CN114809171A - Excavator control method and device and excavator - Google Patents
Excavator control method and device and excavator Download PDFInfo
- Publication number
- CN114809171A CN114809171A CN202210239121.6A CN202210239121A CN114809171A CN 114809171 A CN114809171 A CN 114809171A CN 202210239121 A CN202210239121 A CN 202210239121A CN 114809171 A CN114809171 A CN 114809171A
- Authority
- CN
- China
- Prior art keywords
- control mode
- excavator
- available
- control
- remote control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- 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
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
-
- 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
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
-
- 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
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to the field of control of operating machines, in particular to a control method and a control device for an excavator and the excavator, wherein the method comprises the following steps: obtaining the value of a first zone bit of each control mode; the value of the first flag bit is used for representing whether each control mode is available or not; determining an available control mode with the highest priority in each control mode according to the value of the first zone bit of each control mode and the priority of each control mode; and determining the available control mode with the highest priority as the current control mode of the excavator. Therefore, once the control mode adopted by the excavator at present breaks down, the dynamic switching of the available control modes can be quickly realized, the influence on the operation of the excavator is reduced, and the operation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of control of working machines, in particular to a control method and device of an excavator and the excavator.
Background
At present, the control mode of the excavator is not limited to manual control in a cab of the excavator, and the excavator can be remotely controlled, so that the excavator works under dangerous working conditions and the like, the safety of a driver is guaranteed, and the working environment of the driver is improved. However, regardless of whether the excavator is controlled by a manual control method or a remote control method, the work efficiency of the excavator is affected when the control method currently adopted by the excavator fails.
Disclosure of Invention
The invention provides a control method and a control device for an excavator and the excavator, which are used for overcoming the defect that once a control mode adopted by the excavator at present fails, the operation efficiency of the excavator is influenced in the prior art, realizing the quick and dynamic switching of available control modes, reducing the influence on the operation of the excavator and improving the operation efficiency.
The invention provides an excavator control method, which comprises the following steps:
obtaining the value of a first zone bit of each control mode; the value of the first flag bit is used for representing whether each control mode is available or not; determining an available control mode with the highest priority in each control mode according to the value of the first flag bit of each control mode and the priority of each control mode;
and determining the available control mode with the highest priority as the current control mode of the excavator.
According to an excavator control method provided by the present invention, determining an available control mode with the highest priority in each control mode according to a value of a first flag bit of each control mode and a priority of each control mode includes:
selecting one control mode from the control modes as a control mode of the current processing according to the order of the priority of the control modes from high to low, and executing the following processing operations on the control mode of the current processing:
if the value characterization of the first flag bit of the currently processed control mode is determined to be available, taking the currently processed control mode as the available control mode with the highest priority, and stopping selecting the control mode from the control modes;
and if the value of the first flag bit of the currently processed control mode is determined to indicate that the characterization is unavailable and the control mode in each control mode is not selected completely, continuing to select the control mode from each control mode.
According to the excavator control method provided by the invention, the excavator is also provided with a second zone bit;
the determining the available control mode with the highest priority as the current control mode of the excavator comprises:
if the available control mode with the highest priority is determined in the control modes, assigning the second zone bit to be the value of the first zone bit of the available control mode with the highest priority, and determining the current control mode of the excavator to be the available control mode with the highest priority;
the excavator control method further includes:
and if the available control mode with the highest priority is not determined in the control modes, assigning the second zone bit to a preset value, and determining that the excavator does not execute any control mode currently.
According to the excavator control method provided by the invention, the excavator comprises a manual control mode and a remote control mode, and the priority of the manual control mode is higher than that of the remote control mode.
According to the excavator control method provided by the invention, the remote control modes comprise a first remote control mode, a second remote control mode and a third remote control mode;
the first remote control mode is a mode for receiving operation information sent by remote control equipment based on a wireless local area network;
the second remote control mode is a mode for receiving operation information sent by the remote control equipment based on the mobile network;
the third remote control mode is a mode in which collected work environment information is transmitted to the remote control device based on the mobile network and operation information transmitted by the remote control device is received.
According to the excavator control method provided by the invention, the priority of the first remote control mode, the priority of the second remote control mode and the priority of the third remote control mode are sequentially reduced.
