Excavator stability control methods, devices, excavators and storage media

Abstract

This invention relates to the field of excavator control technology, and provides an excavator stability control method, device, excavator, and storage medium. The method includes: acquiring the excavator's stability coefficient; when the stability coefficient is greater than a preset threshold, determining a target action based on motor flow rate and a set of preset thresholds, and controlling the excavator to operate according to the target action. This method addresses the stability of the excavator during operation by determining the target action based on motor flow rate and a relatively comprehensive set of preset thresholds, thereby controlling the excavator to operate according to the target action, achieving flexible control of the excavator, and effectively improving the excavator's stability.

Description

Technical Field

[0001] This invention relates to the field of excavator control technology, and in particular to an excavator stability control method, device, excavator, and storage medium. Background Technology

[0002] During the operation of an excavator, under typical working conditions (such as steep slopes and / or uneven roads), when the excavator performs non-steady or high-impact actions, it may exceed the excavator's critical values, leading to a risk of overturning and making it difficult to guarantee the excavator's stability.

[0003] Existing excavator stability control methods determine a stability coefficient based on tilt sensor signals. When the stability coefficient is low, a pre-defined action is executed, namely moving the excavator's counterweight to adjust its center of gravity. However, this method has a drawback: when the stability coefficient is high, no action is executed; when the stability coefficient is low, the same pre-defined action is executed, potentially leading to the excavator tipping over and resulting in low stability. Summary of the Invention

[0004] This invention provides a method, device, excavator, and storage medium for excavator stability control. It addresses the shortcomings of existing excavator stability control methods, which fail to execute actions when the stability coefficient is high and execute the same preset actions when the stability coefficient is low, potentially leading to excavator overturning and low stability. This new method, based on motor flow rate and a comprehensive set of preset thresholds, determines the target action to be executed, thereby controlling the excavator to operate according to the target action. This achieves flexible control of the excavator and effectively improves its stability.

[0005] This invention provides a method for controlling the stability of an excavator, applied to an excavator stability control device. The excavator stability control device is located within the excavator, which includes a travel motor. The travel motor is equipped with a motor flow sensor, which is used to collect the motor flow rate of the travel motor. The method includes:

[0006] Obtain the stability coefficient of the excavator;

[0007] If the stability coefficient is greater than a preset threshold, the target action is determined based on the motor flow rate and the preset threshold set, and the excavator is controlled to operate according to the target action.

[0008] According to a method for controlling the stability of an excavator provided by the present invention, the motor flow includes the left motor flow and the right motor flow, and the excavator further includes a travel frame cylinder. The preset threshold set includes a preset difference threshold, a preset flow threshold, and a preset acceleration threshold. Determining a target action based on the motor flow and the preset threshold set includes: determining a motor flow difference based on the left motor flow and the right motor flow; if the motor flow difference is greater than the preset difference threshold, determining the shortening of the travel frame cylinder as the target action; if the left motor flow is greater than the preset flow threshold, or if the right motor flow is greater than the preset flow threshold, determining the extension of the travel frame cylinder as the target action; if the motor flow difference is less than or equal to the preset difference threshold, and both the left and right motor flow are less than or equal to the preset flow threshold, determining the target action based on the overall tilt acceleration of the excavator and the preset acceleration threshold.

[0009] According to a stability control method for an excavator provided by the present invention, the excavator further includes an upper vehicle, wherein the upper vehicle is equipped with a whole machine tilt sensor, the whole machine tilt sensor being used to collect whole machine tilt sensor signals; the step of determining the target execution action based on the whole machine tilt acceleration of the excavator and a preset acceleration threshold includes: determining the whole machine tilt acceleration based on the whole machine tilt sensor signal; and determining the extension of the travel frame cylinder as the target execution action when the whole machine tilt acceleration is greater than the preset acceleration threshold.

[0010] According to a method for controlling the stability of an excavator provided by the present invention, the excavator further includes an upper vehicle and a working device, and the method further includes: adjusting the slewing angle of the upper vehicle and adjusting the extension range of the working device when the stability coefficient is less than or equal to the preset threshold.

[0011] According to a method for controlling the stability of an excavator provided by the present invention, obtaining the stability coefficient of the excavator includes: determining the overturning moment and stabilizing moment of the excavator based on the overall parameters of the excavator; and generating the stability coefficient based on the overturning moment and the stabilizing moment.

