Control method, device and electronic equipment for excavator

Abstract

The present disclosure provides a control method and device of an excavator and an electronic device, and relates to the technical field of control. The technical problem of control hysteresis of the excavator when the bucket keeps a specified posture is solved. The method comprises the following steps: obtaining first joint angles of a bucket joint, a large arm joint and a small arm joint before the bucket keeps a specified bucket posture; obtaining second joint angles and joint angular velocities of the large arm joint and the small arm joint after the bucket keeps the specified bucket posture; determining a target joint angle that the bucket joint should reach after the bucket keeps the specified bucket posture according to the first joint angles and the second joint angles; determining a target joint angular velocity that the bucket joint should reach after the bucket keeps the specified bucket posture according to the joint angular velocities; and controlling movement of the bucket joint based on the target joint angle and the target joint angular velocity.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of control, and in particular to a control method and device of a excavator and an electronic device. BACKGROUND

[0002] During operation, the excavator usually needs to lock the attitude angle of the bucket relative to the ground plane unchanged, such as keeping the bucket horizontal during the process of transporting materials in the bucket with the excavator arm, to avoid material spilling. Currently, the excavator master needs to manually adjust the joint movement of the large arm, small arm and bucket of the excavator to ensure that the bucket attitude is unchanged, which is difficult and low in precision in actual operation.

[0003] Currently, automatic control technology is used to realize the follow-up control of the bucket attitude, which is mainly based on the sensing joint angle feedback adjustment control. However, this automatic control has a certain hysteresis. SUMMARY

[0004] The purpose of the present disclosure is to provide a control method and device of a excavator and an electronic device to alleviate the technical problem of hysteresis in control when the excavator operates with the bucket maintaining a specified attitude.

[0005] In a first aspect, the embodiments of the present disclosure provide a control method of a excavator, the excavator comprising a cabin, a large arm, a small arm and a bucket; the method comprising:

[0006] obtaining first joint angles of a bucket joint, a large arm joint and a small arm joint before the bucket maintains a specified bucket attitude; wherein the bucket joint is a joint connecting the bucket and the small arm, the small arm joint is a joint connecting the small arm and the large arm, and the large arm joint is a joint connecting the large arm and the cabin;

[0007] obtaining second joint angles and joint angular velocities of the large arm joint and the small arm joint after the bucket maintains the specified bucket attitude;

[0008] determining a target joint angle that the bucket joint should reach after the bucket maintains the specified bucket attitude according to the first joint angle and the second joint angle;

[0009] determining a target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket attitude according to the joint angular velocity;

[0010] controlling the movement of the bucket joint based on the target joint angle and the target joint angular velocity.

[0011] In a second aspect, a control device of a excavator is provided, the excavator comprising a cabin, a large arm, a small arm and a bucket; comprising:

[0012] a first obtaining module, configured to obtain first joint angles of a bucket joint, a large arm joint and a small arm joint before the bucket maintains a specified bucket posture, wherein the bucket joint is a joint at which the bucket is connected to the small arm, the small arm joint is a joint at which the small arm is connected to the large arm, and the large arm joint is a joint at which the large arm is connected to the cabin;

[0013] a second obtaining module, configured to obtain second joint angles and joint angular velocities of the large arm joint and the small arm joint after the bucket maintains the specified bucket posture;

[0014] a first determining module, configured to determine, according to the first joint angles and the second joint angles, a target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture;

[0015] a second determining module, configured to determine, according to the joint angular velocities, a target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture;

[0016] a control module, configured to control movement of the bucket joint based on the target joint angle and the target joint angular velocity.

[0017] In a third aspect, an electronic device is provided, including a memory and a processor, the memory storing a computer program executable on the processor, and the processor implements the method of the first aspect when executing the computer program.

[0018] In a fourth aspect, a computer readable storage medium is provided, storing computer executable instructions, and the computer executable instructions, when invoked and executed by a processor, cause the processor to execute the method of the first aspect.

[0019] The embodiments of the present disclosure bring the following beneficial effects:

[0020] The control method, device and electronic equipment of the excavator provided by the embodiments of the present disclosure can obtain a first joint angle of a bucket joint, a large arm joint and a small arm joint before the bucket maintains a specified bucket posture, wherein the bucket joint is a joint connecting the bucket and the small arm, the small arm joint is a joint connecting the small arm and the large arm, and the large arm joint is a joint connecting the large arm and the cabin; a second joint angle and a joint angular velocity of the large arm joint and the small arm joint after the bucket maintains the specified bucket posture are obtained; then, a target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture is determined according to the first joint angle and the second joint angle, and a target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture is determined according to the joint angular velocity; and finally, the bucket joint is controlled to move based on the target joint angle and the target joint angular velocity. In the present scheme, in order to control the posture angle of the bucket relative to the horizontal plane to be unchanged when the large arm and the small arm joints of the excavator move arbitrarily, the basis for controlling the movement of the bucket joint not only includes the joint angle but also the angular velocity. Not only can the accumulated error of the angle caused by using only the speed control be eliminated based on the position feedback adjustment term, but also the speed term can realize timely response to the different operation speeds of the excavator arm, realize adaptive control speed, that is, the bucket follow-up control is controlled by joint angle and angular velocity joint adjustment, which can adapt to the movement and control speed of the large arm and the small arm of the excavator, realize the excavator bucket posture maintaining control with adaptive operation speed, dynamically adapt to different arm movement speeds, achieve the effect that the bucket posture is globally unchanged during arbitrary remote control movement of the arm, and can also eliminate the global accumulated error of the bucket lock angle according to the angle information of the large arm and the small arm, thereby relieving the technical problem of control hysteresis when the excavator runs under the condition that the bucket maintains the specified posture.

[0021] In order to make the above objectives, characteristics and advantages of the present disclosure more apparent and easy to understand, the following will describe a preferred embodiment in detail, and the accompanying drawings will be described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present disclosure, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0023] Figure 1 The flowchart of the control method of the excavator provided by the embodiments of the present disclosure is shown in the figure;

[0024] Figure 2 Another flowchart of the control method of the excavator provided by the embodiments of the present disclosure is shown in the figure;

[0025] Figure 3An example of a size arm remote control speed corresponding to a bucket posture holding error provided by an embodiment of the present disclosure is provided.

[0026] Figure 4 An example of an inclination sensor installed on a general excavator model provided by an embodiment of the present disclosure is provided.

[0027] Figure 5 An example of a straight arm excavator model provided by an embodiment of the present disclosure is provided.

