Locking control method, device and system for excavator

Abstract

The application provides a lock-up control method, device and system of a excavator, the method comprising: obtaining a lock-up command, the lock-up command indicating a target speed limit to which the engine of the excavator needs to be limited; determining a current working state of the excavator; if the current working state of the excavator indicates that the excavator is not in a digging working state, controlling the speed of the engine to reduce to the target speed limit, so as to realize lock-up of the excavator. The scheme of the application can reduce the risk of arm falling due to lock-up of the excavator, and improve the safety of lock-up of the excavator.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of excavator control, and in particular to a lock control method, device and system for an excavator. BACKGROUND

[0002] In order to avoid unauthorized use of the excavator, a remote control platform can send a lock command to the excavator to control the excavator to enter a lock state.

[0003] After the excavator receives the lock command, the engine speed of the excavator is limited to a limit speed set in the lock command by an engine controller of the excavator to complete the lock. However, if the excavator receives the lock command during the excavation operation, the engine speed of the excavator is reduced according to the lock command, which may cause the mechanical arm of the excavator to fall due to the sudden reduction of the engine speed, i.e., a falling arm situation, thereby possibly causing some safety accidents. SUMMARY

[0004] Therefore, the present application provides a lock control method, device and system for an excavator to reduce the risk of falling arm caused by the lock of the excavator and improve the safety of the lock of the excavator.

[0005] To achieve the above object, in one aspect, the present application provides a lock control method for an excavator, comprising:

[0006] obtaining a lock command, the lock command indicating a target limit speed required for limiting the engine of the excavator;

[0007] determining a current working state of the excavator;

[0008] if the current working state of the excavator indicates that the excavator is not in an excavation working state, controlling the engine speed to reduce to the target limit speed to realize the lock of the excavator.

[0009] In one possible implementation, the method further comprises:

[0010] if the current working state of the excavator indicates that the excavator is in the excavation working state, returning to perform the operation of determining the current working state of the excavator until the current working state of the excavator indicates that the excavator ends the excavation working state, so as to control the engine speed to reduce to the target limit speed.

[0011] In another possible implementation, the obtaining of the lock command comprises:

[0012] obtaining, by a hydraulic controller of the excavator, a lock command sent by a remote control platform, the lock command indicating a target limit speed required for limiting the engine of the excavator.

[0013] sending, by the hydraulic controller, a lock car speed limit instruction to a host controller, the lock car speed limit instruction indicating a target speed limit to which the engine needs to be limited;

[0014] sending, by the host controller, a lock car command to an engine controller in response to the lock car speed limit instruction;

[0015] controlling, by the engine controller, the speed of the engine to reduce to the target speed limit.

[0016] controlling, by the engine controller, the speed of the engine to reduce to the target speed limit.

[0017] In another possible implementation, after the lock car instruction sent by the remote control platform is obtained by the hydraulic controller of the excavator, the method further includes:

[0018] generating, by the hydraulic controller, a first key based on the current equipment operating state of the excavator and in combination with a target encryption algorithm set;

[0019] sending, by the hydraulic controller, the first key to the engine controller;

[0020] generating, by the host controller, a second key based on the current equipment operating state of the excavator and in combination with the target encryption algorithm after the lock car speed limit instruction is received;

[0021] sending, by the host controller, the second key to the engine controller;

[0022] before the speed of the engine is controlled to reduce to the target speed limit by the engine controller, the method further includes:

[0023] determining, by the engine controller, whether the first key and the second key are the same;

[0024] if the current operating state of the excavator indicates that the excavator is not in the excavating operating state, controlling the speed of the engine to reduce to the target speed limit.

[0025] if the first key and the second key are the same and the current operating state of the excavator indicates that the excavator is not in the excavating operating state, controlling the speed of the engine to reduce to the target speed limit.

[0026] In another possible implementation, if the current operating state of the excavator indicates that the excavator is not in the excavating operating state, controlling the speed of the engine to reduce to the target speed limit includes:

[0027] If the current working state of the excavator indicates that the excavator is not in the digging working state, the engine speed is controlled to be reduced to the target limit speed according to a target speed reduction rate.

[0028] In yet another possible implementation, the determining the current working state of the excavator comprises:

[0029] The working state of the excavator reported by the hydraulic controller is obtained by the engine controller.