[0012] According to a method for controlling the stability of an excavator provided by the present invention, the excavator further includes: a bucket, a stick, a boom, an upper carriage, a counterweight, and an lower carriage; the overall machine parameters include: the bucket weight and bucket center of gravity position of the bucket, the stick weight and stick center of gravity position of the stick, the boom weight and boom center of gravity position of the boom, the upper carriage weight and upper carriage center of gravity position of the upper carriage, the counterweight weight and counterweight center of gravity position of the counterweight, and the lower carriage weight and lower carriage center of gravity position of the lower carriage; determining the overturning moment and stabilizing moment of the excavator based on the overall machine parameters includes: determining the overturning moment based on the bucket weight, the bucket center of gravity position, the stick weight, the stick center of gravity position, the boom weight, and the boom center of gravity position; and determining the stabilizing moment based on the upper carriage weight, the upper carriage center of gravity position, the counterweight weight, the counterweight center of gravity position, the lower carriage weight, and the lower carriage center of gravity position.

[0013] According to a method for controlling the stability of an excavator provided by the present invention, after determining the target to perform the action, the method further includes: outputting alarm information, the alarm information being used to indicate to the user that the excavator is in an unstable state.

[0014] The present invention also provides an excavator stability control device, wherein the excavator stability control device is disposed in the excavator, the excavator includes a travel motor, the travel motor is provided with a motor flow sensor, the motor flow sensor is used to collect the motor flow of the travel motor, and the device includes:

[0015] An acquisition module is used to acquire the stability coefficient of the excavator;

[0016] The processing module is used to determine the target action to be performed based on the motor flow rate and the preset threshold set when the stability coefficient is greater than a preset threshold, and to control the excavator to operate according to the target action.

[0017] The present invention also provides an excavator, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the excavator stability control method described above.

[0018] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the excavator stability control method as described above.

[0019] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the excavator stability control method as described above.

[0020] The present invention provides an excavator stability control method, device, excavator, and storage medium. By acquiring the excavator's stability coefficient, and when the stability coefficient exceeds a preset threshold, a target action is determined based on the motor flow rate and a set of preset thresholds. The excavator is then controlled to operate according to this target action. This method addresses the stability of the excavator during operation by determining the target action based on the motor flow rate and a relatively comprehensive set of preset thresholds, thereby controlling the excavator to operate according to the target action. This achieves flexible control of the excavator and effectively improves its stability. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is one of the flowcharts of the excavator stability control method provided by the present invention;

[0023] Figure 2 This is a schematic diagram of the overall machine parameters provided by the present invention;

[0024] Figure 3 This is a schematic diagram of the adjustable travel frame cylinder extension length provided by the present invention;

[0025] Figure 4 This is a schematic diagram of the excavator turning and moving process provided by the present invention;

[0026] Figure 5 This is a schematic diagram of an excavator overturning, provided by the present invention;

[0027] Figure 6 This is the second flowchart of the excavator stability control method provided by the present invention;

[0028] Figure 7 This is a schematic diagram of a scenario for excavator stability control provided by the present invention;

[0029] Figure 8 This is a schematic diagram of the structure of the excavator stability control device provided by the present invention;

[0030] Figure 9 This is a structural schematic diagram of the excavator provided by the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] The embodiments of the present invention will be further described below.

[0033] As Figure 1 shown, it is one of the schematic flowcharts of the excavator stability control method provided by the present invention, which is applied to an excavator stability control device. The excavator stability control device is provided in an excavator. The excavator includes a travel motor, and a motor flow sensor is provided in the travel motor. The motor flow sensor is used to collect the motor flow of the travel motor. The method may include:

[0034] 101. Obtain the stability coefficient of the excavator.

[0035] Here, the excavator refers to a heavy engineering machinery and equipment, mainly used for excavating and loading construction materials such as soil, stones, mortar, cement, etc., and performing various excavation operations.

[0036] The stability coefficient is a parameter used to quantify the overall stability of the excavator, which can be represented by K. When 0 < K ≤ 1, it means the excavator is in an overturning state; when 1 < K, it means the excavator is in a stable state. The larger the value of K, the more stable the excavator is.

[0037] In some embodiments, for the excavator stability control device to obtain the stability coefficient of the excavator, it may include: the excavator stability control device determines the overturning moment and the stabilizing moment of the excavator according to the overall parameters of the excavator; the excavator stability control device generates the stability coefficient according to the overturning moment and the stabilizing moment.

[0038] Here, the overall parameters can also be called the overall attitude parameters, which refer to the angle, position, etc. of some parts of the excavator (such as the bucket, boom, arm, etc.) relative to a certain reference position or direction during the operation of the excavator.

[0039] The overturning moment refers to the total moment that causes the excavator to overturn, which can be represented by Mq.

[0040] The stabilizing moment refers to the total moment that prevents the excavator from overturning, which can be represented by Mw.

