Excavator control method and excavator

Abstract

The present invention relates to an excavator control method and an excavator. The method collects slope inclination data based on the excavator's body angle sensor, and determines whether to adopt boosted automatic crawler climbing or non-boosted automatic crawler climbing based on the slope inclination. The non-boosted automatic crawler climbing method adopted at small slope angles only requires normal crawler climbing, while the boosted automatic crawler climbing method adopted at large slope angles increases the excavator's climbing ability at large slopes by controlling the coordinated boosting action of the excavator's own working device. The method can also be remotely controlled to achieve automatic climbing of the excavator, ensuring the safety of construction workers. The present invention utilizes the excavator's own working device to improve climbing ability at large slopes, without the need for additional boosting devices and without changing the original structure of the excavator. The method is low-cost and highly safe.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to an excavator control method and an excavator for walking on an inclined surface. Background Art

[0002] Excavators often need to operate on slopes in various construction situations. However, when working on steep slopes, the excavator may lack power to climb the slope. Furthermore, at steep slopes, the excavator is often at risk of tipping over, causing significant inconvenience to the construction workers and the workers involved. Existing technical solutions typically involve modifying the excavator or construction machinery to achieve slope climbing by adding auxiliary climbing mechanisms. This increases the structural complexity of the excavator and the manufacturing cost of the equipment. Furthermore, the excavator requires a driver to control the operation, posing safety risks when climbing.

[0003] Chinese patent application CN109941363A describes a forestry machine that incorporates a travel-assisting device on its traveling frame, comprising at least two parallel propulsion devices, each of which includes a guide arm, a sliding arm, a propulsion cylinder, and a lifting cylinder. The guide arm's hinged end is hinged to the traveling frame. The sliding arm is mounted on the guide arm and can only slide along its length. The sliding arm extends from the free end of the guide arm, and the extended end has a downwardly extending horn. The propulsion cylinder's ends are connected to the guide arm and the sliding arm, respectively, and its telescopic movement pushes the sliding arm to slide relative to the guide arm. The lifting cylinder is connected between the traveling frame and the guide arm, pushing the guide arm to swing up and down around its hinged end. This solution, by adding auxiliary devices to ensure smooth transitions on steep slopes, requires changes to the excavator's main structure, increasing equipment costs.

[0004] Chinese patent application CN111441414A discloses an excavator and a climbing method that are beneficial to improving climbing adaptability. The invention discloses an excavator that is beneficial to improving climbing adaptability, including a stabilizing main board, wherein the top of the stabilizing main board is fixedly connected to a cab, the right side of the cab is fixedly connected to an engine compartment, the right side of the engine compartment is fixedly connected to a counterweight block, the bottom of the stabilizing main board is rotatably connected to a suspension frame through a connecting block, one side of the suspension frame is rotatably connected to a driving wheel, and the other side of the suspension frame is rotatably connected to a guide wheel. Through the joint arrangement of the driving wheel, crawler, counterweight block and counterweight frame, when the excavator goes uphill, the excavator can jointly press down the excavator through the counterweight block and the counterweight frame. The full combination of the excavator and the slope soil layer improves the excavator's grip, and at the same time improves the reliability and stability of the excavator when climbing, making it convenient for staff to operate. This solution uses the combined arrangement of drive wheels, crawlers, counterweight blocks and counterweight frames to enable the excavator to jointly press down when climbing uphill. By changing the original hardware structure of the excavator, the reliability and stability of the excavator when climbing are achieved. This increases the cost and does not fully utilize the original working device of the excavator.

[0005] Chinese patent application CN117989186A discloses an excavator propulsion hydraulic system and excavator. This system adds a propulsion motor, a mode switching valve group, and a flow distribution control valve group to the existing hydraulic system, providing auxiliary climbing and holding power in climbing mode. This solution improves the excavator's performance on slopes by adding a propulsion motor, but still requires additional auxiliary equipment and does not affect the control of the existing excavator's working device.

