Control methods, processors, excavators, and storage media for excavators

Abstract

This application relates to the field of construction machinery, specifically, it designs a control method, processor, excavator, and storage medium for an excavator. The method includes: acquiring the bucket pressure when the excavator is in an abnormal state; determining, based on the bucket pressure, that there is no material in the bucket, controlling the excavator body to rotate to an angle parallel to the traveling device; and controlling each working device to perform a corresponding action to reset the excavator to a preset safe posture. In the above technical solution, when the processor determines that the excavator is in an abnormal state, it automatically adjusts the excavator body and working devices to bring the excavator into a stable and safe state, thereby preventing the excavator from malfunctioning.

Description

Technical Field

[0001] This application relates to the field of construction machinery, specifically, to the design of a control method, processor, excavator, and storage medium for an excavator. Background Technology

[0002] When excavators are being remotely controlled, they often lose remote control commands or become unable to continue working due to various reasons—such as signal interruption, machine malfunction, or waiting for instructions. Currently, in such situations, the excavator will remain stationary in the position where the malfunction occurred. However, maintaining this position for an extended period can cause the excavator's center of gravity to shift, potentially leading to a tipping-over hazard. Summary of the Invention

[0003] The purpose of this application is to provide a control method, processor, excavator, and storage medium for an excavator that can ensure the safety of the excavator when it loses remote control.

[0004] To achieve the above objectives, this application provides a control method for an excavator, the excavator including a body, a working device, and a traveling device, the working device including a boom, a stick, and a bucket, the control method including:

[0005] When the excavator is in an abnormal state, obtain the bucket pressure of the bucket;

[0006] If the bucket pressure determines that there is no material in the bucket, control the machine body to rotate to an angle parallel to the traveling device.

[0007] Control each working device to perform the corresponding action so that the excavator returns to the preset safe posture.

[0008] In the embodiments of this application, controlling each working device to perform a corresponding action to reset the excavator to a preset safe posture includes: acquiring the current boom angle, the current stick angle, and the current bucket angle; acquiring the target boom angle, the target stick angle, and the target bucket angle corresponding to the preset safe posture; controlling the boom to adjust from the current boom angle to a preset angle, wherein the preset angle is the angle corresponding to when the boom is higher than the target boom height by a preset distance, and the target boom height is the boom height corresponding to the target boom angle; controlling the stick to adjust from the current stick angle to the target stick angle; controlling the bucket to adjust from the current bucket angle to the target bucket angle; and controlling the boom to perform a lowering action to adjust the boom from the preset angle to the target boom angle so that the bucket is supported on the ground.

[0009] In the embodiments of this application, the control method further includes: after controlling the boom to perform a lowering action to adjust the boom from a preset angle to a target boom angle, controlling the boom to continue performing the lowering operation until the pressure in the rod chamber between the bucket and the stick reaches a preset pressure threshold.

[0010] In the embodiments of this application, the excavator includes an interactive device, which includes a display device. The control method further includes: after the excavator is reset to a preset safe posture, controlling the engine to shut off and prohibiting the response to control commands for the excavator; controlling the display device to be in an unlocking interface; and allowing the response to engine start commands and control commands for the excavator until the unlock password for the unlocking interface is obtained through the interactive device.

[0011] In embodiments of this application, the control method further includes: continuously acquiring the remote communication signal of the excavator and continuously detecting the alarm signal of the excavator before acquiring the bucket pressure when the excavator is in an abnormal state; determining that the excavator is in an abnormal state if no remote communication signal is acquired within a preset time period; and / or determining that the excavator is in an abnormal state when alarm information is detected, wherein the alarm information is information generated when abnormality is detected in the mechanical parameters and / or working parameters of the excavator.

[0012] In the embodiments of this application, the control method further includes: after obtaining the bucket pressure, if it is determined that there is material in the bucket based on the bucket pressure, controlling the bucket to unload the material until there is no material in the bucket.

