Excavator control methods, devices, excavators and storage media

Abstract

This invention relates to the field of excavator control technology, providing an excavator control method, device, excavator, and storage medium. The method includes: S1, generating a stability coefficient based on the current machine parameters of the excavator under the current execution action; S2, if the stability coefficient is less than or equal to a preset threshold, adjusting the current execution action according to a preset action space range to obtain a target execution action, and acquiring the target machine parameters of the excavator under the target execution action; S3, determining the target machine parameters as the new current machine parameters, and repeating steps S1-S2 until the finally determined target stability coefficient is greater than the preset threshold; S4, controlling the excavator to operate according to the execution action corresponding to the target stability coefficient. This method, by judging the stability coefficient, can adjust the current execution action of the excavator in real time using a preset action space range when the excavator is in an unstable state, achieving refined operation of the excavator until the excavator can reach a stable state and effectively execute the target action.

Description

Technical Field

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

[0002] The movement area and trajectory of an excavator during operation can only be determined through visual observation and operational experience. However, in construction scenarios with high requirements, operational experience alone is insufficient for precise operation. This can easily lead to the excavator being in an unstable state and thus unable to perform the target actions. Summary of the Invention

[0003] This invention provides an excavator control method, device, excavator, and storage medium to address the shortcomings of existing technologies where precise operation based solely on experience is insufficient and easily leads to excavator instability. By judging the stability coefficient, when the excavator is in an unstable state, a preset action space range can be used to adjust the current execution action of the excavator in real time, thereby achieving precise operation of the excavator until it can reach a stable state and effectively execute the target action.

[0004] This invention provides an excavator control method, comprising:

[0005] S1. Generate a stability coefficient based on the current machine parameters of the excavator under the current action;

[0006] S2. When the stability coefficient is less than or equal to a preset threshold, adjust the current execution action according to the preset action space range to obtain the target execution action, and obtain the target whole machine parameters of the excavator under the target execution action;

[0007] S3. Determine the target whole machine parameter as the new current whole machine parameter, and repeat steps S1-S2 until the finally determined target stability coefficient is greater than the preset threshold.

[0008] S4. Control the excavator to operate according to the action corresponding to the target stability coefficient.

[0009] According to an excavator control method provided by the present invention, the step of adjusting the currently executed action according to a preset action space range to obtain a target executed action includes: determining the cylinder stroke and rotation angle range of the excavator according to the preset action space range; and adjusting the currently executed action according to the cylinder stroke and the rotation angle range to obtain the target executed action.

[0010] According to an excavator control method provided by the present invention, the step of adjusting the currently executed action according to a preset action space range to obtain a target executed action includes: determining the tilting acceleration or tilting angle of the excavator according to the preset action space range; and adjusting the currently executed action according to the tilting acceleration or the tilting angle to obtain the target executed action.

[0011] According to an excavator control method provided by the present invention, the step of generating a stability coefficient based on the current machine parameters of the excavator under the current execution action includes: determining the overturning moment and stabilizing moment of the excavator based on the current machine parameters of the excavator under the current execution action; and generating a stability coefficient based on the overturning moment and the stabilizing moment.

[0012] According to a method for controlling an excavator provided by the present invention, the excavator includes: a working device, an upper vehicle, a counterweight, and an lower vehicle; the current overall machine parameters include: the device weight and center of gravity position of the working device, the upper vehicle weight and center of gravity position of the upper vehicle, the counterweight weight and center of gravity position of the counterweight, and the lower vehicle weight and center of gravity position of the lower vehicle; determining the overturning moment and stabilizing moment of the excavator based on the current overall machine parameters of the excavator under the current executed action includes: determining the overturning moment based on the device weight and the device center of gravity position; and determining the stabilizing moment based on the upper vehicle weight, the upper vehicle center of gravity position, the counterweight weight, the counterweight center of gravity position, the lower vehicle weight, and the lower vehicle center of gravity position.

