Excavator anti-overturning control method and device, excavator and storage medium

Abstract

The present application provides a kind of excavator anti-overturning control method, device, excavator and storage medium, the method comprises: according to the stroke sensor signal of oil cylinder stroke sensor collected by displacement stroke sensor, determine stability coefficient;According to stability coefficient and preset threshold set, determine target setting action, and preset threshold set includes the threshold value corresponding when excavator is in different stable situation;Control excavator to execute target setting action.The method is based on stability coefficient and more comprehensive preset threshold set, for different stability situation of excavator in actual operation process, determine the corresponding target setting action, and then control excavator to execute the target setting action, realize the flexible control to excavator, effectively reduce the overturning risk of excavator.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment control, and in particular to an excavator anti-overturning control method and device, an excavator, and a storage medium. Background Art

[0002] During the actual operation of the excavator, there may be complex working environments and changeable working conditions. When the excavator is in some special working conditions (such as large slopes and / or bumpy roads), it is difficult to ensure the stability of the excavator, and it is possible to exceed the critical value of the excavator, causing the excavator to overturn.

[0003] Existing anti-rollover control methods for excavators determine the stability coefficient based on the inclination sensor signals collected by the inclination sensor. If the stability coefficient is low, a set action is performed, namely, moving the excavator's counterweight to adjust its center of gravity. However, this method performs the same set action when the stability coefficient is low, resulting in a higher risk of the excavator rolling over. Summary of the Invention

[0004] The present invention provides an excavator anti-rollover control method, device, excavator and storage medium, which are used to solve the defect of the existing excavator anti-rollover control method in which, during the control process, the same set action is performed when the stability coefficient is small, resulting in a higher overturning risk of the excavator. The method is based on the stability coefficient and a relatively comprehensive set of preset thresholds. For different stability conditions of the excavator during actual operation, the method determines the corresponding target setting action, and then controls the excavator to execute the target setting action, thereby realizing flexible control of the excavator and effectively reducing the overturning risk of the excavator.

[0005] The present invention provides an excavator anti-overturning control method, which is applied to an excavator anti-overturning control device. The excavator anti-overturning control device is provided in an excavator, and a displacement stroke sensor is provided in the oil cylinder of the excavator. The method includes:

[0006] Determining a stability coefficient based on a cylinder stroke sensor signal collected by the displacement stroke sensor;

[0007] determining a target setting action based on the stability coefficient and a set of preset thresholds, wherein the set of preset thresholds includes thresholds corresponding to different stability conditions of the excavator;

[0008] The excavator is controlled to perform the target setting action.

[0009] According to an anti-rollover control method for an excavator provided by the present invention, the excavator further includes a working device and a vehicle-mounted device, the vehicle-mounted device is provided with a vehicle-mounted inclination angle sensor, the preset threshold value set includes: a first preset coefficient threshold value, a second preset coefficient threshold value, a third preset coefficient threshold value, a fourth preset coefficient threshold value and a preset acceleration threshold value, wherein the first preset coefficient threshold value is greater than the second preset coefficient threshold value, the second preset coefficient threshold value is greater than the third preset coefficient threshold value, and the third preset coefficient threshold value is greater than the fourth preset coefficient threshold value; the target setting action is determined according to the stability coefficient and the preset threshold value set, including: determining the vehicle-mounted inclination angle acceleration according to the vehicle-mounted inclination angle sensor signal collected by the vehicle-mounted inclination angle sensor; when the stability coefficient is less than or equal to the first preset coefficient threshold value, the target setting action is determined according to the stability coefficient and the preset threshold value set. When a coefficient threshold is set and the stability coefficient is greater than the second preset coefficient threshold, suppressing flow fluctuations is determined as the target setting action; when the stability coefficient is less than or equal to the second preset coefficient threshold and the stability coefficient is greater than the third preset coefficient threshold, limiting the operating range is determined as the target setting action; when the stability coefficient is less than or equal to the third preset coefficient threshold and the stability coefficient is greater than the fourth preset coefficient threshold, adjusting the rotation angle of the vehicle device and adjusting the extension range of the working device are determined as the target setting action; when the stability coefficient is less than or equal to the fourth preset coefficient threshold, the target setting action is determined based on the vehicle inclination acceleration and the preset acceleration threshold.

[0010] According to an anti-rollover control method for an excavator provided by the present invention, the target setting action is determined based on the upper vehicle tilt angle acceleration and the preset acceleration threshold, including: when the upper vehicle tilt angle acceleration is less than or equal to the preset acceleration threshold, the upper vehicle device is controlled to rotate to an angle in the overturning direction, and the working device is controlled to support the ground, which are determined as the target setting action; when the upper vehicle tilt angle acceleration is greater than the preset acceleration threshold, the upper vehicle device is controlled to rotate to an angle in the opposite direction of overturning, and the working device is controlled to extend to the farthest end, which are determined as the target setting action.

[0011] According to an anti-overturning control method for an excavator provided by the present invention, the cylinder includes: a bucket cylinder, an arm cylinder and a boom cylinder; the slewing device of the excavator includes a vehicle slewing motor; the flow fluctuation suppression includes: suppressing the flow fluctuation of the bucket cylinder, the arm cylinder, the boom cylinder and the vehicle slewing motor; the operating range limitation includes: limiting the travel range of the bucket cylinder, the arm cylinder and the boom cylinder; limiting the rotation range of the vehicle slewing motor.

