A boom truck control method and device, a front shovel excavator and a storage medium

Abstract

The present application relates to the technical field of control of positive shovel excavator, and specifically discloses a boom truck supporting control method and device, a positive shovel excavator and a storage medium, the method is applied to the positive shovel excavator, and the method comprises the following steps: obtaining the rodless cavity pressure of the boom cylinder; when the rodless cavity pressure is greater than a preset pressure threshold, obtaining the handle operation signal of the excavator; identifying the working condition type according to the handle operation signal, wherein the working condition type comprises a truck supporting working condition and a digging working condition; when the working condition type is the truck supporting working condition, outputting the oil liquid from the oil pump to the rod cavity of the boom cylinder.The present application avoids the problem that the positive shovel excavator truck supporting control and the positive shovel control are easily confused.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control of backhoe excavators, and particularly relates to a boom supporting vehicle control method and device, a backhoe excavator and a storage medium. BACKGROUND

[0002] Various complex operations of a hydraulic excavator cannot be performed without the participation of a boom, and the boom action can be divided into lifting, lowering and supporting vehicle. The boom supporting vehicle refers to placing the bucket of the excavator on the ground, the main pump supplies oil to the small cavity of the boom cylinder, and at the same time, the large cavity of the boom cylinder returns oil, so as to realize the boom supporting the ground and thus supporting the excavator. Some commonly used control processes for supporting the vehicle are as follows: the operation handle is used to lower the boom, the controller is used to open the boom main valve to make the rodless cavity and the rod cavity of the boom cylinder communicate, the hydraulic oil in the rodless cavity enters the rod cavity, and the boom is lowered by using its own weight, when the bucket contacts the ground and the boom cannot be further lowered by its own gravity, the pressure in the rodless cavity of the boom cylinder rises, and when the pressure in the rodless cavity of the boom cylinder rises to a set threshold, the controller adjusts the displacement of the hydraulic pump to supply oil to the rod cavity of the boom, so as to achieve the purpose of supporting the vehicle. Since the digging action and the supporting vehicle action of the backhoe excavator both require the boom to mainly output, the above control process has good application in the backhoe excavator. However, for the backhoe excavator, the digging action is to horizontally push the bucket after it falls to the ground, and the dipper mainly outputs, and the boom is not expected to mainly output. Only when the bucket falls to the ground to realize the supporting vehicle action is the boom mainly output. If the bucket of the backhoe excavator contacts the ground and the pressure in the rodless cavity of the boom cylinder rises due to an incorrect posture, the actual digging intention may be identified as the supporting vehicle intention only by detecting the pressure in the rodless cavity of the boom cylinder, thereby causing misoperation. Therefore, there is an urgent need for a boom supporting vehicle control scheme suitable for the backhoe excavator. SUMMARY

[0003] Therefore, the present application provides a boom supporting vehicle control method and device, a backhoe excavator and a storage medium to solve the problem that the backhoe excavator supporting vehicle control and digging control are easily confused.

[0004] In a first aspect, the present application provides a boom supporting vehicle control method applied to a backhoe excavator, and the method comprises the following steps: acquiring the pressure in the rodless cavity of a boom cylinder; when the pressure in the rodless cavity is greater than a preset pressure threshold, acquiring a handle operation signal of the excavator; identifying a working condition type according to the handle operation signal, wherein the working condition type comprises a supporting vehicle working condition and a digging working condition; and when the working condition type is the supporting vehicle working condition, controlling an oil pump to output oil to the rod cavity of the boom cylinder according to the handle operation signal.

[0005] In an alternative implementation, the method further comprises: when the working condition type is the excavating working condition, keeping the main valve of the boom cylinder open, and controlling the oil pump to output oil to the rod cavity of the boom cylinder at a minimum displacement.

[0006] In an alternative implementation, identifying the working condition type according to the handle operation signal comprises: analyzing the operation sequence of different operations and the operation time corresponding to each operation in the handle operation signal; identifying the operation intention according to the operation sequence and the operation time; when the operation intention is the truck supporting intention, determining that the working condition type is the truck supporting working condition; when the operation intention is the positive shovel intention, determining that the working condition type is the excavating working condition.