[0013] According to an excavator control method provided by the present invention, the preset motion space range includes at least: the target working range, the non-working range, the prohibited trajectory space range, and the overturning danger motion range.

[0014] According to an excavator control method provided by the present invention, when the preset action space range includes: the non-operation range, the prohibited trajectory space range, and the overturning danger movement range, after adjusting the currently executed action, the method further includes: outputting alarm information, the alarm information being used to indicate to the user that the excavator is in an unstable state.

[0015] The present invention also provides an excavator control device, comprising:

[0016] The data processing module is used for: S1, generating a stability coefficient based on the current machine parameters of the excavator under the current execution action; S2, if the stability coefficient is less than or equal to a preset threshold, adjusting the current execution action according to a preset action space range to obtain a target execution action, and obtaining the target machine parameters of the excavator under the target execution action; S3, determining the target machine parameters as the new current machine parameters, and repeating steps S1-S2 until the finally determined target stability coefficient is greater than the preset threshold.

[0017] The mechanical control module is used in S4 to control the operation of the excavator according to the execution action corresponding to the target stability coefficient.

[0018] The present invention also provides an excavator, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the excavator control method described above.

[0019] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the excavator control method as described above.

[0020] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the excavator control method as described above.

[0021] The present invention provides an excavator control method, device, excavator and storage medium. The method, by judging the stability coefficient, can adjust the current execution action of the excavator in real time by using a preset action space range when the excavator is in an unstable state, so as to realize the fine operation of the excavator until the excavator can be in a stable state and effectively execute the target action. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a flowchart illustrating the excavator control method provided by the present invention;

[0024] Figure 2 This is a schematic diagram of the current overall machine parameters provided by the present invention;

[0025] Figure 3This is a schematic diagram of the preset action space range provided by the present invention;

[0026] Figure 4 This is a schematic diagram of the control system corresponding to the excavator control method provided by the present invention;

[0027] Figure 5 This is a schematic diagram of a scenario for the excavator control method provided by the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of the excavator control device provided by the present invention;

[0029] Figure 7 This is a structural schematic diagram of the excavator provided by the present invention. Detailed Implementation

[0030] 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.

[0031] It should be noted that the execution subject involved in the embodiments of the present invention can be an excavator control device or an excavator. The embodiments of the present invention will be further described below using an excavator as an example.

[0032] like Figure 1 The diagram shown is a flowchart of the excavator control method provided by the present invention, which may include:

[0033] 101. Generate a stability coefficient based on the current machine parameters of the excavator under the current action.

[0034] Among them, excavators, also known as excavating machinery, are earthmoving machines that use buckets to dig materials above or below the machine's bearing surface and load them into transport vehicles or unload them into stockpiles.

[0035] The currently executing action refers to the action being performed at the current moment.

[0036] The target machine parameters, also known as the machine attitude parameters, refer to the angles, positions, and other parameters of a part of the excavator (such as the boom, stick, bucket, etc.) relative to a certain reference position or direction during the working process.

[0037] The stability coefficient is used to characterize the stability of an excavator. The larger the stability coefficient, the more stable the excavator is, and vice versa.

[0038] Optionally, the excavator may include: a lower traveling mechanism, a slewing platform located above the traveling mechanism, a working device, a counterweight, and a hydraulic system. The counterweight is located at the rear of the slewing platform.

[0039] Optionally, the lower traveling mechanism may include: a traveling frame / underframe, and tracks, etc. The slewing platform is mounted on the underframe.

[0040] Optionally, the working device may include: a boom hinged to the front of the slewing platform, a stick hinged to the boom, a bucket hinged to the stick, and a boom cylinder connected between the boom and the slewing platform.

[0041] Optionally, the excavator's control system may include: a controller, a displacement stroke sensor connected to the controller, a proportional solenoid valve, a top carriage attitude angle sensor, an alarm unit, a top carriage tilt angle acceleration sensor, a top carriage swing angle sensor, and left and right travel motor flow sensors, etc. The hydraulic cylinders are connected to the hydraulic system via the proportional solenoid valves, and the top carriage attitude angle sensor is used to acquire the overall machine attitude parameters.

