An automatic safety cruise control system and method for excavators

Abstract

The application discloses a kind of excavator automatic safety cruise control system and method, system includes controller, controller receives automatic cruise instruction, whether excavator meets execution condition according to the detection signal of swivel pose sensor, if excavator meets execution condition, the control excavator's travelling mechanism by electromagnetic valve group, drive excavator and execute automatic cruise;The controller controls excavator automatic cruise, whether excavator meets release condition according to the detection signal of swivel pose sensor and inclination sensor, if reaching release condition and release excavator automatic cruise;The application adds the automatic release function of excavator cruise, to improve excavator automatic cruise safety.

Description

Technical Field

[0001] This invention belongs to the field of excavators, specifically relating to an automatic cruise control system and method for excavators. Background Technology

[0002] Hydraulic excavators are multi-functional machines, widely used in various earthmoving operations, water conservancy projects, and other applications as important engineering machinery. The excavator's movement is controlled by a hydraulically piloted foot valve that controls the main travel valve core, which in turn drives the left and right travel motors. This means that the excavator's movement requires constant foot or hand operation of the pilot foot valve during travel, which can lead to operator fatigue over extended periods. To address the aforementioned technical issues, an excavator automatic cruise system and method (publication number CN111663600A) has been disclosed in the prior art, which enables automatic cruise of the excavator and avoids operator fatigue caused by prolonged operation. However, the prior art only activates and deactivates the automatic cruise mode based on changes in the automatic cruise signal; for excavators, operating other machinery during automatic cruise poses significant safety hazards. Summary of the Invention

[0003] This invention provides an automatic safety cruise control system and method for excavators, which adds an automatic deactivation function for excavator cruise to improve the safety of excavator automatic cruise.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: The first aspect of the present invention provides an automatic safety cruise control system for an excavator, including a controller, a solenoid valve assembly, and a sensor assembly for detecting the excavator's position and posture; the sensor assembly includes a slewing posture sensor for detecting the excavator's slewing angle and a tilt sensor for detecting the excavator's tilt angle. The rotation posture sensor and tilt sensor are electrically connected to the controller; the solenoid valve group is installed in the oil circuit between the oil pump and the excavator's traveling mechanism; the output terminal of the controller is electrically connected to the solenoid valve group. The controller has preset release and execution conditions. When the controller receives the automatic cruise command, it determines whether the excavator meets the execution conditions based on the detected excavator posture. If the excavator meets the execution conditions, the controller controls the excavator's walking mechanism through the solenoid valve group to drive the excavator to perform automatic cruise. When the controller controls the excavator to cruise automatically, it determines whether the excavator meets the release conditions based on the detection signals from the slewing posture sensor and the tilt sensor. If the release conditions are met, the excavator's automatic cruise is deactivated.

[0005] Furthermore, the solenoid valve assembly includes a first solenoid valve, a second solenoid valve, a third solenoid valve, and a fourth solenoid valve; the excavator's traveling mechanism includes a left traveling mechanism and a right traveling mechanism. The first solenoid valve and the second solenoid valve are disposed in the oil line between the oil pump and the left travel mechanism of the excavator; when the first solenoid valve is turned on and the second solenoid valve is turned off, the left travel mechanism moves forward; when the first solenoid valve is turned off and the second solenoid valve is turned on, the left travel mechanism moves backward. The third and fourth solenoid valves are located on the oil line between the oil pump and the right travel mechanism of the excavator; when the third solenoid valve is open and the fourth solenoid valve is closed, the right travel mechanism moves forward; when the third solenoid valve is closed and the fourth solenoid valve is open, the right travel mechanism moves backward. The first, second, third, and fourth solenoid valves are electrically connected to the output of the controller.

[0006] Furthermore, the sensor group also includes a gear selector knob and a high / low speed switch installed on the excavator; the gear selector knob and the high / low speed switch are electrically connected to the controller; the controller collects the excavator's gear position information through the gear selector knob and collects the excavator's high / low speed mode information through the high / low speed switch; when the controller controls the excavator to cruise automatically, it determines whether to deactivate the excavator's automatic navigation based on the gear position information and the high / low speed mode information.