[0007] In an alternative implementation, identifying the operation intention according to the operation sequence and the operation time comprises: judging whether the signal sequence included in the handle operation signal is a preset sequence of the boom lowering signal, the stick lowering signal and the bucket action signal; when the signal sequence is the preset sequence, judging whether the first interval time and the second interval time correspondingly fall within a first preset time range and a second preset time range, the first interval time being the interval time of the appearance of the boom lowering signal and the appearance of the stick lowering signal, and the second interval time being the interval time of the appearance of the stick lowering signal and the appearance of the bucket action signal; when the first interval time and the second interval time both fall within the first preset time range and the second preset time range, determining that the operation intention is the positive shovel intention; when the operation intention is not the positive shovel intention, determining that the operation intention is the truck supporting intention.

[0008] In an alternative implementation, identifying the working condition type according to the handle operation signal comprises: inputting the handle operation signal into a preset identification model, the identification model being a neural network model pre-trained by a plurality of operation signal samples representing the positive shovel and a plurality of operation signal samples representing the truck supporting; when the identification model outputs the truck supporting intention, determining that the working condition type is the truck supporting working condition; when the identification model outputs the positive shovel intention, determining that the working condition type is the excavating working condition.

[0009] In an alternative implementation, obtaining the handle operation signal of the excavator comprises: obtaining an original handle operation signal; filtering the handle operation signal through a preset handle signal dead zone; and obtaining a filtered handle operation signal.

[0010] In an alternative implementation, the posture sensor is further arranged on the boom and stick of the backhoe excavator, and the method further comprises: acquiring a posture signal of the posture sensor, the posture signal being used to represent the action direction and action amplitude of the boom and stick of the backhoe excavator; and verifying the working condition type identified by the handle operation signal according to the posture signal.

[0011] In a second aspect, the present application provides a boom truck supporting control device applied to a backhoe excavator, the device comprising: a pressure acquisition module configured to acquire the rodless chamber pressure of a boom cylinder; a handle signal acquisition module configured to acquire the handle operation signal of the excavator when the rodless chamber pressure is greater than a preset pressure threshold; a working condition identification module configured to identify a working condition type according to the handle operation signal, the working condition type including a truck supporting working condition and a digging working condition; and a truck supporting control module configured to control the oil pump to output oil to the rod chamber of the boom cylinder according to the handle operation signal when the working condition type is the truck supporting working condition.

[0012] In a third aspect, the present application provides a backhoe excavator comprising: a memory and a processor, which are communicatively connected to each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the method of the first aspect or any of the corresponding embodiments thereof.

[0013] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions for causing a computer to perform the method of the first aspect or any of the corresponding embodiments thereof.

[0014] The technical solution provided by the present application has the following advantages:

[0015] When the implement (e.g., a bucket) of the excavator contacts the ground and continuously moves downward to cause the rodless chamber pressure to be greater than a preset pressure threshold, the controller first acquires the handle operation signal of the excavator, identifies the actual operation intention of the driver, determines whether the required working condition type of the excavator is the truck supporting working condition or the digging working condition by means of the handle signal, and when the working condition type is the truck supporting working condition, outputs oil to the rod chamber of the boom cylinder by the oil pump to control the truck supporting of the excavator, otherwise only controls the main valve of the cylinder to open to perform the digging operation. This solution determines whether the truck supporting working condition is required by the action determination in the program, and can effectively avoid the occurrence of unexpected truck supporting conditions. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0017] Figure 1 is a flowchart of a boom truck control method according to an embodiment of the present application;

[0018] Figure 2 is another flowchart of a boom truck control method according to an embodiment of the present application;

[0019] Figure 3 is a structural diagram of a boom truck control device according to an embodiment of the present application;

[0020] Figure 4 is a hardware structure diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of the present application.

[0022] According to an embodiment of the present application, a boom truck control method is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0023] In the present embodiment, a boom truck control method is provided, which can be used in the above-mentioned backhoe excavator, Figure 1 is a flowchart of a boom truck control method according to an embodiment of the present application, which includes the following steps:

[0024] Step S101, acquiring the rodless cavity pressure of the boom cylinder;

[0025] Step S102, when the rodless cavity pressure is greater than the preset pressure threshold, acquiring the handle operation signal of the excavator;

[0026] Step S103, identifying the working condition type according to the handle operation signal, the working condition type including the supporting vehicle working condition and the excavating working condition;

[0027] Step S104, when the working condition type is the supporting vehicle working condition, controlling the oil pump to output oil to the rod cavity of the boom cylinder according to the handle operation signal.

