System and method for debugging excavator travel hydraulic solenoid valve

Abstract

The present application discloses a system and method for debugging the travel hydraulic solenoid valve of an excavator. The system includes: a debugging channel; multiple groups of laser ranging sensors, which are arranged on both sides of the debugging channel, communicate with the central control management module, and are configured to periodically collect multiple groups of detection data and send multiple groups of detection data to the central control management module; the central control management module is arranged on the excavator, and is configured to receive multiple groups of detection data sent by multiple groups of laser ranging sensors, and debug the travel hydraulic solenoid valve of the excavator according to the multiple groups of detection data until the excavator drives out of the debugging channel. The present application can realize the automation of the travel debugging process of the excavator, and is simple to install, the system can be reused, the hardware cost is reduced, and the mistakes and errors caused by manual work are avoided.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a system and method for debugging a hydraulic solenoid valve for an excavator. Background Art

[0002] Walking deviation test is an important process in the factory commissioning of excavators. Since the crawler connection of the excavator is multi-piece connection, even if the tightness of the left and right crawlers is the same, the walking deviation of the excavator may be caused by the thickness error of the crawler and the error of the connection port. If this continues for a long time, it will cause vehicle failure. Therefore, it is necessary to find out the walking error or walking speed problem on the left and right sides of the vehicle caused by the crawler problem through walking test, and further debug the vehicle to ensure that the walking pressure of the excavator meets the technical standards.

[0003] At present, the test of excavator deviation is mainly carried out manually. The driver drives the excavator for a distance in the walking debugging channel, and then manually determines whether the vehicle is deviating, and then manually adjusts the parameters of the walking pressure solenoid valve, and uses a stopwatch to calculate the walking time to determine the walking speed. The manual walking deviation test often requires the driver to drive the excavator for several times before the debugging can be completed. Therefore, the method of manually performing walking deviation test in the prior art has the problems of low efficiency, low fault tolerance and high labor cost. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a system and method for debugging an excavator travel hydraulic solenoid valve, so as to solve the problems of low efficiency, low fault tolerance and high labor cost in the prior art method of manually performing travel deviation testing.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a system for debugging an excavator travel hydraulic solenoid valve, comprising:

[0006] Debug channel;

[0007] Multiple groups of laser ranging sensors are arranged on both sides of the debugging channel, communicate with the central control management module, and are configured to periodically collect multiple groups of detection data and send the multiple groups of detection data to the central control management module;

[0008] The central control management module is installed on the excavator and is configured to receive multiple sets of detection data sent by multiple sets of laser ranging sensors, and debug the excavator's travel hydraulic solenoid valve according to the multiple sets of detection data until the excavator drives out of the debugging channel.

[0009] In an embodiment of the present application, each group of laser ranging sensors in the multiple groups of laser ranging sensors includes a first laser ranging sensor and a second laser ranging sensor that are relatively arranged, the first laser ranging sensor is arranged on the first side of the debugging channel, and the second laser ranging sensor is arranged on the second side of the debugging channel.

[0010] In an embodiment of the present application, the interval distance between each two adjacent groups of laser ranging sensors in the multiple groups of laser ranging sensors is a preset distance, and the preset distance is greater than half the length of the excavator body and less than the length of the excavator body.

[0011] In the embodiment of the present application, the central control management module is further configured to:

[0012] Get the number of valid detection data sets in multiple detection data sets in the current cycle;

[0013] When the number of groups of valid detection data in the multiple groups of detection data in the current cycle is two, the current cycle is determined as the current valid detection cycle;

[0014] Determine the corresponding first deflection angle according to the valid detection data in the current valid detection cycle;

[0015] Comparing the first deflection angle with the second deflection angle corresponding to the last valid detection cycle;

[0016] The travel hydraulic solenoid valve of the excavator is debugged according to the comparison result of the first deflection angle and the second deflection angle;

[0017] The first deflection angle and the second deflection angle are both angles between the moving direction of the excavator and the same side of the debugging channel.

[0018] In the embodiment of the present application, each set of detection data in the multiple sets of detection data includes a first distance and a second distance, the first distance is the distance between the first side of the excavator and the first side of the debugging channel, and the second distance is the distance between the second side of the excavator and the second side of the debugging channel. The central control management module is further configured as follows:

[0019] Determine the total distance after adding the first distance, the second distance and the body length of the excavator of each set of detection data respectively;

[0020] Determine the detection data whose total distance is less than or equal to the width of the debugging channel as a set of valid detection data;

[0021] Count the number of valid detection data groups in multiple detection data groups.

[0022] In the embodiment of the present application, the travel hydraulic solenoid valve of the excavator includes a first solenoid valve and a second solenoid valve, the first solenoid valve is located on the left side of the excavator's travel direction, and the second solenoid valve is located on the right side of the excavator's travel direction. The central control management module is also configured as follows:

[0023] When the first deflection angle is greater than the second deflection angle, it is determined that the excavator deviates to the left side of the traveling direction, and the control current of the first solenoid valve is increased;

[0024] When the first deflection angle is equal to the second deflection angle, it is determined that the excavator is not deviating, and the control currents of the first solenoid valve and the second solenoid valve remain unchanged;

[0025] When the first deflection angle is smaller than the second deflection angle, it is determined that the excavator deviates to the right side in the traveling direction, and the control current of the second solenoid valve is increased.

[0026] In the embodiment of the present application, the central control management module is further configured to:

[0027] Get the current gear information of the excavator;

[0028] Determine the current standard speed of the excavator according to the gear information;

[0029] Determine the travel time of the excavator according to the detection data of two adjacent groups of laser ranging sensors at the current position of the excavator;

[0030] Determine the travel speed of the excavator based on the travel time and the preset distance;

[0031] Determine whether the driving speed is equal to the standard speed;

[0032] When the travel speed is lower than the standard speed, the control current of the excavator's travel hydraulic solenoid valve is increased;

[0033] When the travel speed is higher than the standard speed, the control current of the travel hydraulic solenoid valve of the excavator is reduced.

[0034] In the embodiment of the present application, two adjacent groups of laser ranging sensors include an upper group of laser ranging sensors and a lower group of laser ranging sensors, and the central control management module is further configured as follows:

[0035] When valid detection data sent by the previous group of laser ranging sensors is received for the first time, the first detection time is recorded;

[0036] When valid detection data sent by the next group of laser ranging sensors is received for the first time, the second detection time is recorded;

[0037] The difference between the second detection time and the first detection time is determined as the travel time of the excavator.

[0038] The second aspect of the present application provides a method for debugging an excavator travel hydraulic solenoid valve, which is applied to a central control management module, the central control management module is arranged on the excavator, the central control management module communicates with multiple groups of laser ranging sensors, and the multiple groups of laser ranging sensors are arranged on both sides of the debugging channel. The method includes:

[0039] Receive multiple groups of detection data periodically sent by multiple groups of laser ranging sensors;

[0040] The excavator's travel hydraulic solenoid valve is debugged according to multiple sets of test data until the excavator drives out of the debugging channel.

[0041] In an embodiment of the present application, the interval distance between each two adjacent groups of laser ranging sensors in the multiple groups of laser ranging sensors is a preset distance, and the preset distance is greater than half the length of the excavator body and less than the length of the excavator body.

[0042] In an embodiment of the present application, debugging the travel hydraulic solenoid valve of the excavator according to multiple sets of detection data includes:

[0043] Get the number of valid detection data sets in multiple detection data sets in the current cycle;

[0044] When the number of groups of valid detection data in the multiple groups of detection data in the current cycle is two, the current cycle is determined as the current valid detection cycle;

[0045] Determine the corresponding first deflection angle according to the valid detection data in the current valid detection cycle;

[0046] Comparing the first deflection angle with the second deflection angle corresponding to the last valid detection cycle;

[0047] The travel hydraulic solenoid valve of the excavator is debugged according to the comparison result of the first deflection angle and the second deflection angle;

[0048] The first deflection angle and the second deflection angle are both angles between the moving direction of the excavator and the same side of the debugging channel.

[0049] In an embodiment of the present application, each set of detection data in the multiple sets of detection data includes a first distance and a second distance, the first distance is the distance between the first side of the excavator and the first side of the debugging channel, and the second distance is the distance between the second side of the excavator and the second side of the debugging channel. Acquiring the number of valid detection data in the multiple sets of detection data in the current cycle includes:

[0050] Determine the total distance after adding the first distance, the second distance and the body length of the excavator of each set of detection data respectively;

[0051] Determine the detection data whose total distance is less than or equal to the width of the debugging channel as a set of valid detection data;

[0052] Count the number of valid detection data groups in multiple detection data groups.

