Shovel and shovel control method

Abstract

The application relates to an excavator and an excavator control method, and relates to the technical field of engineering machinery. The excavator comprises a walking device, a rotating platform, an upper device, and a bulldozing device. The rotating platform is rotationally connected to the walking device around a first axis. The upper device is rotationally connected to the rotating platform around a second axis. The bulldozing device is movably connected to the rotating platform. The excavator and the excavator control method can rotate the bulldozing device to the side of the walking device when the upper device rotates to the side of the walking device, so that the bulldozing device can play a supporting and stabilizing role when performing a lateral digging operation, effectively improving the problem that the excavator is prone to deflection and instability when performing lateral digging, and reducing the probability of safety accidents.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular to a excavator and a control method of the excavator. BACKGROUND

[0002] At present, when the excavator is working, the bucket of the upper device digs into an object, which causes the center of gravity of the excavator to incline towards the direction of the bucket. Generally, in order to correct the position of the center of gravity of the excavator, the bulldozing blade on the traveling device is controlled to abut against the ground during the process of excavation, so as to support and stabilize the excavator. However, in the related art, if the target excavation position is located on the side of the traveling device, the upper device is rotated to the target excavation position relative to the traveling device, and the bulldozing blade cannot be correspondingly rotated to the side of the traveling device. At this time, if the excavator performs lateral excavation work, the excavator is prone to incline, thereby easily causing a safety accident. SUMMARY

[0003] In order to solve the above technical problems, the embodiments of the present application provide a excavator and a control method of the excavator, which can rotate the bulldozing device to the side of the traveling device when the upper device is rotated to the side of the traveling device, so that the bulldozing device can support and stabilize when performing lateral excavation work, effectively improve the problem that the excavator is prone to incline and unstable when performing lateral excavation, and reduce the probability of occurrence of safety accidents.

[0004] In a first aspect, a excavator is provided, comprising:

[0005] a traveling device;

[0006] a slewing platform, which is rotationally connected to the traveling device about a first axis;

[0007] an upper device, which is rotationally connected to the slewing platform about a second axis; and

[0008] a bulldozing device, which is movably connected to the slewing platform.

[0009] According to the first aspect of the present application, the excavator further comprises:

[0010] a counterweight device, which is connected to the slewing platform, and the counterweight device and the bulldozing device are respectively arranged on opposite sides of the slewing platform.

[0011] According to the first aspect of the present application, the upper device is arranged between the counterweight device and the bulldozing device.

[0012] According to the first aspect of the present application, the bulldozing device comprises:

[0013] a connecting arm, which is rotationally connected to the slewing platform;

[0014] a bulldozing blade connected with the connecting arm, the connecting arm being configured to drive the bulldozing blade to rise or fall.

[0015] According to a first aspect of the present application, the connecting arm comprises:

[0016] a first arm body connected with the slewing platform in rotation;

[0017] a second arm body connected with the first arm body in rotation, and an end of the second arm body away from the first arm body being connected with the bulldozing blade;

[0018] a first driving cylinder, a cylinder body of the first driving cylinder being connected with the slewing platform, and a piston rod of the first driving cylinder being connected with the first arm body;

[0019] a second driving cylinder, a cylinder body of the second driving cylinder being connected with the first arm body, and a piston rod of the second driving cylinder being connected with the second arm body.

[0020] According to the first aspect of the present application, the first axis is collinear with the second axis.

[0021] A second aspect also provides a control method of an excavator, applied to the excavator as described in the foregoing embodiments, and the control method of the excavator comprises:

[0022] controlling the superstructure device to rotate to a target position relative to the slewing platform;

[0023] controlling the slewing platform to rotate relative to the superstructure device and the traveling device, so as to drive the bulldozing device to rotate to the target position;

[0024] controlling the bulldozing device to fall, so as to abut against the ground.

[0025] According to the second aspect of the present application, after the controlling the bulldozing device to fall, so as to abut against the ground, the control method of the excavator further comprises:

[0026] if the pressure of the driving cylinder of the bulldozing device reaches a pressure threshold, controlling the bulldozing device to stop falling.

[0027] According to the second aspect of the present application, after the controlling the bulldozing device to fall, so as to abut against the ground, the control method of the excavator comprises:

[0028] controlling the bulldozing device to rise, so as to be away from the ground.