[0028] Step S105, when the working condition type is the excavating working condition, keeping the main valve of the boom cylinder open, and controlling the oil pump to output oil to the rod cavity of the boom cylinder at the minimum displacement.

[0029] Specifically, the embodiment of the present application installs a pressure sensor in the hydraulic cylinder of the backhoe excavator, and detects the pressure of the rodless cavity of the boom cylinder in real time when the excavator is working. When the pressure of the rodless cavity of the boom cylinder does not reach the preset pressure threshold, it indicates that the boom may be in the state of rising, slightly touching the ground, and the intermediate state of the two states, so the working condition of the normal excavator must not belong to the supporting vehicle working condition, and there is no problem of confusion between the backhoe excavating and the supporting vehicle. At this time, it is not necessary to distinguish the execution control method. When the pressure of the rodless cavity is greater than the preset pressure threshold, it indicates that the backhoe excavator may perform the supporting vehicle action, or it may be that the user intends to perform the backhoe action but makes a mistake, resulting in the pressure of the rodless cavity being greater than the preset pressure threshold. For example, the user makes a mistake to continuously give the handle a downward signal, or the user makes a mistake to control the angle of the bucket to the ground to be relatively perpendicular, so that the force of the ground to the bucket is relatively large, resulting in the pressure of the rodless cavity being greater than the preset pressure threshold. If it is not distinguished, the situation of confusion between the backhoe excavating operation and the supporting vehicle operation may occur, resulting in the action of the excavator not meeting the intention of the driver, and reducing the operation experience of the driver. In view of this situation, the embodiment of the present application obtains the handle operation signal of the excavator when the pressure of the rodless cavity is greater than the preset pressure threshold, and identifies the true operation intention of the user by learning, analyzing and analyzing (such as frequency spectrum analysis, model learning, etc.) the handle operation signal, and then judges whether the user wants to perform the supporting vehicle action or the backhoe action according to the handle operation signal when the pressure of the rodless cavity is greater than the preset pressure threshold. In the embodiment, the obtained handle operation signal refers to the operation signal operated by the user for a period of time before the moment when the pressure of the rodless cavity is greater than the preset pressure threshold.

[0030] As Figure 2When the working condition type is the supporting vehicle working condition, the controller sets the supporting vehicle action flag bit, and when it is identified that the supporting vehicle action flag bit is set, the controller calculates the flow demand according to the amplitude of the current handle signal, the controller adjusts the main pump displacement, and outputs oil to the rod cavity of the boom oil cylinder through the oil pump, so that the boom mainly exerts force to control the supporting vehicle of the excavator. Otherwise, only the main valve of the oil cylinder is controlled to be opened, so that the rod cavity and the rodless cavity of the oil cylinder are connected, the oil pump maintains the minimum displacement, so that the hydraulic oil in the rodless cavity of the boom oil cylinder partially enters the rod cavity, at this time the boom relies on the weight to descend, the stick mainly exerts force, the bucket pushes forward, and the positive digging operation is performed. Even if the user gives a larger handle operation signal for the boom to descend, the machine will not perform the supporting vehicle action. Through the scheme provided in the embodiment of the application, the supporting vehicle is no longer only determined by the pressure signal, but is analyzed according to the handle operation signal of the user, so that the supporting vehicle control is realized according to the intention of the operator, and the occurrence of the accidental supporting vehicle condition is avoided.

[0031] In some optional embodiments, the step S103 comprises:

[0032] Step a1, analyzing the operation sequence of different operations in the handle operation signal and the operation time corresponding to each operation.

[0033] Step a2, identifying the operation intention according to the operation sequence and the operation time.

[0034] Step a3, when the operation intention is the supporting vehicle intention, determining that the working condition type is the supporting vehicle working condition.

[0035] Step a4, when the operation intention is the positive digging intention, determining that the working condition type is the digging working condition.

[0036] Specifically, the embodiment of the present application provides an operation signal analysis method for quickly identifying the operation intention of a user. For the operation of the user, the handle operation signal mainly includes the lifting and lowering signals of the boom, the lifting and lowering signals of the stick, the action signal of the bucket, the rotation signal of the cab, etc. For the backhoe excavator, different working condition types correspond to different operation sequences of the handle of the user and different action times. Based on this, the embodiment defines the operation signal sequence corresponding to the trucking working condition and the excavating working condition respectively and the time when each operation signal takes effect, so as to obtain the predefined operation rule. In actual application, the handle operation signal is acquired, the operation sequence of various operations and the operation time corresponding to each operation in the handle operation signal are analyzed, then the actual operation sequence and the actual operation time are matched with the predefined operation rule, it is judged which predefined rule and time in the operation rule the actual operation sequence and the actual operation time correspond to, so that the operation intention of the user is determined to be the trucking intention or the backhoe intention according to the matching relationship, and then the working condition type of the backhoe excavator is attributed to the corresponding type according to the intention, so that the quick and accurate judgment of the working condition type is realized, and then the trucking or backhoe control strategy is adopted according to the corresponding working condition type, so as to avoid the problem that the trucking working condition and the excavating working condition are confused only according to the pressure threshold detection of the trucking working condition.

