CN117738256A

CN117738256A - Excavator control method and device and excavator

Info

Publication number: CN117738256A
Application number: CN202311734525.3A
Authority: CN
Inventors: 张学锋; 戴群亮; 胡耀各; 李明灿
Original assignee: Zoomlion Earth Moving Machinery Co Ltd; Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
Current assignee: Zoomlion Earth Moving Machinery Co Ltd; Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
Priority date: 2023-12-15
Filing date: 2023-12-15
Publication date: 2024-03-22

Abstract

The embodiment of the application provides an excavator control method, an excavator control device and an excavator, wherein a first position and a second position of an excavator bucket, namely a start point and an end point of the bucket, can be determined, a running path of the bucket can be automatically determined according to the first position and the second position of the excavator bucket, then the corresponding speed and acceleration of each position of the bucket on the running path can be determined according to the running path of the bucket, and finally the bucket can be controlled to run on the determined running path according to the determined speed and acceleration of each position. The method can automatically plan the running path of the bucket, adjust the speed and the acceleration of the bucket, determine the optimal route of the bucket, reduce the fuel consumption of the excavator and improve the working efficiency of the excavator.

Description

Excavator control method and device and excavator

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to an excavator control method and apparatus, and an excavator.

Background

With the development of engineering machinery automation technology, an excavator becomes one of important mechanical equipment. In practical application of the excavator, since the material cannot be conveyed once, an operator often needs to repeatedly control a boom, an arm and a bucket of the excavator, so as to control the bucket to move along the same track, and continuously convey the material from a starting point to an ending point, so that the fatigue degree of the operator is increased, the operator is not facilitated to continuously operate the excavator, and therefore, improvement of an excavator control method is needed.

At present, the existing excavator control method is that an operator records the running path of a bucket and then realizes repeated operation through a computer program, but the method is low in automation degree, and the running path, speed and acceleration of the bucket cannot be automatically planned, so that the bucket does not necessarily run according to an optimal route, the consumption of fuel oil can be increased, and the operation efficiency is reduced.

Disclosure of Invention

In order to solve the problems in the prior art, the embodiment of the application provides an excavator control method and device and an excavator, which are used for improving the working efficiency of the excavator.

In a first aspect, an embodiment of the present application provides an excavator control method, including:

determining a first position and a second position of a bucket of an excavator; the first and second positions are two endpoints of travel of the bucket;

planning a bucket running path of the excavator according to the first position and the second position, and respectively determining corresponding bucket speed and bucket acceleration when the bucket is positioned at each of the positions aiming at the positions on the bucket running path;

and controlling the bucket to travel according to the bucket running path according to the corresponding bucket speed and bucket acceleration when the bucket is positioned at each of the plurality of positions.

In one possible embodiment, the planning a bucket travel path of the excavator according to the first position and the second position includes:

planning a first bucket travel path of the excavator by taking the first position as a starting point and taking the second position as an ending point; the method comprises the steps of,

and planning a second bucket running path of the excavator by taking the second position as a starting point and taking the first position as an ending point.

determining at least one third location; the third position is located between the first position and the second position;

a bucket travel path of the excavator is planned based on the first position, the second position and the at least one third position such that the bucket travel path passes through the at least one third position.

In one possible embodiment, the controlling the bucket to travel according to the bucket travel path according to the corresponding bucket speed and bucket acceleration when the bucket is located at each of the plurality of positions includes:

determining the movement rule of the oil cylinder of the excavator when the bucket is positioned at each of the plurality of positions according to the corresponding bucket speed and bucket acceleration when the bucket is positioned at each of the plurality of positions; the oil cylinder is used for controlling the travel of a bucket of the excavator;

and controlling the oil cylinder of the excavator to drive the bucket to move according to the movement rule of the oil cylinder of the excavator when the bucket is positioned at each of the plurality of positions.