[0012] According to an anti-overturning control method for an excavator provided by the present invention, the excavator further includes: a working device, an upper vehicle device, a counterweight device and an lower vehicle device, the working device includes: a bucket, a dipper rod and a boom, and the upper vehicle device is provided with an upper vehicle rotation angle sensor; the stability coefficient is determined according to the cylinder stroke sensor signal collected by the displacement stroke sensor, including: determining a first lever arm corresponding to the bucket, a second lever arm corresponding to the dipper rod and a third lever arm corresponding to the boom according to the cylinder stroke sensor signal; determining a fourth lever arm corresponding to the upper vehicle device, a fifth lever arm corresponding to the counterweight device and a sixth lever arm corresponding to the lower vehicle device according to the upper vehicle rotation angle sensor signal collected by the upper vehicle rotation angle sensor; and determining the stability coefficient according to the first lever arm, the second lever arm, the third lever arm, the fourth lever arm, the fifth lever arm and the sixth lever arm.

[0013] According to an anti-overturning control method for an excavator provided by the present invention, the stability coefficient is determined according to the first lever, the second lever, the third lever, the fourth lever, the fifth lever and the sixth lever, including: determining the overturning moment according to the first lever, the second lever and the third lever; determining the stabilizing moment according to the fourth lever, the fifth lever and the sixth lever; determining the stability coefficient according to the overturning moment and the stabilizing moment when the excavator is in a longitudinal working posture or a lateral working posture; determining the stability coefficient according to the overturning moment, the stabilizing moment and the target rotation angle when the excavator is in a target rotation angle working posture, the target rotation angle being used to characterize the rotation angle of the working device, which is different from the longitudinal working posture and the lateral working posture.

[0014] According to an excavator anti-overturning control method provided by the present invention, the excavator also includes a buzzer; after the target setting action is determined, the method further includes: controlling the buzzer to sound an alarm according to each threshold in the preset threshold set.

[0015] The present invention also provides an anti-overturning control device for an excavator, which is applied to an excavator, wherein a displacement stroke sensor is provided in the oil cylinder of the excavator, and the device comprises:

[0016] a stability coefficient determination module, configured to determine a stability coefficient based on a cylinder stroke sensor signal acquired by the displacement stroke sensor;

[0017] a target setting action determination module, configured to determine a target setting action based on the stability coefficient and a preset threshold set, wherein the preset threshold set includes thresholds corresponding to different stability conditions of the excavator;

[0018] A control module is used to control the excavator to perform the target setting action.

[0019] The present invention also provides an excavator, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any one of the above-described excavator anti-overturning control methods is implemented.

[0020] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the excavator anti-overturning control method as described above is implemented.

[0021] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned excavator anti-overturning control methods.

[0022] The excavator anti-rollover control method, device, excavator, and storage medium provided by the present invention determine a stability coefficient based on cylinder stroke sensor signals collected by a displacement stroke sensor; determine a target-setting action based on the stability coefficient and a set of preset thresholds, which include thresholds corresponding to different stability conditions of the excavator; and control the excavator to execute the target-setting action. Based on the stability coefficient and a relatively comprehensive set of preset thresholds, this method determines corresponding target-setting actions for different stability conditions of the excavator during actual operation, and then controls the excavator to execute the target-setting actions, achieving flexible control of the excavator and effectively reducing the risk of the excavator rolling over. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is one of the flow charts of the anti-overturning control method for an excavator provided by the present invention;

[0025] Figure 2 is a schematic diagram of the excavator arm provided by the present invention;

[0026] Figure 3 Schematic diagram of different working postures of the excavator provided by the present invention;

[0027] Figure 4 It is a schematic diagram of the dangerous operation range provided by the present invention;

[0028] Figure 5is one of the schematic diagrams of the excavator overturning provided by the present application;

[0029] Figure 6 is the second schematic diagram of the excavator overturning provided by the present application;

[0030] Figure 7 is the second flowchart of the excavator anti-overturning control method provided by the present application;

[0031] Figure 8 is the scene diagram of the excavator anti-overturning control provided by the present application;

[0032] Figure 9 is the structural diagram of the excavator anti-overturning control device provided by the present application;

[0033] Figure 10 is the structural diagram of the excavator provided by the present application. DETAILED DESCRIPTION

[0034] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] The embodiments of the present application will be further described below.

[0036] As shown in Figure 1 is one of the flowcharts of the excavator anti-overturning control method provided by the present application, which is applied to the excavator anti-overturning control device, the excavator anti-overturning control device is arranged in the excavator, the displacement stroke sensor is arranged in the oil cylinder of the excavator, and the method can include:

[0037] 101, determining the stability coefficient according to the oil cylinder stroke sensor signal collected by the displacement stroke sensor.

[0038] Among them, the oil cylinder refers to the execution element in the hydraulic system of the excavator, which is mainly used to convert hydraulic energy into mechanical energy, so as to push the working device of the excavator to act. Optionally, the oil cylinder can include a bucket cylinder, a bucket rod cylinder and a boom cylinder. Among them, the bucket cylinder is used to control the opening and tilting of the bucket; the bucket rod cylinder is used to control the extension and retraction of the bucket rod; and the boom cylinder is used to control the lifting and rotation of the boom.

[0039] The stability coefficient is a parameter used to quantify the stability of the excavator as a whole, which can be expressed as K. <K≤1时,表示挖掘机处于倾覆状态;当1<K时,表示挖掘机处于稳定状态,K的取值越大表示挖掘机越稳定。

[0040] The excavator's anti-rollover control device first obtains the cylinder stroke sensor signal collected by the displacement stroke sensor, then processes the cylinder stroke sensor signal to determine the stability coefficient in order to subsequently determine the target setting action.

[0041] It can be understood that the displacement stroke sensor set in the bucket cylinder can be called a bucket displacement stroke sensor; the displacement stroke sensor set in the arm cylinder can be called an arm displacement stroke sensor; and the displacement stroke sensor set in the boom cylinder can be called an boom displacement stroke sensor.

