Control method and control device for excavator, controller and excavator

Abstract

The embodiment of the present invention provides a control method and control device, a controller and an excavator for an excavator. The control method for an excavator includes: determining that the engine speed exceeds a preset speed; obtaining first position information of a first obstacle on the side of the boom away from the dipper cylinder and second position information of a second obstacle on the side of the dipper cylinder away from the dipper cylinder; determining whether there is a collision risk of the dipper cylinder according to the first position information and determining a first collision risk level; determining whether there is a collision risk of the bucket cylinder according to the second position information and determining a second collision risk level; executing a first collision avoidance measure according to the first collision risk level; executing a second collision avoidance measure according to the second collision risk level. The embodiment of the present invention can effectively protect the dipper cylinder and the bucket cylinder, prevent the bucket cylinder and the dipper cylinder from being bumped during operation, reduce the probability of failure and the maintenance cost of the whole machine, and improve the safety and efficiency of the excavator operation.

Description

Technical Field

[0001] The present invention relates to the technical field of excavator control, and in particular to a control method and control device for an excavator, a controller and an excavator. Background Art

[0002] As the actuator in the hydraulic system, the cylinder is widely used in the field of excavators. There are four cylinders in the working device alone, including a bucket cylinder, a dipper rod cylinder and two boom cylinders. However, during excavation, the bucket cylinder and dipper rod cylinder are located in the driver's blind spot, and the working environment is harsh. Therefore, if the driver is not careful, the cylinder will be damaged by hitting obstacles, which will cause the whole machine to stop working and reduce its work efficiency. Moreover, for precision parts such as cylinders with high processing and manufacturing costs, once they are damaged, the maintenance cost of the whole machine will surge. In view of the above problems, the patent application document with publication number CN110565731A provides a protective device for a hydraulic excavator cylinder. The protective device is composed of a bracket, a protective plate and a cylinder piston rod. The protective plate and the bracket are connected by sliding. When the cylinder piston rod is completely in a retracted state, the protective plate mechanism is located on the cylinder body. When the cylinder piston rod moves, the protective plate mechanism moves with the cylinder piston rod to protect the extended cylinder piston rod. Therefore, this device has a certain protective effect on the hydraulic cylinder, which can improve the safety and efficiency of the excavator operation and reduce the maintenance cost of the whole machine. Although the prior art can protect the arm cylinder and the bucket cylinder from obstacles and reduce cylinder failures through some mechanical devices. However, it still cannot solve the problem that the driver cannot judge the vicinity of the bucket cylinder and the arm cylinder due to the blind spot of vision. When the excavator is operating, if the obstacle is a hard object or the cylinder is hit at a high speed, the impact borne by the protective device will also be transmitted to the cylinder, causing damage to the cylinder. Moreover, such sliding connection protection devices are easily affected by sand and stones in earthwork conditions and become stuck, which makes it impossible to achieve continuous protection and has low reliability. Moreover, since the mechanical protection device has a certain mass, it will increase the total weight of the tooling device, increase the fuel consumption of the excavator, and reduce the stability of the excavator. Therefore, it is urgent to propose a technical solution to solve the above technical problems in the prior art. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a control method and control device, a controller and an excavator for an excavator, so as to solve the technical problem in the prior art that the oil cylinder is damaged due to the driver's blind spot.

[0004] In order to achieve the above-mentioned objectives, the first aspect of the present invention provides a control method for an excavator, including: determining that the speed of the excavator's engine exceeds a preset speed; obtaining first position information of the excavator's boom cylinder away from a first obstacle on the boom side of the excavator and second position information of the excavator's bucket cylinder away from a second obstacle on the boom side of the excavator; determining whether there is a collision risk for the boom cylinder based on the first position information; determining a first collision risk level based on the first position information when it is determined that there is a collision risk for the boom cylinder; determining whether there is a collision risk for the bucket cylinder based on the second position information; determining a second collision risk level based on the second position information when it is determined that there is a collision risk for the bucket cylinder; executing a first collision avoidance measure based on the first collision risk level; and executing a second collision avoidance measure based on the second collision risk level.

[0005] In the embodiment of the present invention, the preset rotation speed ranges from 0 rpm to 600 rpm.

[0006] In the embodiment of the present invention, the first collision risk level and the second collision risk level are both selected from any one of the following: warning; and danger.

[0007] In an embodiment of the present invention, first position information of a first obstacle on a boom side of an excavator's boom cylinder and second position information of a second obstacle on a boom side of an excavator's bucket cylinder are obtained, including: obtaining distance information between a point on an outer surface of the first obstacle detected by a first position detection device and the first position detection device to obtain the first position information; obtaining distance information between a point on an outer surface of the second obstacle detected by a second position detection device and the second position detection device to obtain the second position information; wherein the first position detection device is disposed on an outer surface of a cylinder sleeve of the boom cylinder on a side away from the boom of the excavator; and the second position detection device is disposed on an outer surface of a cylinder sleeve of the bucket cylinder on a side away from the boom of the excavator.

