 1 is provided with an arm action switch 3, a switching key 5, a first sub-key 9 of an arm action datum line switch, a second sub-key 10 of the arm action datum line switch and a first standby key 6. The bucket rod action switch 3, the switching key 5 and the first standby key 6 are arranged on the front surface of the left handle 1, and the first sub key 9 of the bucket rod action datum line switch and the second sub key 10 of the bucket rod action datum line switch are arranged on the back surface of the left handle 1. The bucket rod action key 3 is a sliding key comprising two sliding directions.

The right handle 2 is provided with a movable arm action switch 4, a first sub-key 11 of a movable arm action reference line switch, a second sub-key 12 of the movable arm action reference line switch, a second spare key 7 and a third spare key 8. The boom action switch button 4, the second spare button 7 and the third spare button 8 are arranged on the front surface of the right handle 2, and the first sub button 11 of the boom action reference line switch and the second sub button 12 of the boom action reference line switch are arranged on the back surface of the right handle 2. The boom operation switch button 4 is a slide button including two slide directions.

It should be noted that, based on the investigation of the operation habits of the user and the test of the human-computer interaction experience, the left handle 1 in the embodiment of the present invention is provided with the arm operation switch 3, the first sub-button 9 of the arm operation reference line switch, and the second sub-button 10 of the arm operation reference line switch, because the user is more accustomed to controlling the excavator to perform the arm driving operation by the left-hand operation and more accustomed to controlling the excavator to perform the boom driving operation by the right-hand operation. The right handle 2 is provided with a boom operation switch 4, a first sub-button 11 of a boom operation reference line switch, and a second sub-button 12 of the boom operation reference line switch.

It should be noted that the functions of the first standby key 6, the second standby key 7 and the second standby key 8 are not specifically limited in the embodiment of the present invention, and the functions of the keys may be determined according to actual requirements, for example: the first standby key 6 may function as a whistling horn; the second spare key 7 and the third spare key 8 can be used as an alternative switch for intelligent weighing.

Fig. 12 is a second flowchart of the excavator trajectory control method according to the present invention. The following describes the trajectory for controlling the excavator to perform the leveling operation, the hill-leveling operation, the straight pushing operation, and the lifting operation, respectively, with reference to fig. 12. The track mode of the excavator includes a flat ground mode, a hill-shaving mode and a direct pushing mode.

The flat ground action and the slope repairing action are functions of a back shovel and are bucket rod actions driven by a bucket rod. The specific key corresponding to the land leveling mode may include: the left handle 1 is provided with a switching key 5, an arm action switch 3, a first sub-key 9 of an arm action datum line switch and a second sub-key 10 of the arm action datum line switch. The specific key corresponding to the hill-repair mode may include: the left handle 1 is provided with a switching key 5, an arm action switch 3, a first sub-key 11 of a boom action reference line switch on the right handle 2 and a second sub-key 12 of the boom action reference line switch.

When the target movement required to be executed is the land leveling movement, the current track mode of the excavator can be obtained according to the display device of the excavator before the user operates the target movement. If the current track mode of the excavator is the land leveling mode, the specific key corresponding to the land leveling mode can be directly operated; if the current track mode of the excavator is other modes, the user can perform at least one switching operation on the switching key 5. After receiving the switching operation, the excavator trajectory control device can switch the current auxiliary control model of the excavator at least once, so that the current trajectory mode of the excavator is the land leveling mode.

After determining that the current track mode of the excavator is the land leveling mode, the user may slide the arm operation switch 3 in the first sliding direction or slide the arm operation switch 3 in the second sliding direction in the land leveling mode. Wherein, the arm action switch 3 is slid in a first sliding direction, and the working direction of the excavator for performing the flat ground action is a direction back to the cab of the excavator; the arm operation switch 3 is slid in the second sliding direction, and the work direction representing the excavator performing the leveling operation is a direction facing the excavator cab.

During the operation of controlling the excavator to execute the track of the flat ground motion according to the operation of the arm action switch 3 by the user, the user can increase the reference line target distance of the excavator arm action through the operation of the first sub-key 9 of the arm action reference line switch on the left handle 1, or decrease the reference line target distance of the excavator arm action through the operation of the second sub-key 10 of the arm action reference line switch on the left handle 1. After adjusting the height of the reference line of the excavator arm movement, the user can continue to operate the arm movement switch 3 on the left handle 1, and the excavator trajectory control device can continue to perform the leveling movement according to the above operation.

When the target action needing to be executed is taken as a slope repairing action, the current track mode of the excavator can be obtained according to the display device of the excavator before the user operates the target action. If the current track mode of the excavator is a slope repairing mode, a specific key corresponding to the slope repairing mode can be directly operated; if the current track mode of the excavator is other modes, the user can perform at least one switching operation on the switching key 5. After receiving the switching operation, the excavator trajectory control device can switch the current auxiliary control model of the excavator at least once, so that the current trajectory mode of the excavator is a slope repairing mode.