[0042] In some embodiments, the excavator generates a stability coefficient based on the current machine parameters of the excavator under the current execution action, which may include: the excavator determining the overturning moment and stabilizing moment of the excavator based on the current machine parameters of the excavator under the current execution action; and the excavator generating a stability coefficient based on the overturning moment and stabilizing moment.

[0043] Overturning moment refers to the torque acting on an excavator that causes it to tilt about its horizontal axis at the bottom. If the overturning moment is large enough to exceed the excavator's stability when subjected to external forces, the excavator will tilt or overturn.

[0044] Stabilizing torque, also known as restoring torque, refers to the torque that keeps the excavator in a stable state under any working condition. It is used to resist overturning torque and ensures that the excavator remains balanced and stable.

[0045] The excavator can first collect the current machine parameters under the current action by using the stroke sensors of the boom cylinder, stick cylinder, bucket cylinder, upper carriage posture angle sensor, and upper carriage slewing angle sensor; then calculate the overturning moment and stabilizing moment of the excavator by using the current machine parameters, and then generate the stability coefficient.

[0046] Among them, the upper vehicle posture angle sensor is used to obtain the posture parameters of the excavator's upper vehicle and working device, that is, to obtain the current execution action.

[0047] In some embodiments, the excavator may include: a working device, an upper vehicle, a counterweight, and an lower vehicle; the current machine parameters may include: the device weight and center of gravity position of the working device, the upper vehicle weight and center of gravity position of the upper vehicle, the counterweight weight and center of gravity position of the counterweight, and the lower vehicle weight and center of gravity position of the lower vehicle.

[0048] The excavator determines its overturning moment and stabilizing moment based on the current machine parameters under the current execution action. This can include: the excavator determining the overturning moment based on the weight of the device and the position of the device's center of gravity; and the excavator determining the stabilizing moment based on the weight of the upper vehicle, the position of the upper vehicle's center of gravity, the weight of the counterweight, the position of the counterweight's center of gravity, the weight of the lower vehicle, and the position of the lower vehicle's center of gravity.

[0049] The weight of the upper vehicle, the position of the upper vehicle's center of gravity, the weight of the counterweight, the position of the counterweight's center of gravity, the weight of the lower vehicle, and the position of the lower vehicle's center of gravity can all be obtained by calibrating and calculating the signals collected by the upper vehicle's rotation angle sensor.

[0050] Optionally, the working device may include: a bucket, a stick, and a boom; the weight of the working device may include: the bucket weight of the bucket, the stick weight of the stick, and the boom weight of the boom; the center of gravity position of the working device may include: the bucket center of gravity position of the bucket, the stick center of gravity position of the stick, and the boom center of gravity position of the boom.

[0051] The weight of the bucket and the position of the bucket's center of gravity can be calculated by calibrating the signals collected by the stroke sensor of the bucket cylinder; the weight of the stick and the position of the stick's center of gravity can be calculated by calibrating the signals collected by the stroke sensor of the stick cylinder; the weight of the boom and the position of the boom's center of gravity can be calculated by calibrating the signals collected by the stroke sensor of the boom cylinder.

[0052] For example, such as Figure 2 The diagram shown is a schematic of the overall machine parameters provided by this invention. In this diagram, G1 represents the bucket weight; L1 represents the bucket center of gravity; G2 represents the stick weight; L2 represents the stick center of gravity; G3 represents the boom weight; L3 represents the boom center of gravity; G4 represents the upper vehicle weight; L4 represents the upper vehicle center of gravity; G5 represents the counterweight weight; L5 represents the counterweight center of gravity; G6 represents the lower vehicle weight; L6 represents the lower vehicle center of gravity. Thus, the overturning moment of the excavator can be calculated using the formula Mq = G1*L1 + G2*L2 + G3*L3, where Mq represents the overturning moment; the stabilizing moment can be calculated using the formula Mw = G4*L4 + G5*L5 + G6*L6, where Mw represents the stabilizing moment; finally, the stability coefficient is calculated using the formula K = Mw / Mq, where K represents the stability coefficient.

