Control method, control system, storage medium, and controller for excavator

Abstract

Embodiments of the present application provide a control method and system for a excavator, a storage medium and a controller. During operation of the excavator, work task information and battery energy consumption information of the excavator in a current working mode are obtained, the work task information including a task progress. Whether the current working mode is an optimal working mode is determined according to the battery energy consumption information and the current task progress. In the case that the current working mode is not the optimal working mode, a remaining working duration of the battery is determined according to the battery energy consumption information. The optimal working mode is determined from multiple working modes of the excavator according to the remaining working duration and the task progress. Through the above technical solution, the working mode is automatically switched to improve the endurance and working efficiency of the excavator. The energy consumption and the working mode are corresponded to ensure that the excavator can work in the optimal working mode throughout the whole process, effectively improving the energy utilization rate.

Description

Technical Field

[0001] This application relates to the field of engineering machinery control technology, specifically to a control method, control system, excavator, storage medium, and controller for an excavator. Background Technology

[0002] Currently, pure electric excavators in China are in the research and development stage, and the three-electric control technologies such as motor, electronic control, and power battery mostly borrow from mature new energy vehicle technologies. However, the operating environment of excavators is very different from that of new energy vehicles.

[0003] In existing technologies, the energy consumption of electric excavators during operation is not directly correlated with their specific working modes; the energy consumption requirements vary depending on the working mode. Since electric excavators have limited battery power during each operation, operating at high power without considering the energy demands of each working mode will lead to rapid energy depletion. This rapid energy depletion results in decreased work efficiency, delays in the current work progress, and the need for more frequent battery charging, thus shortening battery life. Summary of the Invention

[0004] The purpose of this application is to provide a control method, control system, excavator, storage medium, and controller for an excavator.

[0005] To achieve the above objectives, the first aspect of this application provides a control method for an excavator, comprising:

[0006] During the operation of the excavator, acquire the excavator's work task information and battery power consumption information in the current working mode. The work task information includes the task progress.

[0007] Determine whether the current working mode is the optimal working mode based on battery power consumption information and current task progress.

[0008] If the current working mode is not the optimal working mode, determine the remaining working time of the battery based on the battery power consumption information.

[0009] The optimal working mode is determined from multiple working modes of the excavator based on the remaining working time and task progress.

[0010] In the embodiments of this application, the work task information also includes a task type, and the control method further includes: after determining the optimal working mode from multiple working modes of the excavator based on the remaining working time and task progress, determining whether the working parameters of the optimal working mode meet the requirements of the task type; if the working parameters meet the requirements of the task type, controlling the excavator to switch to the optimal working mode so that the excavator can complete the remaining work task within the remaining working time of the battery.

[0011] In embodiments of this application, the control method further includes: obtaining the total duration of the task to be performed by the excavator, the task type, the total working time of the battery, and the ambient temperature; determining the operating power of the motor based on the ambient temperature; and determining the current working mode from multiple working modes of the excavator based on the total duration of the task, the task type, the total working time of the battery, and the operating power, so as to control the excavator to perform the task in the current working mode.

[0012] In the embodiments of this application, the work task information also includes the total duration of the work task, and the control method includes: after determining the remaining working time of the battery based on the battery energy consumption information, determining the remaining working time of the work task based on the total working time of the work task and the task progress; if the difference between the remaining working time of the battery and the remaining working time of the work task meets the preset conditions, controlling the excavator to maintain the current working mode and sending a charging reminder to the user so that the user can charge the battery according to the charging reminder.

[0013] In the embodiments of this application, determining the remaining working time of the battery based on battery energy consumption information includes: obtaining the motor power of the excavator in the current working mode; determining the remaining battery power based on the battery energy consumption information; and determining the remaining working time of the battery based on the motor power and the remaining battery power.

[0014] In the embodiments of this application, multiple operating modes are set according to the motor gear.

[0015] A second aspect of this application provides a controller configured to perform the control method for an excavator described above.

[0016] A third aspect of this application provides a control system for an excavator, comprising:

[0017] The data acquisition module is used to acquire the excavator's work task information and battery power consumption information in the current working mode during the operation of the excavator. The work task information includes the task progress.

[0018] The judgment module is used to determine whether the current working mode is the optimal working mode based on battery power consumption information and current task progress.

