Control method, processor, excavator, and storage medium for excavator

Abstract

The present application relates to the field of engineering machinery, and specifically, to a control method, processor, excavator, and storage medium for an excavator. The method includes: when the excavator rotates to a preset starting position, obtaining the boom working parameters of the boom and the bucket working parameters of the bucket; inputting the boom working parameters and the bucket working parameters into an excavation monitoring model to determine the operating stage of the excavator; obtaining the current arm working parameters of the dipper arm; and controlling the dipper arm according to the boom working parameters, the bucket working parameters, and the dipper arm working parameters so that the excavator reaches a target posture corresponding to the operating stage. The above technical solution determines the excavation stage of the excavator through the excavation monitoring model, and automatically controls the dipper arm so that the excavator completes the excavation action corresponding to each excavation stage. It reduces the operator's large-scale movements of the dipper arm and rotation during repetitive work, and realizes one-handed operation.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery, and in particular, to a control method, a processor, an excavator, and a storage medium for an excavator. Background Art

[0002] When an excavator is performing excavation work, there are some simple and repetitive actions in the excavation work. However, when the excavator handles these simple and repetitive actions, the operator's workload is very large. The operator is required to constantly adjust the left and right handles and coordinate the boom, bucket and bucket. The hand operation movements are numerous and large in amplitude, especially the movements of the left handle (bucket and rotation). The movements of the left handle are large in amplitude and frequent for the operator, which makes the operator's work heavy. Summary of the Invention

[0003] The purpose of the present application is to provide a control method for an excavator, a processor, an excavator, and a storage medium for reducing the motion of the left handle of an excavator operator.

[0004] To achieve the above objectives, the present application provides a control method for an excavator, wherein the excavator includes a boom, an arm, and a bucket. The control method includes:

[0005] When the excavator rotates to a preset starting position, obtaining boom operating parameters of the boom and bucket operating parameters of the bucket;

[0006] Inputting boom and bucket operating parameters into the excavation monitoring model to determine the excavator's operating stage;

[0007] Get the current working parameters of the arm;

[0008] The dipper arm is controlled according to the boom working parameters, bucket working parameters and dipper arm working parameters so that the excavator reaches the target posture corresponding to the working stage.

[0009] In an embodiment of the present application, the working stage includes a first stage, and the dipper arm is controlled according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the excavator reaches a target posture corresponding to the working stage. The method includes: when the working stage is the first stage, the dipper arm is controlled according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the relative angle between the boom and the bucket reaches a preset angle, so that the excavator reaches the target posture corresponding to the first stage.

[0010] In an embodiment of the present application, the operating stage includes a second stage, the boom working parameters include the current height of the boom, and the dipper arm working parameters include the first current angle of the dipper arm; controlling the dipper arm according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the excavator reaches the target posture corresponding to the operating stage includes: when the operating stage is the second stage, obtaining the target height of the boom and the first target angle of the dipper arm; in the process of adjusting the boom from the current height to the target height, controlling the dipper arm to adjust from the first current angle to the first target angle so that the excavator reaches the target posture corresponding to the second stage.

[0011] In an embodiment of the present application, the bucket working parameters include the current pressure of the bucket. In the process of adjusting the boom from the current height to the target height, controlling the boom to adjust from the first current angle to the first target angle includes: in the process of adjusting the boom from the current height to the target height, judging whether the current pressure is greater than the preset pressure value; when it is determined that the current pressure is greater than the preset pressure value, adjusting the angle of the boom to control the boom to perform a recovery action, so that the boom is adjusted from the first current angle to the first target angle, so that the excavator reaches the target posture corresponding to the second stage.

[0012] In an embodiment of the present application, during the process of adjusting the boom from the current height to the target height, the height change rate of the boom when it reaches the target height from the current height is obtained; the boom is controlled to adjust the angle according to a first preset ratio corresponding to the height change rate, so as to control the boom to perform a recovery operation, so that the boom is adjusted from the first current angle to the first target angle.

