CN116575523A - Control method for excavator, processor, excavator and storage medium - Google Patents
Control method for excavator, processor, excavator and storage medium Download PDFInfo
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- CN116575523A CN116575523A CN202310456587.6A CN202310456587A CN116575523A CN 116575523 A CN116575523 A CN 116575523A CN 202310456587 A CN202310456587 A CN 202310456587A CN 116575523 A CN116575523 A CN 116575523A
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000001276 controlling effect Effects 0.000 claims abstract description 49
- 230000002159 abnormal effect Effects 0.000 claims abstract description 38
- 230000000875 corresponding effect Effects 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims description 15
- 230000003993 interaction Effects 0.000 claims description 12
- 230000005856 abnormality Effects 0.000 claims description 9
- 230000002452 interceptive effect Effects 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 238000012423 maintenance Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 230000003287 optical effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
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- 238000007599 discharging Methods 0.000 description 1
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Classifications
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- 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
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
-
- 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
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2087—Control of vehicle steering
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)
- Component Parts Of Construction Machinery (AREA)
Abstract
The application relates to the field of engineering machinery, in particular to a control method for an excavator, a processor, the excavator and a storage medium. The method comprises the following steps: acquiring bucket pressure of the bucket when the excavator is in an abnormal state; under the condition that no material exists in the bucket according to the bucket pressure, controlling the machine body to rotate to an angle parallel to the travelling device; and controlling each working device to execute corresponding actions so as to reset the excavator to a preset safety posture. According to the technical scheme, when the processor determines that the excavator is in an abnormal state, the excavator body and the working device are automatically adjusted, so that the excavator enters a stable and safe state, and the danger of the excavator is avoided.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to a control method for an excavator, a processor, the excavator and a storage medium.
Background
The excavator is used for remote control construction. Often, the excavator loses the remote control command due to some reasons, such as signal interruption, machine failure, waiting for command, etc., or cannot continue working because the excavator fails. Currently, when this occurs, the excavator waits while maintaining the posture of the fault in place. However, the excavator may be in a risk of capsizing due to the fact that the gravity center of the excavator is shifted by waiting for a long time in place when the excavator keeps a fault.
Disclosure of Invention
The application aims to provide a control method for an excavator, a processor, the excavator and a storage medium, wherein the control method can ensure the safety of the excavator when the excavator loses remote control.
In order to achieve the above object, the present application provides a control method for an excavator, the excavator including a main body, a working device including a boom, an arm, and a bucket, and a traveling device, the control method comprising:
acquiring bucket pressure of the bucket when the excavator is in an abnormal state;
under the condition that no material exists in the bucket according to the bucket pressure, controlling the machine body to rotate to an angle parallel to the travelling device;
and controlling each working device to execute corresponding actions so as to reset the excavator to a preset safety posture.
In an embodiment of the present application, controlling each working device to perform a corresponding action to reset the excavator to a preset safety posture includes: acquiring a current movable arm angle of a movable arm, a current bucket rod angle of a bucket rod and a current bucket angle of a bucket; acquiring a target movable arm angle, a target bucket rod angle and a target bucket angle which correspond to a preset safety posture; controlling the movable arm to be adjusted to a preset angle from the current movable arm angle, wherein the preset angle is an angle corresponding to the condition that the movable arm is higher than the target movable arm by a preset distance, and the target movable arm height is a movable arm height corresponding to the target movable arm angle; controlling the bucket rod to adjust from the current bucket rod angle to a target bucket rod angle; controlling the bucket to adjust from the current bucket angle to a target bucket angle; the boom is controlled to perform a lowering motion to adjust the boom from a preset angle to a target boom angle so that the bucket is supported on the ground.
In an embodiment of the present application, the control method further includes: after the boom is controlled to perform the lowering operation so that the boom is adjusted from the preset angle to the target boom angle, the boom is controlled to continue performing the lowering operation until the pressure in the rod chamber between the bucket and the arm reaches the preset pressure threshold.
