WO2023169109A1

WO2023169109A1 - Excavator control method and apparatus, and excavator

Info

Publication number: WO2023169109A1
Application number: PCT/CN2023/074366
Authority: WO
Inventors: 邢华; 牛洪科; 李翔; 罗建华; 袁爱进; 闫鑫
Original assignee: 上海华兴数字科技有限公司
Priority date: 2022-03-11
Filing date: 2023-02-03
Publication date: 2023-09-14
Also published as: CN114809171B; CN114809171A

Abstract

The present application relates to the field of work machine control, in particular to an excavator control method and apparatus, and an excavator. The excavator control method comprises: acquiring a value of a first flag bit of each control mode, the value of the first flag bit being used for representing whether each control mode is available; according to the value of the first flag bit of each control mode and the priority of each control mode, determining an available control mode having the highest priority in the control modes; and determining as the current control mode of an excavator the available control mode having the highest priority. In this way, once a control mode currently used by an excavator fails, dynamic switching of available control modes can be quickly implemented, reducing influence on working of the excavator, and improving working efficiency.

Description

Excavator control method, device and excavator

Technical field

The present application relates to the technical field of operating machinery control, and in particular to an excavator control method, device and excavator.

Background of the invention

At present, the control method of excavators is no longer limited to manual control in the cab of the excavator. It can also be remotely controlled to ensure the safety of the driver when the excavator is operating in dangerous working conditions and other situations. and improve the working environment for drivers. However, no matter whether the excavator is currently controlled by manual control or remote control, once the current control method of the excavator fails, it will affect the operating efficiency of the excavator.

Contents of the invention

This application provides an excavator control method, device and excavator to solve the defects in related technologies that will affect the operating efficiency of the excavator once the control method currently used by the excavator fails, and to achieve rapid change of available control modes. Dynamic switching reduces the impact on excavator operations and improves operating efficiency.

This application provides an excavator control method, which includes: obtaining the value of the first flag bit of each control mode; the value of the first flag bit is used to indicate whether each of the control modes is available; according to the value of each of the control modes The value of the first flag bit and the priority of each control mode determine the available control mode with the highest priority among the control modes; determine the available control mode with the highest priority as the current control mode of the excavator model.

According to an excavator control method provided by the present application, the available method with the highest priority in each control mode is determined based on the value of the first flag bit of each control mode and the priority of each control mode. The control mode includes: selecting one control mode from each of the control modes as the control mode of the current processing according to the priority of each control mode from high to low, and executing the control mode of the current processing. The following processing operation: if it is determined that the value of the first flag bit of the currently processed control mode indicates that it is available, use the currently processed control mode as the available control mode with the highest priority, and stop the control mode from each of the control modes. Select a control mode among modes; if it is determined that the value of the first flag bit of the currently processed control mode is unavailable and the control mode has not been selected in each of the control modes, continue to select a control mode from each of the control modes.

According to an excavator control method provided by this application, the excavator also has a second flag; determining the available control mode with the highest priority as the current control mode of the excavator includes: If the available control mode with the highest priority is determined among each of the control modes, assign the second flag bit to the value of the first flag bit of the available control mode with the highest priority, and determine the mining The current control mode of the machine is the available control mode with the highest priority; the excavator control method also includes: if the available control mode with the highest priority is not determined in each of the control modes, changing the second The flag bit is assigned a preset value, and it is determined that the excavator is not currently executing any of the control modes.

According to an excavator control method provided by this application, the excavator includes a manual control mode and a remote control mode, and the priority of the manual control mode is higher than the priority of the remote control mode.

According to an excavator control method provided by this application, the remote control mode includes a first remote control mode, a second remote control mode and a third remote control mode; the first remote control mode is based on receiving operation information sent by a remote control device based on a wireless local area network. mode; the second remote control mode is based on the mobile network to receive the operation information sent by the remote control device; the third remote control mode is based on the mobile network to send the collected operating environment information to the remote control device and receive the operation information sent by the remote control device. model.

According to an excavator control method provided by this application, the priorities of the first remote control mode, the second remote control mode and the third remote control mode are reduced in order.

According to an excavator control method provided by the present application, the method further includes: updating the value of the first flag bit of each control mode according to the switch state of each control mode.