[0028] Figure 6 A structural schematic diagram of a control device of an excavator provided by an embodiment of the present disclosure is provided.

[0029] Figure 7 A structural schematic diagram of an electronic device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the present disclosure will be described below in connection with the drawings, obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present disclosure.

[0031] The terms "comprise" and "have" and any variations thereof mentioned in the embodiments of the present disclosure are intended to cover the inclusions without exclusivity. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally further comprises other steps or units not listed, or optionally further comprises other steps or units inherent to the process, method, product or device.

[0032] At present, the follow-up control of the bucket posture can be realized by using automatic control technology, which is mainly based on the perception of joint angle feedback adjustment control. This automatic control has certain hysteresis and the control speed is not smooth enough.

[0033] For example, the large arm, the small arm and the bucket joint of the excavator are manually controlled by relying on the experience of the excavator operator, and the bucket posture is adjusted while moving the bucket to realize the invariable bucket posture. This traditional manual method requires the excavator operator to have high operating experience, and the operation has hysteresis, inaccuracy and low efficiency.

[0034] For example, the angle between the bucket and the horizontal plane is calculated based on the joint angle information of the large arm, the small arm and the bucket, and the bucket rotation is adjusted according to the change of the current attitude angle of the bucket to keep the bucket attitude unchanged. This method can realize global invariable bucket attitude without cumulative error, but this control method still has hysteresis because it is adjusted according to the attitude feedback after the joint movement of the excavator arm, and the control speed is not smooth because it is controlled only based on the angle feedback.

[0035] For another example, the reverse speed of the bucket is calculated based on the control speed or the current angular velocity of the large arm and the small arm at the next time, and theoretically, the influence of the attitude change caused by the movement of the large arm and the small arm can be eliminated by controlling the reverse rotation speed of the bucket. However, the control error of the joint speed of the excavator usually exists, and this method will accumulate the control error and cannot eliminate the global cumulative error of the bucket angle lock.

[0036] Therefore, the embodiments of the present disclosure provide a control method, device and electronic equipment for an excavator, which can alleviate the technical problem of hysteresis in the control of the excavator when the bucket keeps a specified attitude.

[0037] The embodiments of the present disclosure will be further described below with reference to the drawings.

[0038] Figure 1 A flowchart of a control method for an excavator is provided. The method can be applied to an electronic device. The excavator includes a cabin, a large arm, a small arm and a bucket. As shown in the figure, the method includes the following steps. Figure 1

[0039] In step S110, the first joint angles of the bucket joint, the large arm joint and the small arm joint before the bucket keeps a specified bucket attitude are obtained.

[0040] The bucket joint is the joint between the bucket and the small arm, the large arm joint is the joint between the small arm and the large arm, and the large arm joint is the joint between the large arm and the cabin.

[0041] In actual application, the specified bucket attitude is represented by the attitude angle of the bucket relative to the horizontal plane to represent the specified bucket attitude more accurately.

[0042] In this step, the first joint angles of the bucket joint, the large arm joint and the small arm joint at the last time before the bucket keeps a specified bucket attitude are obtained, so that the data read before keeping the specified bucket attitude is more accurate. For example, as shown in the figure, the joint angles of the large arm, the small arm and the bucket before the bucket lock are recorded at the beginning of the bucket lock, for example, the large arm joint angle Figure 2 the small arm joint angle ​​Bucket joint included angle

[0043] In step S120, the second joint angles and joint angular velocities of the large arm joint and the small arm joint after the bucket maintains the specified bucket posture are obtained.

[0044] In actual application, the second joint angles and joint angular velocities of the large arm joint and the small arm joint at corresponding time points every specified operation period after the bucket maintains the specified bucket posture are obtained, so as to obtain real-time data of joint angles and joint angular velocities every certain time. For example, in each control period i (0.01 second) after the bucket posture locking control starts, the joint included angles of the current large arm and small arm are first read And

[0045] In step S130, the target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture is determined according to the first joint angle and the second joint angle.

[0046] For example, the target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture can be calculated by formula using the bucket joint angle in the first joint angle, the large arm joint angle in the first joint angle, the small arm joint angle in the first joint angle, the large arm joint angle in the second joint angle, and the small arm joint angle in the second joint angle.

[0047] In step S140, the target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture is determined according to the joint angular velocity.

[0048] As a possible implementation, the target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture can be calculated by formula using the large arm joint angular velocity in the joint angular velocity and the small arm joint angular velocity in the joint angular velocity.

[0049] In step S150, the bucket joint is controlled to move based on the target joint angle and the target joint angular velocity.

[0050] For example, the control angular velocity output for the bucket joint can be first calculated according to the target joint angle, the target joint angular velocity, and the third joint angle of the bucket joint after the bucket maintains the specified bucket posture, and then the bucket joint is controlled to move according to the control angular velocity.

[0051] In the process of maintaining the bucket posture by using the method provided by the embodiments of the present disclosure, a changed Cartesian space remote control signal is sent to the excavator, such as Figure 3As shown in the figure, the upper graph represents the remote control speed of the upper arm and the lower arm, and the lower graph represents the bucket posture holding error. During the low-speed remote control period of 0-15s, the average angle error of the bucket lock is 0.764 rad, during the middle period of 15-70s, the average angle error is 3.274 rad, and after the final end, the bucket still maintains the initial posture deviation of 0.24 rad.

[0052] It should be noted that the 0-15s and 15-17s are calculated as the average value of the angle error at each time, and the final error after the control ends is only 0.24, which indicates that the controller can eliminate the cumulative error generated before. It is difficult to achieve very low control accuracy because the speed of the external control changes too fast and the environmental interference is too large, but through the method provided in the embodiment of the present disclosure, the cumulative error is reduced at each time.

[0053] For the above-mentioned sending a changing Cartesian space remote control signal to the excavator, the linear speed of the arm end can be artificially remotely controlled, the x-axis speed is equivalent to the forward and backward movement speed of the arm end (or the bucket), and the z-axis speed is equivalent to the up and down movement speed of the arm end (or the bucket). The remote control signal is used to make the bucket move randomly in the working space at different speeds, which can be a user remote control linear speed or a driving cab control upper arm and lower arm free movement. As can be seen, through the method provided in the embodiment of the present disclosure, when the upper arm and lower arm are free and violent movement (such as vibration), the control ability of the bucket lock can resist the change of the posture of the bucket caused by the movement of the upper arm and lower arm.