In one possible implementation manner, when the bucket is located at each of the plurality of positions, according to a movement rule of the oil cylinder of the excavator, controlling the oil cylinder of the excavator to drive the bucket to move along the bucket running path includes:

according to the motion rule of the oil cylinder of the excavator when the bucket is positioned at each of the plurality of positions, determining the current control parameter corresponding to the proportional valve of the excavator when the bucket is positioned at each of the plurality of positions; the current control parameter is used for controlling the proportional valve of the excavator to operate;

and controlling an oil cylinder of the excavator through the proportional valve of the excavator according to the current control parameters corresponding to the proportional valve of the excavator when the bucket is positioned at each of the plurality of positions, so that the oil cylinder drives the bucket to move along the bucket running path.

In one possible embodiment, after the controlling the bucket to travel along the bucket travel path, the method further comprises:

responsive to an intervention operation entered by a user, stopping controlling the bucket to travel in the bucket travel path.

In a second aspect, an embodiment of the present application provides an excavator control device, including:

a path planning unit for determining a first position and a second position of a bucket of the excavator; the first and second positions are two endpoints of travel of the bucket;

a speed determining unit, configured to plan a bucket running path of the excavator according to the first position and the second position, and determine, for a plurality of positions on the bucket running path, a corresponding bucket speed and a bucket acceleration when the bucket is located at each of the plurality of positions;

and the path advancing unit is used for controlling the bucket to advance according to the bucket running path according to the corresponding bucket speed and bucket acceleration when the bucket is positioned at each of the positions.

In a third aspect, embodiments of the present application provide an excavator, 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 to enable the at least one processor to perform the above-described excavator control method.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored therein, which when executed by a processor, implements the above-described excavator control method.

In a fifth aspect, embodiments of the present application provide a computer program product comprising: computer program code which, when run on a computer, causes the computer to perform the above-described excavator control method.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 is an external schematic view of an excavator according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of an excavator control method provided in an embodiment of the present application;

FIG. 3 is a flowchart of an excavator control method according to an embodiment of the present disclosure;

FIG. 4 is a block diagram of an excavator according to an embodiment of the present disclosure;

fig. 5 is a block diagram of an excavator control device according to an embodiment of the present application.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but 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 within the scope of the present disclosure. Embodiments and features of embodiments in this application may be combined with each other arbitrarily without conflict. Also, while a logical order of illustration is depicted in the flowchart, in some cases the steps shown or described may be performed in a different order than presented.

The terms first and second in the description and claims of the present application and in the above-described figures are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the term "include" and any variations thereof is intended to cover non-exclusive protection. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. The term "plurality" in the present application may mean at least two, for example, two, three or more, and embodiments of the present application are not limited.

Aiming at the problems that the excavator cannot automatically plan the running path, the speed and the acceleration of the bucket and the working efficiency is easy to reduce, the embodiment of the application provides an excavator control method, an excavator control device and an excavator, wherein the first position and the second position of the bucket of the excavator can be determined, the running path of the bucket can be automatically determined according to the first position and the second position of the bucket of the excavator, the speed and the acceleration of each position of the bucket on the running path can be determined according to the running path of the bucket, and finally the bucket can be controlled to run on the determined running path according to the speed and the acceleration of each position according to third information input by a user. The method can automatically plan the running path of the bucket, adjust the speed and the acceleration of the bucket, determine the optimal route of the bucket, reduce the consumption of the fuel oil of the excavator and improve the working efficiency.

Fig. 1 shows an external schematic view of an excavator provided in an embodiment of the present application, and as shown in fig. 1, the excavator may include a revolving platform 101, a lower body 102, an upper body 103, a boom cylinder 104, a boom 105, an arm cylinder 106, an arm 107, a bucket cylinder 108, and a bucket 109.

The rotary platform 101 can support the upper vehicle body 103 to rotate 360 degrees and is also connected with a chassis formed by tracks or tires of the lower vehicle body 102, and the rotary platform can rotate omnidirectionally when the excavator works, so that the excavator can flexibly adjust the working position and complete the excavating, loading and unloading work in various directions. The lower body 102 may be movable and positionable in the excavator cab and may also be equipped with vital components such as fuel tanks, coolers, batteries, etc. that provide the necessary functions and resources for proper operation of the excavator. The upper body 103 is typically equipped with a cab and a console within which an operator may manipulate levers or control panels to control the movements and actions of the excavator, while the upper body 103 may also house the engine and power system of the excavator, which provides driving force and power output.