[0042] Optionally, the cylinder stroke sensor signal may include a bucket cylinder stroke sensor signal collected by a bucket displacement stroke sensor, an arm cylinder stroke sensor signal collected by an arm displacement stroke sensor, and a boom cylinder stroke sensor signal collected by an arm displacement stroke sensor.

[0043] In some embodiments, the excavator may further include: a working device, a mounting device, a counterweight device and an dismounting device. The working device may include: a bucket, a dipper arm and a boom. The mounting device is provided with an mounting rotation angle sensor; the excavator anti-rollover control device determines the stability coefficient according to the cylinder stroke sensor signal collected by the displacement stroke sensor, which may include: the excavator anti-rollover control device determines the first lever arm corresponding to the bucket, the second lever arm corresponding to the dipper arm and the third lever arm corresponding to the boom according to the cylinder stroke sensor signal; the excavator anti-rollover control device determines the fourth lever arm corresponding to the mounting device, the fifth lever arm corresponding to the counterweight device and the sixth lever arm corresponding to the dismounting device according to the vehicle rotation angle sensor signal collected by the vehicle rotation angle sensor; the excavator anti-rollover control device determines the stability coefficient according to the first lever arm, the second lever arm, the third lever arm, the fourth lever arm, the fifth lever arm and the sixth lever arm.

[0044] Among them, the working device refers to the device on the excavator that directly completes the excavation task, which is mainly composed of parts such as bucket, dipper arm and boom.

[0045] The upper device refers to the upper control mechanism of the excavator, which mainly includes the cab and engine, so that the driver can fully control the various actions of the excavator.

[0046] Counterweight refers to the additional weight added to the excavator to balance the weight of the excavator and improve operating efficiency and stability.

[0047] The dismounting device refers to the lower traveling mechanism of the excavator, which mainly includes crawler tracks, dismounting traveling motor and frame.

[0048] The moment arm refers to the distance from the fulcrum to the center of gravity.

[0049] After acquiring the cylinder stroke sensor signals, the excavator's anti-rollover control device calibrates and calculates the bucket cylinder stroke sensor signals to obtain the first lever arm corresponding to the bucket; calibrates and calculates the arm cylinder stroke sensor signals to obtain the second lever arm corresponding to the arm; and calibrates and calculates the boom cylinder stroke sensor signals to obtain the third lever arm corresponding to the boom. Simultaneously, the excavator's anti-rollover control device acquires the upper vehicle rotation angle sensor signals collected by the upper vehicle rotation angle sensor. It then calibrates and calculates the upper vehicle rotation angle sensor signals to obtain the fourth lever arm corresponding to the upper vehicle, the fifth lever arm corresponding to the counterweight, and the sixth lever arm corresponding to the lower vehicle. Based on this, the excavator's anti-rollover control device can determine the stability coefficient based on the first, second, third, fourth, fifth, and sixth lever arms.

[0050] Optionally, the calibration calculation can be based on the hydraulic principle and mechanical transmission principle to establish a mathematical model between the cylinder stroke and the lever arm, and the collected cylinder stroke sensor signal is fitted with the mathematical model to obtain a relationship curve between the lever arm and the cylinder stroke. The calibration result can be calibrated through experimental verification.

[0051] It should be noted that the excavator anti-overturning control device determines the first lever arm, the second lever arm, the third lever arm, the fourth lever arm, the fifth lever arm and the sixth lever arm in any sequence.

[0052] Optionally, the upper vehicle device is provided with an upper vehicle attitude angle sensor. The excavator anti-rollover control device can determine the overall excavator attitude parameters based on the upper vehicle attitude angle sensor signal collected by the upper vehicle attitude angle sensor. The excavator anti-rollover control device can detect the overall excavator attitude based on the overall attitude parameters. The overall attitude parameters may include: working device attitude parameters, upper vehicle attitude parameters, and lower vehicle attitude parameters.

[0053] Among them, posture parameters refer to parameters that describe the position and posture of the excavator in space.

[0054] Optionally, the excavator anti-overturning control device can also determine the fourth lever arm corresponding to the upper vehicle device, the fifth lever arm corresponding to the counterweight device and the sixth lever arm corresponding to the lower vehicle device based on the upper vehicle rotation angle sensor signal and the upper vehicle posture angle sensor signal.

[0055] For example, Figure 2Figure 1 is a schematic diagram of the excavator lever arms provided by the present invention. In the figure, the fulcrum represents the tipping edge of the excavator in a longitudinal operating position. The lever arms, i.e., the distances from the center of gravity to the fulcrum, are: L1 represents the first lever arm, L2 represents the second lever arm, L3 represents the third lever arm, L4 represents the fourth lever arm, L5 represents the fifth lever arm, and L6 represents the sixth lever arm. G1 represents the weight of the bucket, G2 represents the weight of the boom, G3 represents the weight of the boom, G4 represents the weight of the upper unit, G5 represents the weight of the counterweight unit, and G6 represents the weight of the lower unit.

[0056] It should be noted that the tipping edge (fulcrum) may change as the excavator is in different working postures. For example, when the excavator is in a lateral working posture, the tipping edge is located at the outer edge of the crawler track of the undercarriage.

[0057] It can be understood that as the overturning edge changes, the first lever arm, the second lever arm, the third lever arm, the fourth lever arm, the fifth lever arm and the sixth lever arm will also change accordingly.

[0058] In some embodiments, the excavator anti-rollover control device determines the stability coefficient based on the first lever, the second lever, the third lever, the fourth lever, the fifth lever and the sixth lever, which may include: the excavator anti-rollover control device determines the overturning moment based on the first lever, the second lever and the third lever; the excavator anti-rollover control device determines the stabilizing moment based on the fourth lever, the fifth lever and the sixth lever; when the excavator is in a longitudinal working posture or a lateral working posture, the excavator anti-rollover control device determines the stability coefficient based on the overturning moment and the stabilizing moment; when the excavator is in a target rotation angle working posture, the excavator anti-rollover control device determines the stability coefficient based on the overturning moment, the stabilizing moment and the target rotation angle, and the target rotation angle is used to characterize the rotation angle of the working device, which is different from the longitudinal working posture and the lateral working posture.