[0019] The first processing module determines the remaining working time of the battery based on battery power consumption information when the current working mode is not the optimal working mode.

[0020] The second processing module determines the optimal working mode from the excavator's multiple working modes based on the remaining working time and task progress.

[0021] A fourth aspect of this application provides an excavator, including a control system for the excavator.

[0022] A fifth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a controller, cause the controller to perform the aforementioned control method for an excavator.

[0023] The above technical solution enables automatic switching of working modes to improve the excavator's endurance and work efficiency. By acquiring work task information and battery power consumption information during excavator operation, the system determines whether the current working mode is the optimal mode based on battery power consumption and current task progress. If the current working mode is not optimal, the remaining battery working time is determined based on the battery power consumption information. Then, based on the remaining working time and task progress, the optimal working mode is determined from among the excavator's multiple working modes. This mapping of energy consumption to working modes ensures that the excavator can operate in the optimal mode throughout the entire process, effectively improving energy utilization.

[0024] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0026] Figure 1 A schematic flowchart of a control method for an excavator according to an embodiment of this application is shown.

[0027] Figure 2 The diagram schematically illustrates a structural block diagram of a control system for an excavator according to an embodiment of this application;

[0028] Figure 3 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0030] Figure 1 A schematic flowchart illustrating a control method for an excavator according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, a control method for an excavator is provided, comprising the following steps:

[0031] Step 101: During the operation of the excavator, acquire the excavator's work task information and battery power consumption information in the current working mode. The work task information includes the task progress.

[0032] Step 102: Determine whether the current working mode is the optimal working mode based on battery power consumption information and current task progress.

[0033] Step 103: If the current working mode is not the optimal working mode, determine the remaining working time of the battery based on the battery energy consumption information.

[0034] Step 104: Determine the optimal working mode from the multiple working modes of the excavator based on the remaining working time and task progress.

[0035] An excavator, also known as a digging machine or excavator, is an earthmoving machine that uses a bucket to excavate materials above or below the machine's bearing surface and load them into transport vehicles or unload them into a stockpile. The materials excavated by excavators are mainly soil, coal, silt, and pre-loosened soil and rock. In recent years, the development of construction machinery has been relatively rapid, and excavators have become one of the most important types of construction machinery. In this technical solution, "excavator" can refer to an electric excavator, which, as the name suggests, is an excavator driven or operating by electricity.

[0036] Furthermore, during the excavator's operation in its current working mode, the excavator's overall vehicle information is acquired at any selected time point. This information includes work task information and battery energy consumption information. Work task information refers to details reflecting the excavator's current work progress. In this technical solution, work tasks can be divided into preset default tasks and designated tasks. Preset default tasks have no specific actual task, while designated tasks include crushing, earthmoving, and rock excavation. Work task information can include task progress, total task duration, task content, and task remarks. Energy consumption refers to an indicator evaluating the amount of energy consumed by an energy-using product during use. Battery energy consumption refers to the energy consumption of the battery, such as how many kilowatt-hours of electricity the battery consumed in one hour and how many kilowatt-hours remain. In this technical solution, battery energy consumption information can include remaining energy consumption information and basic energy consumption information. Remaining energy consumption information refers to objective battery parameters, including rated voltage, rated current, and SOC. Basic energy consumption information refers to historical consumption parameters in the current working mode, including operating voltage, operating current, and average power over a historical time period.

[0037] Furthermore, after acquiring the excavator's task information and battery power consumption information, the controller can determine whether the current working mode is the optimal working mode based on the task progress information. The optimal working mode refers to a mode in which the excavator can successfully complete the task within the battery's remaining runtime under the current conditions. This can be an optimization of the current working mode, such as reducing the motor power, or switching to another working mode. If the current working mode allows the excavator to successfully complete the task within the battery's remaining runtime without any adjustment, then the current working mode is the optimal working mode, and there is no need to switch modes. If the current working mode is not the optimal working mode, it means that if the current working mode is maintained without any adjustment, the excavator cannot complete the task within the battery's remaining runtime. Therefore, it is necessary to select the optimal working mode from the excavator's existing multiple modes to ensure the excavator can successfully complete the task. Specifically, the remaining battery working time is determined based on the battery power consumption information, and the optimal working mode is determined from the excavator's multiple working modes based on the remaining working time and the task progress. Specifically, in this technical solution, the multiple working modes can be divided into four types, including:

[0038] (1) H mode: that is, heavy load excavation mode, where the motor is almost at full power.