[0007] Furthermore, the sensor group also includes a boom position sensor and a stick position sensor installed on the excavator; the boom position sensor and the stick position sensor are electrically connected to the controller; when the controller controls the excavator to cruise automatically, it determines whether to deactivate the excavator's automatic navigation based on the detection signals from the boom position sensor and the stick position sensor.

[0008] Furthermore, the sensor group also includes a bucket position sensor and a bulldozer blade position sensor mounted on the excavator; The bucket position sensor and the bulldozer blade position sensor are electrically connected to the controller; when the controller controls the excavator to cruise automatically, it determines whether to deactivate the excavator's automatic navigation based on the detection signals from the bucket position sensor and the bulldozer blade position sensor.

[0009] Furthermore, the controller is electrically connected to a human-machine interface, and the controller receives execution conditions and release conditions input by the human-machine interface; the human-machine interface displays the excavator's working status information and early warning prompts.

[0010] Meanwhile, the initial settings of the human-machine interface and the trigger conditions for disabling automatic cruise are uploaded to the platform through the GPS terminal. This allows the platform to obtain the safety factors that are of concern to many users and the conditions that may affect the customer's automatic cruise operation experience, thereby further improving the initial default settings of the human-machine interface and correcting the settings that affect automatic cruise operation.

[0011] Furthermore, the controller is electrically connected to a one-button travel switch. The controller receives automatic cruise commands through the one-button travel switch. When the one-button travel switch is turned on, the controller controls the excavator to cruise automatically; when the one-button travel switch is turned off, the controller controls the excavator to deactivate automatic cruise.

[0012] A second aspect of the present invention provides an automatic safety cruise control method for an excavator, comprising: Upon receiving the automatic cruise command; obtaining the height information of the excavator's robotic arm assembly to determine whether the excavator is within the preset safe area; determining whether the excavator's slewing angle exceeds the limit based on the detection signal from the slewing posture sensor; obtaining the height of the excavator's bulldozer blade to determine whether the bulldozer blade height reaches the safe height threshold; If the excavator is in a safe area, the slewing angle is less than the set slewing threshold, and the height of the bulldozer blade reaches the safe height threshold, it is determined that the excavator meets the execution conditions. The excavator's walking mechanism is controlled by the solenoid valve group to drive the excavator to perform automatic cruise. The system determines whether a slewing operation exists based on the detection signal from the slewing posture sensor. If the excavator is performing a slewing operation and it meets the preset release condition, the system controls the excavator to deactivate automatic cruise control. If the excavator is performing a slewing operation and it does not meet the preset release condition, the system determines whether the excavator's slewing angle exceeds the limit based on the detection signal from the slewing posture sensor. If the slewing angle exceeds the limit, the system controls the excavator to deactivate automatic cruise control. The system determines whether the machine tilts beyond the limit based on the detection signal from the tilt sensor; when the machine tilt exceeds the limit and the determination condition is met, the system controls the excavator to deactivate automatic cruise control.

[0013] Furthermore, the excavator's traveling mechanism is controlled via a solenoid valve assembly to drive the excavator to perform automatic cruise control, including: The solenoid valve assembly includes a first solenoid valve, a second solenoid valve, a third solenoid valve, and a fourth solenoid valve; the excavator's traveling mechanism includes a left traveling mechanism and a right traveling mechanism; the first and second solenoid valves are located on the oil line between the oil pump and the excavator's left traveling mechanism; the third and fourth solenoid valves are located on the oil line between the oil pump and the excavator's right traveling mechanism. When the first solenoid valve is turned on and the second solenoid valve is turned off, the left traveling mechanism moves forward; when the first solenoid valve is turned off and the second solenoid valve is turned on, the left traveling mechanism moves backward. When the third solenoid valve is turned on and the fourth solenoid valve is turned off, the right traveling mechanism moves forward; when the third solenoid valve is turned off and the fourth solenoid valve is turned on, the right traveling mechanism moves backward.