[0053] In an embodiment of the present application, the travel hydraulic solenoid valve of the excavator includes a first solenoid valve and a second solenoid valve, the first solenoid valve is located on the left side of the travel direction of the excavator, and the second solenoid valve is located on the right side of the travel direction of the excavator. The travel hydraulic solenoid valve of the excavator is debugged according to the comparison result of the first deflection angle and the second deflection angle, including:

[0054] When the first deflection angle is greater than the second deflection angle, it is determined that the excavator deviates to the left side of the traveling direction, and the control current of the first solenoid valve is increased;

[0055] When the first deflection angle is equal to the second deflection angle, it is determined that the excavator is not deviating, and the control currents of the first solenoid valve and the second solenoid valve remain unchanged;

[0056] When the first deflection angle is smaller than the second deflection angle, it is determined that the excavator deviates to the right side in the traveling direction, and the control current of the second solenoid valve is increased.

[0057] In an embodiment of the present application, the method further includes:

[0058] Get the current gear information of the excavator;

[0059] Determine the current standard speed of the excavator according to the gear information;

[0060] Determine the travel time of the excavator according to the detection data of two adjacent groups of laser ranging sensors at the current position of the excavator;

[0061] Determine the travel speed of the excavator based on the travel time and the preset distance;

[0062] Determine whether the driving speed is equal to the standard speed;

[0063] When the travel speed is lower than the standard speed, the control current of the excavator's travel hydraulic solenoid valve is increased;

[0064] When the travel speed is higher than the standard speed, the control current of the travel hydraulic solenoid valve of the excavator is reduced.

[0065] In the embodiment of the present application, the two adjacent groups of laser ranging sensors include an upper group of laser ranging sensors and a lower group of laser ranging sensors, and determining the travel time of the excavator according to the detection data of the two adjacent groups of laser ranging sensors at the current position of the excavator includes:

[0066] When valid detection data sent by the previous group of laser ranging sensors is received for the first time, the first detection time is recorded;

[0067] When valid detection data sent by the next group of laser ranging sensors is received for the first time, the second detection time is recorded;

[0068] The difference between the second detection time and the first detection time is determined as the travel time of the excavator.

[0069] Through the above technical solution, a system for debugging the excavator travel hydraulic solenoid valve is disclosed, which includes a test channel, multiple groups of laser ranging sensors and a central control management module. Multiple groups of laser ranging sensors are arranged on both sides of the debugging channel, and the central control management module is used to periodically collect multiple groups of detection data and send them to the central control management module. The central control management module is arranged on the excavator and is used to debug the excavator according to the multiple groups of detection data sent by the multiple groups of laser ranging sensors. The present application can realize the automation of the excavator travel debugging process, and the installation is simple, the system is reusable, the hardware cost is reduced, and the mistakes and errors caused by manual work are avoided.

[0070] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0072] Figure 1 A structural schematic diagram of a system for debugging an excavator travel hydraulic solenoid valve provided in an embodiment of the present application;

[0073] Figure 2 A schematic diagram of the principle of signaling interaction between the central control management module and multiple groups of laser test sensors provided in an embodiment of the present application;

[0074] Figure 3 A schematic diagram of the structure of a laser ranging sensor provided in a specific embodiment of the present application;

[0075] Figure 4 A schematic diagram of the installation position of the laser ranging sensor provided in the embodiment of the present application;

[0076] Figure 5 A flow chart of a method for debugging an excavator travel hydraulic solenoid valve provided in an embodiment of the present application;

[0077] Figure 6 A flowchart of an excavator debugging process provided in a specific embodiment of the present application.

[0078] Description of Reference Numerals

[0079] 100 Central control management module 200 Multiple sets of laser ranging sensors

[0080] 300 Debug Channel DETAILED DESCRIPTION

[0081] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0082] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0083] 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 used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0084] The crawler excavator's walking operation is controlled by two remote-controlled pilot operating levers on the left and right, referred to as operating levers. When walking, the swing angle of the left and right operating levers is controlled to control the speed of the crawler tracks on the left and right sides. The speed of the crawler tracks is powered by two hydraulic pumps driven by the engine, and the hydraulic force provided by the hydraulic pump is managed by the solenoid valve that controls the hydraulic pressure. By setting the current of the solenoid valve and the swing angle of the control lever to form a certain proportional relationship, the larger the swing angle of the control lever, the greater the current of the solenoid valve, the greater the pressure provided by the hydraulic pump, and the higher the speed of the crawler tracks. The two operating levers control the crawlers on the left and right sides respectively. The crawler track speeds are different, and the vehicle movement trajectories are different. For example, one is forward and the other is reverse, which ultimately realizes the turning and U-turn of the excavator chassis.

[0085] The crawler tracks of crawler excavators have the characteristics of multiple connections, mutual superposition and multi-piece transmission. Even if the tightness of the tracks on both sides has been adjusted to be consistent, it is still difficult to keep the excavator moving in a straight line with the same thrust on both sides. Long-term tilted walking or uneven force can easily cause the crawler track on one side of the excavator to malfunction, thereby greatly increasing the probability of excavator failure.

[0086] Therefore, when the excavator leaves the factory, it is necessary to debug the walking deviation and walking speed of the excavator. According to the walking situation, adjust the hydraulic control solenoid valves on the left and right sides of the excavator so that the left and right push rods of the excavator are at the same angle, so that the excavator can keep walking in a straight line. And it is necessary to ensure that the walking speed of the excavator meets the enterprise standard when the gear is fixed. Generally, the excavator has two gears, high speed and low speed. When the excavator is running in a fixed gear, it is necessary to ensure that its driving speed matches the gear.

[0087] According to the above situation, the walking deviation test is an indispensable process in the factory commissioning of the excavator. At present, the debugging method of the excavator used in the factory before leaving the factory is mostly the manual test method. The driver drives the excavator for a distance in the walking test channel, manually judges whether it is deviated, manually adjusts the parameters of the walking pressure solenoid valve, and uses a stopwatch to calculate the walking time to judge the walking speed. However, this method cannot allow the test results to act directly on the vehicle, and it is often necessary to conduct another walking test for verification. The debugging efficiency is low, and the possibility of manual judgment errors is high. In addition, there is also a method of adding sensors to the excavator body for testing, such as adding an orientation sensor. If the sensor installed on the body is powered by wire, it will increase the difficulty of installation due to too many wires. If it is powered by batteries and wireless communication, it will cause trouble for later maintenance and electricity consumption. In general, when debugging the excavator, the angle of its walking deviation is not large, then the accuracy of the general sensor cannot meet the test requirements, resulting in a large test error. The use of a sensor with higher accuracy will improve it. In addition, if a speed sensor is used to test the speed of the excavator, it will require a large vehicle modification cost and hardware cost.

[0088] In this regard, an embodiment of the present application provides a system for debugging an excavator travel hydraulic solenoid valve. Figure 1 The structure diagram of a system for debugging an excavator travel hydraulic solenoid valve provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the embodiment of the present application provides a system for debugging an excavator travel hydraulic solenoid valve, which may include:

[0089] Debug channel 300;

[0090] Multiple groups of laser ranging sensors 200 are arranged on both sides of the debugging channel 300, communicate with the central control management module 100, and are configured to periodically collect multiple groups of detection data and send the multiple groups of detection data to the central control management module 100;

[0091] The central control management module 100 is arranged on the excavator and is configured to receive multiple groups of detection data sent by multiple groups of laser ranging sensors 200, and debug the travel hydraulic solenoid valve of the excavator according to the multiple groups of detection data until the excavator drives out of the debugging channel 300.

[0092] In an embodiment of the present application, a system for debugging an excavator's travel hydraulic solenoid valve may include a debugging channel 300, multiple groups of laser ranging sensors 200, and a central control management module 100. Among them, the debugging channel 300 refers to the channel through which the excavator travels when debugging the excavator. In an embodiment of the present application, before the operator controls the excavator to enter the debugging channel 300 for debugging, it is necessary to check the tightness of the tracks on both sides of the excavator in advance and adjust the tightness of the tracks to be consistent. Then the operator drives the excavator into the debugging channel 300 to perform a walking test on the excavator. When the vehicle is found to have walking errors on the left and right sides due to track shape errors, or the walking speed is too fast or too slow, the system will automatically perform secondary debugging on the vehicle to ensure that the walking pressure of the factory excavator meets the technical standards.

[0093] In the embodiment of the present application, multiple groups of laser ranging sensors 200 are arranged on both sides of the debugging channel 300, and communicate with the central control module, and are used to periodically collect multiple groups of detection data of the distance between the two sides of the excavator body and the two sides of the debugging channel 300 after the excavator enters the debugging channel 300 and starts debugging, and send the multiple groups of detection data to the central control management module 100. Among them, multiple groups of detection data refer to the detection data of the corresponding number of groups sent by multiple groups of laser ranging sensors 200 in one detection cycle. The number of sensor groups and the detection cycle can be set according to actual needs. For example, 11 groups of laser ranging sensors can be set on the debugging channel 300, and the detection cycle is set to 10HZ, that is, the laser ranging sensor collects data 10 times every 1 second, collects detection data once every 0.1 seconds, and collects 11 groups of detection data each time. In one example, multiple groups of laser ranging sensors 200 can access the network through the WIFI signal of the production plant. After each laser ranging sensor is connected to the network, it can be set to a fixed IP, and the central control management module 100 of the vehicle to be tested initiates the connection when the test starts, and then performs signaling interaction.