The movable arm oil cylinder 104 can also be called a large arm oil cylinder, can be connected with the body of the excavator and the movable arm 105 of the excavator, is mainly responsible for controlling the lifting and the stretching of the movable arm 105, and can realize the movement of the movable arm in the vertical and horizontal directions by adjusting the flow and the pressure of hydraulic oil of the movable arm oil cylinder. The boom 105 may be extended and retracted up and down so that the working range of the excavator may be adjusted and extended. The arm cylinder 106 may connect the boom 105 of the excavator and the arm 107 of the excavator, and is mainly responsible for controlling the lifting and the extension and contraction of the arm 107, and by adjusting the hydraulic oil flow and the pressure of the arm cylinder 106, the movement of the arm 107 in the vertical and horizontal directions may be achieved. The bucket rod 107 can control the bucket 109 to stretch forwards and backwards and tilt on a vertical plane, the bucket cylinder 108 can be connected with the bucket rod 107 of the excavator and the bucket 109 of the excavator, and is mainly responsible for controlling the opening, closing and tilting of the bucket 109, and the action of the bucket 109 can be realized by adjusting the hydraulic oil flow and pressure of the bucket cylinder 108, so that the bucket is used for excavating, loading and unloading materials. The bucket 109 may be used for excavating, loading and carrying materials.

The following describes embodiments of the present application in connection with specific embodiments.

In one possible embodiment, if the operator chooses to use the excavator control method of the present application, the operator may enter a semi-automatic loading mode using the control panel in the cab and perform the subsequent steps.

In another possible embodiment, if the operator chooses not to use the excavator control method according to the embodiment of the present application, the operator may operate the operation lever in the cab to control the excavator to perform a manual work.

Fig. 2 shows a flowchart of an excavator control method according to an embodiment of the present application, and as shown in fig. 2, the method may include the following steps:

step S201, determining a first position and a second position of a bucket of an excavator.

In one possible embodiment, an operator may set a first position and a second position of the bucket, which may be two endpoints of bucket travel, through a control panel of the excavator. For example, the operator may perform a confirmation operation through the control panel when adjusting the bucket of the excavator to the first position, and then may perform a confirmation operation again through the control panel when adjusting the bucket of the excavator to the second position. After confirming the first location and the second location, the excavator may store the first location and the second location. Wherein the first position may be a position where material is excavated, i.e. the start point of bucket travel, and the second position may be a position where material is unloaded, i.e. the end point of bucket travel; the first position may also be a position where material is unloaded, i.e., an end point of travel of the bucket, and the second position may also be a position where material is excavated, i.e., an end point of travel of the bucket, as the application is not limited herein.

Step S202, planning a bucket running path of the excavator according to the first position and the second position, and respectively determining corresponding bucket speed and bucket acceleration when the bucket is positioned at each of the positions according to the positions on the bucket running path.

In one possible embodiment, the center point of the rotary platform may be used as the origin of coordinates, while the positive direction of the X-axis is used as any direction to establish a three-dimensional coordinate system, wherein the coordinates of the bucket when in the first position may be P ₀ The coordinates of the bucket in the second position may be P ₁ In addition, one or more additional control points can be further set to more accurately plan the bucket running path of the excavator, the more the additional control points are, the more accurate the planned running path is, the number and the positions of the additional control points are not required to be excessive, and the additional control points can be set according to the requirements, so that the excavator bucket running path planning method is not limited. The additional control point may be used as a point for determining the third position. After the number and location of additional control points are determined, the formula may be usedTo determine the bucket travel path, where P (t) may be the travel path of the bucket and n may be the number of additional control points. Wherein an anti-collision point may be determined as an additional control point to plan a bucket travel path of the excavator. For example, if an operator desires to transfer material from the ground to a truck, the truck bed is 2 meters high, and the vertical height of the bucket is about 0.3 meters when unloading the material, so the anti-collision point P ₂ X-axis seat of (2)The target value and the Y-axis coordinate value may be the same as the truck bed, the anti-collision point P ₂ The Z-axis coordinate of (c) may have a value of 2.5. Note that coordinates of the tip of the bucket may be regarded as coordinates of the bucket, or coordinates of the center of the bucket may be regarded as coordinates of the bucket, and the present application is not limited thereto.