[0014] Furthermore, the sensor group also includes a gear selector knob and a high / low speed switch on the excavator; the gear selector knob collects the excavator's gear position information, and the high / low speed switch collects the excavator's high / low speed mode information. The system determines whether a gear shift is being performed based on the excavator's gear position information. If a gear shift is being performed and it is a preset release condition, the system controls the excavator to deactivate automatic cruise control. If a gear shift is being performed but it is not a preset release condition, the system performs a gear shift to maintain automatic cruise control. Based on the excavator's high and low speed mode information, determine whether a working mode switching operation has occurred. If the excavator has a working mode switching operation and it is subject to a preset cancellation condition, control the excavator to deactivate automatic cruise control; if the excavator has a working mode switching operation and it is not subject to a preset cancellation condition, execute the working mode switching operation to maintain the excavator's automatic cruise control.

[0015] Furthermore, the sensor group also includes a boom position sensor, a stick position sensor, and a bucket position sensor installed on the excavator; The boom position sensor is used to detect the boom movement information of the excavator; the stick position sensor is used to detect the stick movement information of the excavator; and the bucket position sensor is used to detect the bucket movement information of the excavator. When the excavator is performing automatic cruise, it determines whether there is boom operation based on the boom movement information of the excavator. If the excavator is operating the boom and it meets the preset release condition, the excavator is controlled to release automatic cruise. If the excavator is operating the boom and it is not preset to be released, the boom position is calculated based on the height of the excavator and the boom movement information. If the boom position is determined to be outside the safe area, the excavator is controlled to release automatic cruise. If the distance from the boom position to the safe area is within the safe warning range, a warning prompt is output. The system determines whether stick operation exists based on the excavator's stick movement information. If stick operation exists and it meets the preset release condition, the system controls the excavator to deactivate automatic cruise. If stick operation exists but it does not meet the preset release condition, the system calculates the stick position based on the boom position and stick movement information. If the stick position exceeds the safe zone, the system controls the excavator to deactivate automatic cruise. If the distance from the stick position to the safe zone is within the safe warning range, a warning message is output. The system determines whether bucket operation is present based on the excavator's bucket position information. If bucket operation is present and the preset cancellation condition is met, the system controls the excavator to deactivate automatic cruise control. If bucket operation is present but the preset cancellation condition is not met, the system calculates the bucket position based on the stick position information and bucket movement information. If the bucket position information is determined to be outside the safe zone, the system controls the excavator to deactivate automatic cruise control. If the distance from the bucket position information to the safe zone is within the safe warning range, a warning message is output.

[0016] Furthermore, the sensor group also includes a bulldozer blade position sensor mounted on the excavator; When the excavator is performing automatic cruise, the bulldozer blade movement information of the excavator is detected by the bulldozer blade position sensor; based on the bulldozer blade movement information, it is determined whether there is bulldozer blade operation. If the excavator is performing bulldozer blade operation and it meets the preset release condition, the excavator is controlled to release automatic cruise. If the excavator is operating a bulldozer blade and there is no preset cancellation condition, the bulldozer blade position is calculated based on the bulldozer blade movement information. If the bulldozer blade position is determined to be below the safe height threshold, the excavator is controlled to cancel automatic cruise. If the distance between the bulldozer blade position and the safe height threshold is determined to be within the warning height range, a warning prompt is output.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: In this invention, the controller can automatically maintain the current walking direction and speed, freeing the driver's hands and feet and reducing operational intensity; at the same time, according to custom settings, it can add machine operation, overall machine attitude, etc. to deactivate automatic cruise, thereby improving the safety of automatic cruise. Attached Figure Description

[0018] Figure 1 This is a structural block diagram of the excavator automatic safety cruise control system provided in Embodiment 1 of the present invention.

[0019] Figure 2 This is a schematic diagram of the excavator automatic safety cruise control method provided in Embodiment 2 of the present invention.

[0020] Figure 3 This is a schematic diagram of the process for executing automatic safety cruise of an excavator according to Embodiment 2 of the present invention.

[0021] Figure 4 This is a partial flowchart illustrating the process of deactivating the automatic safety cruise of an excavator, as provided in Embodiment 2 of the present invention.

[0022] Figure 5 This is a partial flowchart illustrating the process of deactivating the automatic safety cruise of an excavator, as provided in Embodiment 2 of the present invention.