[0013] In an embodiment of the present application, the operating stage includes a third stage, the bucket working parameters include a second current angle of the bucket, and the dipper arm working parameters include a first current angle of the dipper arm; controlling the dipper arm according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the excavator reaches a target posture corresponding to the operating stage includes: when the operating stage is the third stage, controlling the excavator to rotate to the unloading point; obtaining the second target angle of the bucket and the third target angle of the dipper arm; in the process of the bucket reaching the second target angle from the second current angle, controlling the dipper arm to adjust from the first current angle to the third target angle, so as to control the excavator to reach the target posture corresponding to the third stage.

[0014] In an embodiment of the present application, in the process of the bucket reaching the second target angle from the second current angle, the angle change rate of the bucket from the second current angle to the second target angle is obtained; the boom is controlled to adjust the angle according to a second preset ratio corresponding to the angle change rate, so as to control the boom from the first current angle to the third target angle; or the boom is controlled to adjust the angle according to a preset speed, so as to control the boom from the first current angle to the third target angle, so as to control the excavator to reach the target posture corresponding to the third stage.

[0015] In an embodiment of the present application, after determining that the boom is adjusted from the first current angle to the third target angle, the excavator is controlled to rotate from the unloading point to the preset starting position to continue controlling the excavator until all target objects are transferred from the preset starting position to the unloading point.

[0016] A second aspect of the present application provides a processor configured to execute any one of the above control methods for an excavator.

[0017] A third aspect of the present application provides an excavator, comprising:

[0018] Boom, used to adjust the position of the bucket arm;

[0019] Bucket arm, used to adjust the position of the bucket,

[0020] A bucket for excavating the target object, and the above-mentioned processor.

[0021] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute any one of the above-mentioned control methods for an excavator.

[0022] This technical solution uses the excavation monitoring model to determine the excavation stage of the excavator and automatically controls the digging arm to enable the excavator to complete the excavation action corresponding to each excavation stage. This reduces the operator's need for large-scale digging arm and swing movements during repetitive work, allowing the operator to complete the entire excavation action by simply adjusting the boom and bucket with the right hand handle, achieving single-handed operation.

[0023] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the present application but do not constitute a limitation of the present application. In the accompanying drawings:

[0025] Figure 1 The following schematically shows a flow chart of a control method for an excavator according to an embodiment of the present application;

[0026] Figure 2 The following schematically shows a flow chart of a control method for an excavator according to another embodiment of the present application;

[0027] Figure 3 The structural diagram of the excavator is schematically shown;

[0028] Figure 4The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0029] Description of Reference Numerals

[0030] 30. Excavator; 1. Boom; 2. Arm; 3. Bucket. DETAILED DESCRIPTION

[0031] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended to limit the present application.

[0032] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0033] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0034] like Figure 1 As shown, a flow chart of a control method for an excavator according to an embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a control method for an excavator is provided, comprising the following steps:

[0035] Step 101, when the excavator rotates to a preset starting position, obtaining boom operating parameters of the boom and bucket operating parameters of the bucket;

[0036] Step 102 , inputting boom operating parameters and bucket operating parameters into an excavation monitoring model to determine the excavator's operating stage;

[0037] Step 103, obtaining the current working parameters of the arm;

[0038] Step 104 : controlling the dipper arm according to the boom operating parameters, the bucket operating parameters, and the dipper arm operating parameters so that the excavator reaches a target posture corresponding to the operation stage.

[0039] An excavator may include a boom, an arm, and a bucket. A processor may obtain the position of the excavator. When the processor determines that the excavator has rotated to a preset starting position set by the processor, the processor may obtain boom operating parameters and bucket operating parameters. The processor may set the preset starting position to the location of a target object to be excavated and control the excavator to rotate to the location of the target object. The processor may input the obtained boom operating parameters and bucket operating parameters of the excavator into an excavation monitoring model to determine the excavator's operating stage. The excavation monitoring model may be a model trained by the processor based on historical excavation data to determine the excavator's operating stage.

[0040] After the processor determines the operating stage of the excavator through the digging and loading monitoring model, it can obtain the current bucket arm working parameters. The processor can control the excavator's bucket arm according to the boom working parameters, bucket working parameters and the current bucket arm working parameters, so that the excavator reaches the target posture corresponding to the determined operating stage.