[0008] In an embodiment of the present invention, determining whether there is a collision risk for the boom cylinder is performed based on the first position information, including: determining the minimum distance between a point on the outer surface of the first obstacle and the plane where the detection surface of the first position detection device is located based on the first position information to obtain a first distance; determining whether the first distance is less than a preset value of a safety distance; and determining that there is a collision risk for the boom cylinder when it is determined that the first distance is less than the preset value of the safety distance; determining whether there is a collision risk for the bucket cylinder is performed based on the second position information, including: determining the minimum distance between a point on the outer surface of the second obstacle and the plane where the detection surface of the second position detection device is located based on the second position information to obtain a second distance; determining whether the second distance is less than the preset value of the safety distance; and determining that there is a collision risk for the bucket cylinder when it is determined that the second distance is less than the preset value of the safety distance.

[0009] In an embodiment of the present invention, when it is determined that there is a collision risk for the boom cylinder, a first collision risk level is determined based on the first position information, including: when it is determined that the first distance is less than a preset value of the safety distance, determining whether the first distance is less than a preset value of the danger distance; when it is determined that the first distance is less than the preset value of the danger distance, determining the first collision risk level as danger; and when it is determined that the first distance is not less than the preset value of the danger distance, determining the first collision risk level as warning; when it is determined that there is a collision risk for the bucket cylinder, a second collision risk level is determined based on the second position information, including: when it is determined that the second distance is less than a preset value of the safety distance, determining whether the second distance is less than a preset value of the danger distance; when it is determined that the second distance is less than the preset value of the danger distance, determining the second collision risk level as danger; and when it is determined that the second distance is not less than the preset value of the danger distance, determining the second collision risk level as warning.

[0010] In an embodiment of the present invention, a first collision avoidance measure is executed according to a first collision risk level, including: when it is determined that the first collision risk level is dangerous, stopping the output of control current to the boom cylinder retraction solenoid valve of the excavator to control the boom cylinder of the excavator to stop the retraction movement; and a second collision avoidance measure is executed according to a second collision risk level, including: when it is determined that the second collision risk level is dangerous, stopping the output of control current to the boom cylinder retraction solenoid valve and the boom cylinder retraction solenoid valve of the excavator to control the boom cylinder and the boom cylinder to stop the retraction movement.

[0011] In an embodiment of the present invention, executing a first collision avoidance measure according to a first collision risk level also includes: when it is determined that the first collision risk level is a warning, prompting the boom cylinder that there is a collision risk; and when it is determined that the first collision risk level is a danger, prompting the boom cylinder that a collision is about to occur; executing a second collision avoidance measure according to a second collision risk level also includes: when it is determined that the second collision risk level is a warning, prompting the bucket cylinder that there is a collision risk; and when it is determined that the second collision risk level is a danger, prompting the bucket cylinder that there is an imminent collision.

[0012] In the embodiment of the present invention, the value range of the preset value of the safety distance is 20mm-25mm, and the value range of the preset value of the danger distance is 3mm-8mm.

[0013] In the embodiment of the present invention, the preset value of the safety distance is 25 mm, and the preset value of the danger distance is 5 mm.

[0014] A second aspect of the present invention provides a controller configured to execute the control method for an excavator of the aforementioned embodiment.

[0015] The third aspect of the present invention provides a control device for an excavator, comprising: a first position detection device, which is arranged on the outer surface of the cylinder sleeve of the excavator's boom cylinder on the side away from the excavator's boom, and the first position detection device is configured to detect first position information of a first obstacle on the boom cylinder side away from the boom; a second position detection device, which is arranged on the outer surface of the cylinder sleeve of the excavator's bucket cylinder on the side away from the excavator's boom, and the second position detection device is configured to detect second position information of a second obstacle on the bucket cylinder side away from the boom; and the controller of the aforementioned embodiment, which is electrically connected to the first position detection device and the second position detection device, respectively.

[0016] In an embodiment of the present invention, the control device for an excavator further includes: a display device electrically connected to the controller.

[0017] In an embodiment of the present invention, the first position detection device and the second position detection device both include millimeter wave radars.

[0018] In the embodiment of the present invention, the horizontal detection angle of the millimeter wave radar is ±60°, and the vertical detection angle of the millimeter wave radar is ±15°.

[0019] The fourth aspect of the present invention provides an excavator, comprising: a boom; a boom cylinder configured to drive the movement of the boom; an arm; an arm cylinder configured to drive the movement of the arm; a bucket; a bucket cylinder configured to drive the movement of the bucket; and a control device for the excavator of the aforementioned embodiment.

[0020] The embodiment of the present invention can realize the automatic alarm function and anti-collision protection function when encountering obstacles through the above-mentioned embodiments. It can not only effectively protect the boom cylinder and the bucket cylinder, avoid the bucket cylinder and the boom cylinder from being bumped during operation, reduce the probability of failure and the maintenance cost of the whole machine, but also improve the safety and efficiency of excavator operation.