[0041] Optionally, a displacement stroke sensor is provided in the oil cylinder of the excavator, and the displacement stroke sensor is used to collect the oil cylinder stroke sensor signal.

[0042] In this context, a hydraulic cylinder refers to an actuator in the excavator's hydraulic system, primarily used to convert hydraulic energy into mechanical energy, thereby driving the excavator's working device to perform actions. Optionally, hydraulic cylinders may include bucket cylinders, stick cylinders, and boom cylinders. Specifically, the bucket cylinder controls the opening, closing, and tilting of the bucket; the stick cylinder controls the extension and retraction of the stick; and the boom cylinder controls the raising, lowering, and rotating of the boom.

[0043] It is understandable that the displacement stroke sensor installed in the bucket cylinder can be called the bucket displacement stroke sensor; the displacement stroke sensor installed in the stick cylinder can be called the stick displacement stroke sensor; and the displacement stroke sensor installed in the boom cylinder can be called the boom displacement stroke sensor.

[0044] Optionally, the cylinder stroke sensor signal may include the bucket cylinder stroke sensor signal collected by the bucket displacement stroke sensor, the stick cylinder stroke sensor signal collected by the stick displacement stroke sensor, and the boom cylinder stroke sensor signal collected by the boom displacement stroke sensor.

[0045] Optionally, the excavator's upper carriage is equipped with an upper carriage slewing angle sensor, which is used to collect upper carriage slewing angle sensor signals.

[0046] Optionally, the excavator stability control device first acquires the cylinder stroke sensor signal collected by the displacement stroke sensor and the upper slewing angle sensor signal collected by the upper slewing angle sensor. Based on the cylinder stroke sensor signal and the upper slewing angle sensor signal, the overall parameters of the excavator can be determined.

[0047] Optionally, the excavator's upper carriage is also equipped with an upper carriage attitude angle sensor. The excavator stability control device can determine the overall parameters of the excavator based on the upper carriage attitude angle sensor signal collected by the upper carriage attitude angle sensor.

[0048] After obtaining the overall parameters of the excavator, the excavator stability control device calculates these parameters to obtain the overturning moment and stabilizing moment of the excavator, and then generates a stability coefficient to determine the target action to be performed.

[0049] In some embodiments, the excavator further includes: a bucket, a stick, a boom, an upper carriage, a counterweight, and an lower carriage; the overall machine parameters include: the bucket weight and bucket center of gravity position of the bucket, the stick weight and stick center of gravity position of the stick, the boom weight and boom center of gravity position of the boom, the upper carriage weight and upper carriage center of gravity position of the upper carriage, the counterweight weight and counterweight center of gravity position of the counterweight, and the lower carriage weight and lower carriage center of gravity position of the lower carriage; the excavator stability control device determines the overturning moment and stabilizing moment of the excavator based on the overall machine parameters, which may include: the excavator stability control device determining the overturning moment based on the bucket weight, bucket center of gravity position, stick weight, stick center of gravity position, boom weight, and boom center of gravity position; the excavator stability control device determining the stabilizing moment based on the upper carriage weight, upper carriage center of gravity position, counterweight weight, counterweight center of gravity position, lower carriage weight, and lower carriage center of gravity position.

[0050] Among them, the bucket, stick, and boom are the working devices of an excavator, which refer to the devices on the excavator that directly complete the excavation task.

[0051] The upper control mechanism of an excavator mainly includes the cab and engine, enabling the operator to fully control all the excavator's actions.

[0052] Counterweights are additional weights added to excavators to balance their weight and improve operational efficiency and stability.

[0053] The undercarriage refers to the excavator's lower traveling mechanism, which mainly includes tracks, travel motors, and a traveling frame.

[0054] Optionally, after acquiring the cylinder stroke sensor signals mentioned above, the excavator stability control device performs calibration calculations on the bucket cylinder stroke sensor signals to obtain the bucket center of gravity position; it performs calibration calculations on the stick cylinder stroke sensor signals to obtain the stick center of gravity position; and it performs calibration calculations on the boom cylinder stroke sensor signals to obtain the boom center of gravity position. Simultaneously, the excavator stability control device acquires the upper slewing angle sensor signals mentioned above, and then performs calibration calculations on these signals to obtain the upper slewing angle center of gravity position, the counterweight center of gravity position, and the lower slewing angle center of gravity position.

[0055] Optionally, the calibration calculation can be based on hydraulic and mechanical transmission principles to establish a first mathematical model between the cylinder stroke and the center of gravity position, and a second mathematical model between the upper vehicle rotation angle and the center of gravity position. The collected cylinder stroke sensor signal is fitted with the first mathematical model to obtain the relationship curve between the center of gravity position and the cylinder stroke. The collected upper vehicle rotation angle sensor signal is fitted with the second mathematical model to obtain the relationship curve between the center of gravity position and the upper vehicle rotation angle. The calibration results are then verified through experiments.