According to the excavator control method provided by the invention, the method further comprises the following steps:
and updating the value of the first zone bit of each control mode according to the switch state of each control mode.
The present invention also provides an excavator control device comprising:
the acquisition module is used for acquiring the value of the first zone bit of each control mode; the value of the first flag bit is used for representing whether each control mode is available or not; determining an available control mode with the highest priority in each control mode according to the value of the first flag bit of each control mode and the priority of each control mode;
and the determining module is used for determining the available control mode with the highest priority as the current control mode of the excavator.
The invention also provides an excavator, which comprises the excavator control device.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the excavator control method.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements an excavator control method as in any one of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the excavator control method as any one of the above.
The excavator control method provided by the invention is applied to excavators with various control modes, and the values of the first flag bits of the control modes can be obtained and used for representing whether the control modes are available or not, so that the available control mode with the highest priority in the control modes can be determined according to the values of the first flag bits of the control modes and the priorities of the control modes, the available control mode with the highest priority can be determined in real time, and once the control mode adopted by the excavator currently has a fault, the dynamic switching of the available control modes can be rapidly realized, so that the available control mode with the highest priority is switched to, the influence on the excavator operation is reduced, and the operation efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in 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 it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow diagram illustrating an excavator control method according to one embodiment of the present disclosure;
FIG. 2 is a schematic diagram of an application scenario provided by the present invention;
FIG. 3 is a second flowchart of the excavator control method according to the present invention;
FIG. 4 is a schematic structural diagram of an excavator control apparatus provided by the present invention;
fig. 5 is a schematic structural diagram of an electronic device provided in 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.
The excavator control method, device and excavator of the present invention are described below with reference to fig. 1 to 5.
Fig. 1 is a flowchart illustrating an excavator control method according to an embodiment of the present invention. As shown in fig. 1, the present embodiment provides an excavator control method, which is applied to an excavator with multiple control modes, and the method can be executed by the excavator or software and/or hardware therein, and the method at least includes:
step 101, obtaining the value of a first zone bit of each control mode; the value of the first flag bit is used for representing whether each control mode is available or not; and determining the available control mode with the highest priority in each control mode according to the value of the first flag bit of each control mode and the priority of each control mode.
The plurality of control modes may include a manual control mode and a remote control mode, among others.
The manual control mode is a mode in which the excavator is directly and manually operated.
The remote control mode is a mode for remotely controlling the excavator. Illustratively, the remote control modes may include, but are not limited to, a first remote control mode, a second remote control mode, and a third remote control mode.
The first remote control mode is a mode in which operation information transmitted by the remote control device is received based on the wireless local area network. The operation information is used to control the excavator to perform work. The wireless local area network may be, but is not limited to, a Wi-Fi network or an Ultra Wide Band (UWB) network, etc. The excavator can be provided with a communication device, and the communication device comprises a wireless network transceiver module which is used for providing a wireless local area network and receiving signals from the wireless local area network. The remote control device can be a remote control handle, and can also be a mobile terminal such as a mobile phone. An Application (APP) is installed in the mobile terminal. The remote control equipment can be directly connected with the excavator through the wireless local area network, the remote control equipment sends the operation information to the wireless network transceiver module of the communication equipment in the excavator through the wireless local area network, and then the wireless network transceiver module sends the operation information to the controller of the excavator, so that remote control is realized. Generally, the wireless lan covers a limited distance, and thus the first remote control mode is suitable for a scenario in which remote control is performed within a certain distance range on the site where the excavator is located.
The second remote control mode is a mode in which operation information transmitted by the remote control device is received based on the mobile network. The Mobile network may be a cellular network, and may be, but not limited to, a fourth Generation Mobile Communication Technology (4G), a fifth Generation Mobile Communication Technology (5G), a Global Positioning System (GPS), or the like. The communication equipment in the excavator further comprises a mobile network transceiver module, and the mobile network transceiver module can be connected with a mobile network base station. The remote control device can also be connected with a mobile network base station, and can be a remote control handle or a mobile terminal such as a mobile phone. An Application (APP) is installed in the mobile terminal. The remote control equipment can be connected with the excavator through a mobile network, the remote control equipment sends the operation information to a mobile network transceiver module of communication equipment in the excavator through the mobile network, and then the mobile network transceiver module sends the operation information to a controller of the excavator, so that remote control is realized. In the area covered by the mobile network signal, remote control can be carried out through the second remote control mode.
