WO2022242266A1

WO2022242266A1 - Adaptive control method, adaptive control apparatus, electronic device and excavator

Info

Publication number: WO2022242266A1
Application number: PCT/CN2022/078485
Authority: WO
Inventors: 曹东辉; 师建鹏; 刘效忠
Original assignee: 三一重机有限公司
Priority date: 2021-05-19
Filing date: 2022-02-28
Publication date: 2022-11-24
Also published as: EP4116506A1; CN113216311B; CN113216311A; EP4116506A4

Abstract

Provided in the present disclosure is an adaptive control method applicable to an excavator. The adaptive control method comprises: acquiring a test parameter of an excavator, wherein the test parameter comprises the displacement of an electric control handle of the excavator and angle information of the excavator; identifying the current working conditions of the excavator on the basis of the test parameter; and adjusting a control parameter of the excavator on the basis of the current working conditions. According to the adaptive control method provided in the present disclosure, the current working conditions are identified by using the displacement of an electric control handle and angle information of an excavator, and a control parameter of the excavator is then adjusted on the basis of the current working conditions, such that the control parameter is automatically adjusted along with changes in the current working conditions, thereby improving the control efficiency of the excavator.

Description

Adaptive control method, adaptive control device, electronic equipment and excavator

technical field

The present disclosure relates to the technical field of excavators, and in particular to an adaptive control method, an adaptive control device, an excavator, a computer-readable storage medium, and a computer program product.

Background technique

As an important construction and mining equipment, excavators play a very important role in many fields such as engineering construction and ore mining. Excavators perform more than 60 percent of all earthmoving operations worldwide.

Excavators usually use hydraulic drive to operate, and drive multiple actuators such as boom, arm, bucket, and slewing platform through a single or multiple pumps, which belongs to a single power source multi-actuator system. When performing compound actions, the operating speed of each actuator is determined by the flow distribution of the hydraulic system, and the proportion of flow distribution has a direct relationship with the working conditions and loads. In related technologies, for some common working conditions, the excavator will preset matching working condition modes when leaving the factory, and different working condition modes correspond to different flow distribution priority parameters. During operation, the driver can adjust the priority parameters of flow distribution by switching the working mode, so that the adjusted priority parameters match the current working conditions. However, this requires the driver to select the working mode mode based on actual experience to realize the adjustment of the priority parameters corresponding to the current working condition. This method requires the driver to manually select and switch the working mode, which is inefficient and slow in response. In addition, in actual operation, the working condition of the excavator changes frequently, and the driver needs to switch the working condition mode (for example, select and switch the working condition mode by operating the button) every time the working condition changes. Switching the working mode brings a burden to the driver and reduces the operating efficiency and user experience of the operator.

Contents of the invention

In view of this, the present disclosure provides an adaptive control method, an adaptive control device, electronic equipment, an excavator, a computer readable storage medium and a computer program product.

In a first aspect, the present disclosure provides an adaptive control method suitable for an excavator. The adaptive control method includes: acquiring detection parameters of the excavator, the detection parameters including the displacement of the electric control handle of the excavator and the angle information of the excavator; based on the detection parameters, identifying the excavator a current working condition of the excavator; and adjusting control parameters of the excavator based on the current working condition.

The self-adaptive control method provided by the present disclosure adjusts the control parameters of the excavator based on the identified current working conditions, thereby realizing the automatic adjustment of the control parameters as the current working conditions change, and improving the control efficiency of the excavator. also. Combining the displacement of the electric control handle and the angle information of the excavator to identify the current working condition can ensure the reliability of working condition identification.

In some embodiments, the excavator includes a plurality of actuators, the plurality of actuators include a plurality of action mechanisms and a slewing platform, and the angle information includes the inclination angles of the plurality of action mechanisms and the inclination angle of the slewing platform. The slewing angle, the determination of the current working condition of the excavator based on the detection parameters includes: obtaining the relative positions of the plurality of action mechanisms; based on the inclination angle and the relative position, determining the lifting height; based on the corresponding relationship between the displacement and the speed of the multiple actuators and the displacement of the electric control handle, determine the target speed of the multiple actuators; and based on the angle information, the lift The lift height and the target speed are used to determine the current working condition.

The self-adaptive control method provided by the present disclosure combines the inclination angle, the rotation angle and the target speed to determine the current working condition, so as to realize the accuracy of working condition identification.

In some embodiments, the determining the lifting height of the excavator based on the inclination angle and the relative position includes: determining the tooth tip of the excavator at each moment based on the inclination angle and the relative position based on the spatial coordinates of the tooth tip at each moment, determine the motion trajectory of the tooth tip; and determine the working of the crawler belt of the excavator relative to the excavator based on the motion trajectory of the tooth tip The height difference of the surface, thereby determining the lift height.

The self-adaptive control method provided by the present disclosure determines the lifting height based on the motion track of the tooth tips and the relative positions of each action mechanism, and determines the lifting height from the kinematic coordinate transformation angle, thereby ensuring the accuracy of the determination of the lifting height.

In some embodiments, the determining the current working condition based on the angle information, the lifting height and the target speed includes: determining that the excavator is currently in the first mode based on the lifting height , wherein the first mode is one of platform work and flat work; based on the inclination angle and the target speed, it is determined that the excavator is currently in a second mode, wherein the second mode is loading work and One of the swing operations; based on the swing angle, determine that the excavator is currently in a third mode, wherein the third mode is one of a variety of swing operations with different swing angles; and based on the first mode, the second mode and the third mode determine the current working condition.