[0030] In yet another aspect, the present application also provides a lock-up control system of an excavator, comprising:

[0031] an engine and an engine controller;

[0032] The engine controller is configured to obtain a lock-up command, the lock-up command indicating a target limit speed to which the engine needs to be limited; determine the current working state of the excavator; and if the current working state of the excavator indicates that the excavator is not in the digging working state, control the engine speed to be reduced to the target limit speed to realize the lock-up of the excavator.

[0033] In a possible implementation, the lock-up control system of the excavator further comprises a hydraulic controller and a host computer controller.

[0034] The hydraulic controller is configured to obtain a lock-up instruction sent by a remote control platform, the lock-up instruction indicating a target limit speed to which the engine of the excavator needs to be limited; and send a lock-up limit speed instruction to the host computer controller, the lock-up limit speed instruction indicating the target limit speed to which the engine needs to be limited.

[0035] The host computer controller is configured to send a lock-up command to the engine controller in response to the lock-up limit speed instruction.

[0036] In yet another possible implementation, the hydraulic controller is further configured to generate a first key based on the current equipment running state of the excavator and in combination with a set target encryption algorithm; and send the first key to the engine controller.

[0037] The host computer controller is configured to, after receiving the lock-up limit speed instruction, generate a second key based on the current equipment running state of the excavator and in combination with the target encryption algorithm; and send the second key to the engine controller.

[0038] The engine controller is further configured to judge whether the first key and the second key are the same.

[0039] The engine controller is configured to control the engine speed to reduce to the target limit speed when controlling the engine speed to reduce to the target limit speed, in particular, if the first key is the same as the second key, and the current working state of the excavator indicates that the excavator is not in the excavating working state.

[0040] In another aspect, the application further provides a lock vehicle control device of an excavator, comprising:

[0041] A command obtaining unit is configured to obtain a lock vehicle command, the lock vehicle command indicating a target limit speed to which the engine of the excavator needs to be limited;

[0042] A working determining unit is configured to determine a current working state of the excavator;

[0043] A lock vehicle control unit is configured to control the engine speed to reduce to the target limit speed to realize the lock vehicle of the excavator if the current working state of the excavator indicates that the excavator is not in the excavating working state.

[0044] As can be seen from the above, unlike the current excavator directly executing the lock vehicle command after obtaining the lock vehicle command, in the application, the excavator will first determine the current working state of the excavator after obtaining the lock vehicle command, and only when the current working state of the excavator indicates that the excavator is not in the excavating working state, the lock vehicle command is responded to control the engine speed to reduce to the target limit speed required for the lock vehicle, so as to reduce the risk of the mechanical arm of the excavator falling due to the sudden reduction of the engine speed of the excavator in the excavating working state, reduce the safety risk caused by the sudden falling of the mechanical arm of the excavator in the excavating working process, and improve the safety of the lock vehicle of the excavator. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0046] Figure 1 Fig. 1 shows a flow diagram of a lock vehicle control method of an excavator provided by an embodiment of the application;

[0047] Figure 2 Fig. 2 shows a component architecture diagram of a lock vehicle control system of an excavator provided by an embodiment of the application;

[0048] Figure 3 Fig. 3 shows another component architecture diagram of a lock vehicle control system of an excavator provided by an embodiment of the application;

[0049] Figure 4 This illustration shows another flowchart of a method for locking an excavator according to an embodiment of this application;

[0050] Figure 5 This illustration shows a schematic diagram of the composition structure of a locking control device for an excavator provided in an embodiment of this application. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0052] like Figure 1 The diagram illustrates a flowchart of an excavator locking control method provided in this embodiment. This embodiment is applied to excavators, such as hydraulic excavators or positive flow system hydraulic excavators, and is not limited thereto.

[0053] The method in this embodiment may include:

[0054] S101, received the vehicle lock command.

[0055] The vehicle locking command is used to instruct the excavator to lock.

[0056] Locking an excavator refers to limiting the excavator's engine speed to a lower level to restrict the operations the excavator can perform. Based on this, the lock command specifies the target speed limit to which the excavator's engine needs to be restricted.

[0057] The locking command can be a locking instruction sent to the excavator by a remote control platform. For example, it could be a locking command sent to the excavator by the remote control platform via the excavator's hydraulic controller.

[0058] In particular, Figure 1 In all embodiments where the engine controller of the excavator executes the lock command, the lock command can also be generated based on the lock command sent by the remote control platform after the excavator receives the lock command. For example, the lock command sent by the excavator to the engine controller after receiving the lock command is not limited in this respect.