The third remote control mode is a mode in which collected work environment information is transmitted to the remote control device based on the mobile network and operation information transmitted by the remote control device is received. Likewise, the communication device in the excavator may include a mobile network transceiver module capable of connecting to a mobile network base station. The remote control device can comprise a communication device, wherein the communication device comprises a mobile network transceiver module which can be connected with a mobile network base station. The remote control device can be connected with the excavator through a mobile network. In implementation, the excavator may be provided with an audiovisual information acquisition module, and the audiovisual information acquisition module is used for acquiring the operation environment information of the excavator. The remote control device may also have a remote cab and an audio-visual display. The audio-visual information acquisition module in the excavator acquires the operation environment information through the camera and the radio and sends the operation environment information to the audio-visual display device of the remote control equipment through the mobile network for playing so that a driver can see the operation environment of the site where the excavator is located and carry out remote control operation. The third remote control mode is suitable for a scene where it is inconvenient to see the work environment on the site where the excavator is located.
In practical application, the excavator can comprise a plurality of remote control modes in a plurality of control modes, the remote control modes can be flexibly used, and the applicability is high.
Wherein the first flag bit of the control mode is used for storing a value for indicating whether the control mode is available or not. A corresponding first flag bit may be set in advance for each control mode, for example, the first flag bit of the manual control mode may be set to a, where a is 1, and the flag bit indicates that the manual control mode is available, and a is 0, and indicates that the manual control mode is not available; a first flag bit of the first remote control mode may be set to b, where b is 2, to indicate that the first remote control mode is available, and b is 0, to indicate that the first remote control mode is not available; a first flag bit of the second remote control mode may be set to c, where c is 3, which indicates that the second remote control mode is available, and c is 0, which indicates that the second remote control mode is not available; the first flag bit of the third remote control mode may be set to d, where d is 4, which indicates that the third remote control mode is available, and d is 0, which indicates that the third remote control mode is not available.
In an implementation, the value of the first flag bit of each control mode may be updated according to the switch state of each control mode.
When the switch of the manual control mode is turned on, the manual control mode is determined to be available, and when the switch of the manual control mode is turned off, the manual control mode is determined to be unavailable, and based on the determination, the value of the first flag bit of the manual control mode can be updated. For example, when the manual control mode fails, the switch of the manual control mode is turned off, and the manual control mode is not available, at this time, the value of the first flag bit of the manual control mode may be updated.
When the excavator is connected with the remote control equipment based on the network corresponding to the remote control mode, the excavator can communicate with the corresponding remote control equipment in the remote control mode, and the remote control mode is provided with a basis of remote control. For example, if the adopted remote control mode has a fault, for example, the mobile network signal is unstable, the remote control device can be accessed through other remote control modes, and in these cases, the value of the first flag bit of the remote control mode can be updated.
In the implementation, the value of the first flag bit of each control mode can be obtained in real time, and then the available control mode with the highest priority in each control mode is determined in real time according to the value of the first flag bit of each control mode and the priority of each control mode, so that the dynamic switching of the control modes is realized quickly.
And 102, determining the available control mode with the highest priority as the current control mode of the excavator.
According to the excavator control method provided by the embodiment, the value of the first flag bit of each control mode can be obtained in real time, and the value of each first flag bit can represent whether each control mode is available, so that the available control mode with the highest priority in each control mode can be determined according to the value of the first flag bit of each control mode obtained in real time and the priority of each control mode.
It is understood that, in the case where the current control mode of the excavator is determined, the excavator may be controlled to perform work based on the current control mode of the excavator.
Based on the above embodiment, the excavator further has a second flag bit; correspondingly, the determining the available control mode with the highest priority as the current control mode of the excavator may include: and if the available control mode with the highest priority is determined in the control modes, assigning the second zone bit to the value of the first zone bit of the available control mode with the highest priority, and determining the current control mode of the excavator to be the available control mode with the highest priority.
