Excavator control method, controller, control system, excavator and storage medium

Abstract

The present disclosure provides an excavator control method, controller, control system, excavator, and storage medium, relating to the field of engineering machinery control technology. This method utilizes sensors to monitor the vehicle's operating status in real time, and uses a controller to coordinate the movements of the excavator's various components in a sequence, replacing the traditional driver's repeated manipulation of handles. This method improves the automation level of the equipment and, in turn, enhances work efficiency. Furthermore, by automatically loading the excavator onto a pallet truck, the probability of equipment tipping damage and resulting casualties is reduced, thereby improving safety when loading the excavator onto a pallet truck.

Description

Technical Field

[0001] The present disclosure relates to the technical field of engineering machinery control, and in particular to an excavator control method, a controller, a control system, an excavator, and a storage medium. Background Art

[0002] When shipping or relocating an excavator, it needs to be loaded onto a flatbed truck. Conventional technology uses a human operator to load and unload the excavator. The operator, seated in the cab, operates the left and right control handles and pedals to raise and lower the boom, retract and swing the bucket arm, and drive the vehicle. Based on the operator's experience and proficiency, the operator repeatedly adjusts the control handles and slowly maneuvers the excavator onto the truck.

[0003] When an excavator is loading or unloading a platform, it must simultaneously move the arm, dipper, and travel, making it extremely difficult for the operator to control the process. Uncoordinated movements can cause the bucket to push against the road and the platform, damaging both the vehicle and the road surface. This can also lead to instability during loading or unloading, resulting in vehicle damage and casualties. To ensure accurate control, repeated adjustments are often required, impacting work efficiency. Summary of the Invention

[0004] A technical problem to be solved by the present disclosure is to provide an excavator control method, a controller, a control system, an excavator and a storage medium, which can improve the efficiency of excavator loading operations.

[0005] According to one aspect of the present disclosure, a method for controlling an excavator is proposed, comprising: in response to the excavator being in an automatic loading mode, controlling the working device of the excavator to move to a first posture; judging whether the working device has moved to the first posture based on first data detected by a detection device, and if so, controlling the front end of the chassis of the excavator to leave the ground until it tilts to a first preset angle; judging whether the front end of the chassis tilts to the first preset angle based on second data detected by the detection device, and if so, controlling the bucket arm of the excavator to retract to a second preset angle and the chassis to run a first target distance; judging whether the bucket arm is retracted to the second preset angle and the chassis to run the first target distance based on third data detected by the detection device If so, the working device is controlled to return to the first posture, and after the upper vehicle is controlled to rotate to the third preset angle, the working device is controlled to move to the second posture; according to the fourth data detected by the detection equipment, it is judged whether the working device has moved to the second posture. If so, the rear end of the chassis is controlled to leave the ground until the fourth preset angle; according to the fifth data detected by the detection equipment, it is judged whether the rear end of the chassis is off the ground to the fourth preset angle. If so, the boom is controlled to swing outward to the fifth preset angle and the chassis runs the second target distance; and according to the sixth data detected by the detection equipment, it is judged whether the boom is swung outward to the fifth preset angle and whether the chassis runs the second target distance. If so, the working device is controlled to move to the third posture.

[0006] In some embodiments, the working device includes a boom, an arm, and a bucket, and the detection equipment includes at least one of an angle sensor, an inclination sensor, and a rotation speed sensor.

[0007] In some embodiments, controlling the working device of the excavator to move to a first posture includes: sending a first adjustment instruction to the cylinder control valves of the boom, dipper arm and bucket respectively, so that the angle between the boom and the turntable reaches a first preset value, the angle between the dipper arm and the boom reaches a second preset value, and the angle between the bucket and the dipper arm reaches a third preset value.

[0008] In some embodiments, the second preset value is 85° to 115°, and the third preset value is 75° to 105°.

[0009] In some embodiments, controlling the front end of the chassis of the excavator to leave the ground until it tilts to a first preset angle includes: sending a first cylinder retraction command to the cylinder control valve of the boom to control the boom to descend, so that the front end of the chassis leaves the ground and the angle between the chassis and the horizontal plane reaches the first preset angle.

[0010] In some embodiments, controlling the excavator's boom to retract to a second preset angle and the chassis to run a first target distance includes: sending a boom cylinder extension signal to the boom cylinder control valve and sending a travel motor rotation signal to the travel motor control valve, so that the angle between the boom and the boom reaches a second preset angle and the chassis runs the first target distance.

[0011] In some embodiments, controlling the working device to move to the second posture includes: sending second adjustment instructions to the cylinder control valves of the boom, dipper arm and bucket respectively, so that the angle between the boom and the turntable reaches a fourth preset value, the angle between the dipper arm and the boom reaches a fifth preset value, and the angle between the bucket and the dipper arm reaches a sixth preset value.

[0012] In some embodiments, the fifth preset value is 75° to 105°, and the sixth preset value is 75° to 105°.