[0041] In one embodiment, the working stage includes a first stage, and the dipper arm is controlled according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the excavator reaches a target posture corresponding to the working stage. The method includes: when the working stage is the first stage, the dipper arm is controlled according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the relative angle between the boom and the bucket reaches a preset angle, so that the excavator reaches the target posture corresponding to the first stage.

[0042] The excavator's operating phase may include a first phase, and the processor may determine the first phase as the excavator's excavation entry point selection phase. When the processor determines that the excavator's operating phase is the first phase, the processor may adjust the excavator's dipper arm based on boom operating parameters, bucket operating parameters, and dipper arm operating parameters, so that the relative angle between the excavator's boom and bucket reaches a preset angle set by the processor, thereby causing the excavator to reach a target posture corresponding to the first phase. The preset angle may be the relative angle between the boom and bucket when the excavator is in the target posture corresponding to the first phase, as determined by an excavation monitoring model. The processor may set the preset angle based on the relative angle determined by the excavation monitoring model.

[0043] In one embodiment, the working stage includes a second stage, the boom working parameters include the current height of the boom, and the dipper arm working parameters include the first current angle of the dipper arm; controlling the dipper arm according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the excavator reaches the target posture corresponding to the working stage includes: when the working stage is the second stage, obtaining the target height of the boom and the first target angle of the dipper arm; in the process of adjusting the boom from the current height to the target height, controlling the dipper arm to adjust from the first current angle to the first target angle so that the excavator reaches the target posture corresponding to the second stage.

[0044] The excavator's operating phase may include a second phase, and the processor may determine the second phase as the excavation phase of the excavator. The processor may determine the current height of the boom using the acquired boom operating parameters, and may determine the first current angle of the boom using the acquired dipper arm operating parameters. When the processor determines, using the excavation monitoring model, that the excavator's operating phase is the second phase, the processor may obtain the target height that the boom needs to reach and the first target angle that the dipper arm needs to reach. The processor may determine, by acquiring the boom parameters, that during the process of adjusting the boom from the current height to the target height, that the processor may control the dipper arm to adjust from the first current angle to the first target angle, so that the excavator reaches the target posture corresponding to the second phase. Specifically, the processor may monitor the boom's posture using the boom operating parameters, and upon determining that the boom is moving, may simultaneously control the dipper arm to adjust, such that when the excavator adjusts the boom to the target height, the processor may control the dipper arm to also reach the first target angle.

[0045] In one embodiment, the bucket working parameters include the current pressure of the bucket. During the process of adjusting the boom from the current height to the target height, controlling the boom to adjust from the first current angle to the first target angle includes: during the process of adjusting the boom from the current height to the target height, judging whether the current pressure is greater than the preset pressure value; when it is determined that the current pressure is greater than the preset pressure value, adjusting the angle of the boom to control the boom to perform a recovery action, so that the boom is adjusted from the first current angle to the first target angle, so that the excavator reaches the target posture corresponding to the second stage.

[0046] The processor can determine the current pressure of the excavator bucket based on the bucket operating parameters. During the process of adjusting the boom from the current height to the target height, the processor can use the current bucket pressure to determine whether the current bucket pressure is greater than a preset pressure value set by the processor. If it is determined that the current bucket pressure is greater than the preset pressure value set by the processor, the processor controls the bucket arm to adjust the angle of the bucket arm to control the bucket arm to retract, so that the bucket arm is adjusted from the first current angle to the first target angle, thereby causing the excavator to reach the target posture corresponding to the second stage.

[0047] In one embodiment, during the process of adjusting the boom from the current height to the target height, the height change rate of the boom from the current height to the target height is obtained; the boom is controlled to adjust the angle according to a first preset ratio corresponding to the height change rate to control the boom to perform a recovery operation, so that the boom is adjusted from the first current angle to the first target angle.