[0059] S102, determine the current operating status of the excavator.

[0060] The working state of the excavator can indicate whether the excavator is in a working state, and a specific working state category when the excavator is in the working state.

[0061] For example, the excavator can be in a non-working state. For another example, when the excavator is in a working state, the working state of the excavator can be further divided into a digging working state and a bucket translation working state, without limitation.

[0062] It can be understood that, since the hydraulic controller in the excavator can control the action mode of the mechanical arm by controlling the hydraulic components and the like, the current working state of the excavator can be obtained by the hydraulic controller.

[0063] In particular, in the case where the engine controller is executed by the embodiment of the engine controller, Figure 1 In the case where the engine controller is executed by the embodiment of the engine controller, the hydraulic controller can further report the current working state of the excavator to the engine controller, so that the engine controller can determine the current working state of the excavator.

[0064] S103, if the current working state of the excavator indicates that the excavator is not in a digging working state, the engine speed is controlled to be reduced to a target speed limit to realize the lock of the excavator.

[0065] It can be understood that, in different working states of the excavator, the action of the bucket of the excavator will also be different. Generally, if the excavator is in a digging working state, it indicates that the mechanical arm of the excavator needs to move up and down to complete the digging action, and therefore, in the case where the excavator is in a digging working state, suddenly reducing the engine speed is easy to cause the mechanical arm of the excavator to fall, thereby causing a safety risk.

[0066] Therefore, before the excavator responds to the lock command, it is necessary to determine whether the excavator is in a digging working state, and only in the case where the excavator is not in a digging working state, the excavator will respond to the lock command and execute the lock of the excavator.

[0067] As described above, to realize the lock of the excavator, it is necessary to control the rotation speed of the engine of the excavator to be reduced to a target speed limit specified by the lock command. For example, the engine controller of the excavator can be used to control the reduction of the rotation speed of the engine to reduce the engine speed to the target speed limit.

[0068] In an optional manner, in order to avoid some safety risks caused by the too fast reduction of the engine speed, the engine speed can be controlled to be reduced to the target speed limit at a target speed reduction rate.

[0069] As such, the target speed reduction rate can be a rate of reducing the engine speed determined according to a target time length required for completing the locking of the machine and a speed difference between the current engine speed and the target speed limit, so as to control the engine speed to reduce to the target speed limit within the target time length according to the target speed reduction rate.

[0070] Of course, the target speed reduction rate can also be a pre-set fixed value, which is not limited.

[0071] Further, if the current working state of the machine indicates that the machine is in the digging working state, the operation of determining the current working state of the machine is returned to be executed until the current working state of the machine indicates that the machine ends the digging working state, so as to control the engine speed to reduce to the target speed limit.

[0072] Wherein, the machine ending the digging working state is that the machine is not in the digging working state. That is to say, if the machine is in the digging working state after receiving the locking command, the machine will wait until the machine ends the digging operation and enters the non-digging working state, and then the locking command will be executed again to complete the locking of the machine.

[0073] As can be seen from the above, unlike the current machine directly executing the locking command after obtaining the locking command, in the present application, the machine will first determine the current working state of the machine after obtaining the locking command, and only when the current working state of the machine indicates that the machine is not in the digging working state, the engine speed will be controlled to reduce to the target speed limit required for locking, so as to reduce the risk of the mechanical arm of the machine falling due to the sudden reduction of the engine speed in the digging working state, reduce the safety risk caused by the sudden falling of the mechanical arm of the machine during the digging operation, and improve the safety of the locking of the machine.

[0074] It can be understood that in order to realize the locking control method of the machine, the machine at least needs to include an engine and an engine controller.

[0075] As such Figure 2 which shows a component structure schematic diagram of the locking control system of the machine provided by the embodiment of the present application.

[0076] By Figure 2 It can be seen that the locking control system of the machine includes an engine 201 and an engine controller 202.

[0077] Wherein, the engine controller can be connected with the engine, and the engine controller can be an electronic control unit (ECU) of the engine, also known as an engine ECU.

[0078] The engine controller can be configured to obtain a lock-up command, the lock-up command indicating a target speed limit to which the engine needs to be limited; determine a current working state of the excavator; if the current working state of the excavator indicates that the excavator is not in a digging working state, control the speed of the engine to be reduced to the target speed limit to realize lock-up of the excavator.