[0021] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0023] Figure 1 is a flow chart of a control method 100 for an excavator according to an embodiment of the present invention;

[0024] Figure 2 is a schematic structural diagram of a control device 200 for an excavator according to an embodiment of the present invention;

[0025] Figure 3 is a schematic structural diagram of an excavator 300 according to an embodiment of the present invention;

[0026] Figure 4 It is a partial structural schematic diagram of an excavator cylinder early warning protection system according to an example of the present invention;

[0027] Figure 5 Schematic diagram of the installation position and ranging scenario of radar 1 and radar 2 according to the example of the present invention;

[0028] Figure 6 is a schematic diagram of ranging of radar 1 and radar 2 according to an example of the present invention; and

[0029] Figure 7 It is a schematic diagram of the overall control logic of the excavator cylinder early warning protection system according to the example of the present invention. DETAILED DESCRIPTION

[0030] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0031] It should be noted that if the implementation methods of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0032] In addition, if there are descriptions involving "first", "second", etc. in the implementation methods of this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various implementation methods can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0033] like Figure 1 As shown, in an embodiment of the present invention, a control method 100 for an excavator is provided, comprising the following steps:

[0034] Step S110: Determine whether the rotation speed of the engine of the excavator exceeds a preset rotation speed.

[0035] Step S120: Acquire first position information of a first obstacle on the boom side of the excavator away from the boom cylinder of the excavator and second position information of a second obstacle on the boom side of the excavator away from the bucket cylinder of the excavator. The number of the first obstacle and the second obstacle is not limited to one, for example, the first obstacle may be one or more, and the second obstacle may also be one or more.

[0036] Step S130: Determine whether there is a collision risk of the boom cylinder based on the first position information.

[0037] Step S140: When it is determined that the boom cylinder has a collision risk, a first collision risk level is determined according to the first position information.

[0038] Step S150: Determine whether there is a collision risk of the bucket cylinder according to the second position information.

[0039] Step S160: When it is determined that there is a collision risk of the bucket cylinder, a second collision risk level is determined according to the second position information.

[0040] Step S170: executing a first collision avoidance measure according to the first collision risk level. And Step S180: executing a second collision avoidance measure according to the second collision risk level.

[0041] Specifically, the preset speed ranges from 0 rpm to 600 rpm, for example. More specifically, the preset speed ranges from 500 rpm, for example. Determining whether the speed of the excavator engine exceeds the preset speed is, for example, to determine whether the engine is in a starting state.

[0042] Specifically, the first collision risk level and the second collision risk level are, for example, both selected from any one of the following: warning; and danger.

[0043] Specifically, first position information of a first obstacle on the boom side of the excavator and second position information of a second obstacle on the boom side of the excavator are obtained, that is, step S120 includes, for example:

[0044] (a1) obtaining distance information between a point on the outer surface of the first obstacle detected by the first position detection device and the first position detection device to obtain first position information. The first position detection device is disposed on the outer surface of the cylinder sleeve of the boom cylinder away from the boom of the excavator. And

[0045] (a2) obtaining distance information between a point on the outer surface of the second obstacle detected by the second position detection device and the second position detection device to obtain second position information. The second position detection device is arranged on the outer surface of the cylinder sleeve of the bucket cylinder away from the dipper arm of the excavator.

[0046] The mounting surfaces of the first position detection device and the second position detection device are, for example, respectively arranged parallel to the center line of the boom cylinder and the center line of the bucket cylinder.

[0047] It is also worth mentioning that the installation positions of the first position detection device and the second position detection device may also be other suitable positions on the outer surface of the boom cylinder and the outer surface of the bucket cylinder, respectively. The number of the first position detection device and the second position detection device may not be limited to one in the embodiment of the present invention, but may be multiple. For example, multiple first position detection devices may be arranged on the outer surface of the cylinder sleeve of the boom cylinder away from the boom side, and multiple second position detection devices may also be arranged on the outer surface of the cylinder sleeve of the bucket cylinder away from the boom side. However, in some scenarios, the change of relevant distance information caused by the change of the installation position needs to be considered in the subsequent control logic. The first position detection device and the second position detection device are, for example, radars, such as millimeter wave radars.

[0048] Specifically, determining whether there is a collision risk of the boom cylinder according to the first position information, that is, step S130 includes, for example:

[0049] (b1) Determine the minimum distance between a point on the outer surface of the first obstacle and the plane where the detection surface of the first position detection device is located based on the first position information to obtain a first distance. Regardless of whether there are one or more first obstacles, the distance corresponding to the point with the shortest distance from the plane where the detection surface of the first position detection device is located among all the points on all the first obstacles within the distance measurement range of the first position detection device is taken as the first distance.

[0050] (b2) determining whether the first distance is less than a preset safety distance value. and

[0051] (b3) When it is determined that the first distance is less than the preset safety distance value, it is determined that there is a risk of collision of the boom cylinder.

[0052] Specifically, determining whether there is a collision risk of the bucket cylinder according to the second position information, that is, step S150 includes, for example:

[0053] (c1) Determine the minimum distance between a point on the outer surface of the second obstacle and the plane where the detection surface of the second position detection device is located based on the second position information to obtain a second distance. Similarly, regardless of whether there are one or more second obstacles, the distance corresponding to the point with the smallest distance from the plane where the detection surface of the second position detection device is located among all the points on all the second obstacles within the distance measurement range of the second position detection device is taken as the second distance.

[0054] (c2) determining whether the second distance is less than a preset safety distance value. and

[0055] (c3) When it is determined that the second distance is less than the preset safety distance value, it is determined that there is a collision risk of the bucket cylinder.