[0029] According to the second aspect of the present application, after the controlling the bulldozing device to rise, so as to be away from the ground, the control method of the excavator further comprises:

[0030] If the height of the bulldozing device rising reaches a preset height, the bulldozing device is controlled to stop rising.

[0031] The excavator and the excavator control method provided by the embodiments of the present application, in the first aspect, the upper device is connected to the rotating platform by rotating around the second axis, so that when the orientation of the upper device needs to be adjusted, the upper device can be independently rotated to the target position relative to the rotating platform. Compared with the mode of driving the upper device to rotate by controlling the rotating platform to rotate, the rotating platform can avoid rotating with a large number of components that do not need to rotate, reduce the rotating inertia, and improve the working efficiency. In the second aspect, the traveling device is connected to the rotating platform by rotating around the first axis, and the bulldozing device is movably connected to the rotating platform. In this way, when the upper device is rotated to the side of the traveling device, the bulldozing shovel is also rotated to the side of the traveling device, and then the bulldozing device is controlled to descend relative to the rotating platform, so that the bulldozing device abuts against the ground. In this way, the bulldozing device can effectively support the side of the traveling device when the bucket of the upper device is excavated, thereby improving the stability of the entire excavator, effectively improving the problem that the excavator is easy to deviate and unstable when excavating laterally, and reducing the probability of safety accidents. BRIEF DESCRIPTION OF DRAWINGS

[0032] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings. The drawings provided in the present application are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification, which serve to explain the present application together with the embodiments of the present application, but do not constitute a limitation on the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0033] Figure 1 The structural schematic diagram of the excavator provided by an exemplary embodiment of the present application is shown.

[0034] Figure 2 The structural schematic diagram of the traveling device provided by an exemplary embodiment of the present application is shown.

[0035] Figure 3 The structural schematic diagram of the rotating platform and the bulldozing device provided by an exemplary embodiment of the present application is shown.

[0036] Figure 4 The structural schematic diagram of the upper device provided by an exemplary embodiment of the present application is shown.

[0037] Figure 5 The structural schematic diagram of the excavator provided by another exemplary embodiment of the present application is shown.

[0038] Figure 6 The flowchart of the excavator control method provided by an exemplary embodiment of the present application is shown.

[0039] Figure 7 A flowchart of a method for controlling a shovel according to another example embodiment of the present application is provided.

[0040] Figure 8 A flowchart of a method for controlling a shovel according to another example embodiment of the present application is provided.

[0041] Figure 9 A flowchart of a method for controlling a shovel according to another example embodiment of the present application is provided.

[0042] Figure 10 A structural diagram of a controller according to an example embodiment of the present application is provided.

[0043] Reference signs: 100 - shovel; 110 - traveling device; 120 - slewing platform; 130 - upper vehicle device; 131 - excavating bucket; 140 - dozing device; 141 - connecting arm; 1411 - first arm body; 1412 - second arm body; 1413 - first driving cylinder; 1414 - second driving cylinder; 142 - dozing blade; 150 - counterweight device; 160 - controller; 161 - processor; 162 - memory; 163 - input device; 164 - output device; 170 - support seat. DETAILED DESCRIPTION

[0044] Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part but not all of the embodiments of the present application, and the present application can be implemented in many different forms. Therefore, the attached drawings should not be used to limit and define the present application, and the present application should cover all changes falling within the scope of the appended claims and their equivalents.

[0045] Figure 1 A structural diagram of a shovel according to an example embodiment of the present application is provided. Figure 2 A structural diagram of a traveling device according to an example embodiment of the present application is provided. Figure 3 A structural diagram of a slewing platform and a dozing device according to an example embodiment of the present application is provided. As shown in Figures 1 to 3 the present application provides a shovel 100 which can include a traveling device 110 and a slewing platform 120, and the slewing platform 120 is rotationally connected to the traveling device 110 about a first axis (a straight line shown by an arrow A in Figure 1 and Figure 3 the traveling device 110.

[0046] In actual application, the traveling device 110 plays a role of bearing for the slewing platform 120, and the traveling device 110 can realize a moving function, and the slewing platform 120 follows the traveling device 110 to shift to different working areas. The slewing platform 120 rotates about the first axis, which can facilitate the slewing platform 120 to rotate to different directions relative to the traveling device 110, and facilitate the slewing platform 120 to face different working areas.

