CN117211366A

CN117211366A - Lifting control method and device of excavator, electronic equipment and storage medium

Info

Publication number: CN117211366A
Application number: CN202311214656.9A
Authority: CN
Inventors: 孙佳孝; 李有东; 魏勇; 丁斌; 廖建军; 张�杰; 王广龙; 王林涛; 许琴; 付斌; 尹超; 许海锋; 阮文林; 白鹏涛
Original assignee: Guangxi Liugong Machinery Co Ltd; Liugong Changzhou Machinery Co Ltd; Liuzhou Liugong Excavators Co Ltd
Current assignee: Guangxi Liugong Machinery Co Ltd; Liugong Changzhou Machinery Co Ltd; Liuzhou Liugong Excavators Co Ltd
Priority date: 2023-09-19
Filing date: 2023-09-19
Publication date: 2023-12-12

Abstract

The embodiment of the invention discloses a lifting control method and device of an excavator, electronic equipment and a storage medium. The method comprises the following steps: responding to a change instruction of an electronic accelerator pedal signal of the target excavator, and acquiring the current rotating speed and the current pump current parameter of an engine of the target excavator; when the current rotating speed and the set rotating speed of the engine meet the preset relation, adjusting the current rotating speed to the set rotating speed, and adjusting the current pump current parameter to the set pump current parameter; when the current rotating speed and the set rotating speed of the engine are determined not to meet the preset relation, and the current rotating speed is smaller than the set rotating speed, the current rotating speed is increased to the set rotating speed at a set speed, and the current pump current parameter is increased to the set pump current parameter at the set speed. The scheme of the embodiment of the invention can ensure the stable lifting of the excavator in the lifting operation and the safety in the lifting process.

Description

Lifting control method and device of excavator, electronic equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of lifting of an excavator, in particular to a lifting control method and device of the excavator, electronic equipment and a storage medium.

Background

The excavator is a special engineering vehicle and consists of a rotary platform, a large shovel and a mechanical arm. Typically with tracks or wheels. Because of its special appearance, the line is known by various names such as monster hands, backhoes, diggers, etc. In recent years, development of the construction machine is relatively rapid, and the excavator has become one of the most important construction machines in engineering construction.

At present, in the lifting process of the excavator, the excavator is mainly controlled to stably lift by operating an electronic accelerator pedal by a driver, but under the condition of complex road surface conditions, the excavator can generate severe shaking in the driving process, so that the control of the driver on the accelerator can be influenced, the excavator is difficult to stably lift, and the safety of the lifting process is influenced.

How to ensure the stable lifting of the excavator in the lifting operation and the safety in the lifting process are key problems of the research in the industry.

Disclosure of Invention

The embodiment of the invention provides a lifting control method and device for an excavator, electronic equipment and a storage medium, so as to ensure the stable lifting of the excavator in lifting operation and the safety in the lifting process.

According to an aspect of the embodiment of the present invention, there is provided a swing control method of an excavator, including:

responding to a change instruction of an electronic accelerator pedal signal of a target excavator, and acquiring the current rotating speed and the current pump current parameter of an engine of the target excavator;

when the current rotating speed and the set rotating speed of the engine meet the preset relation, adjusting the current rotating speed to the set rotating speed, and adjusting the current pump current parameter to a set pump current parameter;

and when the current rotating speed and the set rotating speed of the engine are determined not to meet the preset relation, and the current rotating speed is smaller than the set rotating speed, increasing the current rotating speed to the set rotating speed at a set speed, and increasing the current pump current parameter to be a set pump current parameter at the set speed.

In an optional implementation manner of this embodiment, after determining that the current rotation speed and the set rotation speed of the engine do not satisfy a preset relationship, the method further includes:

and if the current rotating speed is determined to be larger than the set rotating speed, keeping the current rotating speed and the current pump current parameter unchanged.

In an optional implementation manner of this embodiment, the preset relationship is:

the difference value between the current rotating speed and the set rotating speed is smaller than or equal to a set rotating speed threshold value;

the set rotation speed threshold is 100r/min.