Exemplary, if the bucket is located at coordinate P of the first position ₀ Is (X) ₀ ，Y ₀ ，Z ₀ ) The bucket is located at the coordinate P of the additional control point 1 ₁ Is (X) ₁ ，Y ₁ ，Z ₁ ) The bucket is located at the coordinate P of the additional control point 2 ₂ Is (X) ₂ ，Y ₂ ，Z ₂ ) Coordinate P of the bucket in the second position ₃ Is (X) ₃ ，Y ₃ ，Z ₃ ) Wherein either the additional control point 1 or the additional control point 2 may be an anti-collision point. Then the following formula P (t) = (1-t) can be used ³ *P ₀ +3t(1-t) ² *P ₁ +3t ² (1-t)*P ₂ +t ³ *P ₃ And planning the track of the bucket. And then respectively P ₀ 、P ₁ 、P ₂ 、P ₃ Substituting the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the bucket, the trajectory equation X (t) = (1-t) in the bucket X-axis direction can be obtained when the bucket travels from the first position to the second position, respectively ³ *X ₀ +3t(1-t) ² *X ₁ +3t ² (1-t)*X ₂ +t ³ *X ₃ Trajectory equation Y (t) = (1-t) in bucket Y-axis direction ³ *Y ₀ +3t(1-t) ² *Y ₁ +3t ² (1-t)*Y ₂ +t ³ *Y ₃ Trajectory equation Z (t) = (1-t) for bucket Z-axis direction ³ *Z ₀ +3t(1-t) ² *Z ₁ +3t ² (1-t)*Z ₂ +t ³ *Z ₃ When t=0, the bucket is positioned at the first position, when t=1, the bucket is positioned at the second position, in the trajectory equation of the X-axis direction, the X-axis coordinates of different positions on the running path can be obtained by continuously changing the value of t in the range of 0 to 1, and in the trajectory equation of the Y-axis direction, the X-axis coordinates of different positions on the running path can be obtained by continuously changing the value of t in the range of 0 to 1To obtain Y-axis coordinates of different positions on the travel path; in the trajectory equation of the Z axis direction, the Z axis coordinates of different positions on the running path can be obtained by continuously changing the value of t in the range of 0 to 1, when t is taken to each different value, the X axis, Y axis and Z axis coordinates of the corresponding positions are combined, so that the coordinate point of each position can be obtained, the obtained coordinate point of each position can be continuous, and the first running path of the bucket from the first position to the second position can be obtained through the continuous coordinate points.

Conversely, if the bucket is traveling from the second position to the first position, the trajectory equation for the bucket X-axis direction may be X (t) = (1-t) ³ *X ₃ +3t(1-t) ² *X ₂ +3t ² (1-t)*X ₁ +t ³ *X ₀ The trajectory equation for the bucket Y-axis direction may be Y (t) = (1-t) ³ *Y ₃ +3t(1-t) ² *Y ₂ +3t ² (1-t)*Y ₁ +t ³ *Y ₀ The trajectory equation for the bucket Z-axis direction may be Z (t) = (1-t) ³ *Z ₃ +3t(1-t) ² *Z ₂ +3t ² (1-t)*Z ₁ +t ³ *Z ₀ When t=0, the bucket is positioned at the second position, when t=1, the bucket is positioned at the first position, the X-axis coordinates of different positions on the running path can be obtained by continuously changing the value of t in the range of 0 to 1, and likewise, in the trajectory equation of the Y-axis direction, the Y-axis coordinates of different positions on the running path can be obtained by continuously changing the value of t in the range of 0 to 1; in the trajectory equation of the Z axis direction, the Z axis coordinates of different positions on the running path can be obtained by continuously changing the value of t in the range of 0 to 1, when t is taken to each different value, the X axis, Y axis and Z axis coordinates of the corresponding positions are combined, so that the coordinate point of each position can be obtained, the obtained coordinate point of each position can be continuous, and the second running path of the bucket from the second position to the first position can be obtained through the continuous coordinate points.