[0006] Based on the above analysis, existing technologies all achieve steep slope climbing by adding auxiliary climbing devices to the excavator body. This complicates the excavator structure, increases equipment cost, and requires the operator to operate the excavator on-site, posing a safety hazard. Therefore, there is an urgent need for a simple, low-cost, and highly secure excavator control method and excavator that can achieve steep slope climbing without adding additional auxiliary devices. Summary of the Invention

[0007] The object of the present invention is to overcome the above-mentioned shortcomings and provide an excavator control method and an excavator, in which the bucket, crawler, auxiliary legs and other components of the excavator body are coordinated and controlled. That is, the climbing ability of the excavator is improved by relying solely on the coordinated actions of the various components of the excavator body, and large-angle climbing of inclined surfaces can be achieved without adding auxiliary devices, without changing the original structure of the excavator, with low cost, remote control operation and good safety.

[0008] The object of the present invention is achieved like this:

[0009] A control method for an excavator collects slope angle data through a body angle sensor and determines a corresponding control method based on the slope angle to achieve slope climbing. The method specifically includes the following steps:

[0010] Step S101: Collect the slope angle of the vehicle body sensor

[0011] The program controller collects the slope angle data sent by the vehicle body angle sensor.

[0012] Step S102: Satisfy the boost climbing angle judgment

[0013] The program controller analyzes and determines the slope angle data sent by the vehicle body angle sensor. If the slope angle meets the boost climbing angle, it enters step S103. If the slope angle does not meet the boost climbing angle, it enters step S106.

[0014] Step S103: Sending a boost automatic climbing command

[0015] After the program controller determines that the boost climbing angle is met, it sends it to the remote control device. After receiving it, the remote control device sends an boost automatic climbing command, and the program controller executes step S104.

[0016] Step S104: Boosting automatic control of crawler tracks to climb

[0017] Upon receiving the automatic boost climbing command from the remote control, the auxiliary outriggers and bucket are lowered into the soil, entering the boost starting point. The outriggers are then raised, and the working device boosts the slope, while the tracks move upward at a matching speed. The working device's boosting and track movement are stopped, and the outriggers are lowered. This process is repeated until a command to stop boost climbing is received, continuing the boost climbing process.

[0018] Step S105: Boost and stop climbing

[0019] When climbing to a predetermined position, the remote control device sends a signal to stop climbing. After receiving the signal to stop climbing sent by the remote control device, the program controller executes the boosting to stop climbing.

[0020] Step S106: Sending a non-boost automatic climbing command

[0021] After determining that the boost climbing angle is not met, the program controller sends a signal to the remote control device. After receiving the signal, the remote control device sends a non-boost automatic climbing command, and the program controller executes step S107.

[0022] Step S107: Automatically control the crawler track to climb without boost

[0023] After receiving the non-boost automatic climbing command sent by the remote control device, the program controller executes the non-boost automatic control crawler device movement climbing action.

[0024] Step S108: Climb to the predetermined position to determine

[0025] The program controller determines whether a signal sent by the remote control device to climb to a predetermined position is received. If a signal to climb to a predetermined position is received, step S109 is executed; otherwise, step S107 is continued.

[0026] Step S109: Stop climbing without boost

[0027] After receiving the signal of climbing to the predetermined position sent by the remote control device, the program controller executes the non-boost stop climbing.

[0028] Furthermore, the step S104 of boosting automatic control of crawler climbing includes the following steps:

[0029] Step S201: Set the depth of the climbing auxiliary legs into the soil and lower the legs

[0030] After receiving the depth of the climbing auxiliary outriggers buried in the soil sent by the remote control device, the program controller controls the outrigger device to bury in the soil according to the set depth.

[0031] Step S202: Adjust the leg posture

[0032] When the program controller determines that the vehicle body is unsafe, it adjusts the outrigger posture to ensure the safety of the vehicle body.

[0033] Step S203: Vehicle body safety assessment

[0034] The program controller analyzes and determines the safety of the vehicle body. If the vehicle body is safe, step S204 is executed; if the vehicle body is unsafe, step S202 is executed.

[0035] Step S204: Set the bucket immersion depth and enter the boost starting point

[0036] After receiving the bucket immersion depth sent by the remote control device, the program controller controls the bucket to immerse into the soil according to the set depth, and the working device enters the boost starting point.

[0037] Step S205: Adjust the working device posture

[0038] When the program controller determines that the vehicle body is unsafe, it adjusts the posture of the working device.