[0079] In Figure 2 addition, the operation performed by the engine controller can refer to the related description of the foregoing Figure 1 embodiment, which will not be repeated here.

[0080] It can be understood that, after obtaining the lock-up instruction sent by the remote control platform, the excavator can send a lock-up command to the engine controller through the hydraulic controller and the host computer controller, so that the engine controller can control the speed of the engine to be reduced to realize lock-up of the excavator. On this basis, the excavator of the present application can further comprise a hydraulic controller and a host computer controller.

[0081] As Figure 3 shown, another component structure diagram of the lock-up control system of the excavator provided in the embodiment of the present application is shown.

[0082] In Figure 3 the embodiment, the lock-up control system of the excavator comprises at least a hydraulic controller 203 and a host computer controller 204 in addition to the engine 201 and the engine controller 202.

[0083] The hydraulic controller can be connected to the host computer controller through a bus, and the host computer controller is also connected to the engine controller through the bus.

[0084] Of course, the hydraulic controller can also be connected to the engine controller through the bus, but the engine controller will not recognize and process the command sent by the hydraulic control, but the hydraulic controller can send other data to the engine controller without limitation.

[0085] The hydraulic controller 203 is configured to obtain a lock-up instruction sent by a remote control platform, the lock-up instruction indicating a target speed limit to which the engine of the excavator needs to be limited; and send a lock-up speed limit instruction to the host computer controller 204, the lock-up speed limit instruction indicating the target speed limit to which the engine needs to be limited.

[0086] The host computer controller 204 is configured to send a lock-up command to the engine controller in response to the lock-up speed limit instruction, the lock-up command indicating the target speed limit to which the engine needs to be limited.

[0087] The engine controller, after receiving the lock command, determines whether the working state of the excavator is not the digging working state, and controls the engine speed to reduce to the target limit speed to lock the excavator in response to the lock command. Details are not repeated here.

[0088] In a possible implementation, the hydraulic controller is further configured to determine the current working state of the excavator to provide a basis for determining whether the excavator is in the digging working state.

[0089] Further, the hydraulic controller can also report the current working state of the excavator to the engine controller, so that the engine controller controls the engine speed to reduce to the target limit speed when it is determined that the current working state of the excavator is not the digging working state.

[0090] In actual applications, in order to reduce the error of the upper machine controller issuing a lock command to the engine controller due to misoperation or other reasons, the hydraulic controller and the upper machine controller can also send a key to the engine controller. Only when the engine controller confirms that the keys sent by the hydraulic controller and the upper machine controller are consistent, will it respond to the lock command.

[0091] The following will be introduced in combination with a flowchart. As shown in Figure 4 , another flowchart of the lock control method of the excavator provided by the embodiment of the present application is shown. The method of the embodiment can include:

[0092] S401, the hydraulic controller of the excavator obtains the lock instruction sent by the remote control platform.

[0093] The lock instruction indicates the target limit speed to which the engine of the excavator needs to be limited.

[0094] S402, the hydraulic controller generates a first key based on the current equipment running state of the excavator in response to the lock instruction, in combination with a set target encryption algorithm.

[0095] The target encryption algorithm can be set as needed, and the present application does not limit it.

[0096] The current equipment running state of the excavator can be part or all of the current fuel consumption, fuel tank pressure, and other data related to the running state, and the present application does not limit it.

[0097] S403, the hydraulic controller sends the lock limit speed instruction and the first key to the upper machine controller, and sends the first key to the engine controller.

[0098] The lock vehicle speed limit instruction indicates a target speed limit to which the engine needs to be limited. The lock vehicle speed limit instruction is generated by the hydraulic controller based on the lock vehicle instruction and is an instruction that can be recognized by the upper machine controller.

[0099] The lock vehicle speed limit instruction can be a lock vehicle speed limit message, which is a message type that can be recognized by the upper machine controller.

[0100] It can be understood that the present embodiment is an example of the hydraulic controller sending the lock vehicle speed limit instruction to the upper machine controller at the same time as sending the first key. In actual application, the hydraulic controller can first send the lock vehicle speed limit instruction to the upper machine controller, and then send the first key to the upper machine controller. It can also be that the first key is sent to the upper machine controller first, and then the lock vehicle speed limit instruction is sent to the upper machine controller. No limitation is made to this.

[0101] In the present application, the hydraulic controller sending the first key to the upper machine controller and sending the first key to the engine controller can be operated synchronously.