[0056] Optionally, the excavator stability control device can also determine the position of the upper vehicle center of gravity, the position of the counterweight center of gravity, and the position of the lower vehicle center of gravity based on the upper vehicle slewing angle sensor signal and the upper vehicle posture angle sensor signal mentioned above.

[0057] For example, such as Figure 2 The diagram shown is a schematic diagram of the overall parameters provided by the present invention. Figure 2 In the diagram, the fulcrum represents the overturning edge, located at the outer edge of the track on the undercarriage; G1 represents the bucket weight; L1 represents the bucket center of gravity; G2 represents the stick weight; L2 represents the stick center of gravity; G3 represents the boom weight; L3 represents the boom center of gravity; G4 represents the upper vehicle weight; L4 represents the upper vehicle center of gravity; G5 represents the counterweight weight; L5 represents the counterweight center of gravity; G6 represents the undercarriage weight; L6 represents the undercarriage center of gravity.

[0058] In this way, the overturning moment of the excavator stability control device can be calculated using the formula Mq = G1*L1 + G2*L2 + G3*L3, where Mq represents the overturning moment; the stabilizing moment can be calculated using the formula Mw = G4*L4 + G5*L5 + G6*L6, where Mw represents the stabilizing moment; finally, the stability coefficient can be calculated using the formula K = Mw / Mq, where K represents the stability coefficient.

[0059] It should be noted that the aforementioned overturning edge (fulcrum) will change depending on the excavator's different operating postures.

[0060] Understandably, as the overturning edge changes, the aforementioned L1, L2, L3, L4, L5, and L6 will also change accordingly.

[0061] 102. When the stability coefficient is greater than the preset threshold, determine the target action based on the motor flow rate and the preset threshold set, and control the excavator to run according to the target action.

[0062] The preset threshold can be represented by k*. Optionally, the preset threshold can be set by the excavator stability control device before leaving the factory, or it can be user-defined, generally set according to the experience value of the excavator's overall vehicle debugging.

[0063] It should be noted that the preset threshold set does not include the aforementioned preset thresholds.

[0064] When the stability coefficient is greater than the preset threshold (K>k*), although the risk of overturning of the excavator is low and no overall stability adjustment is required, there may still be a risk of overturning during the excavator's movement. In this case, the excavator stability control device determines the target action based on the motor flow rate and a relatively comprehensive set of preset thresholds, and then controls the excavator to run according to the target action, thereby achieving flexible control of the excavator and effectively improving the stability of the excavator.

[0065] In some embodiments, the excavator further includes a chassis and a working device, and the method may further include: when the stability coefficient is less than or equal to a preset threshold, the excavator stability control device adjusts the slewing angle of the chassis and adjusts the extension range of the working device.

[0066] The working device may include a bucket, stick, and boom.

[0067] If the stability coefficient is less than or equal to the preset threshold, i.e., K≤k*, it indicates that the excavator has a high risk of overturning and the overall stability needs to be adjusted. That is, the excavator stability control device adjusts the slewing angle of the upper vehicle and the extension range of the working device to improve the overall stability until K>k* is satisfied.

[0068] In some embodiments, the motor flow rate includes the left motor flow rate and the right motor flow rate. The excavator also includes a travel frame cylinder. The preset threshold set includes a preset difference threshold, a preset flow rate threshold, and a preset acceleration threshold. The excavator stability control device determines the target execution action based on the motor flow rate and the preset threshold set, which may include: the excavator stability control device determining the motor flow rate difference based on the left motor flow rate and the right motor flow rate; if the motor flow rate difference is greater than the preset difference threshold, the excavator stability control device determines shortening the travel frame cylinder as the target execution action; if the left motor flow rate is greater than the preset flow rate threshold, or if the right motor flow rate is greater than the preset flow rate threshold, the excavator stability control device determines extending the travel frame cylinder as the target execution action; if the motor flow rate difference is less than or equal to the preset difference threshold, and both the left and right motor flow rates are less than or equal to the preset flow rate threshold, the excavator stability control device determines the target execution action based on the excavator's overall tilt acceleration and the preset acceleration threshold.

[0069] The left motor flow rate refers to the motor flow rate of the left travel motor, which can be represented by Q1.

[0070] The right motor flow rate refers to the flow rate of the right travel motor, which can be represented by Q2.

[0071] It should be noted that the left and right in the embodiments of the present invention are based on the direction from which the excavator cab faces the working device.