[0039] Step S206: Vehicle safety assessment

[0040] The program controller analyzes and determines the safety of the vehicle body. If the vehicle body is safe, step S207 is executed; if the vehicle body is unsafe, step S205 is executed.

[0041] Step S207: Lift the legs

[0042] When the program controller determines that the vehicle body is safe, it raises the outriggers.

[0043] Step S208: Adjust the leg posture

[0044] When the program controller determines that the outriggers are not raised, it adjusts the outrigger posture.

[0045] Step S209: Leg Lifting Determination

[0046] The program controller analyzes and determines whether the supporting legs are lifted. If the supporting legs are lifted, step S210 is executed; if the supporting legs are not lifted, step S208 is executed.

[0047] Step S210: The working device assists in climbing the slope, while the crawler tracks move upward at a matching speed

[0048] When the program controller determines that the outriggers are lifted, it controls the working device to assist in climbing, while the crawler tracks move upward at a matching speed.

[0049] Step S211: Adjust the working device posture

[0050] When the program controller determines that the arm outward swing posture of the working device has not reached the terminal, it continues to adjust the working device posture, and performs assist climbing of the working device and crawler travel.

[0051] Step S212: Arm swing posture reaches terminal judgment

[0052] The program controller analyzes and determines whether the outward swing posture of the boom of the working device has reached the terminal. If the outward swing posture of the boom has not reached the terminal, step S211 is executed; if the outward swing posture of the boom has reached the terminal, step S213 is executed.

[0053] Step S213: Stop the booster movement and crawler walking, and lower the legs.

[0054] When the program controller determines that the arm has reached the terminal position, it stops the working device's assist action and crawler movement and lowers the outriggers.

[0055] Step S214: Adjust the leg posture

[0056] When the program controller determines that the vehicle body is unsafe, it adjusts the outrigger posture.

[0057] Step S215: Vehicle body safety assessment

[0058] The program controller analyzes and determines the safety of the vehicle body. If the vehicle body is safe, step S216 is executed; if the vehicle body is unsafe, step S214 is executed.

[0059] Step S216: The working device is recovered to the starting position

[0060] When the program controller determines that the vehicle body is safe, the program controller retracts the working device to the starting position.

[0061] Step S217: Climbing to a predetermined position

[0062] The program controller receives a signal from the remote control device indicating that the remote control device has reached a predetermined position. If the signal is received, the program controller executes step S105 to assist in stopping the climbing. If the signal is not received, the program controller executes step S204.

[0063] Furthermore, the step S210 wherein the working device assists in climbing the slope while the crawler tracks move upward at a matching speed specifically includes the following steps:

[0064] Step S301: Lift the legs

[0065] The program controller determines that when the outrigger is raised in step S209, the slope angle of the vehicle body sensor is collected.

[0066] Step S302: Collect the slope angle of the vehicle body sensor

[0067] The program controller collects the slope angle data sent by the vehicle body angle sensor.

[0068] Step S303: Read the target boost speed of the working device and crawler device

[0069] The program controller reads the target boosting speed of the working device and the crawler device based on the slope angle data collected by the vehicle body angle sensor.

[0070] Step S304: Controlling the working status of the working device and crawler device

[0071] After the program controller reads the corresponding working device and crawler device boost speed target values, it combines the bucket cylinder displacement sensor, boom cylinder displacement sensor and the mechanical structure of the working device, and performs analysis and calculation through the current control module to control the boost climbing speed of the working device. At the same time, the crawler moves upward at a matching speed.

[0072] Furthermore, the target boosting speed of the working device and the crawler device in step S303 is built into the program controller or set by the remote control device.

[0073] Furthermore, the current control module in step S304 includes a working device posture adjustment module and a track speed adjustment module, which respectively control the current signals of the boom cylinder solenoid valve, the arm cylinder solenoid valve, the track left travel solenoid valve, and the track right travel solenoid valve, thereby controlling the boost climbing speed of the working device and the travel speed of the track.

[0074] Furthermore, in steps S201, S202, S207, S208, S213 and S214, the program controller controls the movement of the outriggers by controlling the current signal of the solenoid valve of the outrigger device.

[0075] Furthermore, in steps S204, S205, S210, S211, S213, S216 and S217, the program controller controls the action of the working device by adjusting the current signals of the boom cylinder solenoid valve and the arm cylinder solenoid valve.

