Single handle travel control system, method, and excavator

Abstract

The application provides a single-handle walking control system, method and excavator, which can flexibly switch between single-handle and double-rod control walking modes. In the single-handle walking mode of the application, the single handle I used for controlling the working mechanism is set as a walking handle through a controller without increasing the original excavator configuration, so as to achieve the purpose of single-handle control of excavator walking. The driver can realize full-range walking control of the excavator by means of the single handle. The forward and backward movements of the single handle correspond to the forward and backward movements of the excavator, and the left and right movements correspond to the left and right steering of the excavator. The forward, backward and steering movements of the excavator become more smooth.

Description

Technical Field

[0001] This application relates to the field of excavator technology, and in particular to a single-handle walking control system, method and excavator. Background Technology

[0002] When excavators are moved long distances, current operating methods require the operator to use their feet to operate a dual-lever travel control system to control the excavator's movement. While this traditional dual-lever travel control system frees up the operator's hands and provides convenience during daily excavator operation, its limitations become particularly apparent in certain situations. Especially when the excavator is being moved or the operator does not need to perform other operations, the advantage of using the feet to operate the dual-lever travel control system disappears. Particularly in complex environments such as mining areas, where road conditions are changeable, roads are narrow, and there may be deep ditches nearby, the operator's reaction time using their feet may be relatively slow, creating significant safety hazards.

[0003] Meanwhile, the dual-lever travel control device works by outputting left and right track travel control signals based on the operator's input stroke, thereby controlling the movement of both tracks. The left lever's stroke corresponds to the speed of the left track, and the right lever's stroke corresponds to the speed of the right track. However, the consistency of the left and right track speeds largely depends on the operator's experience and skill, which significantly limits the excavator's ability to achieve precise and stable straight-line travel. Operating the dual-lever travel control device by hand or foot makes it difficult to ensure that the strokes of the left and right levers are completely consistent. This inconsistency directly affects the excavator's straight-line travel performance, making it difficult to guarantee the accuracy of turning on the spot. This not only increases the difficulty of travel control but also increases the operator's workload, further reducing the efficiency of site relocation.

[0004] Therefore, in response to the problems existing in the control devices of excavators during long-distance relocation, it is necessary to seek more advanced and intelligent solutions to improve the control precision and relocation efficiency of excavators, reduce the labor intensity of drivers, and ensure safe operation in complex environments. Summary of the Invention

[0005] The purpose of this application is to address the problems of low efficiency and safety hazards in the existing technology of driving excavators using a dual-lever walking control device operated by two feet. This application provides a single-lever walking control system, method, and excavator, which enables the excavator to move and steer with only one hand. Single-lever control makes walking more agile, more efficient, provides better linearity for forward and backward movement, and allows for more flexible and precise turning on the spot. It also reduces the labor intensity of the driver.

[0006] To achieve the above objectives, the first aspect of this application provides a single-handle walking control method, comprising: Determine whether to activate the single-handle walking mode based on the input signal; If so, the excavator's forward and backward movements are controlled by the forward and backward movement of single handle I, the excavator's steering movements are controlled by its left and right movement, and the working mechanism is controlled by single handle II. If not, the excavator's movement is controlled by a dual-lever control mechanism, and the working mechanism is controlled by single lever I and single lever II.

[0007] Furthermore, the method of controlling the excavator's forward and backward movements by the forward and backward motion of a single handle I includes: the single handle I is electrically connected to a controller, the controller is electrically connected to the left travel unit and the right travel unit respectively, the forward and backward motion of the single handle I generates forward and backward travel signals and transmits them to the controller, the controller generates speed signals based on the forward and backward travel signals, and uses them to simultaneously control the left travel unit and the right travel unit of the excavator to move synchronously.