[0102] For example, the hydraulic controller connects the upper machine controller and the engine controller through a bus. On this basis, the hydraulic controller can send the first key to the bus connecting the upper machine controller and the engine controller, so that the upper machine controller and the engine controller can both receive the first key through the bus.

[0103] Similarly, the hydraulic controller can also send the lock vehicle speed limit instruction to the bus connecting the upper machine controller and the engine controller. Since the lock vehicle speed limit instruction is an instruction type that can be recognized by the upper machine controller, the upper machine controller will receive the lock vehicle speed limit instruction. Since the lock vehicle speed limit instruction is not an instruction type that can be recognized by the engine controller, such as the lock vehicle speed limit instruction being a lock vehicle speed limit message, which is not a message type that can be recognized by the engine controller, the engine controller will ignore or discard the lock vehicle speed limit instruction.

[0104] S404, the upper machine controller responds to the lock vehicle speed limit instruction, generates a second key based on the current equipment operating state of the excavator and in combination with the set target encryption algorithm.

[0105] The target encryption algorithm used by the upper machine controller to generate the second key is the same as the target encryption algorithm used by the hydraulic controller to generate the first key.

[0106] It can be understood that the equipment operating state of the excavator is basically constant or changes little in a short time. Based on this, when the host computer controller receives the lock car speed limit instruction, the equipment operating state of the excavator is basically the same as the equipment operating state when the hydraulic controller receives the lock car instruction, so after the host computer controller receives the lock car speed limit instruction, the second key generated based on the current equipment operating state of the excavator should be the same as the first key.

[0107] S405, the host computer controller sends a lock car command and a second key to the engine controller.

[0108] The lock car command is a command that can be recognized by the engine controller and is issued by the host computer controller to the engine controller. For example, the lock car command can be a lock car message issued by the host computer controller to the engine controller to instruct the engine controller to execute the lock car.

[0109] Correspondingly, the lock car command indicates a target speed limit required by the engine.

[0110] The host computer controller can send the lock car command and the second key to the engine controller in various ways, such as the host computer controller sending the lock car command and the second key to the engine controller through the bus between the host computer controller and the engine controller.

[0111] It can be understood that in this step S405, the host computer controller is taken as an example to send the lock car command and the second key to the engine controller at the same time, but in actual application, the host computer controller can first send the lock car command to the engine controller, and then send the second key to the engine controller; or the host computer controller can first send the second key to the engine controller, and then send the lock car command to the engine controller, which is not limited.

[0112] S406, the engine controller judges whether the first key and the second key are the same, if yes, execute step S407; if not, end the process.

[0113] Wherein, the first key and the second key being the same not only indicates that the engine controller receives the first key and the second key, but also indicates that the difference between the first key and the second key is less than a set threshold.

[0114] Correspondingly, if the engine controller only receives any one of the first key and the second key, or the difference between the two keys is greater than the set threshold.

[0115] It can be understood that if the first key and the second key are the same, it can be explained that the second key is generated by the host computer controller after receiving the lock car speed limit message sent by the hydraulic controller, which means that the hydraulic controller indeed receives the remote lock car instruction.

[0116] If the first key is not the same as the second key, it is possible that the hydraulic controller mistakenly confirms the receipt of the stop command due to external interference, the first key cannot accurately reflect the current equipment state of the excavator, or the upper machine controller mistakenly sends the stop command due to interference or other reasons, or the communication connection between the hydraulic controller, the upper machine controller and the engine controller is abnormal. On this basis, in order to reduce the error of stopping the excavator due to abnormality, the engine controller does not respond to the stop command

[0117] S407, the engine controller obtains the current working state of the excavator reported by the hydraulic controller.

[0118] For example, the hydraulic controller can report the current working state of the excavator to the engine controller at the working state reporting time according to the set frequency or period.

[0119] S408, the engine controller determines whether the current working state of the excavator is in the excavating working state, if yes, returns to step S408 to wait for the excavator to end the excavating working state; if not, step S409 is executed.

[0120] It can be understood that the embodiment is an example of determining that the first key and the second key are the same, and then the engine controller determines whether the current working state of the excavator is in the excavating working state. In actual application, the step S407 and the step S409 can be interchanged, for example, in the case of determining that the excavator is in the excavating working state, it is determined whether the first key and the second key are the same. It can also be that steps S407 and S409 are executed synchronously.