[0094] In an embodiment of the present application, the central control management module 100 is arranged on the excavator, and is used to receive multiple groups of detection data sent by multiple groups of laser ranging sensors 200, and debug the excavator's travel hydraulic solenoid valve in real time according to the received multiple groups of detection data. Through debugging, the excavator's driving data meets the enterprise standards until the excavator drives out of the debugging channel 300. Figure 2 The schematic diagram of the principle of signaling interaction between the central control management module 100 and multiple groups of laser test sensors provided in the embodiment of the present application is as follows. Figure 2 As shown, in one example, the central control management module 100 can be connected to the CAN bus of the excavator through the CAN interface to obtain various electromagnetic valve parameters of the vehicle, such as oil temperature, overflow pressure, engine gear information and engine speed, etc. In another example, the central control management module 100 can access the network through the WIFI signal of the production plant, and then perform signaling interaction with multiple groups of laser ranging sensors 200, and when the test starts, the central control management module 100 of the vehicle to be debugged initiates a connection request to the multiple groups of laser ranging sensors 200 to confirm the sensor number and periodically obtain multiple groups of detection data collected by the multiple groups of laser ranging sensors 200.

[0095] Figure 3 The structure diagram of the laser distance measuring sensor provided in a specific embodiment of the present application. The multiple groups of laser distance measuring sensors 200 in the embodiment of the present application must meet the requirements of WIFI wireless communication. Figure 3 As shown, in a specific embodiment of the present application, the laser ranging sensor may include a microcontroller unit (MCU), 24VDC, a Power Management unit, EEPROM / FLASH, RS-232 / 485, GPIO and WIFI modules. Among them, the MCU is used to perform state control, data acquisition and timing control on the laser ranging sensor, and realize signaling interaction with the central control management module 100 of the excavator, specifically including the confirmation of the identity code of the laser ranging sensor and the real-time reporting of the distance data. 24VDC is the DC 24V voltage input by the concentrator. Since the sensor is fixedly installed twice in the test channel, it only needs to be installed once and is powered by wired power supply. The Power Management unit can convert the input 24V DC voltage into 5V and 3.3V voltages required for each part of the circuit to work. EEPROM / FLASH is a configuration parameter storage unit, which provides the sensor terminal power-on initialization work configuration and sensor code storage, etc., so that each sensor has a different identity code when it is powered on. RS-232 / 485 is used to connect the laser ranging sensor and receive distance information in real time. GPIO is used for switch input / output; the WIFI module is the external interface for wireless transmission and reporting of laser ranging data and synchronization of module working status.

[0096] Through the above technical solution, a system for debugging the excavator travel hydraulic solenoid valve is disclosed, which includes a test channel, multiple groups of laser ranging sensors 200 and a central control management module 100. Multiple groups of laser ranging sensors 200 are arranged on both sides of the debugging channel 300, and the central control management module 100 is used to periodically collect multiple groups of detection data and send them to the central control management module 100. The central control management module 100 is arranged on the excavator and is used to debug the excavator according to the multiple groups of detection data sent by the multiple groups of laser ranging sensors 200. The present application can realize the automation of the excavator travel debugging process, and the installation is simple, the system can be reused, the hardware cost is reduced, and the mistakes and errors caused by manual work are avoided.

[0097] In an embodiment of the present application, each group of laser ranging sensors in the multiple groups of laser ranging sensors 200 includes a first laser ranging sensor and a second laser ranging sensor that are relatively arranged. The first laser ranging sensor is arranged on the first side of the debugging channel 300, and the second laser ranging sensor is arranged on the second side of the debugging channel 300.

[0098] Figure 4 This is a schematic diagram of the installation position of the laser ranging sensor provided in the embodiment of the present application. Figure 4 As shown, each group of laser ranging sensors in the multiple groups of laser ranging sensors 200 is composed of two laser ranging sensors, namely a first laser ranging sensor and a second laser ranging sensor, which are respectively arranged on both sides of the debugging channel 300, and the first laser ranging sensor and the second laser ranging sensor are arranged opposite to each other, and the excitation directions of the two are opposite and on the same straight line. In this way, when collecting the detection data of the excavator, the data collected by each group of laser ranging sensors can be verified with each other to improve the accuracy of the debugging result.

[0099] In the embodiment of the present application, the interval distance between each two adjacent groups of laser ranging sensors in the multiple groups of laser ranging sensors 200 is a preset distance, and the preset distance is greater than half the length of the excavator body and less than the length of the excavator body.

[0100] In the embodiment of the present application, the preset distance is the distance between each two adjacent groups of laser ranging sensors on both sides of the debugging channel 300. Figure 4As shown, the spacing between each two adjacent groups of laser ranging sensors in the multiple groups of laser ranging sensors 200 is equal and equal to the preset distance. In order to ensure that when the excavator to be tested is traveling on the debugging channel 300, there are always laser ranging sensors that can illuminate the left and right sides of the excavator, and to prevent the lasers of multiple pairs of laser ranging sensors from irradiating the excavator and causing waste of resources, the preset distance between two adjacent groups of laser ranging sensors can be set to be less than the length of the excavator body to be tested and greater than 1 / 2 of the length of the excavator body. For example, assuming that the debugging channel 300 is 2 meters long and the body is 3 meters long, a laser ranging sensor can be set on both sides of the debugging channel 300 at intervals of 2 meters on the debugging channel 300, and a total of 11 groups of laser ranging sensors, that is, 22 laser ranging sensors, can be set. In this way, it can be ensured that when the excavator is traveling on the debugging channel 300, at least one group of laser ranging sensors irradiates the left and right sides of the excavator, and at most two groups of laser ranging sensors irradiate the left and right sides of the excavator. In this way, data support can be provided for the automatic debugging of the excavator while reducing the system cost. It can be understood that the above is only a preferred solution, and the method for setting the preset distance between two adjacent groups of laser ranging sensors can be selected according to actual needs, and the specific value can be set according to actual conditions.

[0101] In the embodiment of the present application, each set of detection data in the multiple sets of detection data includes a first distance and a second distance, the first distance is the distance between the first side of the excavator and the first side of the debugging channel 300, and the second distance is the distance between the second side of the excavator and the second side of the debugging channel 300. The central control management module 100 can also be configured as follows:

[0102] Determine the total distance after adding the first distance, the second distance and the body length of the excavator of each set of detection data respectively;

[0103] Determine the detection data whose total distance is less than or equal to the width of the debugging channel 300 as a set of valid detection data;

[0104] Count the number of valid detection data groups in multiple detection data groups.

[0105] In an embodiment of the present application, the walking deviation debugging of the excavator is determined based on the detection data reported by the laser ranging sensor. Multiple groups of detection data refer to the detection data of the corresponding number of groups sent by multiple groups of laser ranging sensors 200 in one detection cycle. For example, if 11 groups of laser ranging sensors are set on both sides of the debugging channel 300, then multiple groups of laser ranging sensors 200 will upload 11 groups of detection data in one detection cycle. Each group of detection data includes a first distance and a second distance, which are the detection data of a group of laser ranging sensors set on both sides of the debugging channel 300. The first distance is the distance between the first side of the excavator and the first side of the debugging channel 300, and the second distance is the distance between the second side of the excavator and the second side of the debugging channel 300. The first distance and the second distance are the distances between the left and right sides of the excavator body and the left and right sides of the debugging channel 300.

[0106] In the embodiment of the present application, valid detection data refers to the data detected by a group of laser ranging sensors on the left and right sides of the excavator when the laser is irradiated, and the detection data sent by the laser ranging sensors on the left and right sides of the excavator when the laser is not irradiated is invalid detection data. In one example, since the widths of the two sides of the same model of excavator are the same, it is assumed that the body width of the excavator is W, and the width of the debugging channel 300 is a fixed value Y. When the excavator is between the two contrasting laser ranging sensors, it is assumed that the first distance measured on the left side is X. L , the second distance measured on the right is X R , then the central control management module 100 can determine X L +X R +W≤Y is true. If true, the detection data reported by the regrouped laser ranging sensors are valid detection data. If not, it means that the detection data reported by the laser ranging sensors in the current cycle is invalid detection data. For example, when the excavator to be tested is at the starting position, the excavator is between the first and second groups of laser ranging sensors, and the detection data of the remaining laser ranging sensors are temporarily invalid.

[0107] In the embodiment of the present application, the central control management module 100 may also be configured as follows:

[0108] Get the number of valid detection data sets in multiple detection data sets in the current cycle;

[0109] When the number of groups of valid detection data in the multiple groups of detection data in the current cycle is two, the current cycle is determined as the current valid detection cycle;

[0110] Determine the corresponding first deflection angle according to the valid detection data in the current valid detection cycle;

[0111] Comparing the first deflection angle with the second deflection angle corresponding to the last valid detection cycle;

[0112] The travel hydraulic solenoid valve of the excavator is debugged according to the comparison result of the first deflection angle and the second deflection angle;

[0113] The first deflection angle and the second deflection angle are both angles between the moving direction of the excavator and the same side of the debugging channel 300 .