In an embodiment of the application, the excavator comprises an interaction device, the interaction device comprises a display device, and the control method further comprises: after the excavator is reset to a preset safety posture, controlling the engine to be flameout, and prohibiting responding to a control instruction for the excavator; the display device is controlled to be positioned on an interface to be unlocked; and after the unlocking password for the interface to be unlocked is acquired through the interaction device, allowing to respond to a starting instruction for the engine and allowing to respond to a control instruction for the excavator.
In an embodiment of the present application, the control method further includes: under the condition that the excavator is in an abnormal state, before the bucket pressure of the bucket is obtained, continuously obtaining a remote communication signal of the excavator and continuously detecting an alarm signal of the excavator; under the condition that the remote communication signal is not obtained within a preset time period, determining that the excavator is in an abnormal state; and/or under the condition that alarm information is detected, determining that the excavator is in an abnormal state, wherein the alarm information is information generated when the abnormality of the mechanical parameter and/or the working parameter of the excavator is detected.
In an embodiment of the present application, the control method further includes: after the bucket pressure of the bucket is obtained, under the condition that the existence of materials in the bucket is determined according to the bucket pressure, the bucket is controlled to discharge the materials until no materials exist in the bucket.
A second aspect of the present application provides a controller configured to perform the control method for an excavator of any one of the above.
A third aspect of the present application provides an excavator, the excavator comprising:
the machine body is used for connecting the working device and the traveling device;
the walking device is used for controlling the excavator to move;
the working device is used for carrying out operation according to the operation instruction; and
a controller according to the above;
wherein, the working device includes:
a bucket configured to support an excavator;
a boom configured to adjust a stick position;
and a stick configured to adjust a bucket position.
In an embodiment of the present application, the working device further includes: the rotation angle sensor is used for detecting the rotation angle of the machine body; a boom inclination angle sensor for detecting a boom angle of the boom; the bucket rod inclination angle sensor is used for detecting the bucket rod angle of the bucket rod; a bucket inclination sensor for detecting a bucket angle of the bucket; and the pressure sensor is used for detecting the pressure in the rod cavity between the bucket rod and the bucket.
A fourth aspect of the application provides a machine-readable storage medium having instructions stored thereon that, when executed by a processor, cause the processor to be configured to perform the control method for an excavator of any of the above.
According to the technical scheme, when the processor determines that the excavator is in an abnormal state, the excavator body and the working device are automatically adjusted, so that the excavator enters a stable and safe state, and the danger of the excavator is avoided.
Additional features and advantages of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the application, and are incorporated in and constitute a part of this specification, illustrate the application and together with the description serve to explain, without limitation, the application. In the drawings:
FIG. 1 schematically illustrates a control method for an excavator according to one embodiment of the present application;
FIG. 2 schematically illustrates a block diagram of an excavator according to one embodiment of the present application;
FIG. 3 schematically illustrates a control method for an excavator according to another embodiment of the present application;
FIG. 4 schematically illustrates a schematic of an excavator in a posture in accordance with an embodiment of the present application;
fig. 5 schematically shows an internal structural view of a computer device according to an embodiment of the present application.
Description of the reference numerals
1. A body; 2. a walking device; 3. a bucket; 4. a movable arm; 5. and (5) a bucket rod.
Detailed Description
The following describes specific embodiments of the present application in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the application, are not intended to limit the application.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present application, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
As shown in fig. 1, a control method for an excavator according to an embodiment of the present application is schematically illustrated, and as shown in fig. 1, in an embodiment of the present application, a control method for an excavator is provided, including the steps of:
step 101, acquiring bucket pressure of a bucket when the excavator is in an abnormal state;
102, under the condition that no material exists in the bucket according to the bucket pressure, controlling the machine body to rotate to an angle parallel to the travelling device;
and 103, controlling each working device to execute corresponding actions so as to reset the excavator to a preset safety posture.
