Excavator control method, device and excavator

Abstract

The application discloses a kind of excavator control method, device and excavator, excavator control method includes: whether composite action control instruction is received;When receiving composite action control instruction, if first movement mechanism control signal is collected;Then according to the first movement mechanism control signal and the movement mechanism associated control signal of pre-set generates composite action control instruction;When receiving composite action control instruction, if at least one second movement mechanism control signal is collected;Then according to each second movement mechanism control signal respectively generates one independent action control instruction;When not receiving composite action control instruction, if first movement mechanism control signal is collected, then according to first movement mechanism control signal generates first action control instruction;If second movement mechanism control signal is collected, then according to second movement mechanism control signal generates second action control instruction.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the engineering machinery technology, and especially relates to a control method and device of a excavator and the excavator. BACKGROUND

[0002] The operation system of the existing excavator is pure mechanical and cannot realize intelligent linkage. Two independent hydraulic control handles are controlled by a driver to control the opening and closing of a hydraulic control multi-way valve core to perform a composite action (collecting a bucket, collecting a stick, lifting a large arm) to form a digging function.

[0003] The composite action has a high requirement on the driving technology of the driver, and the incoherence of the composite action greatly influences the work efficiency. A general driver needs a long time to practice to adapt to the composite action. However, even the most skilled driver is also influenced by the instability of the driver's state (such as long working time and tiredness) and other factors, and the incoherence of the composite action influences the work efficiency. SUMMARY

[0004] The present application provides a control method and device of a excavator and the excavator to improve the work efficiency of the excavator and reduce the driving difficulty of the excavator.

[0005] In a first aspect, the embodiment of the present application provides a control method of a excavator, comprising:

[0006] judging whether a composite action control instruction is received;

[0007] when the composite action control instruction is received, if a first motion mechanism control signal is collected;

[0008] a composite action control instruction is generated according to a preset motion mechanism correlation control signal and the first motion mechanism control signal;

[0009] when the composite action control instruction is received, if at least one second motion mechanism control signal is collected;

[0010] an independent action control instruction is respectively generated according to each second motion mechanism control signal;

[0011] when the composite action control instruction is not received, if the first motion mechanism control signal is collected, a first action control instruction is generated according to the first motion mechanism control signal;

[0012] if the second motion mechanism control signal is collected, a second action control instruction is generated according to the second motion mechanism control signal.

[0013] Optionally, the composite action control instruction is generated by:

[0014] acquire a first motion mechanism signal control quantity of the first motion mechanism control signal, and query the motion mechanism associated control signal matched with the first motion mechanism signal control quantity;

[0015] generate the compound action control instruction according to the motion mechanism associated control signal and the first motion mechanism control signal.

[0016] Optionally, the method further comprises:

[0017] receiving a compound action control correlation coefficient;

[0018] when the compound action control instruction is received, if the first motion mechanism control signal is collected;

[0019] generating a compound action control instruction according to the motion mechanism associated control signal, the first motion mechanism control signal and the compound action control correlation coefficient.

[0020] Optionally, the compound action control correlation coefficient comprises a first motion mechanism first motion direction adjustment coefficient and a first motion mechanism second motion direction adjustment coefficient.

[0021] a second motion mechanism first motion direction adjustment coefficient and a second motion mechanism second motion direction adjustment coefficient.

[0022] Optionally, the first motion control signal is used for the control of a shovel of the excavator, and the motion mechanism associated control signal is used for the control of at least a dipper arm and a dipper boom of the excavator.

[0023] Optionally, the compound action control instruction, the independent action control instruction, the first action control instruction and the second action control instruction are current control instructions.

[0024] The current control instruction is used for the control of an electrically controlled proportional valve.

[0025] In a second aspect, an embodiment of the present application further provides an excavator control device, comprising a controller, at least one electrically controlled operation handle, and a compound action control button configured on the electrically controlled operation handle.

[0026] The electrically controlled operation handle is arranged to move along a first operation coordinate axis to generate a first motion mechanism control signal and to move along a second operation coordinate axis to generate a second motion mechanism control signal.

[0027] The compound action control button is used for generating a compound action control instruction.

[0028] The controller stores a motion mechanism associated control signal.

[0029] When the composite action control instruction exists, if the first motion mechanism control signal exists, the first motion mechanism control signal and the motion mechanism associated control signal are used to determine the composite action control instruction;

[0030] When the composite action control instruction exists, if the first motion mechanism control signal does not exist, the second motion mechanism control signal is used to determine the independent action control instruction;

[0031] When the composite action control instruction does not exist, the first motion mechanism control signal is used to determine the first action control instruction, and the second motion mechanism control signal is used to determine the second action control instruction.

[0032] Optionally, two of the electrically-controlled operation handles are included.

[0033] The first electrically-controlled operation handle is configured with the composite action control button, and the first electrically-controlled operation handle is configured with a first operation coordinate axis in a first direction and a second operation coordinate axis in a second direction.

[0034] The second electrically-controlled handle is configured with a second operation coordinate axis in the second direction.

[0035] Optionally, the first action control instruction is used for independent control of a shovel of the excavator.

[0036] The first second action control instruction is used for independent control of a dipper arm of the excavator.

[0037] The second second action control instruction is used for independent control of a large arm of the excavator.

[0038] In a third aspect, an embodiment of the present application further provides an excavator, including a controller, the controller is configured with an executable program, and the executable program is used to implement the excavator control method recorded in the embodiment of the present application when running.

[0039] Compared with the prior art, the present application has the beneficial effects that: the present application proposes an excavator control method, in which a composite action control instruction, a first motion mechanism control signal and a second motion mechanism control signal are set, the composite action control instruction is set to determine whether the excavator performs composite action control or independent action control, when the composite action control is performed, whether the first motion mechanism control signal is collected is further used as a basis for executing the composite action control, that is, when the first motion mechanism control signal is collected, the composite action control is executed, otherwise, the independent action control is performed, based on this, when the composite action control is needed, the driver only needs to control the action of one motion mechanism after adjusting the vehicle attitude, and after receiving the operation signal of the motion mechanism, the controller can automatically control the coordinated motion of the remaining motion mechanisms to automatically implement the composite action control.