[0114] In the embodiment of the present application, the central control management module 100 can detect and debug the excavator's walking deviation based on the data sent by the multiple groups of laser ranging sensors 200, detect whether the excavator walks in a straight line when the left and right control levers of the excavator reach the maximum control angle, and debug the excavator's walking hydraulic solenoid valve when the excavator is detected to be running off. The walking deviation of the excavator can be judged based on the change in the angle between the driving direction of the excavator and one side of the debugging channel 300 during the driving process of the excavator on the debugging channel 300, and the excavator can be debugged according to the walking deviation.

[0115] Specifically, after the central control management module 100 obtains multiple groups of detection data sent by multiple groups of laser ranging sensors 200 in the current cycle, valid detection data can be screened out from the multiple groups of detection data. Valid detection data refers to the data detected by a group of laser ranging sensors that irradiate the laser to the left and right sides of the excavator, and the detection data sent by the laser ranging sensors that do not irradiate the laser to the left and right sides of the excavator are invalid detection data. To obtain the angle between the driving direction of the excavator and one side of the debugging channel 300, the support of two groups of valid detection data is required, and in order to detect the deflection of the excavator during driving, the detection cycle in which the number of groups of valid detection data in multiple groups of detection data in a detection cycle is two groups can be determined as a valid detection cycle. In this way, when the current cycle is a valid detection cycle, the first deflection angle of the excavator in the current valid detection cycle is determined according to the two groups of valid detection data obtained in the current valid detection cycle, the second deflection angle corresponding to the previous valid detection cycle of the current valid detection cycle is obtained, and the current driving condition of the excavator is determined according to the comparison result of the first deflection angle and the second deflection angle, and then the excavator is debugged.

[0116] In the embodiment of the present application, the travel hydraulic solenoid valve of the excavator includes a first solenoid valve and a second solenoid valve, the first solenoid valve is located on the left side of the excavator's travel direction, and the second solenoid valve is located on the right side of the excavator's travel direction. The central control management module 100 can also be configured as follows:

[0117] When the first deflection angle is greater than the second deflection angle, it is determined that the excavator deviates to the left side of the traveling direction, and the control current of the first solenoid valve is increased;

[0118] When the first deflection angle is equal to the second deflection angle, it is determined that the excavator is not deviating, and the control currents of the first solenoid valve and the second solenoid valve remain unchanged;

[0119] When the first deflection angle is smaller than the second deflection angle, it is determined that the excavator deviates to the right side in the traveling direction, and the control current of the second solenoid valve is increased.

[0120] In the embodiment of the present application, the deviation of the excavator can be judged according to the change of the angle between the driving direction of the excavator and one side of the debugging channel 300 during the driving process of the excavator on the debugging channel 300, and the excavator can be debugged according to the deviation. Specifically, during the driving process of the excavator, the first deflection angle of the excavator in the current effective detection cycle can be determined according to the current effective detection cycle. Similarly, the angle between the excavator and the debugging channel 300 in the previous effective detection cycle of the current effective detection cycle is obtained and determined as the second deflection angle. By comparing the first deflection angle and the second deflection angle, the deviation of the excavator from the previous effective detection cycle to the current effective detection cycle can be determined.

[0121] In the embodiment of the present application, the first solenoid valve located on the left side of the excavator's travel direction is the solenoid valve that controls the left track wheel of the excavator, and the second solenoid valve located on the right side of the excavator's travel direction is the solenoid valve that controls the right track wheel of the excavator. In the case where the first deflection angle is equal to the second deflection angle, it can be determined that the excavator keeps going straight between the last effective detection cycle and the current effective detection cycle, and no deviation occurs. At this time, the control current of the first solenoid valve and the second solenoid valve remains unchanged. In the case where the first deflection angle is greater than the second deflection angle, it can be determined that the excavator has deviated to the left from the last effective detection cycle to the current effective detection cycle. At this time, it is necessary to increase the control current of the first solenoid valve, and the left track wheel obtains a greater forward thrust to make the excavator travel in a straight line. In the case where the first deflection angle is less than the second deflection angle, it can be determined that the excavator has deviated to the right from the last effective detection cycle to the current effective detection cycle. At this time, it is necessary to increase the control current of the second solenoid valve, and the right track wheel obtains a greater forward thrust to make the excavator travel in a straight line. The above process is repeated until the excavator drives out of the debugging channel 300. In this way, the excavator can be debugged for walking deviation while it is driving on the debugging channel 300, thereby automating the debugging process, avoiding human errors, making the debugging results more accurate, and the system structure is simple and reusable, which is conducive to cost savings.

[0122] like Figure 1 As shown in the figure, the walking deviation debugging principle of the excavator is as follows:

[0123] In a specific embodiment, the preset distance is 2 meters, and a total of 11 groups of laser ranging sensors are set. For the convenience of the following description, the laser ranging sensors on both sides of the debugging channel 300 are numbered. The first laser ranging sensor on the left side of the channel starting from the test start position is numbered L1, and after an interval of 2 meters, the second laser ranging sensor is numbered L2, and so on, until the last sensor at the end of the test channel is numbered L 11The first laser distance sensor on the right is numbered R1, and the last laser distance sensor is numbered R 11 . And L n and R n (Any group of laser distance measuring sensors) is a group of laser distance measuring sensors which are respectively arranged on both sides of the test channel, have the same distance from the starting point and emit lasers in contrast.

[0124] like Figure 1 As shown, when the excavator is parked at the starting point of the channel, the angle between its driving direction (head direction) and the left side of the debugging channel 300 is α, and the sensor interval on one side of the debugging channel 300 is 2000mm. In the current effective detection cycle, the detection data reported by the first laser ranging sensor on the left is X1, and the detection data reported by the second laser ranging sensor is X2, then tanα=(X1-X2) / 2000 can be obtained. The right side can also obtain the tan value of the angle between the vehicle's driving direction and the test channel according to the laser ranging value, and the current angle is determined as the second deflection angle.

[0125] At this time, the vehicle is started to move. When it moves between the third pair of laser ranging sensors, the distance information reported by the third pair of laser ranging sensors meets the valid data judgment condition, and the vehicle body has not left the second pair of laser ranging sensors. This is the effective detection period. According to the detection data of the second and third pairs of laser ranging sensors, tanα=(X3-X2) / 2000 is calculated. The angle of this time is determined as the first deflection angle, and the first deflection angle calculated at this time is compared with the second deflection angle calculated for the first time. If they are the same, it means that the excavator meets the straight-line walking requirement; if the first deflection angle is greater than the first deflection angle calculated for the first time, it means that the excavator is offset to the left, and the current of the left walking hydraulic solenoid valve needs to be increased to make the left crawler have a greater forward thrust, so that the excavator meets the straight-line walking requirement; if the first deflection angle is less than the second deflection angle calculated for the first time, it means that the excavator is offset to the right, and the current of the right solenoid valve needs to be increased. After the adjustment is completed, the first deflection angle calculated at this time is re-determined as the second deflection angle.

[0126] When the excavator reaches the fourth group of laser ranging sensor sampling intervals, and so on, the current of the travel hydraulic solenoid valve is continued to be calculated and adjusted according to the above method, so that the excavator can keep walking in a straight line and the automatic debugging of the solenoid valve current information is completed.

[0127] In the embodiment of the present application, two adjacent groups of laser ranging sensors include an upper group of laser ranging sensors and a lower group of laser ranging sensors, and the central control management module 100 may also be configured as follows:

[0128] When valid detection data sent by the previous group of laser ranging sensors is received for the first time, the first detection time is recorded;

[0129] When valid detection data sent by the next group of laser ranging sensors is received for the first time, the second detection time is recorded;

[0130] The difference between the second detection time and the first detection time is determined as the travel time of the excavator.

[0131] In the embodiment of the present application, the actual speed of the excavator can be determined based on the time it takes for the excavator to travel a preset distance. The central control management module 100 can determine the location of the excavator by first receiving valid data sent by a certain group of laser ranging sensors. Therefore, the actual speed of the excavator can be determined by the time interval between the first valid detection data of two adjacent groups of laser ranging sensors and the preset distance.

[0132] Specifically, when the central control management module 100 first receives valid detection data sent by the previous group of laser ranging sensors in two adjacent groups of laser ranging sensors, the moment can be recorded as the first detection time. When the central control management module 100 first receives valid detection data sent by the next group of laser ranging sensors in two adjacent groups of laser ranging sensors, the moment can be recorded as the second detection time. The second detection time is subtracted from the first detection time to obtain the driving time taken by the excavator to travel the preset distance between the two adjacent groups of laser ranging sensors, and then the actual driving speed of the excavator is determined according to the driving time and the preset distance.

[0133] In the embodiment of the present application, the central control management module 100 may also be configured as follows:

[0134] Get the current gear information of the excavator;

[0135] Determine the current standard speed of the excavator according to the gear information;

[0136] Determine the travel time of the excavator according to the detection data of two adjacent groups of laser ranging sensors at the current position of the excavator;

[0137] Determine the actual travel speed of the excavator based on the travel time and preset distance;

[0138] Determine whether the driving speed is equal to the standard speed;

[0139] When the travel speed is lower than the standard speed, the control current of the excavator's travel hydraulic solenoid valve is increased;

[0140] When the travel speed is higher than the standard speed, the control current of the travel hydraulic solenoid valve of the excavator is reduced.