[0054] In the embodiment of the present disclosure, when the upper arm and lower arm joints of the excavator are arbitrarily moved, in order to control the posture angle of the bucket relative to the horizontal plane to be unchanged, the basis for controlling the joint movement of the bucket not only includes the joint angle but also includes the angular velocity. Not only can the cumulative angle error caused by using only speed control be eliminated based on the position feedback adjustment term, but the speed term can also realize timely response to the different operation speeds of the excavator arm, realize control speed self-adaptation, that is, through joint angle and angular velocity joint adjustment, the bucket follow-up control can adapt to the movement and control speed of the upper arm and lower arm of the excavator, realize the posture holding control of the bucket of the excavator with working speed self-adaptation, dynamically adapt to different arm movement speeds, achieve the effect of globally keeping the posture of the bucket unchanged during arbitrary remote control movement of the arm, and also can eliminate the global cumulative error of the bucket lock angle according to the angle information of the upper arm and lower arm, alleviate the technical problems of hysteresis and speed instability based on angle feedback control, improve the working precision and efficiency of the excavator, and is beneficial to the excavator working tasks such as material conveying, flat ground and other tasks that require the posture of the bucket to remain unchanged.

[0055] The above steps will be described in detail below.

[0056] In some embodiments, the control angular velocity output for the bucket joint can be determined first, and then the bucket joint movement is controlled according to the control angular velocity, so that the control of the bucket joint movement is more accurate. As an example, the above step S150 can include the following steps:

[0057] Step a), determining the control angular velocity output for the bucket joint according to the target joint angle, the target joint angular velocity, and the third joint angle of the bucket joint after the bucket maintains the specified bucket posture;

[0058] Step b), controlling the bucket joint movement based on the control angular velocity.

[0059] In actual applications, the output bucket control velocity is controlled by an already implemented joint velocity controller (bucket lock follow-up controller) to control the bucket to complete the movement of the specified velocity. For example, the output of the bucket lock follow-up controller is the bucket joint velocity, which is sent to the underlying joint velocity controller for execution. The velocity controller controls the bucket rotation according to the sent angular velocity command and the actual angular velocity measured by the inclination sensor using a feedforward combined feedback adjustment method to achieve the angular velocity command output by the bucket lock follow-up controller.

[0060] In the embodiments of the present disclosure, by determining the control angular velocity output for the bucket joint first and then controlling the bucket joint movement according to the control angular velocity, the control of the bucket joint movement is more accurate.

[0061] Based on the above steps a) and b), the target joint angular velocity, the target joint angle, and the third joint angle of the bucket joint after the bucket maintains the specified bucket posture can be used to determine the control angular velocity output for the bucket joint through a specific formula, so as to eliminate the angle accumulation error caused by using only the velocity control, and the velocity term can realize the timely response to the different operation speeds of the excavator arm, and realize the adaptive control velocity. As an example, the above step a) can include the following steps:

[0062] Step c), determining the control angular velocity output for the bucket joint through the following formula:

[0063]

[0064] wherein, is the target joint angular velocity; pid is a proportional integral derivative (PID) control system; is the target joint angle; is the third joint angle of the bucket joint after the bucket maintains the specified bucket posture.

[0065] In practical applications, the control velocity that the bucket joint should output at each current time after the bucket joint keeps the specified bucket posture can be calculated by the above formula. The adjustment term based on position feedback can eliminate the angle cumulative error caused by using only velocity control, and the velocity term can achieve timely response to different operation speeds of the excavator arm and realize adaptive control velocity.

[0066] In some embodiments, the bucket joint angle, the large arm joint angle, and the small arm joint angle can be used to determine the target joint angle that the bucket joint should reach after the bucket keeps the specified bucket posture by a specific formula, so that the target joint angle data that the bucket joint should reach is more accurate. As an example, the above step S130 can include the following steps:

[0067] Step d), determining the target joint angle that the bucket joint should reach after the bucket keeps the specified bucket posture by the following formula:

[0068]

[0069] wherein, is the bucket joint angle in the first joint angle;

[0070] is the large arm joint angle in the first joint angle;

[0071] is the small arm joint angle in the first joint angle; is the large arm joint angle in the second joint angle; is the small arm joint angle in the second joint angle.

[0072] In practical applications, and The current joint angle between the large arm and the small arm at each time after the bucket keeps the specified bucket posture can be calculated to ensure that the bucket posture does not change, and the target angle that the bucket joint should reach at each time, so that the target joint angle data that the bucket joint should reach at each time is more accurate.

[0073] In some embodiments, the angular velocity of each joint is used to determine the target joint angular velocity that the bucket joint should reach after the bucket keeps the specified bucket posture by a specific formula, so that the target joint angular velocity that the bucket joint should reach is calculated more accurately. As an example, the above step S140 can include the following steps:

[0074] Step e), determining the target joint angular velocity that the bucket joint should reach after the bucket keeps the specified bucket posture by the following formula:

[0075]

[0076] wherein, is the large arm joint angle velocity among the joint angle velocities; is the small arm joint angle velocity among the joint angle velocities.

[0077] It should be noted that, and The control velocity or the measured velocity of the current large arm and small arm joints at each time point after the bucket maintains the specified bucket posture can be obtained to ensure that the movement velocity of the bucket joints to maintain the unchanged bucket posture can be calculated more accurately at each time point.

[0078] In some embodiments, the joint angles of the respective joints can be obtained through the inclination sensors installed at the respective joints, so that the joint angles of the respective joints are more in line with the actual situation. As an example, inclination sensors are installed on the bucket joint, the large arm joint and the small arm joint respectively, and the inclination sensors are used to measure the inclination angle between the surface where the inclination sensor is installed and the horizontal plane; the joint angles of the bucket joint, the large arm joint and the small arm joint are obtained based on the inclination angle.

[0079] For example, as shown in FIG. 1, T1, T2, T3 and T4 are horizontal inclination sensors installed on the surfaces of the large arm, the small arm, the bucket and the cabin respectively, and these sensors can measure the inclination angle between the installation surface and the horizontal plane in real time. Figure 4

[0080] In the embodiments of the present disclosure, the joint angles of the respective joints are obtained through the inclination sensors installed at the respective joints, so that the data values of the joint angles of the respective joints are more in line with the actual situation at that time.