[0040] In addition, in the compound action control mode, when the specified motion mechanism is not controlled, the compound action control can be suspended, and further, other motion mechanisms can still be controlled to act independently without being restricted by the specified motion mechanism, so that the excavator can have a very rich operable action. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a flow chart of an excavator control method in an embodiment;

[0042] Figure 2 is a flow chart of a compound action control instruction generation in an embodiment;

[0043] Figure 3 is a schematic diagram of a handle operation in an embodiment;

[0044] Figure 4 is a flow chart of another excavator control method in an embodiment;

[0045] Figure 5 is a schematic diagram of another handle operation in an embodiment;

[0046] Figure 6 is a flow chart of a logic control in an embodiment;

[0047] Figure 7 is a flow chart of another logic control in an embodiment;

[0048] Figure 8 is a flow chart of yet another logic control in an embodiment;

[0049] Figure 9 is a flow chart of yet another logic control in an embodiment;

[0050] Figure 10 is a schematic diagram of an excavator control device in an embodiment. DETAILED DESCRIPTION

[0051] The present application will be further described below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative only and not limiting of the present application. In addition, it should be noted that only the parts related to the present application are shown in the drawings for the convenience of description.

[0052] Embodiment One

[0053] Figure 1 is a flow chart of an excavator control method in an embodiment, referring to Figure 1 , the excavator control method comprises:

[0054] S101. Determine whether a composite action control instruction is received.

[0055] In this embodiment, the excavator control method is applicable to the control of the movement mechanisms (such as the boom, the stick, the bucket, etc.) of the excavator.

[0056] The composite action control instruction is used to determine whether to perform joint control between multiple movement mechanisms, i.e., to control multiple movement mechanisms to move cooperatively at the same time.

[0057] Specifically, when the composite action control instruction exists, the multiple movement mechanisms can be controlled to move cooperatively, and when the composite action control instruction does not exist, the different movement mechanisms are controlled to move independently.

[0058] For example, in this embodiment, the excavator operator can determine whether to output the composite action control instruction, or the excavator controller can be configured to automatically determine whether to output the composite action control instruction according to the working conditions.

[0059] In this embodiment, the excavator includes at least two movement mechanisms, for example, the movement mechanisms include the boom (the swing arm), the stick, and the bucket, and the implementation process of the excavator control method is described based on this.

[0060] S102. When the composite action control instruction is received, if the first movement mechanism control signal is collected, the composite action control instruction is generated according to the pre-set movement mechanism associated control signal and the first movement mechanism control signal.

[0061] S103. When the composite action control instruction is received, if at least one second movement mechanism control signal is collected, an independent action control instruction is generated according to each second movement mechanism control signal.

[0062] In this embodiment, one movement mechanism is selected as the first movement mechanism (the bucket in this embodiment), and the control signal for the first movement mechanism is used as the first movement mechanism control signal in combination with steps S102 and S103.

[0063] The remaining movement mechanisms are used as the second movement mechanisms (including the boom and the stick in this embodiment), and the control signals for the second movement mechanisms are used as the second movement mechanism control signals.

[0064] In this embodiment, when the composite action control instruction exists, if the bucket is controlled by the operator through the operating device (such as the handle), the excavator controller controls the bucket, the boom, and the stick to move cooperatively, regardless of whether the boom and / or the stick are controlled.

[0065] If the (excavator operator) operates and controls the boom, the (excavator controller) controls the independent movement of the boom;

[0066] If the (excavator operator) operates and controls the stick, the (excavator controller) controls the independent movement of the stick.

[0067] Specifically, for step S102, when the compound action control instruction exists, if the bucket is operated and controlled, only the control signal for the bucket is used to determine the movement mechanism related control signal (i.e. if the control signal for the boom and / or the stick exists at the same time, the control signal corresponding to the boom and / or the stick is ignored in addition to the control signal for the bucket), and then the compound action control instruction is determined.

[0068] For example, in the embodiment, the function model can be stored in the (excavator controller), the control amount of the first movement mechanism control signal corresponding to the bucket is recorded as the first control amount, the control amount of the second movement mechanism control signal corresponding to the boom is recorded as the second control amount, and the control amount of the second movement mechanism control signal corresponding to the stick is recorded as the third control amount.

[0069] The movement mechanism related control signal includes the second control amount and the third control amount, and the function model is configured to use the first control amount as the input, and calculate the second control amount and the third control amount corresponding to the first control amount according to the first control amount.

[0070] After the second control amount and the third control amount are calculated, the compound action control instruction is generated by the first control amount, the second control amount and the third control amount, and then the collaborative movement control of the bucket, the boom and the stick is realized through the compound action control instruction.

[0071] For example, in the embodiment, the movement control execution components of the bucket, the boom and the stick to which the compound action control instruction acts are set, for example, the first electro-hydraulic control (proportional) valve corresponding to the bucket movement control, the second electro-hydraulic control valve corresponding to the boom movement control, and the third electro-hydraulic control valve corresponding to the stick movement control.

[0072] For example, in the embodiment, the electro-hydraulic control valve is used for the movement control of the movement mechanism in the direction of its degree of freedom. For example, the first electro-hydraulic control valve can be used to control the rotation angle of the bucket.

[0073] When a movement mechanism has multiple degrees of freedom, multiple electro-hydraulic control valves can also be configured for it, and one electro-hydraulic control valve is used for the movement control of the movement mechanism in the direction of one degree of freedom.

[0074] For example, for the bucket, a rotary electro-hydraulic control valve and a translation electro-hydraulic control valve can be configured, the rotary electro-hydraulic control valve is configured for the rotation control of the bucket, and the translation electro-hydraulic control valve is configured for the telescopic control of the bucket.

[0075] For example, in the embodiment, when the motion mechanism has multiple degrees of freedom, the control quantity of the motion mechanism can be further subdivided, for example, when the bucket can rotate and translate, the first control quantity can be divided into a rotation control quantity and a translation control quantity, at this time, for the control part of the bucket in cooperative control, the composite action control instruction correspondingly includes the rotation control quantity and the translation control quantity.