The second flag bit is used to store a determination result for determining the available control mode with the highest priority among the control modes. In an implementation, the second Flag may be preset, for example, the second Flag is Flag.
And if the available control mode with the highest priority is determined, assigning the second zone bit as the value of the first zone bit of the available control mode with the highest priority, wherein the value of the first zone bit of the available control mode with the highest priority is the value for representing the availability of the control mode. For example, if the available control mode with the highest priority is determined to be the manual control mode, the Flag is 1, if the available control mode with the highest priority is determined to be the first remote control mode, the Flag is 2, if the available control mode with the highest priority is determined to be the second remote control mode, the Flag is 3, and if the available control mode with the highest priority is determined to be the third remote control mode, the Flag is 4.
Therefore, the available control mode with the highest priority can be quickly obtained according to the value of the second zone bit.
Based on this, the excavator control method of the present embodiment may further include: and if the available control mode with the highest priority is not determined in the control modes, assigning the second zone bit to a preset value, and determining that the excavator does not execute any control mode currently.
The preset value may be set according to actual conditions, for example, the preset value may be set to 0, that is, when Flag is equal to 0, it is characterized that there is no available control mode at present, which is also referred to as an idle control mode.
In the case of the idle control mode, if any control mode is not executed, the control of the excavator for work may be stopped. Therefore, when the excavator fails and cannot work, the operation mode can be automatically switched to the idle control mode, so that the excavator is stopped to be controlled to work, and the safety of equipment and personnel is ensured.
Based on the above embodiment, the determining, according to the value of the first flag bit of each control mode and the priority of each control mode, an available control mode with the highest priority in each control mode may include:
selecting one control mode from the control modes as a control mode of the current processing according to the order of the priority of the control modes from high to low, and executing the following processing operations on the control mode of the current processing:
if the value characterization of the first flag bit of the currently processed control mode is determined to be available, taking the currently processed control mode as the available control mode with the highest priority, and stopping selecting the control mode from the control modes;
and if the value of the first flag bit of the currently processed control mode is determined to indicate that the characterization is unavailable and the control mode in each control mode is not selected completely, continuing to select the control mode from each control mode.
In addition, if the value of the first flag bit of the control mode currently processed is determined to indicate that the control mode is unavailable and the control mode in each control mode is selected, determining that the excavator does not have any available control mode currently.
In this embodiment, the control modes are processed according to the order of priority, and once an available control mode is determined, a subsequent selection process of the control mode is not required, so that the available control mode can be determined quickly and accurately.
Of course, the available control mode with the highest priority among the control modes may be determined in other manners, for example, first determining whether each control mode is available, and then selecting the available control mode with the highest priority from the available control modes.
Based on the above embodiment, the priority of the manual control mode is higher than the priority of the remote control mode. In consideration of safety, the manual control mode has the highest priority, namely the priority of the manual control mode is higher than that of the remote control mode, when a switch of the manual control mode is turned on, the manual control mode is preferentially adopted to control the excavator, a driver reasonably controls the excavator according to actual conditions to ensure operation safety, and when the switch of the manual control mode is not turned on, the remote control mode is adopted again, so that the operation safety is improved.
Based on the above embodiments, it is exemplary that the priorities of the first remote control mode, the second remote control mode, and the third remote control mode are sequentially lowered.
Considering that the first remote control mode is suitable for a scene of performing remote control within a certain distance range on the site of the excavator, and an actual situation that no mobile network signal or a network signal is poor may exist in an operation environment of the excavator, the audio-visual information acquisition module or the remote cab may also have a fault, at this time, if the excavator can be directly connected with the remote control equipment through the wireless local area network, stable remote control operation can still be realized, and therefore, the first remote control mode is preferentially adopted, the remote control effect is better, namely, the priority of the first remote control mode is set to be higher than the priorities of the second remote control mode and the third remote control mode.
When the distance between the excavator and the remote control equipment is long, the distance exceeds the coverage range of the wireless local area network, and if the excavator can be connected with a mobile network, the excavator can be connected with the remote control equipment through the mobile network, so that remote control operation is performed.
When the remote control device is not convenient to see the site of the excavator, a third remote control mode can be adopted.