[0059] The overturning moment refers to the total moment that causes the excavator to overturn, which can be represented by Mq.

[0060] The stabilizing moment refers to the total moment that prevents the excavator from overturning, which can be expressed as Mw.

[0061] The target rotation angle refers to the angle that the excavator's working device rotates from the longitudinal working posture to the lateral working posture, which can be represented by θ.

[0062] For example, Figure 3 1 is a schematic diagram of different working postures of the excavator provided by the present invention.

[0063] It should be noted that, when the excavator is in a longitudinal working posture, the motion plane of the working device and the symmetric plane of the crawler track of the undercarriage device are parallel to each other.

[0064] When determining the stability coefficient, the excavator anti-rollover control device can determine the overturning moment based on the first, second, and third lever arms. Simultaneously, the excavator anti-rollover control device can determine the stabilizing moment based on the fourth, fifth, and sixth lever arms. Specifically, the overturning moment Mq can be expressed as: Mq = G1*L1 + G2*L2 + G3*L3; and the stabilizing moment Mw can be expressed as: Mw = G4*L4 + G5*L5 + G6*L6.

[0065] When the excavator is in a longitudinal working posture or a transverse working posture, the excavator anti-overturning control device can determine the stability coefficient according to the overturning moment Mq and the stabilizing moment Mw. The stability coefficient can be expressed as: K1 = Mw / Mq.

[0066] When the excavator is in the target rotation angle working posture, the excavator anti-overturning control device can determine the stability coefficient based on the overturning moment Mq, the stabilizing moment Mw and the target rotation angle θ. The stability coefficient can be expressed as: K2 = (Mw*cosθ) / (Mq*cosθ).

[0067] For the sake of convenience, the stability coefficients mentioned below are uniformly represented by K.

[0068] 102. Determine a target setting action based on the stability coefficient and a preset threshold set, where the preset threshold set includes thresholds corresponding to different stability conditions of the excavator.

[0069] The excavator's anti-rollover control device first obtains a set of preset thresholds. It then determines a target-setting action based on the stability coefficient and the thresholds. This set of preset thresholds is comprehensive, allowing for different stability conditions during actual excavator operation to be determined, enabling flexible control of the excavator and preventing it from rolling over.

[0070] In some embodiments, the excavator can further include a working device and a superstructure device, the superstructure device is provided with a superstructure inclination sensor, the preset threshold set can include a first preset coefficient threshold, a second preset coefficient threshold, a third preset coefficient threshold, a fourth preset coefficient threshold, and a preset acceleration threshold, wherein the first preset coefficient threshold is greater than the second preset coefficient threshold, the second preset coefficient threshold is greater than the third preset coefficient threshold, and the third preset coefficient threshold is greater than the fourth preset coefficient threshold; the excavator anti-overturning control device determines the target setting action according to the stability coefficient and the preset threshold set, which can include: the excavator anti-overturning control device determines the superstructure inclination acceleration according to the superstructure inclination sensor signal collected by the superstructure inclination sensor; in the case that the stability coefficient is less than or equal to the first preset coefficient threshold and greater than the second preset coefficient threshold, the excavator anti-overturning control device determines the flow fluctuation suppression as the target setting action; in the case that the stability coefficient is less than or equal to the second preset coefficient threshold and greater than the third preset coefficient threshold, the excavator anti-overturning control device determines the operation range limiting as the target setting action; in the case that the stability coefficient is less than or equal to the third preset coefficient threshold and greater than the fourth preset coefficient threshold, the excavator anti-overturning control device determines the adjustment of the swing angle of the superstructure device and the adjustment of the elongation range of the working device as the target setting action; in the case that the stability coefficient is less than or equal to the fourth preset coefficient threshold, the excavator anti-overturning control device determines the target setting action according to the superstructure inclination acceleration and the preset acceleration threshold.

[0071] Wherein the first preset coefficient threshold can be represented by k1, the second preset coefficient threshold can be represented by k2, the third preset coefficient threshold can be represented by k3, the fourth preset coefficient threshold can be represented by k4, and k1>k2>k3>k4; the preset acceleration threshold can be represented by a1; the superstructure inclination acceleration can be represented by a.

[0072] Optionally, the first preset coefficient threshold, the second preset coefficient threshold, the third preset coefficient threshold, the fourth preset coefficient threshold, and the preset acceleration threshold can be set by the excavator anti-overturning control device before leaving the factory, or can be customized by the user, and are generally set according to the experience value of the whole vehicle debugging of the excavator.

[0073] In the process of determining the target setting action, the excavator anti-overturning control device first acquires the superstructure inclination sensor signal collected by the superstructure inclination sensor, and then can determine the superstructure inclination acceleration according to the superstructure inclination sensor signal.

[0074] Then, the excavator anti-overturning control device compares the stability coefficient with each threshold in the preset threshold set:

[0075] When the stability coefficient is less than or equal to the first preset coefficient threshold and the stability coefficient is greater than the second preset coefficient threshold, that is, k2 <K≤k1,说明此时挖掘机的工作装置可能存在危险操作动作,挖掘机防倾覆控制装置将抑制流量波动确定为目标设定动作,以便后续控制挖掘机执行该目标设定动作,减小动作间的波动,以抑制危险操作动作。

[0076] When the stability coefficient is less than or equal to the second preset coefficient threshold and the stability coefficient is greater than the third preset coefficient threshold, that is, k3 <K≤k2,说明此时挖掘机的工作装置可能处于危险作业范围,在该危险作业范围内,挖掘机的倾覆风险较高,挖掘机防倾覆控制装置将限制作业范围确定为目标设定动作,以便后续控制挖掘机执行该目标设定动作,以限制工作装置进入该危险作业范围内。示例性的,如 Figure 4 FIG. 1 is a schematic diagram of the dangerous operation range provided by the present invention.