[0076] For example, in the embodiment, the form and determination method of the function model are not specifically limited, for example, based on the collected actual working condition data, the function model can be obtained through function fitting;

[0077] The function model can also be a neural network model, and the parameters in the neural network model can be trained through the collected actual working condition data and / or artificial calibration data, and then a usable function model is obtained.

[0078] For example, taking the control quantity corresponding to the first motion mechanism control signal as an example, the control quantity can correspond to the stroke of the handle, or the parameter input by the human (to the excavator controller), and the specific form thereof can be automatically determined according to the design requirement.

[0079] Specifically, for step S103, when the bucket is not controlled by operation, even if there is a composite action control instruction, the bucket, the boom and the stick are not cooperatively controlled;

[0080] Specifically, if the boom is controlled by operation, the (excavator controller) generates an independent action control instruction for the boom according to the second control quantity, the independent motion control instruction acts on the second electro-hydraulic control valve, and is used to realize independent motion control of the boom.

[0081] If the stick is controlled by operation, a first independent action control instruction for the stick is generated according to the third control quantity, the independent motion control instruction acts on the third electro-hydraulic control valve, and is used to realize second independent motion control of the stick.

[0082] For example, in the embodiment, the first independent motion control instruction and the second independent motion control instruction can exist at the same time, that is, when the boom is controlled to move under the first independent motion control instruction, the stick can be controlled to move under the second independent motion control instruction at the same time.

[0083] For example, in the embodiment, the way of generating the independent motion control instruction according to the second control quantity and the third control quantity is not specifically limited.

[0084] For example, taking the generation of the independent motion control instruction according to the second control quantity as an example, the required independent motion control instruction can be obtained according to a preset MAP, wherein the MAP can be determined through a calibration test.

[0085] S104. When the composite action control instruction is not received, if the first motion mechanism control signal is collected, a first action control instruction is generated according to the first motion mechanism control signal.

[0086] S105. When the composite action control instruction is not received, if the second motion mechanism control signal is collected, a second action control instruction is generated according to the second motion mechanism control signal.

[0087] In combination with step S104 and step S105, when the composite action control instruction does not exist, the operation control on which motion mechanism is set, and the independent motion of the motion mechanism is controlled accordingly, i.e.:

[0088] If the (excavator driver) operates the control of the bucket, the (excavator controller) controls the independent motion of the bucket;

[0089] If the (excavator driver) operates the control of the boom, the (excavator controller) controls the independent motion of the boom;

[0090] If the (excavator driver) operates the control of the stick, the (excavator controller) controls the independent motion of the stick.

[0091] Specifically, when the composite action control instruction does not exist, if the control of the bucket is operated, the (excavator controller) generates a first action control instruction for the bucket according to the first control quantity, and the first action control instruction acts on the first electro-hydraulic control valve, and is used to realize the independent motion control of the bucket.

[0092] If the control of the boom is operated, a second action control instruction for the boom is generated according to the second control quantity, and the second action control instruction acts on the second electro-hydraulic control valve, and is used to realize the independent motion control of the boom.

[0093] If the control of the stick is operated, a second action control instruction for the stick is generated according to the third control quantity, and the second action control instruction acts on the third electro-hydraulic control valve, and is used to realize the second independent motion control of the stick.

[0094] For example, in the embodiment, the way of generating the first action control instruction according to the first control quantity, the second action control instruction corresponding thereto according to the second control quantity, and the second action control instruction corresponding thereto according to the third control quantity is not specifically limited.

[0095] For example, taking the generation of a first action control command based on a first control quantity as an example, the required first action control command can be obtained according to a preset MAP diagram, wherein the MAP diagram can be determined through calibration experiments.

[0096] This embodiment proposes an excavator control method. The method includes setting a composite motion control command, a first motion mechanism control signal, and a second motion mechanism control signal. The composite motion control command is used to determine whether the excavator performs composite motion control or independent motion control. When performing composite motion control, the presence or absence of the first motion mechanism control signal is used as the basis for executing the composite motion control. That is, if the first motion mechanism control signal is received, composite motion control is executed; otherwise, independent motion control is performed. Based on this, when composite motion control is required, after the driver adjusts the vehicle's posture, only one motion mechanism needs to be controlled. After receiving the operation signal of that motion mechanism, the controller can automatically control the other motion mechanisms to coordinate their movements, thereby automatically achieving composite motion control.

[0097] Furthermore, in the compound motion control mode, when no control is applied to the designated motion mechanism, the compound motion control can be paused, thus ensuring that other motion mechanisms can still be controlled independently without being restricted by the designated motion mechanism, thereby ensuring that the excavator has a wide range of operable actions.

[0098] Figure 2 This is a flowchart of the composite motion control command generation in the embodiment, for reference. Figure 2 As one possible implementation, generating compound motion control instructions includes:

[0099] S1021. Obtain the first motion mechanism signal control quantity of the first motion mechanism control signal, and query the motion mechanism associated control signal that matches the first motion mechanism signal control quantity.

[0100] For example, in Figure 1 Based on the content described in the illustrated scheme, in this scheme, the operating device of the excavator is set as a handle, and the signal control quantity of the first motion mechanism is set as the stroke of the handle when operating and controlling the bucket.

[0101] For example, in this solution, for a first motion mechanism signal control quantity (first control quantity), a motion mechanism associated control signal is configured (the motion mechanism associated control signal includes a second control quantity for the boom and a third control quantity for the stick).

[0102] For example, in this solution, the correspondence between the signal control quantity of the first motion mechanism and the associated control signal of the motion mechanism can be determined through calibration tests or experience.

[0103] After the motion mechanism associated control signal corresponding to the first motion mechanism signal control quantity is determined, the corresponding relationship between the two is made into a MAP table. In the actual working scene of the excavator, when the first motion mechanism signal control quantity is obtained, the motion mechanism associated control signal corresponding thereto is queried according to the MAP table.

[0104] S1022. The composite action control instruction is generated according to the motion mechanism associated control signal and the first motion mechanism control signal.