[0048] During the process of adjusting the boom of the excavator from the current height to the target height, the processor controls the boom to adjust the angle of the boom so that the boom is adjusted from the first current angle of the boom to the first target angle of the boom. The processor can obtain the height change rate of the boom when it reaches the target height from the current height, and control the boom to adjust the angle according to a first preset ratio corresponding to the height change rate to control the boom. By adjusting the angle of the boom, the boom is controlled to perform a recovery operation so that the boom is adjusted from the first current angle to the first target angle of the boom.

[0049] In one embodiment, the working stage includes a third stage, the bucket working parameters include the second current angle of the bucket, and the dipper arm working parameters include the first current angle of the dipper arm; controlling the dipper arm according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the excavator reaches the target posture corresponding to the working stage includes: when the working stage is the third stage, controlling the excavator to rotate to the unloading point; obtaining the second target angle of the bucket and the third target angle of the dipper arm; in the process of the bucket reaching the second target angle from the second current angle, controlling the dipper arm to adjust from the first current angle to the third target angle, so as to control the excavator to reach the target posture corresponding to the third stage.

[0050] The excavator's operating phase may include a third phase, and the processor may determine the third phase as the excavator's unloading phase. When the processor determines that the excavator is in the third phase using the excavation and loading monitoring model, the processor may determine the second current angle of the bucket using the bucket operating parameters and determine the first current angle of the dipper arm based on the acquired dipper arm parameters. When the processor determines that the excavator is in the third phase, the processor may control the excavator to rotate to the unloading point. The processor may acquire the second target angle of the bucket and the third target angle of the dipper arm. The processor may determine, using the bucket operating parameters, that the dipper arm may be controlled to adjust from the first current angle to the third target angle during the process of the bucket reaching the second target angle from the second current angle, thereby controlling the excavator to achieve the target posture corresponding to the third phase.

[0051] In one embodiment, in the process of the bucket reaching the second target angle from the second current angle, the angle change rate of the bucket from the second current angle to the second target angle is obtained; the bucket arm is controlled to adjust the angle according to a second preset ratio corresponding to the angle change rate, so as to control the bucket arm to adjust from the first current angle to the third target angle; or the bucket arm is controlled to adjust the angle according to a preset speed, so as to control the bucket arm to adjust from the first current angle to the third target angle, so as to control the excavator to reach the target posture corresponding to the third stage.

[0052] The processor can determine the action of the bucket during the third stage of the excavator by obtaining the bucket operating parameters of the bucket. During the process of the bucket reaching the second target angle from the second current angle of the bucket, the processor can obtain the rate of change of the angle of the bucket from the second current angle to the second target angle, and control the dipper arm to adjust the angle of the dipper arm according to a second preset ratio corresponding to the rate of change of the angle, thereby controlling the dipper arm to adjust from the first current angle to the third target angle. Alternatively, during the process of the processor determining that the bucket reaches the second target angle from the second current angle, the processor can control the dipper arm to adjust the angle according to a preset speed set by the processor, thereby controlling the dipper arm to adjust from the first current angle to the third target angle, thereby controlling the excavator to achieve the target posture corresponding to the third stage.

[0053] In one embodiment, after determining that the boom is adjusted from the first current angle to the third target angle, the excavator is controlled to rotate from the unloading point to the preset starting position to continue controlling the excavator until all target objects are transferred from the preset starting position to the unloading point.

[0054] After the processor determines that the excavator's operating stage is in the third stage and the boom is adjusted from the first current angle of the boom to the third target angle of the boom, the processor can control the excavator to rotate from the unloading point to the preset starting position set by the processor, and continue to control the excavator until the excavator transfers all target objects to be excavated from the preset starting position set by the processor to the unloading point.

[0055] For different operation stages of the excavator, the processor can set the excavator to execute in the order of the first stage, the second stage and the third stage.

[0056] In one embodiment, a processor is provided, configured to execute any one of the above control methods for an excavator.

[0057] The processor can determine a preset starting position for the excavator based on the target object to be excavated. The processor can control the excavator to rotate to the preset starting position based on the determined preset actual position. Alternatively, the excavator can be controlled by an operator to rotate to the preset starting position. When the processor determines that the excavator has rotated to the preset starting position set by the processor, the processor can obtain boom and bucket operating parameters of the excavator and input them into an excavation and loading monitoring model. The processor can then determine the current operating stage of the excavator using the excavation and loading monitoring model. The excavation and loading monitoring model can be a model trained by the processor based on historical excavation data to determine the operating stage of the excavator.