[0037] In some optional embodiments, step a2 comprises:

[0038] Step a21, judging whether the signal sequence included in the handle operation signal is a preset sequence of the boom lowering signal, the stick lowering signal and the bucket action signal;

[0039] Step a22, when the signal sequence is the preset sequence, respectively judging whether the first interval time and the second interval time correspond to fall within the first preset time range and the second preset time range, the first interval time being the interval time of the appearance of the boom lowering signal and the appearance of the stick lowering signal, and the second interval time being the interval time of the appearance of the stick lowering signal and the appearance of the bucket action signal;

[0040] Step a23, when the first interval time and the second interval time both correspond to fall within the first preset time range and the second preset time range, determining that the operation intention is the backhoe intention;

[0041] Step a24, when the operation intention is not the backhoe intention, determining that it is the trucking intention.

[0042] Specifically, in order to further improve the recognition accuracy of the positive shovel intention and the support vehicle intention, considering that the operation rule of the support vehicle intention is difficult to grasp, the signal analysis for the support vehicle intention is more complex. The operation sequence of the boom lowering, the stick lowering and the bucket action is defined for representing the sequence of the positive shovel intention, and the time interval of the three operation signals of the boom lowering, the stick lowering and the bucket action needs to be within the corresponding preset range time. In other words, when the controller of the positive shovel excavator detects the boom lowering signal, it is judged whether the next signal is the stick lowering signal, when the sequence is consistent, it is continued to judge whether the first time interval of the stick lowering signal and the boom lowering signal is within the first preset time range. If the condition is also met, it is continued to judge whether the next signal is the bucket action signal, indicating that the bucket performs the digging action, when the sequence is also consistent, it is continued to judge whether the second time interval of the bucket action signal and the stick lowering signal is within the second preset time range, if the above conditions are all met, it indicates that the operation intention of the user is the positive shovel intention, and as long as the above signals do not meet the detection conditions of the positive shovel intention, the user operation is regarded as the support vehicle intention, thereby the accuracy of the positive shovel intention recognition can be significantly improved. When the user wants to perform normal digging operation, it is ensured that the controller will not misoperate the excavator to support the vehicle.

[0043] In some optional embodiments, the step S103 comprises:

[0044] Step b1, inputting the handle operation signal into a preset recognition model, the recognition model being a neural network model pre-trained by a plurality of operation signal samples representing the positive shovel and a plurality of operation signal samples representing the support vehicle;

[0045] Step b2, when the recognition model outputs the support vehicle intention, determining that the working condition type is the support vehicle working condition;

[0046] Step b3, when the recognition model outputs the positive shovel intention, determining that the working condition type is the digging working condition.

[0047] Specifically, the embodiment of the present application also provides a method for recognizing actual operation intention of a user based on a big data model, specifically, a large number of operation signal samples are prepared in advance, the operation signal samples representing the positive shovel and a large number of operation signal samples representing the support vehicle are obtained by manual labeling of the user, a neural network model is trained by the samples, the neural network model parameters are adjusted, and a recognition model is obtained. When the rodless cavity pressure is greater than a preset pressure threshold, the obtained handle operation signal is input into the recognition model, and then a classification result is output, so as to determine whether the actual operation intention of the user is the support vehicle intention or the positive shovel intention. The intention recognition by the big data method can significantly improve the accuracy of the intention recognition. Compared with the method for recognizing the intention according to the operation sequence of the signal and the operation time corresponding to each operation, the model recognizes the intention more accurately, but the complexity of the model training is higher, and the implementation process is complex. Therefore, in actual application, the embodiment of the present application can flexibly select between the neural network model method and the operation sequence discrimination method according to the efficiency requirement of the user for the function deployment.