[0013] A second aspect of this application provides a controller configured to perform any of the control methods for an excavator described above.

[0014] A third aspect of this application provides an excavator, the excavator comprising:

[0015] The fuselage connects the working device and the traveling device;

[0016] The traveling mechanism is used to control the movement of the excavator;

[0017] Working device, used to perform operations according to operating instructions; and

[0018] Based on the controller described above;

[0019] The working device includes:

[0020] The bucket is configured to support the excavator;

[0021] The boom is configured to adjust the stick position;

[0022] The boom is configured to adjust the position of the bucket.

[0023] In embodiments of this application, the working device further includes: a slewing angle sensor for detecting the slewing angle of the machine body; a boom tilt angle sensor for detecting the boom angle; a stick tilt angle sensor for detecting the stick angle; a bucket tilt angle sensor for detecting the bucket angle; and a pressure sensor for detecting the pressure in the rod chamber between the stick and the bucket.

[0024] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, cause the processor to be configured to perform any of the above-described control methods for an excavator.

[0025] In the above technical solution, when the processor determines that the excavator is in an abnormal state, it automatically adjusts the excavator's body and working device to bring the excavator into a stable and safe state, thereby avoiding danger to the excavator.

[0026] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0027] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the following detailed description to explain the present application, but do not constitute a limitation thereof. In the drawings:

[0028] Figure 1 The illustration demonstrates a control method for an excavator according to an embodiment of this application;

[0029] Figure 2 A schematic diagram of a structure of an excavator according to an embodiment of this application is shown.

[0030] Figure 3 This illustration demonstrates a control method for an excavator according to another embodiment of this application;

[0031] Figure 4 The diagram illustrates the posture of an excavator according to an embodiment of this application.

[0032] Figure 5 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0033] Explanation of reference numerals in the attached figures

[0034] 1. Body; 2. Traveling mechanism; 3. Bucket; 4. Boom; 5. Stick. Detailed Implementation

[0035] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0036] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0037] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0038] like Figure 1 As shown, a control method for an excavator according to an embodiment of this application is illustrated, such as... Figure 1 As shown, in one embodiment of this application, a control method for an excavator is provided, comprising the following steps:

[0039] Step 101: When the excavator is in an abnormal state, obtain the bucket pressure of the bucket;

[0040] Step 102: If it is determined that there is no material in the bucket based on the bucket pressure, control the machine body to rotate to an angle parallel to the traveling device;

[0041] Step 103: Control each working device to perform the corresponding action so that the excavator is reset to the preset safe posture.

[0042] An excavator may include a body, a working device, and a traveling device. The working device may include a boom, stick, and bucket. A processor can monitor the excavator's status in real time using sensors. If the processor determines the excavator is in an abnormal state, it can acquire the bucket pressure and determine whether there is material in the bucket. If the processor determines that there is no material in the bucket, it can control the excavator's body to rotate to an angle parallel to the traveling device. The excavator may include a body rotation angle measuring device. The processor can acquire the body rotation angle through this device and adjust it to make the body parallel to the traveling device. For example, assuming the processor determines that the body rotation angle is 0 degrees when the body is parallel to the traveling device, the processor will monitor the body rotation angle in real time using the rotation angle measuring device and control the body to rotate until the rotation angle reaches 0 degrees.

[0043] After determining the angle at which the excavator's body swing is parallel to the excavator's traveling mechanism, the processor can control the excavator's boom, stick, and bucket to perform corresponding actions to reset the excavator to the preset safe posture set by the processor.