[0047] In an embodiment, the top surface of the traveling device 110 is planar, and the first axis can be perpendicular to the top surface of the traveling device 110. As shown in Figure 1 and Figure 2 , the first axis being perpendicular to the top surface of the traveling device 110 can be considered as the first axis extending in the height direction of the traveling device 110.

[0048] Figure 4 A structural schematic diagram of the upper device provided for an exemplary embodiment of the present application is shown in Figures 1 to 4 As shown in the figure, the excavator 100 provided by the embodiment of the present application can further include an upper device 130, and the upper device 130 is rotationally connected to the slewing platform 120 about a second axis (a straight line indicated by an arrow B in Figure 1 and Figure 4 ).

[0049] In actual application, the slewing platform 120 plays a role of bearing for the upper device 130. On the one hand, in the process of the slewing platform 120 rotating relative to the traveling device 110, the upper device 130 can rotate relative to the traveling device 110 along with the slewing platform 120; on the other hand, the upper device 130 can rotate relative to the slewing platform 120 about the second axis independently.

[0050] It should be noted that in actual application, the upper device 130 can be preferentially controlled to rotate relative to the slewing platform 120 to a target position, so that compared with the mode of driving the upper device 130 to rotate by controlling the slewing platform 120 to rotate, the slewing platform 120 can be avoided from rotating with a large number of components that do not need to rotate, the slewing inertia is reduced, and the working efficiency is improved. Of course, if the components on the slewing platform 120 block the rotation of the upper device 130 in the process of controlling the upper device 130 to rotate relative to the slewing platform 120, at this time, the slewing platform 120 can be controlled to rotate relative to the traveling device 110 again to drive the upper device 130 to rotate synchronously until the upper device 130 rotates to the target position.

[0051] In an embodiment, the top surface of the slewing platform 120 is planar, and the second axis can be perpendicular to the top surface of the slewing platform 120. As shown in Figure 1 , Figure 3 and Figure 4 , the second axis being perpendicular to the top surface of the slewing platform 120 can be considered as the second axis extending in the thickness direction of the slewing platform 120.

[0052] Figure 5 A structural schematic diagram of the excavator provided for another exemplary embodiment of the present application is shown in Figure 1 , Figure 3 and Figure 5As shown, the excavator 100 can further include a dozing device 140, which is movably connected with the rotating platform 120.

[0053] Specifically, in actual application, in the process that the rotating platform 120 rotates relative to the traveling device 110, the dozing device 140 can rotate with the rotating platform 120. In addition, by movably connecting the dozing device 140 with the rotating platform 120, the dozing device 140 can be raised or lowered relative to the rotating platform 120.

[0054] In combination Figure 5 When the superstructure 130 rotates to the side of the traveling device 110, the rotating platform 120 can be controlled to rotate relative to the traveling device 110 without changing the current position of the superstructure 130, so as to drive the dozing device 140 to the side of the traveling device 110, so that the dozing device 140 is in the same orientation as the bucket 131 of the superstructure 130, and then the dozing device 140 is controlled to be lowered relative to the rotating platform 120, so that the dozing device 140 abuts against the ground. In this way, when the bucket 131 of the superstructure 130 performs the digging operation at the side of the traveling device 110, the dozing device 140 can effectively support at the corresponding orientation, which improves the stability of the excavator 100 during the digging, effectively improves the problem that the excavator 100 is easy to deviate and unstable during the lateral digging, and reduces the probability of safety accidents.

[0055] The excavator 100 provided by the embodiments of the present application includes the traveling device 110, the rotating platform 120, the superstructure 130 and the dozing device 140. In a first aspect, the superstructure 130 is rotatably connected with the rotating platform 120 about the second axis, so that when the orientation of the superstructure 130 is adjusted, the superstructure 130 can be independently controlled to rotate to the target position relative to the rotating platform 120. Compared with the mode that the superstructure 130 is driven to rotate by controlling the rotating platform 120 to rotate, the rotating platform 120 does not need to rotate with a large number of components that do not need to rotate, the rotational inertia is reduced, and the working efficiency is improved. In a second aspect, the traveling device 110 is rotatably connected with the rotating platform 120 about the first axis, and the dozing device 140 is movably connected with the rotating platform 120. In the case that the superstructure 130 rotates to the side of the traveling device 110, the dozing device 140 is also rotated to the side of the traveling device 110, and then the dozing device 140 is controlled to be lowered relative to the rotating platform 120, so that the dozing device 140 abuts against the ground. In this way, when the bucket 131 of the superstructure 130 performs the digging operation at the side of the traveling device 110, the dozing device 140 can effectively support laterally, which improves the stability of the excavator 100 as a whole, effectively improves the problem that the excavator 100 is easy to deviate and unstable during the lateral digging, and reduces the probability of safety accidents.