[0072] The motor flow difference refers to the difference between the flow rate of the left motor and the flow rate of the right motor, which can be expressed as: ΔQ=|Q1-Q2|.

[0073] The overall tilt acceleration refers to the rate of change of the tilt angle of the excavator relative to the horizontal plane, which can be represented by 'a'.

[0074] The preset difference threshold can be represented by q1, the preset flow threshold can be represented by q2, and the preset acceleration threshold can be represented by a*.

[0075] Optionally, the preset difference threshold, preset flow threshold, and preset acceleration threshold can be set by the excavator stability control device before it leaves the factory, or they can be user-defined, and are generally set according to the experience values ​​of the excavator's overall vehicle debugging.

[0076] The hydraulic cylinders mentioned above may also include travel frame hydraulic cylinders, which are used to adjust the width of the travel frame (also known as the underframe). For example, such as... Figure 3 The diagram shown is a schematic representation of the method for adjusting the extension and retraction length of the hydraulic cylinder of the traveling frame provided by the present invention. Figure 3 As can be seen, the excavator's stability control device adjusts the width of the travel frame by adjusting the extension and retraction length of the travel frame cylinder.

[0077] In determining the target action, the excavator stability control device first determines the motor flow difference ΔQ based on the collected left motor flow rate Q1 and right motor flow rate Q2. Then, if the motor flow difference is greater than a preset threshold (ΔQ > q1), it indicates that the excavator may be in a turning motion. Turning motion involves travel resistance, leading to lower excavator stability. The excavator stability control device then determines the shortening of the travel frame cylinder as the target action, ensuring that subsequent excavator control follows this target action. This reduces the travel frame width, lowering the travel resistance during turning and effectively improving the excavator's stability. For example, as shown... Figure 4 The diagram shown is a schematic of the excavator turning and moving process provided by the present invention. Figure 4 In the diagram, the flow rate Q1 of the left motor corresponds to the travel speed V1 of the left track, and the flow rate Q2 of the right motor corresponds to the travel speed V2 of the right track.

[0078] When the flow rate of the left motor exceeds the preset flow rate threshold, or the flow rate of the right motor exceeds the preset flow rate threshold (i.e., Q1>q2 or Q2>q2), it indicates that the excavator's stability is low, and the excavator may overturn during operation. The excavator stability control device determines the extension of the travel frame cylinder as the target action to be executed, so that subsequent control of the excavator will follow this target action, increasing the width of the travel frame to prevent the excavator from overturning and effectively improving the excavator's stability. For example, as shown... Figure 5 The diagram shown is a schematic representation of an excavator overturning according to the present invention. Figure 5 As can be seen, the excavator is equipped with a tilt sensor in the upper part of the machine. This tilt sensor is used to collect the tilt sensor signal. The excavator stability control device can determine the tilt angle of the excavator relative to the horizontal plane, i.e., the tilt angle θ, based on the collected tilt sensor signal.

[0079] When the difference in motor flow rate is less than or equal to the preset difference threshold, and the flow rates of both the left and right motors are less than or equal to the preset flow rate thresholds (i.e., ΔQ≤q1, Q1≤q2, and Q2≤q2), it indicates that there is no abnormality in the motor flow rate. Furthermore, the excavator stability control device can determine the target action based on the excavator's overall tilt acceleration and the preset acceleration threshold.

[0080] In some embodiments, the excavator further includes an upper carriage, which is equipped with a whole machine tilt sensor for collecting whole machine tilt sensor signals; the excavator stability control device determines the target action based on the excavator's whole machine tilt acceleration and a preset acceleration threshold, which may include: the excavator stability control device determining the whole machine tilt acceleration based on the whole machine tilt sensor signal; if the whole machine tilt acceleration is greater than the preset acceleration threshold, the excavator stability control device determines the extension of the travel frame cylinder as the target action.

[0081] During the process of determining the target action, the excavator stability control device can determine the excavator's overall tilt acceleration 'a' based on the collected signals from the overall tilt angle sensor. If the overall tilt acceleration is greater than the preset acceleration threshold (a>a*), it indicates that the excavator's stability is low and the excavator may overturn during operation. The excavator stability control device will then determine the extension of the travel frame cylinder as the target action, so that the excavator can be controlled to operate according to this target action, increasing the width of the travel frame to prevent the excavator from overturning and effectively improving the excavator's stability.

[0082] In some embodiments, after determining the target action, the method may further include: the excavator stability control device outputting alarm information, the alarm information being used to indicate to the user that the excavator is in an unstable state.

[0083] This allows the user to be promptly alerted when the excavator is in an unstable state.