[0013] In some embodiments, controlling the rear end of the chassis to leave the ground until a fourth preset angle includes: sending a second cylinder retraction command to the cylinder control valve of the boom to control the boom to descend, so that the rear end of the chassis leaves the ground and the angle between the chassis and the horizontal plane is 0.

[0014] In some embodiments, controlling the boom to swing outward to a fifth preset angle and the chassis to run a second target distance includes: sending a boom cylinder shortening signal to the boom cylinder control valve and sending a travel motor rotation signal to the travel motor control valve, so that the angle between the boom and the boom reaches the fifth preset angle, and the chassis runs the second target distance.

[0015] In some embodiments, controlling the working device to move to the third posture includes: sending a third adjustment instruction to the cylinder control valves of the boom, dipper arm and bucket respectively, so that the cylinders of the bucket and dipper arm are fully extended, and the boom is lowered so that the bucket connecting rod is in contact with the surface of the cart.

[0016] In some embodiments, the angle between the boom and the turntable, the angle between the arm and the boom, and the angle between the bucket and the arm are detected by angle sensors.

[0017] In some embodiments, the angle between the chassis and the horizontal plane is determined based on the angle between the turntable and the horizontal plane detected by the inclination sensor.

[0018] In some embodiments, the angle between the boom and the arm is detected by an angle sensor to determine whether the angle between the boom and the arm reaches a corresponding preset angle; and the running distance of the chassis is determined based on the speed information detected by the speed sensor.

[0019] According to another aspect of the present disclosure, an excavator controller is also proposed, comprising: a mode determination module, configured to determine whether the excavator is in an automatic loading mode; a data acquisition module, configured to receive data detected by a detection device; a control module, configured to determine whether the working device moves to a first posture, and if so, to control the front end of the chassis of the excavator to leave the ground until it tilts to a first preset angle; to determine whether the front end of the chassis tilts to the first preset angle, and if so, to control the boom of the excavator to retract to a second preset angle and the chassis to run a first target distance; to determine whether the boom is retracted to the second preset angle degrees and whether the chassis runs the first target distance, if so, control the working device to return to the first posture, and control the upper vehicle to rotate the third preset angle, and then control the working device to move to the second posture; judge whether the working device moves to the second posture, if so, control the rear end of the chassis to leave the ground until the fourth preset angle; judge whether the rear end of the chassis leaves the ground to the fourth preset angle, if so, control the boom to swing outward to the fifth preset angle and the chassis runs the second target distance; and judge whether the boom is swung outward to the fifth preset angle and whether the chassis runs the second target distance, if so, control the working device to move to the third posture.

[0020] According to another aspect of the present disclosure, an excavator controller is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the excavator control method described above based on instructions stored in the memory.

[0021] According to another aspect of the present disclosure, an excavator control system is provided, comprising: the excavator controller described above; a detection device; a mode switch; and a plurality of hydraulic control valves.

[0022] According to another aspect of the present disclosure, an excavator is provided, comprising: the excavator control system described above.

[0023] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, on which computer program instructions are stored. When the instructions are executed by a processor, the excavator control method as described above is implemented.

[0024] In the disclosed embodiments, a controller controls the sequential and coordinated movements of the various components of the excavator, enabling the excavator to automatically load onto a pallet truck. This functionality is enhanced by sensors that monitor the vehicle's operating status in real time, replacing the driver's repetitive control of the handlebars. This improves the automation level of the equipment and, in turn, increases work efficiency. Furthermore, the automatic loading of the excavator onto a pallet truck reduces the probability of equipment tipping damage and casualties, thereby enhancing safety during loading.

[0025] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0027] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0028] Figure 1 Schematic diagram of the flow of some embodiments of the excavator control method disclosed herein;

[0029] Figure 2 Schematic diagram of the flow chart of other embodiments of the excavator control method disclosed herein;

[0030] Figure 3A This is a schematic diagram of the posture of the excavator on the platform disclosed in the present invention;

[0031] Figure 3B This is a schematic diagram of the posture of the excavator on the platform disclosed in the present invention;

[0032] Figure 3C This is a schematic diagram of the posture of the excavator on the platform disclosed in the present invention;

[0033] Figure 3D This is a schematic diagram of the posture of the excavator on the platform disclosed in the present invention;

[0034] Figure 3E This is a schematic diagram of the posture of the excavator on the platform disclosed in the present invention;

[0035] Figure 3F This is a schematic diagram of the posture of the excavator on the platform disclosed in the present invention;

[0036] Figure 3G This is a schematic diagram of the posture of the excavator on the platform disclosed in the present invention;

[0037] Figure 4 Schematic diagram of the structure of some embodiments of the excavator controller disclosed in the present invention;

[0038] Figure 5 Schematic diagrams of the structures of other embodiments of the excavator controller disclosed herein;

[0039] Figure 6 is a schematic structural diagram of some embodiments of the excavator control system disclosed in the present invention; and

[0040] Figure 7 Schematic diagrams of the structures of other embodiments of the excavator control system disclosed in the present invention. DETAILED DESCRIPTION

[0041] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0042] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0043] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0044] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0045] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0046] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0047] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0048] In the prior art, loading and unloading a platform can be accomplished by manually operating an excavator. However, this operation is complex and difficult to control, which affects work efficiency and poses safety risks. Loading and unloading a platform requires a high level of operator skill and relies heavily on human subjectivity, increasing the psychological burden on the operator. Furthermore, the low level of automation reduces equipment utilization.