[0076] An excavator adopts any of the above methods to climb slopes and includes a program controller and a remote control device with signal connections; the program controller is respectively connected to the excavator's body angle sensor, dipper arm cylinder displacement sensor, boom cylinder displacement sensor, leg device solenoid valve, dipper arm cylinder solenoid valve, boom cylinder solenoid valve, crawler left travel solenoid valve and crawler right travel solenoid valve.

[0077] Furthermore, the program controller is connected to a remote control receiver, and the remote control device is connected to a remote control transmitter; the remote control receiver and the remote control transmitter are connected via wireless signals.

[0078] Compared with the prior art, the present invention has the following beneficial effects:

[0079] The present invention determines whether to adopt boosted automatic control crawler climbing or non-boosted automatic control crawler climbing through the size of the slope fed back by the angle sensor of the excavator body. The non-boosted automatic control crawler climbing adopted at a small slope angle only requires the crawler to climb normally, while the boosted automatic control crawler climbing adopted at a large slope angle increases the excavator's climbing ability on large slopes by controlling the coordinated boosting action of the excavator's own working device. There is no need to install an additional boosting device, the original structure of the excavator is not changed, the cost is low, and it can be remotely controlled and has good safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 The present invention is a flowchart of an excavator control method.

[0081] Figure 2 This is a flow chart of the boost automatic control crawler climbing process of an excavator control method of the present invention.

[0082] Figure 3 This is a flow chart of a working device-assisted crawler track climbing method for an excavator control method according to the present invention.

[0083] Figure 4 This is a connection structure diagram of a current control module of an excavator control method of the present invention.

[0084] Figure 5 This is a hardware connection structure diagram of an excavator according to the present invention.

[0085] in:

[0086] Remote control device 101, remote control transmitter 102, remote control receiver 103, vehicle body angle sensor 104, arm cylinder displacement sensor 105, boom cylinder displacement sensor 106, program controller 107, outrigger device solenoid valve 108, arm cylinder solenoid valve 109, boom cylinder solenoid valve 110, crawler left travel solenoid valve 111, crawler right travel solenoid valve 112. DETAILED DESCRIPTION Example

[0087] See also Figures 1 to 4 The present invention relates to an excavator control method, which collects slope angle data through a vehicle body angle sensor and determines a corresponding control method according to the slope angle to achieve slope climbing. The method specifically includes the following steps:

[0088] Step S101: Collect the slope angle of the vehicle body sensor

[0089] The program controller 107 collects the slope angle data sent by the vehicle body angle sensor 104 .

[0090] Step S102: Satisfy the boost climbing angle judgment

[0091] The program controller 107 analyzes and determines the slope angle data sent by the vehicle body angle sensor 104. If the slope angle meets the assist climbing angle, the process proceeds to step S103. If the slope angle does not meet the assist climbing angle, the process proceeds to step S106.

[0092] Step S103: Sending a boost automatic climbing command

[0093] After the program controller 107 determines that the boost climbing angle is satisfied, it sends the information to the remote control device 101. After receiving the information, the remote control device 101 sends an automatic boost climbing command, and the program controller 107 executes step S104.

[0094] Step S104: Boosting automatic control of crawler tracks to climb

[0095] Upon receiving the automatic boost climbing command from the remote control device 101, the auxiliary outriggers and bucket are lowered into the ground, entering the boost starting point. The outriggers are then raised, and the working device boosts the slope, while the tracks move upward at a matching speed. The working device's boosting and track movement are stopped, and the outriggers are lowered. This process is repeated until a command to stop boost climbing is received, continuing the boost climbing process.

[0096] Specific operation steps are shown in S201~S217:

[0097] Step S201: Set the depth of the climbing auxiliary legs into the soil and lower the legs

[0098] After receiving the depth of the climbing auxiliary outrigger sent by the remote control device 101, the program controller 107 controls the outrigger device to bury in the ground according to the set depth by controlling the current signal of the outrigger device solenoid valve 108.

[0099] Step S202: Adjust the leg posture

[0100] When the program controller 107 determines that the vehicle body is unsafe, it adjusts the posture of the outriggers by controlling the current signal of the outrigger device solenoid valve 108 to ensure the safety of the vehicle body.