[0023] Figure 6This is a partial flowchart illustrating the process of deactivating the automatic safety cruise of an excavator, as provided in Embodiment 2 of the present invention. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0025] Example 1

[0026] like Figure 1 As shown, this embodiment provides an automatic safety cruise control system for an excavator, including a controller, a solenoid valve group, and a sensor group for detecting the excavator's position and posture; the sensor group includes a slewing posture sensor for detecting the excavator's slewing angle and a tilt sensor for detecting the excavator's tilt angle. The solenoid valve assembly is installed in the oil circuit between the oil pump and the excavator's traveling mechanism; the output terminal of the controller is electrically connected to the solenoid valve assembly; the solenoid valve assembly includes a first solenoid valve, a second solenoid valve, a third solenoid valve, and a fourth solenoid valve; the excavator's traveling mechanism includes a left traveling mechanism and a right traveling mechanism; The first solenoid valve and the second solenoid valve are disposed in the oil line between the oil pump and the left travel mechanism of the excavator; when the first solenoid valve is turned on and the second solenoid valve is turned off, the left travel mechanism moves forward; when the first solenoid valve is turned off and the second solenoid valve is turned on, the left travel mechanism moves backward. The third and fourth solenoid valves are located on the oil line between the oil pump and the right travel mechanism of the excavator; when the third solenoid valve is open and the fourth solenoid valve is closed, the right travel mechanism moves forward; when the third solenoid valve is closed and the fourth solenoid valve is open, the right travel mechanism moves backward. The first, second, third, and fourth solenoid valves are electrically connected to the output of the controller.

[0027] The controller has preset execution conditions; in this embodiment, the execution conditions are: the excavator's robotic arm assembly is in a safe area, the slewing angle is less than the set slewing threshold, and the height of the bulldozer blade reaches the safe height threshold; the robotic arm assembly includes the boom, stick, and bucket; when the controller receives the automatic cruise command, it determines whether the excavator meets the execution conditions based on the detection signal from the slewing posture sensor; if the excavator meets the execution conditions, the controller controls the excavator's walking mechanism through the solenoid valve group to drive the excavator to perform automatic cruise. In this implementation, N states can be selected from gear operation, high / low speed mode switching operation, swing operation, stick operation, bucket operation, bulldozer blade operation, and machine tilt angle exceeding the limit and travel deviation exceeding the limit; when the controller controls the excavator for automatic cruise, it determines whether the vehicle is in any one or more of the preset N states. If so, the release condition is met and the excavator's automatic cruise is deactivated; the specific content is as follows: The sensor group also includes a gear selector knob, a high / low speed switch, a boom position sensor, a stick position sensor, a bucket position sensor, and a bulldozer blade position sensor, all located on the excavator.

[0028] The slewing posture sensor and tilt sensor are electrically connected to the controller; the controller detects the excavator's slewing angle through the slewing posture sensor and the excavator's tilt angle through the tilt sensor; when the controller controls the excavator to cruise automatically, it determines whether to deactivate the excavator's automatic navigation based on the excavator's slewing angle and tilt angle.

[0029] The gear selector knob and the high / low speed switch are electrically connected to the controller; the controller collects the excavator's gear position information through the gear selector knob and the excavator's high / low speed mode information through the high / low speed switch; when the controller controls the excavator to cruise automatically, it determines whether to deactivate the excavator's automatic navigation based on the gear position information and the high / low speed mode information.

[0030] The boom position sensor, stick position sensor, bucket position sensor, and bulldozer blade position sensor are electrically connected to the controller. When the controller controls the excavator to cruise automatically, it determines whether to deactivate the excavator's automatic navigation based on the detection signals from the boom position sensor, stick position sensor, bucket position sensor, and bulldozer blade position sensor.

[0031] The controller is electrically connected to a human-machine interface, and the controller receives execution conditions and release conditions input by the human-machine interface; the human-machine interface displays the excavator's working status information and early warning prompts.

[0032] The controller is electrically connected to a one-button travel switch. The controller receives automatic cruise commands through the one-button travel switch. When the one-button travel switch is on, the controller controls the excavator to automatically cruise; when the one-button travel switch is off, the controller controls the excavator to deactivate automatic cruise. By triggering the automatic cruise mode through the one-button travel switch, the system can automatically maintain the excavator's current direction and speed, thereby reducing the continuous operation required by the operator, especially during long-distance travel, effectively reducing the operator's workload.