[0049] Figure 1 1 is a flowchart of some embodiments of the excavator control method disclosed herein, which is executed by an excavator controller.

[0050] In step 110 , in response to the excavator being in the automatic loading mode, the working device of the excavator is controlled to move to a first posture.

[0051] In some embodiments, the working device includes a boom, an arm, and a bucket.

[0052] In some embodiments, the automatic loading command is selected and activated by a switch module.

[0053] In some embodiments, the controller sends first adjustment commands to the cylinder control valves of the boom, arm, and bucket, respectively, to adjust the angle between the boom and the turntable to a first preset value, the angle between the arm and the boom to a second preset value, and the angle between the bucket and the arm to a third preset value. The second preset value is 85° to 115°, and the third preset value is 75° to 105°. The first preset value is determined based on the boom length l1, arm length l2, bucket length l3, excavator sprocket center distance L, drive wheel axis distance s from the rear edge of the truck, truck top surface height h, boom base hinge height h0, and horizontal distance L0 from the boom base hinge to the chassis drive wheel axis.

[0054] In step 120 , based on the first data detected by the detection device, it is determined whether the working device has moved to the first posture. If so, the front end of the chassis of the excavator is controlled to leave the ground until it tilts to a first preset angle.

[0055] In some embodiments, angle sensors detect the angle between the boom and the turntable, the angle between the arm and the boom, and the angle between the bucket and the arm. If the angle between the boom and the turntable reaches a first preset value, the angle between the arm and the boom reaches a second preset value, and the angle between the bucket and the arm reaches a third preset value, the working device is determined to have reached the first posture. At this point, a controller sends a first cylinder retraction command to the boom's cylinder control valve, controlling the boom to descend, lifting the front end of the chassis off the ground and adjusting the chassis' angle with the horizontal plane to a first preset angle.

[0056] In step 130, based on the second data detected by the detection device, it is determined whether the front end of the chassis is tilted to the first preset angle. If so, the excavator's boom is controlled to retract to the second preset angle and the chassis runs the first target distance.

[0057] In some embodiments, the controller determines the angle between the chassis and the horizontal plane based on the angle between the turntable and the horizontal plane detected by the inclination sensor. If the angle between the chassis and the horizontal plane reaches a first preset angle, the controller sends a boom cylinder extension signal to the boom cylinder control valve and a travel motor rotation signal to the travel motor control valve, such that the boom-to-arm angle reaches a second preset angle and the chassis travels a first target distance.

[0058] In step 140, based on the third data detected by the detection equipment, it is determined whether the boom is retracted to the second preset angle and whether the chassis runs the first target distance. If so, the working device is controlled to return to the first posture, and after the upper vehicle is controlled to rotate the third preset angle, the working device is controlled to move to the second posture.

[0059] In some embodiments, an angle sensor detects the angle between the boom and the dipper arm to determine whether the boom has been retracted to a second preset angle. The chassis' travel distance is then determined based on the speed information detected by the speed sensor. If the boom arm is retracted to the second preset angle and the chassis has traveled the first target distance, the controller controls the working device to return to the first posture and controls the upper vehicle to rotate through a third preset angle, for example, 180°. The controller then sends second adjustment commands to the cylinder control valves of the boom, dipper arm, and bucket, respectively, to adjust the angle between the boom and the turntable to a fourth preset value, the angle between the dipper arm and the boom to a fifth preset value, and the angle between the bucket and the dipper arm to a sixth preset value.

[0060] The fifth preset value is 75° to 105°, and the sixth preset value is 75° to 105°. The fourth preset value is determined based on the boom length l1, the arm length l2, the bucket length l3, the excavator sprocket center distance L, the distance s between the drive wheel axis and the rear edge of the truck, the height h of the truck top surface, the boom base hinge height h0, and the horizontal distance L0 between the boom base hinge and the chassis drive wheel axis.

[0061] In step 150 , based on the fourth data detected by the detection device, it is determined whether the working device has moved to the second posture. If so, the rear end of the chassis is controlled to leave the ground until it reaches a fourth preset angle.

[0062] In some embodiments, angle sensors detect the angles between the boom and the turntable, the arm and the boom, and the bucket and the arm. If the angles between the boom and the turntable reach a fourth preset value, the angle between the arm and the boom reaches a fifth preset value, and the angle between the bucket and the arm reaches a sixth preset value, the working device has reached the second posture. At this point, the controller sends a retraction command to the boom's cylinder control valve, controlling the boom to descend, lifting the rear end of the chassis off the ground and ensuring a zero angle between the chassis and the horizontal plane.