The excavator control method provided by the embodiment of the invention is described in more detail below by taking a specific application scenario as an example.
In this embodiment, the excavator has four control modes, including a manual control mode, a first remote control mode, a second remote control mode, and a third remote control mode, with priorities from high to low.
As shown in fig. 2, the excavator includes a controller and a communication device. The controller may receive operation information of the manual operation (i.e., manual operation information) in the manual control mode.
The communication equipment comprises a wireless network transceiver module and a mobile network transceiver module.
In the first remote control mode, the remote control equipment is a mobile terminal, the mobile terminal is directly connected with the excavator through a Wi-Fi network, the remote control equipment sends operation information to a wireless network transceiver module of communication equipment in the excavator through Wi-Fi signals, and then the wireless network transceiver module sends the operation information to a controller of the excavator, so that remote control is achieved. Based on this, the first remote control mode is also called mobile terminal Wi-Fi remote control mode.
In the second remote control mode, the remote control equipment is a mobile terminal, the mobile terminal can be connected with a mobile network base station and is connected with the excavator through a 4G or 5G network, the remote control equipment sends the operation information to a mobile network transceiver module of the communication equipment in the excavator through the 4G or 5G network, and then the mobile network transceiver module sends the operation information to a controller of the excavator, so that remote control is achieved. Based on this, the second remote control mode is also called a mobile terminal network remote control mode.
And in a third remote control mode, an audio-visual information acquisition module can be arranged in the excavator, the remote control equipment comprises a remote cab, an audio-visual display device and communication equipment, the communication equipment of the remote control equipment can be connected with the mobile network base station and is connected with the excavator through a 4G or 5G network, the remote control equipment sends the operation information to a mobile network transceiver module of the communication equipment in the excavator through the 4G or 5G network, and then the mobile network transceiver module sends the operation information to a controller of the excavator, so that remote control is realized. In this case, the remote control device is also referred to as a central control terminal, and based on this, the third remote control mode is also referred to as a central control terminal network remote control mode.
Based on this, the control method of the excavator is executed by the controller of the excavator, as shown in fig. 3, specifically as follows:
And 305, judging whether the value of the first zone bit of the Wi-Fi remote control mode of the mobile terminal is available, if so, executing step 306, and otherwise, executing step 307.
And step 306, assigning the second zone bit as a value representing the first zone bit available in the Wi-Fi remote control mode of the mobile terminal, and executing step 312.
And 307, judging whether the first zone bit of the network remote control mode of the mobile terminal is available, if so, executing a step 308, otherwise, executing a step 309.
And 308, assigning the second zone bit as a value representing the first zone bit available in the network remote control mode of the mobile terminal, and executing step 312.
And step 310, assigning the second zone bit as a value representing the first zone bit available for the centralized control end network remote control mode, and executing step 312.
And 311, assigning the second flag bit to a preset value, and executing 312.
And step 312, determining the current control mode of the excavator or determining that the excavator does not execute any control mode currently based on the value of the second flag bit, and executing step 302.
Specifically, if the value of the second flag bit is the value of the first flag bit which characterizes the availability of the manual control mode, the current control mode is the manual control mode, if the value of the second flag bit is the value of the first flag bit which characterizes the availability of the Wi-Fi remote control mode of the mobile terminal, the current control mode is the Wi-Fi remote control mode of the mobile terminal, if the value of the second flag bit is the value of the first flag bit which characterizes the availability of the network remote control mode of the mobile terminal, the current control mode is the network remote control mode of the mobile terminal, if the value of the second flag bit is the value of the first flag bit which characterizes the availability of the network remote control mode of the centralized control terminal, the current control mode is the network remote control mode of the centralized control terminal, and if the value of the second flag bit is the preset value, no control mode is executed currently, and the current control mode is the empty control mode.
In the embodiment, the excavator can be dynamically switched under four control modes, the operation requirements under various working conditions, communication conditions or faults are met, the manual control mode and the various remote control modes can be freely switched, the excavator is flexible to use and high in applicability, and the excavator has important application significance in the intellectualization of the excavator. Under the conditions of no mobile network environment or unstable network signal environment, damage of an audio-visual information acquisition module or fault of a remote cab, remote control operation can still be realized by switching a remote control mode to a Wi-Fi direct control mode, and the safe switching of the control mode of the excavator is realized. When the excavator breaks down and cannot be remotely controlled, the remote control mode can be automatically switched to the idle control mode, and the safety of equipment and personnel is guaranteed.