[0053] 102. When the stability coefficient is less than or equal to the preset threshold, adjust the current execution action according to the preset action space range to obtain the target execution action, and obtain the target whole machine parameters of the excavator under the target execution action.

[0054] The preset threshold can be represented by k*. Optionally, this preset threshold can be set before the excavator leaves the factory or it can be user-defined; no specific limitation is made here. Typically, the value of k* is 1.

[0055] The preset action space range is a pre-set range of space that is allowed or not allowed when performing various actions.

[0056] After determining the stability coefficient, the excavator can be compared with a preset threshold. If the stability coefficient is greater than the preset threshold, the excavator is in a stable state, and it can continue to operate according to the current execution action. If the stability coefficient is less than or equal to the preset threshold, the excavator is in an unstable state. In this case, a pre-stored preset action space range can be obtained, and the current execution action can be adjusted according to the preset action space range to obtain the adjusted execution action, which is the target execution action. Then, the target machine parameters of the excavator under the target execution action can be obtained.

[0057] In some embodiments, such as Figure 3 The diagram shown is a schematic representation of the preset action space range provided by the present invention. This preset action space range may include at least: a target work area, a non-work area, a prohibited trajectory area, and a tipping-out hazard range.

[0058] The target operating range is [x1, y1, z1] - [x2, y2, z2]; x1 represents the minimum value on the X-axis, x2 represents the maximum value on the X-axis, y1 represents the minimum value on the Y-axis, y2 represents the maximum value on the Y-axis, z1 represents the minimum value on the Z-axis, and z2 represents the maximum value on the Z-axis. Within the target operating range, the cylinder stroke and rotation angle can be limited within the specified operating range.

[0059] The non-operating range is [α1, β1, γ1] - [α2, β2, γ2]; α1 represents the minimum value on the X-axis, α2 represents the maximum value on the X-axis, β1 represents the minimum value on the Y-axis, β2 represents the maximum value on the Y-axis, γ1 represents the minimum value on the Z-axis, and γ2 represents the maximum value on the Z-axis. Within the non-operating range, the cylinder stroke and rotation angle can be limited. This allows movement through the non-operating range, but prohibits bucket digging.

[0060] The prohibited trajectory space is [u1, v1, w1] - [u2, v2, w2]; u1 represents the minimum value on the X-axis, u2 represents the maximum value on the X-axis, v1 represents the minimum value on the Y-axis, v2 represents the maximum value on the Y-axis, w1 represents the minimum value on the Z-axis, and w2 represents the maximum value on the Z-axis. The excavator must not touch any objects within this prohibited trajectory space. This prohibited trajectory space may include areas such as water pipes, power lines, and fiber optic cables that require collision avoidance.

[0061] The overturning hazard range is [i1,j1,k1]-[i2,j2,k2]; i1 represents the minimum value on the X-axis, i2 represents the maximum value on the X-axis, j1 represents the minimum value on the Y-axis, j2 represents the maximum value on the Y-axis, k1 represents the minimum value on the Z-axis, and k2 represents the maximum value on the Z-axis. Within the overturning hazard range, any posture poses a risk of overturning. The excavator automatically identifies this overturning hazard range and stops.

[0062] Optionally, the aforementioned cylinder stroke may include: the extension length of the bucket cylinder, the extension length of the stick cylinder, and the extension length of the boom cylinder, etc.

[0063] The aforementioned rotation angle refers to the rotation angle of the rotary platform.