[0048] In some optional embodiments, the step S102 comprises:

[0049] Step c1, obtaining the original handle operation signal;

[0050] Step c2, filtering the handle operation signal by a preset handle signal dead zone to obtain a filtered handle operation signal.

[0051] Specifically, in the embodiment of the present application, in order to further improve the accuracy of the handle operation signal, the embodiment presets the handle signal dead zone, that is, when the amplitude of the handle signal is small and falls within the handle signal dead zone, the handle signal is considered to be not generated. By filtering the handle operation signal by the preset handle signal dead zone, the micro-motion handle signal generated by the user's accidental touch of the handle is eliminated, which can significantly avoid the adverse effect of the user's accidental touch of the handle on the actual operation intention of the user.

[0052] In some optional embodiments, the boom and the stick of the positive shovel excavator are also provided with a posture sensor, and the boom support vehicle control method provided by the embodiment of the present application further comprises:

[0053] Step d1, obtaining a posture signal of the posture sensor, the posture signal being used to represent the action direction and the action amplitude of the boom and the stick of the positive shovel excavator;

[0054] Step d2, verifying the working condition type recognized by the handle operation signal according to the posture signal.

[0055] Specifically, in some optional embodiments, the embodiment of the present application further deploys a posture sensor, such as a gyroscope, on the boom and stick of the backhoe excavator, so as to detect the deflection angle and deflection distance of the boom and stick of the backhoe excavator, to measure the action direction and action amplitude of the boom and stick of the backhoe excavator. By presetting the action angle range and action amplitude range corresponding to the digging working condition, it is verified whether the boom and stick of the backhoe excavator move within the preset range, and if so, the verification passes, otherwise, the verification fails. It can further verify whether the working condition type identified according to the handle operation signal is correct, realize the auxiliary identification function, further improve the accuracy of the working condition type identification, reduce the misjudgment, and reduce the confusion problem that the controller executes the backhoe operation as the support vehicle operation.

[0056] In the embodiment, a boom support vehicle control device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated.

[0057] The embodiment provides a boom support vehicle control device, which is applied to a backhoe excavator, such as Figure 3 as shown, comprising:

[0058] A pressure acquisition module 301 is configured to acquire the rodless chamber pressure of the boom cylinder.

[0059] A handle signal acquisition module 302 is configured to acquire the handle operation signal of the excavator when the rodless chamber pressure is greater than a preset pressure threshold.

[0060] A working condition identification module 303 is configured to identify the working condition type according to the handle operation signal, and the working condition type includes a support vehicle working condition and a digging working condition.

[0061] A support vehicle control module 304 is configured to control the oil pump to output oil to the rod chamber of the boom cylinder according to the handle operation signal when the working condition type is the support vehicle working condition.

[0062] In some optional embodiments, the device further comprises:

[0063] A backhoe control module 305 is configured to keep the main valve of the boom cylinder open and control the oil pump to output oil to the rod chamber of the boom cylinder at a minimum displacement when the working condition type is the digging working condition.

[0064] In some optional embodiments, the working condition identification module 303 comprises:

[0065] An operation sequence unit is configured to analyze an operation sequence of different operations and an operation time corresponding to each operation in the handle operation signal.

[0066] A first intention recognition unit is configured to recognize an operation intention according to the operation sequence and the operation time.

[0067] A first classification unit is configured to determine that the working condition type is a supporting vehicle working condition when the operation intention is a supporting vehicle intention.

[0068] A second classification unit is configured to determine that the working condition type is a digging working condition when the operation intention is a positive shovel intention.

[0069] In some optional embodiments, the first intention recognition unit comprises:

[0070] A positive shovel sequence detection unit is configured to determine whether a signal sequence included in the handle operation signal is a preset sequence of a boom lowering signal, a stick lowering signal and a bucket action signal.

[0071] A positive shovel time detection unit is configured to determine whether the first interval time and the second interval time correspond to fall within the first preset time range and the second preset time range respectively when the signal sequence is the preset sequence, the first interval time being an interval time of occurrence of the boom lowering signal and the stick lowering signal, and the second interval time being an interval time of occurrence of the stick lowering signal and the bucket action signal.

[0072] A positive shovel determination unit is configured to determine that the operation intention is a positive shovel intention when the first interval time and the second interval time correspond to fall within the first preset time range and the second preset time range.

[0073] A supporting vehicle determination unit is configured to determine that the operation intention is a supporting vehicle intention when the operation intention is not the positive shovel intention.