After determining that the current track mode of the excavator is the slope repairing mode, the user can slide the arm action switch 3 in the first sliding direction or slide the arm action switch 3 in the second sliding direction in the slope repairing mode.

During a work for controlling the excavator to perform a track of a hill-repairing motion according to the user's operation of the arm motion switch 3, the user may rotate a reference line target angle of the excavator boom motion clockwise by the operation of the first sub key 11 of the boom motion reference line switch on the right handle 2 or counterclockwise by the operation of the second sub key 12 of the boom motion reference line switch on the right handle 2. After adjusting the angle of the reference line of the excavator boom movement, the user can continue to operate the arm movement switch 3 at the left handle 1, and the excavator trajectory control device can continue to perform the hill-repairing movement according to the above operation.

The direct pushing action is a function of a face shovel and is a bucket rod action driven by a bucket rod. The specific key corresponding to the push-through mode may include: the left handle 1 is provided with a switching key 5, an arm action switch 3, a first sub-key 9 of an arm action reference line switch, a second sub-key 10 of the arm action reference line switch, a first sub-key 11 of a movable arm action reference line switch and a second sub-key 12 of the movable arm action reference line switch on the right handle 2.

When the target action needing to be executed is the direct pushing action, the current track mode of the excavator can be obtained according to the display device of the excavator before the user operates the target action. If the current track mode of the excavator is a direct pushing mode, the first operation can be directly carried out; if the current track mode of the excavator is other modes, the user can perform at least one switching operation on the switching key 5. After receiving the switching operation, the excavator trajectory control device can switch the current auxiliary control model of the excavator at least once, so that the current trajectory mode of the excavator is a direct pushing mode.

After determining that the current track mode of the excavator is the direct-push mode, the user may slide the arm operation switch 3 in the first sliding direction or slide the arm operation switch 3 in the second sliding direction in the direct-push mode.

Sliding the arm action switch 3 in a first sliding direction, wherein the direction representing that the excavator performs the direct pushing action is a direction back to the cab of the excavator; the arm operation switch 3 is slid in the second sliding direction, and the direction in which the excavator performs the direct pushing operation is the direction facing the cab of the excavator.

During a work for controlling the excavator to perform a track of a hill-repairing motion according to the user's operation of the arm motion switch 3, the user may rotate a reference line target angle of the excavator boom motion clockwise by the operation of the first sub key 11 of the boom motion reference line switch on the right handle 2 or counterclockwise by the operation of the second sub key 12 of the boom motion reference line switch on the right handle 2. The user can also raise the reference line target distance of the excavator arm action through the operation of the first sub-button 9 of the arm action reference line switch on the left handle 1, or lower the reference line target distance of the excavator arm action through the operation of the second sub-button 10 of the arm action reference line switch on the left handle 1. After adjusting the angle of the reference line of the excavator boom motion and/or the height of the reference line of the excavator arm motion, the user can continue the first operation of the arm motion switch 3 by the left handle 1, and the excavator trajectory control device can continue the straight push motion according to the first operation.

In the case where the target motion is a flat ground motion, a hill-shaving motion, or a straight push motion, the excavator trajectory control device may calculate the trajectory of the target motion in response to the user's operation of a specific key corresponding to the target trajectory mode in the target trajectory mode, generate a control signal to the hydraulic system and the movement mechanism based on a feedback control algorithm, and adjust the height or angle of the excavator bucket to execute the target motion. And in the process of executing the target action by the excavator, the control signals of the hydraulic system and the movement mechanism are updated through the sensor signals returned by the sensors, and the height or the angle of the bucket of the excavator is further adjusted, so that the track of the target action executed by the excavator is controlled.

The pan motion is a boom action driven by a boom as a function of a face shovel.

The specific key corresponding to the level lift mode may include a boom action switch 4 on the right handle 2.

It should be noted that the current track mode of the excavator has no influence on the execution of the panning motion.

The user may slide the boom operation switch 4 in the third sliding direction or slide the boom operation switch 4 in the fourth sliding direction.

Sliding the movable arm action switch 4 in a third sliding direction, which can represent that the direction of the excavator performing the horizontal lifting action is the upward direction vertical to the ground; sliding the boom movement switch 4 in the fourth sliding direction may represent a direction in which the excavator performs a panning operation perpendicular to a ground-down direction.

In addition, the height adjustment of the reference line of the excavator bucket operation and the angle adjustment of the reference line of the excavator boom operation are not involved in the process of executing the horizontal movement operation of the excavator.

In the case where the target motion is the panning motion, the excavator trajectory control device may calculate the trajectory of the panning motion in response to the user's operation of a specific key corresponding to the panning mode in the panning mode, generate a control signal to the hydraulic system and the movement mechanism based on a feedback control algorithm, and adjust the height or angle of the boom of the excavator, thereby performing the panning motion. And in the process of executing the horizontal movement action of the excavator, the control signals of the hydraulic system and the motion mechanism are updated through the sensor signals returned by the sensors, the height or the angle of a movable arm of the excavator is further adjusted, and the track of executing the horizontal movement action of the excavator is controlled.