[0081] Based on this, the joint angles of the respective joints can be obtained through calculation based on the inclination angles measured by the inclination sensors at the respective joints, so that the finally obtained joint angles of the respective joints are more accurate. As an example, the joint angle a1 of the large arm joint, the joint angle a2 of the small arm joint and the joint angle a3 of the bucket joint are obtained through the following formula based on the inclination angles:

[0082]

[0083] wherein, k, m, n are preset angle conversion equation parameters; θ1 is the inclination angle measured by the inclination sensor at the large arm joint, θ2 is the inclination angle measured by the inclination sensor at the small arm joint, θ3 is the inclination angle measured by the inclination sensor at the bucket joint, and θ4 is the inclination angle measured by the inclination sensor at the cabin.

[0084] For the relationship between the joint information and the inclination sensor readings, for example, as shown in FIG. 2, the inclination sensors are installed on the surfaces of the large arm, the small arm, the bucket and the cabin respectively, and the inclination sensors are used to measure the inclination angle between the installation surface and the horizontal plane. Figure 4 ​As shown in the figure, T1, T2, T3, and T4 are horizontal tilt sensors mounted on the boom, arm, bucket, and cabin, respectively. These sensors measure the inclination angle between the mounting surface and the ground in real time. Because the plane on which the tilt sensors are mounted is generally not parallel to the joint lines of the excavator, the joint angles required by the control algorithm are usually converted from the tilt sensor readings.

[0085] like Figure 5 As shown, the measured values ​​of the inclination sensors T1, T2, T3, and T4 are θ1, θ2, θ3, and θ4 respectively, with the upward direction relative to the horizontal plane being positive and the downward direction being negative. α1, the angle of the forearm joint is α2, and the bucket joint angle ABH is α3. Figure 5 As shown, Since T1 is rigidly mounted on the boom, the angle Is a fixed value. Since T2 is rigidly mounted on the forearm, the angle Is a fixed value. Since T3 is rigidly mounted on the forearm, the angle is a constant. Combining the constant terms in the formula yields:

[0086]

[0087] Among them, k, m, and n are the parameters of the angle conversion equation that need to be calibrated in advance.

[0088] The joint angles of each joint are calculated using the inclination angles measured by the inclination sensors at each joint, so that the joint angles of each joint finally calculated are more accurately consistent with the actual data.

[0089] In some embodiments, the joint angular velocity of each joint can be obtained using an inclination sensor installed at each joint, so that the joint angular velocity of each joint is more consistent with actual conditions. As an example, the inclination sensor is also used to measure the inclination angular velocity between the surface where the inclination sensor is installed and the horizontal plane; the joint angular velocity of the bucket joint, the upper arm joint, and the lower arm joint is obtained based on the inclination angular velocity.

[0090] In the disclosed embodiment, the joint angular velocity of each joint is obtained by installing an inclination sensor at each joint, so that the data value of the joint angular velocity of each joint can be more consistent with the actual situation at the time.

[0091] Based on this, the joint angular velocity of each joint can be calculated based on the inclination angular velocity measured by the inclination angle sensor at each joint, so that the finally calculated joint angular velocity of each joint is more accurate and conforms to the actual data. As an example, the joint angular velocity ω1 of the boom joint, the joint angular velocity ω2 of the arm joint, and the joint angular velocity ω3 of the bucket joint are obtained based on the inclination angular velocity by the following formula:

[0092]

[0093] wherein, is the inclination angular velocity measured by the corresponding inclination angle sensor at the boom joint; is the inclination angular velocity measured by the corresponding inclination angle sensor at the arm joint; is the inclination angular velocity measured by the corresponding inclination angle sensor at the bucket joint; is the inclination angular velocity measured by the corresponding inclination angle sensor at the cabin.

[0094] In actual application, the derivation of the above formula for calculating the joint angle of each joint can obtain the relationship between the three joint angular velocities (ω1, ω2, ω3) and the angular velocity measurement values φ1, φ2, φ3, φ4 of the inclination angle sensors T1, T2, T3, T4:

[0095]

[0096] The joint angular velocity of each joint is calculated based on the inclination angular velocity measured by the inclination angle sensor at each joint, so that the finally calculated joint angular velocity of each joint is more accurate and conforms to the actual data.

[0097] In some embodiments, if the control of maintaining the specified bucket posture is continued, the steps after the start of the cycle can be executed to maintain the control of maintaining the specified bucket posture more stably. As an example, the method can further include the following steps:

[0098] Step f), if the setting of maintaining the specified bucket posture is reset, the steps of obtaining the first joint angles of the bucket joint, the boom joint and the arm joint before the bucket maintains the specified bucket posture are executed from the beginning.

[0099] As shown in Figure 2 if the lock control is continued, i.e. the setting of maintaining the specified bucket posture, the steps of calculating the target angle of the bucket joint based on the current joint included angle of the boom and the arm are executed from the beginning.

[0100] In the embodiments of the present disclosure, if the user wants to continue the control of maintaining the specified bucket posture, the steps after the start of the cycle can be continued to execute, so that the control of maintaining the specified bucket posture can be more stable.

[0101] Figure 6 A structural diagram of a control device of an excavator is provided. The excavator includes a cab, a large arm, a small arm, and a bucket. As shown in the figure, the control device 600 of the excavator includes: Figure 6

[0102] A first obtaining module 601 is configured to obtain first joint angles of a bucket joint, a large arm joint, and a small arm joint before the bucket maintains a specified bucket posture; wherein the bucket joint is a joint at which the bucket is connected to the small arm, the small arm joint is a joint at which the small arm is connected to the large arm, and the large arm joint is a joint at which the large arm is connected to the cab.

[0103] A second obtaining module 602 is configured to obtain second joint angles and joint angular velocities of the large arm joint and the small arm joint after the bucket maintains the specified bucket posture.

[0104] A first determining module 603 is configured to determine, according to the first joint angles and the second joint angles, a target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture.

[0105] A second determining module 604 is configured to determine, according to the joint angular velocities, a target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture.

[0106] A control module 605 is configured to control movement of the bucket joint based on the target joint angle and the target joint angular velocity.

[0107] In the foregoing manner, in order to control the posture angle of the bucket relative to the horizontal plane to remain unchanged when the large arm and the small arm joints of the excavator are arbitrarily moved, the basis for controlling the movement of the bucket joint includes not only the joint angle but also the angular velocity. Not only can the accumulated error in the angle caused by using only speed control be eliminated based on the adjustment term of the position feedback, but the speed term can also achieve timely response to different operating speeds of the arm of the excavator, thereby realizing adaptive control speed, i.e., the joint angle and the angular velocity are jointly adjusted to control the follow-up control of the bucket, which can adapt to the movement and control speed of the large arm and the small arm of the excavator, thereby realizing posture maintaining control of the bucket of the excavator with adaptive operation speed, dynamically adapting to different arm movement speeds to achieve the effect of globally maintaining the posture of the bucket unchanged during arbitrary remote control movement of the arm, and eliminating the global accumulated error of the locked angle of the bucket according to the angle information of the large arm and the small arm, thereby alleviating the technical problems of hysteresis and speed instability based on angle feedback control, improving the operation precision and efficiency of the excavator, and being beneficial to excavator operation tasks such as transporting materials with the bucket maintaining the horizontal posture, and the like, which require the posture of the bucket to remain unchanged.