[0056] Specifically, when it is determined that the boom cylinder has a collision risk, a first collision risk level is determined according to the first position information, that is, step S140 includes, for example:

[0057] (d1) when it is determined that the first distance is less than the preset safety distance value, determining whether the first distance is less than the preset danger distance value;

[0058] (d2) determining the first collision risk level as dangerous when it is determined that the first distance is less than a preset dangerous distance value; and

[0059] (d3) when it is determined that the first distance is not less than the preset danger distance value, determining the first collision risk level as a warning;

[0060] Specifically, when it is determined that there is a collision risk of the bucket cylinder, a second collision risk level is determined according to the second position information, that is, step S160 includes, for example:

[0061] (e1) when it is determined that the second distance is less than the preset safety distance value, determining whether the second distance is less than the preset danger distance value;

[0062] (e2) when it is determined that the second distance is less than the preset danger distance value, determining the second collision risk level as danger. and

[0063] (e3) When it is determined that the second distance is not less than the preset danger distance value, determining the second collision risk level as a warning.

[0064] Specifically, the first collision avoidance measure is executed according to the first collision risk level, that is, step S170, for example, includes: (f1) when it is determined that the first collision risk level is dangerous, the control current is stopped from being output to the boom cylinder retraction solenoid valve of the excavator to control the boom cylinder of the excavator to stop the retraction movement. By stopping the output of the control signal for controlling the retraction of the boom cylinder to prohibit the retraction of the boom cylinder, thereby prohibiting the boom from being lifted upward, it is possible to prevent the arm cylinder from hitting an obstacle due to the upward lifting of the boom, thereby achieving the purpose of protecting the arm cylinder.

[0065] Specifically, the second collision avoidance measure is executed according to the second collision wind level, that is, step S180, for example, includes: (g1) when it is determined that the second collision risk level is dangerous, stop outputting the control current to the boom cylinder retraction solenoid valve and the dipper arm cylinder retraction solenoid valve of the excavator to control the boom cylinder and the dipper arm cylinder to stop the retraction movement. By stopping the output of the control signal for controlling the dipper arm cylinder and the boom cylinder to retract, the dipper arm cylinder and the boom cylinder are prohibited from retracting, thereby prohibiting the dipper arm from swinging forward and the boom from lifting upward, which can prevent the bucket cylinder from hitting an obstacle and being damaged due to the boom lifting upward and / or the dipper arm swinging forward, thereby achieving the purpose of protecting the bucket cylinder.

[0066] Further, the first collision avoidance measure is executed according to the first collision risk level, that is, step S170 for example further includes:

[0067] (f2) when the first collision risk level is determined to be a warning, prompting the boom cylinder that there is a collision risk.

[0068] (f3) When the first collision risk level is determined to be dangerous, a prompt is given that the boom cylinder is about to collide.

[0069] Further, the second collision avoidance measure is executed according to the second collision risk level, that is, step S180 for example further includes:

[0070] (g2) when the second collision risk level is determined to be a warning, prompting that the bucket cylinder has a collision risk.

[0071] (g3) When it is determined that the second collision risk level is dangerous, a warning is given that the bucket cylinder is about to collide.

[0072] By prompting corresponding information when it is determined that there is a collision risk, the driver can know which cylinder has a collision risk and the current collision risk level after seeing the prompt information on the dashboard, and determine the corresponding anti-collision operation. Then, the corresponding cylinder can be no longer in a warning state or a dangerous state by operating the boom or stick, thereby eliminating the corresponding collision risk.

[0073] Specifically, the value range of the preset value of the safety distance is, for example, 20 mm-25 mm, and the value range of the preset value of the danger distance is, for example, 3 mm-8 mm.

[0074] More specifically, the value of the preset safety distance value is, for example, 25 mm, and the value of the preset danger distance value is, for example, 5 mm. Of course, the value of the preset safety distance value can also be, for example, other suitable values ​​such as 21 mm, 22 mm, 23 mm, 24 mm, etc. Of course, the value of the preset safety distance value can also be, for example, other suitable values ​​such as 4 mm, 6 mm, 7 mm, etc.

[0075] In an embodiment of the present invention, a controller is provided, which is configured to execute a control method 100 for an excavator according to any one of the aforementioned embodiments.

[0076] The specific functions and details of the control method 100 for an excavator may refer to the relevant description of the aforementioned embodiment and will not be repeated here.

[0077] Specifically, the controller may be, for example, an industrial computer, an embedded system, a microprocessor, a programmable logic device, or other control device. The controller may be, for example, a vehicle controller of an excavator.

[0078] like Figure 2 As shown, in an embodiment of the present invention, a control device 200 for an excavator is provided, including: a controller 210, a first position detection device 230 and a second position detection device 250.

[0079] The controller 210 is electrically connected to the first position detection device and the second position detection device, and is a controller according to any of the above embodiments. The specific functions and details of the controller 210 can be referred to the relevant description of the above embodiments, which will not be repeated here.