Fig. 13 is a schematic structural diagram of an excavator trajectory control device according to the present invention. The following describes the excavator trajectory control device provided by the present invention with reference to fig. 13, and the excavator trajectory control device described below and the excavator trajectory control method provided by the present invention described above may be referred to in correspondence with each other. As shown in fig. 13, the apparatus includes: a mode confirmation module 1301, an operation confirmation module 1302, and a trajectory control module 1303.

The mode confirmation module 1301 is configured to receive a switching operation of a user on a handle of the excavator, select a target track mode from a plurality of track modes, and unlock a specific key on the handle corresponding to the target track mode.

An operation confirmation module 1302, configured to receive an operation of a specific key by a user in the target track mode.

And the track control module 1303 is used for the track control module and is used for responding to the operation of the specific key to control the track of the target action executed by the excavator.

Specifically, the mode confirmation module 1301, the operation confirmation module 1302, and the trajectory control module 1303 are electrically connected.

Based on the content of the above embodiment, an excavator includes the above excavator trajectory control device.

Specifically, the excavator comprises the excavator track control device, so that the operation of a user on a display device of the excavator in the process of controlling the track of the target action executed by the excavator can be avoided, and the track control of the excavator can be realized through the operation of a target button on a target handle.

The structure and the working process of the excavator trajectory control device can be referred to the above embodiment of the excavator trajectory control device, and are not described herein again.

Fig. 14 illustrates a physical structure diagram of an electronic device, and as shown in fig. 14, the electronic device may include: a processor (processor) 1410, a communication interface (communication interface) 1420, a memory (memory) 1430 and a communication bus 1440, wherein the processor 1410, the communication interface 1420 and the memory 1430 communicate with each other via the communication bus 1440. The processor 1410 may invoke logic instructions in the memory 1430 to perform an excavator trajectory control method comprising: receiving switching operation of a user on a handle of the excavator, responding to the switching operation, selecting a target track mode from a plurality of track modes, and unlocking a specific key corresponding to the target track mode on the handle; receiving the operation of a user on a specific key in a target track mode; and responding to the operation of the specific key, and controlling the track of the target action executed by the excavator.

In addition, the logic instructions in the memory 1430 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the excavator trajectory control method provided by the above methods, the method comprising: receiving a switching operation of a user on a handle of the excavator, responding to the switching operation, selecting a target track mode from a plurality of track modes, and unlocking a specific key corresponding to the target track mode on the handle; receiving the operation of a user on a specific key in a target track mode; and responding to the operation of the specific key, and controlling the track of the target action executed by the excavator.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the excavator trajectory control method provided above, the method comprising: receiving switching operation of a user on a handle of the excavator, responding to the switching operation, selecting a target track mode from a plurality of track modes, and unlocking a specific key corresponding to the target track mode on the handle; receiving the operation of a user on a specific key in a target track mode; and responding to the operation of the specific key, and controlling the track of the target action executed by the excavator.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An excavator trajectory control method is characterized by comprising the following steps:

receiving switching operation of a user on a handle of the excavator, responding to the switching operation, selecting a target track mode from a plurality of track modes, and unlocking a specific key corresponding to the target track mode on the handle; the plurality of trajectory patterns comprises: a flat ground mode, a slope modification mode, a direct pushing mode and a lifting mode;

receiving the operation of a user on the specific key in the target track mode;

2. The excavator trajectory control method according to claim 1, wherein the receiving of the switching operation of the user on the handle of the excavator and the selection of the target trajectory mode from the plurality of trajectory modes specifically include:

receiving the switching operation of the user on a switching key arranged on the handle;

3. The excavator trajectory control method of any one of claims 1 to 2, wherein the trajectory pattern corresponds to specific keys on the handle, and the number of the specific keys is determined according to control requirements of the trajectory pattern.

4. The excavator trajectory control method of claim 3, wherein the receiving of the operation of the specific key by the user in the target trajectory mode specifically includes:

sliding the bucket rod action switch in the specific key;

operating a bucket rod action datum line switch in the specific key;

and adjusting the height of the datum line of the excavator arm action in response to the operation of the arm action datum line switch.

5. The excavator trajectory control method of claim 3, wherein the receiving of the operation of the specific key by the user in the target trajectory mode specifically includes:

operating a movable arm action datum line switch in the specific key;

6. The excavator trajectory control method of claim 3, wherein a specific key corresponding to the trajectory mode is selected by a user from the handle keys according to a use habit, and the unselected keys are in a lock failure state in the target trajectory mode.

7. The excavator trajectory control method of claim 3, further comprising:

receiving a key function setting input of a user;

8. An excavator trajectory control device, comprising:

the mode confirmation module is used for receiving switching operation of a user on a handle of the excavator, responding to the switching operation, selecting a target track mode from a plurality of track modes, and unlocking a specific key corresponding to the target track mode on the handle; the plurality of trajectory patterns comprises: a flat ground mode, a slope modification mode, a direct pushing mode and a lifting mode;

9. An excavator comprising the excavator trajectory control apparatus of claim 8.