[0064] It should be noted that the excavator divides the work area into target work area and non-work area to limit the cylinder stroke and the turning angle of the upper body, thereby achieving precise construction work in the designated area; for accidents such as collisions that are prone to occur in poor light or when the line of sight is obstructed, the pre-stored prohibited trajectory space range can effectively prevent the occurrence of accidents.

[0065] In some embodiments, the excavator adjusts its current action according to a preset motion space range to obtain the target action, which may include at least one of the following implementation methods:

[0066] Implementation Method 1: The excavator determines the cylinder stroke and rotation angle range based on the preset motion space range; the excavator adjusts the current execution action based on the cylinder stroke and rotation angle range to obtain the target execution action.

[0067] In the process of determining the target action, the excavator can first convert the cylinder stroke and rotation angle range of the excavator according to the preset action space range, and then generate the action that the excavator will perform in the next moment based on the cylinder stroke and rotation angle range, that is, generate the target action.

[0068] It should be noted that the cylinder stroke and rotation angle ranges correspond to different preset motion space ranges. Specifically, when the preset motion space range is the target working range [x1,y1,z1]-[x2,y2,z2], the cylinder strokes are [r1,r2], [s1,s2], and [t1,t2], and the rotation angle range is [θ1,θ2]. Within the target working range, r1 represents the minimum extension length of the bucket cylinder, and r2 represents the maximum extension length of the bucket cylinder; s1 represents the minimum extension length of the stick cylinder, and s2 represents the maximum extension length of the stick cylinder; s1 represents the minimum extension length of the boom cylinder, and s2 represents the maximum extension length of the boom cylinder.

[0069] With the preset motion space range being the non-operating range [α1,β1,γ1]-[α2,β2,γ2], the cylinder stroke is [r1′,r2′], [s1′,s2′], and [t1′,t2′], and the rotation angle range is [θ1′,θ2′]. Within the non-operating range, r1′ represents the minimum extension length of the bucket cylinder, and r2′ represents the maximum extension length of the bucket cylinder; s1′ represents the minimum extension length of the stick cylinder, and s2′ represents the maximum extension length of the stick cylinder; s1′ represents the minimum extension length of the boom cylinder, and s2′ represents the maximum extension length of the boom cylinder.

[0070] With the preset action space range being the prohibited trajectory space range [u1,v1,w1]-[u2,v2,w2], the cylinder stroke is [r1″,r2″], [s1″,s2″], and [t1″,t2″], and the turning angle range is [θ1″,θ2″]. Within the prohibited trajectory space range, r1″ represents the minimum extension length of the bucket cylinder, and r2″ represents the maximum extension length of the bucket cylinder; s1″ represents the minimum extension length of the stick cylinder, and s2″ represents the maximum extension length of the stick cylinder; s1″ represents the minimum extension length of the boom cylinder, and s2″ represents the maximum extension length of the boom cylinder.

[0071] With the preset action space range being the overturning danger range [i1,j1,k1]-[i2,j2,k2], the cylinder stroke is [r1″′,r2″′], [s1″′,s2″′], and [t1″′,t2″′], and the rotation angle range is [θ1″′,θ2″′]. Within the overturning danger range, r1″′ represents the minimum extension length of the bucket cylinder, and r2″′ represents the maximum extension length of the bucket cylinder; s1″′ represents the minimum extension length of the stick cylinder, and s2″′ represents the maximum extension length of the stick cylinder; s1″′ represents the minimum extension length of the boom cylinder, and s2″′ represents the maximum extension length of the boom cylinder.

[0072] Implementation Method 2: The excavator determines its tilting acceleration or tilting angle based on the preset action space range; the excavator adjusts its current action based on the tilting acceleration or tilting angle to obtain the target action.

[0073] The tilting acceleration describes how quickly the tilting angle of the excavator changes over time during the tilting process.

[0074] The tilting angle refers to the angle of the excavator as a whole or a part of it relative to a horizontal plane or a reference plane during the tilting process.