[0077] When the stability coefficient is less than or equal to the third preset coefficient threshold and the stability coefficient is greater than the fourth preset coefficient threshold, that is, k4 <K≤k3,说明此时挖掘机即将发生倾覆,挖掘机防倾覆控制装置将调整上车装置的回转角度,以及调整工作装置的伸长幅度,确定为目标设定动作,以便后续控制挖掘机执行该目标设定动作,在抑制工作装置的危险操作动作的同时,限制工作装置进入危险作业范围内,以提升稳定性系数,直至满足稳定性临界值。可以理解的是,第三预设系数阈值k3可以看作是稳定性临界值,在满足K> In the case of k3, the risk of overturning of the excavator is reduced.

[0078] When the stability coefficient is less than or equal to the fourth preset coefficient threshold, that is, K≤k4, it means that the excavator has overturned. The excavator anti-overturning control device can determine the target setting action based on the vehicle inclination acceleration and the preset acceleration threshold.

[0079] It should be noted that the timing of the excavator anti-rollover control device determining the upper vehicle tilt acceleration and the excavator anti-rollover control device determining the stability coefficient is not limited.

[0080] In some embodiments, the cylinder may include: a bucket cylinder, an arm cylinder and a boom cylinder; the excavator's slewing device may include a vehicle slewing motor; the excavator's anti-rollover control device suppresses flow fluctuations, which may include: the excavator's anti-rollover control device suppresses flow fluctuations of the bucket cylinder, the arm cylinder, the boom cylinder and the vehicle slewing motor; the excavator's anti-rollover control device limits the operating range, which may include: the excavator's anti-rollover control device limits the travel range of the bucket cylinder, the arm cylinder and the boom cylinder; the excavator's anti-rollover control device limits the rotation range of the vehicle slewing motor.

[0081] Among them, the slewing device refers to a device that enables the excavator to rotate flexibly within the working area.

[0082] When the stability coefficient is less than or equal to the first preset coefficient threshold and the stability coefficient is greater than the second preset coefficient threshold, that is, k2 <K≤k1,说明此时挖掘机的工作装置可能存在危险操作动作,挖掘机防倾覆控制装置确定的目标设定动作为:抑制铲斗油缸、斗杆油缸、动臂油缸和上车回转马达的流量波动,以便后续控制挖掘机执行该目标设定动作,减小动作间的波动,以抑制危险操作动作。

[0083] When the stability coefficient is less than or equal to the second preset coefficient threshold and the stability coefficient is greater than the third preset coefficient threshold, that is, k3 <K≤k2,说明此时挖掘机的工作装置可能处于危险作业范围,在该危险作业范围内,挖掘机的倾覆风险较高,挖掘机防倾覆控制装置确定的目标设定动作为:限制铲斗油缸、斗杆油缸和动臂油缸的行程范围,并限制上车回转马达的转动范围,以便后续控制挖掘机执行该目标设定动作,以限制工作装置进入该危险作业范围内。

[0084] In some embodiments, the excavator anti-rollover control device determines the target setting action based on the upper vehicle tilt angle acceleration and the preset acceleration threshold, which may include: when the upper vehicle tilt angle acceleration is less than or equal to the preset acceleration threshold, the excavator anti-rollover control device will control the upper vehicle to rotate to an angle in the direction of overturning, and control the working device to support the ground, which is determined as the target setting action; when the upper vehicle tilt angle acceleration is greater than the preset acceleration threshold, the excavator anti-rollover control device will control the upper vehicle to rotate to an angle in the opposite direction of overturning, and control the working device to extend to the farthest end, which is determined as the target setting action.

[0085] When the stability coefficient is less than or equal to the fourth preset coefficient threshold (K≤k4), and the vehicle tilt acceleration is less than or equal to the preset acceleration threshold, that is, a≤a1, it means that the excavator has overturned. For example, Figure 5The figure shows one of the schematic diagrams of an excavator overturning according to the present invention. The excavator's anti-overturning control device controls the upper vehicle assembly to rotate to an angle in the overturning direction and controls the working device to support the ground, determining these as target actions. This action is then used to control the excavator to execute these target actions, thereby minimizing damage to the machine and personal injury to the driver caused by the overturning.

[0086] When the stability coefficient is less than or equal to the fourth preset coefficient threshold (K≤k4), and the vehicle tilt acceleration is greater than the preset acceleration threshold, that is, a>a1, it means that the excavator has overturned. For example, Figure 6 The figure shows the second schematic diagram of an excavator tipping over provided by the present invention. The excavator's anti-tip-overturning control device controls the upper vehicle to rotate to an angle opposite to the tipping direction and controls the working device to extend to its furthest end, defining these as target actions. The device then controls the excavator to execute these target actions, minimizing the direct impact on the driver caused by tipping over, thereby minimizing personal injury to the driver.

[0087] In some embodiments, the excavator may further include a buzzer; after determining the target setting action, the method may further include: the excavator anti-overturning control device controls the buzzer to sound an alarm according to each threshold in the preset threshold set.

[0088] After determining the target setting action, the excavator's anti-rollover control device controls the buzzer to issue different degrees of alarms according to each threshold in the preset threshold set, targeting the different stability conditions of the excavator during actual operation, and promptly reminds the driver to take relevant response measures for different degrees of alarms.