The self-adaptive control method provided by the present disclosure finally determines the current working condition by integrating the first mode, the second mode and the third mode, and uses the signal to obtain the result of working condition identification, which can ensure the reliability of the confirmation of the current working condition .

In some embodiments, the determining that the excavator is currently in the first mode based on the lift height includes: determining whether the lift height exceeds a height threshold; when the lift height does not exceed the height threshold In the case of , it is determined that the excavator is working on a platform; and in the case that the lifting height exceeds the height threshold, it is determined that the excavator is working on level ground.

In this way, it can be accurately determined which of the platform work and the level work the excavator is in.

In some embodiments, the determining that the excavator is currently in the second mode based on the inclination angle and the target speed includes: determining the speed of the electric control handle based on the displacement of the electric control handle; determining the target acceleration of the plurality of actuators based on the speed of the electric control handle; and determining that the excavator is currently in the second mode based on the inclination angle, the target speed and the target acceleration.

In the adaptive control method provided by the present disclosure, the second mode is confirmed in combination with the target acceleration on the basis of the target speed, which further ensures the accuracy of the confirmation result.

In some embodiments, the plurality of actuators includes a boom, a stick, and a bucket.

In some embodiments, the control parameters include pump current and priority gain, and adjusting the control parameters of the excavator based on the current working conditions includes: determining target control parameters based on the current working conditions and optimization goals , wherein the optimization target includes minimum fuel consumption and maximum efficiency; and adjusting the control parameter based on the target control parameter.

In the self-adaptive control method provided in the present disclosure, the control parameters are optimized by using the optimization target, so that the optimized control parameters can meet the requirements.

In a second aspect, the present disclosure also provides an adaptive control device suitable for an excavator. The self-use control device includes: an acquisition module configured to acquire detection parameters of the excavator, the detection parameters including the displacement of the electric control handle of the excavator and angle information of the excavator; an identification module configured to obtain configured to identify a current working condition of the excavator based on the detected parameters; and an adjustment module configured to adjust control parameters of the excavator based on the current working condition.

In a third aspect, the present disclosure also provides an electronic device. The electronic device includes: a processor; and a memory, on which program instructions are stored and coupled to the processor, and when the program instructions are executed by the processor, the processor executes the adaptive control method of the first aspect.

In a fourth aspect, the present disclosure also provides an excavator. The excavator includes the electronic equipment of the third aspect.

In a fifth aspect, the present disclosure provides a computer-readable storage medium. The computer-readable storage medium stores program instructions, which when executed by a processor cause the processor to execute the adaptive control method of the first aspect.

In a sixth aspect, the present disclosure further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, causes the processor to execute the adaptive control method of the first aspect.

Brief description of the drawings

In order to illustrate the embodiments of the present disclosure more clearly, the accompanying drawings that need to be used will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art , on the premise of not paying creative work, other drawings can also be obtained based on these drawings.

Fig. 1 is a schematic flowchart of an adaptive control method according to an embodiment of the present disclosure.

Fig. 2 is a schematic flowchart of an adaptive control method according to another implementation of the present disclosure.

Fig. 3 is a schematic flowchart of an adaptive control method according to another embodiment of the present disclosure.

FIG. 4 is a schematic diagram of processing of an adaptive control method according to an embodiment of the present disclosure.

Fig. 5 is a schematic structural diagram of an adaptive control device according to an embodiment of the present disclosure.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions in the present disclosure will be clearly and completely described below in conjunction with the drawings in the present disclosure. Apparently, the described embodiments are part of the embodiments of the present disclosure , but not all examples.

In the related art, the cab of the excavator is provided with a plurality of working condition buttons corresponding to various working conditions, and the driver can select the corresponding working condition button according to the current working condition, so that the control parameters of the actuator of the excavator are more accurate. Match the current operating conditions of the excavator. When the working condition of the excavator changes, the driver needs to select the corresponding working condition button again, so that the control parameters keep matching the changed working condition. However, due to the limited space in the cab, it is impossible to set enough working condition buttons to correspond to all possible working conditions, which leads to the driver being unable to adjust the optimization parameters when there are working conditions that do not correspond to all working condition buttons. To match this working condition, it can be seen that in the related art, the control accuracy of the excavator is relatively poor.

The present disclosure provides an adaptive control method suitable for an excavator. The self-adaptive control method provided in the present disclosure performs self-adaptive identification on the current working condition of the excavator, and automatically adjusts the control parameters of the excavator based on the result of the self-adaptive identification, thereby realizing the self-adaptive adjustment of the control parameters.

The adaptive control method provided by the present disclosure can automatically identify the current working condition based on the displacement of the electric control handle and the measurement results of the angle sensor. For example, various working conditions are composed of various operations such as leveling operations/platform operations, square throwing operations/loading operations, 45-degree/90-degree/180-degree/other angle rotation operations, etc. In addition, the adaptive control method provided by the present disclosure can automatically adjust the control parameters of the excavator after the current working condition is identified, without the need for the driver to manually set and select. For example, the adaptive control method provided by the present disclosure can be applied to excavators using electric control handles and angle sensors.