[0033] In this implementation, the system allows users to add machine operation, overall machine attitude, and other factors as conditions for disabling automatic cruise based on custom settings. This enables the automatic cruise mode to be automatically deactivated under specific circumstances (such as when other machine operations are performed or the overall machine attitude changes), thereby improving operational safety and convenience. By setting custom deactivation conditions, the system can adapt to different working conditions and operational needs, making the automatic cruise control system more flexible and able to meet specific requirements under different working conditions.

[0034] Example 2

[0035] like Figures 2 to 6 As shown, this embodiment provides an automatic safety cruise control method for an excavator. The control method is applied to the control system described in Embodiment 1, and the control method includes: Upon receiving the automatic cruise command, the system acquires the height information of the excavator's robotic arm assembly, which includes the boom position information, stick position information, and bucket position information. It then determines whether the excavator is within the preset safe zone. If the excavator is outside the safe zone, it outputs a warning message: "Please adjust the working device to the safe zone." If the excavator is in a safe area, the system will determine whether the excavator's swing angle exceeds the limit based on the detection signal from the swing posture sensor. If the swing angle exceeds the limit, the system will output a warning message: "Please adjust the overall excavator posture and ensure that the direction of travel is within the field of vision." If the slewing angle is less than the set slewing threshold, obtain the height of the excavator's bulldozer blade and determine whether the bulldozer blade height is within the safe height range. If the bulldozer blade height exceeds the safe height range, output a warning message "Please adjust the bulldozer blade posture". If the excavator is in a safe area, the swing angle is less than the set swing threshold, and the bulldozer blade height reaches the safe height threshold, the excavator is deemed to meet the execution conditions. The excavator's traveling mechanism is then controlled via the solenoid valve assembly to drive the excavator to perform automatic cruise control, including: When the first solenoid valve is turned on and the second solenoid valve is turned off, the left traveling mechanism moves forward; when the first solenoid valve is turned off and the second solenoid valve is turned on, the left traveling mechanism moves backward. When the third solenoid valve is turned on and the fourth solenoid valve is turned off, the right traveling mechanism moves forward; when the third solenoid valve is turned off and the fourth solenoid valve is turned on, the right traveling mechanism moves backward.

[0036] The system determines whether a slewing operation is occurring based on the detection signal from the slewing posture sensor. If the excavator is slewing and the preset cancellation condition applies, the system controls the excavator to deactivate automatic cruise control. If the excavator is slewing and the preset cancellation condition does not apply, the system determines whether the excavator's slewing angle exceeds the limit based on the detection signal from the slewing posture sensor. If the slewing angle exceeds the limit, the system controls the excavator to deactivate automatic cruise control. If the slewing angle is within the critical range of exceeding the slewing limit, a warning message is output: "Slewing angle safety warning, ensure good visibility, reduce automatic cruise speed."

[0037] The system determines whether the machine tilt exceeds the limit based on the detection signal from the tilt sensor; when the machine tilt exceeds the limit and the conditions for deactivation are met, the system controls the excavator to deactivate automatic cruise control; when the cutting angle is within the critical range of tilt exceeding the limit, a warning message is output: "Machine tilt safety warning, reduce automatic cruise speed".

[0038] The system collects the excavator's gear position information via the gear selector knob. Based on this information, it determines whether a gear shift is in progress. If a gear shift is in progress and it meets the preset release condition, the system controls the excavator to deactivate automatic cruise control. If a gear shift is in progress and it does not meet the preset release condition, the system performs the gear shift to maintain automatic cruise control.

[0039] The high and low speed mode information of the excavator is collected by the high and low speed switch. Based on the high and low speed mode information of the excavator, it is determined whether there is a working mode switching operation. If the excavator has a working mode switching operation and it is a preset release condition, the excavator is controlled to deactivate automatic cruise. If the excavator has a working mode switching operation and it is not a preset release condition, the working mode switching operation is executed to maintain the excavator's automatic cruise.

[0040] The boom position sensor is used to detect the boom movement information of the excavator, the stick position sensor is used to detect the stick movement information of the excavator, and the bucket position sensor is used to detect the bucket movement information of the excavator.