[0141] In an embodiment of the present application, the central control management module 100 can be connected to the CAN bus of the excavator through the CAN interface to obtain the engine gear information of the excavator, and detect and debug the walking speed of the excavator in combination with the time interval of data sent by multiple groups of laser ranging sensors 200 within a fixed distance of the excavator, detect whether the actual driving speed of the excavator in the corresponding gear meets the requirements, and debug the excavator's travel hydraulic solenoid valve when it is detected that the actual driving speed of the excavator is not equal to the standard speed.

[0142] Specifically, the current gear information of the excavator is obtained, and the standard speed of the excavator in the current gear is determined according to the current gear information. In one example, the general excavator has two gears for travel, high gear and low gear. The maximum speed of the crawler excavator in high gear is 5km / h, and the maximum speed of the low gear is 3km / h. The travel time of the excavator is determined according to the detection data of the two adjacent groups of laser ranging sensors where the excavator is currently located. Among them, the two adjacent groups of laser ranging sensors where the excavator is currently located are the two adjacent groups of laser ranging sensors that report valid detection data, and the travel time of the excavator refers to the time taken by the excavator to travel from the upper group of laser ranging sensors in the two adjacent groups of laser ranging sensors to the next group of laser ranging sensors. Since the distance between the two adjacent groups of laser ranging sensors is a preset distance, the travel time is the time taken by the excavator to travel the set distance.

[0143] In an embodiment of the present application, the central control management module 100 can determine the current travel speed of the excavator based on the travel time and the preset distance, and then compare the current travel speed of the excavator with the standard speed, and debug the travel hydraulic solenoid valve of the excavator according to the comparison result. When the actual travel speed of the excavator is lower than the standard speed, the central control management module 100 can increase the control current of the travel hydraulic solenoid valve of the excavator to increase the travel speed of the excavator. When the actual travel speed of the excavator is greater than the standard speed, the central control management module 100 can reduce the control current of the travel hydraulic solenoid valve of the excavator to reduce the travel speed of the excavator. Repeat the above debugging process until the excavator drives out of the debugging channel 300.

[0144] In a specific embodiment of the present application, the excavator is currently set to be in high gear, and the standard driving speed of the excavator in high gear is 5km / h, which is converted to 1.388m / s in m / s. The sampling frequency of each laser ranging sensor is set to 10HZ, the length of the excavator body is set to L, and the preset distance between each group of laser ranging sensors is 2m. The interference to the maximum speed calculation when the excavator starts is eliminated. The timing starts from the time when the central control management module 100 first receives the detection data of the fourth group of laser ranging sensors as valid detection data. At this time, the head of the excavator just reaches the measurement interval of the fourth group of laser ranging sensors. Let this time be the first detection time T1. When the central control management module 100 first receives the valid detection data sent by the fifth group of laser ranging sensors, the head of the excavator has reached the measurement interval of the fifth group of laser ranging sensors. Let this time be the second detection time T2, then the actual driving speed of the excavator is v=2 / (T2-T1), and it is judged whether v=1.388m / s is established. If it is established, the actual driving speed of the excavator meets the enterprise standard. If v>1.388m / s, the actual travel speed of the excavator is higher than the standard speed, and the central control management module 100 reduces the control current of the travel hydraulic solenoid valves on both sides of the excavator at the same time. If v<1.388m / s, the actual travel speed of the excavator is higher than the standard speed, and the central control management module 100 increases the control current of the travel hydraulic solenoid valves on both sides of the excavator at the same time.

[0145] After that, the excavator continues to move. When the excavator head continues to move to the sixth group of laser ranging sensor measurement intervals, the time at this time is recorded as T3, and the actual speed of the current excavator is determined to be v=2 / (T3-T1). And corresponding adjustments are made according to the calculation results. And so on, until the excavator drives out of the debugging channel 300, and finally the control current debugging of the travel hydraulic solenoid valve for the maximum travel speed of the excavator under high gear is completed.

[0146] Through the above technical solution, a system for debugging the excavator travel hydraulic solenoid valve is disclosed, which includes a test channel, multiple groups of laser ranging sensors 200 and a central control management module 100. Multiple groups of laser ranging sensors 200 are arranged on both sides of the debugging channel 300, and the central control management module 100 is used to periodically collect multiple groups of detection data and send them to the central control management module 100. The central control management module 100 is arranged on the excavator and is used to debug the excavator according to the multiple groups of detection data sent by the multiple groups of laser ranging sensors 200. The present application can realize the automation of the excavator travel debugging process, and the installation is simple, the system can be reused, the hardware cost is reduced, and the mistakes and errors caused by manual work are avoided.

[0147] Figure 5The present invention provides a flow chart of a method for debugging an excavator travel hydraulic solenoid valve. Figure 5 As shown, the embodiment of the present application provides a method for debugging an excavator travel hydraulic solenoid valve, which is applied to a central control management module, which is arranged on the excavator, and the central control management module communicates with multiple groups of laser ranging sensors, which are arranged on both sides of the debugging channel. The method may include the following steps:

[0148] Step 601, receiving multiple groups of detection data periodically sent by multiple groups of laser ranging sensors;

[0149] Step 602: debug the travel hydraulic solenoid valve of the excavator according to the multiple sets of detection data until the excavator drives out of the debugging channel.

[0150] In the embodiment of the present application, the debugging channel refers to the channel that the excavator travels when debugging the excavator. A group of laser ranging sensors are arranged on both sides of the debugging channel, communicating with the central control module, and are used to periodically collect multiple groups of detection data of the distance between the two sides of the excavator body and the two sides of the debugging channel after the excavator enters the debugging channel and starts debugging, and send the multiple groups of detection data to the central control management module. Among them, multiple groups of detection data refer to the corresponding number of detection data sent by multiple groups of laser ranging sensors in one detection cycle.

[0151] The central control management module is installed on the excavator to receive multiple sets of detection data sent by multiple sets of laser ranging sensors, and debug the excavator's travel hydraulic solenoid valve in real time according to the received multiple sets of detection data. Through debugging, the excavator's travel data meets the enterprise standard until the excavator drives out of the debugging channel. Figure 2 As shown, in one example, the central control management module can be connected to the CAN bus of the excavator through the CAN interface to obtain various solenoid valve parameters of the vehicle, such as oil temperature, overflow pressure, engine gear information and engine speed, etc. In another example, the central control management module can access the network through the WIFI signal of the production plant, and then interact with multiple groups of laser ranging sensors for signaling. When the test starts, the central control management module of the vehicle to be debugged initiates a connection request to the multiple groups of laser ranging sensors to confirm the sensor number and periodically obtain multiple groups of detection data collected by the multiple groups of laser ranging sensors.

[0152] In an embodiment of the present application, the interval distance between each two adjacent groups of laser ranging sensors in the multiple groups of laser ranging sensors is a preset distance, and the preset distance is greater than half the length of the excavator body and less than the length of the excavator body.

[0153] In the embodiment of the present application, the preset distance is the distance between each two adjacent groups of laser ranging sensors on both sides of the debugging channel. Figure 4As shown, the spacing between each two adjacent groups of laser ranging sensors in the multiple groups of laser ranging sensors is equal and equal to the preset distance. In order to ensure that there are laser ranging sensors that can illuminate the left and right sides of the excavator when the excavator to be tested is driving on the debugging channel, and to prevent the lasers of multiple pairs of laser ranging sensors from irradiating the excavator and causing waste of resources, the preset distance between two adjacent groups of laser ranging sensors can be set to be less than the length of the excavator body to be tested and greater than 1 / 2 of the length of the excavator body. For example, assuming that the debugging channel is 2 meters long and the body is 3 meters long, a laser ranging sensor can be set on both sides of the debugging channel at intervals of 2 meters on the debugging channel, and a total of 11 groups of laser ranging sensors, that is, 22 laser ranging sensors, can be set. In this way, it can be ensured that when the excavator is driving on the debugging channel, at least one group of laser ranging sensors irradiates the left and right sides of the excavator, and at most two groups of laser ranging sensors irradiate the left and right sides of the excavator. In this way, data support can be provided for the automatic debugging of the excavator while reducing the system cost. It can be understood that the above is only a preferred solution, and the method for setting the preset distance between two adjacent groups of laser ranging sensors can be selected according to actual needs, and the specific value can be set according to actual conditions.

[0154] In an embodiment of the present application, each set of detection data in the multiple sets of detection data includes a first distance and a second distance, the first distance is the distance between the first side of the excavator and the first side of the debugging channel, and the second distance is the distance between the second side of the excavator and the second side of the debugging channel. Acquiring the number of valid detection data in the multiple sets of detection data in the current cycle may include:

[0155] Determine the total distance after adding the first distance, the second distance and the body length of the excavator of each set of detection data respectively;

[0156] Determine the detection data whose total distance is less than or equal to the width of the debugging channel as a set of valid detection data;

[0157] Count the number of valid detection data groups in multiple detection data groups.