The excavator may include a body, a working device, and a traveling device, and the working device of the excavator may include a boom, an arm, and a bucket. The processor can detect the state of the excavator in real time through the sensor, under the condition that the processor determines that the excavator is in an abnormal state, the processor can acquire the bucket pressure of the bucket, judge whether the bucket of the excavator stores materials or not according to the acquired bucket pressure, and when the processor determines that the bucket of the excavator does not store materials according to the bucket pressure, the processor can control the body of the excavator to rotate to an angle parallel to the running gear of the excavator. The excavator may include a body rotation angle measuring device, and the processor may acquire a rotation angle of the excavator body through the body rotation angle measuring device, and may make the body of the excavator parallel to the traveling device of the excavator by adjusting the rotation angle of the excavator. For example, assuming that the processor determines that the swing angle of the body of the excavator is 0 degrees when the body of the excavator is parallel to the running gear of the excavator, the processor detects the swing angle of the body in real time by the swing angle measuring device and controls the body to swing until the swing angle is 0 degrees.
After determining that the body of the excavator rotates to an angle parallel to the running gear of the excavator, the processor can control the movable arm, the bucket rod and the bucket of the excavator to respectively execute corresponding actions so as to reset the excavator to a preset safety posture set by the processor.
In one embodiment, controlling each work device to perform a corresponding action to reset the excavator to a preset safe attitude includes: acquiring a current movable arm angle of a movable arm, a current bucket rod angle of a bucket rod and a current bucket angle of a bucket; acquiring a target movable arm angle, a target bucket rod angle and a target bucket angle which correspond to a preset safety posture; controlling the movable arm to be adjusted to a preset angle from the current movable arm angle, wherein the preset angle is an angle corresponding to the condition that the movable arm is higher than the target movable arm by a preset distance, and the target movable arm height is a movable arm height corresponding to the target movable arm angle; controlling the bucket rod to adjust from the current bucket rod angle to a target bucket rod angle; controlling the bucket to adjust from the current bucket angle to a target bucket angle; the boom is controlled to perform a lowering motion to adjust the boom from a preset angle to a target boom angle so that the bucket is supported on the ground.
The processor may obtain a current boom angle of a boom of the excavator, a current stick angle of a stick of the excavator, and a current bucket angle of a bucket of the excavator. The processor may also obtain a target boom angle of a boom of the excavator, a target stick angle of a stick of the excavator, and a target bucket angle of a bucket of the excavator when the excavator is in the preset safety attitude. After obtaining the target boom angle of the boom, the processor may determine a target boom height corresponding to the target boom angle according to the target boom angle, and determine a boom angle corresponding to a boom height higher than a preset distance of the target boom height as a preset angle of the boom. For example, assuming that a target boom angle when the excavator is in a preset safety posture is a degrees, a target boom height corresponding to the target boom angle a degrees is a, the processor may set a preset distance to 50cm, a boom height 50cm higher than the target boom height a is B, a boom angle corresponding to the boom height B is B, and the processor may determine the boom angle B as a preset angle of the boom.
The processor can control the movable arm to be adjusted to a preset angle of the movable arm from the current movable arm angle, and the reason that the height of the movable arm corresponding to the preset angle is higher than that of the movable arm corresponding to the target movable arm angle is to prevent the bucket from touching the ground when the subsequent processor controls the movement of the excavator bucket, so that the bucket is damaged. After the processor determines that the movable arm reaches the preset angle, the bucket rod can be controlled to be adjusted from the current bucket rod angle to the target bucket rod angle determined by the processor, and after the processor determines that the bucket rod is positioned at the target bucket rod angle, the processor can control the bucket to be adjusted from the current bucket angle to the target bucket rod angle. After determining that the bucket of the excavator reaches the target bucket angle, the processor controls the movable arm to execute the descending action again, so that the preset angle of the movable arm is adjusted to the target angle, and the bucket of the excavator is supported on the ground.
In one embodiment, the control method further comprises: after the boom is controlled to perform the lowering operation so that the boom is adjusted from the preset angle to the target boom angle, the boom is controlled to continue performing the lowering operation until the pressure in the rod chamber between the bucket and the arm reaches the preset pressure threshold.