It should be noted that, in the present disclosure, the steps shown in the flowchart can be executed, for example, in a computer system storing a set of computer-executable instructions. In addition, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

FIG. 1 is a schematic flowchart of an adaptive control method S10 according to an embodiment of the present disclosure. The adaptive control method S10 may be executed by an electronic device (for example, a control device of an excavator). As shown in FIG. 1 , the adaptive control method S10 may include steps S11 to S13.

In step S11, the detection parameters of the excavator are acquired. Here, the detection parameters may include the displacement of the electric control handle of the excavator and the angle information of the excavator.

During the detection period, the displacement of the electric control handle can be determined through the electric signal output by the electric control handle. Based on the displacement of the electric control handle, the target speed or target acceleration of the excavator can be determined in a subsequent step, so that the working data of the excavator can be determined. For example, a loading operation process may mainly include the following work cycles: digging-lifting-swinging-unloading-returning. In each working cycle, the target speed or target acceleration of each actuator of the excavator will change accordingly. Or in each working cycle, the target speed or target acceleration of each actuator of the excavator will follow a certain change law. Therefore, the displacement of the electric control handle can be used to determine the working data of the excavator.

The angle information may include the measured turning angle of the rotating platform of the excavator, and may also include the measured inclination angles of multiple action mechanisms of the excavator. For example, in a detection period, by measuring the inclination angle of the boom, the change law of the boom in a detection period can be determined. As another example, within a detection period, the lifting height of the excavator can be determined by measuring the movement track of the tooth tip of the excavator.

In the embodiments of the present disclosure, the angle information may be obtained through an angle sensor, or may be obtained through image analysis. The embodiment of the present disclosure does not specifically limit the manner of obtaining the angle information, and the manner of obtaining the angle information may be set according to actual conditions. Taking the implementation of angle sensors as an example, each angle sensor can send angle measurement results (that is, angle information) to the electronic device, and the electronic device can obtain the detection parameters of the excavator.

In step S12, the current working condition of the excavator is identified based on the detected parameters.

After the electronic equipment obtains the detection parameters, it can first analyze the displacement of the electronic control handle to determine the operation data of the excavator, and then combine the measurement results of various angle sensors to further confirm the current working condition of the excavator.

In one example, the working conditions that can be identified by the electronic equipment include a combination of various operations such as leveling operations/platform operations, dumping operations/loading operations, 45-degree/90-degree/180-degree/other angle rotation operations, etc. At least 16 working conditions (for example, the 90-degree platform loading condition is one of the working conditions).

In step S13, the control parameters of the excavator are adjusted based on the identified current working conditions.

Control parameters corresponding to each working condition may be stored in the electronic device. For example, these control parameters can be stored in a data table. After the current working condition is determined, the electronic device can match the working condition in the data table, and extract the corresponding control parameters when the same working condition as the current working condition is matched.

For example, control parameters may include pump current and priority gain. The pump current may be the pump current corresponding to each action mechanism in the excavator. The priority gain may be the priority gain of the rotary platform to the boom, the priority gain of the rotary platform to the stick, the priority gain of the stick to the bucket, and so on. The pump currents and priority gains specifically included in the control parameters are not limited here, and can be set according to actual conditions.

The self-adaptive control method provided in this embodiment uses the displacement of the electric control handle of the excavator and the angle information of the excavator to identify the current working condition, and then adjusts the control parameters of the excavator based on the current working condition, so that the control parameters follow the current It can be automatically adjusted according to the change of working conditions, which improves the control efficiency of the excavator.

Fig. 2 is a schematic flowchart of an adaptive control method S20 according to another embodiment of the present disclosure. The adaptive control method S20 may be executed by an electronic device (for example, a control device of an excavator). As shown in FIG. 2 , the control method S20 may include steps S21 to S23.

In step S21, the detection parameters of the excavator are acquired. Here, the detection parameters may include the displacement of the electric control handle of the excavator and the angle information of the excavator.

Angle information may include inclination and gyration. The inclination angle can be the inclination angles of multiple action mechanisms of the excavator. Examples of these operating mechanisms may include booms, arms, buckets, and the like, for example. The turning angle may be the turning angle of the turning platform of the excavator. In the present disclosure, the angle information may be set according to actual needs, and no limitation is set here. Using the slewing angle sensor, the electronic device can obtain the change amplitude and slewing direction of the slewing angle in a loading cycle, so it can identify the slewing angle of the excavator.

S22. Identify the current working condition of the excavator based on the detection parameters.

As an implementation manner, step S22 may include step S221 to step S224.

In step S221, the relative positions of multiple action mechanisms of the excavator are acquired.

The electronic device can establish a coordinate system (for example, an XOY coordinate system) with the tooth tip of the excavator (bucket) as the coordinate center point. Since the size of each action mechanism in the excavator is fixed, the coordinates of each action mechanism in the coordinate system can be determined, so that the relative position of each action mechanism can be determined.

For example, the relative positions of each action mechanism can be pre-stored in the electronic device. For another example, the electronic device can establish a coordinate system in real time and determine the relative positions of various action mechanisms when adaptive control is required. Of course, the electronic device can also obtain the relative positions of the various action mechanisms in the excavator in other ways. The present disclosure does not specifically limit the manner in which the electronic device obtains the relative positions of the various action mechanisms in the excavator.

In step S222, the lifting height of the excavator is determined based on the inclination angle and the relative position.