[0063] In step 160, based on the fifth data detected by the detection equipment, it is determined whether the rear end of the chassis is off the ground by a fourth preset angle. If so, the boom is controlled to swing outward to the fifth preset angle and the chassis runs the second target distance.

[0064] In some embodiments, the angle between the chassis and the horizontal plane is determined based on the angle between the turntable and the horizontal plane as detected by the inclination sensor. If the angle detected by the inclination sensor is zero, the rear end of the chassis has lifted off the ground to a fourth preset angle. At this point, the controller sends a boom cylinder shortening signal to the boom cylinder control valve and a travel motor rotation signal to the travel motor control valve, such that the boom-to-boom angle reaches a fifth preset angle and the chassis travels a second target distance.

[0065] In step 170, based on the sixth data detected by the detection equipment, it is determined whether the boom is swung outward to the fifth preset angle and whether the chassis runs the second target distance. If so, the working device is controlled to move to the third posture.

[0066] In some embodiments, an angle sensor detects the angle between the arm and boom, determines whether the angle reaches a fifth preset angle, and determines the chassis travel distance based on the speed information detected by the speed sensor. After the arm swings outward to the fifth preset angle and the chassis travels the second target distance, a third adjustment command is sent to the cylinder control valves of the boom, arm, and bucket, respectively, to fully extend the bucket and arm cylinders, lower the boom, and align the bucket connecting rod with the truck deck.

[0067] In the above embodiment, the controller controls the various components of the excavator to coordinate their movements in sequence, enabling the excavator to automatically load onto a pallet truck. This functionality is achieved by configuring sensors to monitor the vehicle's operating status in real time, replacing the driver's repetitive control of the handlebars. This improves the level of automation and, in turn, enhances work efficiency. Furthermore, automatic loading of the excavator onto a pallet truck reduces the probability of equipment tipping damage and casualties, thereby enhancing safety during loading.

[0068] Figure 2 Schematic diagram of the flow chart of other embodiments of the excavator control method disclosed in the present invention.

[0069] In step 211, the automatic loading mode switch is turned on to activate the automatic loading command.

[0070] In step 212 , the controller receives a command sent by the mode switch.

[0071] In step 213, the openings of the hydraulic circuit control valves of the boom, arm, and bucket cylinders are adjusted according to a predetermined program so that each cylinder can be extended or retracted, and the working devices can be operated sequentially.

[0072] For example, the angles between the boom and the turntable, the arm and the boom, and the bucket and the arm are made to reach preset angles respectively.

[0073] In step 214 , it is determined whether the angles between the boom and the turntable, the arm and the boom, and the bucket and the arm have reached the preset angles respectively. If so, step 221 is executed; otherwise, step 213 is continued.

[0074] Angle sensors monitor the angles in real time and provide feedback to the controller, which compares the received angle information with the preset angles. If the actual angle information does not match the preset angles, the controller outputs a control signal to continue adjusting the boom, arm, and bucket until the two angles are consistent. When all angles reach the preset angles, the excavator is considered to have reached the first posture.

[0075] In some embodiments, as Figure 3A As shown, the angle γ between the bucket and the dipper arm is optimized for the bucket cylinder to maximize its performance, and γ = 90° is preferred. The angle β between the dipper arm and the boom is preferably 100°, taking into account the forces acting on the boom cylinder during boom movement. The angle α between the boom and the turntable can be calculated using geometric relationships. The boom length l1, dipper arm length l2, bucket length l3, excavator sprocket center distance L, drive wheel axis distance s from the rear edge of the truck, truck top surface height h, boom root hinge height h0, and horizontal distance L0 from the boom root hinge to the chassis drive wheel axis are all known quantities.

[0076] In step 221, the boom cylinder control valve opening is adjusted to retract the cylinder, lower the boom, and lift the front end of the vehicle off the ground, with the bucket and the rear end of the chassis serving as fulcrums.

[0077] Under the support force of the working device, the excavator raises the front end of the chassis with the ground contact point of the guide wheel at the rear end of the chassis as the first fulcrum. The angle between the chassis and the ground is gradually increasing.

[0078] In step 222 , it is determined whether the angle between the chassis and the horizontal plane reaches a preset value. If so, steps 223 and 225 are executed; otherwise, step 221 is executed.

[0079] like Figure 3B As shown, the inclination sensor detects the angle between the chassis and the horizontal plane and feeds it back to the controller. The controller compares this angle with the target inclination angle θ. If the actual angle differs from the target, the controller outputs a control signal to adjust the boom until the two angles are equal. If the actual inclination angle is less than the target, the controller outputs a negative adjustment signal to retract the boom cylinder. If the actual inclination angle is greater than the target, the controller outputs a negative adjustment signal to extend the boom cylinder. When the chassis inclination angle reaches the target value, the controller simultaneously outputs a signal to rotate the travel motor and a signal to extend the boom cylinder, causing the vehicle to move forward and the boom to retract.