[0058] The operating stages of the excavator may include the first stage, the second stage and the third stage. The processor may determine the first stage as the excavation entry point selection stage of the excavator, the second stage as the excavation stage of the excavator, and the third stage as the unloading stage of the excavator according to the excavation and loading work of the excavator.

[0059] If the processor determines, through the excavation monitoring model, that the excavator is currently operating in the first stage, the processor can adjust the excavator's boom based on the boom operating parameters, bucket operating parameters, and dipper arm operating parameters, so that the relative angle between the boom and bucket reaches a preset angle set by the processor, thereby enabling the excavator to achieve the target posture corresponding to the first stage. Specifically, by controlling the dipper arm so that the relative angle between the boom and bucket reaches the preset angle set by the processor, the processor can control the excavator to select an entry point for excavation.

[0060] When the processor determines, through the excavation monitoring model, that the excavator's operation phase is currently in the second phase, the processor can determine the current boom height based on the acquired boom operating parameters, determine the first current angle of the dipper arm based on the acquired dipper arm operating parameters, and obtain the target height and first target angle that the excavator's boom needs to reach. The processor determines, based on the acquired boom parameters, that during the process of adjusting the boom from the current height to the target height, the processor can control the dipper arm to adjust from the first current angle to the first target angle, so that the excavator reaches the target posture corresponding to the second phase. The processor can adjust the dipper arm so that, when the boom is adjusted from the current height to the target height, the processor can control the dipper arm to simultaneously reach the first target angle. The processor can determine the current pressure of the excavator's bucket based on the bucket operating parameters. During the process of adjusting the boom from the current height to the target height, the processor can determine, based on the current bucket pressure, whether the current bucket pressure is greater than a preset pressure value set by the processor. When it is determined that the current pressure of the bucket is greater than the preset pressure value set by the processor, the processor controls the boom and adjusts the angle of the boom to control the boom to perform a recovery action. The processor can obtain the height change rate of the boom when it reaches the target height from the current height, and control the boom to adjust the angle according to a first preset ratio corresponding to the height change rate to control the boom so that the boom is adjusted from the first current angle to the first target angle of the boom, thereby allowing the excavator to reach the target posture corresponding to the second stage and complete the excavation action corresponding to the second stage.

[0061] If the processor determines, using the excavation and loading monitoring model, that the excavator's operation phase is currently in the third phase, the processor can control the excavator to rotate to the unloading point. The processor can determine the bucket's second current angle based on the bucket operating parameters, determine the bucket's first current angle based on the acquired dipper arm parameters, and obtain the bucket's second target angle and the dipper arm's third target angle. The processor can determine, based on the bucket operating parameters, that the dipper arm can be controlled to adjust from the first current angle to the third target angle during the process of reaching the second target angle from the bucket's second current angle. The processor can obtain the rate of change of the bucket's angle from the second current angle to the second target angle, and control the dipper arm to adjust its angle according to a second preset ratio corresponding to the rate of change, thereby controlling the dipper arm to adjust from the first current angle to the third target angle. Alternatively, when the processor determines that the bucket has reached the second target angle from the second current angle, the processor controls the dipper arm to adjust its angle according to a preset speed set by the processor, thereby controlling the dipper arm to adjust from the first current angle to the third target angle. The processor may control the dipper arm so that when the bucket reaches the second target angle from the second current angle, the dipper arm simultaneously reaches the third target angle from the first current angle, thereby controlling the excavator to reach the target posture corresponding to the third stage, and causing the excavator to complete the unloading action corresponding to the third stage. After determining that the excavator has completed the unloading action corresponding to the third stage, the processor may control the excavator to rotate from the unloading point to a preset starting position set by the processor, and continue to control the excavator until the excavator transfers all target objects to be excavated from the preset starting position set by the processor to the unloading point.

