Excavator control methods, excavator control systems, and excavators

Abstract

This invention relates to the field of excavators, providing an excavator control method, an excavator control system, and an excavator. The excavator control method includes: in a leveling operation mode, acquiring a real-time distance signal between the target position of the stick and the working surface, where the target position is a point on the side of the stick facing the working surface; and based on the real-time distance signal, sending a leveling action command to the excavator hydraulic system to control the leveling process of the excavator. This invention addresses the shortcomings of existing leveling technologies, such as low leveling accuracy and poor leveling efficiency. In a leveling operation mode, the excavator control method of this invention, by acquiring a real-time distance signal between the target position of the stick and the working surface, obtaining a leveling action command based on the real-time distance signal, and sending the leveling action command to the excavator hydraulic system to control the leveling process of the excavator, thereby precisely controlling the leveling operation, ensuring leveling efficiency, and improving leveling accuracy.

Description

Technical Field

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

[0002] Excavators, also known as excavating machinery or diggers, have various functions including digging, loading and unloading, leveling, scraping, crushing, lifting, and towing. The materials excavated by excavators are mainly soil, coal, silt, and pre-loosened soil and rock. In recent years, the development of construction machinery has been relatively rapid, and excavators have become one of the most important types of construction machinery.

[0003] The working device of an excavator for leveling ground mainly consists of a boom, stick, and bucket. The rear end of the boom is hinged to the main unit, and the front end is hinged to the stick. The two ends of the boom cylinder are hinged to the boom and the main unit, respectively. The extension and retraction of the boom cylinder pushes the boom to rotate around its rear end, thereby achieving the up-and-down swing of the front end of the boom. The two ends of the stick cylinder are hinged to the boom and the stick, respectively. The extension and retraction of the stick cylinder pushes the lower end of the stick to swing back and forth.

[0004] Existing excavators rely entirely on the operator's vision and experience to determine whether the working surface is flat during the leveling process, resulting in low leveling accuracy and poor leveling efficiency. Summary of the Invention

[0005] This invention provides an excavator control method, an excavator control system, and an excavator to address the shortcomings of low leveling accuracy and poor leveling efficiency in existing technologies. It enables the excavator to control its leveling process based on the real-time distance from the target position of the boom to the working surface, thereby improving leveling accuracy and efficiency.

[0006] This invention provides an excavator control method, comprising:

[0007] In flat ground operation mode, the real-time distance signal between the target position of the stick and the working surface is acquired, where the target position is a point on the side of the stick facing the working surface;

[0008] Based on the real-time distance signal, a leveling operation command is sent to the excavator's hydraulic system to control the excavator's leveling process.

[0009] According to the excavator control method provided by the present invention, the step of sending a leveling operation command to the excavator hydraulic system based on the real-time distance signal specifically includes:

[0010] Based on the real-time distance signal and the preset distance signal, a distance difference signal is obtained;

[0011] Based on the distance difference signal, a leveling operation command is sent to the excavator's hydraulic system.

[0012] According to the excavator control method provided by the present invention, the step of sending a leveling action command to the excavator hydraulic system to control the leveling process of the excavator specifically includes:

[0013] A leveling action command is sent to a proportional solenoid valve to control the leveling process of the excavator; wherein, the proportional solenoid valve is used to control the extension and retraction of the boom cylinder and stick cylinder of the excavator so that the movement trajectory of the excavator's bucket is parallel to the working surface.

[0014] According to the excavator control method provided by the present invention, before sending the leveling operation command to the excavator hydraulic system, the method further includes:

[0015] Obtain the current extension / retraction amount of the excavator's bucket cylinder, and adjust the state of the bucket based on the current extension / retraction amount of the bucket cylinder.

[0016] According to the excavator control method provided by the present invention, the step of obtaining the current extension / retraction amount of the excavator's bucket cylinder and adjusting the state of the bucket based on the current extension / retraction amount of the bucket cylinder specifically includes:

[0017] The current extension and retraction amount and the target extension and retraction amount of the bucket cylinder of the excavator are obtained, and the state of the bucket is adjusted based on the current extension and retraction amount and the target extension and retraction amount of the bucket cylinder.

[0018] According to the excavator control method provided by the present invention, in the flat ground operation mode, image data of the target position of the stick relative to a specified range of the working surface is acquired, and the image data is sent to a display device to assist the operator in obtaining the current working conditions.

[0019] According to the excavator control method provided by the present invention, the step of sending a leveling operation command to the excavator hydraulic system based on the real-time distance signal to control the leveling process of the excavator specifically includes:

[0020] Based on the real-time distance signal, a leveling operation start command is sent to the excavator hydraulic system to enable the excavator bucket to perform leveling operations.

[0021] Based on the real-time distance signal, a ground leveling operation stop command is sent to the excavator hydraulic system, causing the excavator bucket to stop its ground leveling operation.