[0101] Step S203: Vehicle body safety assessment

[0102] The program controller 107 analyzes and determines the safety of the vehicle body. If the vehicle body is safe, step S204 is executed; if the vehicle body is unsafe, step S202 is executed.

[0103] Step S204: Set the bucket immersion depth and enter the boost starting point

[0104] After receiving the bucket immersion depth sent by the remote control device 101, the program controller 107 controls the bucket to immerse into the soil according to the set depth by adjusting the current signals of the dipper arm cylinder solenoid valve 109 and the boom cylinder solenoid valve 110, and the working device enters the boost starting point.

[0105] Step S205: Adjust the working device posture

[0106] When the program controller 107 determines that the vehicle body is unsafe, it adjusts the posture of the working device by adjusting the current signals of the boom cylinder solenoid valve 109 and the arm cylinder solenoid valve 110.

[0107] Step S206: Vehicle safety assessment

[0108] The program controller 107 analyzes and determines the safety of the vehicle body. If the vehicle body is safe, step S207 is executed; if the vehicle body is unsafe, step S205 is executed.

[0109] Step S207: Lift the legs

[0110] When the program controller 107 determines that the vehicle body is safe, it raises the outrigger by controlling the current signal of the outrigger device solenoid valve 108 .

[0111] Step S208: Adjust the leg posture

[0112] When the program controller 107 determines that the outrigger is not lifted, it adjusts the outrigger posture by controlling the current signal of the solenoid valve 108 of the outrigger device.

[0113] Step S209: Leg Lifting Determination

[0114] The program controller 107 analyzes and determines whether the supporting legs are lifted. If the supporting legs are lifted, step S210 is executed; if the supporting legs are not lifted, step S208 is executed.

[0115] Step S210: The working device assists in climbing the slope, while the crawler tracks move upward at a matching speed

[0116] When the program controller 107 determines that the outrigger is raised, it controls the working device to assist in climbing by adjusting the current signals of the boom cylinder solenoid valve 109 and the arm cylinder solenoid valve 110, while the crawler tracks move upward at a matching speed. Specifically, it includes steps S301 to S304:

[0117] Step S301: Lift the legs

[0118] When the support leg is raised in step S209, the program controller 107 collects the slope angle of the vehicle body sensor.

[0119] Step S302: Collect the slope angle of the vehicle body sensor

[0120] The program controller 107 collects the slope angle data sent by the vehicle body angle sensor 104 .

[0121] Step S303: Read the target boost speed of the working device and crawler device

[0122] The program controller 107 reads the target assist speed of the working device and the crawler device which is built into the program controller 107 or set by the remote control device 101 according to the slope inclination data collected by the vehicle body angle sensor 104 .

[0123] Step S304: Controlling the working status of the working device and crawler device

[0124] After reading the corresponding target values ​​for the boost speed of the working device and crawler device, the program controller 107 analyzes and calculates the current control module based on the displacement sensors of the arm cylinder and boom cylinder, as well as the mechanical structure of the working device. This module controls the boost climbing speed of the working device, while simultaneously moving the crawler tracks upward at a matching speed. Specifically, the current control module includes a working device attitude adjustment module and a crawler speed adjustment module, which respectively control the current signals of the arm cylinder solenoid valve 109, the boom cylinder solenoid valve 110, the left crawler travel solenoid valve 111, and the right crawler travel solenoid valve 112, thereby controlling the boost climbing speed of the working device and the travel speed of the crawler tracks. The working device attitude adjustment module is the boom and arm cylinder speed and attitude adjustment module.

[0125] Step S211: Adjust the working device posture

[0126] When the program controller 107 determines that the arm outward swing posture of the working device has not reached the terminal, it continues to adjust the working device posture by adjusting the current signals of the arm cylinder solenoid valve 109 and the boom cylinder solenoid valve 110, and assists the working device in climbing and moving on the tracks.

[0127] Step S212: Arm swing posture reaches terminal judgment

[0128] The program controller 107 analyzes and determines whether the boom outward swing posture of the working device has reached the terminal. If the boom outward swing posture has not reached the terminal, step S211 is executed; if the boom outward swing posture has reached the terminal, step S213 is executed.

[0129] Step S213: Stop the booster movement and crawler walking, and lower the legs.