[0008] Furthermore, the method of controlling the excavator's steering action through its left and right movement stroke includes: the left and right movement of the single handle I generates left and right movement stroke signals and transmits them to the controller; the controller generates adjustment signals based on the left and right movement stroke signals to adjust the initial speed and rotation direction of the excavator's left movement unit and right travel unit separately; and controls the excavator's steering through the speed difference and / or rotation direction between the excavator's left movement unit and right travel unit, wherein the initial speed is the speed corresponding to the forward and backward movement stroke of the single handle I.

[0009] Furthermore, the left and right movement range includes a first stroke and a second stroke. When the single handle I moves outward during the first stroke, the speed of the excavator turning the outer circle travel unit gradually increases relative to the initial speed, and the speed of the excavator turning the inner circle travel unit gradually decreases relative to the initial speed. When the single handle I is at the end of the first stroke, the speed of the inner circle travel unit of the excavator turns to 0, and the speed of the outer circle travel unit of the excavator turns to the maximum difference relative to the speed of the inner circle travel unit of the excavator turns to 0. When the single handle I moves outward during the second stroke, the speed of the excavator's outer circle walking unit gradually decreases, and the speed of the excavator's inner circle walking unit begins to move in the opposite direction and gradually increases. When the single handle I is at the end of the left and right movement stroke, the speed of the excavator's left travel unit and right travel unit are the same, but the rotation directions are opposite, and the excavator rotates in place.

[0010] Furthermore, the single-handle walking mode includes: a left single-handle walking mode and a right single-handle walking mode. In the left single-handle walking mode, single-handle I is a single-handle on the left side of the cab, and single-handle II is a single-handle on the right side of the cab; in the right single-handle walking mode, single-handle I is a single-handle on the right side of the cab, and single-handle II is a single-handle on the left side of the cab.

[0011] A second aspect of this application provides a single-handle walking control system for implementing the single-handle walking control method described in any of the above claims, comprising: The smart instrument is used to select the walking mode and provide walking information. Single handle I, used to control the excavator's movement; Single handle II, used to control the excavator's control mechanism; The traveling unit is used to drive the excavator to travel. The controller is electrically connected to the smart instrument, the single handle I, the single handle II, and the walking unit, respectively, and is used to switch the walking mode and send a walking signal to the walking unit according to the travel signal of the single handle I.

[0012] Furthermore, the traveling unit includes a left-hand travel unit and a right-hand travel unit with identical structures. Both the left-hand travel unit and the right-hand travel unit include a travel motor, a travel control valve, and a travel pump. The travel motor is connected to the travel pump through the travel control valve. The travel control valve is used to control the flow rate and direction of the fluid in the hydraulic system of the travel unit.

[0013] Furthermore, the left travel unit and the right travel unit also include: a pilot pump and an electromagnetic proportional valve connected to the pilot pump. The electromagnetic proportional valve is electrically connected to the controller and outputs pilot pressure to the travel control valve according to the signal output by the controller, thereby driving the travel control valve to control the flow rate and flow direction of the fluid in the hydraulic system.

[0014] A third aspect of this application provides an excavator including the single-handle travel control system described in any of the preceding claims.

[0015] Compared with the prior art, the beneficial effects of this application are: 1. The single-handle travel control method of this application, based on the original excavator configuration, sets the single handle I used to operate the working mechanism as the travel handle through the controller. This allows the operator to achieve all-around travel control of the excavator using only a single handle. The forward and backward movements of the single handle I correspond to the forward and backward movements of the excavator, while the left and right movements match the left and right turns of the excavator. This makes the excavator's forward, backward, and turning movements smoother.

[0016] 2. The single-handle travel control method of this application also solves the problem of inconsistent left and right travel speed control signals in traditional dual-lever travel control devices. It unifies the speed control signals of the left and right travel units, thereby achieving a more precise and stable control experience. This makes the excavator's straight-line travel more stable and its steering operation more flexible and precise. Especially in complex scenarios requiring on-the-spot turning, single-handle control exhibits higher agility and response speed, greatly improving work efficiency while effectively reducing the driver's workload.