[0084] Optionally, the excavator may also include a buzzer, and the excavator stability control device may output alarm information, including: the excavator stability control device controlling the buzzer to output alarm information.

[0085] It should be noted that, for the different target actions mentioned above, the excavator stability control device will control the buzzer to sound alarms of different levels, promptly reminding the driver to take relevant countermeasures to prevent accidents from occurring.

[0086] In this embodiment of the invention, the stability coefficient of the excavator is obtained; when the stability coefficient is greater than a preset threshold, a target action is determined based on the motor flow rate and a set of preset thresholds, and the excavator is controlled to operate according to the target action. This method addresses the stability of the excavator during its movement by determining the target action based on the motor flow rate and a relatively comprehensive set of preset thresholds, thereby controlling the excavator to operate according to the target action, achieving flexible control of the excavator, and effectively improving the stability of the excavator.

[0087] The embodiments of the present invention will be further illustrated with the following examples:

[0088] For example, such as Figure 6 The diagram shown is a second schematic flowchart of the excavator stability control method provided by this invention. From... Figure 6 As can be seen, the excavator stability control device determines the stability coefficient K based on the overall parameters of the excavator. When the stability coefficient K is less than or equal to the preset threshold k*, it adjusts the slewing angle of the upper vehicle and the extension range of the working device to improve the overall stability of the machine. When the stability coefficient K is greater than the preset threshold k*, it determines the target action based on the motor flow rate and the preset threshold set, and controls the excavator to run according to the target action. Specifically, when the motor flow difference ΔQ is greater than the preset difference threshold q1, shortening the control frame cylinder is determined as the target action, and the excavator is controlled to operate according to this target action, with the corresponding buzzer sounding an alarm. When the left motor flow rate Q1 is greater than the preset flow rate threshold q2, or the right motor flow rate Q2 is greater than the preset flow rate threshold q2, extending the control frame cylinder is determined as the target action, and the excavator is controlled to operate according to this target action, with the corresponding buzzer sounding an alarm. When the motor flow difference ΔQ is less than or equal to the preset difference threshold q1, and both the left motor flow rate Q1 and the right motor flow rate Q2 are less than or equal to the preset flow rate threshold q2, the target action is determined based on the excavator's overall tilt acceleration and a preset acceleration threshold. In other words, when the overall tilt acceleration a is greater than the preset acceleration threshold a*, extending the control frame cylinder is determined as the target action, and the excavator is controlled to operate according to this target action, with the corresponding buzzer sounding an alarm. Throughout this process, flexible control of the excavator is achieved, effectively improving its stability.

[0089] For example, such as Figure 7The image shown is a schematic diagram of a scenario for excavator stability control provided by this invention. From... Figure 7 As can be seen, after each sensor transmits its collected signals to the excavator stability control device, the device can determine the overall machine parameters and thus the stability coefficient K. Simultaneously, after the motor flow sensor transmits its collected motor flow data to the device, it can determine the left motor flow rate Q1, the right motor flow rate Q2, and the motor flow rate difference ΔQ. Furthermore, after the tilt sensor transmits its collected tilt signal to the device, it can determine the tilt acceleration a. Based on this, the excavator stability control device can monitor the overall machine stability in real time according to the stability coefficient K and the preset threshold k*. When the stability coefficient K is less than or equal to the preset threshold k*, the engine, hydraulic pump, and hydraulic valves are controlled to indirectly adjust the slewing angle of the upper vehicle and indirectly adjust the extension range of the working device to improve the overall stability of the machine. When the stability coefficient K is greater than the preset threshold k*, the target action is determined based on the left motor flow rate Q1, the right motor flow rate Q2, the motor flow rate difference ΔQ, the overall tilt acceleration a, and the preset threshold set (including the preset difference threshold q1, the preset flow rate threshold q2, and the preset acceleration threshold a*). The engine, hydraulic pump, and hydraulic valves are then controlled to indirectly control the excavator to operate according to the target action, effectively improving the stability of the excavator.

[0090] The excavator stability control device provided by the present invention is described below. The excavator stability control device described below can be referred to in correspondence with the excavator stability control method described above.

[0091] like Figure 8 The diagram shown is a structural schematic of the excavator stability control device provided by the present invention. The excavator stability control device is installed in the excavator, which includes a travel motor. The travel motor is equipped with a motor flow sensor, which is used to collect the motor flow rate of the travel motor. The device may include:

[0092] The acquisition module 801 is used to acquire the stability coefficient of the excavator;

[0093] The processing module 802 is used to determine the target action to be performed based on the motor flow rate and the preset threshold set when the stability coefficient is greater than the preset threshold, and to control the excavator to operate according to the target action.