[0056] As shown in Figure 1 , the first axis is collinear with the second axis, that is, the slewing platform 120 and the loading device 130 rotate around the same axis, and the slewing supports between the slewing platform 120 and the traveling device 110 and between the slewing platform 120 and the loading device 130 can be stacked along the same axis, so that not only is the installation convenient, but also the machining process of the slewing platform 120 can be reduced when the slewing platform 120 is manufactured, and the production efficiency is improved.

[0057] As shown in Figure 1 and Figure 3 , the excavator 100 can further include a counterweight device 150, the counterweight device 150 is connected with the slewing platform 120, the counterweight device 150 can balance the center of gravity of the whole excavator 100, and effectively reduce the probability of center of gravity deviation of the excavator 100 during excavation.

[0058] It should be noted that the counterweight device 150 and the bulldozer device 140 are respectively arranged on opposite sides of the slewing platform 120, so that compared with the related art in which the bulldozer device 140 is arranged on the traveling device 110, the slewing platform 120 rotates to drive the counterweight device 150 to rotate, which causes the counterweight device 150 and the bulldozer device 140 to easily collide and interfere with each other, in the embodiment of the present application, during the rotation of the slewing platform 120 relative to the traveling device 110, the counterweight device 150 and the bulldozer device 140 rotate with the slewing platform 120, and the counterweight device 150 and the bulldozer device 140 are always on opposite sides, so that the collision and interference between the bulldozer device 140 and the counterweight device 150 can be avoided, and the probability of safety accidents can be effectively reduced.

[0059] In an embodiment, the counterweight device 150 can include an engine, a motor, a control module, a transmission assembly, a counterweight block, etc. These components required for normal operation can all be used as the counterweight device 150.

[0060] As shown in Figure 1 and Figure 5 , the loading device 130 is arranged between the counterweight device 150 and the bulldozer device 140, so that the space of the slewing platform 120 can be fully utilized, the space utilization rate of the slewing platform 120 is improved, and the miniaturization design of the excavator 100 is more facilitated.

[0061] It should be understood that, as described above, if the counterweight device 150 on the slewing platform 120 blocks the continuous rotation of the loading device 130 during the rotation of the loading device 130 relative to the slewing platform 120, the slewing platform 120 can be controlled to rotate relative to the traveling device 110 and drive the loading device 130 to rotate synchronously until the loading device 130 rotates to the target position.

[0062] As shown in Figure 3 , the bulldozing device 140 can include a connecting arm 141 and a bulldozing blade 142, the connecting arm 141 is rotationally connected with the rotating platform 120, and the bulldozing blade 142 is connected with the connecting arm 141.

[0063] Specifically, in the process of the rotation of the connecting arm 141 relative to the rotating platform 120, the bulldozing blade 142 can be driven to ascend or descend relative to the rotating platform 120. In actual application, when the excavator 100 needs to perform the digging operation, after the bulldozing device 140 is rotated to the same orientation as the upper device 130, the connecting arm 141 is controlled to rotate relative to the rotating platform 120, and the bulldozing blade 142 is driven to descend relative to the rotating platform 120, so that the bulldozing blade 142 abuts against the ground and plays a good supporting role; when the excavator 100 needs to move, the connecting arm 141 can be controlled to rotate relative to the rotating platform 120, and the bulldozing blade 142 is driven to ascend relative to the rotating platform 120, so that the bulldozing blade 142 is away from the ground, thereby avoiding the influence of the bulldozing blade 142 on the movement of the excavator 100.

[0064] As shown in Figure 3 , the connecting arm 141 can include a first arm body 1411, a second arm body 1412, a first driving cylinder 1413, and a second driving cylinder 1414, the first arm body 1411 is rotationally connected with the rotating platform 120, the second arm body 1412 is rotationally connected with the first arm body 1411, one end of the second arm body 1412 away from the first arm body 1411 is connected with the bulldozing blade 142, the cylinder body of the first driving cylinder 1413 is connected with the rotating platform 120, the piston rod of the first driving cylinder 1413 is connected with the first arm body 1411, the cylinder body of the second driving cylinder 1414 is connected with the first arm body 1411, and the piston rod of the second driving cylinder 1414 is connected with the second arm body 1412.