[0158] In an embodiment of the present application, the walking deviation debugging of the excavator is determined based on the detection data reported by the laser ranging sensor. Multiple groups of detection data refer to the detection data of the corresponding number of groups sent by multiple groups of laser ranging sensors 200 in one detection cycle. For example, if 11 groups of laser ranging sensors are set on both sides of the debugging channel, then multiple groups of laser ranging sensors 200 will upload 11 groups of detection data in one detection cycle. Each group of detection data includes a first distance and a second distance, which are the detection data of a group of laser ranging sensors set on both sides of the debugging channel. The first distance is the distance between the first side of the excavator and the first side of the debugging channel, and the second distance is the distance between the second side of the excavator and the second side of the debugging channel. The first distance and the second distance are the distances between the left and right sides of the excavator body and the left and right sides of the debugging channel.

[0159] In the embodiment of the present application, valid detection data refers to the data detected by a group of laser ranging sensors on the left and right sides of the excavator when the laser is irradiated. The detection data sent by the laser ranging sensors on the left and right sides of the excavator when the laser is not irradiated is invalid detection data. In one example, since the widths of the two sides of the same model of excavator are the same, it is assumed that the width of the excavator is W and the width of the debugging channel is a fixed value Y. When the excavator is between the two contrasting laser ranging sensors, it is assumed that the first distance measured on the left side is X. L , the second distance measured on the right is X R , then the central control management module 100 can determine X L +X R +W≤Y is true. If true, the detection data reported by the regrouped laser ranging sensors are valid detection data. If not, it means that the detection data reported by the laser ranging sensors in the current cycle is invalid detection data. For example, when the excavator to be tested is at the starting position, the excavator is between the first and second groups of laser ranging sensors, and the detection data of the remaining laser ranging sensors are temporarily invalid.

[0160] In an embodiment of the present application, debugging the travel hydraulic solenoid valve of the excavator according to multiple sets of detection data may include:

[0161] Get the number of valid detection data sets in multiple detection data sets in the current cycle;

[0162] When the number of groups of valid detection data in the multiple groups of detection data in the current cycle is two, the current cycle is determined as the current valid detection cycle;

[0163] Determine the corresponding first deflection angle according to the valid detection data in the current valid detection cycle;

[0164] Comparing the first deflection angle with the second deflection angle corresponding to the last valid detection cycle;

[0165] The travel hydraulic solenoid valve of the excavator is debugged according to the comparison result of the first deflection angle and the second deflection angle;

[0166] The first deflection angle and the second deflection angle are both angles between the moving direction of the excavator and the same side of the debugging channel.

[0167] In the embodiment of the present application, the central control management module can detect and debug the excavator's walking deviation based on the data sent by multiple groups of laser ranging sensors, detect whether the excavator walks in a straight line when the left and right control levers of the excavator reach the maximum control angle, and debug the excavator's walking hydraulic solenoid valve when the excavator is detected to be deviating. The walking deviation of the excavator can be judged based on the change in the angle between the driving direction of the excavator and one side of the debugging channel during the process of the excavator driving on the debugging channel, and the excavator can be debugged according to the walking deviation.

[0168] Specifically, after the central control management module obtains multiple groups of detection data sent by multiple groups of laser ranging sensors in the current cycle, it can filter out valid detection data from the multiple groups of detection data. Valid detection data refers to the data detected by a group of laser ranging sensors that irradiate the laser to the left and right sides of the excavator, and the detection data sent by the laser ranging sensors that do not irradiate the laser to the left and right sides of the excavator are invalid detection data. To obtain the angle between the driving direction of the excavator and one side of the debugging channel, the support of two groups of valid detection data is required, and in order to detect the deflection of the excavator during driving, the detection cycle with two groups of valid detection data in multiple groups of detection data in a detection cycle can be determined as a valid detection cycle. In this way, when the current cycle is a valid detection cycle, the first deflection angle of the excavator in the current valid detection cycle is determined according to the two groups of valid detection data obtained in the current valid detection cycle, and the second deflection angle corresponding to the previous valid detection cycle of the current valid detection cycle is obtained. The driving condition of the current excavator is determined according to the comparison result of the first deflection angle and the second deflection angle, and then the excavator is debugged.

[0169] In an embodiment of the present application, the travel hydraulic solenoid valve of the excavator includes a first solenoid valve and a second solenoid valve, the first solenoid valve is located on the left side of the travel direction of the excavator, and the second solenoid valve is located on the right side of the travel direction of the excavator. Debugging the travel hydraulic solenoid valve of the excavator according to the comparison result of the first deflection angle and the second deflection angle may include:

[0170] When the first deflection angle is greater than the second deflection angle, it is determined that the excavator deviates to the left side of the traveling direction, and the control current of the first solenoid valve is increased;

[0171] When the first deflection angle is equal to the second deflection angle, it is determined that the excavator is not deviating, and the control currents of the first solenoid valve and the second solenoid valve remain unchanged;

[0172] When the first deflection angle is smaller than the second deflection angle, it is determined that the excavator deviates to the right side in the traveling direction, and the control current of the second solenoid valve is increased.

[0173] In an embodiment of the present application, the deviation of the excavator can be determined based on the change in the angle between the excavator's driving direction and one side of the debugging channel during the excavator's driving on the debugging channel, and the excavator can be debugged according to the deviation. Specifically, during the driving of the excavator, the first deflection angle of the excavator in the current effective detection cycle can be determined based on the current effective detection cycle. Similarly, the angle between the excavator and the debugging channel in the previous effective detection cycle of the current effective detection cycle is obtained and determined as the second deflection angle. By comparing the first deflection angle and the second deflection angle, the deviation of the excavator from the previous effective detection cycle to the current effective detection cycle can be determined.

[0174] In the embodiment of the present application, the first solenoid valve located on the left side of the excavator's travel direction is the solenoid valve that controls the left track wheel of the excavator, and the second solenoid valve located on the right side of the excavator's travel direction is the solenoid valve that controls the right track wheel of the excavator. In the case where the first deflection angle is equal to the second deflection angle, it can be determined that the excavator keeps going straight between the last effective detection cycle and the current effective detection cycle, and no deviation occurs. At this time, the control current of the first solenoid valve and the second solenoid valve remains unchanged. In the case where the first deflection angle is greater than the second deflection angle, it can be determined that the excavator has deviated to the left from the last effective detection cycle to the current effective detection cycle. At this time, it is necessary to increase the control current of the first solenoid valve, and the left track wheel obtains a greater forward thrust to make the excavator travel in a straight line. In the case where the first deflection angle is less than the second deflection angle, it can be determined that the excavator has deviated to the right from the last effective detection cycle to the current effective detection cycle. At this time, it is necessary to increase the control current of the second solenoid valve, and the right track wheel obtains a greater forward thrust to make the excavator travel in a straight line. Repeat the above process until the excavator drives out of the debugging channel. In this way, the excavator can be debugged for walking deviation while it is driving on the debugging channel, which realizes the automation of the debugging process, avoids human errors, makes the debugging results more accurate, and the system structure is simple and reusable, which is conducive to cost saving.

[0175] In the embodiment of the present application, the two adjacent groups of laser ranging sensors include an upper group of laser ranging sensors and a lower group of laser ranging sensors. Determining the travel time of the excavator according to the detection data of the two adjacent groups of laser ranging sensors at the current position of the excavator may include:

[0176] When valid detection data sent by the previous group of laser ranging sensors is received for the first time, the first detection time is recorded;

[0177] When valid detection data sent by the next group of laser ranging sensors is received for the first time, the second detection time is recorded;

[0178] The difference between the second detection time and the first detection time is determined as the travel time of the excavator.

[0179] In the embodiment of the present application, the actual speed of the excavator can be determined based on the time it takes for the excavator to travel a preset distance. The central control management module can determine the location of the excavator by first receiving valid data sent by a certain group of laser ranging sensors. Therefore, the actual speed of the excavator can be determined by the time interval between the first occurrence of valid detection data of two adjacent groups of laser ranging sensors and the preset distance.

[0180] Specifically, when the central control management module first receives valid detection data sent by the previous group of laser ranging sensors in two adjacent groups of laser ranging sensors, the moment can be recorded as the first detection time. When the central control management module first receives valid detection data sent by the next group of laser ranging sensors in two adjacent groups of laser ranging sensors, the moment can be recorded as the second detection time. The second detection time is subtracted from the first detection time to obtain the driving time taken by the excavator to travel the preset distance between the two adjacent groups of laser ranging sensors, and then the actual driving speed of the excavator is determined according to the driving time and the preset distance.

[0181] In an embodiment of the present application, the method may further include:

[0182] Get the current gear information of the excavator;

[0183] Determine the current standard speed of the excavator according to the gear information;

[0184] Determine the travel time of the excavator according to the detection data of two adjacent groups of laser ranging sensors at the current position of the excavator;

[0185] Determine the travel speed of the excavator based on the travel time and the preset distance;

[0186] Determine whether the driving speed is equal to the standard speed;

[0187] When the travel speed is lower than the standard speed, the control current of the excavator's travel hydraulic solenoid valve is increased;

[0188] When the travel speed is higher than the standard speed, the control current of the travel hydraulic solenoid valve of the excavator is reduced.

