Excavator unloading auxiliary operation method, device, system and excavator

Abstract

The present invention provides an excavator auxiliary operation method, device, system and excavator, which belongs to the technical field of excavators. The method includes: obtaining the posture information of the excavator; determining the lowest point of the excavator bucket, the target unloading point in the loading truck bucket and the target rotation area of ​​the excavator based on the posture information; when the excavator is controlled by the input operation signal to perform unloading operations, when the lowest point of the excavator bucket is located in the target rotation area, a first prompt message is issued, and when the distance between the lowest point of the excavator bucket and the target unloading point is less than the set distance, a second prompt message is issued. The present invention accurately defines the unloading interval by calculating the target rotation area and the target unloading point, thereby improving the accuracy of unloading. According to the calculated target rotation area and target unloading point, different prompt messages are issued when the bucket reaches different positions to guide the operator to quickly complete the excavator unloading operation, thereby improving the unloading efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to an excavator unloading auxiliary operation method, device, system and excavator. Background Art

[0002] Excavator loading and unloading operations are an important working scenario for excavators. How to quickly unload materials at a designated location is an urgent problem that needs to be solved in this process.

[0003] Traditional operating methods include manual loading and unloading, as well as fully automatic loading and unloading by providing trajectory control. The manual operation method has the disadvantages of high repetitiveness, high work intensity, and inability to accurately load the vehicle due to the operator's inaccurate grasp of the relative position of the bucket and the excavator, which in turn reduces operating efficiency. In the fully automatic method, the required parameters (such as the starting and ending position coordinates of the operating path) are constantly changing during continuous operation, and the process of collecting new position information is relatively cumbersome, resulting in the system being unable to quickly recalculate the trajectory, slowing down the pace of automatic loading operations. In addition, the working accuracy and speed of the excavator under planned control will be affected by harsh working conditions, which will further reduce the efficiency of automatic loading. Summary of the Invention

[0004] The present invention provides an auxiliary excavator unloading operation method, device, system and excavator, which are used to solve the defects of low efficiency, slow speed and low precision of excavator unloading operation in the prior art, and realize efficient, fast and accurate unloading operation of the excavator.

[0005] The present invention provides an auxiliary operation method for excavator unloading, which is applied to the auxiliary unloading mode of the excavator, comprising:

[0006] Get the excavator's posture information;

[0007] Determining, based on the posture information, the lowest point of the excavator bucket, the target unloading point in the loading truck bucket, and the target rotation area of ​​the excavator;

[0008] During the process of the excavator being controlled by the input operation signal to perform unloading operations, when the lowest point of the excavator's bucket is located in the target rotation area, a first prompt message is issued, and when the distance between the lowest point of the excavator's bucket and the target unloading point is less than the set distance, a second prompt message is issued.

[0009] According to an excavator unloading auxiliary operation method provided by the present invention, determining the lowest point of the excavator bucket, the target unloading point, and the target rotation area of ​​the excavator based on the posture information, specifically includes:

[0010] Determining the lowest point of the excavator bucket and the coordinates of the excavator bucket tooth tip according to the posture information;

[0011] When the bucket tooth tip of the excavator approaches the first feature point and the second feature point on both sides of the bucket of the loader, respectively, the first feature point and the second feature point are obtained according to the bucket tooth tip coordinates, and a first rotation boundary angle corresponding to the first feature point and a second rotation boundary angle corresponding to the second feature point are obtained according to the posture information;

[0012] determining an area between the first rotation boundary angle and the second rotation boundary angle as a target rotation area;

[0013] The target unloading point is calculated based on the first characteristic point and the second characteristic point.

[0014] According to the present invention, an auxiliary method for excavator unloading operation further includes:

[0015] Calculating the minimum safe height of the bucket according to the first feature point and the second feature point;

[0016] When the lowest point of the bucket is lower than the minimum safe height, limiting the rotation angle of the excavator so that the rotation angle is less than the minimum value of the first rotation boundary angle and the second rotation boundary angle;

[0017] When the lowest point of the bucket is located in the target rotation area, the position of the bucket of the excavator is restricted so that the lowest point of the bucket of the excavator is higher than the minimum safety height.

[0018] According to the present invention, an auxiliary method for excavator unloading operation further includes:

[0019] When the lowest point of the bucket is lower than the minimum safe height, an early warning message is issued.

[0020] According to an excavator unloading auxiliary operation method provided by the present invention, the posture information of the excavator includes: first angle information between the bucket and the dipper arm of the excavator, second angle information between the dipper arm of the excavator and the horizontal plane, third angle information between the boom of the excavator and the horizontal plane, fourth angle information between the upper body of the excavator and the horizontal plane, and fifth angle information between the upper body and the lower body of the excavator.

[0021] According to the excavator unloading auxiliary operation method provided by the present invention, after the second prompt information is issued, the method further includes: controlling the excavator bucket to complete the unloading action

[0022] The present invention also provides an auxiliary excavator unloading operation device, comprising:

[0023] A posture acquisition unit, used to collect the posture information of the excavator;

[0024] An auxiliary controller is used to determine the lowest point of the excavator bucket, the target unloading point in the loading truck bucket, and the target rotation area of ​​the excavator based on the posture information, and when the excavator is controlled by the input operation signal to perform unloading operations, when the lowest point of the excavator bucket is located in the target rotation area, a first prompt message is issued, and when the distance between the lowest point of the excavator bucket and the target unloading point is less than a set distance, a second prompt message is issued.

[0025] The present invention also provides an excavator auxiliary operation system, comprising the above-mentioned excavator unloading auxiliary operation device.

[0026] An auxiliary operation system for an excavator provided by the present invention further includes a remote control device;

[0027] The remote control device includes a handle, a display screen and a first vehicle networking control unit;

[0028] The handle and the display screen are both connected to the first vehicle networking control unit; the first vehicle networking control unit is used to transmit the operation information sent by the handle to the excavator unloading auxiliary operation device, and display the excavator working condition information received from the excavator unloading auxiliary operation device on the display screen;

[0029] The excavator unloading auxiliary operation device also includes a second vehicle networking control unit, which is connected to both the first vehicle networking control unit and the auxiliary controller, and is used to receive the operation information transmitted by the first vehicle networking control unit and transmit the excavator working condition information to the first vehicle networking control unit.

[0030] The present invention also provides an excavator, comprising the above-mentioned excavator unloading auxiliary operation device or any one of the above-mentioned excavator unloading auxiliary operation systems.

[0031] The excavator unloading auxiliary operation method, device, system and excavator provided by the present invention first obtain the excavator's posture information, and then calculate the lowest point of the excavator's bucket, the target unloading point in the loading truck bucket and the excavator's target rotation area based on the posture information. When the excavator is controlled by the input operation signal to perform the unloading operation, when the lowest point of the excavator's bucket is located in the target rotation area, a first prompt message is issued to inform the operator that the excavator's rotation angle has reached the target rotation area, so that the operator does not need to adjust the excavator's rotation angle, thereby reducing the time required for the excavator to adjust the rotation angle. When the distance between the lowest point of the excavator's bucket and the target unloading point is less than the set distance, a second prompt message is issued to inform the operator that the excavator's bucket has reached the target unloading area. By calculating the target rotation area and the target unloading point, the present invention accurately defines the excavator's unloading range and improves the accuracy of the excavator's unloading. According to the calculated target rotation area and target unloading point, different prompt messages are issued when the excavator bucket reaches different positions, guiding the operator to quickly complete the excavator unloading operation, thereby improving the excavator unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 It is a schematic flow chart of the excavator auxiliary operation method provided by the present invention;

[0034] Figure 2 This is a schematic diagram of the principle of the excavator unloading auxiliary operation provided by the present invention;

[0035] Figure 3 This is a schematic diagram of the excavator unloading auxiliary operation device provided by the present invention;

[0036] Figure 4 This is one of the structural schematic diagrams of the excavator unloading auxiliary operation system provided by the present invention;

[0037] Figure 5 This is the second structural diagram of the excavator unloading auxiliary operation system provided by the present invention;

[0038] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention.

[0039] Reference numerals:

[0040] 1: Excavator unloading auxiliary operation device; 11: Posture acquisition unit; 12: Auxiliary controller; 13: Second vehicle networking control unit; 2: Remote control device; 21 Handle; 22: Display screen; 23: First vehicle networking control unit. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0042] The following combination Figures 1-6 The present invention describes an excavator unloading auxiliary operation method, device, system and excavator.

[0043] Figure 1 The flowchart of the auxiliary operation method of excavator unloading provided by the present invention is illustrated.

[0044] Figure 2 The schematic diagram illustrates the principle of the auxiliary operation of excavator unloading provided by the present invention.

[0045] The execution subject of the excavator auxiliary operation method provided by the present invention may be an auxiliary controller of the excavator.

[0046] The excavator auxiliary operation method provided by the present invention can be applied to the excavator auxiliary unloading mode, such as Figure 1 As shown, including:

[0047] Step 100: Acquire the posture information of the excavator.

[0048] The excavator's posture information can be collected by an angle sensor and / or a position sensor, and the angle sensor and / or the position sensor transmit the collected posture information to the auxiliary controller. The excavator's posture information may include posture information of the excavator's bucket, dipper arm, boom, upper body, and lower body.

[0049] Step 200: Determine the lowest point of the excavator bucket, the target unloading point in the bucket of the loader, and the target rotation area of ​​the excavator based on the posture information.

[0050] Specifically, the lowest point of the excavator bucket can be calculated using geometric calculations based on the posture information, combined with the dimensional information of the excavator's components. The lowest point of the bucket in this invention refers to the coordinates of the bucket's lowest point. Furthermore, the coordinates of any position within the excavator's working parts (bucket, dipper arm, and boom) can also be calculated using geometric calculations based on the excavator's posture information, combined with the dimensional information of the excavator's components. In this invention, only the lowest point of the excavator bucket needs to be calculated. Furthermore, in order to subsequently calculate the target unloading point in the loading truck's bucket, the coordinates of the excavator's bucket tooth tip must also be calculated using the aforementioned geometric calculations.

[0051] In a specific operation process, please refer to Figure 2 To calculate the target unloading point in the loading truck bucket, we can first determine the first characteristic point A and the second characteristic point B on both sides of the loading truck bucket. Specifically, Figure 2 As shown, the loading truck's bucket is rectangular, with the truck's travel direction as the front. The bucket includes a left fender, a right fender, and a rear fender. The first characteristic point A can be selected as a point on the right fender's border, and the second characteristic point B can be selected as a point on the left fender's border. Furthermore, to ensure the accuracy of the unloading operation, the first characteristic point A can be selected near the midpoint of the right fender's border, and the second characteristic point B can be selected near the midpoint of the left fender's border.

[0052] The embodiment of the present invention does not impose any specific limitation on the selection of the first feature point and the second feature point.

[0053] Regarding the determination of the coordinates of the first feature point A and the second feature point B, refer to the following operations: based on the excavator driver's observation and control of the bucket position, control the excavator's bucket tooth tip to approach the first feature point A. When the excavator's bucket tooth tip is very close to the position of the first feature point A, the bucket tooth tip coordinates at this moment can be calculated based on the excavator's posture information, and the bucket tooth tip coordinates are determined as the coordinates of the first feature point A; similarly, control the excavator's bucket tooth tip to approach the second feature point B. When the excavator's bucket tooth tip is very close to the position of the second feature point B, the bucket tooth tip coordinates at this moment can be calculated based on the excavator's posture information, and the bucket tooth tip coordinates are determined as the coordinates of the second feature point B.

[0054] The target unloading point can be determined according to the first characteristic point A and the second characteristic point B. For example, Figure 2 As shown, the midpoint C between the first characteristic point A and the second characteristic point B can be determined as the target unloading point.

[0055] The determination of the angle of the target rotation area is explained as follows: Figure 2As can be seen from the figure, the line between the excavator's slewing joint point O and the first feature point A is ray OA, the line between the excavator's slewing joint point O and the second feature point B is ray OB, and the angle area between ray OA and ray OB is the target slewing area. When the upper body of the excavator does not rotate relative to the lower body, it can be assumed in advance that the surface where the excavator crawler contacts the ground is a plane MNMK ( Figure 2 (not shown in the figure), the plane MNMK is taken as a reference plane, and a reference line OX extends from the swivel joint O point of the excavator. The plane where the reference line OX is located is parallel to the reference plane MNMK, and the projection of the reference line OX on the reference plane MNMK is parallel to the walking direction of the excavator track. Furthermore, when the bucket tooth tip of the excavator is controlled to touch the first feature point A, the rotation angle of the upper body of the excavator relative to the lower body is the first rotation boundary angle. The size of the first rotation boundary angle can be the angle between the projection of the ray OA on the reference plane MNMK and the projection of the reference line OX on the reference plane MNMK. When the bucket tooth tip of the excavator is controlled to touch the second feature point B, the rotation angle of the upper body of the excavator relative to the lower body is the second rotation boundary angle. The size of the second rotation boundary angle can be the angle between the projection of the ray OB on the reference plane MNMK and the projection of the reference line OX on the reference plane MNMK. Based on this, the angle size of the target rotation area can be the difference between the first rotation boundary angle and the second rotation boundary angle. The angle between the projection of the ray OC on the reference plane MNMK and the projection of the reference line OX on the reference plane MNMK is half the angle of the target rotation area.

[0056] The determination of bucket tooth tip coordinates requires further explanation. Although a bucket can include multiple tooth tips, the distance between the tooth tips of each excavator bucket is generally fixed. Therefore, as long as a position sensor is installed on or near a certain tooth tip of the bucket, the coordinates of each tooth tip can be estimated. In other words, the coordinates of any tooth tip of the bucket can be estimated. Based on this, the coordinates of any tooth tip of the bucket can be selected as the bucket tooth tip coordinates.

[0057] In some embodiments, since the target unloading point is the midpoint between the first characteristic point A and the second characteristic point B, in order to facilitate calculation, as shown in FIG. Figure 2 As shown, the middle position T of the bucket tooth tip can be selected as the position of the bucket tooth tip, and the coordinates of the T point are the bucket tooth tip coordinates.

[0058] Step 300: When the excavator is controlled by an input operation signal to perform unloading operations, a first prompt message is issued when the lowest point of the excavator's bucket is located in the target rotation area; and a second prompt message is issued when the distance between the lowest point of the excavator's bucket and the target unloading point is less than a set distance.

[0059] It should be noted that, according to the content recorded in step 300, the excavator auxiliary operation method provided by the present invention is to use the auxiliary controller of the excavator to assist the manual operation in the unloading operation during the manual operation of the excavator.

[0060] Specifically, during operation, when the lowest point of the excavator bucket is within the target rotation area, the auxiliary controller can issue a first prompt message to inform the operator that the excavator bucket is within the target unloading area. At this point, the operator no longer needs to adjust the excavator's rotation angle, but only needs to adjust the excavator's working parts (bucket, dipper stick, and boom). Furthermore, when the distance between the lowest point of the excavator bucket and the target unloading point is less than a set distance (for example, the distance between the lowest point of the excavator bucket and the target unloading point is less than 1 / 4 of the bucket width), the auxiliary controller can issue a second prompt message to inform the operator that the excavator bucket can be controlled to perform unloading operations. The first prompt message and the second prompt message can be different voice prompts.

[0061] The excavator unloading auxiliary operation method provided by the present invention is dominated by manual operation, avoiding complex calculation and control processes such as path planning. By calculating the target rotation area and the target unloading point, the unloading range of the excavator is accurately defined, thereby improving the accuracy of the excavator unloading. According to the calculated target rotation area and target unloading point, when the excavator bucket reaches different positions, different prompt information is issued to guide the operator to quickly complete the excavator unloading operation, so as to realize the auxiliary excavator unloading operation and improve the excavator unloading efficiency. In summary, the present invention not only saves the computing power of the controller, but also effectively improves the overall efficiency of the unloading operation. It avoids the defect of significantly reducing the operating speed of the excavator controller due to the slow response speed of the hydraulic mechanical device and the excessively high requirements for trajectory tracking accuracy.

[0062] As an optional implementation, Figure 2 As shown, in step 200 of the present invention, the lowest point of the excavator bucket, the target unloading point in the loading truck bucket, and the target rotation area of ​​the excavator are determined based on the posture information, specifically including:

[0063] According to the posture information, the coordinates of the lowest point of the excavator bucket L (X l ,Y l ,Z l )( Figure 2 Point L is not shown in the figure. It should be noted that Figure 2In the specific embodiment shown, the bucket's lowest point L coincides with the bucket's tooth tip) and the excavator's bucket tooth tip coordinates T (X0, Y0, Z0); when the excavator's bucket tooth tip approaches the first feature point A and the second feature point B on both sides of the loading truck bucket, the coordinates A (X1, Y1, Z1) of the first feature point A and the coordinates B (X2, Y2, Z2) of the second feature point B are obtained according to the bucket tooth tip coordinates, and the first rotation boundary angle corresponding to the first feature point A is obtained according to the posture information. And the second rotation boundary angle corresponding to the second feature point B Determine the first rotation boundary angle and the second rotation boundary angle The area between is the target rotation area According to the first characteristic point A and the second characteristic point B, the target unloading point C(X3, Y3, Z3) = (A+B) / 2 is calculated.

[0064] Regarding the relationship between the lowest point of the bucket and the position of the bucket tooth tip, when the bucket tooth tip is located at the lowest point of the bucket, the bucket tooth tip coordinates can be used as the coordinates of the bucket's lowest point. When the bucket tooth tip is not at the lowest point of the bucket, since the bucket size of each model of excavator is certain and there are angle sensors and position sensors on the bucket, the coordinates of the bucket's lowest point can also be estimated based on the bucket tooth tip coordinates.

[0065] In some embodiments, the excavator-assisted operation method provided by the present invention may further include:

[0066] The minimum safe height of the bucket is calculated based on the first feature point A and the second feature point B; when the lowest point of the bucket is lower than the minimum safe height, the rotation angle of the excavator is limited so that the rotation angle is less than the minimum value of the first rotation boundary angle and the second rotation boundary angle; when the lowest point of the bucket is located in the target rotation area, the position of the bucket of the excavator is limited so that the lowest point of the bucket of the excavator is higher than the minimum safe height.

[0067] Considering the risk of collisions with loading vehicles during excavator unloading operations, the excavator-assisted operation method provided by the present invention also requires calculating the bucket's minimum safe height to improve the safety of excavator unloading operations. If the bucket's lowest point is below the minimum safe height, the excavator's bucket will collide with the loading vehicle if it rotates to the target rotation area. Therefore, the excavator's rotation angle must be limited to less than the minimum of the first and second rotation boundary angles. Furthermore, if the bucket's lowest point is below the minimum safe height while within the target rotation area, it will also collide with the vehicle's bucket. Therefore, the excavator's bucket position must be limited to ensure that its lowest point is above the minimum safe height.

[0068] Specifically, according to the first characteristic point A (X1, Y1, Z1) and the second characteristic point B (X2, Y2, Z2), the heights of both sides of the bucket H1 = Z1 and H2 = Z2 can be obtained, and then the minimum safe height H of the bucket can be obtained. S =MAX(H1,H2)+H * , where H * It is the set safety height offset value. Figure 2 The height H is used to illustrate the height of the second feature point B.

[0069] By comparing the lowest point L(X l ,Y l ,Z l ) and the minimum safe height H S =MAX(Z1, Z2)+H * , when Z l <H S When the upper body is rotated, the rotation angle is limited. And after the rotation is restricted, the lowest point of the bucket will not be able to break through the area below the minimum safe height within the target rotation range. is the set safe rotation angle offset value, The rotation angle of the excavator, that is, the angle between the upper body and the lower body of the excavator, can be obtained by setting an angle sensor at the rotary joint of the excavator.

[0070] In a specific implementation process, the auxiliary controller of the excavator can also compare the real-time rotation angle and target rotation angle The difference between the two values ​​is used to make the upper body stop smoothly at the target rotation angle through the PID control algorithm.

[0071] In some embodiments, the excavator-assisted operation method provided by the present invention further includes: issuing a warning message when the lowest point of the bucket is lower than the minimum safe height.

[0072] In the solution of the present invention, an early warning message is issued to inform the operator whether the current unloading condition of the excavator is safe.

[0073] As an optional embodiment, the posture information of the excavator includes: first angle information between the bucket and the dipper arm of the excavator, second angle information between the dipper arm of the excavator and the horizontal plane, third angle information between the boom of the excavator and the horizontal plane, fourth angle information between the upper body of the excavator and the horizontal plane, and fifth angle information between the upper body and the lower body of the excavator.

[0074] Specifically, various angle information can be obtained through angle sensors. For example, a first angle sensor is installed between the bucket and the dipper arm of an excavator to obtain first angle information between the bucket and the dipper arm. A second angle sensor is installed on the dipper arm to obtain second angle information between the dipper arm and a horizontal plane. A third angle sensor is installed on the boom of the excavator to obtain third angle information between the boom and a horizontal plane. A fourth angle sensor is installed on the upper body of the excavator to obtain fourth angle information between the upper body and a horizontal plane. A fifth angle sensor is installed at the slewing joint of the excavator to obtain fifth angle information between the upper body and the lower body of the excavator.

[0075] The present invention does not require high accuracy for the angle sensors that collect information at various angles. Therefore, compared with the existing method of achieving fully automatic operation of an excavator through path planning, the present invention can use ordinary angle sensors and does not necessarily require high-precision angle sensors. It is more suitable for working under harsh working conditions such as emergency rescue and disaster relief, and is conducive to reducing application costs.

[0076] It should be noted that the excavator's posture information is not limited to the set of posture information listed above, as long as the position point or area calculated in step 200 can be calculated. For example, in some embodiments, the excavator's posture information may also include angle information between the bucket and the arm, angle information between the arm and the boom, angle information between the boom and the upper vehicle body, and angle information between the upper vehicle body and the lower vehicle body.

[0077] The present invention only needs to obtain the first angle information between the bucket and the dipper arm, the second angle information between the dipper arm and the horizontal plane, the third angle information between the boom and the horizontal plane, the fourth angle information between the upper body and the horizontal plane, and the fifth angle information between the upper body and the lower body of the excavator. According to the above-mentioned angle information, the excavator unloading operation can be assisted. There is no need to frequently collect parameter information as in the existing trajectory control to realize the fully automatic unloading scheme of the excavator. The excavator unloading operation can be completed quickly and efficiently under the condition of very few parameter acquisitions.

[0078] As an optional implementation, after the second prompt information is issued, the method further includes: controlling the bucket of the excavator to complete the unloading action.

[0079] In order to further improve the automation of the excavator unloading auxiliary operation method, reduce the workload of operators, increase the unloading speed, and save the operator's operating time, the present invention is also arranged to control the excavator bucket to automatically complete the unloading action when the distance between the lowest point of the excavator bucket and the target unloading point is less than the set distance.

[0080] During a specific operation, when the excavator is performing unloading operations, the operator can also turn off the excavator's auxiliary unloading mode. For example, when a second prompt message is issued, prompting that the excavator's bucket can be operated to perform unloading, the operator can also operate the unloading action.

[0081] The excavator unloading auxiliary operation device provided by the present invention is described below. The excavator unloading auxiliary operation device described below and the excavator unloading auxiliary operation method described above can be referenced to each other.

[0082] Figure 3 This is a schematic diagram of the excavator unloading auxiliary operation device provided by the present invention.

[0083] See also Figure 3 The excavator unloading auxiliary operation device 1 provided by the present invention includes:

[0084] The posture acquisition unit 11 is used to acquire the posture information of the excavator.

[0085] The auxiliary controller 12 is used to determine the lowest point of the excavator bucket, the target unloading point in the loader bucket and the target rotation area of ​​the excavator based on the posture information, and when the excavator is controlled by the input operation signal to perform unloading operations, when the lowest point of the excavator bucket is located in the target rotation area, a first prompt message is issued, and when the distance between the lowest point of the excavator bucket and the target unloading point is less than the set distance, a second prompt message is issued.

[0086] In a specific implementation, the auxiliary controller 12 can be installed in the electrical compartment on the side of the excavator as a computing and control platform for auxiliary functions.

[0087] In some embodiments, the auxiliary controller 12 is specifically used to: determine the lowest point of the excavator bucket and the coordinates of the bucket tooth tip of the excavator based on the posture information; when the bucket tooth tip of the excavator is close to the first feature point and the second feature point on both sides of the loading truck bucket, respectively, obtain the first feature point and the second feature point according to the bucket tooth tip coordinates, and obtain the first rotation boundary angle corresponding to the first feature point and the second rotation boundary angle corresponding to the second feature point according to the posture information; determine the area between the first rotation boundary angle and the second rotation boundary angle as the target rotation area; calculate the target unloading point based on the first feature point and the second feature point.

[0088] As an optional embodiment, the auxiliary controller 12 is also used to calculate the minimum safe height of the bucket based on the first feature point and the second feature point, and when the lowest point of the bucket is lower than the minimum safe height, limit the rotation angle of the excavator so that the rotation angle is less than the minimum value of the first rotation boundary angle and the second rotation boundary angle.

[0089] As another optional embodiment, the auxiliary controller 12 is also used to issue a warning message when the lowest point of the bucket is lower than the minimum safe height.

[0090] Specifically, an early warning module can be set up, that is, when the lowest point of the bucket is lower than the minimum safe height, the early warning module is controlled to issue an early warning message.

[0091] Figure 4 This is one of the structural schematic diagrams of the excavator unloading auxiliary operation system provided by the present invention.

[0092] Figure 5 This is the second structural schematic diagram of the excavator unloading auxiliary operation system provided by the present invention.

[0093] The present invention also provides an excavator unloading auxiliary operation system, such as Figure 4 As shown, it includes the above-mentioned excavator unloading auxiliary operation device 1. The device includes:

[0094] The posture acquisition unit 11 is used to acquire the posture information of the excavator.

[0095] The auxiliary controller 12 is used to determine the lowest point of the excavator bucket, the target unloading point in the loader bucket and the target rotation area of ​​the excavator based on the posture information, and when the excavator is controlled by the input operation signal to perform unloading operations, when the lowest point of the excavator bucket is located in the target rotation area, a first prompt message is issued, and when the distance between the lowest point of the excavator bucket and the target unloading point is less than the set distance, a second prompt message is issued.

[0096] As an optional implementation, Figure 5 As shown, the excavator unloading auxiliary operation system provided by the present invention also includes a remote control device 2;

[0097] The remote control device 2 includes a handle 21, a display screen 22 and a first vehicle networking control unit 23;

[0098] The handle 21 and the display screen 22 are both connected to a first vehicle networking control unit 23; the first vehicle networking control unit 23 is used to transmit the operation information sent by the handle 21 to the excavator unloading auxiliary operation device 1, and to display the excavator working condition information received from the excavator unloading auxiliary operation device 1 on the display screen 22;

[0099] The excavator unloading auxiliary operation device 1 also includes a second vehicle networking control unit 13, which is connected to both the first vehicle networking control unit 23 and the auxiliary controller 12, and is used to receive operation information transmitted by the first vehicle networking control unit 23, and transmit the excavator working condition information to the first vehicle networking control unit 23.

[0100] The excavator unloading auxiliary operation system provided by the present invention can be used for ordinary excavators operated by operators in the cab, and can also be used for electronically controlled excavators, especially remote-controlled excavators. When applied to remote-controlled excavators, the target rotation area and target unloading point calculated by the auxiliary controller 12, as well as the prompt information issued by the auxiliary controller 12, are used to assist the remote control personnel in performing unloading operations, thereby improving the problems of easy collisions and difficulty in judging the relative positions of the bucket and the truck bucket during the unloading process of the remote-controlled excavator.

[0101] The display screen 22 in the remote control device 2 is used to display the working condition information of the excavator, wherein the working condition information includes the posture information of the excavator and the environmental information around the excavator, etc. The display screen 22 can also display the warning information issued by the warning module.

[0102] The excavator unloading auxiliary operation device 1 and the remote control device 2 in the excavator unloading auxiliary operation system communicate with each other through the first vehicle networking control unit 23 and the second vehicle networking control unit 13 .

[0103] The present invention further provides an excavator, comprising any of the above-mentioned excavator unloading auxiliary operation devices 1 or any of the above-mentioned excavator unloading auxiliary operation systems. The excavator unloading auxiliary operation device 1 comprises:

[0104] The posture acquisition unit 11 is used to acquire the posture information of the excavator.

[0105] The auxiliary controller 12 is used to determine the lowest point of the excavator bucket, the target unloading point in the loader bucket and the target rotation area of ​​the excavator based on the posture information, and when the excavator is controlled by the input operation signal to perform unloading operations, when the lowest point of the excavator bucket is located in the target rotation area, a first prompt message is issued, and when the distance between the lowest point of the excavator bucket and the target unloading point is less than the set distance, a second prompt message is issued.

[0106] An electronic device provided by the present invention is described below.

[0107] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the excavator auxiliary operation method, which includes:

[0108] Get the excavator's posture information;

[0109] Based on the posture information, determine the lowest point of the excavator bucket, the target unloading point in the loading truck bucket, and the target rotation area of ​​the excavator;

[0110] During the process of the excavator being controlled by the input operation signal to perform unloading operations, when the lowest point of the excavator's bucket is located in the target rotation area, a first prompt message is issued, and when the distance between the lowest point of the excavator's bucket and the target unloading point is less than the set distance, a second prompt message is issued.

[0111] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0112] On the other hand, the present invention further provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the excavator-assisted operation method provided by the above methods, which includes:

[0113] Get the excavator's posture information;

[0114] Based on the posture information, determine the lowest point of the excavator bucket, the target unloading point in the loading truck bucket, and the target rotation area of ​​the excavator;

[0115] During the process of the excavator being controlled by the input operation signal to perform unloading operations, when the lowest point of the excavator's bucket is located in the target rotation area, a first prompt message is issued, and when the distance between the lowest point of the excavator's bucket and the target unloading point is less than the set distance, a second prompt message is issued.

[0116] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the excavator-assisted operation method provided by the above methods, the method comprising:

[0117] Get the excavator's posture information;

[0118] Based on the posture information, determine the lowest point of the excavator bucket, the target unloading point in the loading truck bucket, and the target rotation area of ​​the excavator;

[0119] During the process of the excavator being controlled by the input operation signal to perform unloading operations, when the lowest point of the excavator's bucket is located in the target rotation area, a first prompt message is issued, and when the distance between the lowest point of the excavator's bucket and the target unloading point is less than the set distance, a second prompt message is issued.

[0120] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0121] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An excavator-assisted operation method, characterized in that: include: Get the excavator's posture information; Determining, based on the posture information, the lowest point of the excavator bucket, the target unloading point in the loading truck bucket, and the target rotation area of ​​the excavator; During the process of the excavator being controlled by the input operation signal to perform the unloading operation, when the lowest point of the bucket of the excavator is located in the target rotation area, a first prompt message is issued; when the distance between the lowest point of the bucket of the excavator and the target unloading point is less than a set distance, a second prompt message is issued; Determining the lowest point of the excavator bucket, the target unloading point in the loading truck bucket, and the target rotation area of ​​the excavator based on the posture information specifically includes: Determining the lowest point of the excavator bucket and the coordinates of the excavator bucket tooth tip according to the posture information; When the bucket tooth tip of the excavator approaches the first feature point and the second feature point on both sides of the bucket of the loader, respectively, the coordinates of the first feature point and the second feature point are obtained according to the coordinates of the bucket tooth tip, and a first rotation boundary angle corresponding to the first feature point and a second rotation boundary angle corresponding to the second feature point are obtained according to the posture information; determining an area between the first rotation boundary angle and the second rotation boundary angle as a target rotation area; The target unloading point is calculated based on the first characteristic point and the second characteristic point.

2. The excavator-assisted operation method according to claim 1, characterized in that: Also includes: Calculating the minimum safe height of the bucket according to the first feature point and the second feature point; When the lowest point of the bucket is lower than the minimum safe height, limiting the rotation angle of the excavator so that the rotation angle is less than the minimum value of the first rotation boundary angle and the second rotation boundary angle; When the lowest point of the bucket is located in the target rotation area, the position of the excavator bucket is restricted so that the lowest point of the excavator bucket is higher than the minimum safety height.

3. The excavator-assisted operation method according to claim 2, characterized in that: Also includes: When the lowest point of the bucket is lower than the minimum safe height, an early warning message is issued.

4. The excavator-assisted operation method according to claim 1, characterized in that: The posture information of the excavator includes: first angle information between the bucket and the dipper arm of the excavator, second angle information between the dipper arm of the excavator and the horizontal plane, third angle information between the boom of the excavator and the horizontal plane, fourth angle information between the upper body of the excavator and the horizontal plane, and fifth angle information between the upper body and the lower body of the excavator.

5. The excavator-assisted operation method according to claim 1, characterized in that: After the second prompt information is issued, the method further includes: controlling the bucket of the excavator to complete the unloading action.

6. An auxiliary device for unloading of excavators, characterized in that: include: A posture acquisition unit, used to collect the posture information of the excavator; an auxiliary controller, configured to determine, based on the posture information, a lowest point of the excavator bucket, a target unloading point in the bucket of a loading truck, and a target rotation area of ​​the excavator, and, when the excavator is controlled by an input operation signal to perform an unloading operation, issue a first prompt message when the lowest point of the excavator bucket is located in the target rotation area, and issue a second prompt message when the distance between the lowest point of the excavator bucket and the target unloading point is less than a set distance; Determining the lowest point of the excavator bucket, the target unloading point in the loading truck bucket, and the target rotation area of ​​the excavator based on the posture information specifically includes: Determining the lowest point of the excavator bucket and the coordinates of the excavator bucket tooth tip according to the posture information; When the bucket tooth tip of the excavator approaches the first feature point and the second feature point on both sides of the bucket of the loader, respectively, the coordinates of the first feature point and the second feature point are obtained according to the coordinates of the bucket tooth tip, and a first rotation boundary angle corresponding to the first feature point and a second rotation boundary angle corresponding to the second feature point are obtained according to the posture information; determining an area between the first rotation boundary angle and the second rotation boundary angle as a target rotation area; The target unloading point is calculated based on the first characteristic point and the second characteristic point.

7. An auxiliary operation system for excavator unloading, characterized in that: It includes the excavator unloading auxiliary operation device as described in claim 6.

8. The excavator unloading auxiliary operation system according to claim 7, characterized in that: Also includes a remote control unit; The remote control device includes a handle, a display screen and a first vehicle networking control unit; The handle and the display screen are both connected to the first vehicle networking control unit; the first vehicle networking control unit is used to transmit the operation information sent by the handle to the excavator unloading auxiliary operation device, and display the excavator working condition information received from the excavator unloading auxiliary operation device on the display screen; The excavator unloading auxiliary operation device also includes a second vehicle networking control unit, which is connected to both the first vehicle networking control unit and the auxiliary controller, and is used to receive the operation information transmitted by the first vehicle networking control unit and transmit the excavator working condition information to the first vehicle networking control unit.

9. An excavator, characterized in that: It includes the excavator unloading auxiliary operation device according to claim 6 or the excavator unloading auxiliary operation system according to any one of claims 7-8.

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