[0075] In the process of determining the target action, the excavator can first convert the tilting acceleration or tilting angle of the excavator according to the preset action space range, and then generate the target action based on the tilting acceleration or tilting angle.

[0076] Optionally, if the stability coefficient is less than or equal to a preset threshold, the method may further include: determining the cylinder stroke and rotation range of the excavator based on signals collected by the bucket tilt sensor, the stick tilt sensor, and the boom tilt sensor respectively; and adjusting the current execution action of the excavator according to the cylinder stroke and rotation range to obtain the target execution action.

[0077] In the process of determining the target to execute the action, the excavator can first collect the corresponding signals through the tilt angle sensor of the bucket, the tilt angle sensor of the stick, and the tilt angle sensor of the boom; then calculate all the signals to obtain the cylinder stroke and rotation range of the excavator, and then generate the target to execute the action based on the tilt angle acceleration or tilt angle.

[0078] In some embodiments, when the preset action space range includes: non-operation range, prohibited trajectory range and overturning danger movement range, after adjusting the currently executed action, the method may further include: the excavator outputting alarm information, the alarm information being used to indicate to the user that the excavator is in an unstable state.

[0079] This allows the user to be promptly alerted when the excavator is in an unstable state.

[0080] Optionally, the excavator may output alarm information, including using a buzzer to output alarm information.

[0081] It should be noted that the buzzer system can quickly and effectively transmit alarm information. Once the excavator is in an unstable state, the buzzer will immediately emit a sharp sound, which can quickly attract the user's attention. Compared with other alarm methods, such as flashing indicator lights or text prompts, buzzer alarms are more intuitive and faster, and can remind users to take measures immediately to prevent accidents.

[0082] 103. Set the target whole machine parameters as the new current whole machine parameters, and repeat steps 101-102 until the final target stability coefficient is greater than the preset threshold.

[0083] 104. Control the excavator to operate according to the action corresponding to the target stability coefficient.

[0084] After acquiring the target machine parameters, the excavator can set these parameters as the new current machine parameters and repeat steps 101-102 until the final target stability coefficient is greater than a preset threshold. This effectively ensures the excavator remains in a stable state, allowing it to operate according to the actions corresponding to the target stability coefficient. The entire process involves real-time monitoring of stability, dynamically sensing changes in the excavator's stability during movement, and adjusting the excavator's slewing angle and the extension range of its working devices (such as bucket cylinders, stick cylinders, and boom cylinders) to automatically adjust the excavator's stability according to the set target actions, until the stability threshold is met.

[0085] In this embodiment of the invention, 101. A stability coefficient is generated based on the current machine parameters of the excavator under the current execution action; 102. If the stability coefficient is less than or equal to a preset threshold, the current execution action is adjusted according to a preset action space range to obtain the target execution action, and the target machine parameters of the excavator under the target execution action are obtained; 103. The target machine parameters are determined as the new current machine parameters, and steps 101-102 are repeated until the finally determined target stability coefficient is greater than the preset threshold; 104. The excavator is controlled to operate according to the execution action corresponding to the target stability coefficient. This method, by judging the stability coefficient, can adjust the current execution action of the excavator in real time using a preset action space range when the excavator is in an unstable state, achieving refined operation of the excavator until the excavator can reach a stable state and effectively execute the target action.

[0086] To further understand the embodiments of the present invention, such as Figure 4 The diagram shown is a structural schematic of the control system corresponding to the excavator control method provided by this invention; as shown... Figure 5 The image shown is a schematic diagram of a scenario for the excavator control method provided by this invention. Combined with... Figure 4and Figure 5 It can be effectively executed. Figure 1 The excavator control method shown.

[0087] The excavator control device provided by the present invention is described below. The excavator control device described below can be referred to in correspondence with the excavator control method described above.