[0017] 3. This application allows for flexible switching between single-handle and dual-stick control modes, catering to different drivers' operating habits and offering diverse options. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the single-handle walking control according to an embodiment of this application; Figure 2 This is a hydraulic schematic diagram of the single-handle walking control system according to an embodiment of this application; Figure 3 This is a schematic diagram of the speed trend of the right-hand drive motor in Embodiment 2 of this application; Explanation of reference numerals in the attached figures: 11. Single handle I; 12. Single handle II; 2. Controller; 3. Travel unit; 311. Left travel control valve; 312. Left travel motor; 313. Left forward solenoid proportional valve; 314. Left reverse solenoid proportional valve; 321. Right travel control valve; 322. Right travel motor; 323. Right forward solenoid proportional valve; 324. Right reverse solenoid proportional valve; 33. Travel pump; 34. Pilot pump; 4. Intelligent instrument; 5. Double lever control mechanism; 6. Working mechanism. Detailed Implementation

[0019] To facilitate understanding of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] refer to Figures 1 to 2 As shown, this embodiment provides a single-handle walking control system, including: a walking unit 3, used to drive the excavator to walk; Single handle I11 and single handle II12. In single handle travel mode, the forward and backward movement of the excavator is controlled by the forward and backward movement of the single handle I11, the left and right movement of the excavator is controlled by its steering movement, and the working mechanism 6 is controlled by the single handle II12. The controller 2 is electrically connected to the single handle I 11, the single handle II 12 and the travel unit 3. It is used to switch the travel mode and send a travel signal to the excavator travel unit 3 according to the travel signal of the single handle I 11.

[0021] The single-handle walking control system also includes an intelligent instrument 4, which is connected to the controller 2 via a CAN bus. The intelligent instrument 4's control interface features a left-handle walking mode on / off switch and a right-handle walking mode on / off switch. The user clicks the switch to activate or deactivate either the left-handle or right-handle walking mode. In left-handle walking mode, single handle I11 is the single handle on the left side of the driver's cab, and single handle II12 is the single handle on the right side of the driver's cab; in right-handle walking mode, single handle I11 is the single handle on the right side of the driver's cab, and single handle II12 is the single handle on the left side of the driver's cab.

[0022] This embodiment, without increasing the original excavator configuration, sets the single handle I11 used to operate the working mechanism as a travel handle via the controller. This achieves the goal of controlling the excavator's movement with a single handle, allowing the operator to control the excavator's movement in all directions using only one handle. The forward and backward movements of the single handle I11 correspond to the excavator's forward and backward movements, while the left and right movements match the excavator's left and right turns. This makes the excavator's forward, backward, and turning movements smoother.

[0023] Specifically, a stroke sensor is connected to the bottom of the single handle I11 and is electrically connected to the controller 2 via a CAN line. The forward and backward movement of the single handle I11 generates forward and backward stroke signals via the stroke sensor and is transmitted to the controller 2. The controller 2 outputs speed signals to the travel units 3 based on the forward and backward stroke signals, which are used to simultaneously control the synchronous linear movement of the left and right travel units 3 of the excavator. The left and right movement of the single handle I11 generates left and right stroke signals and is transmitted to the controller 2. The controller 2 outputs adjustment signals to the travel units 3 based on the left and right stroke signals, which are used to individually adjust the initial speed and rotation direction of the excavator's travel units 3. The excavator's steering is controlled by the speed difference and / or rotation direction between the left and right travel units. The initial speed is the speed corresponding to the forward and backward movement stroke signal of the single handle I11.