[0089] 103. Control the excavator to perform the target setting action.

[0090] After determining the target setting action, the excavator anti-overturning control device controls the excavator to execute the target setting action, thereby achieving flexible control of the excavator and effectively reducing the overturning risk of the excavator.

[0091] In an embodiment of the present invention, a stability coefficient is determined based on the cylinder stroke sensor signal acquired by the displacement sensor. A target-setting action is determined based on the stability coefficient and a set of preset thresholds, which include thresholds corresponding to different stability conditions of the excavator. The excavator is then controlled to execute the target-setting action. Based on the stability coefficient and a relatively comprehensive set of preset thresholds, this method determines the corresponding target-setting action for different stability conditions of the excavator during actual operation, and then controls the excavator to execute the target-setting action, achieving flexible control of the excavator and effectively reducing the risk of the excavator overturning.

[0092] The embodiments of the present invention are further described with reference to the following examples:

[0093] For example, Figure 7 The figure shows the second flow chart of the excavator anti-rollover control method provided by the present invention. As can be seen from the figure, the excavator anti-rollover control device, based on a set of preset threshold values ​​(k1, k2, k3, k4, and a1), determines the corresponding target setting action for the different stability conditions of the excavator during actual operation, and then controls the excavator to execute the target setting action, thereby achieving flexible control of the excavator, effectively reducing the risk of excavator overturning, and providing risk avoidance protection for the driver, reducing personal injury to the driver.

[0094] For example, Figure 8 The figure shows a schematic diagram of the anti-rollover control scenario of an excavator provided by the present invention. As can be seen from the figure, after each sensor transmits the corresponding sensor signal collected to the excavator anti-rollover control device, the excavator anti-rollover control device determines the vehicle tilt acceleration based on the received vehicle tilt sensor signal; and determines the first lever arm corresponding to the bucket, the second lever arm corresponding to the lever arm, and the third lever arm corresponding to the boom based on the received cylinder stroke sensor signals (bucket cylinder stroke sensor signal, arm cylinder stroke sensor signal, and boom cylinder stroke sensor signal); and determines the fourth lever arm corresponding to the vehicle device, the fifth lever arm corresponding to the counterweight device, and the sixth lever arm corresponding to the dismount device based on the vehicle rotation angle sensor signal and the vehicle posture angle sensor signal; and then determines the stability coefficient based on each lever arm. Based on this, the excavator's anti-rollover control device can determine the target setting action according to the stability coefficient, the vehicle inclination acceleration and the preset threshold set, and then control the engine, hydraulic pump and hydraulic valve to indirectly control the excavator's bucket cylinder, dipper cylinder and boom cylinder and the vehicle rotation motor, so as to control the excavator's working device and the vehicle device to perform the target setting action. In addition, it can also indirectly control the dismounting travel motor in the dismounting device to achieve flexible control of the excavator and further reduce the risk of excavator overturning.

[0095] The excavator anti-overturning control device provided by the present invention is described below. The excavator anti-overturning control device described below and the excavator anti-overturning control method described above can be referenced to each other.

[0096] like Figure 9 FIG. 1 is a schematic diagram of the structure of an anti-overturning control device for an excavator provided by the present invention, which is applied to an excavator. A displacement sensor is provided in the oil cylinder of the excavator. The device may include:

[0097] A stability coefficient determination module 901 is configured to determine a stability coefficient based on a cylinder stroke sensor signal acquired by the displacement stroke sensor;

[0098] a target setting action determination module 902 for determining a target setting action based on the stability coefficient and a preset threshold set, wherein the preset threshold set includes thresholds corresponding to different stability conditions of the excavator;

[0099] The control module 903 is used to control the excavator to perform the target setting action.

[0100] Optionally, the excavator further includes a working device and a vehicle-mounted device, wherein the vehicle-mounted device is provided with a vehicle-mounted inclination angle sensor, and the preset threshold value set includes: a first preset coefficient threshold value, a second preset coefficient threshold value, a third preset coefficient threshold value, a fourth preset coefficient threshold value and a preset acceleration threshold value, wherein the first preset coefficient threshold value is greater than the second preset coefficient threshold value, the second preset coefficient threshold value is greater than the third preset coefficient threshold value, and the third preset coefficient threshold value is greater than the fourth preset coefficient threshold value; the target setting action determination module 902 is specifically used to determine the vehicle-mounted inclination angle acceleration according to the vehicle-mounted inclination angle sensor signal collected by the vehicle-mounted inclination angle sensor; when the stability coefficient is less than or equal to the first preset coefficient threshold value and the stability coefficient is less than or equal to the first preset coefficient threshold value, the target setting action determination module 902 is ... When the stability coefficient is greater than the second preset coefficient threshold, suppressing flow fluctuations is determined as the target setting action; when the stability coefficient is less than or equal to the second preset coefficient threshold and the stability coefficient is greater than the third preset coefficient threshold, limiting the operating range is determined as the target setting action; when the stability coefficient is less than or equal to the third preset coefficient threshold and the stability coefficient is greater than the fourth preset coefficient threshold, adjusting the rotation angle of the vehicle device and adjusting the extension range of the working device are determined as the target setting action; when the stability coefficient is less than or equal to the fourth preset coefficient threshold, the target setting action is determined based on the vehicle inclination acceleration and the preset acceleration threshold.

[0101] Optionally, the target setting action determination module 902 is specifically used to control the vehicle mounting device to rotate to an angle in the direction of overturning and control the working device to support the ground when the vehicle tilt angle acceleration is less than or equal to the preset acceleration threshold, and determine it as the target setting action; when the vehicle tilt angle acceleration is greater than the preset acceleration threshold, control the vehicle mounting device to rotate to an angle in the opposite direction of overturning and control the working device to extend to the farthest end, and determine it as the target setting action.