[0080] In step 223 , the boom cylinder control valve opening is adjusted to extend the cylinder and retract the boom until the included angle between the boom and the boom reaches a preset value, and then step 224 is executed.

[0081] In step 224 , it is determined whether the angle between the boom and the dipper arm reaches a preset value. If so, step 231 is executed; otherwise, step 223 is continued.

[0082] The angle between the boom and the diagonal arm can be detected by the inclination sensor.

[0083] In step 225, the travel motor control valve opening is adjusted, and the travel motor rotates to drive the chassis forward to a distance reaching the calculated value until the crawler track contacts the truck frame.

[0084] In step 226 , it is determined whether the walking distance reaches a corresponding value. If so, step 231 is executed; otherwise, step 225 is continued.

[0085] The target chassis inclination angle θ, the target chassis travel distance s1, and the target angle β1 between the arm and boom are calculated based on geometric relationships.

[0086] like Figure 3C As shown, in some embodiments, the distance L1 from the contact point (second fulcrum) between the crawler chassis and the rear frame of the truck to the front ground contact surface of the crawler track is preferably 1 / 3 of the center distance L of the crawler sprocket.

[0087] In step 231 , the controller controls the working device to move to the first posture, controls the return motor to rotate to drive the upper vehicle to rotate 180°, and controls the excavator working device to move to the second posture.

[0088] After the excavator supports the weight of the entire machine with the first and second fulcrums, it raises the boom, swings the bucket arm outward, and returns to the first posture. Figure 3D As shown, the slewing motor is controlled to rotate, slowly rotating the upper carriage 180°. The hydraulic control valve openings of the boom, arm, and bucket cylinders are adjusted according to a predetermined program, causing each cylinder to extend and retract. The working devices then operate sequentially, achieving preset angles between the boom and turntable, the arm and boom, and the bucket and arm. This preset angle maximizes the bucket cylinder's performance, with the angle between the bucket and arm reaching 90°. Considering the forces acting on the arm cylinder during arm movement, the optimal angle between the arm and boom is 90°. The angle between the boom and turntable is calculated.

[0089] In step 232 , it is determined whether the angles between the boom and the turntable, the arm and the boom, and the bucket and the arm have reached the preset angles respectively. If so, step 241 is executed; otherwise, step 231 is continued.

[0090] In some embodiments, angle sensors detect the angles between the boom and turntable, the arm and boom, and the bucket and arm in real time, and feed these angles back to a controller. The controller compares the received angle information with preset angles. If the actual angle information differs from the preset angles, the controller outputs a control signal to continue adjusting the boom, arm, and bucket movements until the two sets of angles are consistent. When each angle reaches the preset angle, the excavator is considered to have moved to the second posture.

[0091] In step 241, the opening of the boom cylinder control valve is adjusted to retract the cylinder and lower the boom, thereby lifting the vehicle off the ground. The bucket and the front end of the chassis serve as fulcrums.

[0092] In step 242 , it is determined whether the angle between the chassis and the horizontal plane reaches 0°. If so, steps 243 and 245 are executed; otherwise, step 241 is continued.

[0093] like Figure 3E As shown in the figure, if the angle between the chassis and the horizontal plane reaches 0°, it means that the excavator is in a horizontal state and can move, and the excavator is completely compacted on the plane of the truck frame.

[0094] In step 243 , the boom cylinder control valve opening is adjusted to shrink the cylinder and swing the boom outward until the included angle between the boom and the boom reaches a preset value, and then step 244 is executed.

[0095] In step 244 , it is determined whether the angle between the boom and the dipper arm reaches a preset value. If so, step 243 is executed; otherwise, step 250 is continued.

[0096] The angle between the boom and the diagonal arm can be detected by the inclination sensor.

[0097] In step 245, the travel motor control valve opening is adjusted, and the travel motor rotates to drive the chassis forward. Figure 3F until the crawler chassis is completely pressed against the frame.

[0098] In step 246 , it is determined whether the walking distance reaches a corresponding value. If so, step 245 is executed; otherwise, step 250 is continued.

[0099] In step 250, the working device is controlled to move to the third posture and the control program is exited. Figure 3G As shown, the bucket cylinder is fully extended, the arm cylinder is fully extended, and the boom is lowered until it reaches the third preset value, so that the bucket connecting rod touches the ground.

[0100] In the above embodiment, the automatic loading mode is first selected. When the controller detects that the automatic loading mode is activated, it controls the excavator working device to move to the first posture; then controls the boom to descend, so that the front end of the chassis is off the ground until it tilts to a preset angle, retracts the bucket arm and controls the vehicle to move forward until the crawler tracks contact the truck frame; after the working device returns to the first posture, it rotates 180° and controls the excavator working device to move to the second posture; then controls the boom to descend, so that the rear end of the chassis is off the ground until it is horizontal, controls the vehicle to move forward and swings the bucket arm outward until the crawler tracks are completely pressed against the truck frame; finally, the vehicle adjusts to the third posture, terminating this working mode. Controlling the vehicle to automatically load onto the truck using the on-board controller solves the problem that the process of manually loading and unloading the excavator onto the truck is difficult to control, and thus cannot guarantee work accuracy, work efficiency, and work safety.