[0130] When the program controller 107 determines that the boom outward swing posture has reached the terminal point, it stops the working device's assisting action and crawler travel by adjusting the current signals of the boom cylinder solenoid valve 109, the boom cylinder solenoid valve 110, the crawler left travel solenoid valve 111, and the crawler right travel solenoid valve 112, and lowers the support legs by controlling the current signal of the support leg device solenoid valve 108.

[0131] Step S214: Adjust the leg posture

[0132] When the program controller 107 determines that the vehicle body is unsafe, it adjusts the posture of the outriggers by controlling the current signal of the outrigger device solenoid valve 108.

[0133] Step S215: Vehicle body safety assessment

[0134] The program controller 107 analyzes and determines the safety of the vehicle body. If the vehicle body is safe, step S216 is executed; if the vehicle body is unsafe, step S214 is executed.

[0135] Step S216: The working device is recovered to the starting position

[0136] When the program controller 107 determines that the vehicle body is safe, the program controller 107 recovers the working device to the starting position by adjusting the current signals of the boom cylinder solenoid valve 109 and the arm cylinder solenoid valve 110 .

[0137] Step S217: Climbing to a predetermined position

[0138] The program controller 107 receives the signal of climbing to the predetermined position sent by the remote control device 101. If the signal of climbing to the predetermined position is received, the program controller 107 executes step S105 to assist in stopping climbing. If the signal of climbing to the predetermined position is not received, the program controller 107 executes step S204.

[0139] Step S105: Boost and stop climbing

[0140] When climbing to a predetermined position, the remote control device 101 sends a signal to stop climbing. After receiving the signal to stop climbing sent by the remote control device 101, the program controller 107 executes boosting to stop climbing.

[0141] Step S106: Sending a non-boost automatic climbing command

[0142] After determining that the boost climbing angle is not met, the program controller 107 sends a signal to the remote control device 101. After receiving the signal, the remote control device 101 sends a non-boost automatic climbing command, and the program controller 107 executes step S107.

[0143] Step S107: Automatically control the crawler track to climb without boost

[0144] After receiving the non-boosted automatic climbing command sent by the remote control device 101, the program controller 107 executes the non-boosted automatic control crawler device movement climbing action.

[0145] Step S108: Climb to the predetermined position to determine

[0146] The program controller 107 determines whether a signal for climbing to a predetermined position sent by the remote control device 101 is received. If a signal for climbing to a predetermined position is received, step S109 is executed; otherwise, step S107 is continued.

[0147] Step S109: Stop climbing without boost

[0148] After receiving the signal of climbing to the predetermined position sent by the remote control device 101, the program controller 107 executes non-boost stop climbing. Example

[0149] See also Figure 5 The present invention relates to an excavator that uses the climbing method of the above embodiment to climb an inclined surface. The excavator includes a program controller 107 and a remote control device 101 that are signal-connected; the program controller 107 is connected to a remote control receiver 103, and the remote control device 101 is connected to a remote control transmitter 102; the remote control receiver 103 and the remote control transmitter 102 are connected via wireless signals; the program controller 107 is signal-connected to a body angle sensor 104, a boom cylinder displacement sensor 105, a boom cylinder displacement sensor 106, a leg device solenoid valve 108, a boom cylinder solenoid valve 109, a boom cylinder solenoid valve 110, a crawler left travel solenoid valve 111, and a crawler right travel solenoid valve 112 of the excavator.

[0150] Remote control device 101 sends operating instructions to program controller 107, which then controls the excavator's working device to perform a boosting operation, increasing its climbing capability on steep slopes and enabling it to climb steep slopes in conjunction with the crawler tracks. This eliminates the need for an additional boosting device and maintains the excavator's structural integrity, resulting in low costs. Remote control operation is also possible, ensuring high safety and protecting construction workers.

[0151] In addition: It should be noted that the above specific implementation is only an optimization scheme of this patent. Any changes or improvements made by technicians in this field based on the above concept are within the scope of protection of this patent.