In an optional implementation manner of this embodiment, the changing instruction responding to the electronic accelerator pedal signal of the target excavator includes:

determining whether the target excavator starts a lifting mode;

and under the condition that the lifting mode is determined to be started, determining whether the electronic accelerator pedal signal changes or not.

In an optional implementation manner of this embodiment, the method for controlling lifting of the excavator further includes:

determining whether the target excavator exits a lifting mode in response to a braking instruction of the target excavator;

if it is determined that the target excavator does not exit the swing mode, the current rotation speed and the current pump current parameters are kept unchanged.

In an optional implementation manner of this embodiment, the determining whether the target excavator exits the swing mode includes:

and if the target excavator is determined to exit the lifting mode, adjusting the current rotating speed to be an initial rotating speed, and adjusting the current pump current parameter to be a set pump current parameter.

In an alternative implementation of this embodiment, the target excavator is a mechanically driven wheeled excavator.

According to another aspect of the embodiment of the present invention, there is provided a swing control device of an excavator, including:

the acquisition module is used for responding to a change instruction of an electronic accelerator pedal signal of the target excavator and acquiring the current rotating speed and the current pump current parameter of an engine of the target excavator;

the first adjusting module is used for adjusting the current rotating speed to the set rotating speed and adjusting the current pump current parameter to the set pump current parameter when the current rotating speed and the set rotating speed of the engine are determined to meet the preset relation;

and the second adjusting module is used for increasing the current rotating speed to the set rotating speed at a set speed and increasing the current pump current parameter to the set pump current parameter at the set speed when the current rotating speed and the set rotating speed of the engine are determined not to meet the preset relation and the current rotating speed is smaller than the set rotating speed.

According to another aspect of an embodiment of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the lifting control method of the excavator according to any one of the embodiments of the present invention.

According to another aspect of the embodiments of the present invention, there is provided a computer readable storage medium storing computer instructions for implementing the swing control method of the excavator according to any one of the embodiments of the present invention when executed by a processor.

According to the technical scheme, the current rotating speed and the current pump current parameters of an engine of the target excavator are obtained by responding to a change instruction of an electronic accelerator pedal signal of the target excavator; when the current rotating speed and the set rotating speed of the engine meet the preset relation, adjusting the current rotating speed to the set rotating speed, and adjusting the current pump current parameter to a set pump current parameter; when the current rotating speed and the set rotating speed of the engine are determined not to meet the preset relation, and the current rotating speed is smaller than the set rotating speed, the current rotating speed is increased to the set rotating speed at a set speed, and the current pump current parameter is increased to the set pump current parameter at the set speed, so that stable lifting of the excavator in lifting operation and safety in lifting process can be guaranteed.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the embodiments of the invention. Other features of embodiments of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of a method for controlling swing of an excavator according to a first embodiment of the present invention;

fig. 2 is a flowchart of a method for controlling swing of an excavator according to a second embodiment of the present invention;

fig. 3 is a flowchart of another method for controlling swing of an excavator according to a second embodiment of the present invention;

fig. 4 is a schematic structural view of a swing control device of an excavator according to a third embodiment of the present invention;

fig. 5 is a schematic structural view of an electronic device for implementing a swing control method of an excavator according to an embodiment of the present invention.

Detailed Description

In order to make the embodiments of the present invention better understood by those skilled in the art, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the embodiments of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the embodiments of the present invention and the above-described drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a flowchart of a lifting control method of an excavator, which is provided according to a first embodiment of the present invention, and the present embodiment may be suitable for controlling a smooth lifting of the excavator, where the method may be performed by a lifting control device of the excavator, and the lifting control device of the excavator may be implemented in a hardware and/or software form, and the lifting control device of the excavator may be configured in an electronic device such as a computer, a server, or a tablet computer. Specifically, referring to fig. 1, the method specifically includes the following steps:

step 110, responding to a change instruction of an electronic accelerator pedal signal of a target excavator, and acquiring the current rotating speed and the current pump current parameter of an engine of the target excavator.