[0105] For example, in the present scheme, the composite action control instruction includes a first control quantity, and a second control quantity and a third control quantity matched therewith. The composite action control instruction acts on the first electro-hydraulic control valve, the second electro-hydraulic control valve and the third electro-hydraulic control valve, and the coordinated motion control of the bucket, the boom and the stick is realized through the composite action control instruction.

[0106] In Figure 1 Based on the scheme shown, in an implementable scheme, the excavator control method further includes: receiving a composite action control correlation coefficient.

[0107] For example, in the present scheme, the composite action control correlation coefficient is used to adjust the physical parameters (such as relative speed, acceleration, angle, etc.) between different motion mechanisms during the controlled coordinated motion of the bucket, the boom and the stick, so as to make the composite action during the controlled coordinated motion more coherent and better match the working condition requirements.

[0108] For example, in the present scheme, the composite action control correlation coefficient can be input to the excavator controller by the excavator driver. The value of the composite action control correlation coefficient can be the experience value of the excavator driver.

[0109] Alternatively, the composite action control correlation coefficient can also be a preset value, which is determined through calibration test and stored in the excavator controller. When the excavator is actually working and needs to input the composite action control correlation coefficient, a preset value can be selected through the excavator controller.

[0110] For example, in the present scheme, when the composite action control instruction is received, if the first motion mechanism control signal is collected;

[0111] The composite action control instruction is generated according to the motion mechanism associated control signal, the first motion mechanism control signal and the composite action control correlation coefficient.

[0112] For example, in the present scheme, when the composite action control correlation coefficient exists, the composite action control correlation coefficient can be used to perform specified operations (such as multiplication) on the first control quantity, the second control quantity and the third control quantity respectively, so as to update the first control quantity, the second control quantity and the third control quantity.

[0113] Subsequently, a composite action control instruction is generated based on the updated first control quantity, second control quantity, and third control quantity.

[0114] As one implementation, when the excavator control method supports input of a composite action control correlation coefficient, the composite action control correlation coefficient can include a first motion mechanism first motion direction adjustment coefficient, a first motion mechanism second motion direction adjustment coefficient, a second motion mechanism first motion direction adjustment coefficient, and a second motion mechanism second motion direction adjustment coefficient.

[0115] The second motion mechanism first motion direction adjustment coefficient and the second motion mechanism second motion direction adjustment coefficient.

[0116] Figure 3 is a handle operation schematic diagram in the embodiment, referring to Figure 3 Taking the operation device as a handle and the motion mechanism including a bucket and a boom as an example, the handle can move in X-axis and Y-axis directions, and the handle is set to correspond to control of the bucket when moving in the X-axis direction and to correspond to control of the boom when moving in the Y-axis direction.

[0117] Specifically, the handle is set to correspond to unloading of the bucket when moving in the positive direction of the X-axis, and the positive direction of the X-axis is set to correspond to a first motion direction of the bucket (first motion mechanism).

[0118] The handle is set to correspond to loading of the bucket when moving in the negative direction of the X-axis, and the negative direction of the X-axis is set to correspond to a second motion direction of the bucket.

[0119] The handle is set to correspond to lowering of the boom when moving in the positive direction of the Y-axis, and the positive direction of the Y-axis is set to correspond to a first motion direction of the boom (second motion mechanism).

[0120] The handle is set to correspond to lifting of the boom when moving in the negative direction of the Y-axis, and the negative direction of the Y-axis is set to correspond to a second motion direction of the boom.

[0121] In the scheme, the first motion mechanism first motion direction adjustment coefficient and the first motion mechanism second motion direction adjustment coefficient are respectively set for the first motion direction and the second motion direction of the bucket.

[0122] When the absolute values of the control quantities of the handle corresponding to the bucket in the first motion direction and the second motion direction are the same, the first motion mechanism first motion direction adjustment coefficient and the first motion mechanism second motion direction adjustment coefficient can be configured to be the same or different.

[0123] The second motion mechanism first motion direction adjustment coefficient and the second motion mechanism second motion direction adjustment coefficient are respectively set for the first motion direction and the second motion direction of the boom.

[0124] When the absolute values of the control amounts of the boom corresponding to the bucket in the first movement direction and the second movement direction are the same, the first movement direction adjustment coefficient of the second movement mechanism and the second movement direction adjustment coefficient of the second movement mechanism can be configured to be the same or different.

[0125] For example, if the second movement mechanism includes the boom and the stick, the boom first movement direction adjustment coefficient, the boom second movement direction adjustment coefficient, the stick first movement direction adjustment coefficient, and the stick second movement direction adjustment coefficient can be configured.

[0126] For example, if the second movement mechanism includes the boom and the stick, the boom first movement direction adjustment coefficient, the boom second movement direction adjustment coefficient, the stick first movement direction adjustment coefficient, and the stick second movement direction adjustment coefficient can be configured.

[0127] For example, if the second movement mechanism includes the boom and the stick, the boom first movement direction adjustment coefficient, the boom second movement direction adjustment coefficient, the stick first movement direction adjustment coefficient, and the stick second movement direction adjustment coefficient can be configured. Figure 4 is another flowchart of the excavator control method in the embodiment, and reference is made to Figure 4 For example, in an implementable scheme, the excavator control method includes:

[0128] S201. Collecting the first movement mechanism movement direction adjustment coefficient and the second movement mechanism movement direction adjustment coefficient.

[0129] Figure 5 is another handle operation schematic diagram in the embodiment, and reference is made to Figure 5 In the scheme, it is provided that the first movement mechanism includes the bucket, and the second movement mechanism includes the boom and the stick.

[0130] It is provided that the operation device includes the left handle and the right handle, and the Y-axis positive direction of the left handle is configured to be used for the stick lifting control, and the Y-axis negative direction of the left handle is configured to be used for the stick folding control.

[0131] The X-axis positive direction of the right handle is configured to be used for the bucket dumping control, and the X-axis negative direction of the right handle is configured to be used for the bucket folding control.

[0132] The Y-axis positive direction of the right handle is configured to be used for the boom lowering control, and the Y-axis negative direction of the right handle is configured to be used for the boom lifting control.