Claims

1. A method for controlling an excavator, characterized in that: The vehicle body angle sensor collects slope angle data and determines the corresponding control method based on the slope angle to achieve slope climbing. The following steps are included: Step S101: collecting the slope angle of the vehicle body sensor; The program controller (107) collects the slope angle data sent by the vehicle body angle sensor (104); Step S102: Satisfying the boost climbing angle determination; The program controller (107) analyzes and determines the slope angle data sent by the vehicle body angle sensor (104). If the slope angle satisfies the boost climbing angle, the process proceeds to step S103. If the slope angle does not satisfy the boost climbing angle, the process proceeds to step S106. Step S103: Sending a boost automatic climbing command; After the program controller (107) determines that the boost climbing angle is satisfied, it sends the information to the remote control device (101). After receiving the information, the remote control device (101) sends the boost automatic climbing command, and the program controller (107) executes step S104. Step S104: Boosting the crawler to automatically control the track to climb the slope; After receiving the boost automatic climbing command sent by the remote control device (101), the auxiliary legs are put into the soil, the bucket is put into the soil, and the boost starting point is entered; then the legs are raised, the working device boosts the climbing, and the crawler moves upward at a matching speed; the working device boosts the climbing and the crawler moves, and the legs are lowered; before receiving the stop boost climbing command, the above actions are repeated to continue boost climbing; Step S105: Boost and stop climbing; When the vehicle climbs to a predetermined position, the remote control device (101) sends a signal to stop climbing. After receiving the signal to stop climbing sent by the remote control device (101), the program controller (107) executes boosting to stop climbing. Step S106: Sending a non-boost automatic climbing command; After the program controller (107) determines that the boost climbing angle is not satisfied, it sends a signal to the remote control device (101). After receiving the signal, the remote control device (101) sends a non-boost automatic climbing command, and the program controller (107) executes step S107; Step S107: Automatically control the crawler track to climb without boosting; After receiving the non-boosted automatic climbing command sent by the remote control device (101), the program controller (107) executes the non-boosted automatic control crawler device movement climbing action; Step S108: Climb to a predetermined position for determination; The program controller (107) determines whether a signal sent by the remote control device (101) to climb to a predetermined position is received, and if so, executes step S109; otherwise, continues to execute step S107; Step S109: Stop climbing without boost; After receiving a signal from the remote control device (101) indicating that the vehicle has climbed to a predetermined position, the program controller (107) executes a non-boosting stop climbing operation.

2. The excavator control method according to claim 1, wherein: The step S104 of boosting automatic control of crawler climbing includes the following steps: Step S201: setting the depth of the climbing auxiliary outriggers into the soil and lowering the outriggers; After receiving the depth of the climbing auxiliary support leg buried in the soil sent by the remote control device (101), the program controller (107) controls the support leg device to be buried in the soil according to the set depth; Step S202: adjusting the outrigger posture; When the program controller (107) determines that the vehicle body is unsafe, it adjusts the posture of the outriggers to ensure the safety of the vehicle body; Step S203: Vehicle body safety assessment; The program controller (107) analyzes and determines the safety of the vehicle body, and if the vehicle body is safe, executes step S204; if the vehicle body is unsafe, executes step S202; Step S204: setting the bucket immersion depth and entering the boost starting point; After receiving the bucket immersion depth sent by the remote control device (101), the program controller (107) controls the bucket to immerse in the soil according to the set depth, and the working device enters the boost starting point; Step S205: adjusting the working device posture; When the program controller (107) determines that the vehicle body is unsafe, it adjusts the posture of the working device; Step S206: Vehicle safety assessment; The program controller (107) analyzes and determines the safety of the vehicle body, and if the vehicle body is safe, executes step S207; if the vehicle body is unsafe, executes step S205; Step S207: lifting the legs; When the program controller (107) determines that the vehicle body is safe, it raises the supporting legs; Step S208: adjusting the outrigger posture; When the program controller (107) determines that the supporting leg is not raised, it adjusts the supporting leg posture; Step S209: leg lifting judgment; The program controller (107) analyzes and determines whether the supporting legs are lifted, and if the supporting legs are lifted, executes step S210; if the supporting legs are not lifted, executes step S208; Step S210: The working device assists in climbing the slope, while the crawler tracks move upward at a matching speed; When the program controller (107) determines that the outrigger is lifted, it controls the working device to assist in climbing the slope, and at the same time the crawler tracks move upward at a matching speed; Step S211: adjusting the posture of the working device; When the program controller (107) determines that the arm swing posture of the working device has not reached the terminal, it continues to adjust the working device posture, performs boost climbing of the working device, and moves the crawler track; Step S212: The arm swings outward to the terminal for judgment; The program controller (107) analyzes and determines whether the arm-outward swing posture of the working device has reached the terminal. If the arm-outward swing posture has not reached the terminal, step S211 is executed. If the arm-outward swing posture has reached the terminal, step S213 is executed. Step S213: Stop the power-assisted movement and crawler walking, and lower the outriggers; When the program controller (107) determines that the arm swing posture reaches the terminal, the working device stops the auxiliary propulsion and crawler walking, and the outriggers are lowered; Step S214: adjusting the outrigger posture; When the program controller (107) determines that the vehicle body is unsafe, it adjusts the posture of the outriggers; Step S215: Vehicle body safety assessment; The program controller (107) analyzes and determines the safety of the vehicle body, and if the vehicle body is safe, executes step S216; if the vehicle body is unsafe, executes step S214; Step S216: The working device is recovered to the starting position; When the program controller (107) determines that the vehicle body is safe, the program controller (107) retracts the working device to the starting position; Step S217: Climbing to a predetermined position for determination; The program controller (107) receives a signal from the remote control device (101) indicating that the remote control device (101) has reached a predetermined position. If the signal is received, the program controller (107) performs step S105 to assist in stopping the climbing. If the signal is not received, the program controller (107) performs step S204.