[0108] ​In an implementable embodiment, the control module is specifically configured to:

[0109] determine a control angular velocity output for the bucket joint according to the target joint angle, the target joint angular velocity, and a third joint angle of the bucket joint after the bucket maintains the specified bucket posture;

[0110] control the bucket joint to move based on the control angular velocity.

[0111] In an implementable embodiment, the control module is further configured to:

[0112] determine a control angular velocity output for the bucket joint according to the following formula:

[0113]

[0114] wherein, is the target joint angular velocity; pid is a proportional-integral-derivative control system; is the target joint angle; is the third joint angle of the bucket joint after the bucket maintains the specified bucket posture.

[0115] In an implementable embodiment, the specified bucket posture is represented by a posture angle of the bucket relative to a horizontal plane.

[0116] In an implementable embodiment, the first determination module is specifically configured to:

[0117] determine a target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture according to the following formula:

[0118]

[0119] wherein, is a bucket joint angle in the first joint angle;

[0120] is a large arm joint angle in the first joint angle;

[0121] is a small arm joint angle in the first joint angle; is a large arm joint angle in the second joint angle; is a small arm joint angle in the second joint angle.

[0122] In an implementable embodiment, the second determination module is specifically configured to:

[0123] A target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture is determined by the following formula:

[0124]

[0125] wherein, is a large arm joint angular velocity in the joint angular velocity; is a small arm joint angular velocity in the joint angular velocity.

[0126] In a feasible implementation, the second acquisition module is specifically configured to:

[0127] acquire second joint angles and joint angular velocities of the bucket joint, the large arm joint and the small arm joint at corresponding time points every specified operation period after the bucket maintains the specified bucket posture.

[0128] In a feasible implementation, the first acquisition module is specifically configured to:

[0129] acquire first joint angles of the bucket joint, the large arm joint and the small arm joint at a last time point before the bucket maintains the specified bucket posture.

[0130] In a feasible implementation, an inclination sensor is installed on each of the bucket joint, the large arm joint and the small arm joint, and the inclination sensor is used to measure an inclination angle between a surface where the inclination sensor is installed and a horizontal plane; the joint angles of the bucket joint, the large arm joint and the small arm joint are acquired based on the inclination angle.

[0131] In a feasible implementation, the joint angle α1 of the large arm joint, the joint angle α2 of the small arm joint and the joint angle α3 of the bucket joint are acquired based on the inclination angle by the following formula:

[0132]

[0133] wherein, k, m, n are preset angle conversion equation parameters; θ1 is an inclination angle measured by a corresponding inclination sensor at the large arm joint, θ2 is an inclination angle measured by a corresponding inclination sensor at the small arm joint, θ3 is an inclination angle measured by a corresponding inclination sensor at the bucket joint, and θ4 is an inclination angle measured by a corresponding inclination sensor at the cabin.

[0134] In a feasible implementation, the inclination sensor is further used to measure an inclination angular velocity between a surface where the inclination sensor is installed and a horizontal plane; the joint angular velocities of the bucket joint, the large arm joint and the small arm joint are acquired based on the inclination angular velocity.

[0135] In one possible implementation, the joint angular velocity ω1 of the large arm joint, the joint angular velocity ω2 of the small arm joint, and the joint angular velocity ω3 of the bucket joint are obtained based on the tilt angular velocity by the following formulas:

[0136]

[0137] wherein, is the tilt angular velocity measured by a corresponding tilt angle sensor at the large arm joint; is the tilt angular velocity measured by a corresponding tilt angle sensor at the small arm joint; is the tilt angular velocity measured by a corresponding tilt angle sensor at the bucket joint; is the tilt angular velocity measured by a corresponding tilt angle sensor at the cab.

[0138] In one possible implementation, the method further comprises:

[0139] resetting the module, if the bucket maintains the specified bucket posture, the setting is reset, starting from the step of obtaining the first joint angle of the bucket joint, the large arm joint, and the small arm joint before the bucket maintains the specified bucket posture.

[0140] The control device of the excavator provided by the embodiments of the present disclosure has the same technical features as the control method of the excavator provided by the above embodiments, and can solve the same technical problems and achieve the same technical effects.

[0141] Figure 7 A structural schematic diagram of an electronic device provided by an embodiment of the present disclosure is shown, which includes a processor 701, a storage medium 702, and a bus 703. The storage medium 702 stores machine-readable instructions executable by the processor 701. When the electronic device runs a control method of an excavator as in an embodiment, the processor 701 communicates with the storage medium 702 through the bus 703. The processor 701 executes the machine-readable instructions, and the processor 701 performs the pre-sequential part of the method item to perform the following steps:

[0142] obtaining the first joint angle of the bucket joint, the large arm joint, and the small arm joint before the bucket maintains the specified bucket posture; wherein the bucket joint is the joint connecting the bucket and the small arm, the small arm joint is the joint connecting the small arm and the large arm, and the large arm joint is the joint connecting the large arm and the cab;

[0143] obtaining the second joint angle and the joint angular velocity of the large arm joint and the small arm joint after the bucket maintains the specified bucket posture;

[0144] determining a target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture according to the first joint angle and the second joint angle;

[0145] determining a target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture according to the joint angular velocity;

[0146] controlling the bucket joint movement based on the target joint angle and the target joint angular velocity.

[0147] In the above manner, in order to control the posture angle of the bucket relative to the horizontal plane to be unchanged when the excavator boom and arm joints are arbitrarily moved, the basis for controlling the bucket joint movement includes not only the joint angle but also the angular velocity. Not only can the angle cumulative error caused by using only speed control be eliminated based on the position feedback adjustment term, but the speed term can also achieve timely response to different operating speeds of the excavator arm, realize adaptive control speed, that is, through joint angle and angular velocity joint adjustment, the bucket follow-up control can adapt to the movement and control speed of the excavator boom and arm, realize the excavator bucket posture maintaining control with adaptive operation speed, dynamically adapt to different arm movement speeds to achieve the effect of globally maintaining the bucket posture unchanged during arbitrary remote control movement of the arm, and can also eliminate the global cumulative error of the bucket lock angle according to the angle information of the boom and arm, alleviate the technical problems of hysteresis and speed instability based on angle feedback control, improve the operation precision and efficiency of the excavator, and is beneficial to the excavator operation tasks such as bucket maintaining horizontal conveying materials, flat ground, and other tasks that require the bucket posture to remain unchanged.