[0121] Of course, regardless of the sequence of steps S407 and S409, the engine controller needs to confirm that the excavator is in the excavating working state and the first key and the second key are the same before executing step S409.

[0122] S409, the engine controller controls the speed of the engine to reduce to the target speed limit to realize the stop of the excavator.

[0123] The step S409 can refer to the related description of the previous embodiment, which will not be repeated here.

[0124] Corresponding to the excavator stop control method provided by the embodiment of the application, the application also provides an excavator stop control device.

[0125] As Figure 5 It shows a component structure schematic diagram of an excavator stop control device provided by the embodiment of the application. The device of the embodiment can include:

[0126] The command obtaining unit 501 is configured to obtain a lock-up command, the lock-up command indicating a target speed limit to which the engine of the excavator needs to be limited;

[0127] The operation determining unit 502 is configured to determine a current operation state of the excavator;

[0128] The lock-up control unit 503 is configured to, if the current operation state of the excavator indicates that the excavator is not in a digging operation state, control the speed of the engine to be reduced to the target speed limit, so as to realize lock-up of the excavator.

[0129] In a possible implementation, the device further comprises:

[0130] The lock-up waiting unit is configured to, if the current operation state of the excavator indicates that the excavator is in the digging operation state, return to perform the operation of the operation determining unit until the current operation state of the excavator indicates that the excavator ends the digging operation state, so as to control the speed of the engine to be reduced to the target speed limit.

[0131] In another possible implementation, the command obtaining unit comprises:

[0132] The instruction obtaining unit is configured to obtain, by a hydraulic controller of the excavator, a lock-up instruction sent by a remote control platform, the lock-up instruction indicating a target speed limit to which the engine of the excavator needs to be limited;

[0133] The instruction delivery unit is configured to send, by the hydraulic controller, a lock-up speed limit instruction to an upper computer controller, the lock-up speed limit instruction indicating the target speed limit to which the engine needs to be limited;

[0134] The command sending unit is configured to send, by the upper computer controller, a lock-up command to an engine controller in response to the lock-up speed limit instruction.

[0135] The lock-up control unit is specifically configured to, if the current operation state of the excavator indicates that the excavator is not in the digging operation state, control the speed of the engine to be reduced to the target speed limit by the engine controller.

[0136] In another possible implementation, the device further comprises:

[0137] The first key generation unit is configured to, after the instruction obtaining unit obtains the lock-up instruction, generate a first key by the hydraulic controller based on a current equipment running state of the excavator and in combination with a set target encryption algorithm;

[0138] The first key sending unit is configured to send the first key to the engine controller through the hydraulic controller.

[0139] The second key generating unit is configured to generate a second key based on the current equipment operating state of the excavator and the target encryption algorithm after the host controller receives the lock vehicle speed limiting instruction.

[0140] The second key sending unit is configured to send the second key to the engine controller through the host controller.

[0141] The key judging unit is configured to judge whether the first key and the second key are the same through the engine controller before the lock vehicle control unit controls the engine speed to reduce to the target speed limit through the engine controller.

[0142] The lock vehicle control unit is specifically configured to control the engine speed to reduce to the target speed limit if the first key and the second key are the same and the current operating state of the excavator indicates that the excavator is not in the excavating operating state.

[0143] In another possible implementation, the lock vehicle control unit is specifically configured to control the engine speed to reduce to the target speed limit at a target speed reduction rate if the current operating state of the excavator indicates that the excavator is not in the excavating operating state.

[0144] It should be noted that each of the embodiments in the present specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same and similar parts of each embodiment can be referred to each other. Meanwhile, the features recorded in each embodiment in the present specification can be replaced or combined, so that the person skilled in the art can realize or use the present application. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant part can be referred to the part of the method embodiment.

[0145] Finally, it should be noted that, in this document, the term "only" is used simply to contrast with another entity or action, and does not necessarily require or imply that there is any such actual relationship or order between the entities or actions. Also, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0146] The above description of disclosed embodiments provides enabling teaching for making or using the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0147] The above is only the preferred embodiment of the present application, it should be noted that, for those skilled in the art, without departing from the principles of the present application, can also make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method for locking an excavator, characterized in that, include: The hydraulic controller of the excavator receives a vehicle locking command sent by the remote control platform. Based on the current operating status of the excavator, the hydraulic controller generates a first key in combination with a set target encryption algorithm. The vehicle locking command indicates the target speed limit that the excavator's engine needs to be restricted to. The hydraulic controller sends a vehicle locking and speed limiting command to the host computer controller and sends the first key to the engine controller. The vehicle locking and speed limiting command indicates the target speed limit that the engine needs to be restricted to. The host computer controller responds to the vehicle locking and speed limiting command and generates a second key based on the current operating status of the excavator and the target encryption algorithm. The host computer controller sends the second key and a vehicle locking command to the engine controller, the vehicle locking command indicating the target speed limit that the excavator's engine needs to be restricted to; and determines the current operating status of the excavator. If the first key is the same as the second key, and the current operating status of the excavator indicates that the excavator is not in digging operation, the engine speed is controlled to be reduced to the target speed limit to lock the excavator.