[0133] It is provided that the first movement mechanism movement direction adjustment coefficient includes the bucket dumping adjustment coefficient and the bucket folding adjustment coefficient, and the second movement mechanism movement direction adjustment coefficient includes the boom lowering adjustment coefficient, the boom lifting adjustment coefficient, the stick lifting adjustment coefficient, and the stick folding adjustment coefficient.

[0134] For example, in the scheme, if the first movement mechanism movement direction adjustment coefficient and / or the second movement mechanism movement direction adjustment coefficient is not collected, the corresponding first movement mechanism movement direction adjustment coefficient and / or the second movement mechanism movement direction adjustment coefficient is taken as a preset initial value.

[0135] S202. Determine whether a composite action control instruction is received.

[0136] For example, in this scheme, a composite action control button is arranged on the right handle, and a composite action control instruction is generated when the composite action control button is pressed.

[0137] S203. When the composite action control instruction is received, if the first motion mechanism control signal is collected, the composite action control instruction is generated according to the preset motion mechanism associated control signal, the first motion mechanism control signal, the first motion mechanism motion direction adjustment coefficient and the second motion mechanism motion direction adjustment coefficient.

[0138] S204. When the composite action control instruction is received, if the second motion mechanism control signal is collected, the independent action control instruction is generated according to the second motion mechanism control signal.

[0139] S205. When the composite action control instruction is not received, if the first motion mechanism control signal is collected, the first action control instruction is generated according to the first motion mechanism control signal.

[0140] S206. When the composite action control instruction is not received, if the second motion mechanism control signal is collected, the second action control instruction is generated according to the second motion mechanism control signal.

[0141] For example, in this scheme, the first motion mechanism control signal specifically includes a bucket unloading control signal and a bucket collecting control signal.

[0142] The second motion mechanism control signal specifically includes a boom lowering control signal, a boom lifting control signal, a stick lifting control signal and a stick collecting control signal.

[0143] For example, in this scheme, the composite action control instruction, the independent action control instruction, the first action control instruction and the second action control instruction are all current control instructions, wherein the current control instruction is used for controlling the electro-hydraulic control valve (electric proportional valve).

[0144] For example, in this scheme, the excavator includes a first electro-hydraulic control valve, a second electro-hydraulic control valve and a third electro-hydraulic control valve.

[0145] The first electro-hydraulic control valve is used for adjusting the flow of the hydraulic circuit where it is located according to the composite action control instruction or the first action control instruction, thereby realizing the motion control of the bucket.

[0146] The second electro-hydraulic control valve is configured to adjust the flow rate of the hydraulic circuit where it is located according to the compound action control instruction, the independent action control instruction (containing the boom lowering control signal or the boom raising control signal), or the second action control instruction (containing the boom lowering control signal or the boom raising control signal), thereby realizing the movement control of the boom.

[0147] The third electro-hydraulic control valve is configured to adjust the flow rate of the hydraulic circuit where it is located according to the compound action control instruction, the independent action control instruction (containing the stick raising control signal or the stick lowering control signal), or the second action control instruction (containing the stick raising control signal or the stick lowering control signal), thereby realizing the movement control of the stick.

[0148] Reference Figures 6-9 In combination with steps S202-S206, the first electro-hydraulic control valve, the second electro-hydraulic control valve, and the third electro-hydraulic control valve can be controlled in the following manner in the present scheme:

[0149] The flow rate when the (left and right) handle is in the initial position is configured to determine the opening degree of each electro-hydraulic control valve when the handle is in the initial position.

[0150] The flow rate limit value corresponding to the maximum position of the left handle Y axis in the negative direction is configured to determine the opening degree of the third electro-hydraulic control valve when the stick is lowered to the limit position, and the flow rate limit value corresponding to the maximum position of the left handle Y axis in the positive direction is configured to determine the opening degree of the third electro-hydraulic control valve when the stick is raised to the limit position.

[0151] The flow rate limit value corresponding to the maximum position of the right handle Y axis in the negative direction is configured to determine the opening degree of the second electro-hydraulic control valve when the boom is raised to the limit position, and the flow rate limit value corresponding to the maximum position of the right handle Y axis in the positive direction is configured to determine the opening degree of the second electro-hydraulic control valve when the boom is lowered to the limit position.

[0152] The coefficient of the left handle Y axis negative direction operation position (related to the right handle X axis negative direction operation position) is configured as the initial value of the stick lowering adjustment coefficient, and the coefficient of the left handle Y axis positive direction operation position (related to the right handle X axis positive direction operation position) is configured as the stick raising adjustment coefficient.

[0153] The coefficient of the right handle Y axis negative direction operation position (related to the right handle X axis negative direction operation position) is configured as the initial value of the boom raising adjustment coefficient, and the coefficient of the right handle Y axis positive direction operation position (related to the right handle X axis negative direction operation position) is configured as the boom lowering adjustment coefficient.

[0154] The left handle Y axis position input parameter initial value (which can be adjusted manually during the operation of the excavator) is configured, and the right handle Y axis position input parameter initial value (which can be adjusted manually during the operation of the excavator) is configured.

[0155] determining whether the bucket closing operation is valid according to the logical operation result of the left handle Y axis negative direction operation valid input parameter and the handle operation valid positive integer value;

[0156] determining whether the bucket lifting operation is valid according to the logical operation result of the left handle Y axis positive direction operation valid input parameter and the handle operation valid positive integer value;

[0157] determining whether the large arm lowering operation is valid according to the logical operation result of the right handle Y axis negative direction operation valid input parameter and the handle operation valid positive integer value;

[0158] determining whether the large arm raising operation is valid according to the logical operation result of the right handle Y axis positive direction operation valid input parameter and the handle operation valid positive integer value;

[0159] determining whether the right handle button operation is valid;

[0160] determining whether the bucket closing operation is valid according to the right handle X axis negative direction operation valid input parameter and determining whether the bucket unloading operation is valid according to the right handle X axis positive direction operation valid input parameter;

[0161] if the right handle button operation is valid, it is considered that the compound action control instruction exists;