[0041] When the excavator is performing automatic cruise, the system determines whether there is boom operation based on the excavator's boom movement information. If the excavator is operating the boom and it meets the preset release condition, the system controls the excavator to release automatic cruise. If the excavator is operating the boom and it does not meet the preset release condition, the system calculates the boom position based on the excavator's height and boom movement information. If the boom position exceeds the safe zone, the system controls the excavator to release automatic cruise. If the distance from the boom position to the safe zone is within the safety warning range, the system outputs a warning message: "Working device posture safety warning, reduce automatic cruise speed."

[0042] The system determines whether stick operation is present based on the excavator's stick movement information. If stick operation is present and it meets the preset release condition, the system controls the excavator to deactivate automatic cruise. If stick operation is present but not set as a release condition, the system calculates the stick position based on the boom position and stick movement information. If the stick position exceeds the safe zone, the system controls the excavator to deactivate automatic cruise. If the distance from the stick position to the safe zone is within the safety warning range, a warning message is output: "Working device posture safety warning, reduce automatic cruise speed." The system determines whether bucket operation is present based on the excavator's bucket position information. If bucket operation is present and the preset deactivation condition is met, the system controls the excavator to deactivate automatic cruise. If bucket operation is present but the preset deactivation condition is not met, the system calculates the bucket position based on the stick position information and bucket movement information. If the bucket position information is determined to be outside the safe zone, the system controls the excavator to deactivate automatic cruise. If the distance from the bucket position information to the safe zone is within the safety warning range, a warning message is output: "Working device posture safety warning, reduce automatic cruise speed."

[0043] When the excavator is performing automatic cruise, the bulldozer blade movement information of the excavator is detected by the bulldozer blade position sensor; based on the bulldozer blade movement information, it is determined whether there is bulldozer blade operation. If the excavator is performing bulldozer blade operation and it meets the preset release condition, the excavator is controlled to release automatic cruise. If the excavator is operating a bulldozer blade and there is no preset deactivation condition, the bulldozer blade position is calculated based on the bulldozer blade movement information. If the bulldozer blade position is determined to be below the safe height threshold, the excavator is controlled to deactivate automatic cruise. If the distance between the bulldozer blade position and the safe height threshold is determined to be within the warning height range, a warning message "Bulldozer blade safety warning, reduce automatic cruise speed" is output.

[0044] In this implementation, the driver can flexibly set the order of the above-mentioned release conditions according to actual work needs and environmental changes. In complex construction sites, the automatic cruise release method can make intelligent judgments based on real-time data of the machine's posture and tool operation, automatically adapt to different working conditions, and improve work efficiency. The intelligent release of automatic cruise helps protect the mechanical parts of the excavator and avoids damage to the machinery that may be caused by continuing automatic cruise under unsuitable working conditions.

[0045] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs) containing computer-usable program code. M It takes the form of a computer program product implemented on (such as optical memory, etc.).

[0046] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0047] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0048] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0049] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic safety cruise control system for excavators, characterized in that, include: The system includes a controller, a solenoid valve assembly, and a sensor assembly for detecting the excavator's position and orientation; the sensor assembly includes a slewing position sensor for detecting the excavator's slewing angle and a tilt sensor for detecting the excavator's tilt angle. The rotation posture sensor and tilt sensor are electrically connected to the controller; the solenoid valve group is installed in the oil circuit between the oil pump and the excavator's traveling mechanism; the output terminal of the controller is electrically connected to the solenoid valve group. The controller has preset release and execution conditions. When the controller receives the automatic cruise command, it determines whether the excavator meets the execution conditions based on the detected excavator posture. If the excavator meets the execution conditions, the controller controls the excavator's walking mechanism through the solenoid valve group to drive the excavator to perform automatic cruise. When the controller controls the excavator to cruise automatically, it determines whether the excavator meets the release condition based on the detection signals of the slewing posture sensor and the tilt sensor. If the release condition is met, the excavator's automatic cruise is released. The sensor group also includes a bucket position sensor and a bulldozer blade position sensor installed on the excavator; the bucket position sensor and the bulldozer blade position sensor are electrically connected to the controller; when the controller controls the excavator to cruise automatically, it determines whether to deactivate the excavator's automatic cruise based on the detection signals of the bucket position sensor and the bulldozer blade position sensor, wherein, if it is determined that the bucket position information exceeds the safe area, the controller controls the excavator to deactivate the automatic cruise; if it is determined that the bulldozer blade position is below the safe height threshold, the controller controls the excavator to deactivate the automatic cruise.