[0024] In some embodiments, reference Figure 2As shown, the travel unit 3 includes a left-stroke unit and a right-stroke unit with identical structures. The left-stroke unit includes a left-stroke motor 312, a left-stroke control valve 311, and a travel pump 33. The left-stroke motor 312 is connected to the travel pump 33 through the left-stroke control valve 311, which controls the flow rate and direction of the fluid in the hydraulic system of the left-stroke unit. The right-stroke unit includes a right-stroke motor 322, a right-stroke control valve 321, and a travel pump 33. The right-stroke motor 322 is connected to the travel pump 33 through the right-stroke control valve 321, which controls the flow rate and direction of the fluid in the hydraulic system of the left-stroke unit. The left-stroke unit also includes a pilot pump 34, a left forward solenoid proportional valve 313 and a left reverse solenoid proportional valve 314 that are fluidly connected to the pilot pump 34. The left forward solenoid proportional valve 313 and the left reverse solenoid proportional valve 314 are electrically connected to the controller 2 via wiring and connected to both ends of the left-stroke control valve 321 via pipelines. The right travel unit also includes: a pilot pump 34, a right forward electromagnetic proportional valve 323 and a right backward electromagnetic proportional valve 324 which are in fluid communication with the pilot pump 34. The right forward electromagnetic proportional valve 323 and the right backward electromagnetic proportional valve 324 are connected to both ends of the right travel control valve 322 and are electrically connected to the controller 2 through a line.

[0025] In this embodiment, the forward and backward movement of the single handle I11 generates forward and backward travel signals via a travel sensor and transmits them to the controller 2. The controller 2 controls the control current output to the electromagnetic proportional valve based on the forward and backward travel signals, thereby controlling the movement of the travel unit 3. The left and right movement of the single handle I11 generates left and right travel signals and transmits them to the controller 2. The controller 2 outputs adjustment signals to the travel unit 3 based on the left and right travel signals, which are used to adjust the initial speed and rotation direction of the left travel unit and the right travel unit separately. The excavator is steered by the speed difference and / or rotation direction of the left travel unit and the right travel unit. The initial speed is the speed corresponding to the forward and backward movement travel signal of the single handle I11.

[0026] Among them, the forward and backward stroke of the single handle I11 is linearly positively correlated with the speed of the travel motor. As the forward and backward stroke of the single handle I11 increases, the control current output by the controller 2 to the electromagnetic proportional valve increases, the pilot pressure output by the electromagnetic proportional valve to the travel control valve increases, and the flow rate controlled by the travel control valve in the hydraulic system increases, thereby increasing the speed of the travel motor.

[0027] The left and right travel includes the first travel and the second travel, and the distance between the left and right travels is defined as 200, where the first travel is 0-100 and the second travel is 100-200.

[0028] This embodiment also discloses a single-handle travel control method for an excavator, including: Step S1: Determine whether to activate the single-handle walking mode based on the input signal. If yes, proceed to step S2; otherwise, proceed to step S3. Step S2: Control the excavator's forward and backward movements by using the forward and backward movement of the single handle I11, control the excavator's steering movements by using its left and right movement, and control the working mechanism 6's operation by using the single handle II12. Step S3: Control the excavator to move by means of the walking control mechanism, and control the working mechanism 6 to work by means of single handle I11 and single handle II12.

[0029] In this embodiment, without increasing the original excavator configuration, the single handle I11 that controls the working mechanism 6 is set as a travel handle by the controller 2, so as to achieve the purpose of controlling the excavator to travel with a single handle.

[0030] Specifically, step S1 includes: Step S11: The user clicks the on / off switch on the control interface of the smart instrument 4 to activate the left single handle walking mode or the right single handle walking mode.

[0031] Step S12: The intelligent instrument 4 sends a CAN message signal to the controller 2 to activate the left single handle walking mode or the right single handle walking mode. The controller 2 then switches to the excavator's left single handle walking mode or right single handle walking mode. In single-handle travel mode, the forward and backward movement of single-handle I11 controls the excavator's forward and backward movements, while its left and right movement controls the excavator's steering movements. Single-handle II12 controls the operation of the working mechanism 6. Specifically, in left single-handle travel mode, single-handle I11 is the single-handle on the left side of the cab, and single-handle II12 is the single-handle on the right side of the cab; in right single-handle travel mode, single-handle II12 is the single-handle on the left side of the cab, and single-handle I11 is the single-handle on the right side of the cab.