[0044] In one embodiment, controlling each working device to perform a corresponding action to reset the excavator to a preset safe posture includes: acquiring the current boom angle, the current stick angle, and the current bucket angle; acquiring the target boom angle, the target stick angle, and the target bucket angle corresponding to the preset safe posture; controlling the boom to adjust from the current boom angle to a preset angle, wherein the preset angle is the angle corresponding to when the boom is higher than the target boom height by a preset distance, and the target boom height is the boom height corresponding to the target boom angle; controlling the stick to adjust from the current stick angle to the target stick angle; controlling the bucket to adjust from the current bucket angle to the target bucket angle; and controlling the boom to perform a lowering action to adjust the boom from the preset angle to the target boom angle so that the bucket is supported on the ground.

[0045] The processor can acquire the current boom angle, stick angle, and bucket angle of the excavator. It can also acquire the target boom angle, stick angle, and bucket angle when the excavator is in a preset safe position. After acquiring the target boom angle, the processor can determine the target boom height corresponding to the target boom angle and define the boom angle corresponding to the boom height that is 50cm above the target boom height as the preset boom angle. For example, assuming the target boom angle when the excavator is in a preset safe position is A degrees, the target boom height corresponding to target boom angle A degrees is a, and the processor sets the preset distance to 50cm, the processor can define the boom height that is 50cm above the target boom height a as b, and the boom angle corresponding to boom height b as B. The processor can then define boom angle B as the preset boom angle.

[0046] The processor can first control the boom to adjust from its current angle to a preset angle. The reason the boom height corresponding to the preset angle is higher than that corresponding to the target boom angle is to prevent the bucket from touching the ground and causing damage when the processor controls the excavator's bucket movement. After determining that the boom has reached the preset angle, the processor can control the stick to adjust from its current angle to the target stick angle determined by the processor. After determining that the stick is at the target stick angle, the processor can control the bucket to adjust from its current angle to the target stick angle. Once the excavator's bucket has reached the target bucket angle, the processor then controls the boom to perform a lowering motion, adjusting the boom from the preset angle to the target angle so that the excavator's bucket is supported on the ground.

[0047] In one embodiment, the control method further includes: after controlling the boom to perform a lowering action to adjust the boom from a preset angle to a target boom angle, controlling the boom to continue performing the lowering operation until the pressure in the rod chamber between the bucket and the stick reaches a preset pressure threshold.

[0048] After the processor controls the boom to perform a lowering motion, adjusting the boom from a preset angle to the target angle, the processor can continue to control the boom to continue lowering until the pressure in the rod chamber between the bucket and the stick reaches the preset pressure threshold set by the processor. At this point, the excavator's traveling mechanism and working mechanism form multi-point support, placing the excavator in a safe and stable parking state.

[0049] In one embodiment, the excavator includes an interactive device, which includes a display device. The control method further includes: after the excavator is reset to a preset safe posture, controlling the engine to shut down and prohibiting the response to control commands for the excavator; controlling the display device to be in an unlocking interface; and allowing the response to engine start commands and control commands for the excavator until an unlock password for the unlocking interface is obtained through the interactive device.

[0050] After controlling the excavator's working device until the excavator reaches a preset safe position, the processor can shut down the engine and disable corresponding control commands for the excavator. For example, suppose that after the processor shuts down the engine and disables response to control commands for the excavator, if the operator then operates the excavator's control device, such as moving the control lever, the processor will not respond to the control command received from the control lever.

[0051] The excavator may also include an interactive device, which may include a display device. After the processor shuts off the engine, it can control the excavator's display device to be in an unlocked state, indicating that the excavator is locked. When the user enters the unlock password for the interface to be unlocked via the interactive device, that is, after the processor obtains the unlock password for the interface to be unlocked via the interactive device, the processor can then allow responses to engine start commands and excavator control commands. For example, suppose a maintenance personnel obtains the unlock password for the excavator, enters the unlock password via the interactive device, and after the processor verifies that the unlock password is correct, unlocks the excavator. At this time, the maintenance personnel can start the engine or control the excavator to perform relevant operations, and the processor can respond to the control commands entered by the maintenance personnel.