[0094] Optionally, the motor flow rate includes the left motor flow rate and the right motor flow rate. The excavator also includes a travel frame cylinder. The preset threshold set includes: a preset difference threshold, a preset flow rate threshold, and a preset acceleration threshold. The processing module 802 is specifically used to determine the motor flow rate difference based on the left motor flow rate and the right motor flow rate; if the motor flow rate difference is greater than the preset difference threshold, controlling the travel frame cylinder to shorten is determined as the target execution action; if the left motor flow rate is greater than the preset flow rate threshold, or if the right motor flow rate is greater than the preset flow rate threshold, controlling the travel frame cylinder to extend is determined as the target execution action; if the motor flow rate difference is less than or equal to the preset difference threshold, and both the left motor flow rate and the right motor flow rate are less than or equal to the preset flow rate threshold, the target execution action is determined based on the excavator's overall tilt acceleration and the preset acceleration threshold.

[0095] Optionally, the excavator also includes an upper vehicle equipped with a tilt sensor for collecting tilt sensor signals; and a processing module 802 specifically used to determine the tilt acceleration of the machine based on the tilt sensor signal; and when the tilt acceleration of the machine is greater than the preset acceleration threshold, to determine the extension of the travel frame cylinder as the target action to be performed.

[0096] Optionally, the excavator also includes a chassis and a working device. The processing module 802 is further configured to adjust the slewing angle of the chassis and the extension range of the working device when the stability coefficient is less than or equal to the preset threshold.

[0097] Optionally, module 801 is specifically used to determine the overturning moment and stabilizing moment of the excavator based on the overall parameters of the excavator; and to generate the stability coefficient based on the overturning moment and the stabilizing moment.

[0098] Optionally, the excavator also includes: a bucket, a stick, a boom, an upper carriage, a counterweight, and an lower carriage; the machine parameters include: the bucket weight and bucket center of gravity position of the bucket, the stick weight and stick center of gravity position of the stick, the boom weight and boom center of gravity position of the boom, the upper carriage weight and upper carriage center of gravity position of the upper carriage, the counterweight weight and counterweight center of gravity position of the counterweight, and the lower carriage weight and lower carriage center of gravity position; the acquisition module 801 is specifically used to determine the overturning moment based on the bucket weight, the bucket center of gravity position, the stick weight, the stick center of gravity position, the boom weight, and the boom center of gravity position; and to determine the stabilizing moment based on the upper carriage weight, the upper carriage center of gravity position, the counterweight weight, the counterweight center of gravity position, the lower carriage weight, and the lower carriage center of gravity position.

[0099] Optionally, the processing module 802 is also used to output alarm information to indicate to the user that the excavator is in an unstable state.

[0100] like Figure 9 The diagram shows the structure of an excavator provided by the present invention. The excavator may include a processor 910, a communication interface 920, a memory 930, and a communication bus 940. The processor 910, communication interface 920, and memory 930 communicate with each other via the communication bus 940. The processor 910 can call logical instructions in the memory 930 to execute an excavator stability control method, applied to an excavator stability control device. This device is located within the excavator and includes a travel motor. The travel motor has a motor flow sensor for collecting the motor flow rate. The method includes: obtaining the excavator's stability coefficient; if the stability coefficient is greater than a preset threshold, determining a target action based on the motor flow rate and the preset threshold set, and controlling the excavator to operate according to the target action.

[0101] Furthermore, the logical instructions in the aforementioned memory 930 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0102] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the excavator stability control method provided by the above methods, and apply it to an excavator stability control device. The excavator stability control device is located in the excavator, which includes a travel motor. The travel motor is equipped with a motor flow sensor for collecting the motor flow of the travel motor. The method includes: obtaining the stability coefficient of the excavator; when the stability coefficient is greater than a preset threshold, determining a target action based on the motor flow and the preset threshold set, and controlling the excavator to operate according to the target action.

[0103] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the excavator stability control method provided by the above methods, applied to an excavator stability control device. The excavator stability control device is disposed in the excavator, which includes a travel motor. The travel motor is equipped with a motor flow sensor for collecting the motor flow of the travel motor. The method includes: obtaining the stability coefficient of the excavator; if the stability coefficient is greater than a preset threshold, determining a target action based on the motor flow and the preset threshold set, and controlling the excavator to operate according to the target action.