[0032] Step S2 includes: Step S21: A stroke sensor is connected to the bottom of the single handle I11 and is electrically connected to the controller 2 via a CAN line. The forward and backward movement of the single handle I11 generates forward and backward stroke signals through the stroke sensor and transmits them to the controller 2. The left and right movement of the single handle I11 generates left and right stroke signals and transmits them to the controller 2.

[0033] Step S22: Controller 2 controls the control current of the electromagnetic proportional valves output to the left travel unit and the right travel unit according to the forward and backward travel signals, so as to simultaneously control the left travel unit and the right travel unit of the excavator to travel in a straight line synchronously. Controller 2 adjusts the control current of the electromagnetic proportional valves output to the left travel unit and the right travel unit according to the left and right travel signals, so as to individually adjust the initial speed and rotation direction of the left travel unit and the right travel unit.

[0034] Step S23: The electromagnetic proportional valve controls the pilot pressure output from the pilot hydraulic circuit to the travel control valve, and controls the hydraulic output direction and output flow of the travel control valve. Step S24: The travel control valve controls the output direction and flow rate of the hydraulic fluid, thereby controlling the speed and direction of rotation of the travel motor. The excavator is driven to travel by the left travel motor 312 and the right travel motor 322, and the excavator's steering is controlled by the speed difference and / or rotation direction of the left travel motor 312 and the right travel motor 322.

[0035] Step S3 includes: Step S31: The user clicks the on / off switch on the control interface of the smart instrument 4 to turn off the left single handle walking mode or the right single handle walking mode. Step S32: The intelligent instrument 4 sends a CAN message signal to the controller 2 to disable the left single-handle walking mode or the right single-handle walking mode, and the controller 2 switches to the excavator dual-lever control walking mode. The dual-lever control mechanism 5 controls the excavator's movement, while the single lever I 11 and single lever II 12 control the operation of the working mechanism 6.

[0036] In the above embodiments, two examples are listed to implement the above technical solution: Example 1 discloses a single-handle travel control method for an excavator, which drives the excavator forward in the right single-handle travel mode. The user activates the right single-handle travel mode by clicking the on / off switch on the control interface of the intelligent instrument 4. The intelligent instrument 4 sends a CAN message signal to the controller 2 to activate the right single-handle travel mode, and the controller 2 switches to the excavator's right single-handle travel mode. At this time, single handle I 11 is the single handle on the right side of the cab, and single handle II 12 is the single handle on the left side of the cab. The forward and backward movement of single handle I 11 controls the excavator's forward and backward movements, and single handle II 12 controls the operation of the working mechanism 6.

[0037] Moving the single handle I11 forward, the stroke sensor transmits the stroke signal generated by the forward stroke of the single handle I11 to the controller 2. The controller 2 simultaneously controls the control current output to the left forward solenoid proportional valve 313 and the right forward solenoid proportional valve 323. The left forward solenoid proportional valve 313 outputs pilot pressure to the left travel control valve 321, which then reverses direction to the left and controls the hydraulic flow, driving the left travel motor 322 to rotate forward. At the same time, the right forward solenoid proportional valve 323 outputs pilot pressure to the right travel control valve 322, which then reverses direction to the left and controls the hydraulic flow, driving the right travel motor 343 to rotate forward, thus driving the excavator to move forward in a straight line.

[0038] Among them, the forward stroke of the single handle I11 is linearly positively correlated with the speed of the travel motor. As the forward stroke of the single handle I11 increases, the pilot pressure output by the right forward electromagnetic proportional valve and the left forward electromagnetic proportional valve 313 to the right travel control valve 322 and the left travel control valve 321 increases, and the speed of the travel motor increases.

[0039] The user clicks the on / off switch on the control interface of the smart instrument 4 to turn off the right single handle travel mode; the smart instrument 4 sends a CAN message signal to the controller 2 to turn off the right single handle travel mode, and the controller 2 switches to the excavator dual lever control travel mode.