[0052] In one embodiment, the control method further includes: continuously acquiring the remote communication signal of the excavator and continuously detecting the alarm signal of the excavator before acquiring the bucket pressure when the excavator is in an abnormal state; determining that the excavator is in an abnormal state if no remote communication signal is acquired within a preset time period; and / or determining that the excavator is in an abnormal state when alarm information is detected, wherein the alarm information is information generated when abnormality is detected in the mechanical parameters and / or working parameters of the excavator.

[0053] Before acquiring the bucket pressure, the processor can detect whether the excavator is in an abnormal state. The processor can continuously acquire the excavator's remote communication signal and continuously monitor its alarm signals. If the processor fails to acquire a remote communication signal within a preset time period, it can determine that the excavator is in an abnormal state. For example, assuming the preset time period is set to 10 seconds, if the processor does not acquire a remote communication signal from the excavator within 10 seconds, it can determine that the excavator is out of contact and in an abnormal state. Alternatively, the processor can determine that the excavator is in an abnormal state if it detects that the excavator has generated an alarm message. The alarm message can be generated when the processor detects abnormalities in the excavator's mechanical parameters and / or operating parameters. For example, assuming the processor determines that the excavator's operating parameters are abnormal by detecting them, it can generate an alarm message and determine that the excavator is in an abnormal state.

[0054] In one embodiment, after obtaining the bucket pressure, if it is determined that there is material in the bucket based on the bucket pressure, the bucket is controlled to unload the material until there is no material in the bucket.

[0055] When the processor determines that the excavator is in an abnormal state, it can obtain the bucket pressure of the excavator's bucket and determine whether there is material in the bucket based on the bucket pressure. If the processor determines that there is material in the bucket, it can control the excavator's bucket to unload the material until there is no material left in the bucket, and then execute the subsequent adjustment steps. In other words, when the excavator malfunctions and the processor determines through bucket pressure that there is material in the bucket, the processor needs to first control the excavator to unload the material from the bucket, and then control the excavator to adjust to a preset safe posture to ensure the excavator's safety.

[0056] In one embodiment, a controller is provided, configured to perform any of the above-described control methods for an excavator.

[0057] In one embodiment, such as Figure 2 As shown, a schematic diagram of the structure of excavator 10 is presented, such as... Figure 2 As shown, the excavator 10 includes a body 1, a working device and a traveling device 2 for connecting the working device and the traveling device 2 for controlling the movement of the excavator 10; a working device for performing operations according to operating instructions; and a controller as described above (not shown in the figure); wherein the working device includes: a bucket 3 configured to support the excavator 10; a boom 4 configured to adjust the position of the stick 5; and the stick 5 configured to adjust the position of the bucket 3.

[0058] In one embodiment, the working device of the excavator further includes: a slewing angle sensor for detecting the slewing angle of the machine body; a boom tilt angle sensor for detecting the boom angle; a stick tilt angle sensor for detecting the stick angle; a bucket tilt angle sensor for detecting the bucket angle; and a pressure sensor for detecting the pressure in the rod chamber between the stick and the bucket.

[0059] The processor can continuously acquire the excavator's remote communication signals and continuously monitor the excavator's alarm signals. If the processor fails to acquire a remote communication signal within a preset time period, it can determine that the excavator is in an abnormal state. For example, assuming the preset time period is set to 10 seconds, if the processor does not acquire a remote communication signal from the excavator within 10 seconds, it can determine that the excavator is out of contact and in an abnormal state. Alternatively, if the processor detects that the excavator has generated alarm information, it can also determine that the excavator is in an abnormal state. The alarm information can be generated when the processor detects abnormalities in the excavator's mechanical parameters and / or operating parameters. For example, assuming the processor determines that the excavator's operating parameters are abnormal by detecting them, it can generate an alarm and determine that the excavator is in an abnormal state. When the processor determines that the excavator is in an abnormal state, it can execute the following... Figure 3 The flowchart shown is for a method of controlling an excavator. Figure 3 The flowchart shown for the method of controlling an excavator includes the following steps:

[0060] Step 301: Obtain the bucket pressure;

[0061] Step 302: Determine if there is material in the bucket. If yes, proceed to step 303; otherwise, proceed to step 304.