After the processor controls the movable arm to execute the descending action so that the preset angle of the movable arm is adjusted to the target movable arm angle, the processor can control the movable arm to continue executing the descending operation until the pressure in the rod cavity between the bucket and the bucket rod reaches the preset pressure threshold set by the processor. At the moment, the travelling device of the excavator and the working device of the excavator form a multi-point support, so that the excavator is in a safe and stable parking state.
In one embodiment, the excavator includes an interactive device, the interactive device including a display device, the control method further comprising: after the excavator is reset to a preset safety posture, controlling the engine to be flameout, and prohibiting responding to a control instruction for the excavator; the display device is controlled to be positioned on an interface to be unlocked; and after the unlocking password for the interface to be unlocked is acquired through the interaction device, allowing to respond to a starting instruction for the engine and allowing to respond to a control instruction for the excavator.
After controlling the working device of the excavator until the excavator is in a preset safety posture, the processor can control the engine to be flameout and inhibit corresponding control instructions for the excavator. For example, if the processor controls the engine to stop and prohibits responding to the control command for the excavator, and then the worker operates the operation device of the excavator, for example, controls the operation of the operation lever, the processor does not respond to the control command after receiving the control command for the excavator.
The excavator may further comprise an interactive device, which may comprise a display device. The processor can control the display device of the excavator to be in a state to be unlocked after controlling the engine to be flameout so as to display that the excavator is locked. When the user inputs the unlocking password for the interface to be unlocked through the interaction device, that is, the processor obtains the unlocking password for the interface to be unlocked through the interaction device, the processor can allow to respond to the starting instruction for the engine and allow to respond to the control instruction for the excavator. For example, assuming that the maintenance personnel acquires the unlocking password for the excavator, the unlocking password is input through the interaction device, the processor unlocks the excavator after determining that the unlocking password is correct, at this time, the maintenance personnel starts the engine or controls the excavator to execute related operations, and the processor allows the response to the control instruction input by the maintenance personnel.
In one embodiment, the control method further comprises: under the condition that the excavator is in an abnormal state, before the bucket pressure of the bucket is obtained, continuously obtaining a remote communication signal of the excavator and continuously detecting an alarm signal of the excavator; under the condition that the remote communication signal is not obtained within a preset time period, determining that the excavator is in an abnormal state; and/or under the condition that alarm information is detected, determining that the excavator is in an abnormal state, wherein the alarm information is information generated when the abnormality of the mechanical parameter and/or the working parameter of the excavator is detected.
The processor may detect whether the excavator is in an abnormal state before acquiring a bucket pressure of the bucket in a case where it is determined that the excavator is in an abnormal state. The processor may continuously acquire the remote communication signal of the excavator and continuously detect the alarm signal of the excavator. The processor may determine that the excavator is in an abnormal state when the processor is to obtain the remote communication signal for a preset period of time. For example, assuming that the processor sets the preset time period to 10 seconds, when the processor does not obtain the remote communication signal of the excavator within 10 seconds, the processor may determine that the excavator is out of connection, the processor may determine that the excavator is in an abnormal state, and/or when the processor detects that the excavator generates alarm information, the processor may determine that the excavator is in an abnormal state, wherein the alarm information of the excavator may be information generated when the processor detects that an abnormality occurs in a mechanical parameter and/or an operating parameter of the excavator. For example, assuming that the processor determines that an abnormality occurs in an operating parameter of the excavator by detecting the operating parameter of the excavator, the processor may generate alarm information at this time and determine that the excavator is in an abnormal state at this time.
In one embodiment, after the bucket pressure of the bucket is obtained, in the case that the existence of the material in the bucket is determined according to the bucket pressure, the bucket is controlled to discharge the material until no material exists in the bucket.