[0189] In an embodiment of the present application, the central control management module can be connected to the CAN bus of the excavator through the CAN interface to obtain the engine gear information of the excavator, and detect and debug the walking speed of the excavator in combination with the time intervals of data sent by multiple groups of laser ranging sensors within a fixed distance of the excavator, detect whether the actual driving speed of the excavator in the corresponding gear meets the requirements, and debug the excavator's travel hydraulic solenoid valve when it is detected that the actual driving speed of the excavator is not equal to the standard speed.

[0190] Specifically, the current gear information of the excavator is obtained, and the standard speed of the excavator in the current gear is determined according to the current gear information. In one example, the general excavator has two gears for travel, high gear and low gear. The maximum speed of the crawler excavator in high gear is 5km / h, and the maximum speed of the low gear is 3km / h. The travel time of the excavator is determined according to the detection data of the two adjacent groups of laser ranging sensors where the excavator is currently located. Among them, the two adjacent groups of laser ranging sensors where the excavator is currently located are the two adjacent groups of laser ranging sensors that report valid detection data, and the travel time of the excavator refers to the time taken by the excavator to travel from the upper group of laser ranging sensors in the two adjacent groups of laser ranging sensors to the next group of laser ranging sensors. Since the distance between the two adjacent groups of laser ranging sensors is a preset distance, the travel time is the time taken by the excavator to travel the set distance.

[0191] In an embodiment of the present application, the central control management module can determine the current travel speed of the excavator based on the travel time and the preset distance, and then compare the current travel speed of the excavator with the standard speed, and debug the travel hydraulic solenoid valve of the excavator according to the comparison result. When the actual travel speed of the excavator is lower than the standard speed, the central control management module can increase the control current of the travel hydraulic solenoid valve of the excavator to increase the travel speed of the excavator. When the actual travel speed of the excavator is greater than the standard speed, the central control management module can reduce the control current of the travel hydraulic solenoid valve of the excavator to reduce the travel speed of the excavator. Repeat the above debugging process until the excavator drives out of the debugging channel.

[0192] Through the above technical scheme, a method for debugging the excavator travel hydraulic solenoid valve is designed based on the system for debugging the excavator travel hydraulic solenoid valve. The central control management module can calculate the change in the angle of the debugging channel of the excavator's travel direction based on the detection data reported by multiple groups of laser ranging sensors, and according to the characteristics of the excavator's travel, realize the automatic debugging method of automatically adjusting the current of the excavator's travel hydraulic control solenoid valve through the central control management module. In addition, according to the installation distance of multiple groups of laser ranging sensors and the time it takes for the vehicle to travel to the effective test interval, the vehicle's travel speed is calculated, and the automatic debugging method of automatically adjusting the current of the travel solenoid valve according to the speed is realized through the central control management module. The present application can realize the automation of the excavator's travel debugging process, and the installation is simple, the system is reusable, and the hardware cost is reduced, while avoiding the mistakes and errors caused by manual work.

[0193] In a specific embodiment of the present application, 22 laser rangefinder sensors are arranged on the debugging channel, two by two in a group, a total of 11 groups of laser rangefinder sensors, and the central control management module is operated in a vehicle-mounted intelligent central control device, which is installed in the cab of the excavator. Its hardware structure also includes a human-computer interactive LED light. The red LED light indicates that the test is over or not ready, the green light indicates that it is ready and testing, and the blue light indicates that the test is completed and the result is normal. The laser rangefinder sensors are installed on both sides of the channel in a direction perpendicular to the channel, and the laser rangefinder sensors on the left and right sides are paired in pairs and laser-compared. The height at which the laser rangefinder is installed and the irradiation point are the wheel rim cover in the center of the excavator's track.

[0194] Figure 6 The following is a flow chart of an excavator debugging process provided by a specific embodiment of the present application. Figure 6 As shown in the figure, the specific debugging process of the excavator is as follows:

[0195] 1. When the central control management module is started, first confirm whether the CAN interface communication is normal, and read the gear information of the excavator's current travel and the current information of the left and right travel hydraulic control solenoid valves that have not been debugged. Traditional crawler excavators are divided into high-speed gears or low-speed gears.

[0196] 2. The management module confirms whether the WIFI connection is normal, and initiates a connection request with the 22 laser ranging sensor terminals in the same network segment through the configured sensor fixed IP information. After receiving the connection request, the laser ranging sensor terminal confirms the connection source and sends its own sensor code to the central control management module of the vehicle to be tested. The central control management module can perform pairing management based on the sensor code and IP to ensure that the sensor from which the data comes can be correctly matched.

[0197] 3. The management module will initiate a clock synchronization request for the 22 laser ranging sensors to ensure that the clock of each laser ranging sensor terminal is consistent to meet the needs of subsequent data processing.

[0198] 4. After the clock synchronization is completed, the 22 laser ranging sensor terminals will start to collect detection data and report the detection data to the central control management module in real time through the WIFI network. Each reported message contains the code, collection time and distance information of the laser ranging sensor. The reporting frequency is 10HZ, that is, the collection cycle of the detection data reported by the laser ranging sensor is 0.1 second / time.

[0199] 5. When the central control management module reads the vehicle gear information correctly and the detection data reported by all laser ranging sensor terminals can be received normally, the central control management module controls the LED light on the central control to display green. At this time, the excavator driver starts to push the walking operating lever and walks along the test channel until the end.

[0200] 6. When you reach the end point and the LED light outside the central control is blue, it means that the debugging is completed normally. When the LED light is red, it means that the debugging is abnormal and needs to be debugged again.

[0201] According to the above design process, the test begins. The driver first drives the excavator to the starting position of the test channel and engages the gear (taking high gear as an example). At this time, the central control management module has been normally connected to the vehicle's CAN bus and obtains the current values ​​of the left and right solenoid valves as A1 and A1 mA. Figure 5 The position of the excavator is between the laser ranging sensors L1 and R1, L2 and R2 (see sensor coding for details). Figure 5 Note), assuming that the width of the excavator body is 3 meters, and the width of the test channel is fixed at 6 meters. At this time, the central control management module has established connections with all sensors and obtained that the distance measured by L1 is 1.6 meters, the distance measured by R1 is 1.4 meters; the distance reported by L2 is 1.55 meters, and the distance reported by R2 is 1.45 meters.

[0202] According to the test logic of walking deviation, the central control management module calculates the first valid tanα = 0.025. The LED light on the central control intelligent terminal shows green. At this time, the driver starts to push the two operating levers to the maximum position according to the prompt of the LED light, so that the excavator can move forward at the maximum speed along the test channel according to the current direction.

[0203] When driving between L3 and R3, the data of L3 and R3 reported are 1.45 meters and 1.55 meters, and the second tanα is calculated to be 0.05

[0204] According to the previous calculation logic, it is judged that the excavator's walking direction has deviated to the left. The central control management module increases the value A1 of the left solenoid valve originally read by 5mA through the CAN interface and continues to move forward.

[0205] When traveling between L4 and R4, the data of L4 and R4 reported are 1.35 meters and 1.65 meters, and the third tanα=0.05 is calculated, which is consistent with the previous tanα value. Therefore, it is proved that the excavator does not deviate at this time, and there is no need to modify the current value of the solenoid valve.

[0206] By analogy, when the head of the excavator reaches the measurement interval of L3 and R3, the distance data of L3 and R3 received by the central control management module meets the conditions of valid data for the first time, and the start time T in the speed measurement logic is recorded at this time. 1。

[0207] When the head of the vehicle reaches the measurement interval of L4 and R4, the central control module receives the measurement data of L4 and R4 and begins to meet the conditions of valid measurement values. At this time, the speed measurement time T2 is recorded. Assuming that the difference between T2 and T1 is 1 second, the vehicle's driving speed V = 2 / 1 = 2 meters per second is greater than the maximum vehicle speed of 1.388 meters per second in high gear specified by the enterprise, and at the same time, the current of the walking hydraulic solenoid valves on both sides is reduced. If the current of the walking deviation also needs to be adjusted at this time, it needs to be calculated together.

[0208] For example, the excavator travels to L 10 and R 10 In the test interval, the current value of the left solenoid valve needs to be increased by 5mA through the logical judgment of walking deviation, and the current value of the left solenoid valve needs to be reduced by 10mA through the logical judgment of speed measurement, so the final change is (A1+5-10)mA

[0209] Through the algorithm calculation of the above-mentioned central control module and the entire sensor debugging system, the automatic adjustment of the hydraulic solenoid valve current of the excavator's walking deviation and walking speed is finally realized. The value of the solenoid valve current modified each time in the above implementation is just an example. The specific value needs to be determined according to the proportional relationship between the degree of vehicle walking deviation and the change of the solenoid valve current. The empirical value of the solenoid valve current change in automatic debugging is obtained through multiple tests.