[0039] (2) S mode: that is, standard operation mode, the total input power of the hydraulic pump is about 70-90% of the maximum power of the motor.

[0040] (3) L mode: that is, light load operation mode, the total input power of the hydraulic pump is about 70% or less of the maximum power of the motor.

[0041] (4) B mode: Breaking mode, the total power input of the hydraulic pump of the excavator is about 70% of the maximum power of the motor, which is suitable for the leveling or breaking operation of the excavator.

[0042] If the current working mode is not the optimal working mode, for example, if the current working mode is S standard operating mode with 90% motor power, and the excavator can complete the work within the battery's operating time after the motor power drops by 10%, then the S standard operating mode with 80% motor power can be considered the optimal working mode. If the excavator still cannot complete the work within the battery's operating time after the motor power drops by 20%, and can only complete the work when the motor power drops to 60%, then the L light load operating mode with 60% motor power can be considered the optimal working mode.

[0043] The above technical solution enables automatic switching of working modes to improve the excavator's endurance and work efficiency. By acquiring work task information and battery power consumption information during excavator operation, the system determines whether the current working mode is the optimal mode based on battery power consumption and current task progress. If the current working mode is not optimal, the remaining battery working time is determined based on the battery power consumption information. Then, based on the remaining working time and task progress, the optimal working mode is determined from among the excavator's multiple working modes. This mapping of energy consumption to working modes ensures that the excavator can operate in the optimal mode throughout the entire process, effectively improving energy utilization.

[0044] Figure 1 This is a flowchart illustrating a control method for an excavator in one embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order in which these steps are executed, and they can be performed in other orders. Furthermore, Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0045] In one embodiment, the work task information also includes the task type. After determining the optimal working mode from multiple working modes of the excavator based on the remaining working time and task progress, it is determined whether the working parameters of the optimal working mode meet the requirements of the task type. In this technical solution, work tasks can be divided into preset default tasks and specified tasks. Preset default tasks have no specific actual tasks, while specified tasks include breaking, earthmoving, and rock excavation. Work task information can include task progress, total task duration, task content, and task remarks. The task type can refer to any one of breaking, earthmoving, and rock excavation. When the working parameters meet the requirements of the task type, the excavator is controlled to switch to the optimal working mode so that the excavator can complete the remaining work tasks within the remaining working time of the battery. The working parameters can refer to the weight information of work factors used to determine the effectiveness of the optimal working mode, which can include the excavator's working time, motor power, and battery charge. Specifically, when the battery is low, the optimal working mode should first consider the current battery charge; when the current working mode is heavy-load excavation mode, the motor power should first be considered when determining the optimal working mode; and when the current working mode is standard / light-load mode, the excavator's working time should be considered first. Specifically, for example, if the excavator's current working mode is 10 (heavy load digging mode), the task type is rock digging, and the remaining battery time is 1 hour, under the current working mode with 100% motor power, to complete the remaining task, the battery needs to continue for another 1.5 hours. However, the current battery only has 1 hour of remaining working time. Therefore, the current working mode with 100% motor power cannot complete the remaining task, and the current mode is not the optimal working mode. The battery needs to be charged or the excavator's expected working time needs to be reduced. If the motor power is reduced to 90%, the battery needs to continue for another 1.4 hours, which still exceeds the current battery's remaining working time of 1 hour, and the excavator still cannot complete the remaining task. Continue to reduce the motor power to 80%, then 70%, and if that doesn't meet the requirements, reduce it further to below 70%. When the motor power drops below 70%, the excavator's working mode is L (light load mode), and the task type is rock digging. The power requirement for the motor is high, and the working parameters prioritize the motor power. Too low a power will prevent the excavator from completing the rock digging operation. Therefore, even after reducing the motor power to 70%, the controller calculates that the excavator can complete the work task smoothly with the best efficiency in the L light load mode. However, the motor power below 70% does not meet the requirements of the task type. Therefore, the S standard operation mode with the motor power adjusted to 70% is the optimal working mode. The controller then controls the excavator to switch from the H heavy load digging mode to the S standard operation mode.