The processor can acquire the bucket pressure of the bucket of the excavator under the condition that the excavator is determined to be in an abnormal state, and determine whether the bucket of the excavator is filled with materials according to the bucket pressure, if the processor determines that the bucket of the excavator is filled with materials, the processor can control the bucket of the excavator to discharge the materials of the excavator until no materials exist in the bucket, and then the subsequent adjustment step is executed. That is, when an abnormality occurs in the excavator, and the processor determines that there is material in the bucket of the excavator through the bucket pressure, the processor needs to control the excavator to discharge the material in the bucket first, and then control the excavator to be adjusted to a preset safety posture. To ensure the safety of the excavator.
In one embodiment, a controller configured to perform the control method for an excavator of any one of the above is provided.
In one embodiment, as shown in fig. 2, a block diagram of the excavator 10 is schematically shown, and as shown in fig. 2, the excavator 10 includes a body 1, a link working device and a traveling device 2, the traveling device 2 for controlling movement of the excavator 10; the working device is used for carrying out operation according to the operation instruction; and a controller (not shown) as described above; wherein, the working device includes: a bucket 3 configured to support an excavator 10; a boom 4 configured to adjust a position of the arm 5; and an arm 5 configured to adjust the position of the bucket 3.
In one embodiment, the working device of the excavator further includes: the rotation angle sensor is used for detecting the rotation angle of the machine body; a boom inclination angle sensor for detecting a boom angle of the boom; the bucket rod inclination angle sensor is used for detecting the bucket rod angle of the bucket rod; a bucket inclination sensor for detecting a bucket angle of the bucket; and the pressure sensor is used for detecting the pressure in the rod cavity between the bucket rod and the bucket.
The processor may continuously acquire the remote communication signal of the excavator and continuously detect the alarm signal of the excavator. The processor may determine that the excavator is in an abnormal state when the processor is to obtain the remote communication signal for a preset period of time. For example, assuming that the processor sets the preset time period to 10 seconds, when the processor does not obtain the remote communication signal of the excavator within 10 seconds, the processor may determine that the excavator is out of connection, the processor may determine that the excavator is in an abnormal state, and/or when the processor detects that the excavator generates alarm information, the processor may determine that the excavator is in an abnormal state, wherein the alarm information of the excavator may be information generated when the processor detects that an abnormality occurs in a mechanical parameter and/or an operating parameter of the excavator. For example, assuming that the processor determines that an abnormality occurs in an operating parameter of the excavator by detecting the operating parameter of the excavator, the processor may generate alarm information at this time and determine that the excavator is in an abnormal state at this time. In the case where the processor determines that the excavator is in an abnormal state, the processor may perform a flowchart of a method for controlling the excavator as shown in fig. 3, the flowchart of the method for controlling the excavator as shown in fig. 3 including the steps of:
step 301, obtaining a bucket pressure of a bucket;
step 302, judging whether a material exists in the bucket, if yes, executing step 303, and if not, executing step 304;
step 303, controlling the bucket to start a discharging operation until no material exists in the bucket;
step 304, controlling the excavator body to rotate to an angle parallel to the walking device;
step 305, controlling the action of the movable arm cylinder until the movable arm is at a preset angle of the movable arm;
step 306, controlling the arm cylinder to act until the arm is at a target arm angle of the arm;
step 307, controlling the bucket cylinder to act until the bucket is at a target bucket angle of the bucket;
step 308, controlling the movable arm oil cylinder to execute descending operation until the movable arm is at a target movable arm angle;
step 309, judging whether the pressure of the rod cavity between the bucket and the bucket rod reaches a preset threshold value, if so, executing step 310; if not, go to step 308;
step 310, end.
The processor can detect the state of the excavator in real time through the sensor, under the condition that the processor determines that the excavator is in an abnormal state, the processor can acquire the bucket pressure of the bucket, judge whether the bucket of the excavator stores materials or not according to the acquired bucket pressure, and if the processor determines that the bucket of the excavator stores materials, the processor can control the bucket of the excavator to discharge the materials of the excavator until no materials exist in the bucket. The processor may control the swing of the body of the excavator to an angle parallel to the running gear of the excavator when the processor determines that no material is present in the bucket of the excavator based on the bucket pressure. That is, when the excavator is abnormal and the processor determines that the material exists in the bucket of the excavator through the bucket pressure, the processor needs to control the excavator to discharge the material in the bucket, then control the excavator to start adjusting, and the condition that the excavator carries the material to carry out posture adjustment is avoided, so that the safety of the excavator is guaranteed.