2. The excavator automatic safety cruise control system according to claim 1, characterized in that, The solenoid valve assembly includes a first solenoid valve, a second solenoid valve, a third solenoid valve, and a fourth solenoid valve; the excavator's traveling mechanism includes a left traveling mechanism and a right traveling mechanism. The first solenoid valve and the second solenoid valve are disposed in the oil line between the oil pump and the left travel mechanism of the excavator; when the first solenoid valve is turned on and the second solenoid valve is turned off, the left travel mechanism moves forward; when the first solenoid valve is turned off and the second solenoid valve is turned on, the left travel mechanism moves backward. The third and fourth solenoid valves are located on the oil line between the oil pump and the right travel mechanism of the excavator; when the third solenoid valve is open and the fourth solenoid valve is closed, the right travel mechanism moves forward; when the third solenoid valve is closed and the fourth solenoid valve is open, the right travel mechanism moves backward. The first, second, third, and fourth solenoid valves are electrically connected to the output of the controller.

3. The excavator automatic safety cruise control system according to claim 1, characterized in that, The sensor group also includes a gear selector knob and a high / low speed switch installed on the excavator; the gear selector knob and the high / low speed switch are electrically connected to the controller; the controller collects the excavator's gear position information through the gear selector knob and collects the excavator's high / low speed mode information through the high / low speed switch; when the controller controls the excavator to cruise automatically, it determines whether to deactivate the excavator's automatic cruise based on the gear position information and the high / low speed mode information.

4. The excavator automatic safety cruise control system according to claim 1, characterized in that, The sensor group also includes a boom position sensor and a stick position sensor installed on the excavator; the boom position sensor and the stick position sensor are electrically connected to the controller; when the controller controls the excavator to cruise automatically, it determines whether to deactivate the excavator's automatic cruise based on the detection signals from the boom position sensor and the stick position sensor.

5. The excavator automatic safety cruise control system according to claim 1, characterized in that, The controller is electrically connected to a human-machine interface, and the controller receives execution conditions and release conditions input by the human-machine interface; the human-machine interface displays the excavator's working status information and early warning prompts.

6. The excavator automatic safety cruise control system according to claim 1, characterized in that, The controller is electrically connected to a one-button travel switch. The controller receives automatic cruise commands through the one-button travel switch. When the one-button travel switch is turned on, the controller controls the excavator to cruise automatically; when the one-button travel switch is turned off, the controller controls the excavator to deactivate automatic cruise.

7. The control method for the excavator automatic safety cruise control system according to any one of claims 1 to 6, characterized in that, include: Upon receiving the automatic cruise command; obtaining the height information of the excavator's robotic arm assembly to determine whether the excavator is within the preset safe area; determining whether the excavator's slewing angle exceeds the limit based on the detection signal from the slewing posture sensor; obtaining the height of the excavator's bulldozer blade to determine whether the bulldozer blade height reaches the safe height threshold; If the excavator is in a safe area, the slewing angle is less than the set slewing threshold, and the height of the bulldozer blade reaches the safe height threshold, it is determined that the excavator meets the execution conditions. The excavator's walking mechanism is controlled by the solenoid valve group to drive the excavator to perform automatic cruise. The system determines whether a slewing operation exists based on the detection signal from the slewing posture sensor. If the excavator is performing a slewing operation and it meets the preset release condition, the system controls the excavator to deactivate automatic cruise control. If the excavator is performing a slewing operation and it does not meet the preset release condition, the system determines whether the excavator's slewing angle exceeds the limit based on the detection signal from the slewing posture sensor. If the slewing angle exceeds the limit, the system controls the excavator to deactivate automatic cruise control. The system determines whether the machine tilts beyond the limit based on the detection signal from the tilt sensor; when the machine tilt exceeds the limit and the determination condition is met, the system controls the excavator to deactivate automatic cruise control.