The target excavator can be any mechanical transmission wheel type excavator, can carry out lifting operation, and can be widely applied to working conditions such as municipal construction, forestry wood grabbing, agricultural lifting and the like.

In an optional implementation manner of this embodiment, when the controller in the excavator receives a change instruction of the electronic accelerator pedal signal, that is, when it is detected that the lifting mode of the excavator is turned on, the lifting mode control system is activated, the current rotation speed and the current pump current parameter of the engine of the target excavator may be further obtained.

Optionally, in this embodiment, the response to the change instruction of the electronic accelerator pedal signal of the target excavator may include: determining whether the target excavator starts a lifting mode; and under the condition that the lifting mode is determined to be started, determining whether the electronic accelerator pedal signal changes or not.

It CAN be appreciated that in this embodiment, the on state of the swing pattern may be transferred to the controller via a CAN bus or a local area network; the set rotating speed and the pump current parameters under the lifting mode of the vehicle can be set on the instrument interface, and the rotating speed information is fed back through a rotating speed sensor arranged at the flywheel of the engine. The control panel can set an initial throttle gear, and control the power output of the electric control pump corresponding to the engine speed and the pump current parameters of each gear. In the lifting operation, the initial value of the rotation speed of the mechanical driving wheel when the vehicle starts to walk is the value of the initial accelerator gear, which is called the current rotation speed in the embodiment because of the operation characteristic of manual gear shifting.

In an alternative implementation of this embodiment, whether the target excavator is in the lifting mode may be determined by the controller of the target excavator, for example, whether the target excavator is in the lifting mode may be determined by the result displayed on the display; the method can also determine whether the target excavator starts the lifting mode or not according to the lifting mode signal by detecting the lifting mode signal (0 or 1); further, under the condition that the opening lifting mode of the target excavator is determined, whether the electronic accelerator pedal signal changes can be further determined.

It should be noted that, if the target excavator is detected not to be started in the hoisting mode, the current rotation speed of the engine of the target excavator and the current pump current parameter do not need to be acquired even if the electronic accelerator pedal signal is determined to be changed.

And 120, when the current rotating speed and the set rotating speed of the engine meet the preset relation, adjusting the current rotating speed to the set rotating speed, and adjusting the current pump current parameter to the set pump current parameter.

In this embodiment, the preset relationship may be that the absolute value of the difference between the current rotation speed and the set rotation speed is less than or equal to a set rotation speed threshold, where the set rotation speed threshold is 100r/min, or may be 120r/min or 90r/min, or the like, which is not limited in this embodiment. The set rotation speed may be 1000r/min, or 2000r/min, which is related to user setting, and the specific numerical value is not limited in this embodiment; the pump current parameter may be set to any value, and is not limited in this embodiment.

In an optional implementation manner of this embodiment, after obtaining the current rotation speed and the current pump current parameter of the engine of the target excavator, it may be further determined whether the obtained current rotation speed and the set rotation speed of the engine satisfy a preset relationship; for example, it may be determined whether the obtained difference between the current rotation speed and the set rotation speed limit is less than or equal to 100r/min; if yes, determining that the current rotating speed and the set rotating speed of the engine meet a preset relation; further, the current rotational speed of the engine may be adjusted to a set rotational speed, and the current pump current parameter may be adjusted to a set pump current parameter.

In a specific example of the present embodiment, if the obtained current rotation speed of the engine is 2100r/min, the rotation speed is set to 2000r/min; the current pump current parameter is 3A, and the pump current parameter is set to be 2.5A; the difference value of the current rotating speed minus the set rotating speed is 100r/min (equal to the set rotating speed threshold value), then the current rotating speed and the set rotating speed of the engine can be determined to meet the preset relation; the current rotational speed may be adjusted to 2000r/min; the current pump current parameter is adjusted to 2.5A.