[0062] Step 303: Control the bucket to start the unloading operation until there is no material left in the bucket;

[0063] Step 304: Control the excavator body to rotate to an angle parallel to the traveling device;

[0064] Step 305: Control the boom cylinder to move until the boom is at the preset boom angle;

[0065] Step 306: Control the stick cylinder to move until the stick is at the target stick angle;

[0066] Step 307: Control the bucket cylinder to operate until the bucket is at the target bucket angle;

[0067] Step 308: Control the boom cylinder to perform a lowering operation until the boom is at the target boom angle;

[0068] Step 309: Determine whether the pressure in the rod chamber between the bucket and the stick has reached a preset threshold. If yes, proceed to step 310; otherwise, proceed to step 308.

[0069] Step 310, End.

[0070] The processor can monitor the excavator's status in real time via sensors. If the processor determines the excavator is in an abnormal state, it can obtain the bucket pressure and determine whether there is material in the bucket. If the processor determines there is material in the bucket, it can control the bucket to unload the material until it is empty. If the processor determines there is no material in the bucket based on the bucket pressure, it can control the excavator's swing arm to an angle parallel to the travel mechanism. In other words, when the excavator malfunctions and the processor determines there is material in the bucket based on the bucket pressure, it must first control the excavator to unload the material before adjusting its position to avoid carrying material during adjustments and to ensure the excavator's safety.

[0071] The processor can acquire the target boom angle, target stick angle, and target bucket angle of the excavator when the excavator is in a preset safe posture. After obtaining the target boom angle, the processor can determine the target boom height corresponding to the target boom angle, and determine the boom angle corresponding to the boom height that is 50cm above the target boom height as the preset boom angle. For example, assuming the target boom angle when the excavator is in a preset safe posture is A degrees, the target boom height corresponding to the target boom angle A degrees is a, and assuming the processor sets the preset distance to 50cm, the processor can define the boom height that is 50cm above the target boom height a as b, and the boom angle corresponding to the boom height b as B. The processor can then determine the boom angle B as the preset boom angle.

[0072] The processor can first control the boom to adjust from its current angle to a preset angle. The reason the boom height corresponding to the preset angle is higher than that corresponding to the target boom angle is to prevent the bucket from touching the ground and causing damage when the processor controls the excavator's bucket movement. After determining that the boom has reached the preset angle, the processor can control the stick to adjust from its current angle to the target stick angle determined by the processor. After determining that the stick is at the target stick angle, the processor can control the bucket to adjust from its current angle to the target stick angle. After determining that the excavator's bucket has reached the target bucket angle, the processor then controls the boom to perform a lowering motion, adjusting the boom from the preset angle to the target angle so that the excavator's bucket is supported on the ground. For example... Figure 4 The diagram shows the excavator's posture, with its walking mechanism and bucket supported on the ground to maintain a stable and safe position.

[0073] After the excavator's boom, stick, and bucket all reach the target boom angle, target stick angle, and target bucket angle, the processor can detect whether the pressure in the rod cavity between the bucket and stick reaches a preset threshold. If the processor determines that the pressure reaches the preset threshold, it can determine that the excavator's bucket and travel device form multi-point support, placing the excavator in a safe and stable parking state, and the processor can terminate attitude control of the excavator. If the processor determines that the pressure in the rod cavity between the bucket and stick has not reached the preset threshold, the processor can control the boom to continue lowering until the pressure in the rod cavity reaches the preset threshold.

