CN114809171B - Excavator control method and device and excavator - Google Patents

Excavator control method and device and excavator Download PDF

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Publication number
CN114809171B
CN114809171B CN202210239121.6A CN202210239121A CN114809171B CN 114809171 B CN114809171 B CN 114809171B CN 202210239121 A CN202210239121 A CN 202210239121A CN 114809171 B CN114809171 B CN 114809171B
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China
Prior art keywords
control mode
excavator
available
control
value
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CN202210239121.6A
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Chinese (zh)
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CN114809171A (en
Inventor
邢华
牛洪科
李翔
罗建华
袁爱进
闫鑫
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Shanghai Huaxing Digital Technology Co Ltd
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Shanghai Huaxing Digital Technology Co Ltd
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Priority to CN202210239121.6A priority Critical patent/CN114809171B/en
Publication of CN114809171A publication Critical patent/CN114809171A/en
Priority to PCT/CN2023/074366 priority patent/WO2023169109A1/en
Application granted granted Critical
Publication of CN114809171B publication Critical patent/CN114809171B/en
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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]

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  • 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 working machinery, in particular to an excavator control method and device and an excavator, wherein the method comprises the following steps: acquiring a 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; 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 available control mode with the highest priority is determined as the current control mode of the excavator. Therefore, once the control mode adopted by the excavator at present fails, the dynamic switching of the available control mode can be realized rapidly, the influence on the operation of the excavator is reduced, and the operation efficiency is improved.

Description

Excavator control method and device and excavator
Technical Field
The present invention relates to the field of control technologies of working machines, and in particular, to a method and an apparatus for controlling an excavator, and an 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 as to work under dangerous working conditions and the like, ensure the safety of a driver and improve the working environment of the driver. However, whether the excavator is controlled by a manual control or a remote control, the working efficiency of the excavator is affected if the control mode currently adopted by the excavator fails.
Disclosure of Invention
The invention provides an excavator control method and device and an excavator, which are used for solving the defect that the working efficiency of the excavator is affected once the current control mode adopted by the excavator fails in the prior art, realizing the rapid dynamic switching of available control modes, reducing the influence on the operation of the excavator and improving the working efficiency.
The invention provides an excavator control method, which comprises the following steps:
acquiring a 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; determining an available control mode with 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 the excavator control method provided by the invention, the available control mode with the highest priority in the control modes is determined according to the value of the first flag bit of each control mode and the priority of each control mode, and the method comprises the following steps:
selecting one control mode from the control modes as a control mode of the current process in order of priority of the control modes from high to low, and executing the following processing operation on the control mode of the current process:
if the value 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;
if the value of the first flag bit of the currently processed control mode is determined to be unavailable and the control mode in each control mode is not selected, continuing to select the control mode from the control modes.
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 the following steps:
if the available control mode with the highest priority is determined in the control modes, assigning the second flag bit to be the value of the first flag 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 comprises the following steps:
if the available control mode with the highest priority is not determined in the control modes, the second flag bit is assigned to be a preset value, and it is determined that any control mode is not executed currently by the excavator.
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 device based on a mobile network;
the third remote control mode is a mode in which collected operation 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 priorities of the first remote control mode, the second remote control mode and the third remote control mode are sequentially reduced.
The excavator control method provided by the invention further comprises the following steps:
and updating the value of the first flag bit of each control mode according to the switching state of each control mode.
The invention also provides an excavator control device, which comprises:
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; determining an available control mode with 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 electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the excavator control method when executing the computer program.
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 described 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 a method of controlling an excavator as described in any one of the above.
The excavator control method provided by the invention is applied to an excavator with multiple control modes, because the value of the first zone bit of each control mode can be obtained, the value of each first zone bit is used for representing whether each control mode is available, based on the value of the first zone bit of each control mode and the priority of each control mode, the available control mode with the highest priority in each control mode can be determined, thus, the available control mode with the highest priority in the current can be dynamically determined in real time, and once the currently adopted control mode of the excavator fails, the dynamic switching of the available control mode can be quickly realized, so that the excavator can be switched to the available control mode with the highest priority, the influence on the operation of the excavator is reduced, and the operation efficiency is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of an excavator control method provided by the present invention;
fig. 2 is a schematic view of an application scenario provided by the present invention;
FIG. 3 is a second flow chart of the excavator control method provided by the present invention;
FIG. 4 is a schematic view of the structure of the excavator control device provided by the present invention;
fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The excavator control method and device and the excavator of the present invention are described below with reference to fig. 1 to 5.