[0074] In some optional embodiments, the working condition recognition module 303 further comprises:

[0075] A second intention recognition unit is configured to input the handle operation signal into a preset recognition model, the recognition model being a neural network model pre-trained by a plurality of operation signal samples representing a positive shovel and a plurality of operation signal samples representing a supporting vehicle.

[0076] A third classification unit is configured to determine that the working condition type is a supporting vehicle working condition when the recognition model outputs a supporting vehicle intention.

[0077] A fourth classification unit is configured to determine that the working condition type is a digging working condition when the recognition model outputs a positive shovel intention.

[0078] In some optional embodiments, the handle signal acquisition module 302 comprises:

[0079] An original signal acquisition unit is configured to acquire an original handle operation signal.

[0080] A filtering unit is configured to filter the handle operation signal by a preset handle signal dead zone to obtain a filtered handle operation signal.

[0081] In some optional embodiments, the device further comprises:

[0082] A posture signal acquisition module is configured to acquire a posture signal of a posture sensor, the posture signal being used to represent a moving direction and a moving amplitude of the arm and the stick of the backhoe excavator.

[0083] A working condition auxiliary verification module is configured to verify a working condition type identified by the handle operation signal according to the posture signal.

[0084] Further function descriptions of the above-mentioned modules and units are the same as those of the above-mentioned embodiments, and will not be described here.

[0085] The boom truck supporting control device in the embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory executing one or more software or fixed programs, and / or other devices capable of providing the above-mentioned functions.

[0086] The embodiment of the present application further provides a backhoe excavator having the above-mentioned Figure 3 boom truck supporting control device.

[0087] Please refer to Figure 4 , Figure 4 is a structural schematic diagram of a backhoe excavator provided by an optional embodiment of the present application, as shown in Figure 4 The backhoe excavator comprises one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are communicatively connected to each other by different buses, and can be installed on a common mainboard or in other ways as needed. The processor can process instructions executed in the backhoe excavator, including instructions stored in the memory or on the memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memories, if necessary. Similarly, multiple backhoe excavators can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 4 In the figure, the processor 10 is taken as an example.

[0088] The processor 10 can be a central processing unit, a network processing unit, or a combination thereof. The processor 10 can further include hardware chips. The hardware chips can be application specific integrated circuits, programmable logic devices, or a combination thereof. The programmable logic devices can be complex programmable logic devices, field programmable logic gate arrays, general array logic, or any combination thereof.

[0089] The memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform the methods illustrated by the above embodiments.

[0090] The memory 20 can include a program storage area and a data storage area. The program storage area can store an operating system and application programs required by at least one function. The data storage area can store data created according to the use of the front shovel excavator, etc. In addition, the memory 20 can include a high-speed random access memory and can further include a non-transitory memory such as at least one disk storage device, a flash memory device, or other non-transitory solid state memory device. In some alternative embodiments, the memory 20 can optionally include a memory disposed remotely with respect to the processor 10, and these remote memories can be connected to the front shovel excavator through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0091] The memory 20 can include a volatile memory such as a random access memory, and can also include a non-volatile memory such as a flash memory, a hard disk, or a solid state disk. The memory 20 can further include a combination of the above types of memories.

[0092] The front shovel excavator further includes a communication interface 30 for communication of the front shovel excavator with other devices or communication networks.

[0093] The embodiments of the present application also provide a computer readable storage medium. The above method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transitory machine readable storage medium and downloaded to a local storage medium through network, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk, etc. Further, the storage medium can further include a combination of the above types of memories. It can be understood that the computer, the processor, the microprocessor controller, or the programmable hardware includes a storage component that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method illustrated by the above embodiments is implemented.

[0094] While embodiments of the present application have been described in conjunction with the appended drawings, various modifications and changes are possible within the spirit and scope of the present application, and such modifications and changes are intended to fall within the scope of the appended claims.