[0162] when the compound action control instruction exists, if the bucket closing operation is valid, the bucket closing control signal is generated according to the stroke of the right handle in the X axis negative direction;

[0163] the preset function is used to determine the bucket rod closing control signal and the large arm raising control signal (at this time, the bucket rod closing control signal and the large arm raising control signal are used to constitute the motion mechanism associated control signal) by taking the bucket closing control signal as the input;

[0164] the bucket rod adjusting coefficient and the large arm adjusting coefficient corresponding to the position of the right handle in the X axis negative direction are queried according to the position of the right handle in the X axis negative direction, and the left handle Y axis position input parameter and the right handle Y axis position input parameter are obtained;

[0165] the bucket closing control amount is determined through the bucket closing control signal;

[0166] the bucket rod closing control amount is determined through the bucket rod closing control signal, the bucket rod adjusting coefficient and the left handle Y axis position input parameter;

[0167] the large arm raising control amount is determined through the large arm raising control signal, the large arm adjusting coefficient and the right handle Y axis position input parameter;

[0168] the compound action control instruction is generated by using the bucket closing control amount, the bucket rod closing control amount and the large arm raising control amount, and the first electro-hydraulic control valve, the second electro-hydraulic control valve and the third electro-hydraulic control valve are controlled through the compound action control instruction;

[0169] When the compound action control instruction exists, if the unloading bucket operation is valid, a unloading bucket control signal is generated according to the stroke of the right handle in the positive direction of the X axis;

[0170] The unloading bucket control signal is taken as an input, and preset functions are used to determine a lifting bucket rod control signal and a lowering large arm control signal (at this time, the lifting bucket rod control signal and the lowering large arm control signal are used to constitute the motion mechanism associated control signal);

[0171] The lifting bucket rod adjustment coefficient and the lowering large arm adjustment coefficient corresponding to the position of the right handle in the positive direction of the X axis are queried according to the position of the right handle in the positive direction of the X axis, and the left handle Y axis position input parameter and the right handle Y axis position input parameter are obtained;

[0172] The unloading bucket control amount is determined through the unloading bucket control signal;

[0173] The lifting bucket rod control amount is determined through the lifting bucket rod control signal, the lifting bucket rod adjustment coefficient and the left handle Y axis position input parameter;

[0174] The lowering large arm control amount is determined through the lowering large arm control signal, the lowering large arm adjustment coefficient and the right handle Y axis position input parameter;

[0175] The compound action control instruction is generated by using the unloading bucket control amount, the lifting bucket rod control amount and the lowering large arm control amount, and the first electro-hydraulic control valve, the second electro-hydraulic control valve and the third electro-hydraulic control valve are controlled through the compound action control instruction;

[0176] When the compound action control instruction exists, if the unloading bucket operation or the loading bucket operation is invalid, if the lifting bucket rod operation is valid, a lifting bucket rod control signal is generated according to the stroke of the left handle in the positive direction of the Y axis;

[0177] An independent action control instruction for the bucket rod is generated according to the lifting bucket rod control signal, and the third electro-hydraulic control valve is controlled to act according to the independent action control instruction;

[0178] When the compound action control instruction exists, if the unloading bucket operation or the loading bucket operation is invalid, if the lifting bucket rod operation is valid, a lifting bucket rod control signal is generated according to the stroke of the left handle in the positive direction of the Y axis;

[0179] An independent action control instruction for the bucket rod is generated according to the lifting bucket rod control signal, and the third electro-hydraulic control valve is controlled to act according to the independent action control instruction;

[0180] When the compound action control instruction exists, if the unloading bucket operation or the loading bucket operation is invalid, if the lifting large arm operation is valid, a lifting large arm control signal is generated according to the stroke of the right handle in the negative direction of the Y axis;

[0181] An independent action control instruction for the large arm is generated according to the lifting large arm control signal, and the second electro-hydraulic control valve is controlled to act according to the independent action control instruction;

[0182] When the compound operation control command exists, if the bucket closing operation is valid, a bucket closing control signal is generated according to the stroke of the right handle in the positive direction of the Y axis if the boom lowering operation is valid;

[0183] A boom independent operation control command is generated according to the boom lowering control signal, and the second electro-hydraulic control valve is controlled according to the boom independent operation control command;

[0184] When the compound operation control command does not exist, if the bucket rod closing operation is valid, a bucket rod closing control signal is generated according to the stroke of the left handle in the negative direction of the Y axis;

[0185] A second bucket rod operation control command is generated according to the bucket rod closing control signal, and the third electro-hydraulic control valve is controlled according to the second bucket rod operation control command;

[0186] When the compound operation control command does not exist, if the bucket rod lifting operation is valid, a bucket rod lifting control signal is generated according to the stroke of the left handle in the positive direction of the Y axis;

[0187] A second bucket rod operation control command is generated according to the bucket rod lifting control signal, and the third electro-hydraulic control valve is controlled according to the second bucket rod operation control command;

[0188] When the compound operation control command does not exist, if the boom lifting operation is valid, a boom lifting control signal is generated according to the stroke of the right handle in the negative direction of the Y axis;

[0189] A second boom operation control command is generated according to the boom lifting control signal, and the second electro-hydraulic control valve is controlled according to the second boom operation control command;

[0190] When the compound operation control command does not exist, if the boom lowering operation is valid, a boom lowering control signal is generated according to the stroke of the right handle in the positive direction of the Y axis;

[0191] A second boom operation control command is generated according to the boom lowering control signal, and the second electro-hydraulic control valve is controlled according to the second boom operation control command;

[0192] When the compound operation control command does not exist, if the bucket closing operation is valid, a bucket closing control signal is generated according to the stroke of the right handle in the negative direction of the X axis;

[0193] A first bucket operation control command is generated according to the bucket closing control signal, and the first electro-hydraulic control valve is controlled according to the first bucket operation control command;

[0194] When the compound operation control command does not exist, if the bucket opening operation is valid, a bucket opening control signal is generated according to the stroke of the right handle in the positive direction of the X axis;

[0195] A first action control command for the bucket is generated based on the bucket control signal, and the first electro-hydraulic control valve is controlled to operate based on the first action control command.