[0065] Specifically, if it is needed to control the bulldozing blade 142 to ascend relative to the rotating platform 120, the piston rod of the first driving cylinder 1413 can be controlled to retract and the piston rod of the second driving cylinder 1414 can be controlled to retract, the first driving cylinder 1413 drives the first arm body 1411 to rotate upward relative to the rotating platform 120, and the second driving cylinder 1414 drives the second arm body 1412 to rotate upward relative to the first arm body 1411, so as to drive the bulldozing blade 142 to ascend relative to the rotating platform 120. Similarly, if it is needed to control the bulldozing blade 142 to descend relative to the rotating platform 120, the piston rod of the first driving cylinder 1413 can be controlled to extend and the piston rod of the second driving cylinder 1414 can be controlled to extend, the first driving cylinder 1413 drives the first arm body 1411 to rotate downward relative to the rotating platform 120, and the second driving cylinder 1414 drives the second arm body 1412 to rotate downward relative to the first arm body 1411, so as to drive the bulldozing blade 142 to descend relative to the rotating platform 120.

[0066] It should be understood that by adjusting the extension of the piston rods of the first drive cylinder 1413 and the second drive cylinder 1414, the position of the bulldozer blade 142 can be accurately adjusted.

[0067] In one embodiment, the first drive cylinder 1413 and the second drive cylinder 1414 can be selected from electric cylinders, pneumatic cylinders, hydraulic cylinders, etc.

[0068] In one embodiment, the first arm 1411 may include a multi-link structure, and the second arm 1412 may also include a multi-link structure.

[0069] like Figure 3 As shown, in one embodiment, a support base 170 can be provided on the rotary platform 120, and the cylinder body of the first cylinder body 1413 is connected to the support base 170, which facilitates the assembly of the first cylinder body 1413.

[0070] Figure 6 This is a flowchart illustrating an exemplary embodiment of the excavator control method provided in this application. Figure 6 As shown, the excavator control method provided in this application embodiment can be applied to the excavator in the foregoing embodiments, and the excavator control method may include:

[0071] S510: Control the upper device to rotate relative to the slewing platform to the target position.

[0072] S520: Controls the rotation of the slewing platform relative to the upper and traveling devices to drive the bulldozing device to the target position.

[0073] S530: Controls the bulldozer to descend and make contact with the ground.

[0074] It should be understood that executing steps S510, S520, and S530 allows the bulldozer to rotate to the position corresponding to the upper device, thus providing good support during excavation operations. Specifically, if the target location is to the side of the traveling device, with the upper device rotated to the side of the traveling device, the bulldozer blade is also rotated to the side of the traveling device. Then, by controlling the bulldozer to descend relative to the slewing platform, the bulldozer touches the ground. This allows the bulldozer to provide effective lateral support when the bucket of the upper device is excavating to the side of the traveling device, improving the overall stability of the excavator, effectively mitigating the problem of the excavator easily tilting and becoming unstable during lateral excavation, and reducing the probability of safety accidents.

[0075] Figure 7 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 7 As shown, after step S530, the excavator control method further includes:

[0076] S540: If the pressure of the driving cylinder of the dozing device reaches the pressure threshold, control the dozing device to stop descending.

[0077] In an embodiment, the driving cylinder of the dozing device can include the first driving cylinder and the second driving cylinder of the foregoing embodiment, the corresponding pressure thresholds of the first driving cylinder and the second driving cylinder are different, when the first driving cylinder reaches the corresponding pressure threshold and / or the second driving cylinder reaches the corresponding pressure threshold, it can be considered that the dozing device has achieved abutment with the ground, if the dozing device continues to be controlled to descend, it will cause damage to the dozing blade, the first driving cylinder and the second driving cylinder of the dozing device, therefore, it is necessary to control the dozing device to stop descending at this time to avoid damage to the dozing blade, the first driving cylinder and the second driving cylinder of the dozing device.

[0078] In an embodiment, the number of driving cylinders in the dozing device can also be one, which can be the first driving cylinder or the second driving cylinder described above, in this way, the functions of lifting or lowering the dozing blade can also be achieved through the first driving cylinder or the second driving cylinder described above. Therefore, when the first driving cylinder or the second driving cylinder reaches the corresponding pressure threshold, it can also be considered that the dozing blade of the dozing device has abutted the ground, at this time the dozing device can be controlled to stop descending.