[0210] The system for debugging the excavator travel hydraulic solenoid valve provided by the embodiment of the present application has the advantages of short testing time, small error, high information flow rate, low communication cost, etc. compared with manual measurement. The test process is standardized, the debugging process is automated, the qualification standard is clear, and the test results are directly applied to the vehicle, avoiding omissions and errors caused by manual operations.

[0211] Compared with adding a sensor measuring device, the system for debugging the excavator travel hydraulic solenoid valve provided by the embodiment of the present application has the advantages of simple installation, sensor reuse, and low cost. For excavator models that are not equipped with encoders, there is no need to change the vehicle hardware design, and there is no need to equip each factory equipment with sensors. Only the vehicle parameters of the vehicle central control module, such as the width and length of the vehicle body, need to be configured to realize the digitization and automation of the excavator travel test.

[0212] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may 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 may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0213] 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 generate 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.

[0214] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0215] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0216] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0217] 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.

[0218] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0219] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0220] The above are only 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 modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A system for debugging an excavator travel hydraulic solenoid valve, characterized in that: include: Debug channel; Multiple groups of laser ranging sensors are arranged on both sides of the debugging channel, communicate with the central control management module, and are configured to periodically collect multiple groups of detection data and send the multiple groups of detection data to the central control management module; The central control management module is arranged on the excavator and is configured to receive the multiple groups of detection data sent by the multiple groups of laser ranging sensors, and debug the travel hydraulic solenoid valve of the excavator according to the multiple groups of detection data until the excavator drives out of the debugging channel; The central control management module is also configured to: Get the number of valid detection data sets in multiple detection data sets in the current cycle; When the number of groups of valid detection data in the multiple groups of detection data in the current cycle is two, determining the current cycle as a current valid detection cycle; Determine a corresponding first deflection angle according to the valid detection data in the current valid detection period; Comparing the first deflection angle with the second deflection angle corresponding to the last valid detection cycle; Debugging a travel hydraulic solenoid valve of the excavator according to a comparison result of the first deflection angle and the second deflection angle; The first deflection angle and the second deflection angle are both angles between the moving direction of the excavator and the same side of the debugging channel.

2. The system according to claim 1, characterized in that Each group of laser ranging sensors in the multiple groups of laser ranging sensors includes a first laser ranging sensor and a second laser ranging sensor that are arranged opposite to each other. The first laser ranging sensor is arranged on a first side of the debugging channel, and the second laser ranging sensor is arranged on a second side of the debugging channel.

3. The system according to claim 1, characterized in that The interval distance between each two adjacent groups of laser ranging sensors in the multiple groups of laser ranging sensors is a preset distance, and the preset distance is greater than half the length of the body of the excavator and less than the length of the body of the excavator.

4. The system according to claim 1, characterized in that Each set of detection data in the plurality of sets of detection data includes a first distance and a second distance, the first distance being the distance between a first side of the excavator and a first side of the debugging channel, the second distance being the distance between a second side of the excavator and a second side of the debugging channel, and the central control management module is further configured as follows: Respectively determine the first distance, the second distance of each set of detection data, and the total distance obtained by adding the body length of the excavator; Determine the detection data whose total distance is less than or equal to the width of the debugging channel as a set of valid detection data; The number of groups of valid detection data in the multiple groups of detection data is counted.

5. The system according to claim 1, characterized in that The travel hydraulic solenoid valve of the excavator includes a first solenoid valve and a second solenoid valve, wherein the first solenoid valve is located on the left side of the excavator's travel direction, and the second solenoid valve is located on the right side of the excavator's travel direction, and the central control management module is further configured as follows: When the first deflection angle is greater than the second deflection angle, it is determined that the excavator deviates to the left side of the traveling direction, and the control current of the first solenoid valve is increased; When the first deflection angle is equal to the second deflection angle, it is determined that the excavator is not deviating, and the control current of the first solenoid valve and the second solenoid valve remains unchanged; When the first deflection angle is smaller than the second deflection angle, it is determined that the excavator deviates to the right side in the traveling direction, and the control current of the second solenoid valve is increased.

6. The system according to claim 1, characterized in that The central control management module is also configured to: Obtaining current gear information of the excavator; Determine the current standard speed of the excavator according to the gear information; Determining the travel time of the excavator according to detection data of two adjacent groups of laser ranging sensors at the current position of the excavator; Determining the travel speed of the excavator according to the travel time and the preset distance; determining whether the driving speed is equal to the standard speed; When the travel speed is lower than the standard speed, increasing the control current of the travel hydraulic solenoid valve of the excavator; When the travel speed is greater than the standard speed, the control current of the travel hydraulic solenoid valve of the excavator is reduced.

7. The system according to claim 6, characterized in that The two adjacent groups of laser ranging sensors include an upper group of laser ranging sensors and a lower group of laser ranging sensors, and the central control management module is further configured as follows: When valid detection data sent by the previous group of laser ranging sensors is received for the first time, the first detection time is recorded; When valid detection data sent by the next group of laser ranging sensors is received for the first time, the second detection time is recorded; The difference between the second detection time and the first detection time is determined as the travel time of the excavator.

8. A method for debugging an excavator travel hydraulic solenoid valve, characterized in that: Applied to a central control management module, the central control management module is arranged on an excavator, the central control management module communicates with a plurality of groups of laser ranging sensors, the plurality of groups of laser ranging sensors are arranged on both sides of a debugging channel, the method comprises: Receiving multiple groups of detection data periodically sent by the multiple groups of laser ranging sensors; Debugging the travel hydraulic solenoid valve of the excavator according to the multiple sets of detection data until the excavator drives out of the debugging channel; The debugging of the travel hydraulic solenoid valve of the excavator according to the multiple groups of detection data includes: Get the number of valid detection data sets in multiple detection data sets in the current cycle; When the number of groups of valid detection data in the multiple groups of detection data in the current cycle is two, determining the current cycle as a current valid detection cycle; Determine a corresponding first deflection angle according to the valid detection data in the current valid detection period; Comparing the first deflection angle with the second deflection angle corresponding to the last valid detection cycle; Debugging a travel hydraulic solenoid valve of the excavator according to a comparison result of the first deflection angle and the second deflection angle; The first deflection angle and the second deflection angle are both angles between the moving direction of the excavator and the same side of the debugging channel.

9. The method according to claim 8, characterized in that The interval distance between each two adjacent groups of laser ranging sensors in the multiple groups of laser ranging sensors is a preset distance, and the preset distance is greater than half the length of the body of the excavator and less than the length of the body of the excavator.

10. The method according to claim 8, characterized in that Each set of detection data in the multiple sets of detection data includes a first distance and a second distance, the first distance is the distance between the first side of the excavator and the first side of the debugging channel, and the second distance is the distance between the second side of the excavator and the second side of the debugging channel. The acquiring the number of valid detection data in the multiple sets of detection data in the current cycle includes: Respectively determine the first distance, the second distance of each set of detection data, and the total distance obtained by adding the body length of the excavator; Determine the detection data whose total distance is less than or equal to the width of the debugging channel as a set of valid detection data; The number of groups of valid detection data in the multiple groups of detection data is counted.

11. The method according to claim 8, characterized in that The travel hydraulic solenoid valve of the excavator includes a first solenoid valve and a second solenoid valve, wherein the first solenoid valve is located on the left side of the travel direction of the excavator, and the second solenoid valve is located on the right side of the travel direction of the excavator, and the debugging of the travel hydraulic solenoid valve of the excavator according to the comparison result of the first deflection angle and the second deflection angle includes: When the first deflection angle is greater than the second deflection angle, it is determined that the excavator deviates to the left side of the traveling direction, and the control current of the first solenoid valve is increased; When the first deflection angle is equal to the second deflection angle, it is determined that the excavator is not deviating, and the control current of the first solenoid valve and the second solenoid valve remains unchanged; When the first deflection angle is smaller than the second deflection angle, it is determined that the excavator deviates to the right side in the traveling direction, and the control current of the second solenoid valve is increased.

12. The method according to claim 8, characterized in that The method further comprises: Obtaining current gear information of the excavator; Determine the current standard speed of the excavator according to the gear information; Determining the travel time of the excavator according to detection data of two adjacent groups of laser ranging sensors at the current position of the excavator; Determining the travel speed of the excavator according to the travel time and the preset distance; determining whether the driving speed is equal to the standard speed; When the travel speed is lower than the standard speed, increasing the control current of the travel hydraulic solenoid valve of the excavator; When the travel speed is greater than the standard speed, the control current of the travel hydraulic solenoid valve of the excavator is reduced.

13. The method according to claim 12, characterized in that The two adjacent groups of laser ranging sensors include an upper group of laser ranging sensors and a lower group of laser ranging sensors, and the determining of the travel time of the excavator according to the detection data of the two adjacent groups of laser ranging sensors at the current position of the excavator includes: When valid detection data sent by the previous group of laser ranging sensors is received for the first time, the first detection time is recorded; When valid detection data sent by the next group of laser ranging sensors is received for the first time, the second detection time is recorded; The difference between the second detection time and the first detection time is determined as the travel time of the excavator.

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