The processor may obtain a target boom angle of a boom of the excavator, a target stick angle of a stick of the excavator, and a target bucket angle of a bucket of the excavator when the excavator is in a preset safety attitude. After obtaining the target boom angle of the boom, the processor may determine a target boom height corresponding to the target boom angle according to the target boom angle, and determine a boom angle corresponding to a boom height higher than the target boom height by a preset distance as the boom preset angle. For example, assuming that a target boom angle when the excavator is in a preset safety posture is a degrees, a target boom height corresponding to the target boom angle a degrees is a, the processor may set a boom height 50cm higher than the target boom height a to B assuming that a boom angle corresponding to the boom height B is B, and the processor may determine the boom angle B as a boom preset angle.
The reason that the processor can control the movable arm to be adjusted to the preset angle of the movable arm from the current movable arm angle firstly, and the movable arm height corresponding to the preset angle is higher than the movable arm height corresponding to the target movable arm angle is to prevent the bucket from touching the ground when the subsequent processor controls the movement of the excavator bucket, so that the bucket is damaged. After the processor determines that the movable arm reaches the preset angle, the bucket rod can be controlled to be adjusted from the current bucket rod angle to the target bucket rod angle determined by the processor, and after the processor determines that the bucket rod is positioned at the target bucket rod angle, the processor can control the bucket to be adjusted from the current bucket angle to the target bucket rod angle. After determining that the bucket of the excavator reaches the target bucket angle, the processor controls the movable arm to execute the descending action again, so that the preset angle of the movable arm is adjusted to the target angle, and the bucket of the excavator is supported on the ground. For example, as shown in the posture of the excavator illustrated in fig. 4, the traveling device and the bucket of the excavator are supported on the ground so that the excavator maintains a stable and safe posture.
After the movable arm, the bucket rod and the bucket of the excavator all reach the target movable arm angle, the target all-sensing angle and the target bucket angle, the processor can detect whether the pressure of a rod cavity between the bucket and the bucket rod of the excavator reaches a preset threshold value or not, judge whether the pressure of the rod cavity between the bucket and the bucket rod reaches the preset threshold value set by the processor or not, and if the pressure reaches the preset threshold value, the processor can determine that the bucket and the running gear of the excavator form multipoint support at the moment, so that the excavator is in a safe and stable parking state, and the processor can finish the attitude control of the excavator. If the processor determines that the pressure of the rod cavity between the bucket and the bucket rod does not reach the preset threshold set by the processor, the processor can control the movable arm to continuously execute descending operation until the pressure of the rod cavity reaches the preset threshold set by the processor.
After the processor controls the excavator according to the flow chart shown in fig. 3, the excavator can be in a stable and safe posture so as to ensure the safety of the excavator and the nearby environment. After the processor determines that the excavator has an abnormal state and adjusts the excavator to a safe and stable state, the processor can control the engine to stop and inhibit corresponding control instructions for the excavator. The excavator may further comprise an interactive device, which may comprise a display device. The processor can control the display device of the excavator to be in a state to be unlocked after controlling the engine of the excavator to flameout so as to display that the excavator is locked. When the user inputs the unlocking password for the interface to be unlocked through the interaction device, that is, the processor obtains the unlocking password for the interface to be unlocked through the interaction device, the processor can allow to respond to the starting instruction for the engine and allow to respond to the control instruction for the excavator. And the locking interface of the display device is enabled until the next processor determines that the excavator is in an abnormal state after the user inputs an unlocking password to unlock the locking interface through the interaction device, namely, the processor locks the display device again until the next excavator is in the abnormal state. In order to avoid that maintenance personnel need to input unlocking codes for many times when carrying out maintenance work on the excavator.