Fig. 1 is a schematic flow chart of an excavator control method provided by the invention. As shown in fig. 1, the present embodiment provides an excavator control method, which is applied to an excavator having a plurality of 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 a 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; and determining the available control mode with the highest priority in the control modes 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 of direct manual operation on the excavator.
The remote control mode is a mode of remotely controlling the excavator. By way of example, the remote control mode may include, but is 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 from the remote control device is received based on the wireless lan. The operation information is used for controlling 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. A communication device may be provided in the excavator and include a wireless network transceiver module 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 or a mobile terminal such as a mobile phone. An Application (APP) is installed in the mobile terminal. The remote control device can be directly connected with the excavator through the wireless local area network, the remote control device sends the operation information to a wireless network transceiver module of communication equipment in the excavator through the wireless local area network, and then the wireless network transceiver module sends the operation information to a controller of the excavator, so that remote control is realized. The wireless local area network generally has limited coverage distance, so the first remote control mode is suitable for a scene of remote control in a certain distance range of the site where the excavator is located.
The second remote control mode is a mode for receiving operation information transmitted from the remote control device based on the mobile network. The mobile network herein may be a cellular network, and may be, but is not limited to, fourth generation mobile communication technology (4th Generation Mobile Communication Technology,4G), fifth generation mobile communication technology (5th Generation Mobile Communication Technology,5G), or global positioning system (Global Positioning System, GPS), among others. The communication device in the excavator further comprises a mobile network transceiver module capable of connecting to 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 device can be connected with the excavator through a mobile network, the remote control device sends 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 areas covered by the mobile network signals, the remote control can be performed through a 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 from the remote control device is received. Likewise, the communication devices in the excavator may include a mobile network transceiver module that is capable of connecting to a mobile network base station. The remote control device may comprise a communication device comprising a mobile network transceiver module capable of interfacing with a mobile network base station. The remote control device may be connected to the excavator through a mobile network. In the implementation, an audio-visual information acquisition module can be arranged in the excavator, and the audio-visual information acquisition module is used for acquiring the operation environment information of the excavator. The remote control device can also be provided with a remote cab and an audio-visual display device. 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 remotely control the operation, the remote control equipment sends the operation information to the mobile network transceiver module of the communication equipment in the excavator through the mobile network, and then the mobile network transceiver module sends the operation information to the controller of the excavator to realize remote control. The third remote control mode is adapted to a scene in which it is not convenient to see the work environment of the site where the excavator is located.
In practical application, the plurality of control modes of the excavator can comprise a plurality of remote control modes, so that the plurality of remote control modes can be flexibly used, and the applicability is strong.
Wherein the first flag bit of the control pattern is used to store a value that characterizes whether the control pattern is available. 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, a=1, indicating that the manual control mode is available, a=0, indicating that the manual control mode is unavailable; a first flag bit of the first remote control mode can be set to b, b=2, which indicates that the first remote control mode is available, and b=0, which indicates that the first remote control mode is unavailable; a first flag bit of the second remote control mode can be set to be c, c=3, which indicates that the second remote control mode is available, and c=0, which indicates that the second remote control mode is unavailable; the first flag bit of the third remote control mode may be set to d, d=4, indicating that the third remote control mode is available, and d=0, indicating that the third remote control mode is not available.
In implementation, the value of the first flag bit of each control mode may be updated according to the on-off state of each control mode.
When the switch of the manual control mode is on, the manual control mode is determined to be available, and when the switch of the manual control mode is 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 which time the value of the first flag bit of the manual control mode may be updated.