As noted above, the inclination may include the inclination of the boom, stick, and bucket. Therefore, the electronic device can determine the lifting height of the excavator according to the inclination angle of the corresponding action mechanism and its relative position.

As a specific implementation, step S222 may include: determining the spatial coordinates of the tooth tip at each moment based on the inclination angle and relative position; determining the motion trajectory of the tooth tip based on the spatial coordinates of the tooth tip at each moment; The motion trajectory determines the height difference between the crawler of the excavator and the working surface of the excavator, thereby determining the lifting height.

Using the inclination sensor, the electronic device can obtain the angle of each action mechanism (ie boom, stick and bucket) at each moment, combined with the relative position of each action mechanism (or in other words, the geometry of the boom, stick, bucket) Size and size of the hydraulic cylinder), according to the spatial coordinate calculation, the spatial coordinates of the tooth tip of the excavator can be obtained. The electronic device can determine the trajectory of the tooth tip by recording the spatial coordinates of the tooth tip at each moment. The electronic device can identify the height of the excavator track relative to the working face of the excavator by using the movement track of the tooth tip during the excavation process, so as to determine the lifting height.

As an example, the working surface of an excavator can refer to the plane where the tooth tip of the bucket is located when the bucket of the excavator is lifted to the highest level in the current operation, or in other words, the working surface of the excavator can be the movement track of the tooth tip The plane of the highest point of . As an example, the lift height may be the height difference between the crawler tracks of the excavator (or the plane supporting the crawler tracks) and the working surface of the excavator.

The lifting height is determined based on the motion trajectory of the tooth tips and the relative positions of each action mechanism, and the lifting height is determined from the kinematic coordinate transformation angle, which ensures the accuracy of the lifting height determination.

In step S223, based on the acquired displacement of the electric control handle and the corresponding relationship between the speeds of the multiple actuators and the displacement of the electric control handle, the target speeds of the multiple actuators are determined.

In an example, the electronic device may store correspondences between the speeds of multiple actuators and the displacements of the electric handle, and the correspondences may be represented by a relationship curve. After the electronic device obtains the displacement of the electric control handle, it can determine the target speeds of the multiple actuators by searching the relationship curve.

In step S224, the current working condition is determined based on the angle information, the lifting height and the target speed.

As mentioned above, the target speed can characterize the working data of the excavator. Therefore, the electronics combine the angle, lift height, and target speed to determine the current operating conditions.

In a specific implementation manner, step S224 may include step S2241 to step S2244.

In step S2241, based on the lifting height, it is determined that the excavator is currently in the first mode. Here, the first mode is one of platform work and ground work.

By comparing the lifting height with the height threshold, the current mode of the excavator can be determined, that is, it can be determined which one of the excavator is currently in the platform operation or the level operation.

As an example, step S2241 may include: determining whether the lifting height exceeds the height threshold; in the case that the lifting height does not exceed the height threshold, determining that the excavator is in a platform operation; and in the case of the lifting height exceeding the height threshold, Make sure the excavator is working on level ground.

In step S2242, based on the inclination angle and the target speed, it is determined that the excavator is currently in the second mode. Here, the second mode is one of loading work and dumping work.

In a detection period, the operation data of the excavator can be represented by the target speed, and the operation characteristics of the excavator can be expressed by using the target speed. Based on the operation characteristics and the inclination angle, the electronic device can determine which one of the loading operation and the dumping operation the current excavator is in.

In step S2243, based on the turning angle, it is determined that the excavator is currently in the third mode. Here, the third mode is one of various turning operations with different turning angles.

For example, a variety of swing jobs may include swing jobs with a 45-degree swing angle, swing jobs with a 90-degree swing angle, swing jobs with a 180-degree swing angle, and other swing angles, among others. Based on the detected slew angle, the electronics can determine which of a variety of slew jobs the excavator is currently in. For example, if the detected turning angle is close to 90 degrees, it can be determined that the excavator is currently in a turning operation with a turning angle of 90 degrees, that is, the turning platform of the excavator needs to turn 90 degrees for operation.

In step S2244, the current working condition is determined based on the determined first mode, second mode and third mode.

The electronic device combines the first mode, the second mode and the third mode to finally determine the current working condition of the excavator. For example, if the determined first mode is leveling operation, the determined second mode is vehicle loading operation, and the determined third mode is turning operation with a 90-degree turning angle, then by combining these information, it is possible to determine the The current working condition is 90-degree flat ground loading. As another example, if the determined first mode is the platform-building operation, the determined second mode is the dumping operation, and the determined third mode is the turning operation with a 45-degree turning angle, then by integrating these information, it can be determined that the excavation The current working condition of the machine is 45 degrees and the platform is thrown away.

By integrating the first mode, the second mode and the third mode, the current working condition is finally determined, which can ensure the reliability of the current working condition confirmation.

In a specific implementation, step S2242 may include: determining the speed of the electric control handle based on the displacement of the electric control handle; determining the target acceleration of multiple actuators based on the speed of the electric control handle; Acceleration, to determine that the excavator is currently in the second mode.