In one possible embodiment, for the trajectory equation found in the above example, the first derivative with respect to the parameter t may be obtained as the bucket is travellingThe speed of the bucket during travel can be determined by the obtained speed determination equation. For example, for a bucket to travel from a first position to a second position, by the trajectory equation X (t) = (1-t) for the bucket in the X-axis direction ³ *X ₀ +3t(1-t) ² *X ₁ +3t ² (1-t)*X ₂ +t ³ *X ₃ Taking a derivative of the parameter t results in the following velocity determination equation X' (t) = -3 (1-t) for the bucket in the X-axis direction ² *X ₀ +3(1-t) ² *X ₁ -6t(1-t)*X ₁ -6t(1-t)*X ₂ +3t ² *X ₂ +3t ² *X ₃ The method comprises the steps of carrying out a first treatment on the surface of the By the trajectory equation Y (t) = (1-t) for the bucket in the Y-axis direction ³ *Y ₀ +3t(1-t) ² *Y ₁ +3t ² (1-t)*Y ₂ +t ³ *Y ₃ Taking a derivative of the parameter t results in the following velocity determination equation Y' (t) = -3 (1-t) for the bucket in the Y-axis direction ² *Y ₀ +3(1-t) ² *Y ₁ -6t(1-t)*Y ₁ -6t(1-t)*Y ₂ +3t ² *Y ₂ +3t ² *Y ₃ The method comprises the steps of carrying out a first treatment on the surface of the By the trajectory equation Z (t) = (1-t) for the bucket in the Z-axis direction ³ *Z ₀ +3t(1-t) ² *Z ₁ +3t ² (1-t)*Z ₂ +t ³ *Z ₃ Taking a derivative of the parameter t results in the following velocity determination equation Z' (t) = -3 (1-t) for the bucket in the Z-axis direction ² *Z ₀ +3(1-t) ² *Z ₁ -6t(1-t)*Z ₁ -6t(1-t)*Z ₂ +3t ² *Z ₂ +3t ² *Z ₃ . After the speed determination equations in the three directions are obtained, the speed direction and the speed corresponding to each position of the bucket on the running path can be determined through vector calculation, wherein the speeds of the bucket at different positions on the running path can be determined through the speed equation determined through vector calculation by continuously changing the value of t in the range of 0 to 1 because the positions of t with different values are different corresponding to the different positions on the running path and the corresponding speeds are different.

Conversely, if the bucket is traveling from the second positionTo the first position, the following speed determination equation X' (t) = -3 (1-t) of the bucket in the X-axis direction can be obtained ² *X ₃ +3(1-t) ² *X ₂ -6t(1-t)*X ₂ -6t(1-t)*X ₁ +3t ² *X ₁ +3t ² *X ₀ The method comprises the steps of carrying out a first treatment on the surface of the The speed of the bucket in the Y-axis direction determines the equation Y' (t) = -3 (1-t) ² *Y ₃ +3(1-t) ² *Y ₂ -6t(1-t)*Y ₂ -6t(1-t)*Y ₁ +3t ² *Y ₁ +3t ² *Y ₀ The method comprises the steps of carrying out a first treatment on the surface of the The speed of the bucket in the Z-axis direction determines the equation Z' (t) = -3 (1-t) ² *Z ₃ +3(1-t) ² *Z ₂ -6t(1-t)*Z ₂ -6t(1-t)*Z ₁ +3t ² *Z ₁ +3t ² *Z ₀ . After the speed determination equations in the three directions are obtained, the speed direction and the speed corresponding to each position of the bucket on the running path can be determined through vector calculation, wherein the speeds of the bucket at different positions on the running path can be determined through the speed equation determined through vector calculation by continuously changing the value of t in the range of 0 to 1 because the positions of t with different values are different corresponding to the different positions on the running path and the corresponding speeds are different.