[0080] The first position detection device 230 is, for example, disposed on the outer surface of the cylinder sleeve of the boom cylinder of the excavator away from the boom of the excavator. The first position detection device is, for example, configured to detect first position information of a first obstacle on the boom cylinder away from the boom.

[0081] The second position detection device 250 is, for example, disposed on the outer surface of the cylinder sleeve of the bucket cylinder of the excavator away from the boom of the excavator. The second position detection device is, for example, configured to detect second position information of a second obstacle on the side of the bucket cylinder away from the boom.

[0082] Furthermore, the control device 200 for an excavator, for example, further includes: a display device 270. The display device 270 is, for example, electrically connected to the controller 210. The display device 270 is, for example, a dashboard of the excavator.

[0083] Specifically, the first position detection device and the second position detection device both include millimeter wave radars, for example.

[0084] More specifically, the horizontal detection angle of the millimeter wave radar is, for example, ±60°, and the vertical detection angle is, for example, ±15°. Of course, the embodiment of the present invention is not limited thereto, and other suitable detection angle values ​​may also be used.

[0085] In an embodiment of the present invention, an excavator 300 is provided, including: a control device 310 , a boom 320 , a boom cylinder 330 , an arm 340 , an arm cylinder 350 , a bucket 360 , and a bucket cylinder 370 .

[0086] The control device 310 is, for example, the control device 200 for an excavator according to any one of the aforementioned embodiments. The specific functions and details of the control device 310 can be referred to the relevant description of the aforementioned embodiments, which will not be repeated here.

[0087] The boom cylinder 330 is configured to drive the operation of the boom, for example.

[0088] The arm cylinder 350 is configured to drive the operation of the arm, for example.

[0089] The bucket cylinder 370 is configured to drive the operation of the bucket, for example.

[0090] The working process of the control method 100 for an excavator according to an embodiment of the present invention is described in detail below with reference to a specific example. The specific contents of the example of the present invention are as follows:

[0091] like Figure 4 As shown, a partial structural diagram of an excavator cylinder early warning protection system is provided as an example of the present invention, which mainly includes a vehicle controller, radar 1, radar 2, and an instrument panel. Among them, radar 1, radar 2, and the instrument panel are electrically connected to the vehicle controller respectively. Radar 1 and radar 2 are, for example, millimeter wave radars.

[0092] like Figure 5 As shown in the figure, it is a schematic diagram of the installation position and ranging scenario of radar 1 and radar 2. Radar 1 is, for example, set on the outer surface of the cylinder sleeve of the boom cylinder away from the boom, and radar 2 is, for example, set on the outer surface of the cylinder sleeve of the bucket cylinder away from the boom. The installation surfaces of radar 1 and radar 2 are, for example, set parallel to the center line of the boom cylinder and the center line of the bucket cylinder respectively. The ranging schematic diagram of radar 1 and radar 2 is shown in the figure. Figure 6 As shown. The horizontal detection angles of radar 1 and radar 2 are both ±60°, and the vertical detection angles are both ±15°. From the direction A, that is, the measurement range of radar 1 and radar 2 ( Figure 6The cross-section of the area enclosed by the straight lines BO and BC in the direction parallel to its installation surface is an ellipse. It is also worth mentioning that in the example of the present invention, the installation positions of radar 1 and radar 2 can also be other suitable positions on the outer surface of the boom cylinder and the outer surface of the bucket cylinder respectively, and the number of radars 1 and radar 2 is also not limited to one in the example of the present invention, but can also be multiple. For example, multiple radars can be set on the outer surface of the cylinder sleeve of the boom cylinder away from the boom side, and multiple radars can also be set on the outer surface of the cylinder sleeve of the bucket cylinder away from the boom side. However, in some scenarios, the change of relevant distance information caused by the change of the installation position needs to be considered in the subsequent judgment logic.

[0093] like Figure 7 As shown, the overall control logic of the excavator cylinder early warning protection system is as follows: First, the vehicle controller determines whether the current excavator engine is in the starting state, for example, by determining whether the engine speed is greater than or equal to the preset speed R, where the value range of R is, for example, 0rpm-600rpm, and the specific value is 500rpm. When it is determined that the engine speed is greater than or equal to the preset speed R, the vehicle controller will obtain the distance information between radar 1 and the point on the outer surface of the obstacle near the boom cylinder, such as the obstacle on the side of the boom cylinder away from the boom, and radar 2, and the distance information between radar 2 and the point on the outer surface of the obstacle near the bucket cylinder, such as the obstacle on the side of the bucket cylinder away from the boom. The vehicle controller determines the status of the arm cylinder and the bucket cylinder according to the distance information detected by radar 1 and the distance information detected by radar 2, so as to determine whether the arm cylinder and the bucket cylinder have a collision risk and the corresponding collision risk level, that is, whether they are in a safe state, that is, no collision risk, or in a warning state, that is, there is a collision risk and the corresponding collision risk level is a warning, or in a dangerous state, that is, there is a collision risk and the corresponding collision risk level is a danger, and then controls the corresponding cylinders on the working device according to the status of the bucket cylinder and the arm cylinder, and outputs corresponding control signals to the instrument panel according to the status of the bucket cylinder and the arm cylinder to control the instrument panel to display the corresponding prompt information.