[0074] The processor is in accordance with Figure 3The flowchart shown illustrates how the excavator, after being controlled, can be placed in a stable and safe posture to ensure the safety of the excavator itself and the surrounding environment. After the processor determines that the excavator is in an abnormal state and adjusts it to a safe and stable state, it can shut down the engine and disable corresponding control commands for the excavator. The excavator may also include an interactive device, which may include a display device. After shutting down the excavator engine, the processor can control the excavator's display device to be in an unlocked state, indicating that the excavator is locked. When the user enters the unlock password for the unlocked interface through the interactive device (i.e., the processor obtains the unlock password through the interactive device), the processor can then allow responses to engine start commands and control commands for the excavator. The locked display interface, once unlocked by the user through the interactive device, remains locked until the processor determines the excavator is in an abnormal state again. This avoids requiring maintenance personnel to repeatedly enter the unlock password when performing maintenance on the excavator.

[0075] In the above technical solution, when the processor determines that the excavator is in an abnormal state, it automatically adjusts the excavator's body and working device to bring the excavator into a stable and safe state. After the excavator enters a stable and safe state, the processor can lock the excavator to prevent unauthorized personnel from accidentally touching it and thus avoid any danger to the excavator.

[0076] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and the control methods used for the excavator are implemented by adjusting the kernel parameters.

[0077] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0078] This application provides a storage medium storing a program that, when executed by a processor, implements the aforementioned control method for an excavator.

[0079] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores the excavator's operating parameters, mechanical parameters, and relevant data input by the operator. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for the excavator.

[0080] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0081] Figure 1 This is a flowchart illustrating a control method for an excavator in one embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0082] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: when the excavator is in an abnormal state, it acquires the bucket pressure; when it is determined that there is no material in the bucket based on the bucket pressure, it controls the machine body to rotate to an angle parallel to the traveling device; and it controls each working device to perform a corresponding action so that the excavator returns to a preset safe posture.

[0083] In one embodiment, controlling each working device to perform a corresponding action to reset the excavator to a preset safe posture includes: acquiring the current boom angle, the current stick angle, and the current bucket angle; acquiring the target boom angle, the target stick angle, and the target bucket angle corresponding to the preset safe posture; controlling the boom to adjust from the current boom angle to a preset angle, wherein the preset angle is the angle corresponding to when the boom is higher than the target boom height by a preset distance, and the target boom height is the boom height corresponding to the target boom angle; controlling the stick to adjust from the current stick angle to the target stick angle; controlling the bucket to adjust from the current bucket angle to the target bucket angle; and controlling the boom to perform a lowering action to adjust the boom from the preset angle to the target boom angle so that the bucket is supported on the ground.

[0084] In one embodiment, the control method further includes: after controlling the boom to perform a lowering action to adjust the boom from a preset angle to a target boom angle, controlling the boom to continue performing the lowering operation until the pressure in the rod chamber between the bucket and the stick reaches a preset pressure threshold.

[0085] In one embodiment, the excavator includes an interactive device, which includes a display device. The control method further includes: after the excavator is reset to a preset safe posture, controlling the engine to shut down and prohibiting the response to control commands for the excavator; controlling the display device to be in an unlocking interface; and allowing the response to engine start commands and control commands for the excavator until an unlock password for the unlocking interface is obtained through the interactive device.

[0086] In one embodiment, the control method further includes: continuously acquiring the remote communication signal of the excavator and continuously detecting the alarm signal of the excavator before acquiring the bucket pressure when the excavator is in an abnormal state; determining that the excavator is in an abnormal state if no remote communication signal is acquired within a preset time period; and / or determining that the excavator is in an abnormal state when alarm information is detected, wherein the alarm information is information generated when abnormality is detected in the mechanical parameters and / or working parameters of the excavator.

[0087] In one embodiment, the control method further includes: after obtaining the bucket pressure, if it is determined that there is material in the bucket based on the bucket pressure, controlling the bucket to unload the material until there is no material in the bucket.