When the excavator establishes connection 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 determined to be on, when the connection is disconnected, the switch of the remote control mode is determined to be off, and the remote control mode is not available, so that the value of the first zone bit of the remote control mode can be updated based on the connection. For example, if the adopted remote control mode fails, such as unstable mobile network signals, 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 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 rapidly.
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, the values of the first zone bits of the control modes can be obtained in real time, the values of the first zone bits can represent whether the control modes are available or not, based on the values of the first zone bits of the control modes and the priorities of the control modes, the available control mode with the highest priority in the control modes can be determined according to the values of the first zone bits of the control modes obtained in real time, and therefore the available control mode with the highest priority in the control modes can be dynamically determined in real time, and once the control mode currently adopted by the excavator fails, dynamic switching of the available control mode can be quickly achieved, so that the influence on the operation of the excavator is reduced, and the operation efficiency is improved.
It will be appreciated that in the event that the current control mode of the excavator is determined, then 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 therein; correspondingly, the determining the available control mode with the highest priority as the current control mode of the excavator, and the specific implementation manner of the method can include: if the available control mode with the highest priority is determined in the control modes, the second flag bit is assigned to be the value of the first flag bit of the available control mode with the highest priority, and the current control mode of the excavator is determined to be the available control mode with the highest priority.
The second flag bit is used for storing a determination result of determining the available control mode with the highest priority among the control modes. In implementation, a second Flag bit may be preset, for example, the second Flag bit is Flag.
If the available control mode with the highest priority is determined, the second flag bit is assigned to be the value of the first flag bit of the available control mode with the highest priority, and at this time, the value of the first flag bit of the available control mode with the highest priority is the value representing that the control mode is available. For example, if the available control mode with the highest priority is determined to be the manual control mode, flag=1, if the available control mode with the highest priority is determined to be the first remote control mode, flag=2, if the available control mode with the highest priority is determined to be the second remote control mode, flag=3, and if the available control mode with the highest priority is determined to be the third remote control mode, flag=4.
Thus, the available control mode with the highest determined priority can be obtained rapidly according to the value of the second flag bit.
Based on this, the excavator control method of the present embodiment may further include: if the available control mode with the highest priority is not determined in the control modes, the second flag bit is assigned to be a preset value, and it is determined that any control mode is not executed currently by the excavator.
The preset value may be set according to practical situations, for example, the preset value may be set to 0, that is, when flag=0, to indicate that there is no available control mode currently, which is also referred to as an empty control mode.
In the case of the null control mode, the control of the excavator to perform the work may be stopped without executing any control mode. Therefore, when the excavator fails and cannot work, the excavator can be automatically switched to the idle control mode, so that the excavator is stopped 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, the 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 process in order of priority of the control modes from high to low, and executing the following processing operation on the control mode of the current process:
if the value 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;
if the value of the first flag bit of the currently processed control mode is determined to be unavailable and the control mode in each control mode is not selected, continuing to select the control mode from the control modes.
In addition, if the value of the first flag bit of the currently processed control mode is determined to be 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 the available control mode is determined, the available control mode can be determined quickly and accurately without performing a subsequent control mode selection process.
Of course, other manners of determining the available control mode with the highest priority among the control modes may be adopted, for example, determining whether each control mode is available first, and then selecting the available control mode with the highest priority from the available control modes.
Based on the above embodiments, the manual control mode has a higher priority than the remote control mode. For safety, the manual control mode has the highest priority, that is, the priority of the manual control mode is higher than that of the remote control mode, when the switch of the manual control mode is turned on, the manual control mode is preferably adopted to control the excavator, the excavator is reasonably controlled by a driver according to actual conditions, so that the operation safety is ensured, and when the switch of the manual control mode is not turned on, the remote control mode is adopted, so that the operation safety is improved.
Based on the above embodiments, exemplarily, the priorities of the first remote control mode, the second remote control mode, and the third remote control mode are sequentially decreased.
Considering that the first remote control mode is suitable for a scene of remote control in a certain distance range of the site of the excavator, and the actual condition that no mobile network signal or a network signal is poor possibly exists in the working environment of the excavator, the audio-visual information acquisition module or the remote cab can also be failed, and at the moment, 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, so that the remote control effect of the first remote control mode is better, namely the priority of the first remote control mode is higher than that of the second remote control mode and the third remote control mode.