According to the technical scheme, when the processor determines that the excavator is in an abnormal state, the excavator body and the working device are automatically adjusted, so that the excavator enters a stable and safe state, and after the excavator enters the stable and safe state, the processor can lock the excavator, so that non-maintenance personnel can be prevented from mistakenly touching the excavator, and danger of the excavator is avoided.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more, and the control method for the excavator is realized by adjusting kernel parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
An embodiment of the present application provides a storage medium having a program stored thereon, which when executed by a processor, implements the control method for an excavator described above.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor a01, a network interface a02, a memory (not shown) and a database (not shown) connected by a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing working parameters and mechanical parameters of the excavator and related data input by operators. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02, when executed by the processor a01, implements a control method for an excavator.
It will be appreciated by those skilled in the art that the structure shown in FIG. 5 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
FIG. 1 is a flow chart of a control method for an excavator in one embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the program: acquiring bucket pressure of the bucket when the excavator is in an abnormal state; under the condition that no material exists in the bucket according to the bucket pressure, controlling the machine body to rotate to an angle parallel to the travelling device; and controlling each working device to execute corresponding actions so as to reset the excavator to a preset safety posture.
In one embodiment, controlling each work device to perform a corresponding action to reset the excavator to a preset safe attitude includes: acquiring a current movable arm angle of a movable arm, a current bucket rod angle of a bucket rod and a current bucket angle of a bucket; acquiring a target movable arm angle, a target bucket rod angle and a target bucket angle which correspond to a preset safety posture; controlling the movable arm to be adjusted to a preset angle from the current movable arm angle, wherein the preset angle is an angle corresponding to the condition that the movable arm is higher than the target movable arm by a preset distance, and the target movable arm height is a movable arm height corresponding to the target movable arm angle; controlling the bucket rod to adjust from the current bucket rod angle to a target bucket rod angle; controlling the bucket to adjust from the current bucket angle to a target bucket angle; the boom is controlled to perform a lowering motion to adjust the boom from a preset angle to a target boom angle so that the bucket is supported on the ground.
In one embodiment, the control method further comprises: after the boom is controlled to perform the lowering operation so that the boom is adjusted from the preset angle to the target boom angle, the boom is controlled to continue performing the lowering operation until the pressure in the rod chamber between the bucket and the arm reaches the preset pressure threshold.
In one embodiment, the excavator includes an interactive device, the interactive device including a display device, the control method further comprising: after the excavator is reset to a preset safety posture, controlling the engine to be flameout, and prohibiting responding to a control instruction for the excavator; the display device is controlled to be positioned on an interface to be unlocked; and after the unlocking password for the interface to be unlocked is acquired through the interaction device, allowing to respond to a starting instruction for the engine and allowing to respond to a control instruction for the excavator.
In one embodiment, the control method further comprises: under the condition that the excavator is in an abnormal state, before the bucket pressure of the bucket is obtained, continuously obtaining a remote communication signal of the excavator and continuously detecting an alarm signal of the excavator; under the condition that the remote communication signal is not obtained within a preset time period, determining that the excavator is in an abnormal state; and/or under the condition that alarm information is detected, determining that the excavator is in an abnormal state, wherein the alarm information is information generated when the abnormality of the mechanical parameter and/or the working parameter of the excavator is detected.
In one embodiment, the control method further comprises: after the bucket pressure of the bucket is obtained, under the condition that the existence of materials in the bucket is determined according to the bucket pressure, the bucket is controlled to discharge the materials until no materials exist in the bucket.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. A control method for an excavator, the excavator including a main body, a working device including a boom, an arm, and a bucket, and a traveling device, the control method comprising:
acquiring a bucket pressure of the bucket when the excavator is in an abnormal state;
under the condition that no material exists in the bucket according to the bucket pressure, controlling the machine body to rotate to an angle parallel to the travelling device;
and controlling each working device to execute corresponding actions so as to reset the excavator to a preset safety posture.