[0088] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0089] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0090] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0091] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0092] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0093] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0094] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0095] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0096] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a shovel, characterized by, The excavator comprises a machine body, a working device, and a traveling device, the working device comprises a boom, a stick, and a bucket, and the control method comprises: In the case where the excavator is in an abnormal state, the bucket pressure of the bucket is obtained; In the case where the bucket pressure is determined to indicate that no material exists in the bucket, the machine body is controlled to rotate to an angle parallel to the traveling device; Each working device is controlled to perform a corresponding action to reset the excavator to a preset safety posture; The control of each working device to perform a corresponding action to reset the excavator to a preset safety posture comprises: The current boom angle of the boom, the current stick angle of the stick, and the current bucket angle of the bucket are obtained; The target boom angle, the target stick angle, and the target bucket angle corresponding to the preset safety posture are obtained; The boom is controlled to adjust from the current boom angle to a preset angle, wherein the preset angle is an angle corresponding to a situation where the boom is higher than a target boom height by a preset distance, and the target boom height is a boom height corresponding to the target boom angle; The stick is controlled to adjust from the current stick angle to the target stick angle; The bucket is controlled to adjust from the current bucket angle to the target bucket angle; The boom is controlled to perform a lowering action to adjust from the preset angle to the target boom angle, so that the bucket is supported on the ground.

2. The control method for the excavator according to claim 1, characterized by, The control method further comprises: After the boom is controlled to perform a lowering action to adjust from the preset angle to the target boom angle, the boom is controlled to continue to perform a lowering operation until the pressure in the stick cavity between the bucket and the stick reaches a preset pressure threshold.

3. The control method for the excavator according to claim 1, characterized by, The excavator comprises an interaction device comprising a display device, and the control method further comprises: After the excavator is reset to a preset safety posture, the engine of the excavator is controlled to be turned off, and control instructions for the excavator are prohibited from being responded to; The display device is controlled to be in a to-be-unlocked interface; Until an unlocking password for the to-be-unlocked interface is obtained through the interaction device, start instructions for the engine are allowed to be responded to, and control instructions for the excavator are allowed to be responded to.

4. The control method for the excavator according to claim 1, characterized by, The control method further comprises: Before the bucket pressure of the bucket is obtained in the case where the excavator is in an abnormal state, remote communication signals of the excavator are continuously obtained, and alarm signals of the excavator are continuously detected; In the case where the remote communication signals are not obtained within a preset time period, it is determined that the excavator is in an abnormal state; and / or In the case where the alarm signals are detected, it is determined that the excavator is in the abnormal state, wherein the alarm signals are information generated when it is detected that mechanical parameters and / or working parameters of the excavator are abnormal.

5. The control method for the excavator according to claim 1, characterized by, The control method further comprises: After the bucket pressure of the bucket is obtained, in the case where the bucket pressure indicates that the material exists in the bucket, the material is unloaded by the bucket until no material exists in the bucket.

6. A controller characterized by comprising: A control method for a shovel configured to perform the control method for a shovel according to any one of claims 1 to 5.

7. An excavator characterized by comprising: The shovel includes: a machine body for connecting a work device and a traveling device; the traveling device for controlling movement of the shovel; the work device for performing work according to an operation instruction; and a controller according to claim 6; wherein the work device includes: a bucket configured to support the shovel; a boom configured to adjust a position of a stick; the stick configured to adjust a position of the bucket.

8. The shovel according to claim 7, the work device further comprising: a swing angle sensor for detecting a swing angle of the machine body; a boom angle sensor for detecting a boom angle of the boom; a stick angle sensor for detecting a stick angle of the stick; a bucket angle sensor for detecting a bucket angle of the bucket; a pressure sensor for detecting a pressure in a stick cavity between the stick and the bucket.

9. A machine-readable storage medium having stored thereon instructions, the instructions being executable by a machine to cause the machine to perform operations comprising: The instruction, when executed by a processor, causes the processor to be configured to perform the control method for a shovel according to any one of claims 1 to 5.

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