[0094] like Figure 5 and Figure 6As shown in , L1 represents the minimum distance between a point on the outer surface of an obstacle within the measurement range of radar 1 and the plane where the detection surface of radar 1 is located, and L2 represents the minimum distance between a point on the outer surface of an obstacle within the measurement range of radar 2 and the plane where the detection surface of radar 2 is located. Specifically, after obtaining the distance information detected by radar 1 and the distance information detected by radar 2, the vehicle controller will also determine L1 and L2 respectively according to the distance information detected by radar 1 and the distance information detected by radar 2, and then judge the state of the bucket cylinder and the dipper arm cylinder according to L1 and L2. Specifically, the vehicle controller will, for example, obtain the distance between one or more points on the outer surface of obstacles detected by radar 1, that is, the distance between one or more points on the outer surface of obstacles within the range of radar 1 and radar 1, that is, it will obtain the distance between many points and radar 1, and then determine the distance between each point and the plane where the detection surface of radar 1 is located, that is, the vertical distance from the point to the plane, according to the distance of the multiple points, and take the smallest vertical distance as L1. Similarly, the vehicle controller will, for example, obtain the distance between one or more points on the outer surface of an obstacle detected by radar 2, that is, the distance between one or more points on the outer surface of an obstacle within the ranging range of radar 2 and radar 2, that is, the distance between many points and radar 2 will be obtained, and then the distance between each point and the plane where the detection surface of radar 2 is located is determined based on the distances of the multiple points, that is, the vertical distance from the point to the plane, and the smallest vertical distance is taken as L2.

[0095] like Figure 7 As shown, when the vehicle controller determines that L1 is greater than or equal to the preset safety distance D1 corresponding to the boom cylinder, it is determined that the boom cylinder is in a safe state, that is, there is no collision risk; when the vehicle controller determines that L1 is less than D1 and greater than or equal to the preset danger distance D2 corresponding to the boom cylinder, it is determined that the boom cylinder is in a warning state, that is, there is a collision risk and the corresponding collision risk level is warning; when the vehicle controller determines that L1 is less than D2, it is determined that the boom cylinder is in a dangerous state, that is, there is a collision risk and the corresponding collision risk level is dangerous. When it is determined that the boom cylinder is in a warning state, the vehicle controller sends a corresponding control signal in the warning state to the instrument panel to prompt the boom cylinder that there is a collision risk. When it is determined that the boom cylinder is in a dangerous state, the vehicle controller prohibits the boom cylinder from retracting by stopping the output of the control signal for controlling the retraction of the boom cylinder (not shown in the figure), thereby prohibiting the boom from lifting upward, preventing the boom cylinder from hitting an obstacle and being damaged due to the boom lifting upward, thereby protecting the boom cylinder, and sending a corresponding control signal in a dangerous state to the instrument panel to prompt that a collision is about to occur at the boom cylinder. Among them, the preset value D1 of the safety distance corresponding to the boom cylinder has a value range of 20mm-25mm, and the preset value D2 of the danger distance corresponding to the boom cylinder has a value range of 3mm-8mm. Specifically, D1 is, for example, 25mm, and D2 is, for example, 5mm.

[0096] Similarly, when the vehicle controller determines that L2 is greater than or equal to the preset safety distance value C1 corresponding to the bucket cylinder, it determines that the bucket cylinder is in a safe state, that is, there is no collision risk; when the vehicle controller determines that L2 is less than C1 and greater than or equal to the preset danger distance value C2 corresponding to the bucket cylinder, it determines that the bucket cylinder is in a warning state, that is, there is a collision risk and the corresponding collision risk level is warning; when the vehicle controller determines that L2 is less than C2, it determines that the bucket cylinder is in a dangerous state, that is, there is a collision risk and the corresponding collision risk level is dangerous. When it is determined that the bucket cylinder is in a warning state, the vehicle controller sends a corresponding control signal in the warning state to the instrument panel to prompt the bucket cylinder that there is a collision risk. When it is determined that the bucket cylinder is in a dangerous state, the vehicle controller prohibits the retraction of the arm cylinder and the boom cylinder by stopping the output of the control signal to control the retraction of the arm cylinder and the boom cylinder, thereby prohibiting the arm from moving forward (such as Figure 4 and 5 The left side of the bucket cylinder is swung and the boom is lifted upward to prevent the bucket cylinder from hitting obstacles and being damaged due to the upward lifting of the boom and / or the forward swinging of the dipper arm, thereby protecting the bucket cylinder and sending a corresponding control signal in a dangerous state to the instrument panel to prompt that a collision is about to occur at the bucket cylinder. Among them, the preset value C1 of the safety distance corresponding to the bucket cylinder has a value range of 20mm-25mm, and the preset value C2 of the danger distance corresponding to the bucket cylinder has a value range of 3mm-8mm. Specifically, C1 is, for example, 25mm, and C2 is, for example, 5mm.