[0040] Example 2 discloses a single-handle travel control method for an excavator, which drives the excavator to turn right forward in the right single-handle travel mode. The user activates the right single-handle travel mode by clicking the on / off switch on the control interface of the intelligent instrument 4; the intelligent instrument 4 sends a CAN message signal to the controller 2 to activate the right single-handle travel mode, and the controller 2 switches to the excavator's right single-handle travel mode. At this time, single handle I 11 is the single handle on the right side of the cab, and single handle II 12 is the single handle on the left side of the cab. The forward and backward movement of single handle I 11 controls the excavator's forward and backward movements, and single handle II 12 controls the operation of the working mechanism 6.

[0041] Moving the single handle I11 forward to the right, the stroke sensor transmits the forward stroke signal generated by the single handle I11 to the controller 2. The controller 2 first controls the control current output to the left forward solenoid proportional valve 313 and the right forward solenoid proportional valve 323. The left forward solenoid proportional valve 313 outputs pilot pressure to the left travel control valve 321, which then reverses direction to the left and controls the hydraulic flow, driving the left travel motor 322 to rotate forward. Simultaneously, the right forward solenoid proportional valve 323 outputs pilot pressure to the right travel control valve 322, which then reverses direction to the left and controls the hydraulic flow, driving the right travel motor 343 to rotate forward, thus driving the excavator to move forward and obtain an initial speed corresponding to the forward stroke. The stroke sensor transmits the right stroke signal generated by the single handle I11 moving to the right to the controller 2. In this embodiment, the right stroke distance is defined as 200, where the first stroke is 0-100 and the second stroke is 100-200.

[0042] When the single handle I11 moves to the right in the first stroke, the controller 2 controls to increase the control current output to the left forward electromagnetic proportional valve 313 and control to decrease the control current output to the right forward electromagnetic proportional valve 323. The speed of the excavator's left travel motor 31 gradually increases relative to the initial speed, and the speed of the excavator's right travel motor 322 gradually decreases relative to the initial speed. At this time, the excavator turns and travels to the right front.

[0043] When the single handle I11 reaches the end of the first stroke, which is the beginning of the second stroke, the control current output to the right forward electromagnetic proportional valve 323 is shut off, and the control current output to the left forward electromagnetic proportional valve 313 is increased to the maximum value of the first stroke. The speed of the excavator's right travel motor 322 drops to 0, and the speed of the excavator's left travel motor 312 rises to the maximum difference in speed relative to the excavator's right travel motor 322; at this time, the excavator rotates around the right travel unit 3 as the center.

[0044] When the single handle I11 moves to the right in the second stroke, the controller 2 controls to reduce the control current output to the left forward electromagnetic proportional valve 313, and the controller 2 controls the current output to the right reverse electromagnetic proportional valve 324, and gradually increases the control current. The speed of the excavator's left travel motor 31 gradually decreases, and the excavator's right travel motor 322 begins to move in the opposite direction and its speed gradually increases.

[0045] When the single handle I11 is at the end of the second stroke, that is, the end of the left and right movement stroke, the speed of the excavator's left travel motor 312 and right travel motor 322 are the same, but the rotation direction is opposite, and the excavator rotates in place.

[0046] This embodiment also discloses an excavator, including a single-handle walking control system, a dual-lever control mechanism 5, and a working mechanism 6 as described above.

[0047] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this application. Various changes and modifications can be made to this application without departing from the spirit and scope thereof, and all such changes and modifications fall within the scope of this application as claimed. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. An excavator single lever travel control method characterized by, include: The single-handle walking mode is activated based on the input signal. If it is activated, the excavator’s forward and backward movement is controlled by the forward and backward movement of the single handle I (11), the excavator’s steering movement is controlled by its left and right movement, and the working mechanism (6) is controlled by the single handle II (12). If it is not activated, the excavator’s walking movement is controlled by the double lever control mechanism (5), and the working mechanism (6) is controlled by the single handle I (11) and the single handle II (12). The single-handle walking mode includes: a left single-handle walking mode and a right single-handle walking mode. In the left single-handle walking mode, the single handle I (11) is the single handle on the left side of the cab, and the single handle II (12) is the single handle on the right side of the cab. In the right single-handle walking mode, the single handle I (11) is the single handle on the right side of the cab, and the single handle II (12) is the single handle on the left side of the cab.