[0022] The present invention also provides an excavator control system, comprising:

[0023] The distance signal acquisition module, in the flat ground operation mode, is used to acquire the real-time distance signal of the target position of the stick relative to the working surface, wherein the target position is a position point on the side of the stick facing the working surface;

[0024] The leveling process control module is used to send leveling action commands to the excavator hydraulic system based on the real-time distance signal, thereby controlling the leveling process of the excavator.

[0025] The present invention also provides an excavator, including the excavator control system and laser scanner described above. The laser scanner is disposed on the side of the excavator's stick facing the working face and is used to acquire a real-time distance signal of the target position of the stick relative to the working face.

[0026] The excavator provided by the present invention further includes a displacement sensor, which is disposed on the bucket cylinder of the excavator to obtain the current extension and retraction amount of the bucket cylinder.

[0027] The excavator control method provided by this invention, in the leveling operation mode, obtains the real-time distance signal of the target position of the stick relative to the working surface, obtains the leveling action command based on the real-time distance signal, and sends the leveling action command to the excavator hydraulic system to control the leveling process of the excavator; thereby accurately controlling the leveling operation, ensuring the leveling operation efficiency, and improving the leveling accuracy.

[0028] Furthermore, the excavator control system and excavator provided by this invention, due to having the excavator control method described above, also possess the various advantages described above. Attached Figure Description

[0029] 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.

[0030] Figure 1 This is a flowchart illustrating the excavator control method provided by the present invention;

[0031] Figure 2 This is a schematic diagram of the excavator structure provided by the present invention;

[0032] Figure 3 This is a partial schematic diagram of the hydraulic system provided by the present invention;

[0033] Figure 4 This is a block diagram of the excavator control system provided by the present invention.

[0034] Figure label:

[0035] 100: Bucket; 101: Bucket cylinder; 102: Displacement sensor; 200: Stick; 201: Stick cylinder; 202: Laser scanner; 203: Proportional solenoid valve; 204: First hydraulic pilot valve; 300: Boom; 301: Boom cylinder; 302: Second hydraulic pilot valve; 400: Working face; 500: Excavator control system; 501: Distance signal acquisition module; 502: Leveling process control module. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0037] In the description of the embodiments of the present invention, it should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0039] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0040] The following is combined with Figures 1 to 4 The embodiments of the present invention will be described below. It should be understood that the following description is merely an illustrative embodiment of the present invention and does not constitute a limitation thereof.

[0041] like Figure 1 and Figure 2 As shown, the present invention provides an excavator control method, comprising:

[0042] S1: In flat ground operation mode, acquire the real-time distance signal between the target position of the boom 200 and the working surface 400. The target position is a position point on the side of the boom 200 facing the working surface 400. The working surface 400 is the ground, and it is an uneven ground to be leveled.

[0043] The excavator's control panel is equipped with a switch to turn the leveling operation mode on and off. When the leveling operation mode is turned on, the distance between the target position and the uneven area of ​​the working surface 400 is obtained and converted into a real-time distance signal and sent to the controller.

[0044] S2: Based on the real-time distance signal, a leveling operation command is sent to the excavator's hydraulic system to control the excavator's leveling process. The excavator's hydraulic system controls the movement and operating status of the boom 300, stick 200, bucket 100, turntable, and traveling frame. Since excavator leveling is a gradual process, a certain time frame is required from the start to the end of the leveling operation; this is the excavator's leveling progress.

[0045] The controller receives the real-time distance signal from the target position acquisition device on the boom 200 and, based on this signal, sends a leveling action command to the hydraulic control system. This command determines whether the excavator continues leveling operations. For example, after receiving the command, the hydraulic system completes a full set of leveling actions until no further commands are received, indicating that leveling is complete. The leveling action command can be fed back at set intervals.

[0046] By using real-time distance signals to provide feedback on the leveling effect of the current working surface 400, the leveling efficiency is improved, large errors caused by human judgment are avoided, and the leveling accuracy of the working surface 400 is improved.

[0047] In one embodiment of the present invention, the step S2, which involves sending a leveling operation command to the excavator's hydraulic system based on a real-time distance signal to control the excavator's leveling process, specifically includes:

[0048] Based on the real-time distance signal, a leveling operation start command is sent to the excavator hydraulic system, causing the excavator bucket 100 to perform leveling operations.

[0049] Based on the real-time distance signal, a ground leveling operation stop command is sent to the excavator's hydraulic system, causing the excavator's bucket 100 to stop the ground leveling operation.

[0050] In other words, the leveling operation command includes a leveling operation start command and a leveling operation stop command. For example, after the excavator hydraulic system receives the leveling operation start command, it starts to level the working surface 400 until the hydraulic system receives the leveling operation stop command and stops the leveling operation of the working surface 400.