[0062] This technical solution uses an excavation monitoring model to determine the excavation stage of the excavator by acquiring the operating parameters of the boom and bucket. The digging arm is then adjusted based on the digging stage and the posture of the boom and bucket. This automatic control of the digging arm allows the excavator to complete the digging action corresponding to each digging stage. This reduces the operator's need for extensive arm and slewing movements during repetitive work, allowing them to complete a complete digging action simply by adjusting the boom and bucket with the right-hand handle, enabling single-handed operation.

[0063] In one embodiment, Figure 2 , which schematically shows a flow chart of a control method for an excavator according to an embodiment of the present application, including the following steps:

[0064] Step 201: the excavator enters the excavation and loading preparation stage;

[0065] Step 202, determining whether the excavator has entered the excavation entry point selection phase, if so, executing step 203, if not, executing step 202 again;

[0066] Step 203, controlling the arm to follow the boom movement, and maintaining the relative angle between the boom and the bucket at a preset angle;

[0067] Step 204, determining whether the excavator has entered the excavation phase, if so, executing step 205; if not, executing step 204 again;

[0068] Step 205 , controlling the boom to recover as the boom is lifted, and recovering the boom to a first target angle when the boom reaches a target height;

[0069] Step 206, determining whether the excavator has entered the unloading phase, if so, executing step 207; if not, executing step 206 again;

[0070] Step 207 , controlling the bucket arm to open along with the bucket, and when the bucket opens to the second target angle, the bucket arm opens to a third target angle;

[0071] Step 208 , determining whether the unloading is completed, if so, executing step 201 ; if not, executing step 207 .

[0072] The processor can control the excavator to enter the digging and loading preparation phase and control the excavator to rotate to a preset starting position. When the excavator enters the digging and loading preparation phase, the processor can obtain the excavator's boom and bucket operating parameters and, using the digging and loading monitoring model, determine whether the excavator has entered the digging entry point selection phase. After determining that the excavator has entered the digging entry point selection phase, the processor can control the dipper arm so that the dipper arm follows the boom movement, such that the relative angle between the boom and bucket is a preset angle set by the processor, allowing the excavator to complete the actions corresponding to the digging entry point selection phase. After the excavator completes the actions corresponding to the digging entry point selection phase, the processor can use the digging and loading monitoring model to determine whether the excavator has entered the digging phase. If it is determined that the excavator has entered the digging phase, the processor can control the dipper arm to follow the boom's upward movement and retract. When the boom reaches the target height, the dipper arm retracts to a first target angle, allowing the excavator to complete the actions corresponding to the digging phase. After the processor determines that the excavator has completed the actions corresponding to the excavation stage, it can determine whether the excavator has entered the unloading stage through the excavation and loading monitoring model. When it is determined that the excavator has entered the unloading stage, the processor can control the dipper arm to open as the bucket opens. When the bucket opens to the second target angle, the dipper arm opens to the third target angle. The processor can determine whether the excavator has finished unloading through the excavator's working parameters. If it is determined that the excavator has finished unloading, the processor can control the excavator to enter the excavation and loading preparation stage again and perform the next round of excavation and loading work until the excavator transfers all target objects to be excavated from the preset starting position set by the processor to the unloading point.

[0073] This technical solution uses a digging monitoring model to determine the excavator's current digging stage and automatically controls the boom to ensure the excavator completes the digging action corresponding to each digging stage. This reduces the operator's need for extensive arm and slewing movements during repetitive work, allowing the operator to complete a complete digging action simply by adjusting the boom and bucket with the right hand handle, enabling single-handed operation.

[0074] In one embodiment, Figure 3 As shown, the excavator 30 includes: a boom 1 for adjusting the position of a dipper arm 2 , the dipper arm 2 for adjusting the position of a bucket 3 , the bucket 3 for excavating a target object, and a processor 4 .

[0075] In one embodiment, a machine-readable storage medium is provided. The machine-readable storage medium stores instructions. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned control method for an excavator.

[0076] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0077] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store the working data of the excavator and the relevant data entered by the operator. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a control method for an excavator is implemented.