[0097] More specifically, D1 can be set to be equal to C1, and D2 can be set to be equal to C2. Of course, D1 can also be set to be unequal to C1, and D2 can also be set to be unequal to C2. The display interface of the instrument panel regarding the boom cylinder and the bucket cylinder is provided with two prompt information display positions corresponding to the cylinders, namely the relevant prompt information display position of the boom cylinder and the relevant prompt information display position of the bucket cylinder. After receiving the control signal of the vehicle controller, the instrument panel displays the corresponding prompt information at the corresponding prompt information display position on the corresponding display interface, so that the driver can manipulate the boom or boom after seeing the prompt information on the instrument panel so that the cylinder is no longer in a warning state or a dangerous state. The prompt information of the instrument panel regarding the boom cylinder and the bucket cylinder is shown in the following cases:

[0098] ① When the arm cylinder and bucket cylinder are both in a safe state, there is no prompt information at the corresponding prompt information display position of the arm cylinder and bucket cylinder;

[0099] ② When the arm cylinder is in the warning state and the bucket cylinder is in the safe state, the corresponding prompt information display position of the arm cylinder indicates that there is a collision risk, and the corresponding prompt information display position of the bucket cylinder has no prompt information;

[0100] ③ When the arm cylinder is in a dangerous state and the bucket cylinder is in a safe state, the corresponding prompt information display position of the arm cylinder indicates that a collision is about to occur, and the corresponding prompt information display position of the bucket cylinder has no prompt information;

[0101] ④ When the arm cylinder is in a safe state and the bucket cylinder is in a warning state, there is no prompt information at the prompt information display position corresponding to the arm cylinder, and there is a collision risk at the prompt information display position corresponding to the bucket cylinder;

[0102] ⑤ When the arm cylinder is in the warning state and the bucket cylinder is in the warning state, the corresponding prompt information display position of the arm cylinder indicates that there is a risk of collision, and the corresponding prompt information display position of the bucket cylinder indicates that there is a risk of collision;

[0103] ⑥ When the arm cylinder is in a dangerous state and the bucket cylinder is in a warning state, the corresponding prompt information display position of the arm cylinder indicates that a collision is about to occur, and the corresponding prompt information display position of the bucket cylinder indicates that there is a risk of collision;

[0104] ⑦ When the arm cylinder is in a safe state and the bucket cylinder is in a dangerous state, there is no prompt information at the prompt information display position of the arm cylinder, and the prompt information display position of the bucket cylinder indicates that a collision is about to occur;

[0105] ⑧ When the arm cylinder is in the warning state and the bucket cylinder is in the dangerous state, there is a risk of collision of the arm cylinder and the bucket cylinder is about to collide;

[0106] ⑨When the arm cylinder is in a dangerous state and the bucket cylinder is in a dangerous state, the corresponding prompt information display position of the arm cylinder prompts that a collision is about to occur, and the corresponding prompt information display position of the bucket cylinder prompts that a collision is about to occur.

[0107] In summary, the embodiments of the present invention can achieve some or all of the following technical effects through the above technical solutions:

[0108] (1) It can assist the driver in judging the status of the boom cylinder and bucket cylinder located in the blind spot, determine whether there is a collision risk between the boom cylinder and bucket cylinder and the level of the collision risk, and control the working device of the excavator through the prompt information on the instrument panel, thereby improving the operating efficiency of the excavator.

[0109] (2) The operation of the working device can be suppressed when the boom cylinder and / or bucket cylinder is in a dangerous state, thereby preventing the driver from operating it incorrectly and ensuring that the boom cylinder and / or bucket cylinder in the blind spot are not damaged by collision, thereby avoiding large direct economic losses caused by replacing the cylinder.

[0110] (3) Compared with the traditional mechanical protection device, the embodiment of the present invention can fundamentally protect the boom cylinder and the bucket cylinder from impact loads and will not be affected by the lateral force transmitted by the mechanical protection device. Since the mass of the position detection device is usually much smaller than that of the traditional mechanical protection device, the total weight of the tooling device can be reduced, the fuel consumption of the excavator can be reduced, and the stability of the excavator can be improved. Compared with the traditional mechanical protection device, it is not easily affected by the earthwork conditions and has high reliability.