[0101] Figure 44 is a schematic structural diagram of some embodiments of the excavator controller disclosed herein, wherein the controller includes a mode determination module 410 , a data acquisition module 420 and a control module 430 .

[0102] The mode determination module 410 is configured to determine whether the excavator is in the automatic loading mode.

[0103] In some embodiments, the automatic loading command is selected and activated by a switch module.

[0104] The data acquisition module 420 is configured to receive data detected by the detection equipment.

[0105] In some embodiments, an angle sensor, an inclination sensor, and a speed sensor are used. The angle sensor is used to detect the angle between the boom and the turntable, the angle between the arm and the boom, and the angle between the bucket and the arm, and transmits the measurement data to the controller; the inclination sensor is used to detect the angle between the turntable and the horizontal plane, and transmits the measurement data to the controller; the speed sensor is used to detect the speed of the travel motor and the slewing motor, and transmits the measurement data to the controller.

[0106] The control module 430 is configured to determine whether the working device moves to the first posture. If so, control the front end of the chassis of the excavator to leave the ground until it tilts to the first preset angle; determine whether the front end of the chassis tilts to the first preset angle. If so, control the boom of the excavator to retract to the second preset angle and the chassis runs the first target distance; determine whether the boom retracts to the second preset angle and the chassis runs the first target distance. If so, control the working device to return to the first posture, and control the upper vehicle to rotate to the third preset angle, and then control the working device to move to the second posture; determine whether the working device moves to the second posture. If so, control the rear end of the chassis to leave the ground until it reaches the fourth preset angle; determine whether the rear end of the chassis leaves the ground to the fourth preset angle. If so, control the boom to swing outward to the fifth preset angle and the chassis runs the second target distance; and determine whether the boom swings outward to the fifth preset angle and the chassis runs the second target distance. If so, control the working device to move to the third posture.

[0107] In some embodiments, the working device includes a boom, an arm, and a bucket.

[0108] In some embodiments, the control module 430 sends a first adjustment instruction to the cylinder control valves of the boom, dipper arm and bucket respectively, so that the angle between the boom and the turntable reaches a first preset value, the angle between the dipper arm and the boom reaches a second preset value, and the angle between the bucket and the dipper arm reaches a third preset value.

[0109] In some embodiments, the control module 430 sends a first cylinder retraction command to the cylinder control valve of the boom to control the boom to descend, so that the front end of the chassis is off the ground and the angle between the chassis and the horizontal plane reaches a first preset angle.

[0110] In some embodiments, the control module 430 sends a boom cylinder extension signal to the boom cylinder control valve and a travel motor rotation signal to the travel motor control valve so that the angle between the boom and the arm reaches a second preset angle and the chassis runs a first target distance.

[0111] In some embodiments, the control module 430 sends a second adjustment instruction to the cylinder control valves of the boom, dipper arm and bucket respectively, so that the angle between the boom and the turntable reaches a fourth preset value, the angle between the dipper arm and the boom reaches a fifth preset value, and the angle between the bucket and the dipper arm reaches a sixth preset value.

[0112] In some embodiments, the control module 430 sends a second cylinder retraction instruction to the cylinder control valve of the boom to control the boom to descend, so that the rear end of the chassis is off the ground and the angle between the chassis and the horizontal plane is 0.

[0113] In some embodiments, the control module 430 sends a boom cylinder shortening signal to the boom cylinder control valve and a travel motor rotation signal to the travel motor control valve so that the angle between the boom and the arm reaches a fifth preset angle and the chassis runs a second target distance.

[0114] In some embodiments, the control module 430 sends a third adjustment instruction to the cylinder control valves of the boom, dipper arm and bucket respectively, so that the cylinders of the bucket and dipper arm are fully extended, and the boom is lowered so that the bucket connecting rod is in contact with the surface of the truck.

[0115] Figure 5 Figure 5 is a schematic diagram of the structure of another embodiment of an excavator controller disclosed herein. The controller 500 includes a memory 510 and a processor 520. The memory 510 can be a disk, flash memory, or any other non-volatile storage medium. The memory 510 is used to store the instructions described in the above embodiments. The processor 520 is coupled to the memory 510 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 520 is used to execute the instructions stored in the memory.

[0116] In some embodiments, the processor 520 is coupled to the memory 510 via a BUS 530. The controller 500 may also be connected to an external storage device 550 via a storage interface 540 to access external data, and may also be connected to a network or another computer system (not shown) via a network interface 560, which will not be described in detail here.

[0117] In this embodiment, by storing data instructions in a memory and then processing the instructions through a processor, work efficiency and accuracy can be improved and work safety risks can be reduced.