[0196] Meanwhile, during the process of controlling any of the above-mentioned electro-hydraulic control valves, it is determined whether the flow rate of the hydraulic circuit corresponding to the first, second, and third electro-hydraulic control valves exceeds their respective flow rate limits. If they do, the corresponding electro-hydraulic control valves are adjusted to control the flow rate of the hydraulic circuit within the flow rate limits.

[0197] In this solution, the (excavator) controller is configured to receive the operation signals sent by the (electronic control) handle and perform internal calculations to control the current of the electro-hydraulic control valve;

[0198] If the operator does not press the compound action control button on the handle, the excavator is in manual digging mode. The entire digging process is still completed by the operator. That is, when the operator operates any action of the electric control handle, the controller receives the corresponding instruction and controls the opening and closing of the corresponding electro-hydraulic control valve channel to realize the mechanical action.

[0199] When the operator presses the compound action control button on the handle, the excavator enters the intelligent digging mode. At this time, the controller internally associates the two actions of retracting (or raising) the stick and raising (or lowering) the boom with the action of retracting (or unloading) the bucket.

[0200] When the driver needs to excavate, after adjusting the vehicle's posture, he only needs to control the bucket's movement. After receiving the bucket retraction operation signal, the controller automatically adjusts the opening and closing of the three channels in the electro-hydraulic control valve corresponding to the bucket, stick, and boom to automatically achieve the combined action.

[0201] Because excavators have a wide range of operable actions, digging (controlling the bucket) is only one of the most important functions. In this solution, even when the bucket is not controlled in the intelligent digging mode, the normal use of other functions (boom control and stick control) must still be ensured. That is, in the intelligent digging mode, except for the actions of retracting the stick and raising the boom when retracting the bucket, the operator can operate any other boom or stick action independently without restriction.

[0202] Because excavators operate in a variety of environments, a single control parameter cannot meet all working conditions. In this solution, the operator can adjust the parameters (the first motion mechanism's motion direction adjustment coefficient and the second motion mechanism's motion direction adjustment coefficient) to better match the working conditions under different working conditions.

[0203] Example 2

[0204] Figure 10 This is a schematic diagram of the excavator control device structure in the embodiment, for reference. Figure 10, excavator control device, comprising a controller 100, at least one electrically controlled operating handle 200, the electrically controlled operating handle 200 is configured with a composite action control button.

[0205] For example, in the embodiment, the electrically controlled operating handle 200 is configured to move along a first operating coordinate axis to generate a first movement mechanism control signal, and to move along a second operating coordinate axis to generate a second movement mechanism control signal.

[0206] For example, with reference to Figure 3 For example, for the electrically controlled operating handle 200, the X axis can be set as the first operating coordinate axis, the first movement mechanism control signal can be set for the control of the bucket, and the Y axis can be set as the second operating coordinate axis, and the second movement mechanism control signal can be set for the control of the boom.

[0207] For example, in the embodiment, the composite action control button is used to generate a composite action control instruction, for example, when the composite action button is pressed, it can be considered that the composite action control instruction exists.

[0208] For example, in the embodiment, the controller stores movement mechanism associated control signals, wherein the movement mechanism associated control signals are determined through calibration tests or experience.

[0209] For example, in the embodiment, when the composite action control instruction exists, the excavator is set to an intelligent mode, in which the control of the movement mechanism is realized by the controller 100 and the electrically controlled operating handle 200 together.

[0210] Specifically, if the first movement mechanism control signal exists, the composite action control instruction is determined by the first movement mechanism control signal and the movement mechanism associated control signal, and the first to nth electro-hydraulic control valve is controlled by the composite action control instruction.

[0211] If the first movement mechanism control signal does not exist, the second movement mechanism control signal is used to determine an independent action control instruction, at this time, one second movement mechanism control signal is used to independently control one electro-hydraulic control valve.

[0212] When the composite action control instruction does not exist, the excavator is set to a manual mode, in which the control of the movement mechanism is realized by the electrically controlled operating handle 200.

[0213] Specifically, if the first movement mechanism control signal exists, the first movement mechanism control signal is used to determine a first action control instruction, and the first action control instruction is used to independently control one specified electro-hydraulic control valve.

[0214] If the second movement mechanism control signal exists, the second movement mechanism control signal is used to determine a second action control instruction, and the second action control instruction is used to independently control one specified electro-hydraulic control valve.

[0215] Exemplarily, in the embodiment, the excavator control method can be implemented in the manners shown in Figure 1 or Figure 2 to control the specified electro-hydraulic control valve in the intelligent mode or the manual mode.

[0216] The excavator control device of the embodiment has the same beneficial effects as those described in Embodiment One, which will not be repeated here. In addition, in the embodiment, the electric control operating handle is selected to have an analog output or CAN bus function. The electric control operating handle has a button (compound action control button) that conforms to the ergonomics, which facilitates the control of entering and exiting the intelligent excavating mode.

[0217] At the same time, to cooperate with the electric control operating handle, an electro-hydraulic control valve is installed at the front end of the hydraulic control multi-way valve in the excavator to control the opening and closing of the spool. The selected electro-hydraulic control valve needs to have good current and pressure characteristics.

[0218] As an implementable solution, on the basis of the solution shown in Figure 10 two electric control operating handles are configured;

[0219] The first electric control operating handle is configured with a compound action control button, a first operating coordinate axis in a first direction, and a second operating coordinate axis in a second direction.

[0220] The second electric control handle is configured with a second operating coordinate axis in the second direction.

[0221] Referring to Figure 5 For example, in the solution, a left electric control operating handle and a right electric control operating handle can be configured. The right electric control operating handle is configured with a compound action control button.

[0222] The left electric control operating handle is configured with a Y axis, and the right electric control operating handle is configured with an X axis and a Y axis.

[0223] The Y axis of the left electric control operating handle is used for the control of the dipper arm, the Y axis of the right electric control operating handle is used for the control of the large arm, and the X axis of the right electric control operating handle is used for the control of the bucket.