2. The excavator single-lever travel control method according to claim 1, characterized by, The method of controlling the excavator's forward and backward movements by the forward and backward motion of a single handle I (11) includes: the single handle I (11) is electrically connected to the controller (2), the controller (2) is electrically connected to the left travel unit and the right travel unit respectively, the forward and backward motion of the single handle I (11) generates forward and backward travel signals and transmits them to the controller (2), the controller (2) generates speed signals based on the forward and backward travel signals, and uses them to simultaneously control the left travel unit and the right travel unit of the excavator to move synchronously.

3. The excavator single-lever travel control method according to claim 2, characterized by, The method of controlling the excavator's steering action through its left and right movement strokes includes: the left and right movements of the single handle I (11) generate left and right movement signals and transmit them to the controller (2); the controller (2) generates adjustment signals based on the left and right movement signals to adjust the initial speed and rotation direction of the excavator's left movement unit and right travel unit separately; and controls the excavator's steering through the speed difference and / or rotation direction between the excavator's left movement unit and right travel unit, wherein the initial speed is the speed corresponding to the forward and backward movement strokes of the single handle I (11).

4. The excavator single-lever travel control method according to claim 3, characterized by, The left and right movement range includes a first range and a second range. When the single handle I (11) moves outward during the first stroke, the speed of the excavator turning the outer circle walking unit (3) gradually increases relative to the initial speed, and the speed of the excavator turning the inner circle walking unit (3) gradually decreases relative to the initial speed. When the single handle I (11) is at the end of the first stroke, the speed of the excavator steering inner circle walking unit (3) drops to 0, and the speed of the excavator steering outer circle walking unit (3) rises to the maximum difference relative to the speed of the excavator steering inner circle walking unit (3). When the single handle I (11) moves outward during the second stroke, the speed of the excavator steering outer circle walking unit (3) gradually decreases, and the excavator steering inner circle walking unit (3) begins to move in the opposite direction and its speed gradually increases. When the single handle I (11) is at the end of the left and right movement stroke, the speed of the excavator's left travel unit and right travel unit are the same, and the rotation direction is opposite, so the excavator rotates in place.

5. A single handle walking control system for implementing the single handle walking control method according to any one of claims 1 to 4, characterized in that include: The smart instrument (4) is used to select the walking mode and provide walking information. Single handle I (11) is used to control the excavator's movement; Single handle II (12) is used to control the operation of the excavator control mechanism (6); The walking unit (3) is used to drive the excavator to travel; The controller (2) is electrically connected to the smart instrument (4), the single handle I (11), the single handle II (12) and the walking unit (3) respectively, and is used to switch the walking mode and send the walking signal to the walking unit (3) according to the travel signal of the single handle I (11).

6. The single handle walk control system of claim 5, wherein, The walking unit (3) includes a left-stroke unit and a right-stroke unit with the same structure. Both the left-stroke unit and the right-stroke unit include a walking motor, a walking control valve and a walking pump (33). The walking motor is connected to the walking pump (33) through the walking control valve. The walking control valve is used to control the flow rate and flow direction of the fluid in the hydraulic system of the walking unit (3).

7. The single-handle walking control system according to claim 6, characterized in that, The left travel unit and the right travel unit also include: a pilot pump (34) and an electromagnetic proportional valve connected to the pilot pump (34). The electromagnetic proportional valve is electrically connected to the controller (2). According to the signal output by the controller (2), it outputs pilot pressure to the travel control valve to drive the travel control valve to control the flow rate and flow direction of the fluid in the hydraulic system.

8. An excavator, characterized in that, Includes the single-handle walking control system as described in any one of claims 5-7.

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