[0046] In one embodiment, before the excavator is about to perform a work task, the total duration of the task to be performed, the task type, the total remaining battery time, and the ambient temperature are obtained. The motor's operating power is determined based on the ambient temperature, thereby identifying the current working mode from multiple working modes of the excavator based on the total task duration, task type, total remaining battery time, and operating power, and controlling the excavator to perform the task in the current working mode. Specifically, under normal conditions, ambient temperature does not affect battery capacity, but in low-temperature environments, such as below 0°C, the low temperature reduces battery capacity. Therefore, the motor's operating power needs to be reduced from 100% at ambient temperature to 95% to meet the excavator's working efficiency requirements.

[0047] In one embodiment, during the excavator's operation in its current working mode, excavator task information and battery power consumption information are acquired at any point in time. After acquiring the excavator's task information and battery power consumption information, the controller can determine whether the current working mode is the optimal working mode based on the task progress in the battery power consumption information and the task information. If the current working mode is not the optimal working mode, a mode switch is required. The optimal working mode is determined from multiple working modes of the excavator based on the remaining working time and task progress, so that the excavator can successfully complete the remaining task. The task information also includes the total task duration. During the process of determining that the optimal mode needs to be reselected, the remaining battery working time is determined based on the battery power consumption information. If the remaining battery working time is extremely low, under extremely low battery range, it is possible that no matter which mode is selected as the optimal working mode, the excavator will not be able to successfully complete the task. Therefore, after determining the remaining battery working time based on the battery power consumption information, the remaining task time needs to be determined based on the total task duration and task progress. If the difference between the remaining battery operating time and the remaining working time of the task meets a preset condition, the excavator is controlled to maintain the current operating mode without switching to the optimal operating mode, and a charging reminder is sent to the user so that the user can charge the battery according to the charging reminder. After receiving the charging reminder, the user can choose whether to charge or switch to the optimal operating mode based on the actual working situation. Specifically, in this technical solution, the preset condition can be 50% of the operating time. For example, if the remaining working time exceeds 50% of the battery's remaining working time, it can be considered that the battery's remaining range is too low, i.e., the battery level is too low. The controller controls the excavator to maintain the current operating mode without switching to the optimal operating mode and sends a charging reminder to prompt the user to charge the battery in time.

[0048] In one embodiment, during the excavator's operation in its current working mode, excavator task information and battery power consumption information are acquired at any point in time. After acquiring the excavator's task information and battery power consumption information, the controller can determine whether the current working mode is the optimal working mode based on the task progress in the battery power consumption information and task information. If the current working mode is not the optimal working mode, a mode switch is required. The optimal working mode is determined from multiple working modes of the excavator based on the remaining battery working time and task progress, so that the excavator can successfully complete the remaining work tasks. Specifically, when determining the remaining battery working time based on the battery power consumption information, the motor power of the excavator in the current working mode can be acquired, and the remaining battery power can be determined based on the battery power consumption information. Thus, the remaining battery working time can be determined based on the motor power and the remaining battery power. Specifically, in this technical solution, the remaining battery working time can be calculated using the formula: T remaining working time * P motor power = W remaining battery power.

[0049] In one embodiment, the excavator's multiple operating modes can be set according to the motor's gear. Specifically, in this technical solution, the multiple operating modes can be divided into four types, including:

[0050] (1) H mode: The motor speed is set to 9 to 10, which is the heavy load excavation mode, where the motor works at almost full power.

[0051] (2) S mode: The motor speed is set to 6 to 8, which is the standard operating mode. The total input power of the hydraulic pump is about 70-90% of the maximum power of the motor.

[0052] (3) L mode: Motor speed gear 1 to 5, i.e. light load operation mode, the total input power of hydraulic pump is about 70% or less of the maximum power of motor.

[0053] (4) B mode: Breaking mode, the total power input of the hydraulic pump of the excavator is about 70% of the maximum power of the motor, which is suitable for the leveling or breaking operation of the excavator.

[0054] In one embodiment, such as Figure 2 As shown, a control system for an excavator is provided, comprising:

[0055] The data acquisition module 210 is used to acquire the work task information and battery power consumption information of the excavator in the current working mode during the operation of the excavator. The work task information includes the task progress.