[0051] In another embodiment of the present invention, the step S2, which involves sending a leveling operation command to the excavator hydraulic system based on the real-time distance signal, specifically includes:

[0052] The distance difference signal is obtained based on the real-time distance signal and the preset distance signal;

[0053] Based on the distance difference signal, a leveling operation command is sent to the excavator's hydraulic system.

[0054] Specifically, the real-time distance signal sent by the distance acquisition device is compared with the preset distance signal to obtain the distance difference signal. When the distance difference value in the distance difference signal is greater than zero or outside the specified range, that is, there is a difference between the real-time distance signal and the preset distance signal, it means that the working surface 400 needs to be leveled. Then, a leveling action command is sent to the excavator hydraulic system to perform the leveling action.

[0055] Until the distance difference data in the distance difference signal is equal to zero or within the specified perimeter, a leveling action command is sent to stop the leveling action of the excavator's hydraulic system.

[0056] like Figure 3 As shown, in some embodiments of the present invention, the step S2 of sending a leveling action command to the excavator's hydraulic system to control the excavator's leveling process specifically includes:

[0057] The excavator sends a leveling action command to the proportional solenoid valve 203 to control the leveling process; wherein, the proportional solenoid valve 203 is used to control the extension and retraction of the boom cylinder 301 and the stick cylinder 201 so that the movement trajectory of the bucket 100 is parallel to the working surface 400.

[0058] In other words, the hydraulic system includes a proportional solenoid valve 203. The boom cylinder 301 is connected to the first hydraulic pilot valve 204, which is connected to a pair of proportional solenoid valves 203. Similarly, the stick cylinder 201 is connected to the second hydraulic pilot valve 302, which is connected to another pair of proportional solenoid valves 203. By controlling the on / off state of the proportional solenoid valves 203, the switching between the first hydraulic pilot valve 204 and the second hydraulic pilot valve 302 is controlled, thereby controlling the extension and retraction of the boom cylinder 301 and the stick cylinder 201, changing the posture of the boom 300 and the stick 200, so that during the leveling process, the movement trajectory of the bucket 100 connected to the stick 200 is parallel to the straight working surface 400.

[0059] Furthermore, in other embodiments of the present invention, before sending the leveling action command to the excavator hydraulic system in step S2, the excavator control method further includes:

[0060] The current extension / retraction amount of the excavator's bucket cylinder 101 is obtained, and the state of the bucket 100 is adjusted based on this amount. To accommodate different operators' habits, an initial state of the bucket 100 can be preset. Based on the current extension / retraction amount of the bucket cylinder 101, the bucket 100 is positioned in its initial state under the control of the cylinder, improving the operator's leveling efficiency.

[0061] Meanwhile, since the state of the bucket 100 affects the leveling range in a single operation, the initial state of the bucket 100 can be preset to maximize the leveling range of the bucket 100 and improve the leveling effect.

[0062] Further, in an optional embodiment of the present invention, the step of adjusting the state of the bucket 100 based on the current extension / retraction amount of the excavator's bucket cylinder 101 specifically includes:

[0063] Obtain the current extension and retraction amount and the target extension and retraction amount of the excavator's bucket cylinder 101, and adjust the state of the bucket 100 based on the current extension and retraction amount and the target extension and retraction amount of the bucket cylinder 101.

[0064] The controller presets a target extension / retraction amount and obtains the current extension / retraction amount of the bucket cylinder 101, ensuring that the current extension / retraction amount equals the target extension / retraction amount, thus bringing the bucket 100 to the preset initial state. For example, a displacement sensor 102 can be installed at the end of the bucket cylinder 101 to obtain the current extension / retraction amount. Based on the current extension / retraction amount, the controller obtains a valve core control signal and sends it to the hydraulic system to control the control valve core of the bucket cylinder 101, causing the valve core to actuate and thereby extending / retracting the bucket cylinder 101 to the specified position.

[0065] In another optional embodiment of the present invention, the step of adjusting the state of the bucket 100 specifically includes:

[0066] Adjust the angle between the bucket 100 and the stick 200. As shown in the front view of Figure 2, make the tips of the bucket 100 and the stick 200 in a straight line.

[0067] Furthermore, in other embodiments of the present invention, the excavator control method further includes: in a flat-ground operation mode, acquiring image data of the target position of the boom 200 relative to a specified range of the working surface 400, and sending the image data to a display device to assist the operator in obtaining the current working conditions. For example, a scanning device starts from the target position and scans the specified range of the working surface 400 in a conical shape, obtaining image data of the specified range and sending it to the controller. The controller sends an image signal to the display device based on the image data, and the display device displays a three-dimensional model within the specified range, thereby obtaining the current working conditions within the specified range of the working surface 400. For example, the specified range is a rectangular area of ​​the working surface 400 of 2 meters x 2 meters, and one side of the rectangle coincides with the straight line where the teeth of the bucket 100 are located.