The excavator control device provided by the invention is described below, and the excavator control device described below and the excavator control method described above can be correspondingly referred to each other.
Fig. 4 is a schematic structural diagram of an excavator control device according to the present invention.
As shown in fig. 4, the present embodiment provides an excavator control apparatus including:
an obtaining module 401, configured to obtain values of first flag bits of each control mode; the value of the first flag bit is used for representing whether each control mode is available or not; determining an available control mode with the highest priority in each control mode according to the value of a first flag bit of each control mode and the priority of each control mode;
a determining module 402, configured to determine the available control mode with the highest priority as a current control mode of the excavator.
Based on the above embodiments, the determining module is specifically configured to:
selecting one control mode from the control modes as a control mode of the current processing according to the order of the priority of the control modes from high to low, and executing the following processing operations on the control mode of the current processing:
if the value characterization of the first flag bit of the currently processed control mode is determined to be available, taking the currently processed control mode as the available control mode with the highest priority, and stopping selecting the control mode from the control modes;
and if the value of the first flag bit of the currently processed control mode is determined to indicate that the characterization is unavailable and the control mode in each control mode is not selected completely, continuing to select the control mode from each control mode.
Based on the above embodiment, the excavator further has a second flag bit;
a determination module specifically configured to:
if the available control mode with the highest priority is determined in the control modes, assigning the second zone bit to be the value of the first zone bit of the available control mode with the highest priority, and determining the current control mode of the excavator to be the available control mode with the highest priority;
the determination module is further configured to:
and if the available control mode with the highest priority is not determined in the control modes, assigning the second zone bit to a preset value, and determining that the excavator does not execute any control mode currently.
Based on the above embodiment, the excavator includes the manual control mode and the remote control mode, and the priority of the manual control mode is higher than that of the remote control mode.
Based on the above embodiment, the remote control modes include the first remote control mode, the second remote control mode, and the third remote control mode;
the first remote control mode is a mode for receiving operation information sent by remote control equipment based on a wireless local area network;
the second remote control mode is a mode for receiving operation information sent by the remote control equipment based on the mobile network;
the third remote control mode is a mode in which collected work environment information is transmitted to the remote control device based on the mobile network and operation information transmitted by the remote control device is received.
Based on the above embodiment, the priorities of the first remote control mode, the second remote control mode, and the third remote control mode are sequentially lowered.
Based on the above embodiment, further include:
and the updating module is used for updating the value of the first zone bit of each control mode according to the switch state of each control mode.
The invention further provides an excavator, which comprises a controller, wherein the controller is used for realizing the excavator control method in any one of the above embodiments.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a method of excavator control, the method comprising:
obtaining the value of a first zone bit of each control mode; the value of the first flag bit is used for representing whether each control mode is available or not; determining an available control mode with the highest priority in each control mode according to the value of the first flag bit of each control mode and the priority of each control mode;
and determining the available control mode with the highest priority as the current control mode of the excavator.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. 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: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
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 control method provided by the above methods, the method comprising:
acquiring the value of a first zone bit of each control mode; the value of the first flag bit is used for representing whether each control mode is available or not; determining an available control mode with the highest priority in each control mode according to the value of the first flag bit of each control mode and the priority of each control mode;
and determining the available control mode with the highest priority as the current control mode of the excavator.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform the excavator control method provided above, the method comprising:
obtaining the value of a first zone bit of each control mode; the value of the first flag bit is used for representing whether each control mode is available or not; determining an available control mode with the highest priority in each control mode according to the value of the first flag bit of each control mode and the priority of each control mode;
and determining the available control mode with the highest priority as the current control mode of the excavator.
The invention also provides an excavator, which comprises the excavator control device.
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 (10)
1. An excavator control method, comprising:
obtaining the value of a first zone bit of each control mode; the value of the first flag bit is used for representing whether each control mode is available or not; determining an available control mode with the highest priority in each control mode according to the value of the first flag bit of each control mode and the priority of each control mode;
and determining the available control mode with the highest priority as the current control mode of the excavator.