This application also provides an excavator control device, including: an acquisition module, used to acquire the value of the first flag bit of each control mode; the value of the first flag bit is used to indicate whether each of the control modes is available; according to The value of the first flag bit of each control mode and the priority of each control mode determine the available control mode with the highest priority among each of the control modes;

and a determining module configured to determine the available control mode with the highest priority as the current control mode of the excavator.

This application also provides an excavator, including any one of the above excavator control devices.

This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above excavators. Control Method.

The present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, any one of the above excavator control methods is implemented.

The present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements any one of the above excavator control methods.

The excavator control method provided by this application is applied to excavators with multiple control modes. Since the value of the first flag bit of each control mode can be obtained, the value of each first flag bit is used to indicate whether each control mode is available. , based on this, the available control mode with the highest priority in each control mode can be determined according to the value of the first flag bit of each control mode and the priority of each control mode. In this way, the current highest priority control mode can be determined dynamically in real time. Available control modes, once the control mode currently used by the excavator fails, It can quickly realize dynamic switching of available control modes, thereby switching to the available control mode with the highest current priority, reducing the impact on excavator operations and improving operating efficiency.

Brief description of the drawings

In order to explain the technical solutions in this application or related technologies more clearly, the drawings needed to be used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings in the following description are some of the drawings in this application. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic flowchart of an excavator control method provided by an embodiment of the present application.

Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the present application.

Figure 3 is a schematic flowchart of an excavator control method provided by another embodiment of the present application.

Figure 4 is a schematic structural diagram of an excavator control device provided by an embodiment of the present application.

FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

How to implement this application

In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application. , not all examples. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

The excavator control method, device and excavator of the present application will be described below with reference to FIGS. 1 to 5 .

Figure 1 is a schematic flowchart of an excavator control method provided by an embodiment of the present application. As shown in Figure 1, this embodiment provides an excavator control method, which is applied to an excavator with multiple control modes. The method can be executed by the excavator or the software and/or hardware in the excavator. The method at least Include the following steps.

Step 101: Obtain the value of the first flag bit of each control mode; the value of the first flag bit is used to indicate whether each of the control modes is available.

Step 102: Determine the available control mode with the highest priority among the control modes based on the value of the first flag bit of each control mode and the priority of each control mode.

Among them, the multiple control modes may include manual control mode and remote control mode.

The manual control mode is the mode of direct manual operation on the excavator.

The remote control mode is the mode of remotely controlling the excavator. Exemplarily, the remote control mode may include, but is not limited to, a first remote control mode, a second remote control mode, and a third remote control mode.

The first remote control mode is a mode for receiving operation information sent by the remote control device based on the wireless local area network. Among them, the operation information is used to control the excavator to perform operations. A wireless LAN may be, but is not limited to, a Wi-Fi network or Ultra-wideband (UltraWide Band, UWB) network and so on. A communication device may be provided in the excavator, and the communication device includes a wireless network transceiver module. The wireless network transceiver module is used to provide a wireless local area network and receive signals from the wireless local area network. The remote control device here can be a remote control handle or a mobile terminal such as a mobile phone. An application (Application, APP) is installed in the mobile terminal. The remote control device can be directly connected to the excavator through the wireless LAN. The remote control device sends the operation information to the wireless network transceiver module of the communication device in the excavator through the wireless LAN. The wireless network transceiver module then sends the operation information to the excavator controller, realizing remote control. Generally, the distance covered by wireless LAN is limited. Therefore, the first remote control mode is suitable for remote control scenarios within a certain distance of the excavator site.

The second remote control mode is a mode for receiving operation information sent by the remote control device based on the mobile network. The mobile network here can be a cellular network, which can be but is not limited to the fourth generation mobile communication technology (4th Generation Mobile Communication Technology, 4G), the fifth generation mobile communication technology (5th Generation Mobile Communication Technology, 5G) or the global positioning system ( Global Positioning System, GPS) and so on. The communication equipment in the excavator also includes a mobile network transceiver module, which can connect to a mobile network base station. The remote control device here can also be connected to a mobile network base station. For example, it can be a remote control handle or a mobile terminal such as a mobile phone. An application (Application, APP) is installed in the mobile terminal. The remote control device can connect to the excavator through the mobile network. The remote control device sends the operation information to the mobile network transceiver module of the communication device in the excavator through the mobile network. The mobile network transceiver module then sends the operation information to the excavator's controller to achieve remote control. remote control. In areas covered by mobile network signals, remote control can be carried out through the second remote control mode.