[0056] The judgment module 220 is used to determine whether the current working mode is the optimal working mode based on the battery power consumption information and the current task progress;

[0057] The first processing module 230 determines the remaining working time of the battery based on the battery energy consumption information when the current working mode is not the optimal working mode.

[0058] The second processing module 240 determines the optimal working mode from multiple working modes of the excavator based on the remaining working time and the task progress.

[0059] In one embodiment, an excavator is provided, including a control system for the excavator.

[0060] The above technical solution corresponds energy consumption with working mode to ensure that the excavator can operate in the optimal working mode throughout the process, which can effectively improve the excavator's endurance and work efficiency.

[0061] This application provides a storage medium storing a program that, when executed by a processor, implements the aforementioned control method for an excavator.

[0062] This application provides a processor for running a program, wherein the program executes the above-described control method for an excavator.

[0063] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor A01, a network interface A02, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores control method data for the excavator. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for the excavator.

[0064] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0065] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: during the operation of the excavator, it acquires the excavator's work task information and battery power consumption information in the current working mode, the work task information including task progress; it determines whether the current working mode is the optimal working mode based on the battery power consumption information and the current task progress; if the current working mode is not the optimal working mode, it determines the remaining working time of the battery based on the battery power consumption information; and it determines the optimal working mode from multiple working modes of the excavator based on the remaining working time and the task progress.

[0066] In one embodiment, the work task information further includes a task type, and the control method further includes: after determining the optimal working mode from multiple working modes of the excavator based on the remaining working time and task progress, determining whether the working parameters of the optimal working mode meet the requirements of the task type; if the working parameters meet the requirements of the task type, controlling the excavator to switch to the optimal working mode so that the excavator can complete the remaining work task within the remaining working time of the battery.

[0067] In one embodiment, the control method further includes: acquiring the total duration of the task to be performed by the excavator, the task type, the total working time of the battery, and the ambient temperature; determining the operating power of the motor based on the ambient temperature; and determining the current working mode from multiple working modes of the excavator based on the total duration of the task, the task type, the total working time of the battery, and the operating power, so as to control the excavator to perform the task in the current working mode.

[0068] In one embodiment, the work task information also includes the total work task duration, and the control method includes: after determining the remaining working time of the battery based on the battery energy consumption information, determining the remaining working time of the work task based on the total working time of the work task and the task progress; if the difference between the remaining working time of the battery and the remaining working time of the work task meets the preset conditions, controlling the excavator to maintain the current working mode and sending a charging reminder to the user so that the user can charge the battery according to the charging reminder.

[0069] In one embodiment, determining the remaining working time of the battery based on battery energy consumption information includes: acquiring the motor power of the excavator in the current working mode; determining the remaining battery charge based on the battery energy consumption information; and determining the remaining working time of the battery based on the motor power and the remaining charge.

[0070] In one embodiment, multiple operating modes are set according to the motor's gear position.

[0071] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program with the following method steps: during the operation of the excavator, acquiring the excavator's work task information and battery power consumption information in the current working mode, the work task information including task progress; determining whether the current working mode is the optimal working mode based on the battery power consumption information and the current task progress; if the current working mode is not the optimal working mode, determining the remaining working time of the battery based on the battery power consumption information; and determining the optimal working mode from multiple working modes of the excavator based on the remaining working time and the task progress.

[0072] In one embodiment, the work task information further includes a task type, and the control method further includes: after determining the optimal working mode from multiple working modes of the excavator based on the remaining working time and task progress, determining whether the working parameters of the optimal working mode meet the requirements of the task type; if the working parameters meet the requirements of the task type, controlling the excavator to switch to the optimal working mode so that the excavator can complete the remaining work task within the remaining working time of the battery.

[0073] In one embodiment, the control method further includes: acquiring the total duration of the task to be performed by the excavator, the task type, the total working time of the battery, and the ambient temperature; determining the operating power of the motor based on the ambient temperature; and determining the current working mode from multiple working modes of the excavator based on the total duration of the task, the task type, the total working time of the battery, and the operating power, so as to control the excavator to perform the task in the current working mode.

[0074] In one embodiment, the work task information also includes the total work task duration, and the control method includes: after determining the remaining working time of the battery based on the battery energy consumption information, determining the remaining working time of the work task based on the total working time of the work task and the task progress; if the difference between the remaining working time of the battery and the remaining working time of the work task meets the preset conditions, controlling the excavator to maintain the current working mode and sending a charging reminder to the user so that the user can charge the battery according to the charging reminder.