[0102] Optionally, the cylinder includes: a bucket cylinder, an arm cylinder and a boom cylinder; the slewing device of the excavator includes a vehicle slewing motor; suppressing flow fluctuations may include: suppressing flow fluctuations of the bucket cylinder, the arm cylinder, the boom cylinder and the vehicle slewing motor; limiting the operating range may include: limiting the travel range of the bucket cylinder, the arm cylinder and the boom cylinder; limiting the rotation range of the vehicle slewing motor.

[0103] Optionally, the excavator further includes: a working device, a mounting device, a counterweight device and an dismounting device, the working device including: a bucket, a dipper arm and a boom, the mounting device being provided with an mounting rotation angle sensor; a stability coefficient determination module 901, specifically used to determine the first lever arm corresponding to the bucket, the second lever arm corresponding to the dipper arm and the third lever arm corresponding to the boom according to the cylinder stroke sensor signal; determine the fourth lever arm corresponding to the mounting device, the fifth lever arm corresponding to the counterweight device and the sixth lever arm corresponding to the dismounting device according to the mounting rotation angle sensor signal collected by the mounting rotation angle sensor; determine the stability coefficient according to the first lever arm, the second lever arm, the third lever arm, the fourth lever arm, the fifth lever arm and the sixth lever arm.

[0104] Optionally, the stability coefficient determination module 901 is specifically used to determine the overturning moment based on the first lever, the second lever and the third lever; determine the stabilizing moment based on the fourth lever, the fifth lever and the sixth lever; determine the stability coefficient based on the overturning moment and the stabilizing moment when the excavator is in a longitudinal working posture or a lateral working posture; determine the stability coefficient based on the overturning moment, the stabilizing moment and the target rotation angle when the excavator is in a target rotation angle working posture, the target rotation angle is used to characterize the rotation angle of the working device, which is different from the longitudinal working posture and the lateral working posture.

[0105] Optionally, the excavator further includes a buzzer; after determining the target setting action, the target setting action determination module 902 is further configured to control the buzzer to sound an alarm according to each threshold value in the preset threshold value set.

[0106] like Figure 10 FIG. 1 is a schematic structural diagram of an excavator provided by the present invention. The excavator may include: a processor 1010, a communications interface 1020, a memory 1030, and a communications bus 1040. The processor 1010, the communications interface 1020, and the memory 1030 communicate with each other via the communications bus 1040. The processor 1010 may invoke logic instructions in the memory 1030 to execute an excavator anti-rollover control method, which is applied to an excavator anti-rollover control device. The excavator anti-rollover control device is provided in an excavator, and a displacement stroke sensor is provided in the excavator's oil cylinder. The method includes: determining a stability coefficient based on an oil cylinder stroke sensor signal acquired by the displacement stroke sensor; determining a target setting action based on the stability coefficient and a preset threshold set, wherein the preset threshold set includes thresholds corresponding to different stability conditions of the excavator; and controlling the excavator to execute the target setting action.

[0107] In addition, the logic instructions in the above-mentioned memory 1030 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the 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 instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0108] On the other hand, the present invention also provides a computer program product, which includes a computer program, and the computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the excavator anti-overturning control method provided by the above methods, which is applied to an excavator anti-overturning control device. The excavator anti-overturning control device is arranged in an excavator, and a displacement stroke sensor is provided in the oil cylinder of the excavator. The method includes: determining a stability coefficient based on a cylinder stroke sensor signal collected by the displacement stroke sensor; determining a target setting action based on the stability coefficient and a preset threshold set, the preset threshold set including thresholds corresponding to when the excavator is in different stability conditions; and controlling the excavator to perform the target setting action.

[0109] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the excavator anti-rollover control method provided by the above-mentioned methods, and is applied to an excavator anti-rollover control device. The excavator anti-rollover control device is arranged in an excavator, and a displacement stroke sensor is provided in the oil cylinder of the excavator. The method includes: determining a stability coefficient based on a cylinder stroke sensor signal collected by the displacement stroke sensor; determining a target setting action based on the stability coefficient and a preset threshold set, the preset threshold set including thresholds corresponding to when the excavator is in different stability conditions; and controlling the excavator to execute the target setting action.

[0110] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0111] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for controlling an excavator to prevent overturning, characterized in that: The method is applied to an anti-overturning control device of an excavator, wherein the anti-overturning control device of the excavator is provided in the excavator, and a displacement stroke sensor is provided in the oil cylinder of the excavator. The method includes: Determining a stability coefficient based on a cylinder stroke sensor signal collected by the displacement stroke sensor; determining a target setting action based on the stability coefficient and a preset threshold set, wherein the preset threshold set includes thresholds corresponding to different stability conditions of the excavator; The excavator further includes a working device and a vehicle mounting device, wherein the vehicle mounting device is provided with a vehicle tilt angle sensor, and the preset threshold value set includes: a first preset coefficient threshold value, a second preset coefficient threshold value, a third preset coefficient threshold value, a fourth preset coefficient threshold value, and a preset acceleration threshold value, wherein the first preset coefficient threshold value is greater than the second preset coefficient threshold value, the second preset coefficient threshold value is greater than the third preset coefficient threshold value, and the third preset coefficient threshold value is greater than the fourth preset coefficient threshold value; The determining of the target setting action according to the stability coefficient and a preset threshold set includes: determining the vehicle inclination acceleration according to the vehicle inclination sensor signal collected by the vehicle inclination sensor; When the stability coefficient is less than or equal to the first preset coefficient threshold and the stability coefficient is greater than the second preset coefficient threshold, suppressing flow fluctuation is determined as the target setting action; When the stability coefficient is less than or equal to the second preset coefficient threshold and the stability coefficient is greater than the third preset coefficient threshold, limiting the operating range is determined as the target setting action; When the stability coefficient is less than or equal to the third preset coefficient threshold and the stability coefficient is greater than the fourth preset coefficient threshold, adjusting the rotation angle of the vehicle mounting device and adjusting the extension range of the working device are determined as the target setting action; When the stability coefficient is less than or equal to the fourth preset coefficient threshold, determining the target setting action according to the vehicle inclination acceleration and the preset acceleration threshold; The excavator is controlled to perform the target setting action.