2. The excavator control method of claim 1, wherein the determining an available control mode with a highest priority among the control modes according to the value of the first flag bit of each control mode and the priority of each control mode comprises:
selecting one control mode from the control modes as a control mode of the current processing according to the order of the priority of the control modes from high to low, and executing the following processing operations on the control mode of the current processing:
if the value characterization of the first flag bit of the currently processed control mode is determined to be available, taking the currently processed control mode as the available control mode with the highest priority, and stopping selecting the control mode from the control modes;
and if the value of the first flag bit of the currently processed control mode is determined to indicate that the characterization is unavailable and the control mode in each control mode is not selected completely, continuing to select the control mode from each control mode.
3. The excavator control method according to claim 1 or 2, wherein the excavator further has a second flag bit;
the determining the available control mode with the highest priority as the current control mode of the excavator comprises:
if the available control mode with the highest priority is determined in the control modes, assigning the second zone bit to be the value of the first zone bit of the available control mode with the highest priority, and determining the current control mode of the excavator to be the available control mode with the highest priority;
the excavator control method further includes:
and if the available control mode with the highest priority is not determined in the control modes, assigning the second zone bit to a preset value, and determining that the excavator does not execute any control mode currently.
4. The excavator control method according to claim 1 or 2, wherein the excavator includes a manual control mode and a remote control mode, and the manual control mode has a higher priority than the remote control mode.
5. The excavator control method of claim 4 wherein the remote control modes include a first remote control mode, a second remote control mode and a third remote control mode;
the first remote control mode is a mode for receiving operation information sent by remote control equipment based on a wireless local area network;
the second remote control mode is a mode for receiving operation information sent by the remote control equipment based on the mobile network;
the third remote control mode is a mode in which collected work environment information is transmitted to the remote control device based on the mobile network and operation information transmitted by the remote control device is received.
6. The shovel control method according to claim 5, wherein the priority of the first remote control mode, the second remote control mode, and the third remote control mode is sequentially lowered.
7. The excavator control method of claim 1, further comprising:
and updating the value of the first zone bit of each control mode according to the switch state of each control mode.
8. An excavator control apparatus, comprising:
the acquisition module is used for acquiring the value of the first zone bit of each control mode; the value of the first flag bit is used for representing whether each control mode is available or not; determining an available control mode with the highest priority in each control mode according to the value of the first flag bit of each control mode and the priority of each control mode;
and the determining module is used for determining the available control mode with the highest priority as the current control mode of the excavator.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the excavator control method of any one of claims 1 to 7 when executing the computer program.
10. An excavator comprising an excavator control apparatus according to claim 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210239121.6A CN114809171B (en) | 2022-03-11 | 2022-03-11 | Excavator control method and device and excavator |
| PCT/CN2023/074366 WO2023169109A1 (en) | 2022-03-11 | 2023-02-03 | Excavator control method and apparatus, and excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210239121.6A CN114809171B (en) | 2022-03-11 | 2022-03-11 | Excavator control method and device and excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114809171A true CN114809171A (en) | 2022-07-29 |
| CN114809171B CN114809171B (en) | 2023-07-21 |
Family
ID=82528891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210239121.6A Active CN114809171B (en) | 2022-03-11 | 2022-03-11 | Excavator control method and device and excavator |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114809171B (en) |