There is a corresponding relationship between the displacement and the speed of the electric control handle, and the electronic device can obtain the speed of the electric control handle by using the corresponding relationship after obtaining the displacement of the electric control handle. For example, the speed of the electric handle can be obtained through the displacement of the electric handle and the corresponding time. The electronic device performs differential calculation on the obtained speed of the electric control handle to determine the target acceleration of the excavator. For example, when the driver operates the electric control handle, the speed of moving the electric control handle (that is, the speed of the electric control handle) is related to the acceleration of the excavator expected by the driver. The faster the driver moves the handle, it can indicate that the driver expects The response to changes in the speed of the excavator is faster. On the basis of the target speed, combined with the target acceleration, the operating characteristics of the excavator are determined, which further ensures the accuracy of the confirmation results.

In step S23, the control parameters of the excavator are adjusted based on the identified current working conditions. Here, the control parameters may include pump current and priority gain.

It should be noted that, for the specific implementation manner of step S23, reference may be made to step S13 in the foregoing embodiment, and for the sake of brevity, details are not repeated here.

The adaptive control method provided in this embodiment combines the inclination angle, the rotation angle and the target speed to determine the current working condition, so as to realize the accuracy of working condition identification.

Fig. 3 is a schematic flowchart of an adaptive control method S30 according to another embodiment of the present disclosure. The adaptive control method S30 may be executed by an electronic device (for example, a control device of an excavator). As shown in FIG. 3 , the adaptive control method S30 may include steps S31 to S33.

In step S31, the detection parameters of the excavator are acquired. Here, the detection parameters include the displacement of the electric control handle and the angle information of the excavator.

For the specific implementation manner of step S31, reference may be made to step S21 in the above implementation manners, and for the sake of brevity, details are not repeated here.

In step S32, the current working condition of the excavator is identified based on the detected parameters.

For the identification of the current working condition of the excavator, as shown in Figure 4, the input parameters are the displacement of the electric control handle, the inclination angle of multiple action mechanisms, and the rotation angle of the slewing platform, and the output is the pump current and priority gain. For example, an inclination sensor may be provided in the excavator to acquire the inclination angles of multiple action mechanisms, and a slewing angle sensor may be provided in the excavator to detect the slewing angle of the slewing platform. Considering that the position of the electric control handle corresponds to the running speed of multiple actuators of the excavator during operation, the driver's desired speed can be identified according to the position of the electric control handle, and the driver's desired acceleration can be recognized according to the speed of the handle. In addition, the lifting height of the excavator can be determined according to the inclination angles of multiple action mechanisms. In addition, the angle of rotation of the rotary platform during operation can also be determined according to the rotation angle. Comprehensively, the current working condition of the excavator can be identified. According to the identified current working conditions, aiming at the lowest fuel consumption and highest efficiency, the pump current and priority gain are automatically adjusted to automatically adapt to the current working conditions, making each action gain factor more suitable for the current working conditions. This implementation method does not require the driver to repeatedly manually adjust, thereby reducing the difficulty of operation and increasing work efficiency.

As an example, a display or button etc. could be provided on the excavator for the driver to activate/deactivate the adaptive mode. After the driver chooses to enter the adaptive mode, the electronic equipment (such as the control equipment of the excavator) can automatically adjust the corresponding parameters according to different working conditions, and automatically adapt to different working conditions.

In step S33, the control parameters of the excavator are adjusted based on the identified current working conditions. Here, the control parameters may include pump current and priority gain. In a non-limiting example, step S33 may include step S331 and step S332.

In step S331, target control parameters are determined based on the current working condition and the optimization target. Here, optimization goals include minimum fuel consumption as well as maximum efficiency.

After the electronic device recognizes the current working condition, it can combine the current working condition and the optimization target to determine the control parameter corresponding to the current working condition, that is, the target control parameter. Specifically, as shown in Figure 4, the optimization objectives may include the lowest fuel consumption, the highest efficiency, the best operation, and the highest cost performance. After determining the constraints corresponding to each optimization objective, the optimization function can be used to optimize the control parameters, and then the Determine the target control parameters corresponding to the current working conditions.

It should be understood that although only two pump currents and three priority gains are shown in FIG. 4 , the protection scope of the present invention is not limited thereto, and corresponding settings can be made according to actual requirements.

In step S332, the (current) control parameters of the excavator are adjusted based on the target control parameters.

After determining the target control parameter, the electronic device can adjust the value of the current control parameter (for example, adjust the current control parameter to be consistent with the target control parameter), thereby realizing adaptive control of the excavator.

In the adaptive control method provided in this embodiment, the control parameters are optimized by using the optimization target, so that the optimized control parameters can meet the requirements.

As shown in FIG. 4 , the self-adaptive control method of the present disclosure automatically recognizes the working condition of the excavator according to signals such as the displacement of the electric control handle, the speed of the electric control handle, the inclination angle of the action mechanism, and the rotation angle of the slewing platform. Using the above signals to identify working conditions can make the identification of working conditions more concrete. In the related technology, the inclination angle of the action mechanism and the slewing angle of the slewing platform are not added, so it is only possible to roughly identify some simple working conditions (for example, identifying light or heavy load, excavation or crushing), and it is difficult to accurately identify Determine the working conditions.

Furthermore, according to the identified working conditions, the current and priority gain of the pump are automatically adjusted to automatically adapt to different working conditions, so that the gain coefficients of each action are more suitable for the current working conditions, without the need for the driver to repeatedly manually adjust, reducing the difficulty of operation, Increase work efficiency.

