WO2023169109A1 - Procédé et appareil de commande de pelle excavatrice, et pelle excavatrice - Google Patents

Procédé et appareil de commande de pelle excavatrice, et pelle excavatrice Download PDF

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Publication number
WO2023169109A1
WO2023169109A1 PCT/CN2023/074366 CN2023074366W WO2023169109A1 WO 2023169109 A1 WO2023169109 A1 WO 2023169109A1 CN 2023074366 W CN2023074366 W CN 2023074366W WO 2023169109 A1 WO2023169109 A1 WO 2023169109A1
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WO
WIPO (PCT)
Prior art keywords
control mode
excavator
control
available
flag bit
Prior art date
Application number
PCT/CN2023/074366
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 上海华兴数字科技有限公司 filed Critical 上海华兴数字科技有限公司
Publication of WO2023169109A1 publication Critical patent/WO2023169109A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application relates to the technical field of operating machinery control, and in particular to an excavator control method, device and excavator.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • the priorities of the first remote control mode, the second remote control mode and the third remote control mode are reduced in order.
  • 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;
  • 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.
  • 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.
  • a computer program is stored on which a computer program is stored.
  • 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.
  • a computer program product which includes a computer program.
  • the computer program When 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.
  • FIG. 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.
  • FIG. 3 is a schematic flowchart of an excavator control method provided by another embodiment of the present application.
  • FIG. 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.
  • FIG 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the value of the first flag bit of each control mode may be updated according to the switch state of each control mode.
  • the switch of the manual 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.
  • the excavator 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.
  • 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.
  • 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.
  • the excavator can be controlled to perform operations based on the current control mode of the excavator.
  • 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.
  • the second flag bit may be set in advance, for example, the second flag bit is Flag.
  • the available control mode with the highest priority assigns the second flag bit to the value of the first flag bit of the available control mode with the highest priority.
  • 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.
  • 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.
  • 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.
  • 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.
  • the priority of the manual control mode is higher than the priority of the remote control mode.
  • 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.
  • 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.
  • the manual control mode switch is not turned on, use the remote control mode to improve operation safety.
  • the priorities of the first remote control mode, the second remote control mode and the third remote control mode are reduced in order.
  • 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.
  • 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.
  • the excavator 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.
  • the third remote control mode can be used.
  • 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.
  • 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.
  • the communication device includes a wireless network transceiver module and a mobile network transceiver module.
  • 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.
  • the first remote control mode is also called the mobile terminal Wi-Fi 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.
  • the second remote control mode is also called the mobile terminal network 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.
  • the remote control device is also called the centralized control terminal.
  • the third remote control mode is also called the centralized control terminal network remote control mode.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 4 is a schematic structural diagram of the excavator control device provided by this application.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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 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.
  • the electronic device may include: a processor (Processor) 510, a communication interface (Communications Interface) 520, a memory (Memory) 530 and a communication bus 540.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • each embodiment can be implemented by software plus a necessary general hardware platform, and of course, it can also be implemented by hardware.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

La présente demande concerne le domaine de la commande de machine de travail, en particulier un procédé et un appareil de commande de pelle excavatrice, et une pelle excavatrice. Le procédé de commande de pelle excavatrice consiste : à acquérir une valeur d'un premier bit indicateur de chaque mode de commande, la valeur du premier bit indicateur étant utilisée pour représenter si chaque mode de commande est disponible ; en fonction de la valeur du premier bit indicateur de chaque mode de commande et de la priorité de chaque mode de commande, à déterminer un mode de commande disponible ayant la priorité la plus élevée dans les modes de commande ; et à déterminer en tant que mode de commande actuel d'une pelle excavatrice le mode de commande disponible ayant la priorité la plus élevée. De cette manière, une fois qu'un mode de commande actuellement utilisé par une pelle excavatrice échoue, une commutation dynamique de modes de commande disponibles peut être rapidement mise en œuvre, réduisant l'influence sur le travail de la pelle excavatrice et améliorant l'efficacité de travail.
PCT/CN2023/074366 2022-03-11 2023-02-03 Procédé et appareil de commande de pelle excavatrice, et pelle excavatrice WO2023169109A1 (fr)

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CN114809171B (zh) * 2022-03-11 2023-07-21 上海华兴数字科技有限公司 挖掘机控制方法、装置及挖掘机

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US6336067B1 (en) * 1998-08-12 2002-01-01 Hitachi Construction Machinery Co., Ltd. Electronic control system and control device for construction machine
CN1719355A (zh) * 2005-07-28 2006-01-11 谭启仁 单片机采用标志位区分多种控制方式的方法与外围结构
CN108797669A (zh) * 2018-06-20 2018-11-13 清华大学 一种自主3d挖掘施工机器人
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