[0088] like Figure 6 The diagram shown is a structural schematic of the excavator control device provided by the present invention, which may include:

[0089] The data processing module 601 is used for: S1, generating a stability coefficient based on the current machine parameters of the excavator under the current execution action; S2, if the stability coefficient is less than or equal to a preset threshold, adjusting the current execution action according to a preset action space range to obtain a target execution action, and obtaining the target machine parameters of the excavator under the target execution action; S3, determining the target machine parameters as the new current machine parameters, and repeating steps S1-S2 until the finally determined target stability coefficient is greater than the preset threshold.

[0090] The mechanical control module 602 is used in S4 to control the operation of the excavator according to the execution action corresponding to the target stability coefficient.

[0091] Optionally, the data processing module 601 is specifically used to determine the cylinder stroke and rotation angle range of the excavator according to the preset motion space range; and to adjust the currently executed action according to the cylinder stroke and rotation angle range to obtain the target executed action.

[0092] Optionally, the data processing module 601 is specifically used to determine the tilting acceleration or tilting angle of the excavator based on the preset action space range; and to adjust the currently executed action based on the tilting acceleration or tilting angle to obtain the target executed action.

[0093] Optionally, the data processing module 601 is specifically used to determine the overturning moment and stabilizing moment of the excavator based on the current overall machine parameters of the excavator under the current execution action; and to generate a stability coefficient based on the overturning moment and the stabilizing moment.

[0094] Optionally, the excavator includes: a working device, an upper vehicle, a counterweight, and an lower vehicle; the current overall machine parameters include: the device weight and center of gravity position of the working device, the upper vehicle weight and center of gravity position of the upper vehicle, the counterweight weight and center of gravity position of the counterweight, and the lower vehicle weight and center of gravity position of the lower vehicle.

[0095] The data processing module 601 is specifically used to determine the overturning moment based on the weight of the device and the center of gravity position of the device; and to determine the stabilizing moment based on the weight of the upper vehicle, the center of gravity position of the upper vehicle, the weight of the counterweight, the center of gravity position of the counterweight, the weight of the lower vehicle, and the center of gravity position of the lower vehicle.

[0096] Optionally, the preset motion space range includes at least: the target working range, the non-working range, the prohibited trajectory space range, and the overturning danger motion range.

[0097] Optionally, if the preset action space includes the non-operational range, the prohibited trajectory range, and the overturning danger range, after the data processing module 601 adjusts the currently executed action, the data processing module 601 is also used to output alarm information, which is used to indicate to the user that the excavator is in an unstable state.

[0098] like Figure 7 The diagram shows the structure of an excavator provided by the present invention. The excavator may include a processor 710, a communication interface 720, a memory 730, and a communication bus 740. The processor 710, communication interface 720, and memory 730 communicate with each other via the communication bus 740. The processor 710 can call logical instructions in the memory 730 to execute an excavator control method. This method includes: S1, generating a stability coefficient based on the current overall parameters of the excavator under the current execution action; S2, if the stability coefficient is less than or equal to a preset threshold, adjusting the current execution action according to a preset action space range to obtain a target execution action, and acquiring the target overall parameters of the excavator under the target execution action; S3, determining the target overall parameters as the new current overall parameters, and repeating steps S1-S2 until the finally determined target stability coefficient is greater than the preset threshold; S4, controlling the excavator to operate according to the execution action corresponding to the target stability coefficient.

[0099] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0100] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the excavator control method provided by the above methods. The method includes: S1, generating a stability coefficient based on the current overall parameters of the excavator under the current execution action; S2, if the stability coefficient is less than or equal to a preset threshold, adjusting the current execution action according to a preset action space range to obtain a target execution action, and obtaining the target overall parameters of the excavator under the target execution action; S3, determining the target overall parameters as the new current overall parameters, and repeating steps S1-S2 until the finally determined target stability coefficient is greater than the preset threshold; S4, controlling the excavator to operate according to the execution action corresponding to the target stability coefficient.