[0075] In one embodiment, determining the remaining working time of the battery based on battery energy consumption information includes: acquiring the motor power of the excavator in the current working mode; determining the remaining battery charge based on the battery energy consumption information; and determining the remaining working time of the battery based on the motor power and the remaining charge.

[0076] In one embodiment, multiple operating modes are set according to the motor's gear position.

[0077] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0078] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0079] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0080] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0081] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0082] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0083] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0084] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0085] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for an excavator, characterized in that, The control method includes: During the operation of the excavator, the work task information and battery power consumption information of the excavator in the current working mode are acquired. The work task information includes task progress and task type. Based on the battery energy consumption information and the current task progress, it is determined whether the current working mode is the optimal working mode. The optimal working mode refers to the working mode in which the excavator can successfully complete the work task within the battery's endurance under the current conditions. If the current working mode is not the optimal working mode, the remaining working time of the battery is determined based on the battery energy consumption information. The optimal working mode is determined from multiple working modes of the excavator based on the remaining working time and the task progress. The step of determining the optimal working mode from multiple working modes of the excavator based on the remaining working time and the task progress includes: When it is determined that there is a remaining working time sufficient to complete the task progress, the working mode corresponding to the remaining working time is taken as the optimal working mode. Determine whether the working parameters of the optimal working mode meet the requirements of the task type; When the working parameters meet the requirements of the task type, the excavator is controlled to switch to the optimal working mode so that the excavator can complete the remaining work tasks within the remaining working time of the battery.

2. The control method for an excavator according to claim 1, characterized in that, The control method further includes: Obtain the total working time and task type of the excavator's pending tasks, as well as the total working time of the battery and the ambient temperature; The operating power of the motor is determined based on the ambient temperature. The current working mode is determined from multiple working modes of the excavator based on the total working time of the task, the task type, the total working time of the battery, and the operating power, so as to control the excavator to perform the task in the current working mode.

3. The control method for an excavator according to claim 1, characterized in that, The task information also includes the total task duration, and the control method includes: After determining the remaining working time of the battery based on the battery energy consumption information, the remaining working time of the task is determined based on the total working time and the task progress. If the difference between the remaining working time of the battery and the remaining working time of the task meets the preset conditions, the excavator is controlled to maintain the current working mode and a charging prompt is sent to the user so that the user can charge the battery according to the charging prompt.

4. The control method for an excavator according to claim 1, characterized in that, Determining the remaining battery operating time based on the battery energy consumption information includes: Obtain the motor power of the excavator in the current working mode; The remaining battery power is determined based on the battery energy consumption information; The remaining operating time of the battery is determined based on the motor power and the remaining charge.

5. The control method for an excavator according to claim 1, characterized in that, The multiple operating modes are set according to the motor's gear position.

6. A controller, characterized in that, It is configured to perform the control method for an excavator according to any one of claims 1 to 5.

7. A control system for an excavator, characterized in that, include: The data acquisition module is used to acquire the work task information and battery power consumption information of the excavator in the current working mode during the operation of the excavator. The work task information includes task progress and task type. The judgment module is used to determine whether the current working mode is the optimal working mode based on the battery energy consumption information and the current task progress. The optimal working mode refers to the working mode in which the excavator can successfully complete the work task within the battery's battery life under the current conditions. The first processing module is used to determine the remaining working time of the battery based on the battery energy consumption information when the current working mode is not the optimal working mode. The second processing module is used to determine the optimal working mode from multiple working modes of the excavator based on the remaining working time and the task progress. The second processing module is further configured to: When it is determined that there is a remaining working time sufficient to complete the task progress, the working mode corresponding to the remaining working time is taken as the optimal working mode. Determine whether the working parameters of the optimal working mode meet the requirements of the task type; When the working parameters meet the requirements of the task type, the excavator is controlled to switch to the optimal working mode so that the excavator can complete the remaining work tasks within the remaining working time of the battery.

8. An excavator, characterized in that, Includes the control system for an excavator as described in claim 7.

9. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by the controller, the instruction causes the controller to be configured to perform the control method for an excavator according to any one of claims 1 to 5.

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