In one possible embodiment, for the trajectory equation found in the above example, the acceleration determination equation of the bucket during travel may be obtained by taking the two derivatives with respect to the parameter t, and the acceleration change of the bucket during travel may be determined by the obtained acceleration determination equation. For example, for a bucket to travel from a first position to a second position, by the trajectory equation X (t) = (1-t) for the bucket in the X-axis direction ³ *X ₀ +3t(1-t) ² *X ₁ +3t ² (1-t)*X ₂ +t ³ *X ₃ Taking two derivatives about the parameter t can result in the following acceleration determination equation X "(t) =6t (1-t) ×x (X) of the bucket in the X-axis direction ₀ -2X ₁ +X ₂ )+6t*(X ₁ -2X ₂ +X ₃ ) The method comprises the steps of carrying out a first treatment on the surface of the By the trajectory equation Y (t) = (1-t) for the bucket in the Y-axis direction ³ *Y ₀ +3t(1-t) ² *Y ₁ +3t ² (1-t)*Y ₂ +t ³ *Y ₃ Taking two derivatives about the parameter t can result in the following acceleration determination equation Y "(t) =6t (1-t) × (Y ₀ -2Y ₁ +Y ₂ )+6t*(Y ₁ -2Y ₂ +Y ₃ ) The method comprises the steps of carrying out a first treatment on the surface of the By the trajectory equation Z (t) = (1-t) for the bucket in the Z-axis direction ³ *Z ₀ +3t(1-t) ² *Z ₁ +3t ² (1-t)*Z ₂ +t ³ *Z ₃ Taking a derivative of the parameter t results in the following determination equation Z "(t) =6t (1-t) ×z (acceleration of the bucket in the Z-axis direction ₀ -2Z ₁ +Z ₂ )+6t*(Z ₁ -2Z ₂ +Z ₃ ). After the acceleration determining equations in the three directions are obtained, the acceleration direction and the acceleration magnitude corresponding to each position of the bucket on the running path can be determined through vector calculation, wherein the corresponding speeds and accelerations are different because t with different values correspond to different positions on the running path and the positions are different, and therefore the acceleration of the bucket at different positions on the running path can be determined through the speed equation determined through vector calculation by continuously changing the value of t within the range of 0 to 1.

Conversely, if the bucket travels from the second position to the first position, the following acceleration determination equation X "(t) =6t (1-t) ×x (X) in the X-axis direction can be obtained ₃ -2X ₂ +X ₁ )+6t*(X ₂ -2X ₁ +X ₀ ) The method comprises the steps of carrying out a first treatment on the surface of the The acceleration of the bucket in the Y-axis direction determines equation Y "(t) =6t (1-t) ×y ₃ -2Y ₂ +Y ₁ )+6t*(Y ₂ -2Y ₁ +Y ₀ ) The method comprises the steps of carrying out a first treatment on the surface of the The acceleration of the bucket in the Z-axis direction determines the equation Z "(t) =6t (1-t) ×z ₃ -2Z ₂ +Z ₁ )+6t*(Z ₂ -2Z ₁ +Z ₀ ). After the acceleration determination equations in the three directions are obtained, the acceleration direction and the acceleration magnitude corresponding to each position of the bucket on the running path can be determined through vector calculation, wherein, since t with different values corresponds to different positions on the running path and the positions are different, the corresponding speeds and accelerations are different, and therefore, the t is continuously changed within the range of 0 to 1And taking a value, and determining the acceleration of the bucket at different positions on the running path through a speed equation determined after vector calculation.

It should be noted that while the system is planning the path of travel of the bucket, the operator is required to manually complete the excavation of the material.

After completing planning the bucket travel path of the excavator and determining that the bucket is located at each of the plurality of positions for the plurality of positions on the bucket travel path, the corresponding bucket speed and bucket acceleration may be continued to execute step S203 after saving the above data.

Step S203, controlling the bucket to travel according to the bucket travel path according to the corresponding bucket speed and bucket acceleration when the bucket is located at each of the plurality of positions.