[0118] Figure 6 Schematic diagram of the structure of some embodiments of the excavator control system disclosed herein. The control system includes the excavator controller 610 described above, and also includes a detection device 620, a mode switch 630 and a plurality of hydraulic control valves 640.

[0119] In some embodiments, as Figure 7 As shown, the detection device 620 includes an angle sensor, an inclination sensor, and a speed sensor. The angle sensor is configured to detect the angle between the boom and the turntable, the angle between the arm and the boom, and the angle between the bucket and the arm, and transmits the measurement data to the controller 610. The inclination sensor is configured to detect the angle between the turntable and the horizontal plane and transmits the measurement data to the controller 610. The speed sensor is configured to detect the speed of the travel motor and the slew motor and transmits the measurement data to the controller 610.

[0120] The mode switch 630 is configured to select and activate the automatic loading command and send a signal to the controller 610 .

[0121] Multiple hydraulic control valves 640 include a boom cylinder control valve, an arm cylinder control valve, a bucket cylinder control valve, a travel motor control valve, and a swing motor control valve. The controller 610 receives and analyzes input signals, then outputs control signals to each cylinder control valve and motor control valve to control the direction and size of the hydraulic system's oil circuit openings. The boom cylinder control valve, arm cylinder control valve, and bucket cylinder control valve receive and execute control signals from the controller 610, controlling the opening and closing of the oil circuits and changing their direction, thereby extending and retracting the boom cylinder, arm cylinder, and bucket cylinder, achieving boom raising and lowering, arm retraction and outward swinging, and bucket retraction and outward swinging. The travel motor control valve controls the rotation of the travel motor, enabling forward and reverse travel of the vehicle; the swing motor control valve controls the rotation of the swing motor, enabling left and right rotation of the excavator.

[0122] In other embodiments of the present disclosure, an excavator is also provided. The excavator includes an excavator control system.

[0123] In other embodiments, a computer-readable storage medium stores computer program instructions thereon, which, when executed by a processor, implement the steps of the method in the above-described embodiment. Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, devices, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram and 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.

[0125] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 The function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device 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.

[0127] The present disclosure has been described in detail so far. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0128] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art will appreciate that the above examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A method for controlling an excavator, comprising: In response to the excavator being in the automatic loading mode, controlling the working device of the excavator to move to a first posture, the working device including a boom, an arm, and a bucket, the first posture comprising an angle between the boom and the turntable reaching a first preset value, an angle between the arm and the boom reaching a second preset value, and an angle between the bucket and the arm reaching a third preset value; determining, based on first data detected by a detection device, whether the working device has moved to the first posture; and if so, controlling the front end of the chassis of the excavator to lift off the ground until it tilts to a first preset angle; determining, based on second data detected by the detection device, whether the front end of the chassis is tilted to the first preset angle, and if so, controlling the boom of the excavator to retract to a second preset angle and the chassis to travel a first target distance; determining, based on third data detected by the detection device, whether the boom is retracted to a second preset angle and whether the chassis has traveled the first target distance; and if so, controlling the working device to return to the first posture, and controlling the upper vehicle to rotate by a third preset angle, and then controlling the working device to move to a second posture, wherein the second posture includes the angle between the boom and the turntable reaching a fourth preset value, the angle between the boom and the boom reaching a fifth preset value, and the angle between the bucket and the boom reaching a sixth preset value; determining, based on fourth data detected by the detection device, whether the working device has moved to the second posture, and if so, controlling the rear end of the chassis to leave the ground to a fourth preset angle; determining, based on fifth data detected by the detection device, whether the rear end of the chassis is off the ground to a fourth preset angle, and if so, controlling the boom to swing outward to the fifth preset angle and the chassis to run a second target distance; and According to the sixth data detected by the detection equipment, it is determined whether the boom is swung outward to the fifth preset angle and whether the chassis runs the second target distance. If so, the working device is controlled to move to the third posture, and the third posture includes the bucket and the boom cylinders being fully extended, and the boom being lowered so that the bucket connecting rod is in contact with the surface of the cart.

2. The excavator control method according to claim 1, wherein: The detection device includes at least one of an angle sensor, a tilt sensor and a rotation speed sensor.

3. The excavator control method according to claim 2, wherein: Controlling the working device of the excavator to move to the first posture includes: A first adjustment instruction is sent to the cylinder control valves of the boom, the arm and the bucket respectively, so that the angle between the boom and the turntable reaches a first preset value, the angle between the arm and the boom reaches a second preset value, and the angle between the bucket and the arm reaches a third preset value.

4. The excavator control method according to claim 1, wherein: The second preset value is 85° to 115°, and the third preset value is 75° to 105°.

5. The excavator control method according to claim 2, wherein: Controlling the front end of the chassis of the excavator to lift off the ground until it tilts to a first preset angle includes: A first oil cylinder retraction instruction is sent to the oil cylinder control valve of the boom to control the boom to descend, so that the front end of the chassis is off the ground and the angle between the chassis and the horizontal plane reaches a first preset angle.