[0101] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the excavator control method provided by the above methods. The method includes: S1, generating a stability coefficient based on the current machine parameters of the excavator under the current execution action; S2, if the stability coefficient is less than or equal to a preset threshold, adjusting the current execution action according to a preset action space range to obtain a target execution action, and obtaining the target machine parameters of the excavator under the target execution action; S3, determining the target machine parameters as the new current machine parameters, and repeating steps S1-S2 until the finally determined target stability coefficient is greater than the preset threshold; S4, controlling the excavator to operate according to the execution action corresponding to the target stability coefficient.

[0102] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0104] 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: S1. Generate a stability coefficient based on the current overall parameters of the excavator under the current execution action, wherein the overturning moment and stabilizing moment of the excavator are determined based on the current overall parameters of the excavator under the current execution action; and a stability coefficient is generated based on the overturning moment and the stabilizing moment. S2. When the stability coefficient is less than or equal to a preset threshold, adjust the current execution action according to a preset action space range to obtain the target execution action, and obtain the target machine parameters of the excavator under the target execution action, wherein the tilting acceleration or tilting angle of the excavator is determined according to the preset action space range; and the current execution action is adjusted according to the tilting acceleration or the tilting angle to obtain the target execution action. S3. Determine the target whole machine parameter as the new current whole machine parameter, and repeat steps S1-S2 until the finally determined target stability coefficient is greater than the preset threshold. S4. Control the excavator to operate according to the action corresponding to the target stability coefficient.

2. The method according to claim 1, characterized in that, The step of adjusting the currently executed action according to a preset action space range to obtain the target executed action includes: Based on the preset motion space range, the cylinder stroke and rotation angle range of the excavator are determined; Based on the cylinder stroke and the rotation angle range, the current action is adjusted to obtain the target action.

3. The method according to claim 1, characterized in that, The excavator includes: a working device, an upper vehicle, a counterweight, and an lower vehicle; the current overall machine parameters include: the device weight and center of gravity position of the working device, the upper vehicle weight and center of gravity position of the upper vehicle, the counterweight weight and center of gravity position of the counterweight, and the lower vehicle weight and center of gravity position of the lower vehicle. The step of determining the overturning moment and stabilizing moment of the excavator based on the current overall machine parameters of the excavator under the current execution action includes: The overturning moment is determined based on the weight of the device and the position of its center of gravity. The stabilizing torque is determined based on the weight of the upper vehicle, the center of gravity position of the upper vehicle, the weight of the counterweight, the center of gravity position of the counterweight, the weight of the lower vehicle, and the center of gravity position of the lower vehicle.

4. The method according to claim 1 or 2, characterized in that, The preset action space range includes at least: the target work area, the non-work area, the prohibited trajectory space range, and the overturning danger movement range.

5. The method according to claim 4, characterized in that, When the preset action space includes the non-operational area, the prohibited trajectory space, and the overturning hazard movement range, after adjusting the currently executed action, the method further includes: Output alarm information, which is used to indicate to the user that the excavator is in an unstable state.

6. An excavator control device, characterized in that, include: The data processing module is used for: S1. Generating a stability coefficient based on the current machine parameters of the excavator under the current execution action, wherein the overturning moment and stabilizing moment of the excavator are determined based on the current machine parameters of the excavator under the current execution action; and generating a stability coefficient based on the overturning moment and the stabilizing moment; S2. If the stability coefficient is less than or equal to a preset threshold, adjusting the current execution action according to a preset action space range to obtain a target execution action, and obtaining the target machine parameters of the excavator under the target execution action, wherein the overturning acceleration or overturning angle of the excavator is determined based on the preset action space range; and adjusting the current execution action according to the overturning acceleration or the overturning angle to obtain the target execution action; S3. Determining the target machine parameters as the new current machine parameters, and repeating steps S1-S2 until the finally determined target stability coefficient is greater than the preset threshold; The mechanical control module is used in S4 to control the operation of the excavator according to the execution action corresponding to the target stability coefficient.

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

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

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