In one possible embodiment, the excavator can control the operation of the proportional valve through the current control parameter, then control the oil cylinder of the excavator through the proportional valve, and then control the bucket to move along the running path through the oil cylinder of the excavator. Therefore, when the travel path of the bucket and the bucket at each of a plurality of positions in the travel path are determined, the corresponding bucket speed and bucket acceleration can be automatically resolved into the displacement, speed, and acceleration of the cylinder. The displacement, speed and acceleration of the oil cylinder may include the displacement, speed and acceleration of the boom oil cylinder, the displacement, speed and acceleration of the arm oil cylinder, and the displacement, speed and acceleration of the bucket oil cylinder. The calculated displacement, speed and acceleration of the movable arm oil cylinder, the calculated displacement, speed and acceleration of the bucket arm oil cylinder and the calculated displacement, speed and acceleration of the bucket oil cylinder can be used for respectively determining current control parameters corresponding to proportional valves of the excavator when the bucket is located at each of a plurality of positions, and relevant information of the determined current control parameters is stored.

In one possible embodiment, position sensors are installed on the rotary platform, the movable arm, the bucket rod and the bucket, body position information of the excavator can be acquired in real time through the position sensors installed on the rotary platform, position information of the movable arm can be acquired in real time through the position sensors installed on the movable arm, position information of the bucket rod can be acquired in real time through the position sensors installed on the bucket, position information of the bucket can be acquired in real time through the position sensors installed on the bucket, and position information of the whole excavator can be continuously acquired in the running process of the bucket through the position sensors.

In one possible embodiment, after receiving the start signal of the operator and acquiring the real-time position information of the bucket, the control current corresponding to the corresponding current control parameter can be released according to the real-time position information of the bucket, so that the proportional valve is controlled, and the proportional valve can control the flow of hydraulic oil in the oil cylinder to control the movable arm, the bucket rod and the bucket through the oil cylinder, so that the oil cylinder drives the bucket to move along the bucket running path.

In one possible embodiment, when the excavator is automatically controlling the bucket to travel from the first position to the second position, or when the excavator is automatically controlling the bucket to travel from the second position to the first position, the operator may check the position information of the entire excavator through the control panel, and determine whether to stop the excavator from automatically controlling the bucket to travel in accordance with the bucket travel path through the judgment of the position information of the entire excavator. If the intervention operation of the operator is received through the handle, the bucket is stopped to travel according to the bucket running path, the manual mode is changed, and the excavator is controlled through the operation handle.

In a specific embodiment, the flow of the excavator control method may be as shown in fig. 3, and includes the following steps:

step S301, judging whether to enter a semi-automatic loading mode, if so, executing step S302; if not, step S309 is performed.

Step S302, a first position and a second position of a bucket of an excavator are determined.

Step S303, planning a bucket running path of the excavator according to the first position and the second position, and respectively determining corresponding bucket speed and bucket acceleration when the bucket is positioned at each of the positions according to the positions on the bucket running path.

Step S304, according to the running path of the bucket and the corresponding bucket speed and bucket acceleration when the bucket is positioned at each of a plurality of positions in the running path, the displacement, the speed and the acceleration of the oil cylinder are automatically calculated.

And step S305, when the bucket is positioned at each of a plurality of positions according to the displacement, the speed and the acceleration of the oil cylinder, current control parameters corresponding to the proportional valve of the excavator are respectively determined.

Step S306, judging whether an operator starting signal is received, if yes, executing step S307; if not, step S309 is performed.

Step S307, releasing the control current corresponding to the corresponding current control parameter according to the real-time position information of the whole excavator.

In one possible embodiment, the control current corresponding to the corresponding current control parameter can be released according to the real-time position information of the whole excavator, so that the proportional valve is controlled, the proportional valve can control the flow of hydraulic oil in the oil cylinder, the movable arm, the bucket rod and the bucket are controlled through the oil cylinder, and the oil cylinder drives the bucket to move along the bucket running path.

In step S308, the excavator automatically completes moving the bucket from the first position to the second position or from the second position to the first position.

In one possible embodiment, the automatic travel of the bucket is stopped if an operator intervention is received during the automatic completion of the movement of the bucket from the first position to the second position, or from the second position to the first position, by the excavator.