[0079] It should be understood that the pressure threshold can be set according to actual conditions, and the application does not make specific limitations on the pressure threshold.

[0080] Figure 8 The flowchart of the excavator control method provided by another exemplary embodiment of the application is shown in FIG. 6. As shown in FIG. 6, after step S530, the excavator control method further includes: Figure 8

[0081] S550: Control the dozing device to rise to move away from the ground.

[0082] Specifically, when it is necessary to transfer the excavator, the dozing device can be controlled to rise so that the dozing device moves away from the ground and does not contact the ground, thereby avoiding the influence of the dozing blade on the movement of the excavator and ensuring the safety of the excavator during movement.

[0083] Figure 9 The flowchart of the excavator control method provided by another exemplary embodiment of the application is shown in FIG. 6. As shown in FIG. 6, after step S550, the excavator control method further includes: Figure 9

[0084] S560: If the height of the dozing device rising reaches a preset height, control the dozing device to stop rising.

[0085] ​​Specifically, the height of the dozer rising can be detected by the distance sensor. It should be understood that if the height of the dozer rising is high, the dozer can collide with the upper car device above, and a safety accident is prone to occur, therefore, when the height of the dozer rising reaches a preset height, the dozer needs to be controlled to stop rising in time, so as to effectively avoid the collision between the dozer and the upper car device, and improve the operation safety.

[0086] Figure 10 A structural diagram of a controller provided for an example embodiment of the present application is shown. As shown in the figure, the excavator 100 provided by the embodiment of the present application can further include a controller 160, as shown in the figure, the controller 160 includes one or more processors 161 and a memory 162. Wherein the memory 162 is used to store the executable instructions of the processor 161, and the processor 161 is used to execute the control method of the excavator described in the above embodiments. Figure 10 Figure 10 As shown in the figure, the controller 160 includes one or more processors 161 and a memory 162. Wherein the memory 162 is used to store the executable instructions of the processor 161, and the processor 161 is used to execute the control method of the excavator described in the above embodiments.

[0087] The processor 161 can be a central processing unit (CPU) or other forms of processing units with data processing capability and / or instruction execution capability, and can control other components in the controller 160 to perform desired functions.

[0088] The memory 162 can include one or more computer program products, which can include various forms of computer readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM), cache memory, and the like. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions can be stored on the computer readable storage medium, and the processor 161 can run the program instructions to implement the control method of the embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, and the like can also be stored in the computer readable storage medium.

[0089] In one example, the controller 160 can further include an input device 163 and an output device 164, and these components are interconnected by a bus system and / or other forms of connection mechanism (not shown).

[0090] When the controller is a single device, the input device 163 can be a communication network connector, used to receive the collected input signals from the first device and the second device.

[0091] In addition, the input device 163 can also include, for example, a keyboard, a mouse, and the like.

[0092] ​The output device 164 can output various information including the determined distance information, direction information, etc. to the outside. The output device 164 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0093] Of course, in order to simplify, Figure 10 Only some of the components in the controller 160 related to the present application are shown in FIG. 1, and components such as a bus, an input / output interface, etc. are omitted. In addition to this, the controller 160 can include any other appropriate components according to a specific application.

[0094] The computer program product can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, etc., and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's device and partly on a remote computing device or entirely on the remote computing device or server.

[0095] The computer readable storage medium can be any combination of one or more computer readable medium(s). The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0096] The basic principles of the present application are described above in connection with specific embodiments, but it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and are not limiting, and it should not be considered that these advantages, benefits, effects, etc. are necessarily possessed by each embodiment of the present application. In addition, the above-described specific details are only for the purpose of example and for the purpose of facilitating understanding, and the present application is not limited to the above-described specific details.

[0097] The block diagrams of the devices, apparatuses, equipment, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connection, arrangement, configuration must be as shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include," "contain," "have," and the like are open-ended words that are intended to mean "including but not limited to," and are to be used interchangeably. The words "or" and "and" as used herein are intended to mean "and / or," and are to be used interchangeably. The word "such as" as used herein is intended to mean "such as but not limited to," and is to be used interchangeably.