The third remote control mode is a mode that sends the collected operating environment information to the remote control device based on the mobile network and receives the operation information sent by the remote control device. Similarly, the communication device in the excavator may include a mobile network transceiver module capable of connecting to a mobile network base station. The remote control device here may include a communication device. The communication device includes a mobile network transceiver module and can be connected to a mobile network base station. The remote control device can connect to the excavator through the mobile network. During implementation, an audio-visual information collection module can be installed in the excavator, and the audio-visual information collection module is used to collect the operating environment information of the excavator. Remote cab and audio-visual display devices can also be set in the remote control equipment. The audio-visual information collection module in the excavator collects operating environment information through cameras and radios and sends it to the audio-visual display device of the remote control device through the mobile network for playback, so that the driver can see the operating environment at the site where the excavator is located and perform remote control operations. , the remote control device sends the operation information to the mobile network transceiver module of the communication device in the excavator through the mobile network, and then the mobile network transceiver module sends the operation information to the excavator controller to realize remote control. The third remote control mode is suitable for scenarios where it is inconvenient to see the working environment at the site where the excavator is located.

In practical applications, the various control modes of the excavator can include multiple remote control modes, which can be flexibly used and have strong applicability.

The first flag bit of the control mode is used to store a value indicating whether the control mode is available. The corresponding first flag bit can be set in advance for each control mode. For example, the manual control mode can be set The first flag bit is a, a=1, indicating that the manual control mode is available, a=0, indicating that the manual control mode is not available; the first flag bit of the first remote control mode can be set to b, b=2, indicating that the first The remote control mode is available, b=0, indicating that the first remote control mode is not available; the first flag bit of the second remote control mode can be set to c, c=3, indicating that the second remote control mode is available, c=0, indicating the second remote control mode Unavailable; the first flag bit of the third remote control mode can be set to d, d=4, indicating that the third remote control mode is available, and d=0, indicating that the third remote control mode is unavailable.

In implementation, the value of the first flag bit of each control mode may be updated according to the switch state of each control mode.

When the switch of the manual control mode is turned on, it is determined that the manual control mode is available. When the switch of the manual control mode is turned off, it is determined that the manual control mode is not available. Based on this, the value of the first flag bit of the manual control mode can be updated. For example, when a fault occurs in the manual control mode, the switch of the manual control mode is turned off and the manual control mode is unavailable. At this time, the value of the first flag bit of the manual control mode can be updated.

When the excavator establishes a connection with the remote control device based on the network corresponding to the remote control mode, the excavator can communicate with the corresponding remote control device in the remote control mode, and has the basis for remote control. Therefore, it is determined that the switch of the remote control mode is turned on, The remote control mode is available. When the connection is disconnected, it is determined that the switch of the remote control mode is turned off and the remote control mode is unavailable. Based on this, the value of the first flag bit of the remote control mode can be updated. For example, if the adopted remote control mode fails, for example, the mobile network signal is unstable, etc., the remote control device can be accessed through other remote control modes. In these cases, the value of the first flag bit of the remote control mode can be updated.

During implementation, the value of the first flag of each control mode can be obtained in real time, and then the priority in each of the control modes can be determined in real time based on the value of the first flag of each control mode and the priority of each control mode. The highest available control mode, thereby quickly realizing dynamic switching of control modes.

Step 103: Determine the available control mode with the highest priority as the current control mode of the excavator.

The excavator control method provided in this embodiment can obtain the value of the first flag bit of each control mode in real time. The value of each first flag bit can indicate whether each control mode is available. Based on this, the control method can be based on the real-time acquired control mode. The value of the first flag bit of the mode and the priority of each control mode determine the available control mode with the highest priority among each control mode. In this way, the currently available control mode with the highest priority can be dynamically determined in real time. Once the excavator If the currently adopted control mode fails, the available control mode can be quickly and dynamically switched to the currently available control mode with the highest priority, thereby reducing the impact on the excavator operation and improving operating efficiency.

When the current control mode of the excavator is determined, the excavator can be controlled to perform operations based on the current control mode of the excavator.