Specifically, the input signals of the self-adaptive control method in the present disclosure are: the displacement of the electric control handle, the speed of the electric control handle, and the inclination rotation detected by the angle sensor. For example, the identifiable working conditions may include at least 16 working conditions consisting of various operations such as leveling operations/platform operations, dumping operations/loading operations, 45-degree/90-degree/180-degree/other angle rotation operations, etc. (For example, the 90-degree platform loading condition is one of the conditions). Automatically adjust the output current of the pump and the priority gain of each action according to the identified working conditions, without the need for the driver to manually set and select manual selection working conditions.

As an optional implementation, a display screen or buttons can be set on the excavator for the driver to activate/deactivate the adaptive mode. After the driver chooses to enter the self-adaptive mode, the electronic equipment (such as the control equipment of the excavator) can automatically adjust the corresponding parameters according to different working conditions, and automatically adapt to different working conditions. It should be understood that the ways of activating/deactivating the adaptive mode are not limited to buttons, display screens, etc. In other embodiments, other implementation ways may also be used.

In this embodiment, an excavator adaptive control device is also provided. The adaptive control device provided in the present disclosure corresponds to the adaptive control method provided in the present disclosure. For the sake of brevity, repeated descriptions are appropriately omitted. As used below, the term "module" may be a combination of software and/or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

FIG. 5 is a schematic structural diagram of an adaptive control device 40 according to an embodiment of the present disclosure. As shown in FIG. 5 , the adaptive control device 40 may include an acquisition module 41 , an identification module 42 and an adjustment module 43 .

The acquisition module 41 is configured to acquire detection parameters of the excavator. Here, the detection parameters may include the displacement of the electric control handle and the angle information of the excavator.

The identification module 42 is configured to identify the current working condition of the excavator based on the detected parameters.

The adjustment module 43 is configured to adjust control parameters of the excavator based on the identified current operating conditions.

The excavator adaptive control device in this embodiment is presented in the form of a functional unit, which can adopt one of the following methods or a combination of several methods: ASIC circuit, executing one or more software or fixed programs Processors and other devices that can provide the above functions.

In some embodiments, referring to FIG. 5 again, the recognition module 42 may include a first location unit 421 , a second unit 422 , a third unit 423 and a fourth unit 424 . Here, the angle information may include the inclination angles of multiple action mechanisms of the excavator and the slewing angle of the slewing platform of the excavator.

The first unit 421 is configured to obtain the relative positions of multiple action mechanisms. The second unit 422 is configured to determine the lift height based on the inclination angles of the plurality of actuators and the relative positions of the plurality of actuators. The third unit 423 is configured to determine the target speeds of the multiple actuators based on the displacement of the electric control handle and the corresponding relationship between the speeds of the multiple actuators and the displacement of the electric control handle. The fourth unit 424 is configured to determine the current working condition based on the angle information, the lift height and the target speed.

In some embodiments, the second unit 422 is configured to: determine the spatial coordinates of the tooth tip of the excavator at each time based on the inclination angle and the relative position; determine the movement trajectory of the tooth tip based on the spatial coordinates of the tooth tip at each time ; and based on the motion track of the tooth tips, determine the height difference of the crawler of the excavator relative to the working surface of the excavator, so as to determine the lifting height.

In some embodiments, referring to FIG. 5 again, the fourth unit 424 may include a first subunit 4241 , a second subunit 4242 , a third subunit 4243 and a fourth subunit 4244 .

The first subunit 4241 is configured to determine that the excavator is currently in the first mode based on the lifting height. Here, the first mode is one of platform work and ground work.

The second subunit 4242 is configured to determine that the excavator is currently in the second mode based on the inclination angle and the target speed. Here, the second mode is one of loading work and dumping work.

The third subunit 4243 is configured to determine that the excavator is currently in the third mode based on the turning angle. Here, the third mode is one of various turning operations with different turning angles.

The fourth subunit 4244 is configured to determine the current working condition based on the determined first mode, second mode and third mode.

In some embodiments, the first subunit is configured to: determine whether the lifting height exceeds the height threshold; if the lifting height does not exceed the height threshold, determine that the excavator is in a platform operation; and when the lifting height exceeds the height threshold In the case of the threshold value, it is determined that the excavator is working on level ground.

In some embodiments, the second subunit is configured to: determine the speed of the electric control handle based on the position of the electric control handle; determine the target acceleration of the plurality of actuators based on the speed of the electric control handle; As well as the target acceleration, the current second job type is determined from a plurality of second job types.

In some embodiments, the adjustment module 43 is configured to: determine the target control parameter based on the current working condition and the optimization target; and adjust the current control parameter based on the target control parameter. Here, optimization goals include minimum fuel consumption as well as maximum efficiency.

FIG. 6 is a schematic structural diagram of an electronic device 50 according to an embodiment of the present disclosure. As shown in FIG. 6 , the electronic device 50 may include: at least one processor 51 , at least one communication interface 53 , memory 54 and at least one communication bus 52 . The communication bus 52 is used to realize connection communication between these components. The communication interface 53 may include a display screen (Display) and a keyboard (Keyboard), and the optional communication interface 53 may also include a standard wired interface and a wireless interface. The memory 54 can be a high-speed RAM memory (Random Access Memory, volatile random access memory), or a non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory 54 may also be at least one storage device located away from the aforementioned processor 51 . The processor 51 can call the program code stored in the memory 54 to execute any of the above method steps.