2. The control method for an excavator of claim 1 wherein the controlling each work device to perform a corresponding action to reset the excavator to a preset safety attitude comprises:
acquiring a current boom angle of the boom, a current arm angle of the arm and a current bucket angle of the bucket;
acquiring a target movable arm angle, a target bucket arm angle and a target bucket angle which correspond to the preset safety posture;
controlling the movable arm to be adjusted to a preset angle from the current movable arm angle, wherein the preset angle is an angle corresponding to the movable arm when the movable arm is higher than a target movable arm height by a preset distance, and the target movable arm height is a movable arm height corresponding to the target movable arm angle;
controlling the bucket rod to adjust from the current bucket rod angle to the target bucket rod angle;
controlling the bucket to adjust from the current bucket angle to the target bucket angle;
and controlling the movable arm to execute a descending motion so that the movable arm is adjusted from the preset angle to the target movable arm angle, so that the bucket is supported on the ground.
3. The control method for an excavator of claim 2 wherein the control method further comprises:
after controlling the boom to perform a lowering operation so that the boom is adjusted from the preset angle to the target boom angle, controlling the boom to continue performing a lowering operation until the pressure in the boom chamber between the bucket and the arm reaches a preset pressure threshold.
4. The control method for an excavator of claim 1 wherein the excavator comprises an interactive device, the interactive device comprising a display device, the control method further comprising:
after the excavator is reset to a preset safety posture, controlling the engine to be flamed out, and prohibiting responding to a control instruction for the excavator;
controlling the display device to be positioned on an interface to be unlocked;
and after the unlocking password for the interface to be unlocked is acquired through the interaction device, allowing to respond to a starting instruction for the engine and allowing to respond to a control instruction for the excavator.
5. The control method for an excavator of claim 1 wherein the control method further comprises:
continuously acquiring a remote communication signal of the excavator and continuously detecting an alarm signal of the excavator before acquiring the bucket pressure of the bucket under the condition that the excavator is in an abnormal state;
determining that the excavator is in an abnormal state under the condition that the remote communication signal is not obtained within a preset time period; and/or
And under the condition that the alarm information is detected, determining that the excavator is in the abnormal state, wherein the alarm information is information generated when the abnormality of the mechanical parameters and/or the working parameters of the excavator is detected.
6. The control method for an excavator of claim 1 wherein the control method further comprises:
and after the bucket pressure of the bucket is obtained, under the condition that the material exists in the bucket according to the bucket pressure, controlling the bucket to discharge the material until no material exists in the bucket.
7. A controller configured to perform the control method for an excavator according to any one of claims 1 to 6.
8. An excavator, the excavator comprising:
the machine body is used for connecting the working device and the traveling device;
the walking device is used for controlling the excavator to move;
the working device is used for carrying out operation according to the operation instruction; and
the controller of claim 7;
wherein, the working device includes:
a bucket configured to support the excavator;
a boom configured to adjust a stick position;
the stick is configured to adjust the bucket position.
9. The excavator of claim 8, the work apparatus further comprising:
a rotation angle sensor for detecting a rotation angle of the body;
a boom inclination angle sensor for detecting a boom angle of the boom;
the bucket rod inclination angle sensor is used for detecting the bucket rod angle of the bucket rod;
a bucket angle sensor for detecting a bucket angle of the bucket;
and the pressure sensor is used for detecting the pressure in the rod cavity between the bucket rod and the bucket.
10. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to be configured to perform the control method for an excavator according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310456587.6A CN116575523A (en) | 2023-04-25 | 2023-04-25 | Control method for excavator, processor, excavator and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310456587.6A CN116575523A (en) | 2023-04-25 | 2023-04-25 | Control method for excavator, processor, excavator and storage medium |
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| CN116575523A true CN116575523A (en) | 2023-08-11 |
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| CN202310456587.6A Pending CN116575523A (en) | 2023-04-25 | 2023-04-25 | Control method for excavator, processor, excavator and storage medium |
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| Country | Link |
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| CN (1) | CN116575523A (en) |
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- 2023-04-25 CN CN202310456587.6A patent/CN116575523A/en active Pending
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