Based on the above embodiment, the above-mentioned excavator also has a second flag; accordingly, the available control mode with the highest priority is determined as the current control mode of the excavator, and its specific implementation method can be It includes: if the available control mode with the highest priority is determined among each of the control modes, assigning the second flag bit to the value of the first flag bit of the available control mode with the highest priority, and determining the The current control mode of the excavator is the available control mode with the highest priority.

The second flag bit here is used to store the determination result of determining the available control mode with the highest priority among the control modes. In implementation, the second flag bit may be set in advance, for example, the second flag bit is Flag.

If the available control mode with the highest priority is determined, assign the second flag bit to the value of the first flag bit of the available control mode with the highest priority. At this time, the first flag of the available control mode with the highest priority is The value of the bit is the value that indicates the control mode available. Still for example, if it is determined that the available control mode with the highest priority is the manual control mode, then Flag=1, if it is determined that the available control mode with the highest priority is the first remote control mode, then Flag=2, if the priority is determined If the highest available control mode is the second remote control mode, Flag=3. If it is determined that the available control mode with the highest priority is the third remote control mode, Flag=4.

In this way, the determined available control mode with the highest priority can be quickly obtained according to the value of the second flag bit.

Based on this, the excavator control method of this embodiment may also include: if the available control mode with the highest priority is not determined among the control modes, assign the second flag bit to a preset value, and determine the The excavator is not currently executing any of the control modes.

The preset value can be set according to the actual situation. For example, the preset value can be set to 0, that is, when Flag=0, it means that there is currently no available control mode, which is also called an empty control mode.

In the case of empty control mode, any control mode does not need to be executed, and the control of the excavator is stopped to perform operations. In this way, when the excavator fails and cannot operate, it can automatically switch to the empty control mode to stop controlling the excavator to ensure the safety of equipment and personnel.

Based on the above embodiments, the available control mode with the highest priority in each of the control modes is determined based on the value of the first flag bit of each of the control modes and the priority of each of the control modes. Its specific implementation is It may include: selecting one control mode from each of the control modes as the control mode of the current processing according to the order of priority of each of the control modes from high to low, and performing the following processing on the control mode of the current processing. Operation: If it is determined that the value of the first flag bit of the currently processed control mode indicates that it is available, use the currently processed control mode as the available control mode with the highest priority, and stop switching from each of the control modes. Select a control mode; if it is determined that the value of the first flag bit of the currently processed control mode is unavailable and the control mode has not been selected in each of the control modes, continue to select a control mode from each of the control modes.

In addition, if it is determined that the value of the first flag bit of the currently processed control mode indicates that it is unavailable and the control mode in each of the control modes has been selected, it is determined that the excavator currently does not have any available control mode.

In this embodiment, each control mode is processed in order of priority. Once an available control mode is determined, there is no need to perform a subsequent control mode selection process, and the available control mode can be quickly and accurately determined. control mode.

Of course, other methods can also be used to determine the available control mode with the highest priority among the control modes. For example, first determine whether each control mode is available, and then select the available control mode with the highest priority from the available control modes.

Based on the above embodiment, the priority of the manual control mode is higher than the priority of the remote control mode. For safety reasons, the manual control mode has the highest priority, that is, the priority of the manual control mode is higher than that of the remote control mode. When the switch of the manual control mode is turned on, the manual control mode is given priority to control the excavator, and the driver Reasonably control the excavator according to the actual situation to ensure operation safety. When the manual control mode switch is not turned on, use the remote control mode to improve operation safety.

Based on the above embodiments, for example, the priorities of the first remote control mode, the second remote control mode and the third remote control mode are reduced in order.

Considering that the first remote control mode is suitable for remote control within a certain distance of the site where the excavator is located, and there may be actual situations where there is no mobile network signal or the network signal is poor in the operating environment of the excavator, the audio-visual information collection module or A fault may also occur in the remote cab. At this time, if the excavator can be directly connected to the remote control device through wireless LAN, it can still achieve stable remote control operation. Therefore, the first remote control mode is preferred for better remote control effect, that is, setting the first remote control The priority of the mode is higher than the priority of the second remote control mode and the third remote control mode.

When the distance between the excavator and the remote control device is far, the distance exceeds the coverage of the wireless LAN. If the excavator can connect to the mobile network, it can connect to the remote control device through the mobile network to perform remote control operations.

When it is inconvenient for the remote control device to see the site where the excavator is located, the third remote control mode can be used.