And 130, when the current rotating speed and the set rotating speed of the engine are determined not to meet the preset relation, and the current rotating speed is smaller than the set rotating speed, increasing the current rotating speed to the set rotating speed at a set speed, and increasing the current pump current parameter to be a set pump current parameter at the set speed.

In an optional implementation manner of this embodiment, after obtaining the current rotation speed and the current pump current parameter of the engine of the target excavator, it may be further determined whether the obtained current rotation speed and the set rotation speed of the engine satisfy a preset relationship; for example, it may be determined whether the obtained current rotation speed and the set rotation speed limit difference is greater than 100r/min; if yes, determining that the current rotating speed and the set rotating speed of the engine do not meet a preset relation; further, if it is simultaneously determined that the current rotational speed is less than the set rotational speed, the current rotational speed may be increased to the set rotational speed at a set rate, and the current pump current parameter may be increased to the set pump current parameter at the set rate.

The set rate may be a smaller rate, for example, 10 r/min, 20r/min, or 0.1A/min, which is not limited in this embodiment.

In a specific example of the present embodiment, if the obtained current rotation speed of the engine is 1820r/min, the rotation speed is set to 2000r/min; the current pump current parameter is 2A, and the pump current parameter is set to be 2.5A; the absolute value of the current rotating speed minus the set rotating speed is 180r/min, then the current rotating speed and the set rotating speed of the engine can be determined to not meet the preset relation, and the current rotating speed 1820r/min is smaller than the set rotating speed 2000r/min; the current rotational speed may be increased to 2000r/min at a rate of 20r per minute; the current pump current parameter increases to 2.5A at a rate of 0.2A per minute.

In another alternative implementation manner of the present embodiment, in a case where it is determined that the current rotation speed and the set rotation speed of the engine do not satisfy a preset relationship, if it is determined that the current rotation speed is greater than the set rotation speed, the current rotation speed and the current pump current parameter may be kept unchanged.

According to the technical scheme, the current rotating speed and the current pump current parameters of an engine of a target excavator are obtained by responding to a change instruction of an electronic accelerator pedal signal of the target excavator; when the current rotating speed and the set rotating speed of the engine meet the preset relation, adjusting the current rotating speed to the set rotating speed, and adjusting the current pump current parameter to a set pump current parameter; when the current rotating speed and the set rotating speed of the engine are determined not to meet the preset relation, and the current rotating speed is smaller than the set rotating speed, the current rotating speed is increased to the set rotating speed at a set speed, and the current pump current parameter is increased to the set pump current parameter at the set speed, so that stable lifting of the excavator in lifting operation and safety in lifting process can be guaranteed.

Example two

Fig. 2 is a flowchart of a lifting control method of an excavator according to a second embodiment of the present invention, where the present embodiment is further elaborated on the above technical solutions, and the technical solutions in the present embodiment may be combined with each of the alternatives in one or more embodiments. As shown in fig. 2, the swing control method of the excavator may include the steps of:

step 210, responding to a change instruction of an electronic accelerator pedal signal of a target excavator, and acquiring the current rotating speed and the current pump current parameter of an engine of the target excavator.

Step 220, when it is determined that the current rotation speed and the set rotation speed of the engine meet a preset relationship, adjusting the current rotation speed to the set rotation speed, and adjusting the current pump current parameter to a set pump current parameter.

Step 230, when it is determined that the current rotation speed and the set rotation speed of the engine do not satisfy the preset relationship and the current rotation speed is smaller than the set rotation speed, increasing the current rotation speed to the set rotation speed at a set rate, and increasing the current pump current parameter to the set pump current parameter at the set rate.

Step 240, determining whether the target excavator exits the swing mode or not in response to a brake command of the target excavator; if it is determined that the target excavator does not exit the swing mode, the current rotation speed and the current pump current parameters are kept unchanged.

In an optional implementation manner of this embodiment, when the controller of the target excavator receives the braking instruction, it may further determine whether the target excavator exits the lifting mode; if the target excavator is determined not to exit the lifting mode, the current rotating speed and the current pump current parameter are kept unchanged, the target excavator is ensured to run at the original rotating speed and the original pump current parameter, and the phenomenon of shaking of the target excavator in the running process is avoided.