The communication bus 52 may be a peripheral component interconnect standard (PCI for short) bus or an extended industry standard architecture (EISA for short) bus or the like. The communication bus 52 can be divided into an address bus, a data bus, a control bus, and the like.

Memory 54 can comprise volatile memory (English: volatile memory), such as random access memory (English: random-access memory, abbreviation: RAM); Memory also can comprise nonvolatile memory (English: non-volatile memory) , such as flash memory (English: flash memory), hard disk (English: hard disk drive, abbreviation: HDD) or solid-state drive (English: solid-state drive, abbreviation: SSD). The memory 54 may also include combinations of the above-mentioned types of memory.

The processor 51 may be a central processing unit (English: central processing unit, abbreviated: CPU), a network processor (English: network processor, abbreviated: NP) or a combination of CPU and NP.

The processor 51 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (English: application-specific integrated circuit, abbreviation: ASIC), a programmable logic device (English: programmable logic device, abbreviation: PLD) or a combination thereof. The above PLD can be a complex programmable logic device (English: complex programmable logic device, abbreviated: CPLD), field programmable logic gate array (English: field-programmable gate array, abbreviated: FPGA), general array logic (English: generic array logic, abbreviation: GAL) or any combination thereof.

Optionally, memory 54 is also used to store program instructions. The processor 51 can invoke program instructions to implement the adaptive control method as shown in the embodiments shown in FIGS. 1 to 3 of the present application.

The present disclosure also provides a computer-readable storage medium. The computer-readable storage medium stores program instructions, and when the program instructions are executed by the processor, the processor executes the adaptive control method provided in the present disclosure.

In the present disclosure, the computer storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, abbreviation: HDD) or solid-state drive (Solid-State Drive, SSD), etc. In some embodiments, computer storage media may also include a combination of the above types of memory.

The present disclosure also provides an excavator including the electronic device provided in the present disclosure.

Exemplarily, the excavator may include an excavator body and electronic equipment. The electronic device is connected to the body of the excavator. The electronic device can be connected to the body of the excavator according to requirements. The specific connection method and installation location are not limited here.

The specific structure of the excavator body can be set according to actual needs, and there is no limitation here. The electronic device is used to automatically identify the current working condition of the excavator, and adaptively adjust the control parameters of the excavator based on the current working condition, so that the excavator can automatically adapt to different working conditions, reduce operation difficulty, increase The operating efficiency is improved, and the driver does not need to manually select the working mode.

The present disclosure also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, causes the processor to execute the adaptive control method provided by the present disclosure.

It should be noted that, in the present disclosure, the excavator may include a traveling mechanism, a slewing platform and multiple action mechanisms. For example, the running mechanism can be crawler belts. The slewing platform is also called the upper part of the turntable or the upper part of the car body, which is installed on the traveling mechanism. The slewing platform may include, for example, a cab, a counterweight, and the like. Multiple motion mechanisms may include booms, sticks, and buckets, among others. A plurality of action mechanisms are installed on the slewing platform and rotate with the slewing platform.

It should be noted that, in the present disclosure, the loading operation may refer to the excavator loading materials onto another transport vehicle (such as a truck); the dumping operation may refer to the excavator directly moving the materials from one place to another place without the aid of other transport vehicles. It should also be noted that in the present disclosure, the platform-building operation may refer to the excavator operating on a certain pre-built platform. Correspondingly, working on flat ground may refer to that the excavator performs operations on flat ground. To give an example, in a loading operation, if the excavator and the truck are on the same plane (that is, the height of the ground supporting the excavator and the truck is the same), this operation method can be called flat ground operation, if the plane where the excavator is located If it is higher than the plane where the truck is (for example, the truck is on the ground, and the excavator is on a platform above the ground), then this operation method can be called a platform operation. In loading and unloading operations, for the same truck, if the platform is used, the lifting height of the bucket of the excavator is lower, and if the operation is carried out on flat ground, the bucket of the excavator needs to be lifted to a higher height.

Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present disclosure. within the bounds of the requirements.

Claims

An adaptive control method suitable for an excavator, wherein the adaptive control method includes:

Acquiring detection parameters of the excavator, the detection parameters including the displacement of the electric control handle of the excavator and the angle information of the excavator;

identifying a current operating condition of the excavator based on the detected parameters; and

Adjusting control parameters of the excavator based on the current working conditions.
The adaptive control method according to claim 1, wherein the excavator includes a plurality of actuators, the plurality of actuators include a plurality of action mechanisms and a slewing platform, and the angle information includes the positions of the plurality of action mechanisms The inclination angle and the slewing angle of the slewing platform, the determination of the current working condition of the excavator based on the detection parameters includes:

acquiring relative positions of the plurality of action mechanisms;

determining a lift height of the excavator based on the inclination angle and the relative position;

determining target velocities of the plurality of actuators based on the displacement and the corresponding relationship between the speeds of the plurality of actuators and the displacement of the electric control handle; and

The current working condition is determined based on the angle information, the lifting height and the target speed.
The adaptive control method according to claim 2, wherein said determining the lifting height of said excavator based on said inclination angle and said relative position comprises:

determining the spatial coordinates of the tooth tip of the excavator at each moment based on the inclination angle and the relative position;

determining the motion trajectory of the tooth tip based on the spatial coordinates of the tooth tip at each moment; and