Taking a specific application scenario as an example, an excavator control method provided by an embodiment of the present application will be introduced in more detail below.

In this embodiment, there are four control modes of the excavator, including a manual control mode with priority from high to low, a first remote control mode, a second remote control mode and a third remote control mode.

As shown in Figure 2, the excavator includes a controller and communication equipment. The controller can receive operation information for manual operation (ie, manual operation information) in manual control mode.

Among them, the communication device includes a wireless network transceiver module and a mobile network transceiver module.

In the first remote control mode, the remote control device is a mobile terminal. The mobile terminal is directly connected to the excavator through the Wi-Fi network. The remote control device sends the operation information to the wireless network transceiver module of the communication device in the excavator through the Wi-Fi signal, and then the wireless The network transceiver module sends operating information to the excavator's controller to achieve remote control. Based on this, the first remote control mode is also called the mobile terminal Wi-Fi remote control mode.

In the second remote control mode, the remote control device is a mobile terminal. The mobile terminal can connect to the mobile network base station and connect to the excavator through the 4G or 5G network. The remote control device sends the operation information to the mobile network transceiver of the communication device in the excavator through the 4G or 5G network. module, and then the mobile network transceiver module sends the operation information Provide remote control to the excavator controller. Based on this, the second remote control mode is also called the mobile terminal network remote control mode.

In the third remote control mode, an audio-visual information collection module can be installed in the excavator. The remote control equipment includes a remote cab, audio-visual display device and communication equipment. The communication equipment of the remote control equipment can connect to the mobile network base station and connect to the excavator through the 4G or 5G network. The remote control device sends the operation information to the mobile network transceiver module of the communication device in the excavator through the 4G or 5G network. The mobile network transceiver module then sends the operation information to the excavator's controller to realize remote control. At this time, the remote control device is also called the centralized control terminal. Based on this, the third remote control mode is also called the centralized control terminal network remote control mode.

Based on this, the control method of the excavator is executed by the controller of the excavator, as shown in Figure 3, specifically as follows:

Step 301: Power on the excavator and execute step 302.

Step 302: Obtain the value of the first flag bit of each control mode in real time, and execute step 303.

Step 303: Determine whether the value of the first flag bit of the manual control mode indicates availability. If so, execute step 304; otherwise, execute step 305.

Step 304: Assign the second flag bit to the value of the first flag bit indicating that the manual control mode is available, and execute step 312.

Step 305: Determine whether the value of the first flag of the mobile terminal's Wi-Fi remote control mode indicates that it is available. If so, perform step 306; otherwise, perform step 307.

Step 306: Assign the second flag bit to the value of the first flag bit indicating that the Wi-Fi remote control mode of the mobile terminal is available, and execute step 312.

Step 307: Determine whether the first flag bit of the mobile terminal network remote control mode indicates that it is available. If so, perform step 308; otherwise, perform step 309.

Step 308: Assign the second flag bit to the value of the first flag bit indicating that the network remote control mode of the mobile terminal is available, and execute step 312.

Step 309: Determine whether the first flag bit of the network remote control mode of the centralized control terminal indicates that it is available. If so, perform step 310; otherwise, perform step 311.

Step 310: Assign the second flag bit to the value of the first flag bit indicating that the network remote control mode of the central control terminal is available, and execute step 312.

Step 311: Assign the second flag bit to the default value, and execute step 312.

Step 312: Based on the value of the second flag, determine the current control mode of the excavator or determine that the excavator is not currently executing any control mode, and execute step 302.

Specifically, if the value of the second flag bit is the value of the first flag bit indicating that the manual control mode is available, the current control mode is the manual control mode. If the value of the second flag bit is the value of the first flag bit indicating that the mobile terminal Wi-Fi remote control mode is available, the current control mode is the manual control mode. If the value of the first flag bit is the value of the first flag bit, then the current control mode is the mobile terminal Wi-Fi remote control mode. If the value of the second flag bit is the value of the first flag bit indicating that the mobile terminal network remote control mode is available, then the current control mode is the mobile terminal. Terminal network remote control mode, if the value of the second flag bit indicates that the central control terminal network remote control mode is available If the value of the first flag bit is, the current control mode is the central control network remote control mode. If the value of the second flag bit is the preset value, then no control mode is currently executed, which is the empty control mode.