[0078] Figure 1 FIG. 1 is a flow chart of a control method for an excavator in one embodiment. It should be understood that although Figure 1The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0079] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and capable of running on the processor. When the processor executes the program, the following steps are implemented: when the excavator rotates to a preset starting position, the boom working parameters of the boom and the bucket working parameters of the bucket are obtained; the boom working parameters and the bucket working parameters are input into an excavation and loading monitoring model to determine the operating stage of the excavator; the current boom working parameters of the dipper arm are obtained; and the dipper arm is controlled according to the boom working parameters, the bucket working parameters, and the dipper arm working parameters so that the excavator reaches a target posture corresponding to the operating stage.

[0080] In one embodiment, the working stage includes a first stage, and the dipper arm is controlled according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the excavator reaches a target posture corresponding to the working stage. The method includes: when the working stage is the first stage, the dipper arm is controlled according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the relative angle between the boom and the bucket reaches a preset angle, so that the excavator reaches the target posture corresponding to the first stage.

[0081] In one embodiment, the working stage includes a second stage, the boom working parameters include the current height of the boom, and the dipper arm working parameters include the first current angle of the dipper arm; controlling the dipper arm according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the excavator reaches the target posture corresponding to the working stage includes: when the working stage is the second stage, obtaining the target height of the boom and the first target angle of the dipper arm; in the process of adjusting the boom from the current height to the target height, controlling the dipper arm to adjust from the first current angle to the first target angle so that the excavator reaches the target posture corresponding to the second stage.

[0082] In one embodiment, the bucket working parameters include the current pressure of the bucket. During the process of adjusting the boom from the current height to the target height, controlling the boom to adjust from the first current angle to the first target angle includes: during the process of adjusting the boom from the current height to the target height, judging whether the current pressure is greater than the preset pressure value; when it is determined that the current pressure is greater than the preset pressure value, adjusting the angle of the boom to control the boom to perform a recovery action, so that the boom is adjusted from the first current angle to the first target angle, so that the excavator reaches the target posture corresponding to the second stage.

[0083] In one embodiment, during the process of adjusting the boom from the current height to the target height, the height change rate of the boom from the current height to the target height is obtained; the boom is controlled to adjust the angle according to a first preset ratio corresponding to the height change rate to control the boom to perform a recovery operation, so that the boom is adjusted from the first current angle to the first target angle.

[0084] In one embodiment, the working stage includes a third stage, the bucket working parameters include the second current angle of the bucket, and the dipper arm working parameters include the first current angle of the dipper arm; controlling the dipper arm according to the boom working parameters, the bucket working parameters and the dipper arm working parameters so that the excavator reaches the target posture corresponding to the working stage includes: when the working stage is the third stage, controlling the excavator to rotate to the unloading point; obtaining the second target angle of the bucket and the third target angle of the dipper arm; in the process of the bucket reaching the second target angle from the second current angle, controlling the dipper arm to adjust from the first current angle to the third target angle, so as to control the excavator to reach the target posture corresponding to the third stage.

[0085] In one embodiment, in the process of the bucket reaching the second target angle from the second current angle, the angle change rate of the bucket from the second current angle to the second target angle is obtained; the bucket arm is controlled to adjust the angle according to a second preset ratio corresponding to the angle change rate, so as to control the bucket arm to adjust from the first current angle to the third target angle; or the bucket arm is controlled to adjust the angle according to a preset speed, so as to control the bucket arm to adjust from the first current angle to the third target angle, so as to control the excavator to reach the target posture corresponding to the third stage.

[0086] In one embodiment, after determining that the boom is adjusted from the first current angle to the third target angle, the excavator is controlled to rotate from the unloading point to the preset starting position to continue controlling the excavator until all target objects are transferred from the preset starting position to the unloading point.

[0087] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0088] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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.

[0089] 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.

[0090] 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 The steps for the function specified in one or more boxes.

[0091] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0092] 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.