Based on the movement trajectory of the tooth tip, the height difference of the crawler belt of the excavator relative to the working surface of the excavator is determined, thereby determining the lifting height.
The adaptive control method according to claim 2 or 3, wherein said determining said current working condition based on said angle information, said lift height and said target speed comprises:

Based on the lifting height, it is determined that the excavator is currently in a first mode, wherein the first mode is one of platform-building operation and flat-level operation;

Based on the inclination angle and the target speed, it is determined that the excavator is currently in a second mode, wherein the second mode is one of loading operations and dumping operations;

Based on the swivel angle, determining that the excavator is currently in a third mode, wherein the third mode is one of a plurality of swivel operations with different swivel angles; and

The current operating condition is determined based on the first mode, the second mode, and the third mode.
The adaptive control method according to claim 4, wherein said determining that said excavator is currently in the first mode based on said lift height comprises:

determining whether the lift height exceeds a height threshold;

When the lifting height does not exceed the height threshold, it is determined that the excavator is in a platform operation; and

If the lifting height exceeds the height threshold, it is determined that the excavator is working on level ground.
The adaptive control method according to claim 4 or 5, wherein the determining that the excavator is currently in the second mode based on the inclination angle and the target speed comprises:

determining the speed of the electric handle based on the displacement of the electric handle;

determining target accelerations for the plurality of actuators based on the velocity of the electronically controlled handle; and

Based on the inclination angle, the target speed and the target acceleration, it is determined that the excavator is currently in the second mode.
The adaptive control method according to any one of claims 2 to 6, wherein the plurality of action mechanisms include a boom, an arm and a bucket.
The adaptive control method according to any one of claims 1 to 7, wherein the control parameters include pump current and priority gain, and adjusting the control parameters of the excavator based on the current working conditions includes:

Determining target control parameters based on the current operating conditions and optimization objectives, wherein the optimization objectives include minimum fuel consumption and maximum efficiency; and

Based on the target control parameter, the control parameter is adjusted.
An adaptive control device suitable for an excavator, wherein the adaptive control device includes:

An acquisition module configured to acquire detection parameters of the excavator, the detection parameters including the displacement of the electric control handle of the excavator and the angle information of the excavator;

An identification module configured to identify the current working condition of the excavator based on the detection parameters; and

The adjustment module is configured to adjust the control parameters of the excavator based on the current working condition.
The adaptive control device according to claim 9, wherein the excavator includes a plurality of actuators, the plurality of actuators include a plurality of action mechanisms and a slewing platform, and the angle information includes the positions of the plurality of action mechanisms Inclination angle and the rotation angle of the rotary platform, the identification module includes:

a first unit configured to obtain relative positions of the plurality of action mechanisms;

a second unit configured to determine a lift height of the excavator based on the inclination angle and the relative position;

The third unit is configured to determine target speeds of the plurality of actuators based on the displacement and the corresponding relationship between the speeds of the plurality of actuators and the displacement of the electric handle; and

A fourth unit configured to determine the current working condition based on the angle information, the lifting height and the target speed.
The adaptive control device according to claim 10, wherein the second unit is configured to: determine the spatial coordinates of the tooth tip of the excavator at each moment based on the inclination angle and the relative position; The spatial coordinates of the tooth tip at each time, to determine the trajectory of the tooth tip; and based on the trajectory of the tooth tip, to determine the height difference between the crawler of the excavator and the working surface of the excavator, thereby Determine the lift height.
The adaptive control device according to claim 10 or 11, wherein the fourth unit comprises:

The first subunit is configured to determine that the excavator is currently in a first mode based on the lifting height, wherein the first mode is one of platform construction and flat work;

The second subunit is configured to determine that the excavator is currently in a second mode based on the inclination angle and the target speed, wherein the second mode is one of loading operation and dumping operation;

The third subunit is configured to determine that the excavator is currently in a third mode based on the slewing angle, wherein the third mode is one of various slewing operations with different slewing angles; and

The fourth subunit is configured to determine the current working condition based on the first mode, the second mode and the third mode.
The adaptive control device according to claim 12, wherein the first subunit is configured to: determine whether the lift height exceeds a height threshold; if the lift height does not exceed the height threshold, It is determined that the excavator is working on a platform; and when the lifting height exceeds the height threshold, it is determined that the excavator is working on level ground.
The adaptive control device according to claim 12 or 13, wherein the second subunit is configured to: determine the speed of the electric handle based on the position of the electric handle; determining a target acceleration of the plurality of actuators; and determining the current second job type from among the plurality of second job types based on the inclination, the target speed, and the target acceleration.
An adaptive control device according to any one of claims 10 to 14, wherein said plurality of actuators includes a boom, a stick and a bucket.
The adaptive control device according to any one of claims 9 to 15, wherein the control parameters include a pump current and a priority gain, and the adjustment module is configured to: determine a target based on the current working condition and an optimization target A control parameter; adjusting the control parameter based on the target control parameter, wherein the optimization target includes the lowest fuel consumption and the highest efficiency.
An electronic device comprising:

processor; and

A memory, on which program instructions are stored and coupled to the processor, when the program instructions are executed by the processor, the processor executes the adaptive control method according to any one of claims 1-8.
An excavator comprising the electronic device according to claim 17.
A computer-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a processor, the processor executes the adaptive control method according to any one of claims 1-8.
A computer program product, comprising a computer program, which causes the processor to execute the adaptive control method according to any one of claims 1-8 when the computer program is executed by a processor.