8. The control method according to claim 7, characterized in that, The excavator's traveling mechanism is controlled by a solenoid valve assembly, driving the excavator to perform automatic cruise control, including: The solenoid valve assembly includes a first solenoid valve, a second solenoid valve, a third solenoid valve, and a fourth solenoid valve; the excavator's traveling mechanism includes a left traveling mechanism and a right traveling mechanism; the first and second solenoid valves are located on the oil line between the oil pump and the excavator's left traveling mechanism; the third and fourth solenoid valves are located on the oil line between the oil pump and the excavator's right traveling mechanism. When the first solenoid valve is turned on and the second solenoid valve is turned off, the left traveling mechanism moves forward; when the first solenoid valve is turned off and the second solenoid valve is turned on, the left traveling mechanism moves backward. When the third solenoid valve is turned on and the fourth solenoid valve is turned off, the right traveling mechanism moves forward; when the third solenoid valve is turned off and the fourth solenoid valve is turned on, the right traveling mechanism moves backward.

9. The control method according to claim 7, characterized in that, The sensor group also includes a gear knob and a high / low speed switch on the excavator; the gear knob collects the excavator's gear information, and the high / low speed switch collects the excavator's high / low speed mode information. The system determines whether a gear shift is being performed based on the excavator's gear position information. If a gear shift is being performed and it is a preset release condition, the system controls the excavator to deactivate automatic cruise control. If a gear shift is being performed but it is not a preset release condition, the system performs a gear shift to maintain automatic cruise control. Based on the excavator's high and low speed mode information, determine whether a working mode switching operation has occurred. If the excavator has a working mode switching operation and it is subject to a preset cancellation condition, control the excavator to deactivate automatic cruise control; if the excavator has a working mode switching operation and it is not subject to a preset cancellation condition, execute the working mode switching operation to maintain the excavator's automatic cruise control.

10. The control method according to claim 7, characterized in that, The sensor group also includes a boom position sensor, a stick position sensor and a bucket position sensor installed on the excavator; The boom position sensor is used to detect the boom movement information of the excavator; the stick position sensor is used to detect the stick movement information of the excavator; and the bucket position sensor is used to detect the bucket movement information of the excavator. When the excavator is performing automatic cruise, it determines whether there is boom operation based on the boom movement information of the excavator. If the excavator is operating the boom and it meets the preset release condition, the excavator is controlled to release automatic cruise. If the excavator is operating the boom and it is not preset to be released, the boom position is calculated based on the height of the excavator and the boom movement information. If the boom position is determined to be outside the safe area, the excavator is controlled to release automatic cruise. If the distance from the boom position to the safe area is within the safe warning range, a warning prompt is output. The system determines whether stick operation exists based on the excavator's stick movement information. If stick operation exists and it meets the preset release condition, the system controls the excavator to deactivate automatic cruise. If stick operation exists but it does not meet the preset release condition, the system calculates the stick position based on the boom position and stick movement information. If the stick position exceeds the safe zone, the system controls the excavator to deactivate automatic cruise. If the distance from the stick position to the safe zone is within the safe warning range, a warning message is output. The system determines whether bucket operation is present based on the excavator's bucket position information. If bucket operation is present and the preset cancellation condition is met, the system controls the excavator to deactivate automatic cruise control. If bucket operation is present but the preset cancellation condition is not met, the system calculates the bucket position based on the stick position information and bucket movement information. If the bucket position information is determined to be outside the safe zone, the system controls the excavator to deactivate automatic cruise control. If the distance from the bucket position information to the safe zone is within the safe warning range, a warning message is output.

11. The control method according to claim 7, characterized in that, The sensor group also includes a bulldozer blade position sensor mounted on the excavator; When the excavator is performing automatic cruise, the movement information of the excavator's bulldozer blade is detected by the bulldozer blade posture sensor; The system determines whether there is a bulldozer blade operation based on the bulldozer blade movement information. If the excavator is operating a bulldozer blade and the preset release condition is met, the system controls the excavator to deactivate automatic cruise control. If the excavator is operating a bulldozer blade and there is no preset cancellation condition, the bulldozer blade position is calculated based on the bulldozer blade movement information. If the bulldozer blade position is determined to be below the safe height threshold, the excavator is controlled to cancel automatic cruise. If the distance between the bulldozer blade position and the safe height threshold is determined to be within the warning height range, a warning prompt is output.

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