Step S309, control of the excavator is achieved by receiving the operation information of the operator.

Based on the same inventive concept, the embodiment of the present application provides an excavator, which can implement the excavator control method discussed above, referring to fig. 4, the server includes a memory 401, a processor 402, and a bus 403.

A memory 401 for storing a computer program executed by the processor 402. The memory 401 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, a program required for running an instant communication function, and the like; the storage data area can store various instant messaging information, operation instruction sets and the like.

The memory 401 may be a volatile memory (RAM) such as a random-access memory (RAM); the memory 401 may also be a nonvolatile memory (non-volatile memory), such as a read-only memory, a flash memory (flash memory), a Hard Disk Drive (HDD) or a Solid State Drive (SSD), or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto. Memory 401 may be a combination of the above.

The processor 402 may include one or more central processing units (central processing unit, CPU) or digital processing units, etc. A processor 402 for implementing the excavator control method in the above embodiment when calling a computer program stored in the memory 401.

The specific connection medium between the memory 401 and the processor 402 is not limited in the embodiments of the present application. In the embodiment of the present application, the memory 401 and the processor 402 are connected through the bus 403 in fig. 4, the bus 403 is shown by a thick line in fig. 4, and the connection manner between other components is only schematically illustrated, but not limited to. The bus 403 may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.

Based on the same inventive concept, there is also provided in an embodiment of the present application an excavator control device, as shown in fig. 5, including:

a path planning unit 501 for determining a first position and a second position of a bucket of an excavator; the first and second positions are two endpoints of travel of the bucket;

a speed determining unit 502, configured to plan a bucket running path of the excavator according to the first position and the second position, and determine, for a plurality of positions on the bucket running path, a corresponding bucket speed and a bucket acceleration when the bucket is located at each of the plurality of positions;

and a path traveling unit 503, configured to control the bucket to travel according to the bucket travel path according to a corresponding bucket speed and bucket acceleration when the bucket is located at each of the plurality of positions.

In a possible embodiment, the speed determining unit 502 is specifically configured to plan a first bucket running path of the excavator, starting from the first position and ending from a second position; the method comprises the steps of,

In a possible embodiment, the speed determining unit 502 is specifically configured to determine at least one third position; the third position is located between the first position and the second position;

In a possible embodiment, the speed determining unit 502 is specifically configured to determine, according to a corresponding bucket speed and a bucket acceleration when the bucket is located at each of the plurality of positions, a movement rule of the cylinder of the excavator when the bucket is located at each of the plurality of positions; the oil cylinder is used for controlling the travel of a bucket of the excavator;

In a possible embodiment, the speed determining unit 502 is specifically configured to determine, according to a movement rule of the cylinder of the excavator when the bucket is located at each of the plurality of positions, a current control parameter corresponding to the proportional valve of the excavator when the bucket is located at each of the plurality of positions; the current control parameter is used for controlling the proportional valve of the excavator to operate;

In a possible embodiment, the path advancing unit 503 is specifically configured to stop controlling the bucket to advance along the bucket travel path in response to an intervention operation input by a user.

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-readable 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 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.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.

Claims

1. An excavator control method, comprising:

2. The method of claim 1, wherein planning a bucket travel path of the excavator based on the first location and the second location comprises:

3. The method of claim 1, wherein planning a bucket travel path of the excavator based on the first location and the second location comprises:

4. The method of claim 1, wherein said controlling the bucket to travel in the bucket travel path based on the corresponding bucket speed and bucket acceleration when the bucket is in each of the plurality of positions comprises:

5. The method of claim 4, wherein controlling the excavator cylinder to move the bucket along the bucket travel path according to the movement rules of the excavator cylinder when the bucket is located at each of the plurality of positions comprises:

6. The method of claim 5, wherein after said controlling the bucket to travel in the bucket travel path, the method further comprises:

7. An excavator control device, comprising:

8. An excavator, 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 method of any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored therein, characterized in that: the computer program, when executed by a processor, implements the method of any of claims 1-6.

10. A computer program product, the computer program product comprising: computer program code which, when run on a computer, causes the computer to perform the method of any of the preceding claims 1-6.