6. The excavator control method according to claim 2, wherein: Controlling the dipper arm of the excavator to retract to a second preset angle and the chassis to run a first target distance includes: A boom cylinder extension signal is sent to the boom cylinder control valve and a travel motor rotation signal is sent to the travel motor control valve, so that the angle between the boom and the arm reaches the second preset angle and the chassis runs the first target distance.

7. The excavator control method according to claim 2, wherein: Controlling the working device to move to the second posture includes: A second adjustment instruction is sent to the cylinder control valves of the boom, the arm and the bucket respectively, so that the angle between the boom and the turntable reaches a fourth preset value, the angle between the arm and the boom reaches a fifth preset value, and the angle between the bucket and the arm reaches a sixth preset value.

8. The excavator control method according to claim 7, wherein: The fifth preset value is 75° to 105°, and the sixth preset value is 75° to 105°.

9. The excavator control method according to claim 2, wherein: Controlling the rear end of the chassis to lift off the ground to a fourth preset angle includes: A second oil cylinder retraction instruction is sent to the oil cylinder control valve of the boom to control the boom to descend, so that the rear end of the chassis is off the ground and the angle between the chassis and the horizontal plane is 0.

10. The excavator control method according to claim 2, wherein: Controlling the arm to swing outward to a fifth preset angle and the chassis to run a second target distance includes: A boom cylinder shortening signal is sent to the boom cylinder control valve and a travel motor rotation signal is sent to the travel motor control valve, so that the angle between the boom and the arm reaches the fifth preset angle and the chassis runs the second target distance.

11. The excavator control method according to claim 2, wherein: Controlling the working device to move to the third posture includes: A third regulating instruction is sent to the oil cylinder control valves of the boom, the dipper arm and the bucket respectively, so that the oil cylinders of the bucket and the dipper arm are fully extended, and the boom is lowered so that the bucket connecting rod is in contact with the deck of the truck.

12. The excavator control method according to claim 3, 7 or 11, wherein: The angle between the boom and the turntable, the angle between the arm and the boom, and the angle between the bucket and the arm are detected by the angle sensor.

13. The excavator control method according to claim 5 or 9, wherein: The angle between the chassis and the horizontal plane is determined according to the angle between the turntable and the horizontal plane detected by the inclination sensor.

14. The excavator control method according to claim 6 or 10, wherein: Detecting the angle between the arm and the boom by the angle sensor, and determining that the angle between the arm and the boom reaches a corresponding preset angle; The running distance of the chassis is determined according to the rotation speed information detected by the rotation speed sensor.

15. An excavator controller, comprising: a mode determination module configured to determine whether the excavator is in an automatic loading mode; A data acquisition module is configured to receive data detected by the detection equipment; as well as The control module is configured to determine whether the working device moves to a first posture, and if so, control the front end of the chassis of the excavator to leave the ground until it tilts to a first preset angle; determine whether the front end of the chassis tilts to the first preset angle, and if so, control the boom of the excavator to retract to a second preset angle and the chassis to run a first target distance; determine whether the boom is retracted to a second preset angle and the chassis runs the first target distance, and if so, control the working device to return to the first posture, and control the upper vehicle to rotate to a third preset angle, and then control the working device to move to the second posture; determine whether the working device moves to the second posture, and if so, control the rear end of the chassis to leave the ground until it tilts to a fourth preset angle; determine whether the rear end of the chassis leaves the ground to a fourth preset angle, and if so, control the boom to swing outward to a fourth preset angle. five preset angles and the chassis runs the second target distance; and judges whether the boom is swung outward to the fifth preset angle and whether the chassis runs the second target distance. If so, the working device is controlled to move to a third posture, wherein the working device includes a boom, a boom and a bucket. The first posture includes the angle between the boom and the turntable reaching a first preset value, the angle between the boom and the boom reaching a second preset value, and the angle between the bucket and the boom reaching a third preset value. The second posture includes the angle between the boom and the turntable reaching a fourth preset value, the angle between the boom and the boom reaching a fifth preset value, and the angle between the bucket and the boom reaching a sixth preset value. The third posture includes the oil cylinders of the bucket and the boom being fully extended, and the boom being lowered so that the bucket connecting rod is in contact with the surface of the cart.

16. An excavator controller, comprising: Memory; as well as A processor coupled to the memory, wherein the processor is configured to execute the excavator control method according to any one of claims 1 to 14 based on instructions stored in the memory.

17. An excavator control system comprising: The excavator controller according to claim 15 or 16; Testing equipment; Mode switch; as well as Multiple hydraulic control valves.

18. An excavator comprising: The excavator control system according to claim 17.

19. A non-transitory computer-readable storage medium having computer program instructions stored thereon, wherein when the instructions are executed by a processor, the excavator control method according to any one of claims 1 to 14 is implemented.

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