[0148] In a feasible implementation, the processor 701, when performing the controlling the bucket joint movement based on the target joint angle and the target joint angular velocity, is specifically configured to:

[0149] determining a control angular velocity output for the bucket joint according to the target joint angle, the target joint angular velocity, and a third joint angle of the bucket joint after the bucket maintains the specified bucket posture;

[0150] controlling the bucket joint movement based on the control angular velocity.

[0151] In a feasible implementation, the processor 701, when performing the determining a control angular velocity output for the bucket joint according to the target joint angle, the target joint angular velocity, and a third joint angle of the bucket joint after the bucket maintains the specified bucket posture, is specifically configured to:

[0152] determining the control angular velocity output for the bucket joint through the following formula:

[0153]

[0154] wherein, is the target joint angular velocity; pid is a proportional-integral-derivative control control system; is the target joint angle; is a third joint angle of the bucket joint after the bucket maintains the specified bucket posture.

[0155] In a feasible implementation, the specified bucket posture is represented by a posture angle of the bucket relative to a horizontal plane.

[0156] In a feasible implementation, the processor 701, in determining the target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture according to the first joint angle and the second joint angle, is specifically configured to:

[0157] determine the target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture according to the following formula:

[0158]

[0159] wherein, is a bucket joint angle in the first joint angle;

[0160] is a large arm joint angle in the first joint angle;

[0161] is a small arm joint angle in the first joint angle; is a large arm joint angle in the second joint angle; is a small arm joint angle in the second joint angle.

[0162] In a feasible implementation, the processor 701, in determining the target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture according to the joint angular velocity, is specifically configured to:

[0163] determine the target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture according to the following formula:

[0164]

[0165] wherein, is a large arm joint angular velocity in the joint angular velocity; is a small arm joint angular velocity in the joint angular velocity.

[0166] In an implementation, the processor 701, when performing the obtaining the second joint angles and joint angular velocities of the boom joint and the arm joint after the bucket maintains the specified bucket posture, is specifically configured to:

[0167] obtaining the second joint angles and joint angular velocities of the boom joint and the arm joint at corresponding time points every specified operation period after the bucket maintains the specified bucket posture.

[0168] In an implementation, the processor 701, when performing the obtaining the first joint angles of the bucket joint, the boom joint and the arm joint before the bucket maintains the specified bucket posture, is specifically configured to:

[0169] obtaining the first joint angles of the bucket joint, the boom joint and the arm joint at the last time point before the bucket maintains the specified bucket posture.

[0170] In an implementation, an inclination sensor is installed on each of the bucket joint, the boom joint and the arm joint, and the inclination sensor is configured to measure an inclination angle between a surface where the inclination sensor is installed and a horizontal plane; and the joint angles of the bucket joint, the boom joint and the arm joint are obtained based on the inclination angle.

[0171] In an implementation, the joint angle α1 of the boom joint, the joint angle α2 of the arm joint and the joint angle α3 of the bucket joint are obtained based on the inclination angle by the following formula:

[0172]

[0173] wherein k, m and n are preset angle conversion equation parameters; θ1 is the inclination angle measured by the inclination sensor at the boom joint, θ2 is the inclination angle measured by the inclination sensor at the arm joint, θ3 is the inclination angle measured by the inclination sensor at the bucket joint, and θ4 is the inclination angle measured by the inclination sensor at the cabin.

[0174] In an implementation, the inclination sensor is further configured to measure an inclination angular velocity between the surface where the inclination sensor is installed and the horizontal plane; and the joint angular velocities of the bucket joint, the boom joint and the arm joint are obtained based on the inclination angular velocity.

[0175] In an implementation, the joint angular velocity ω1 of the boom joint, the joint angular velocity ω2 of the arm joint and the joint angular velocity ω3 of the bucket joint are obtained based on the inclination angular velocity by the following formula:

[0176]

[0177] wherein, φ1 is the tilt angular velocity measured by the corresponding tilt angle sensor at the large arm joint; φ2 is the tilt angular velocity measured by the corresponding tilt angle sensor at the small arm joint; φ3 is the tilt angular velocity measured by the corresponding tilt angle sensor at the bucket joint; and φ4 is the tilt angular velocity measured by the corresponding tilt angle sensor at the cabin.

[0178] In one possible implementation, the processor is further configured to:

[0179] If the bucket is reset to maintain the specified bucket posture, the method is executed from the step of obtaining the first joint angles of the bucket joint, the large arm joint and the small arm joint before the bucket maintains the specified bucket posture.

[0180] In practical applications, the memory 701 can include a high-speed random access memory (RAM) and can also include a non-volatile memory such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 704 (which can be wired or wireless), and the Internet, a wide area network, a local area network, a metropolitan area network, etc. can be used.

[0181] The bus 703 can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one bidirectional arrow is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0182] The memory 701 is configured to store a program, and the processor 702 executes the program after receiving an execution instruction. The method executed by the device defined by the process disclosed in any embodiment of the present disclosure can be applied to the processor 702 or implemented by the processor 702.

[0183] The processor 702 can be an integrated circuit chip having a processing capability of signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor 702 or the instruction in the form of software. The processor 702 described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. Each method, step and logic block disclosed in the embodiment of the present disclosure can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiment of the present disclosure can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory 701, and the processor 702 reads the information in the memory 701 and combines the hardware to complete the steps of the above method.

[0184] The embodiment of the present disclosure also provides a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the following steps:

[0185] obtaining first joint angles of a bucket joint, an arm joint and a small arm joint before the bucket maintains a specified bucket posture; wherein the bucket joint is a joint connecting the bucket and the small arm, the small arm joint is a joint connecting the small arm and the arm, and the arm joint is a joint connecting the arm and the cabin;

[0186] obtaining second joint angles and joint angular velocities of the arm joint and the small arm joint after the bucket maintains the specified bucket posture;

[0187] determining a target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture according to the first joint angle and the second joint angle;

[0188] determining a target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture according to the joint angular velocity;

[0189] controlling the bucket joint movement based on the target joint angle and the target joint angular velocity.