[0224] Exemplarily, in the solution, the bucket is set as a first movement mechanism, the large arm and the dipper arm are set as second movement mechanisms, and the first action control instruction is used for the independent control of the (excavator) bucket, the second action control instruction for the dipper arm is used for the independent control of the (excavator) dipper arm, and the second action control instruction for the large arm is used for the independent control of the (excavator) large arm.

[0225] Specifically, in the solution, the excavator control method can be implemented in the manners shown in Figure 4The excavator control method is implemented in the illustrated manner, that is, the control of the specified electro-hydraulic control valve in the intelligent mode or the manual mode.

[0226] Embodiment three

[0227] The embodiment provides an excavator, which comprises a controller configured with an executable program. When the executable program is executed, any excavator control method described in embodiment one is implemented. The implementation process and beneficial effects are the same as the corresponding content described in embodiment one, and thus will not be described here.

[0228] Note that the above are only preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, re-adjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for controlling an excavator, characterized in that, include: Determine whether to receive a composite motion control command; When a composite motion control command is received, if the control signal of the first motion mechanism is acquired; Then, a composite motion control command is generated based on the preset motion mechanism associated control signal and the first motion mechanism control signal; When a compound motion control command is received, if at least one control signal of a second motion mechanism is acquired; Then, an independent motion control command is generated based on the control signal of each of the second motion mechanisms; When no composite motion control command is received, if the control signal of the first motion mechanism is acquired, a first motion control command is generated based on the control signal of the first motion mechanism. If the control signal of the second motion mechanism is acquired, a second motion control command is generated based on the control signal of the second motion mechanism; The first motion mechanism control signal is used to control the excavator bucket, and the motion mechanism associated control signal is used at least to control the excavator stick and the excavator boom. Wherein, the control quantity of the first motion mechanism control signal corresponding to the excavator bucket is the first control quantity, the control quantity of the second motion mechanism control signal corresponding to the excavator boom is the second control quantity, and the control quantity of the second motion mechanism control signal corresponding to the excavator stick is the third control quantity. The motion mechanism associated control signal includes the second and third control quantities. The first control quantity is used as the input of the function model. The second and third control quantities corresponding to the first control quantity are calculated based on the first control quantity. After calculating the second and third control quantities, a composite motion control command is generated through the first, second, and third control quantities. Then, the coordinated motion control of the excavator bucket, excavator boom, and excavator stick is realized through the composite motion control command. The function model is a neural network model, which is obtained by training the parameters in the neural network model through collected actual working condition data and / or manually calibrated data.

2. The excavator control method as described in claim 1, characterized in that, Generating the composite motion control command includes: Obtain the first motion mechanism signal control quantity of the first motion mechanism control signal, and query the motion mechanism associated control signal that matches the first motion mechanism signal control quantity; The composite motion control command is generated based on the motion mechanism associated control signal and the first motion mechanism control signal.

3. The excavator control method as described in claim 1, characterized in that, Also includes: Receive composite action control correlation coefficient; When a composite motion control command is received, if the control signal of the first motion mechanism is acquired; Then, a composite motion control command is generated based on the motion mechanism associated control signal, the first motion mechanism control signal, and the composite motion control association coefficient.

4. The excavator control method as described in claim 3, characterized in that, The composite motion control correlation coefficient includes the first motion direction adjustment coefficient of the first motion mechanism and the second motion direction adjustment coefficient of the first motion mechanism; The adjustment coefficient of the first motion direction of the second motion mechanism and the adjustment coefficient of the second motion direction of the second motion mechanism.

5. The excavator control method as described in claim 1, characterized in that, The composite action control command, the independent action control command, the first action control command, and the second action control command are all current control commands. The current control command is used to control the electronically controlled proportional valve.

6. An excavator control device, characterized in that, Includes a controller and at least one electrically controlled operating handle, the electrically controlled operating handle being equipped with a compound action control button; The electronically controlled operating handle is at least configured to move along a first operating coordinate axis to generate a first motion mechanism control signal, and move along a second operating coordinate axis to generate a second motion mechanism control signal; The composite action control button is used to generate composite action control commands; The controller stores control signals associated with the motion mechanism; When the composite motion control command exists, if the first motion mechanism control signal exists, the first motion mechanism control signal and the motion mechanism associated control signal are used to determine the composite motion control command. When the composite motion control command exists, if the first motion mechanism control signal does not exist, the second motion mechanism control signal is used to determine the independent motion control command. When the composite motion control command is not present, the first motion mechanism control signal is used to determine the first motion control command, and the second motion mechanism control signal is used to determine the second motion control command. The first motion mechanism control signal is used to control the excavator bucket, and the motion mechanism associated control signal is used at least to control the excavator stick and the excavator boom. The controller stores a function model. The control quantity of the first motion mechanism control signal corresponding to the excavator bucket is the first control quantity, the control quantity of the second motion mechanism control signal corresponding to the excavator boom is the second control quantity, and the control quantity of the second motion mechanism control signal corresponding to the excavator stick is the third control quantity. The motion mechanism associated control signal includes the second and third control quantities. The first control quantity is used as the input of the function model. The second and third control quantities corresponding to the first control quantity are calculated based on the first control quantity. After calculating the second and third control quantities, a composite motion control command is generated through the first, second, and third control quantities. The composite motion control command is then used to achieve coordinated motion control of the excavator bucket, excavator boom, and excavator stick. The function model is a neural network model, which is obtained by training the parameters in the neural network model with collected actual working condition data and / or manually calibrated data.

7. The excavator control device as described in claim 6, characterized in that, Includes two of the aforementioned electronically controlled operating handles; The first electronically controlled operating handle is equipped with the composite action control button. The first electronically controlled operating handle is equipped with a first operating coordinate axis in a first direction and a second operating axis in a second direction. The second electric control handle is configured with a second operating coordinate axis in the second direction.

8. The excavator control device as described in claim 7, characterized in that, The first motion control command is used for independent control of the excavator bucket; The first and second action control commands are used for independent control of the excavator stick; The second second action control command is used for the independent control of the excavator boom.

9. An excavator, characterized in that, The system includes a controller configured with an executable program, which, when executed, implements the excavator control method according to any one of claims 1 to 5.

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