[0093] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (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 transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0094] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0095] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A control method for an excavator, characterized in that: The excavator includes a boom, an arm, and a bucket, and the control method includes: When the excavator rotates to a preset starting position, obtaining boom operating parameters of the boom and bucket operating parameters of the bucket; Inputting the boom operating parameters and the bucket operating parameters into an excavation monitoring model to determine the operating stage of the excavator; Obtaining the current working parameters of the bucket arm; controlling the dipper arm according to the boom operating parameters, the bucket operating parameters, and the dipper arm operating parameters so that the excavator reaches a target posture corresponding to the working stage; The operation phase includes a first phase, and controlling the boom according to the boom operating parameters, the bucket operating parameters, and the boom operating parameters so that the excavator reaches a target posture corresponding to the operation phase includes: When the operation stage is the first stage, the boom is controlled according to the boom working parameters, the bucket working parameters and the boom working parameters so that the relative angle between the boom and the bucket reaches a preset angle, so that the excavator reaches the target posture corresponding to the first stage.

2. The control method for an excavator according to claim 1, characterized in that: The operation phase includes a second phase, the boom operation parameter includes a current height of the boom, and the arm operation parameter includes a first current angle of the arm; The controlling the dipper arm according to the boom working parameters, the bucket working parameters, and the dipper arm working parameters so that the excavator reaches a target posture corresponding to the working stage includes: When the operation phase is the second phase, obtaining a target height of the boom and a first target angle of the arm; During the process of adjusting the boom from the current height to the target height, the arm is controlled to adjust from the first current angle to the first target angle, so that the excavator reaches the target posture corresponding to the second stage.

3. The control method for an excavator according to claim 2, characterized in that: The bucket operating parameter includes a current pressure of the bucket, and in the process of adjusting the boom from the current height to the target height, controlling the boom to adjust from the first current angle to the first target angle includes: During the process of adjusting the boom from the current height to the target height, determining whether the current pressure is greater than a preset pressure value; When it is determined that the current pressure is greater than the preset pressure value, the angle of the boom is adjusted to control the boom to perform a recovery action, so that the boom is adjusted from the first current angle to the first target angle, so that the excavator reaches the target posture corresponding to the second stage.

4. The control method for an excavator according to claim 3, characterized in that: The control method further includes: During the process of adjusting the boom from the current height to the target height, obtaining a height change rate of the boom when it reaches the target height from the current height; The boom is controlled to adjust an angle according to a first preset ratio corresponding to the height change rate, so as to control the boom to perform a recovery operation, so that the boom is adjusted from the first current angle to the first target angle.

5. The control method for an excavator according to claim 1, characterized in that: The operation phase includes a third phase, the bucket operating parameter includes a second current angle of the bucket, and the arm operating parameter includes a first current angle of the arm; The controlling the dipper arm according to the boom working parameters, the bucket working parameters, and the dipper arm working parameters so that the excavator reaches a target posture corresponding to the working stage includes: When the operation stage is the third stage, controlling the excavator to rotate to a unloading point; Acquire a second target angle of the bucket and a third target angle of the arm; In the process of the bucket reaching the second target angle from the second current angle, the dipper arm is controlled to adjust from the first current angle to the third target angle, so as to control the excavator to reach the target posture corresponding to the third stage.

6. The control method for an excavator according to claim 5, characterized in that: The control method further includes: In the process of the bucket reaching the second target angle from the second current angle, obtaining an angle change rate of the bucket from the second current angle to the second target angle; controlling the arm to adjust its angle according to a second preset ratio corresponding to the angle change rate, so as to control the arm to adjust from the first current angle to the third target angle; or The boom is controlled to adjust its angle at a preset speed, so as to control the boom to adjust from the first current angle to the third target angle, so as to control the excavator to reach a target posture corresponding to the third stage.

7. The control method for an excavator according to claim 1 or 5, characterized in that: The control method further includes: After determining that the boom is adjusted from the first current angle to the third target angle, the excavator is controlled to rotate from the unloading point to the preset starting position to continue controlling the excavator until all target objects are transferred from the preset starting position to the unloading point.

8. A processor, characterized in that: The method is configured to execute the control method for an excavator according to any one of claims 1 to 7.

9. An excavator, characterized in that: include: Boom, used to adjust the position of the bucket arm; The bucket arm is used to adjust the position of the bucket, A bucket for digging into the target object, and The processor according to claim 8.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the processor is configured to execute the control method for an excavator according to any one of claims 1 to 7.

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