[0190] In the above manner, in order to control the posture angle of the bucket relative to the horizontal plane to be constant when the boom and arm joints of the excavator are arbitrarily moved, the basis for controlling the bucket joint movement includes not only the joint angle but also the angular velocity. Not only can the accumulated error of the angle caused by using only the speed control be eliminated based on the position feedback adjustment term, but the speed term can also achieve timely response to the different operation speeds of the boom and arm of the excavator, realize adaptive control speed, that is, through joint angle and angular velocity joint adjustment, the bucket follow-up control can adapt to the movement and control speed of the boom and arm of the excavator, realize the posture keeping control of the bucket of the excavator with adaptive operation speed, dynamically adapt to different boom and arm movement speeds, so as to achieve the effect of keeping the posture of the bucket constant globally during arbitrary remote control movement of the boom and arm. Moreover, the global accumulated error of the bucket lock angle can be eliminated according to the angle information of the boom and arm, the technical problems of hysteresis and speed instability based on angle feedback control are alleviated, the operation precision and efficiency of the excavator are improved, and it is beneficial to the excavator operation tasks such as keeping the posture of the bucket unchanged for transporting materials horizontally, and the like.

[0191] In a feasible implementation, when the processor executes the controlling the bucket joint movement based on the target joint angle and the target joint angular velocity, it is specifically used for:

[0192] determining a control angular velocity output for the bucket joint according to the target joint angle, the target joint angular velocity, and a third joint angle of the bucket joint after the bucket maintains the specified bucket posture;

[0193] controlling the bucket joint movement based on the control angular velocity.

[0194] In a feasible implementation, when the processor executes the determining a control angular velocity output for the bucket joint according to the target joint angle, the target joint angular velocity, and a third joint angle of the bucket joint after the bucket maintains the specified bucket posture, it is specifically used for:

[0195] determining the control angular velocity output for the bucket joint through the following formula:

[0196]

[0197] wherein, is the target joint angular velocity of the target joint angle; pid is a proportional-integral-derivative control control system; is the target joint angle of the target joint angle; is a third joint angle of the shovel joint after the shovel maintains the specified shovel posture.

[0198] In one possible implementation, the specified shovel posture is represented by a posture angle of the shovel relative to a horizontal plane.

[0199] In one possible implementation, the processor, in determining the target joint angle to which the shovel joint should reach after the shovel maintains the specified shovel posture according to the first joint angle and the second joint angle, is specifically configured to:

[0200] The target joint angle to which the shovel joint should reach after the shovel maintains the specified shovel posture is determined by the following formula:

[0201]

[0202] wherein, is a shovel joint angle in the first joint angle;

[0203] is a large arm joint angle in the first joint angle;

[0204] is a small arm joint angle in the first joint angle; is a large arm joint angle in the second joint angle; is a small arm joint angle in the second joint angle.

[0205] In one possible implementation, the processor, in determining the target joint angular velocity to which the target joint should reach after the shovel maintains the specified shovel posture according to the joint angular velocity, is specifically configured to:

[0206] The target joint angular velocity to which the target joint should reach after the shovel maintains the specified shovel posture is determined by the following formula:

[0207]

[0208] wherein, is a large arm joint angular velocity in the joint angular velocity; is a small arm joint angular velocity in the joint angular velocity.

[0209] In an implementable embodiment, the processor, in executing the obtaining of the second joint angles and joint angular velocities of the large arm joint and the small arm joint after the bucket maintains the specified bucket posture, is specifically configured to:

[0210] obtaining the second joint angles and joint angular velocities of the large arm joint and the small arm joint at corresponding time points every specified operation period after the bucket maintains the specified bucket posture.

[0211] In an implementable embodiment, the processor, in executing the obtaining of the first joint angles of the bucket joint, the large arm joint and the small arm joint before the bucket maintains the specified bucket posture, is specifically configured to:

[0212] obtaining the first joint angles of the bucket joint, the large arm joint and the small arm joint at the last time point before the bucket maintains the specified bucket posture.

[0213] In an implementable embodiment, an inclination sensor is installed on each of the bucket joint, the large arm joint and the small arm joint, and the inclination sensor is configured to measure an inclination angle between a surface where the inclination sensor is installed and a horizontal plane; the joint angles of the bucket joint, the large arm joint and the small arm joint are obtained based on the inclination angle.

[0214] In an implementable embodiment, the joint angle α1 of the large arm joint, the joint angle α2 of the small arm joint and the joint angle α3 of the bucket joint are obtained based on the inclination angle by the following formula:

[0215]

[0216] wherein k, m, n are preset angle conversion equation parameters; θ1 is the inclination angle measured by the inclination sensor at the large arm joint, θ2 is the inclination angle measured by the inclination sensor at the small arm joint, θ3 is the inclination angle measured by the inclination sensor at the bucket joint, and θ4 is the inclination angle measured by the inclination sensor at the cabin.

[0217] In an implementable embodiment, the inclination sensor is further configured to measure an inclination angular velocity between a surface where the inclination sensor is installed and a horizontal plane; the joint angular velocities of the bucket joint, the large arm joint and the small arm joint are obtained based on the inclination angular velocity.

[0218] In an implementable embodiment, the joint angular velocity ω1 of the large arm joint, the joint angular velocity ω2 of the small arm joint and the joint angular velocity ω3 of the bucket joint are obtained based on the inclination angular velocity by the following formula:

[0219]

[0220] wherein, φ1 is the tilt angular velocity measured by the corresponding tilt sensor at the big arm joint; φ2 is the tilt angular velocity measured by the corresponding tilt sensor at the small arm joint; φ3 is the tilt angular velocity measured by the corresponding tilt sensor at the bucket joint; φ4 is the tilt angular velocity measured by the corresponding tilt sensor at the cabin.

[0221] In one possible implementation, the processor is further configured to:

[0222] If the bucket is reset to maintain the specified bucket posture, the method is executed from the step of obtaining the first joint angles of the bucket joint, the big arm joint and the small arm joint before the bucket maintains the specified bucket posture.

[0223] In the embodiments of the present disclosure, the computer program is further capable of executing other machine readable instructions when executed by the processor, to perform the methods as described in other embodiments. For specific method steps and principles, refer to the descriptions in the embodiments, which will not be described in detail here.

[0224] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, devices or units, and can be electrical, mechanical or other forms.

[0225] For another example, the flowcharts and block diagrams in the drawings show the possible implementation architecture, function and operation of the devices, methods and computer program products according to the embodiments of the present disclosure. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from those shown in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0226] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0227] In addition, the functional units in the embodiments provided by the present disclosure can be integrated in one processing unit, or each of the units can exist alone physically, or two or more units can be integrated in one unit.