| WO (1) | WO2023169109A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023169109A1 (en) * | 2022-03-11 | 2023-09-14 | 上海华兴数字科技有限公司 | Excavator control method and apparatus, and excavator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1719355A (en) * | 2005-07-28 | 2006-01-11 | 谭启仁 | Method of single chip computer using marker position change for multi control modes and peripheral structure |
| KR20100048637A (en) * | 2008-10-31 | 2010-05-11 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | A construction vehicle with automatic-working function |
| US20150240451A1 (en) * | 2015-05-12 | 2015-08-27 | Caterpillar Sarl | Method For Controlling A Machine |
| CN108797669A (en) * | 2018-06-20 | 2018-11-13 | 清华大学 | A kind of autonomous 3D excavations construction robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6336067B1 (en) * | 1998-08-12 | 2002-01-01 | Hitachi Construction Machinery Co., Ltd. | Electronic control system and control device for construction machine |
| CN111074964A (en) * | 2019-12-18 | 2020-04-28 | 中联重科股份有限公司 | Excavator control system, method and equipment capable of switching control modes |
| WO2021237510A1 (en) * | 2020-05-27 | 2021-12-02 | 深圳市大疆创新科技有限公司 | Data decompression method and system, and processor and computer storage medium |
| CN112880117B (en) * | 2021-01-19 | 2022-04-22 | 珠海格力电器股份有限公司 | Air conditioner time-sharing and grading control method and device, electronic equipment and storage medium |
| CN113359535B (en) * | 2021-06-30 | 2022-11-29 | 潍柴动力股份有限公司 | Excavator action priority control method and device, excavator and storage medium |
| CN114809171B (en) * | 2022-03-11 | 2023-07-21 | 上海华兴数字科技有限公司 | Excavator control method and device and excavator |
-
2022
- 2022-03-11 CN CN202210239121.6A patent/CN114809171B/en active Active
-
2023
- 2023-02-03 WO PCT/CN2023/074366 patent/WO2023169109A1/en unknown
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1719355A (en) * | 2005-07-28 | 2006-01-11 | 谭启仁 | Method of single chip computer using marker position change for multi control modes and peripheral structure |
| KR20100048637A (en) * | 2008-10-31 | 2010-05-11 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | A construction vehicle with automatic-working function |
| US20150240451A1 (en) * | 2015-05-12 | 2015-08-27 | Caterpillar Sarl | Method For Controlling A Machine |
| CN108797669A (en) * | 2018-06-20 | 2018-11-13 | 清华大学 | A kind of autonomous 3D excavations construction robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023169109A1 (en) * | 2022-03-11 | 2023-09-14 | 上海华兴数字科技有限公司 | Excavator control method and apparatus, and excavator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114809171B (en) | 2023-07-21 |
| WO2023169109A1 (en) | 2023-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107666693B (en) | Method, terminal and the base station of end path transfer, the conversion of controlling terminal state | |
| CN110213812B (en) | Energy-saving control method, energy-saving control device, network equipment and storage medium | |
| EP2519055A1 (en) | Handover between a cellular network and a wireless LAN | |
| US8997175B2 (en) | Wireless LAN communication terminal and communication control method thereof in wireless LAN system for the same | |
| CN109803279B (en) | Slice management method, base station and terminal | |
| CN111542081B (en) | Communication switching method and device and Internet of things communication module | |
| JP2017195493A (en) | Mobile communication system | |
| CN111314968B (en) | Method for improving public and private network switching performance, terminal equipment and storage medium | |
| CN103260216B (en) | Radio communication device and carry out the method for radio communication | |
| CN113965923B (en) | Information processing method, device, equipment and readable storage medium | |
| CN114809171A (en) | Excavator control method and device and excavator | |
| CN112469005B (en) | Method, device, equipment and computer readable storage medium for reducing power consumption of 5G equipment | |
| CN107396409A (en) | Wireless terminal frequency band switching method and wireless router | |
| CN112584437B (en) | Data distribution method and device | |
| US9756606B2 (en) | Wireless communication device | |
| CN107277873A (en) | Method for switching network, device, mobile terminal and computer-readable recording medium | |
| CN108307371A (en) | Earthquake Emergency Commanding System based on the Big Dipper | |
| US9980191B2 (en) | Interference information processing method and device | |
| CN107295602B (en) | A kind of system and its implementation controlling WiFi network connection priority | |
| JP7144467B2 (en) | MOBILE TERMINAL TEST SYSTEM, MOBILE TERMINAL TEST APPARATUS, AND MOBILE TERMINAL TEST SYSTEM CONTROL METHOD | |
| JP4585400B2 (en) | Mobile phone | |
| JP2017525294A (en) | Method and apparatus for controlling active set updates | |
| CN101583179A (en) | Method for controlling transmission power of dual standby mode mobile terminal | |
| CN106534504A (en) | Electronic device control method and device, and electronic device | |
| US10694553B2 (en) | Connection method of communication device and the communication device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |