Automatic control method and automatic control device for excavator, and excavator

Abstract

The application provides an automatic control method and device of a excavator and a wheel excavator, the excavator comprising an energy accumulator, a brake valve and an on-off electromagnetic valve; the energy accumulator is connected with the brake valve and the on-off electromagnetic valve; the method comprises: obtaining an instantaneous speed parameter of an engine of the excavator; determining that the excavator is in a parking state according to the instantaneous speed parameter, and sending a starting signal of a first strategy, the first strategy being used for adjusting a liquid volume of the energy accumulator to the brake valve through the on-off electromagnetic valve to prevent the excavator from sliding downhill. The application judges whether the machine is parked through an engine speed sensor; when the speed sensor is zero, the machine is in a parking state; when the speed sensor is greater than zero, the machine is in a running state; the starting signal of the first strategy is sent when the machine is parked, a controller controls a throttle voltage signal, compensates for a certain throttle signal, increases the traction of the machine, and avoids the problem of sliding downhill in the starting moment of the machine.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to an automatic control method and an automatic control device of an excavator, and a wheeled excavator. Background Art

[0002] At present, the control of wheeled excavator slipping is mainly controlled by hydraulic control. The parking brake of the machine is achieved by displacing the valve core of the solenoid valve through hydraulic pilot oil; the speed of oil return from the spring brake cylinder is slowed down by the delay solenoid valve, so that the parking brake is completed during the time from the driver releasing the accelerator to slowing down and stopping.

[0003] When existing wheeled excavators stop and start on a slope, it often happens that after the brake pressure is released, if the machine cannot be given a forward force in time, the machine will slide down the slope, affecting the customer experience and even posing a safety hazard in more serious cases. Summary of the Invention

[0004] The present invention provides an automatic control method for an excavator, so as to solve the above problems in the prior art.

[0005] The invention also provides an automatic control device for an excavator.

[0006] The present invention also provides an excavator.

[0007] According to a first aspect of the present invention, a method for automatically controlling an excavator is provided. The excavator includes: an accumulator, a brake valve, and a switching solenoid valve; the accumulator is connected to the brake valve and the switching solenoid valve, respectively; the method includes: obtaining an instantaneous speed parameter of the excavator's engine; determining that the excavator is in a parked state based on the instantaneous speed parameter, and issuing a start signal of a first strategy. The first strategy is used to adjust the amount of liquid charged to the brake valve by the accumulator through the switching solenoid valve to prevent the excavator from sliding down a slope.

[0008] According to an embodiment of the present invention, the step of issuing a start signal of the first strategy specifically includes:

[0009] Get the pressure parameters of the brake valve;

[0010] The switch solenoid valve and the throttle voltage of the excavator are controlled according to the pressure parameter.

[0011] According to an embodiment of the present invention, the step of controlling the throttle voltage of the excavator according to the pressure parameter and compensating the throttle signal specifically includes:

[0012] If it is determined that the pressure parameter is greater than zero, the excavator is in a braking state, and the on / off solenoid valve is controlled according to the degree of change of the pressure parameter;

[0013] determining that the pressure parameter is equal to zero, the excavator is in a hill start state, controlling the throttle voltage, compensating the throttle signal to increase the traction.

[0014] According to an embodiment of the present application, the step of controlling the opening and closing of the on-off electromagnetic valve according to the degree of change of the pressure parameter specifically comprises:

[0015] determining that the pressure parameter meets a preset pressure, closing the on-off electromagnetic valve, and continuously collecting the pressure parameter of the brake within a first preset time length;

[0016] determining that the pressure parameter does not meet the preset pressure, opening the on-off electromagnetic valve, and charging the brake valve through the accumulator;

[0017] when the pressure parameter meets the preset pressure again, closing the on-off electromagnetic valve, and repeating the above steps.

[0018] According to an embodiment of the present application, the step of determining that the pressure parameter is equal to zero, the excavator is in a hill start state, specifically comprises:

[0019] generating a pressure change rate according to the pressure parameter;

[0020] determining that the pressure change rate is greater than a preset change rate, and the pressure parameter is equal to zero, the excavator is in a hill start state.

[0021] According to an embodiment of the present application, the excavator further comprises a proportional electromagnetic valve and a main pump, the proportional electromagnetic valve is connected with the main pump;

[0022] The method further comprises:

[0023] determining that the excavator is in a running state according to the instantaneous speed parameter, issuing a start signal of a second strategy, the second strategy is used to adjust the pump oil amount of the main pump through the proportional electromagnetic valve, to prevent the walking motor of the excavator from being damaged by reverse rotation and air suction.

[0024] According to an embodiment of the present application, the step of determining that the excavator is in a running state according to the instantaneous speed parameter specifically comprises:

[0025] obtaining a motor speed parameter of a walking motor;

[0026] generating a pressure change rate according to the pressure parameter;

[0027] determining that the throttle signal meets a preset signal, and the instantaneous speed parameter is less than the motor speed parameter, the excavator is in a coasting state, issuing the start signal of the second strategy.

[0028] According to an embodiment of the present invention, the step of issuing a start signal of the second strategy specifically includes:

[0029] Determining that the excavator is in a sliding state and obtaining the oil pumping amount of the main pump;

[0030] It is determined that the oil pumping amount does not meet the preset oil pumping amount value, and the throttle voltage is increased to make the instantaneous speed parameter match the motor speed parameter.

[0031] According to an embodiment of the present invention, the step of increasing the throttle voltage so that the instantaneous speed parameter matches the motor speed parameter specifically includes:

[0032] The throttle voltage is increased to compensate the throttle signal, and at the same time, the operating current of the proportional solenoid valve is reduced until the instantaneous speed parameter is equal to the motor speed parameter.

[0033] According to a second aspect of the present invention, an automatic control device for an excavator is provided, comprising:

[0034] The speed acquisition module is used to obtain the instant speed parameter of the excavator's engine;

[0035] The strategy generating module is used to determine that the excavator is in a parking state according to the instantaneous speed parameter, and send a start signal of a first strategy, where the first strategy is used to prevent the excavator from sliding down the slope.

[0036] According to a third aspect of the present invention, an excavator is provided, which adopts the above-mentioned automatic control method of the excavator when executing control, or has the above-mentioned automatic control device of the excavator.

[0037] The above one or more technical solutions in the present invention have at least one of the following technical effects: the automatic control method, automatic control device and wheeled excavator provided by the present invention determine whether the machine is stopped through the engine speed sensor. When the speed sensor is zero, the machine is in a stopped state. When the speed sensor is greater than zero, the machine is in a driving state. When the machine is stopped, a start signal of the first strategy is sent, and the controller controls the throttle voltage signal to compensate for a certain throttle signal, thereby increasing the traction of the machine and avoiding the problem of sliding down the slope when the machine starts. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces 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.

[0039] Figure 1 This is one of the flow charts of the automatic control method for an excavator provided by the present invention;

[0040] Figure 2 This is the second flow chart of the automatic control method for an excavator provided by the present invention;

[0041] Figure 3 This is one of the structural diagrams of the excavator provided by the present invention;

[0042] Figure 4 This is one of the structural diagrams of the excavator provided by the present invention;

[0043] Figure 5 It is a structural schematic diagram of the automatic control device of the excavator provided by the present invention.

[0044] Reference numerals:

[0045] 10. Accumulator; 20. Brake valve; 30. Switch solenoid valve; 40. Proportional solenoid valve; 50. Main pump. DETAILED DESCRIPTION

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. 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.

[0047] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0048] The following combination Figures 1-5 The automatic control method, automatic control device and wheeled excavator of the present invention are described.

[0049] It should be noted that the present invention is mainly described with a wheeled excavator as an example. Those skilled in the art can apply it to other types of excavators as needed, and the present invention does not make specific limitations on this.

[0050] according to Figure 1 As shown, the present invention provides an automatic control method for an excavator, the excavator comprising: an accumulator 10, a brake valve 20 and a switch solenoid valve 30, the accumulator 10 being connected to the brake valve 20 and the switch solenoid valve 30 respectively;

[0051] Methods include:

[0052] Step S100: obtaining the instantaneous speed parameter of the excavator engine;

[0053] Step S200: Determine that the excavator is in a parking state according to the instantaneous speed parameter, and send a start signal of the first strategy. The first strategy is used to adjust the amount of liquid charged to the brake valve 20 by the accumulator 10 by switching the solenoid valve 30 to prevent the excavator from sliding down the slope.

[0054] Specifically, when an existing wheeled excavator stops and starts on a slope, it often happens that after the brake pressure is released, if the machine cannot be given a forward power in time, the machine will slide down the slope.

[0055] Furthermore, the present invention uses an engine speed sensor to determine whether the machine is stopped. When the speed sensor is zero, the machine is in a stopped state. When the speed sensor is greater than zero, the machine is in a driving state. When the machine is stopped, a start signal of the first strategy is issued to prevent the excavator from sliding down the slope when starting.

[0056] In a possible embodiment, when the machine is traveling downhill, the driver often releases the accelerator pedal to allow the excavator to coast. Since wheeled excavators are primarily driven by travel motors, if the excavator coasts in neutral and the main pump does not deliver enough oil to the travel motor, and the travel motor speed exceeds the maximum speed supported by the main pump's current oil flow, the travel motor may be sucked up, potentially damaging the motor.

[0057] Therefore, the excavator provided by the present invention further includes: a proportional solenoid valve 40 and a main pump 50 , and the proportional solenoid valve 40 is connected to the main pump 50 .

[0058] Furthermore, the automatic control method also includes step S300: determining that the excavator is in a driving state based on the instantaneous speed parameter, and issuing a start signal for the second strategy, which is used to adjust the pumping oil volume of the main pump 50 through the proportional solenoid valve 40 to prevent the excavator's travel motor from reversing and being damaged by air suction.

[0059] It should be noted that when the machine is traveling downhill, the driver often releases the accelerator pedal to allow the excavator to coast. Since wheeled excavators are primarily driven by the travel motor, if the excavator coasts in neutral and the main pump 50 does not pump enough oil to the travel motor, and the travel motor speed exceeds the maximum speed supported by the main pump 50's current oil supply, the travel motor will suck air, damaging the motor. While the excavator is traveling, the second strategy's start signal is issued to prevent the excavator's motor from reversing.

[0060] according to Figures 2-4 As shown, the present invention provides an automatic control method for an excavator. First, the engine speed sensor is used to determine whether the machine is parked. When the speed sensor reads 0, the machine is parked; when the speed sensor reads greater than 0, the machine is in motion. Different control methods are implemented for each of these two states.

[0061] (1) When the machine is parked, check the brake pressure sensor. When the machine starts on a slope, when the brake is released, the brake pressure sensor brake pressure is 0, the controller controls the throttle voltage signal, compensates the throttle signal to a certain extent, increases the traction of the machine, and avoids the problem of the machine slipping when starting.

[0062] (2) When the machine is running, the engine speed and the travel motor speed are detected. The current throttle voltage signal is detected. If the throttle voltage signal is 0 and the travel motor speed is greater than the engine speed, it means that the machine is in a slipping state. The throttle voltage is controlled by the controller to compensate the throttle signal so that the engine speed matches the travel motor speed. This prevents the travel motor speed from being greater than the engine speed during slipping, causing the motor to reverse and absorb air.

[0063] According to an embodiment of the present invention, the step of issuing a start signal of the first strategy specifically includes:

[0064] Step S210: Obtaining the pressure parameters of the brake valve 20;

[0065] Step S220: Control the switch solenoid valve 30 and the throttle voltage of the excavator according to the pressure parameter.

[0066] Specifically, when the excavator stops, there are two situations: one is the braking state, and the other is the slope starting state. The state of the excavator is determined by obtaining the pressure parameters of the brake valve 20, and the throttle voltage of the excavator is further controlled to prevent the excavator from sliding down the slope when the brake is released, or to prevent the excavator from sliding down the slope when the accelerator is not stepped on when starting on a slope.

[0067] According to an embodiment of the present invention, the step of controlling the throttle voltage of the excavator according to the pressure parameter and compensating the throttle signal specifically includes:

[0068] Step S230: determining that the pressure parameter is greater than zero, the excavator is in a braking state, and the opening and closing of the switch electromagnetic valve 30 is controlled according to the change degree of the pressure parameter;

[0069] Step S240: determining that the pressure parameter is equal to zero, the excavator is in a slope starting state, the throttle voltage is controlled, and the throttle signal is compensated to increase the traction.

[0070] Specifically, when the machine starts on a slope, at the moment when the brake is released and the brake pressure sensor brake pressure is 0, the controller controls the throttle voltage signal, compensates for a certain throttle signal, and increases the traction of the machine to avoid the problem of machine starting instantaneously.

[0071] It should be noted that when the brake pressure is greater than 0, it means that the machine is in a parking or braking state. The switch electromagnetic valve 30 is used to control the on-off between the accumulator 10 and the brake valve 20. When the switch electromagnetic valve 30 is opened, the accumulator 10 charges the brake valve 20, keeps the brake valve 20 working, and the machine is in a braking state. When the switch electromagnetic valve 30 is closed, the accumulator 10 stops charging the brake valve 20, and the machine is released from braking. The accumulator 10 mainly provides brake pressure for the brake valve 20.

[0072] According to an embodiment of the present application, the step of controlling the opening and closing of the switch electromagnetic valve 30 according to the change degree of the pressure parameter specifically comprises:

[0073] Step S231: determining that the pressure parameter meets the preset pressure, closing the switch electromagnetic valve 30, and continuously collecting the pressure parameter of the brake within a first preset time length;

[0074] Step S232: determining that the pressure parameter does not meet the preset pressure, opening the switch electromagnetic valve 30, and charging the brake valve 20 through the accumulator 10;

[0075] Step S233: when the pressure parameter meets the preset pressure again, the switch electromagnetic valve 30 is closed, and the above steps are repeated.

[0076] Specifically, when the machine is parked, the brake pressure sensor is checked. When the brake pressure falls below the set target value, the on / off solenoid valve 30 opens, and the accumulator 10 charges the brake valve 20. When the brake pressure exceeds the set value, the on / off solenoid valve 30 closes, maintaining a constant brake pressure. After the machine has been parked for a certain period of time, the brake pressure decreases. When the brake pressure falls below the set value, the solenoid valve opens again. When the pressure rises above the set value, the solenoid valve closes. This significantly increases the usable life of the accumulator 10 after a single charge. When the brake pressure falls below the set target value a, the controller opens the on / off solenoid valve 30 of the accumulator 10, applying the hydraulic pressure to the brakes. When the pressure rises above the set value b, the on / off solenoid valve 30 closes. This prevents the excavator from rolling down a slope if the brake pedal is released. When starting on a slope, releasing the brake pedal closes the on / off solenoid valve 30, simultaneously compensating the throttle voltage to prevent the excavator from rolling down the slope.

[0077] According to one embodiment of the present invention, the step of determining that the pressure parameter is equal to zero and the excavator is in a ramp starting state specifically includes:

[0078] Step S241: generating a pressure change rate according to the pressure parameter;

[0079] Step S242: Determine that the pressure change rate is greater than the preset change rate and the pressure parameter is equal to zero, then the excavator is in a slope starting state.

[0080] Specifically, in order to more accurately determine whether the excavator is in the slope starting state, the pressure change rate is determined based on the pressure parameter. When the pressure increase rate is greater than the preset change rate, that is, the brake is released in a very short time and the pressure parameter is zero, the excavator is in the slope starting state.

[0081] According to one embodiment of the present invention, the step of determining that the excavator is in a driving state according to the instantaneous speed parameter specifically includes:

[0082] Step S310: obtaining the motor speed parameter of the travel motor;

[0083] Step S320: generating a pressure change rate according to the pressure parameter;

[0084] Step S330: Determine that the throttle signal meets the preset signal and the instantaneous speed parameter is less than the motor speed parameter, then the excavator is in a sliding state, and send a start signal for the second strategy.

[0085] Specifically, when the excavator's engine speed is greater than zero, the excavator is in a driving state. This includes two situations: normal driving, where the second strategy does not need to be activated; and rolling. When the machine is driving, the engine speed and travel motor speed are detected. The current throttle voltage signal is detected. If the throttle voltage signal is 0 and the travel motor speed is greater than the engine speed, the machine is in a rolling state, and a signal to activate the second strategy is issued to prevent damage to the travel motor due to reverse air intake.

[0086] According to an embodiment of the present invention, the step of issuing a start signal of the second strategy specifically includes:

[0087] Step S331: determining that the excavator is in a sliding state, and obtaining the oil pumping amount of the main pump 50;

[0088] Step S332: Determine that the oil pumping amount does not meet the preset oil pumping amount value, and increase the throttle voltage to make the instantaneous speed parameter match the motor speed parameter.

[0089] Specifically, under normal circumstances, there is a corresponding relationship between engine speed and the amount of oil pumped by the main pump 50, which in turn corresponds to the speed of the travel motor. When the transmission speed increases, if there is no throttle voltage or the throttle voltage is low, the main pump 50 will not pump enough oil. In this case, the controller controls the throttle voltage, compensates for the throttle voltage, and increases the engine speed, so that the amount of oil pumped by the main pump 50 matches the travel motor speed, preventing motor air intake.

[0090] According to an embodiment of the present invention, the step of increasing the throttle voltage so that the instantaneous speed parameter matches the motor speed parameter specifically includes:

[0091] Step S333: increasing the throttle voltage to compensate for the throttle signal while reducing the operating current of the proportional solenoid valve 40 until the instantaneous speed parameter is equal to the motor speed parameter.

[0092] Specifically, based on the above embodiment, when the excavator is in a slipping state, the throttle voltage is controlled by the controller to compensate the throttle signal so that the engine speed matches the travel motor speed to prevent the travel motor speed from being greater than the engine speed when slipping, causing the motor to reverse and absorb air and be damaged.

[0093] It should be noted that the proportional solenoid valve 40 mainly controls the oil pumping amount of the main pump 50, and thus controls the speed of the travel motor. The greater the current of the proportional solenoid valve 40, the greater the oil pumping amount of the main pump 50 and the faster the travel motor speed.

[0094] according to Figure 5 As shown, the present invention provides an automatic control device for an excavator, comprising:

[0095] The speed acquisition module is used to obtain the instant speed parameter of the excavator's engine;

[0096] The strategy generating module is used to determine that the excavator is in a parking state according to the instantaneous speed parameter and send a start signal of a first strategy, where the first strategy is used to prevent the excavator from sliding down a slope.

[0097] According to a third aspect of the present invention, an excavator is provided, which adopts the above-mentioned automatic control method of the excavator when executing control, or has the above-mentioned automatic control device of the excavator.

[0098] The automatic control method, automatic control device and wheeled excavator provided by the present invention determine whether the machine is parked through an engine speed sensor. When the speed sensor is zero, the machine is in a parked state, and when the speed sensor is greater than zero, the machine is in a driving state. When parked, a start signal of a first strategy is issued, and a controller controls the throttle voltage signal to compensate a certain throttle signal to increase the traction force of the machine and avoid the problem of the machine sliding down the slope at the moment of starting. When driving, a start signal of a second strategy is issued, and the throttle voltage is controlled by the controller to compensate the throttle signal so that the engine speed matches the travel motor speed to prevent the travel motor speed from being greater than the engine speed when the machine slides, causing the motor to reverse and absorb air damage.

[0099] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or modes and features of different embodiments or modes described in this specification without contradiction.

[0100] Finally, it should be noted that the above embodiments are intended to illustrate the present invention only and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various combinations, modifications, or equivalent substitutions of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention and are intended to be encompassed by the claims of the present invention.

Claims

1. An automatic control method for an excavator, characterized in that: The excavator comprises: an accumulator (10), a brake valve (20), a switch solenoid valve (30), a proportional solenoid valve (40) and a main pump (50); the accumulator (10) is connected to the brake valve (20) and the switch solenoid valve (30) respectively; the proportional solenoid valve (40) is connected to the main pump (50); The method comprises: Obtain the instantaneous speed parameter of the excavator's engine; Determining that the excavator is in a parking state according to the instantaneous speed parameter, and issuing a start signal of a first strategy, wherein the first strategy is used to adjust the amount of liquid charged to the brake valve (20) by the accumulator (10) through the switch solenoid valve (30) to prevent the excavator from sliding down the slope; Determining that the excavator is in a traveling state according to the instantaneous speed parameter, and issuing a start signal for a second strategy, wherein the second strategy is used to adjust the pumping oil volume of the main pump (50) through the proportional solenoid valve (40) to prevent the travel motor of the excavator from reversely sucking air and being damaged; The step of determining that the excavator is in a driving state according to the instantaneous speed parameter specifically includes: Get the motor speed parameters of the travel motor; generating a pressure change rate according to a pressure parameter; Determining that the throttle signal satisfies a preset signal and the instantaneous speed parameter is less than the motor speed parameter, the excavator is in a rolling state, and issuing a start signal for the second strategy; The step of issuing a start signal for the second strategy specifically includes: Determining that the excavator is in a slipping state, and obtaining the pumping oil volume of the main pump (50); It is determined that the oil pumping amount does not meet the preset oil pumping amount value, and the throttle voltage is increased to make the instantaneous speed parameter match the motor speed parameter.