In this embodiment, the excavator can dynamically switch between four control modes to meet operating needs under various working conditions, communication conditions or failures, and realize free switching between manual control mode and multiple remote control modes for flexible use. , has strong applicability and has important application significance in the intelligence of excavators. In the absence of a mobile network environment or an unstable network signal environment, the audio-visual information collection module is damaged, or the remote cab fails, by switching the remote control mode to the Wi-Fi direct connection remote control mode, remote control operations can still be achieved, realizing the excavator Safe switching of control modes. When the excavator malfunctions and the remote control cannot be performed, it can automatically switch to the empty control mode to ensure the safety of equipment and personnel.

The excavator control device provided by the present application will be described below. The excavator control device described below and the excavator control method described above may be mutually referenced.

Figure 4 is a schematic structural diagram of the excavator control device provided by this application.

As shown in Figure 4, this embodiment provides an excavator control device, including the following modules.

The acquisition module 401 is used to obtain the value of the first flag bit of each control mode; the value of the first flag bit is used to indicate whether each of the control modes is available.

The analysis module 402 determines the available control mode with the highest priority among the control modes according to the value of the first flag bit of each control mode and the priority of each control mode.

The determination module 403 is configured to determine the available control mode with the highest priority as the current control mode of the excavator.

Based on the above embodiments, the determination module is specifically configured to: select one control mode from each of the control modes as the control mode of the current processing according to the priority of each control mode from high to low, and select the control mode for the current processing. The currently processed control mode performs the following processing operations: if it is determined that the value of the first flag bit of the currently processed control mode indicates that it is available, the currently processed control mode is used as the available control mode with the highest priority, and Stop selecting a control mode from each of the control modes; if it is determined that the value of the first flag bit of the currently processed control mode is unavailable and the control mode in each of the control modes has not been selected, continue to select from each of the control modes. Select the control mode in mode.

Based on the above embodiment, the excavator also has a second flag; a determination module is specifically used to: if the available control mode with the highest priority is determined among each of the control modes, assign a value to the second flag is the value of the first flag bit of the available control mode with the highest priority, and determines that the current control mode of the excavator is the available control mode with the highest priority.

The determination module is also configured to: if the available control mode with the highest priority is not determined among the control modes, assign the second flag bit to a preset value, and determine that the excavator is not currently executing any of the control modes. Describe the control mode.

Based on the above embodiments, the excavator includes a manual control mode and a remote control mode, and the priority of the manual control mode is higher than the priority of the remote control mode.

Based on the above embodiments, the remote control mode includes a first remote control mode, a second remote control mode and a third remote control mode; the first remote control mode is a mode for receiving operation information sent by a remote control device based on a wireless local area network; the second remote control mode The mode is based on the mobile network to receive the operation information sent by the remote control device; the third remote control mode is the mode based on the mobile network to send the collected operating environment information to the remote control device and receive the operation information sent by the remote control device.

Based on the above embodiments, the priorities of the first remote control mode, the second remote control mode and the third remote control mode are sequentially reduced.

Based on the above embodiments, the excavator control device further includes: an update module, configured to update the value of the first flag bit of each control mode according to the switch state of each control mode.

The present application also provides an excavator, including a controller, and the controller is used to implement the excavator control method as described in any of the above embodiments.

Figure 5 illustrates a schematic diagram of the physical structure of an electronic device. As shown in Figure 5, the electronic device may include: a processor (Processor) 510, a communication interface (Communications Interface) 520, a memory (Memory) 530 and a communication bus 540. Among them, the processor 510, the communication interface 520, and the memory 530 complete communication with each other through the communication bus 540. The processor 510 can call the logical instructions in the memory 530 to execute the excavator control method. The method includes: obtaining the value of the first flag bit of each control mode; the value of the first flag bit is used to characterize each of the control modes. Whether the mode is available; determine the available control mode with the highest priority among the control modes according to the value of the first flag bit of each control mode and the priority of each control mode; The available control modes are determined as the current control modes of the excavator.

In addition, the above-mentioned logical instructions in the memory 530 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application is essentially or contributes to the relevant technology or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several The instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .

On the other hand, the present application also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are read by a computer, When executed, the computer can execute the excavator control method provided by each of the above methods. The method includes: obtaining the value of the first flag bit of each control mode; the value of the first flag bit is used to indicate whether each of the control modes is Available; determine the available control mode with the highest priority among each of the control modes according to the value of the first flag bit of each of the control modes and the priority of each of the control modes; The available control mode with the highest priority is determined as the current control mode of the excavator.