Claims

1. A boom truck control method characterized by comprising: The method is applied to a positive shovel excavator, and the method comprises the following steps: Obtaining a rodless chamber pressure of a boom cylinder; When the rodless chamber pressure is greater than a preset pressure threshold, obtaining a handle operation signal of the excavator; According to the handle operation signal, identifying a working condition type, the working condition type comprising a supporting vehicle working condition and a digging working condition; according to the handle operation signal, identifying a working condition type, comprising: analyzing an operation sequence of different operations in the handle operation signal and an operation time corresponding to each operation; according to the operation sequence and the operation time, identifying an operation intention; according to the operation sequence and the operation time, identifying an operation intention, comprising: judging whether a signal sequence included in the handle operation signal is a preset sequence of a boom lowering signal, a stick lowering signal and a bucket action signal; when the signal sequence is the preset sequence, respectively judging whether a first interval time and a second interval time correspond to fall within a first preset time range and a second preset time range, the first interval time being an interval time of occurrence of the boom lowering signal and occurrence of the stick lowering signal, the second interval time being an interval time of occurrence of the stick lowering signal and occurrence of the bucket action signal; when the first interval time and the second interval time both fall within the first preset time range and the second preset time range, determining that the operation intention is a positive shovel intention; when the operation intention is not the positive shovel intention, determining that it is a supporting vehicle intention; When the working condition type is the supporting vehicle working condition, controlling an oil pump to output oil to a rod chamber of the boom cylinder according to the handle operation signal.

2. The method of claim 1, wherein, The method further comprises: When the working condition type is the digging working condition, keeping a main valve of the boom cylinder open, making the rod chamber and the rodless chamber of the boom cylinder conductive, making part of hydraulic oil in the rodless chamber of the boom cylinder enter the rod chamber, and controlling the oil pump to output oil to the rod chamber of the boom cylinder at a minimum displacement.

3. The method of claim 1, wherein, According to the handle operation signal, identifying a working condition type, further comprising: When the operation intention is a supporting vehicle intention, determining that the working condition type is the supporting vehicle working condition; When the operation intention is a positive shovel intention, determining that the working condition type is the digging working condition.

4. The method of claim 1, wherein, According to the handle operation signal, identifying a working condition type, comprising: Inputting the handle operation signal into a preset identification model, the identification model being a neural network model pre-trained through a plurality of operation signal samples representing a positive shovel and a plurality of operation signal samples representing a supporting vehicle; When the identification model outputs a supporting vehicle intention, determining that the working condition type is the supporting vehicle working condition; When the identification model outputs a positive shovel intention, determining that the working condition type is the digging working condition.

5. The method of claim 1, wherein, The method further comprises: Obtaining an original handle operation signal; Filtering the handle operation signal through a preset handle signal dead zone to obtain a filtered handle operation signal.

6. The method of claim 1, wherein, The boom and the stick of the positive shovel excavator are further provided with a posture sensor, and the method further comprises: Obtaining a posture signal of the posture sensor, the posture signal being used to represent a moving direction and a moving amplitude of the boom and the stick; The work condition type identified according to the handle operation signal is verified according to the posture signal.

7. A boom truck control apparatus, characterized by, The device is applied to a positive shovel excavator, and the device comprises: a pressure acquisition module, configured to acquire a rodless cavity pressure of a boom cylinder; a handle signal acquisition module, configured to acquire a handle operation signal of the excavator when the rodless cavity pressure is greater than a preset pressure threshold; a work condition identification module, configured to identify a work condition type according to the handle operation signal, wherein the work condition type comprises a supporting vehicle work condition and a digging work condition; the identification of the work condition type according to the handle operation signal comprises: analyzing an operation sequence of different operations in the handle operation signal and an operation time corresponding to each operation; identifying an operation intention according to the operation sequence and the operation time; the identification of the operation intention according to the operation sequence and the operation time comprises: judging whether a signal sequence included in the handle operation signal is a preset sequence of a boom lowering signal, a bucket rod lowering signal and a bucket action signal; when the signal sequence is the preset sequence, respectively judging whether a first interval time and a second interval time correspond to fall within a first preset time range and a second preset time range, the first interval time being an interval time of occurrence of the boom lowering signal and occurrence of the bucket rod lowering signal, and the second interval time being an interval time of occurrence of the bucket rod lowering signal and occurrence of the bucket action signal; when the first interval time and the second interval time both fall within the first preset time range and the second preset time range, determining that the operation intention is a positive shovel intention; and when the operation intention is not the positive shovel intention, determining that it is a supporting vehicle intention; a supporting vehicle control module, configured to control an oil pump to output oil to a rod cavity of the boom cylinder according to the handle operation signal when the work condition type is the supporting vehicle work condition.

8. A positive shovel characterized by comprising: The device comprises: a memory and a processor, which are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the method in any one of claims 1 to 6; or, the device comprises the boom supporting vehicle control device in claim 7.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the method in any one of claims 1 to 6.

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