In another optional implementation manner of this embodiment, if it is determined that the target excavator exits the lifting mode, the current rotation speed is adjusted to an initial rotation speed, and the current pump current parameter is adjusted to a set pump current parameter, so that the target excavator can be guaranteed to return to the initial running state quickly, and the excavator can be prevented from running too fast or too slow under the condition of exiting the lifting mode as much as possible, so that the working efficiency of the excavator is affected.

In a specific example of this embodiment, when the controller detects that the lifting mode of the excavator is on, the lifting mode control system is activated, and if the controller detects a change in the signal of the electronic accelerator pedal, that is, the driver acts on the accelerator pedal, the controller detects the rotation speed (current rotation speed) of the initial gear and the pump current parameter, and the current rotation speed is compared with the set rotation speed; if the absolute value of the difference between the current rotating speed and the set rotating speed is smaller than or equal to 100r/min, the rotating speed of the engine is immediately changed to the set rotating speed, and the pump current parameter is changed to a set value; if the absolute value of the difference between the current rotating speed and the set rotating speed is greater than 100r/min, if the current rotating speed is lower than the set rotating speed, the rotating speed of the engine is changed to the set rotating speed at a steady and slow speed, the speed can be adjusted by a program, and the pump current parameter is changed to a set value along with the rotating speed; if the current rotation speed is higher than the set rotation speed, the rotation speed of the engine is kept at the current rotation speed, and the pump current is kept at the initial gear value.

Further, when a driver steps on the brake, the controller detects a brake signal, and at the moment, the controller judges whether to exit the hoisting mode, and if the hoisting mode is still in the hoisting mode, the engine speed and the pump current parameters keep the current values; if the hoisting mode is exited, the engine speed and the pump current parameters are slowly changed to the set values.

Fig. 3 is a flowchart of another method for controlling swing of an excavator according to a second embodiment of the present invention, which mainly includes the following steps:

step 310, obtaining the current rotating speed;

step 320, determining whether the accelerator pedal signal changes;

if yes, go to step 321;

otherwise, go to step 330;

step 321, determining whether the absolute value of the difference value of the current rotating speed minus the set rotating speed is greater than or equal to 100r/min;

if yes, go to step 322;

otherwise, go to step 340;

step 322, whether the current rotation speed is less than or equal to the set rotation speed;

if yes, go to step 323;

otherwise, go to step 350;

step 323, slowly changing the current rotating speed to a set rotating speed;

step 324, the pump current parameter is changed to a set value along with the rotating speed;

step 325, whether a brake signal is detected;

if yes, go to step 330;

otherwise, go to step 360;

step 330, whether the lifting mode is on;

if yes, go to step 360;

otherwise, go to step 331;

step 331, maintaining the current values of the rotating speed and the pump current parameters;

step 360, the rotation speed and the pump current are changed to initial values;

step 340, the current rotation speed immediately changes to the set rotation speed;

step 341, changing the pump current parameter to a set value;

step 350, maintaining the current rotation speed;

step 351, maintaining the present pump current parameters.

According to the scheme provided by the embodiment of the invention, by improving the control logic of the controller program, unstable change of the vehicle speed caused by excessive operation of a person on the accelerator pedal is avoided, stable digging and lifting process of the mechanical driving wheel operated by manual gear is realized, and the stability and safety of the mechanical driving wheel during digging and lifting work are improved.

In the technical scheme of the embodiment of the invention, the acquisition, storage, application and the like of the related user personal information (such as face information, voice information and the like) accord with the regulations of related laws and regulations, and the public order welcome is not violated.

Example III

Fig. 4 is a schematic structural view of a swing control device for an excavator according to a third embodiment of the present invention. As shown in fig. 4, the apparatus includes: the acquisition module 410, the first adjustment module 420, and the second adjustment module 430.