[0228] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present disclosure essentially or partially contribute to the prior art, or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the control method of the excavator described in the embodiments of the present disclosure. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0229] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings, in addition, the terms "first", "second", "third" and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0230] Finally, it should be noted that: the above-described embodiments are only specific embodiments of the present disclosure, used to illustrate the technical solutions of the present disclosure, and not to limit the same, the protection scope of the present disclosure is not limited thereto, although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any skilled person familiar with the technical field can modify or easily think of changes to the technical solutions described in the foregoing embodiments within the technical range disclosed by the present disclosure, or make equivalent replacement to part of the technical features; and these modifications, changes or replacements do not make the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure. All should be covered in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A control method for an excavator, characterized in that: The excavator comprises a cabin, a boom, an arm, and a bucket; and the method comprises: Obtaining first joint angles of a bucket joint, a boom joint, and a forearm joint before the bucket maintains a specified bucket posture; wherein the bucket joint is the joint connecting the bucket and the forearm, the forearm joint is the joint connecting the forearm and the boom, and the boom joint is the joint connecting the boom and the cabin; Acquire a second joint angle and a joint angular velocity of the upper arm joint and the lower arm joint after the bucket maintains the specified bucket posture; determining, based on the first joint angle and the second joint angle, a target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture; The target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture is determined by the following formula: ;in, is the upper arm joint angular velocity in the joint angular velocity; is the forearm joint angular velocity in the joint angular velocity; The bucket joint movement is controlled based on the target joint angle and the target joint angular velocity.

2. The method according to claim 1, characterized in that The controlling the bucket joint movement based on the target joint angle and the target joint angular velocity includes: determining a control angular velocity outputted to the bucket joint according to the target joint angle, the target joint angular velocity, and a third joint angle of the bucket joint after the bucket maintains the designated bucket posture; The bucket joint movement is controlled based on the control angular velocity.

3. The method according to claim 2, characterized in that The determining, based on the target joint angle, the target joint angular velocity, and a third joint angle of the bucket joint after the bucket maintains the designated bucket posture, a control angular velocity outputted for the bucket joint includes: The control angular velocity outputted by the bucket joint is determined by the following formula: ； in, It is a proportional integral derivative control system; It is the third joint angle of the bucket joint after the bucket maintains the specified bucket posture.

4. The method according to claim 1, wherein The designated bucket posture is represented by a posture angle of the bucket relative to a horizontal plane.

5. The method according to claim 1, wherein The determining, based on the first joint angle and the second joint angle, a target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture includes: The target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture is determined by the following formula: ； in, ; for ; for ; is the second joint angle ; is the second joint angle .

6. The method according to claim 1, characterized in that The obtaining of the second joint angle and joint angular velocity of the upper arm joint and the lower arm joint after the bucket maintains the specified bucket posture includes: The second joint angles and joint angular velocities of the upper arm joint and the lower arm joint at corresponding moments in every designated operation cycle after the bucket maintains the designated bucket posture are acquired.

7. The method according to claim 1, characterized in that The obtaining of first joint angles of the bucket joint, the upper arm joint, and the lower arm joint before the bucket maintains a specified bucket posture includes: The first joint angles of the bucket joint, the upper arm joint, and the lower arm joint at the last moment before the bucket maintains a specified bucket posture are obtained.

8. The method according to claim 1, characterized in that The bucket joint, the upper arm joint and the lower arm joint are respectively installed with inclination sensors, and the inclination sensors are used to measure the inclination angle between the surface where the inclination sensor is installed and the horizontal plane; the joint angles of the bucket joint, the upper arm joint and the lower arm joint are obtained based on the inclination angle.

9. The method according to claim 8, characterized in that The joint angle of the upper arm joint , the joint angle of the forearm joint and the joint angle of the bucket joint Based on the tilt angle, it is obtained by the following formula: ； in, , , The parameters of the preset angle conversion equation; is the tilt angle measured by the corresponding tilt sensor at the upper arm joint, is the tilt angle measured by the corresponding tilt sensor at the forearm joint, 、 is the tilt angle measured by the corresponding tilt sensor at the cabin.

10. The method according to claim 8, characterized in that The inclination sensor is further used to measure an inclination angular velocity between a surface where the inclination sensor is installed and a horizontal plane; the joint angular velocities of the bucket joint, the upper arm joint, and the lower arm joint are acquired based on the inclination angular velocity.

11. The method according to claim 10, characterized in that The joint angular velocity of the upper arm joint , the joint angular velocity of the forearm joint and the joint angular velocity of the bucket joint The tilt angular velocity is obtained by the following formula: ； in, The tilt angular velocity measured by the corresponding tilt sensor at the upper arm joint; The tilt angular velocity measured by the corresponding tilt sensor at the forearm joint; ; is the tilt angular velocity measured by the corresponding tilt sensor at the cabin.

12. The method according to claim 1, characterized in that Also includes: If the setting for the bucket to maintain the designated bucket posture is reset, the process starts with the step of acquiring first joint angles of the bucket joint, the boom joint, and the arm joint before the bucket maintains the designated bucket posture.

13. A control device for an excavator, characterized in that: The excavator comprises a cabin, a boom, an arm and a bucket; including: a first acquisition module, configured to acquire first joint angles of a bucket joint, a boom joint, and a forearm joint before the bucket maintains a specified bucket posture; wherein the bucket joint is the joint connecting the bucket and the forearm, the forearm joint is the joint connecting the forearm and the boom, and the boom joint is the joint connecting the boom and the cabin; a second acquisition module, configured to acquire a second joint angle and a joint angular velocity of the upper arm joint and the lower arm joint after the bucket maintains the specified bucket posture; a first determining module, configured to determine, based on the first joint angle and the second joint angle, a target joint angle that the bucket joint should reach after the bucket maintains the specified bucket posture; a second determining module, configured to determine, based on the joint angular velocity, a target joint angular velocity that the bucket joint should reach after the bucket maintains the designated bucket posture; a control module, configured to control the bucket joint movement based on the target joint angle and the target joint angular velocity; The second determination module is specifically configured to determine the target joint angular velocity that the bucket joint should reach after the bucket maintains the specified bucket posture by using the following formula: ;in, is the upper arm joint angular velocity in the joint angular velocity; is the forearm joint angular velocity in the joint angular velocity.

14. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 12 are implemented.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to execute the method according to any one of claims 1 to 12.

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