2. The method according to claim 1, characterized in that The step of determining the target setting action according to the vehicle inclination acceleration and the preset acceleration threshold comprises: When the upper vehicle tilt angle acceleration is less than or equal to the preset acceleration threshold, the upper vehicle device is controlled to rotate to an angle in the overturning direction, and the working device is controlled to support the ground, which are determined as the target setting action; When the vehicle tilt acceleration is greater than the preset acceleration threshold, the vehicle mounting device is controlled to rotate to an angle in the opposite direction of overturning, and the working device is controlled to extend to the farthest end, which are determined as the target setting action.

3. The method according to claim 1, characterized in that The oil cylinder includes: a bucket oil cylinder, a dipper rod oil cylinder and a boom oil cylinder; the slewing device of the excavator includes a vehicle slewing motor; The method of suppressing flow fluctuations includes: Suppressing flow fluctuations of the bucket cylinder, the arm cylinder, the boom cylinder, and the upper vehicle rotation motor; The restricted scope of operations includes: Limiting the travel range of the bucket cylinder, the arm cylinder and the boom cylinder; The rotation range of the vehicle rotation motor is limited.

4. The method according to claim 1, wherein The excavator further includes: a working device, a vehicle upper device, a counterweight device and an unloading device, wherein the working device includes: a bucket, a bucket rod and a boom, and the vehicle upper device is provided with a vehicle upper rotation angle sensor; the stability coefficient is determined based on the cylinder stroke sensor signal collected by the displacement stroke sensor, including: Determine, according to the cylinder stroke sensor signal, a first lever arm corresponding to the bucket, a second lever arm corresponding to the boom, and a third lever arm corresponding to the boom; Determining, based on a vehicle rotation angle sensor signal collected by the vehicle rotation angle sensor, a fourth lever arm corresponding to the vehicle boarding device, a fifth lever arm corresponding to the counterweight device, and a sixth lever arm corresponding to the vehicle disembarkation device; The stability coefficient is determined based on the first lever arm, the second lever arm, the third lever arm, the fourth lever arm, the fifth lever arm, and the sixth lever arm.

5. The method according to claim 4, characterized in that The determining the stability coefficient according to the first lever arm, the second lever arm, the third lever arm, the fourth lever arm, the fifth lever arm, and the sixth lever arm includes: determining an overturning moment according to the first lever arm, the second lever arm, and the third lever arm; determining a stabilizing moment according to the fourth lever arm, the fifth lever arm, and the sixth lever arm; determining the stability coefficient according to the overturning moment and the stabilizing moment when the excavator is in a longitudinal working posture or a transverse working posture; When the excavator is in a target rotation angle working posture, the stability coefficient is determined based on the overturning moment, the stabilizing moment and the target rotation angle. The target rotation angle is used to characterize the rotation angle of the working device and is different from the longitudinal working posture and the lateral working posture.

6. The method according to any one of claims 1 to 5, characterized in that The excavator further includes a buzzer; and after the target setting action is determined, the method further includes: According to each threshold value in the preset threshold value set, the buzzer is controlled to sound an alarm.

7. An anti-overturning control device for an excavator, characterized in that: Applied to an excavator, wherein a displacement sensor is provided in the oil cylinder of the excavator, the device comprises: a stability coefficient determination module, configured to determine a stability coefficient based on a cylinder stroke sensor signal acquired by the displacement stroke sensor; The target setting action determination module is used to determine the target setting action according to the stability coefficient and the preset threshold set, the preset threshold set including the thresholds corresponding to when the excavator is in different stability conditions; the excavator also includes a working device and a vehicle-mounted device, the vehicle-mounted device is provided with a vehicle-mounted inclination sensor, the preset threshold set includes: a first preset coefficient threshold, a second preset coefficient threshold, a third preset coefficient threshold, a fourth preset coefficient threshold and a preset acceleration threshold, wherein the first preset coefficient threshold is greater than the second preset coefficient threshold, the second preset coefficient threshold is greater than the third preset coefficient threshold, and the third preset coefficient threshold is greater than the fourth preset coefficient threshold; the target setting action is determined according to the stability coefficient and the preset threshold set, including: determining the vehicle-mounted inclination sensor signal collected by the vehicle-mounted inclination sensor vehicle inclination acceleration; when the stability coefficient is less than or equal to the first preset coefficient threshold and the stability coefficient is greater than the second preset coefficient threshold, suppressing flow fluctuations is determined as the target setting action; when the stability coefficient is less than or equal to the second preset coefficient threshold and the stability coefficient is greater than the third preset coefficient threshold, limiting the operating range is determined as the target setting action; when the stability coefficient is less than or equal to the third preset coefficient threshold and the stability coefficient is greater than the fourth preset coefficient threshold, adjusting the rotation angle of the vehicle device and adjusting the extension range of the working device are determined as the target setting action; when the stability coefficient is less than or equal to the fourth preset coefficient threshold, determining the target setting action based on the vehicle inclination acceleration and the preset acceleration threshold. A control module is used to control the excavator to perform the target setting action.

8. An excavator comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the excavator anti-overturning control method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the excavator anti-overturning control method according to any one of claims 1 to 6 is implemented.

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