3. The excavator control method according to claim 2, wherein: The step S210 in which the working device assists in climbing the slope and the crawler tracks move upward at a matching speed specifically includes the following steps: Step S301: Lift the legs The program controller (107) determines that when the support leg is raised in step S209, the slope angle of the vehicle body sensor is collected; Step S302: collecting the slope angle of the vehicle body sensor; The program controller (107) collects the slope angle data sent by the vehicle body angle sensor (104); Step S303: Read the target boost speed of the working device and crawler device; The program controller (107) reads the target boosting speed of the working device and the crawler device based on the slope angle data collected by the vehicle body angle sensor (104); Step S304: Controlling the working status of the working device and the crawler device; After the program controller (107) reads the corresponding target values ​​of the boosting speed of the working device and the crawler device, it combines the arm cylinder displacement sensor, the boom cylinder displacement sensor and the mechanical structure of the working device, and performs analysis and calculation through the current control module to control the boosting climbing speed of the working device, while the crawler device moves upward at a matching speed.

4. The excavator control method according to claim 3, wherein: The target boosting speed of the working device and the crawler device in step S303 is built into the program controller (107) or set by the remote control device (101).

5. The excavator control method according to claim 3, wherein: The current control module in step S304 includes a working device posture adjustment module and a crawler speed adjustment module, which respectively control the current signals of the boom cylinder solenoid valve (109), the arm cylinder solenoid valve (110), the crawler left travel solenoid valve (111), and the crawler right travel solenoid valve (112), thereby controlling the boost climbing speed of the working device and the travel speed of the crawler.

6. The excavator control method according to claim 2, wherein: In the steps S201, S202, S207, S208, S213 and S214, the program controller (107) controls the movement of the outriggers by controlling the current signal of the solenoid valve (108) of the outrigger device.

7. The excavator control method according to claim 2, wherein: In the steps S204, S205, S210, S211, S213, S216 and S217, the program controller (107) controls the operation of the working device by adjusting the current signals of the boom cylinder solenoid valve (109) and the arm cylinder solenoid valve (110).

8. An excavator, characterized in that: The excavator climbs a slope using any one of the methods in claims 1 to 7, and comprises a program controller (107) and a remote control device (101) connected by signals; the program controller (107) is signal-connected to a body angle sensor (104), a boom cylinder displacement sensor (105), a boom cylinder displacement sensor (106), a leg device solenoid valve (108), a boom cylinder solenoid valve (109), a boom cylinder solenoid valve (110), a crawler left travel solenoid valve (111), and a crawler right travel solenoid valve (112) of the excavator.

9. The excavator according to claim 8, characterized in that: The program controller (107) is connected to a remote control receiver (103), and the remote control device (101) is connected to a remote control transmitter (102); the remote control receiver (103) and the remote control transmitter (102) are connected via wireless signals.

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