[0068] The scanning device and the distance acquisition device can both be located at the target position and operate simultaneously. Alternatively, the scanning device can include a distance acquisition device, which, while acquiring image data, analyzes the data to obtain the real-time distance signal of the target position relative to the working surface 400.

[0069] like Figure 4 As shown, the present invention also provides an excavator control system 500, comprising:

[0070] In flat ground operation mode, the distance signal acquisition module 501 is used to acquire the real-time distance signal between the target position of the boom 200 and the working surface 400. The target position 200 is a position point on the side of the boom facing the working surface 400.

[0071] The leveling process control module 502 is used to send leveling action commands to the excavator hydraulic system based on real-time distance signals, thereby controlling the leveling process of the excavator.

[0072] Continue to refer to Figure 2 The present invention also provides an excavator, including the excavator control system 500 and laser scanner 202 of the above embodiments. The laser scanner 202 is disposed on the side of the excavator's stick 200 facing the working surface 400, and is used to acquire the real-time distance signal of the target position of the stick 200 relative to the working surface 400. The laser scanner 202 obtains the real-time distance information and generates a real-time distance signal, which is then sent to the excavator control system 500 to achieve leveling control of the excavator.

[0073] In addition, in some embodiments of the present invention, the excavator also includes a displacement sensor 102, which is disposed on the bucket cylinder 101 of the excavator to obtain the current extension and retraction amount of the bucket cylinder 101.

[0074] The excavator control method provided by the present invention, in the leveling operation mode, obtains the real-time distance signal of the target position of the boom 200 relative to the working surface 400, obtains the leveling action command based on the real-time distance signal, and sends the leveling action command to the excavator hydraulic system to control the leveling process of the excavator; thereby accurately controlling the leveling operation, ensuring the leveling operation efficiency, and improving the leveling accuracy.

[0075] Furthermore, the excavator control system 500 and the excavator provided by the present invention also possess the various advantages described above due to the excavator control method described above.

[0076] 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 an excavator, characterized in that, include: In flat ground operation mode, the real-time distance signal between the target position of the stick and the working surface is acquired, where the target position is a point on the side of the stick facing the working surface; Based on the real-time distance signal, a leveling operation command is sent to the excavator's hydraulic system to control the excavator's leveling process, specifically including: Based on the real-time distance signal and the preset distance signal, a distance difference signal is obtained; Based on the distance difference signal, a leveling action command is sent to the excavator hydraulic system, and the leveling action command is sent to the proportional solenoid valve. The proportional solenoid valve controls the extension and retraction of the excavator's boom cylinder and stick cylinder, so that the movement trajectory of the excavator's bucket is parallel to the working surface, thereby controlling the leveling process of the excavator. Based on the real-time distance signal, a leveling operation start command is sent to the excavator hydraulic system to enable the excavator bucket to perform leveling operations. Based on the real-time distance signal, a ground leveling operation stop command is sent to the excavator hydraulic system, causing the excavator bucket to stop its ground leveling operation.

2. The excavator control method according to claim 1, characterized in that, Before sending the leveling operation command to the excavator hydraulic system, the following is also included: Obtain the current extension / retraction amount of the excavator's bucket cylinder, and adjust the state of the bucket based on the current extension / retraction amount of the bucket cylinder.

3. The excavator control method according to claim 2, characterized in that, The step of obtaining the current extension / retraction amount of the excavator's bucket cylinder and adjusting the state of the bucket based on the current extension / retraction amount of the bucket cylinder specifically includes: The current extension and retraction amount and the target extension and retraction amount of the bucket cylinder of the excavator are obtained, and the state of the bucket is adjusted based on the current extension and retraction amount and the target extension and retraction amount of the bucket cylinder.

4. The excavator control method according to claim 1, characterized in that, In flat ground operation mode, image data of the target position of the boom relative to the working surface within a specified range is acquired, and the image data is sent to the display device to assist the operator in obtaining the current working conditions.

5. An excavator control system, characterized in that, The excavator control method for performing any one of claims 1 to 4 includes: The distance signal acquisition module, in the flat ground operation mode, is used to acquire the real-time distance signal of the target position of the stick relative to the working surface, wherein the target position is a position point on the side of the stick facing the working surface; The leveling process control module is used to send leveling action commands to the excavator hydraulic system based on the real-time distance signal, thereby controlling the leveling process of the excavator.

6. An excavator, characterized in that, The system includes the excavator control system and laser scanner as described in claim 5, wherein the laser scanner is disposed on the side of the excavator's stick facing the working surface, and is used to acquire a real-time distance signal of the target position of the stick relative to the working surface.

7. The excavator according to claim 6, characterized in that, It also includes a displacement sensor, which is mounted on the bucket cylinder of the excavator to obtain the current extension and retraction amount of the bucket cylinder.

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