2. The excavator locking control method according to claim 1, characterized in that, Also includes: If the current operating status of the excavator indicates that the excavator is in a digging operation state, return to the operation of determining the current operating status of the excavator until the current operating status of the excavator indicates that the excavator has ended the digging operation state, so as to control the engine speed to reduce to the target speed limit.

3. The excavator locking control method according to claim 1, characterized in that, Controlling the engine speed to reduce to the target speed limit includes: The engine speed is reduced to the target speed limit by controlling the engine controller.

4. The excavator locking control method according to claim 1, characterized in that, Controlling the engine speed to reduce to the target speed limit includes: According to the target deceleration rate, the engine speed is controlled to be reduced to the target speed limit.

5. The excavator locking control method according to claim 1 or 3, characterized in that, Determining the current operating status of the excavator includes: The operating status of the excavator reported by the hydraulic controller is obtained through the engine controller.

6. A locking control system for an excavator, characterized in that, include: Engine, engine controller, hydraulic controller, and host computer controller; The hydraulic controller is used to receive a vehicle locking command sent by the remote control platform, generate a first key based on the current equipment operating status of the excavator and a set target encryption algorithm, and the vehicle locking command indicates the target speed limit that the excavator's engine needs to be restricted to; send a vehicle locking speed limit command to the host computer controller, and send the first key to the engine controller, the vehicle locking speed limit command indicating the target speed limit that the engine needs to be restricted to; The host computer controller is used to respond to the vehicle locking and speed limiting command, and generate a second key based on the current equipment operating status of the excavator and the target encryption algorithm; Send the second key and the vehicle lock command to the engine controller; The engine controller is used to obtain the first key, the second key, and the vehicle locking command, wherein the vehicle locking command indicates a target speed limit that the engine needs to be restricted to; and to determine the current operating status of the excavator. If the first key is the same as the second key, and the current operating status of the excavator indicates that the excavator is not in digging operation, the engine speed is controlled to be reduced to the target speed limit to lock the excavator.

7. A locking control device for an excavator, characterized in that, include: A command acquisition unit is used to acquire a vehicle locking command, the vehicle locking command indicating a target speed limit to which the excavator's engine needs to be restricted; A job determination unit is used to determine the current working status of the excavator; The vehicle locking control unit is used to control the engine speed to decrease to the target speed limit if the current operating status of the excavator indicates that the excavator is not in a digging operation state, so as to lock the excavator. The command acquisition unit includes: The instruction acquisition unit is used to acquire a vehicle locking instruction sent by a remote control platform through the hydraulic controller of the excavator. The vehicle locking instruction indicates the target speed limit that the excavator's engine needs to be restricted to. The instruction transmission unit is used to send a vehicle locking speed limit instruction to the host computer controller through the hydraulic controller. The vehicle locking speed limit instruction indicates the target speed limit that the engine needs to be restricted to. The command sending unit is used to send a vehicle locking command to the engine controller in response to the vehicle locking speed limit command from the host computer controller. The vehicle locking control device also includes: The first key generation unit is used to generate a first key based on the current equipment operating status of the excavator after the instruction acquisition unit obtains the vehicle locking instruction, by combining the hydraulic controller with the set target encryption algorithm. The first key sending unit is used to send the first key to the engine controller through the hydraulic controller; The second key generation unit is used to generate a second key based on the current equipment operating status of the excavator and in combination with the target encryption algorithm after the host computer controller receives the vehicle locking and speed limiting command. The second key sending unit is used to send the second key to the engine controller via the host computer controller; Specifically, the vehicle locking control unit is used to control the engine speed to decrease to the target speed limit if the first key is the same as the second key and the current operating status of the excavator indicates that the excavator is not in digging operation.

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