[0098] It is also important to note that the devices, apparatuses, and methods of the present application can be embodied in a variety of other forms, including devices, apparatuses, and methods that are not specifically disclosed herein. Thus, the above description of the aspects of the application is not intended to limit the aspects of the application to the particular forms disclosed. Rather, the above description is intended to provide sufficient information to enable those skilled in the art to practice the aspects of the application. Furthermore, the description is not intended to limit the aspects of the application to the forms disclosed herein. While the above discussion primarily refers to embodiments of the application, it will be understood that the scope of the application is not limited to one or more embodiments. The scope of the application is limited only by the claims and the language of the claims. Accordingly, the claims are not to be construed in a limiting sense, and wherein the steps recited in any method claims are not to be construed as being necessaril performed in the order recited or in sequential order, unless such order or sequential order is explicitly required based on the context. It is also noted that some of the embodiments can not include all the features that are described in connection with other embodiments. Further, when a single device, apparatus, or system is described as carrying out a set of operations, it will be understood that the device, apparatus, or system includes means for carrying out the set of operations, unless the device, apparatus, or system is expressly so limited by context. Moreover, even if the apparatus, device, or system is not so limited in context, the apparatus, device, or system can not include means for carrying out a particular operation, unless the operation is expressly so described by context.

[0099] The above description of disclosed aspects is intended to enable any person skilled in the art to make or use or practice the application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0100] The above description has been presented for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the forms disclosed herein. Although various example aspects and embodiments have been discussed above, those of ordinary skill in the art will readily appreciate that some variations, modifications, changes, additions, and sub-combinations of the aspects discussed and illustrated can be made without departing from the scope of the application.

Claims

1. An excavator control method characterized by, The application is applied to a excavator, and the excavator comprises: a walking device (110); a rotating platform (120) rotatably connected to the walking device (110) about a first axis; a superstructure device (130) rotatably connected to the rotating platform (120) about a second axis; and a bulldozing device (140) movably connected to the rotating platform (120); the excavator control method comprises: controlling the superstructure device to rotate to a target position relative to the rotating platform; controlling the rotating platform to rotate relative to the superstructure device and the walking device, so as to drive the bulldozing device to rotate to the target position; controlling the bulldozing device to descend to abut against the ground.

2. The excavator control method according to claim 1, characterized by, After the step of controlling the bulldozing device to descend to abut against the ground, the excavator control method further comprises: if the pressure of a driving cylinder of the bulldozing device reaches a pressure threshold, controlling the bulldozing device to stop descending.

3. The excavator control method according to claim 1, characterized by, After the step of controlling the bulldozing device to descend to abut against the ground, the excavator control method further comprises: controlling the bulldozing device to ascend to move away from the ground.

4. The excavator control method according to claim 3, characterized by, After the step of controlling the bulldozing device to ascend to move away from the ground, the excavator control method further comprises: if the height of the bulldozing device ascending reaches a preset height, controlling the bulldozing device to stop ascending.

5. The excavator control method according to claim 1, characterized by, The excavator further comprises: a counterweight device (150) connected to the rotating platform (120), and the counterweight device (150) and the bulldozing device (140) are arranged on opposite sides of the rotating platform (120), respectively.

6. The excavator control method according to claim 5, characterized by, The superstructure device (130) is arranged between the counterweight device (150) and the bulldozing device (140).

7. The excavator control method according to claim 1, characterized by, The bulldozing device (140) comprises: a connecting arm (141) rotatably connected to the rotating platform (120); a bulldozing blade (142) connected to the connecting arm (141), and the connecting arm (141) is used to drive the bulldozing blade (142) to ascend or descend.

8. The excavator control method as claimed in claim 7, characterized by, The connecting arm (141) comprises: a first arm body (1411) rotatably connected to the rotating platform (120); a second arm body (1412) rotatably connected to the first arm body (1411), and one end of the second arm body (1412) away from the first arm body (1411) is connected to the bulldozing blade (142); a first driving cylinder (1413), a cylinder body of the first driving cylinder (1413) is connected to the rotating platform (120), and a piston rod of the first driving cylinder (1413) is connected to the first arm body (1411); a second driving cylinder (1414), a cylinder body of the second driving cylinder (1414) is connected to the first arm body (1411), and a piston rod of the second driving cylinder (1414) is connected to the second arm body (1412).

9. The excavator control method of claim 1, wherein, The first axis is collinear with the second axis.

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