2. The automatic control method of an excavator according to claim 1, characterized in that: The step of issuing a start signal for the first strategy specifically includes: Obtaining a pressure parameter of the brake valve (20); The switch solenoid valve (30) and the throttle voltage of the excavator are controlled according to the pressure parameter.

3. The automatic control method of an excavator according to claim 2, characterized in that: The step of controlling the throttle voltage of the excavator according to the pressure parameter to compensate the throttle signal specifically includes: Determining that the pressure parameter is greater than zero, the excavator is in a braking state, and controlling the opening and closing of the switch solenoid valve (30) according to the degree of change of the pressure parameter; If it is determined that the pressure parameter is equal to zero, the excavator is in a hill-starting state, and the throttle voltage is controlled and the throttle signal is compensated to increase traction.

4. The automatic control method for an excavator according to claim 3, characterized in that: The step of controlling the opening and closing of the switch solenoid valve (30) according to the degree of change of the pressure parameter specifically includes: Determining that the pressure parameter meets a preset pressure, closing the switch solenoid valve (30), and continuously collecting the brake pressure parameter within a first preset time period; Determining that the pressure parameter does not meet the preset pressure, opening the switch solenoid valve (30), and filling the brake valve (20) with liquid through the accumulator (10); When the pressure parameter meets the preset pressure again, the switch solenoid valve (30) is closed and the above steps are repeated.

5. The automatic control method for an excavator according to claim 3, characterized in that: The step of determining that the pressure parameter is equal to zero and the excavator is in a slope starting state specifically includes: generating a pressure change rate according to the pressure parameter; If it is determined that the pressure change rate is greater than a preset change rate and the pressure parameter is equal to zero, the excavator is in a slope starting state.

6. The automatic control method for an excavator according to any one of claims 1 to 5, characterized in that: The step of increasing the throttle voltage so that the instantaneous speed parameter matches the motor speed parameter specifically includes: The throttle voltage is increased to compensate the throttle signal, while the operating current of the proportional solenoid valve (40) is reduced until the instantaneous speed parameter is equal to the motor speed parameter.

7. An automatic control device for an excavator, characterized in that: The excavator comprises: an accumulator (10), a brake valve (20), a switch solenoid valve (30), a proportional solenoid valve (40) and a main pump (50); the accumulator (10) is connected to the brake valve (20) and the switch solenoid valve (30) respectively; the proportional solenoid valve (40) is connected to the main pump (50); The device comprises: The speed acquisition module is used to obtain the instant speed parameter of the excavator's engine; a strategy generating module, configured to determine that the excavator is in a parked state according to the instantaneous speed parameter, and to issue a start signal for a first strategy, wherein the first strategy is configured to prevent the excavator from sliding down a slope; Determining that the excavator is in a traveling state according to the instantaneous speed parameter, and issuing a start signal for a second strategy, wherein the second strategy is used to adjust the pumping oil volume of the main pump (50) through the proportional solenoid valve (40) to prevent the travel motor of the excavator from reversely sucking air and being damaged; The step of determining that the excavator is in a driving state according to the instantaneous speed parameter specifically includes: Get the motor speed parameters of the travel motor; generating a pressure change rate according to a pressure parameter; Determining that the throttle signal satisfies a preset signal and the instantaneous speed parameter is less than the motor speed parameter, the excavator is in a rolling state, and issuing a start signal for the second strategy; The step of issuing a start signal for the second strategy specifically includes: Determining that the excavator is in a slipping state, and obtaining the pumping oil volume of the main pump (50); It is determined that the oil pumping amount does not meet the preset oil pumping amount value, and the throttle voltage is increased to make the instantaneous speed parameter match the motor speed parameter.

8. An excavator, characterized in that: When executing control, the automatic control method of the excavator described in any one of claims 1 to 6 is adopted, or the automatic control device of the excavator described in claim 7 is used.

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