[0111] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0113] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0114] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0115] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0116] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0117] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0118] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0119] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A control method for an excavator, characterized in that: include: determining that the speed of the engine of the excavator exceeds a preset speed; Acquire first position information of a boom cylinder of the excavator away from a first obstacle on a boom side of the excavator and second position information of a bucket cylinder of the excavator away from a second obstacle on a boom side of the excavator; Determining whether the boom cylinder has a collision risk according to the first position information; In the case where it is determined that the boom cylinder has a collision risk, determining a first collision risk level according to the first position information; determining whether the bucket cylinder has a collision risk according to the second position information; In the case where it is determined that the bucket cylinder has a collision risk, determining a second collision risk level according to the second position information; executing a first collision avoidance measure according to the first collision risk level; as well as executing a second collision avoidance measure according to the second collision risk level; The obtaining of first position information of a first obstacle on a boom side of the excavator away from the boom cylinder of the excavator and second position information of a second obstacle on a boom side of the excavator away from the bucket cylinder of the excavator includes: Acquire distance information between a point on the outer surface of the first obstacle detected by a first position detection device and the first position detection device to obtain the first position information; Acquire distance information between a point on the outer surface of the second obstacle detected by a second position detection device and the second position detection device to obtain the second position information; Wherein, the first position detection device is arranged on the outer surface of the cylinder sleeve of the boom cylinder away from the boom of the excavator, and the mounting surface of the first position detection device is arranged parallel to the center line of the boom cylinder; The second position detection device is arranged on the outer surface of the cylinder sleeve of the bucket cylinder away from the dipper arm of the excavator, and the mounting surface of the second position detection device is arranged parallel to the center line of the bucket cylinder; The horizontal detection angle of the first position detection device and the second position detection device are both ± 60°, and the vertical detection angle of view are both ± 15°; The determining, according to the first position information, whether the boom cylinder has a collision risk includes: Determine, according to the first position information, a minimum distance between a point on the outer surface of the first obstacle and a plane where a detection surface of the first position detection device is located, to obtain a first distance; Determining whether the first distance is less than a preset safety distance value; and When it is determined that the first distance is less than the preset safety distance value, it is determined that there is a collision risk of the boom cylinder; The determining, according to the second position information, whether the bucket cylinder has a collision risk includes: Determine, according to the second position information, a minimum distance between a point on the outer surface of the second obstacle and a plane where a detection surface of the second position detection device is located, so as to obtain a second distance; Determining whether the second distance is less than the preset safety distance value; and When it is determined that the second distance is less than the preset safety distance value, it is determined that there is a collision risk for the bucket cylinder.

2. The control method according to claim 1, characterized in that: The preset speed ranges from 0 rpm to 600 rpm.

3. The control method according to claim 1, characterized in that: The first collision risk level and the second collision risk level are both selected from any one of the following: Early warning; and Danger.

4. The control method according to claim 1, characterized in that: In the case where it is determined that the boom cylinder has a collision risk, determining a first collision risk level according to the first position information includes: In the case where it is determined that the first distance is less than the preset safety distance value, determining whether the first distance is less than the preset danger distance value; In a case where it is determined that the first distance is less than the preset danger distance value, determining that the first collision risk level is danger; and In the case where it is determined that the first distance is not less than the preset value of the danger distance, determining the first collision risk level as a warning; In the case where it is determined that the bucket cylinder has a collision risk, determining a second collision risk level according to the second position information includes: In the case where it is determined that the second distance is less than the preset safety distance value, determining whether the second distance is less than the preset danger distance value; In a case where it is determined that the second distance is less than the preset danger distance value, determining that the second collision risk level is danger; and When it is determined that the second distance is not less than the preset value of the danger distance, the second collision risk level is determined to be a warning.

5. The control method according to claim 1, characterized in that: The performing a first collision avoidance measure according to the first collision risk level includes: When it is determined that the first collision risk level is dangerous, stop outputting the control current to the boom cylinder retraction solenoid valve of the excavator to control the boom cylinder of the excavator to stop the retraction movement; The performing a second collision avoidance measure according to the second collision risk level includes: When it is determined that the second collision risk level is dangerous, the output of control current to the boom cylinder retraction solenoid valve and the dipper cylinder retraction solenoid valve of the excavator is stopped to control the boom cylinder and the dipper cylinder to stop the retraction movement.

6. The control method according to claim 5, characterized in that: The performing a first collision avoidance measure according to the first collision risk level further includes: In the case where it is determined that the first collision risk level is a warning, prompting the boom cylinder that there is a collision risk; and When determining that the first collision risk level is dangerous, prompting that the boom cylinder is about to collide; The performing a second collision avoidance measure according to the second collision risk level further includes: If it is determined that the second collision risk level is a warning, prompting the bucket cylinder that there is a collision risk; and When it is determined that the second collision risk level is dangerous, a prompt is given that the bucket cylinder is about to collide.

7. The control method according to claim 4, characterized in that: The preset value of the safety distance ranges from 20 mm to 25 mm, and the preset value of the danger distance ranges from 3 mm to 8 mm.

8. The control method according to claim 7, characterized in that: The preset value of the safety distance is 25 mm, and the preset value of the danger distance is 5 mm.

9. A controller, characterized in that: The method is configured to execute the control method for an excavator according to any one of claims 1 to 8.

10. A control device for an excavator, characterized in that: include: A first position detection device is provided on an outer surface of a cylinder sleeve of a boom cylinder of the excavator away from a boom of the excavator, the first position detection device being configured to detect first position information of a first obstacle of the boom cylinder away from a boom side; A second position detection device is provided on an outer surface of a cylinder sleeve of a bucket cylinder of the excavator away from a boom of the excavator, the second position detection device being configured to detect second position information of a second obstacle of the bucket cylinder away from the boom; and The controller according to claim 9 is electrically connected to the first position detection device and the second position detection device, respectively.

11. The control device according to claim 10, characterized in that: Also includes: A display device is electrically connected to the controller.

12. The control device according to claim 10, characterized in that: The first position detection device and the second position detection device both include millimeter wave radars.

13. An excavator, characterized in that: include: Boom; A boom cylinder configured to drive the movement of the boom; Stick; A boom cylinder configured to drive the action of the boom; Bucket; A bucket cylinder configured to drive the movement of the bucket; as well as A control device for an excavator according to any one of claims 10 to 12.

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