When the distance between the excavator and the remote control device is far, the distance exceeds the coverage range of the wireless local area network, and if the excavator can be connected with the mobile network, the excavator can be connected with the remote control device through the mobile network, so that remote control operation is performed.
A third remote control mode may be employed when the excavator is not conveniently visible at the remote control device at the site.
The following describes an excavator control method according to an embodiment of the present invention in more detail, taking a specific application scenario as an example.
In this embodiment, the control modes of the excavator are four in total, including a manual control mode with priority from high to low, a first remote control mode, a second remote control mode, and a third remote control mode.
As shown in fig. 2, the excavator includes a controller and a communication device. The controller may receive operation information of a 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 to realize remote control. Based on this, the first remote control mode is also referred to as a 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, the mobile terminal is connected with the excavator through a 4G or 5G network, the remote control equipment sends operation information to a mobile network transceiver module of 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 to realize remote control. Based on this, the second remote control mode is also referred to as a mobile terminal network remote control mode.
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 a mobile network base station, the excavator is connected through a 4G or 5G network, the remote control equipment sends 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 to realize remote control. At this time, the remote control device is also called a centralized control terminal, and based on this, the third remote control mode is also called a centralized 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:
step 301, powering up the excavator, and executing step 302.
Step 302, obtaining the value of the first flag bit of each control mode in real time, and executing step 303.
Step 303, determining whether the value of the first flag bit in the manual control mode indicates that the first flag bit is available, if yes, executing step 304, otherwise, executing step 305.
Step 304, assigning the second flag bit to a value representing the first flag bit available for the manual control mode, and executing step 312.
Step 305, determining whether the value of the first flag bit of the Wi-Fi remote control mode of the mobile terminal is available, if yes, executing step 306, otherwise, executing step 307.
Step 306, the second flag bit is assigned to be a value representing the first flag bit available for Wi-Fi remote control mode of the mobile terminal, and step 312 is executed.
Step 307, judging whether the first flag bit of the mobile terminal network remote control mode is characterized as available, if yes, executing step 308, otherwise, executing step 309.
Step 308, the second flag bit is assigned to be the value of the first flag bit which characterizes the mobile terminal network remote control mode available, and step 312 is executed.
Step 309, determining whether a first flag bit of the centralized control end network remote control mode is available, if yes, executing step 310, otherwise, executing step 311.
Step 310, the second flag bit is assigned to be the value of the first flag bit that characterizes the centralized control end network remote control mode available, and step 312 is executed.
Step 311, the second flag bit is assigned to a preset value, and step 312 is executed.
Step 312, based on the value of the second flag bit, determining the current control mode of the excavator or determining that the excavator does not currently execute any control mode, and executing step 302.
Specifically, if the value of the second flag bit is the value of the first flag bit indicating that the manual control mode is available, 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 indicating that the Wi-Fi remote control mode of the mobile terminal is available, 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 indicating that the network remote control mode of the mobile terminal is available, 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 indicating that the network remote control mode of the centralized control terminal is available, 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 a preset value, any control mode is not executed at present, namely the null control mode.
In the embodiment, the excavator can be dynamically switched in four control modes, so that the operation requirements of various working conditions, communication conditions or faults are met, the free switching of a manual control mode and various remote control modes is realized, the excavator is flexible to use, the applicability is high, 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 remote cab fault, remote control operation can still be realized by switching a remote control mode to a Wi-Fi direct remote control mode, and safe switching of the control mode of the excavator is realized. When the excavator fails and remote control cannot be performed, the excavator can be automatically switched to an empty control mode, and equipment and personnel safety 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 referred to correspondingly.
Fig. 4 is a schematic structural view of the excavator control device provided by the present invention.