An obtaining module 410, configured to obtain a current rotation speed and a current pump current parameter of an engine of a target excavator in response to a change instruction of an electronic accelerator pedal signal of the target excavator;

a first adjustment module 420, configured to adjust the current rotation speed to the set rotation speed and adjust the current pump current parameter to a set pump current parameter when it is determined that the current rotation speed and the set rotation speed of the engine satisfy a preset relationship;

and a second adjustment module 430, configured to increase the current rotation speed to the set rotation speed at a set rate and increase the current pump current parameter to the set pump current parameter at the set rate when it is determined that the current rotation speed and the set rotation speed of the engine do not satisfy the preset relationship and the current rotation speed is less than the set rotation speed.

According to the scheme of the embodiment, the current rotating speed and the current pump current parameters of an engine of the target excavator are obtained through the obtaining module in response to a change instruction of an electronic accelerator pedal signal of the target excavator; when the current rotating speed and the set rotating speed of the engine meet the preset relation, the current rotating speed is adjusted to the set rotating speed through a first adjusting module, and the current pump current parameter is adjusted to the set pump current parameter; when the second adjusting module determines that the current rotating speed and the set rotating speed of the engine do not meet the preset relation, and the current rotating speed is smaller than the set rotating speed, the current rotating speed is increased to the set rotating speed at a set speed, and the current pump current parameter is increased to the set pump current parameter at the set speed, so that the stable lifting of the excavator in the lifting operation and the safety of the excavator in the lifting process can be ensured.

In an alternative implementation of this embodiment, the second adjustment module 430 is further configured to keep the current rotation speed and the current pump current parameter unchanged if it is determined that the current rotation speed is greater than the set rotation speed.

the absolute value of the difference value between the current rotating speed and the set rotating speed is smaller than or equal to a set rotating speed threshold value;

the set rotation speed threshold is 100r/min.

In an alternative implementation of this embodiment, the obtaining module 410 is specifically configured to determine whether the target excavator turns on a lifting mode;

In an optional implementation manner of this embodiment, the lifting control device of the excavator further includes: the lifting mode determining module is used for responding to a brake instruction of the target excavator and determining whether the target excavator exits from the lifting mode;

The lifting control device of the excavator provided by the embodiment of the invention can execute the lifting control method of the excavator provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example IV

Fig. 5 shows a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the embodiments of the invention described and/or claimed herein.

As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the swing control method of an excavator.

In some embodiments, the swing control method of the excavator may be implemented as a computer program tangibly embodied on a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method of controlling swing of the excavator described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the hoist control method of the excavator in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of embodiments of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of embodiments of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the embodiments of the present invention may be performed in parallel, sequentially or in a different order, so long as the desired result of the technical solution of the embodiments of the present invention can be achieved, which is not limited herein.

The above detailed description should not be construed as limiting the scope of the embodiments of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the embodiments of the present invention should be included in the scope of the embodiments of the present invention.

Claims

1. The lifting control method of the excavator is characterized by comprising the following steps of:

2. The swing control method of an excavator according to claim 1, further comprising, after determining that the current rotation speed does not satisfy a preset relationship with a set rotation speed of the engine:

3. The swing control method of an excavator according to claim 1, wherein the predetermined relationship is:

the set rotation speed threshold is 100r/min.

4. The swing control method for an excavator according to claim 1, wherein said changing command responsive to the electronic accelerator pedal signal of the target excavator comprises:

determining whether the target excavator starts a lifting mode;

5. The method for controlling the swing of an excavator according to claim 1, further comprising:

6. The method of swing control of an excavator of claim 5 wherein the determining whether the target excavator is out of a swing mode comprises:

7. The method for controlling the swing of an excavator according to any one of claims 1 to 6,

the target excavator is a mechanical transmission wheel type excavator.

8. A swing control device for an excavator, comprising:

9. An electronic device, the electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the hoist control method of the excavator of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to execute the method of controlling swing of the excavator according to any one of claims 1 to 7.