On the other hand, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. The computer program is implemented when executed by a processor to execute the excavator control methods provided above. The method includes: Obtain the value of the first flag bit of each control mode; the value of the first flag bit is used to indicate whether each of the control modes is available; according to the value of the first flag bit of each of the control modes and each of the control modes The priority is determined to determine the available control mode with the highest priority among the control modes; and the available control mode with the highest priority is determined as the current control mode of the excavator.

The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions can be embodied in the form of software products in essence or in part that contribute to related technologies. The computer software products can be stored in computer-readable storage media, such as ROM/RAM, disks. , optical disk, etc., including a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims

An excavator control method includes:

Obtain the value of the first flag bit of each control mode; the value of the first flag bit is used to indicate whether each of the control modes is available;

Determine the available control mode with the highest priority among each of the control modes according to the value of the first flag bit of each of the control modes and the priority of each of the control modes;

The available control mode with the highest priority is determined as the current control mode of the excavator.
The excavator control method according to claim 1, wherein the method with the highest priority among the control modes is determined based on the value of the first flag bit of each control mode and the priority of each control mode. Available control modes include:

According to the order of priority of each control mode from high to low, select one control mode from each of the control modes as the control mode of the current processing, and perform the following processing operations on the control mode of the current processing:

If it is determined that the value of the first flag bit of the currently processed control mode indicates availability, use the currently processed control mode as the available control mode with the highest priority, and stop selecting control from each of the control modes. model;

If it is determined that the value of the first flag bit of the currently processed control mode is unavailable and the control mode has not been selected in each of the control modes, continue to select a control mode from each of the control modes.
The excavator control method according to claim 2, wherein the step with the highest priority among the control modes is determined based on the value of the first flag bit of each control mode and the priority of each control mode. Available control modes also include:

If it is determined that the value of the first flag bit of the currently processed control mode indicates that it is unavailable and the control mode in each of the control modes has been selected, it is determined that the excavator currently does not have any available control mode.
The excavator control method according to any one of claims 1 to 3, wherein the excavator further has a second flag;

Determining the available control mode with the highest priority as the current control mode of the excavator includes:

If the available control mode with the highest priority is determined among each of the control modes, assign the second flag bit to the value of the first flag bit of the available control mode with the highest priority, and determine the mining The current control mode of the machine is the available control mode with the highest priority;

The excavator control method also includes:

If the available control mode with the highest priority is not determined among the control modes, the second flag bit is assigned a preset value, and it is determined that the excavator is not currently executing any of the control modes.
The excavator control method according to any one of claims 1 to 4, wherein the excavator includes a manual control mode and a remote control mode, and the priority of the manual control mode is higher than the priority of the remote control mode.
The excavator control method according to claim 5, wherein the remote control mode includes a first remote control mode, a second remote control mode and a third remote control mode;

The first remote control mode is a mode for receiving operation information sent by a remote control device based on a wireless local area network;

The second remote control mode is a mode based on receiving operation information sent by the remote control device based on the mobile network;

The third remote control mode is a mode in which the collected operating environment information is sent to the remote control device based on the mobile network and the operation information sent by the remote control device is received.
The excavator control method according to claim 6, wherein the priorities of the first remote control mode, the second remote control mode and the third remote control mode are sequentially reduced.
The excavator control method according to any one of claims 1 to 7, further comprising:

The value of the first flag bit of each control mode is updated according to the switch state of each control mode.
An excavator control device including:

An acquisition module is used to obtain the value of the first flag bit of each control mode; the value of the first flag bit is used to indicate whether each of the control modes is available;

An analysis module, configured to determine the available control mode with the highest priority among each of the control modes based on the value of the first flag bit of each of the control modes and the priority of each of the control modes;

and a determining module configured to determine the available control mode with the highest priority as the current control mode of the excavator.
An electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any one of claims 1 to 8 Described excavator control method.
An excavator includes the excavator control device according to claim 9.
A non-transitory computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the excavator control method according to any one of claims 1 to 8 is implemented.
A computer program product includes a computer program that implements the excavator control method according to any one of claims 1 to 8 when executed by a processor.