As shown in fig. 4, the present embodiment provides an excavator control device including:
an obtaining module 401, configured to obtain a value of a first flag bit of each control mode; the value of the first flag bit is used for representing whether each control mode is available; determining an available control mode with 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;
a determining module 402, configured to determine the available control mode with the highest priority as the 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 process in order of priority of the control modes from high to low, and executing the following processing operation on the control mode of the current process:
if the value 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;
if the value of the first flag bit of the currently processed control mode is determined to be unavailable and the control mode in each control mode is not selected, continuing to select the control mode from the control modes.
Based on the above embodiment, the excavator further has a second flag bit therein;
the determining module is specifically configured to:
if the available control mode with the highest priority is determined in the control modes, assigning the second flag bit to be the value of the first flag 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 also for:
if the available control mode with the highest priority is not determined in the control modes, the second flag bit is assigned to be a preset value, and it is determined that any control mode is not executed currently by the excavator.
Based on the above embodiments, the excavator includes a manual control mode and a remote control mode, the manual control mode having a higher priority than the remote control mode.
Based on the above embodiments, 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 device based on a mobile network;
the third remote control mode is a mode in which collected operation 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 embodiments, 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 comprising:
and the updating module is used for updating the value of the first zone bit of each control mode according to the switching state of each control mode.
The invention also provides an excavator, which comprises a controller, wherein the controller is used for realizing the excavator control method according to any embodiment.
Fig. 5 illustrates a physical schematic diagram of an electronic device, as shown in fig. 5, which may include: processor 510, communication interface (Communications Interface) 520, memory 530, and communication bus 540, wherein processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform an excavator control method comprising:
acquiring a 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; determining an available control mode with 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.
Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or 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 method of controlling an excavator provided by the above methods, the method comprising:
acquiring a 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; determining an available control mode with 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 which, when executed by a processor, is implemented to perform the above provided methods of controlling an excavator, the method comprising:
acquiring a 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; determining an available control mode with 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 apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. An excavator control method, comprising:
acquiring a 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; determining an available control mode with 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;
determining the available control mode with the highest priority as the current control mode of the excavator; 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 the following steps: if the available control mode with the highest priority is determined in the control modes, assigning the second flag bit to be the value of the first flag 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 comprises the following steps: 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 any control mode is not executed currently by the excavator;
the determining the available control mode with the highest priority in the control modes according to the value of the first flag bit of each control mode and the priority of each control mode comprises the following steps: selecting one control mode from the control modes as a control mode of the current process in order of priority of the control modes from high to low, and executing the following processing operation on the control mode of the current process:
if the value 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;
if the value of the first flag bit of the currently processed control mode is determined to be unavailable and the control mode in each control mode is not selected, continuing to select the control mode from the control modes.
2. The excavator control method of claim 1 wherein the excavator comprises a manual control mode and a remote control mode, the manual control mode having a higher priority than the remote control mode.
3. The excavator control method of claim 2 wherein the remote control mode comprises 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 device based on a mobile network;
the third remote control mode is a mode in which collected operation 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.
4. The excavator control method of claim 3 wherein the first, second and third remote control modes are sequentially reduced in priority.
5. The excavator control method of claim 1 further comprising:
and updating the value of the first flag bit of each control mode according to the switching state of each control mode.
6. 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; determining an available control mode with 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 determining module is used for determining the available control mode with the highest priority as the current control mode of the excavator;
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 the following steps: if the available control mode with the highest priority is determined in the control modes, assigning the second flag bit to be the value of the first flag 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 determining module is further configured to: 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 any control mode is not executed currently by the excavator;
the determining the available control mode with the highest priority in the control modes according to the value of the first flag bit of each control mode and the priority of each control mode comprises the following steps: selecting one control mode from the control modes as a control mode of the current process in order of priority of the control modes from high to low, and executing the following processing operation on the control mode of the current process: if the value 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; if the value of the first flag bit of the currently processed control mode is determined to be unavailable and the control mode in each control mode is not selected, continuing to select the control mode from the control modes.
7. 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 5 when executing the computer program.
8. An excavator comprising the excavator control device according to claim 6.
CN202210239121.6A 2022-03-11 2022-03-11 Excavator control method and device and excavator Active CN114809171B (en)

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