[0104] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0105] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the stability of an excavator, characterized in that, An excavator stability control device is applied to an excavator, the excavator including a travel motor, the travel motor having a motor flow sensor for collecting the motor flow rate of the travel motor, the method comprising: Based on the overall parameters of the excavator, determine the overturning moment and stabilizing moment of the excavator; Based on the overturning moment and the stabilizing moment, a stability coefficient is generated; If the stability coefficient is greater than a preset threshold, the target action is determined based on the motor flow rate and the preset threshold set, and the excavator is controlled to operate according to the target action. The motor flow rate includes the left motor flow rate and the right motor flow rate. The excavator also includes a travel frame cylinder. The preset threshold set includes: a preset difference threshold, a preset flow rate threshold, and a preset acceleration threshold. Determining the target action based on the motor flow rate and the preset threshold set includes: The motor flow difference is determined based on the flow rates of the left motor and the right motor. If the motor flow difference is greater than the preset difference threshold, the action of controlling the shortening of the walking frame cylinder will be determined as the target action. If the flow rate of the left motor is greater than the preset flow rate threshold, or if the flow rate of the right motor is greater than the preset flow rate threshold, the extension of the hydraulic cylinder of the walking frame will be determined as the target action to be performed. When the motor flow difference is less than or equal to the preset difference threshold, and both the left motor flow and the right motor flow are less than or equal to the preset flow threshold, the target action is determined based on the excavator's overall tilt acceleration and the preset acceleration threshold.

2. The method according to claim 1, characterized in that, The excavator also includes an upper vehicle, which is equipped with a tilt sensor for collecting tilt angle signals. The determination of the target action based on the excavator's tilt acceleration and a preset acceleration threshold includes: The tilt acceleration of the whole machine is determined based on the tilt sensor signal of the whole machine; When the overall tilt acceleration is greater than the preset acceleration threshold, the extension of the hydraulic cylinder of the traveling frame is determined as the target action to be performed.

3. The method according to claim 1, characterized in that, The excavator also includes a chassis and a working device, and the method further includes: If the stability coefficient is less than or equal to the preset threshold, adjust the rotation angle of the upper vehicle and adjust the extension range of the working device.

4. The method according to claim 3, characterized in that, The excavator also includes: a bucket, a stick, a boom, an upper carriage, a counterweight, and an lower carriage; the overall machine parameters include: the bucket weight and bucket center of gravity position of the bucket, the stick weight and stick center of gravity position of the stick, the boom weight and boom center of gravity position of the boom, the upper carriage weight and upper carriage center of gravity position of the upper carriage, the counterweight weight and counterweight center of gravity position of the counterweight, and the lower carriage weight and lower carriage center of gravity position; The step of determining the overturning moment and stabilizing moment of the excavator based on the overall machine parameters includes: The overturning moment is determined based on the weight of the bucket, the position of the bucket's center of gravity, the weight of the stick, the position of the stick's center of gravity, the weight of the boom, and the position of the boom's center of gravity. The stabilizing torque is determined based on the weight of the upper vehicle, the center of gravity position of the upper vehicle, the weight of the counterweight, the center of gravity position of the counterweight, the weight of the lower vehicle, and the center of gravity position of the lower vehicle.

5. The method according to any one of claims 1-4, characterized in that, After determining the target to perform the action, the method further includes: Output alarm information, which is used to indicate to the user that the excavator is in an unstable state.

6. A stability control device for an excavator, characterized in that, The excavator stability control device is installed in the excavator, which includes a travel motor. The travel motor is equipped with a motor flow sensor, which is used to collect the motor flow rate of the travel motor. The device includes: The acquisition module is used to determine the overturning moment and stabilizing moment of the excavator based on the overall machine parameters of the excavator; and to generate a stability coefficient based on the overturning moment and the stabilizing moment. The processing module is configured to, when the stability coefficient is greater than a preset threshold, determine a target execution action based on the motor flow rate and a preset threshold set, and control the excavator to operate according to the target execution action; wherein, the motor flow rate includes the left motor flow rate and the right motor flow rate, the excavator also includes a travel frame cylinder, and the preset threshold set includes: a preset difference threshold, a preset flow rate threshold, and a preset acceleration threshold; determining the target execution action based on the motor flow rate and the preset threshold set includes: determining the motor flow rate difference based on the left motor flow rate and the right motor flow rate; when the motor flow rate difference is greater than the preset difference threshold, determining the shortening of the travel frame cylinder as the target execution action; when the left motor flow rate is greater than the preset flow rate threshold, or the right motor flow rate is greater than the preset flow rate threshold, determining the extension of the travel frame cylinder as the target execution action; when the motor flow rate difference is less than or equal to the preset difference threshold, and both the left motor flow rate and the right motor flow rate are less than or equal to the preset flow rate threshold, determining the target execution action based on the excavator's overall tilt acceleration and the preset acceleration threshold.

7. An excavator, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the excavator stability control method as described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the excavator stability control method as described in any one of claims 1 to 5.

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