Control method and system for excavator

Abstract

The present invention discloses a control method and system for an excavator. The method includes: when the excavator system receives multiple control instructions, determining whether there is at least one target control instruction among the multiple control instructions that corresponds to a preset instruction type; when it is determined that there is at least one target control instruction of the preset instruction type, determining whether there are control instructions corresponding to at least two instruction types among the target control instructions; when it is determined that there are at least two instruction types, determining whether the excavation targets of the instructions are all consistent; if the excavation targets are all consistent, switching the excavator's control mode to a first control mode; if the excavation targets are inconsistent, switching the excavator's control mode to a second control mode. It can be seen that the implementation of the present invention can optimize the human-computer interaction mode of the excavator, thereby facilitating improved safety and convenience of operator control of the machine, as well as improved operator interaction with the excavator.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a control method and system for an excavator. Background Art

[0002] Excavators, as a widely used piece of construction machinery, currently play a vital role in numerous infrastructure projects. However, existing excavator control systems are limited to a single system, failing to integrate the traditional excavator control system with the remote control system and autonomous operation system, fully leveraging the advantages of each system. This results in a significant waste of resources and costs. Furthermore, traditional excavator control systems lack arbitration mechanisms and comprehensive safety protection mechanisms, leading to human-machine conflicts, safety risks for operators operating the excavator, and poor human-machine interaction.

[0003] Therefore, a control method and system for an excavator are currently provided, which can optimize the human-machine interaction mode of the excavator and make the control mode of the excavator intelligent, which is beneficial to improving the safety and convenience of the operator's operation of the machine, and improving the operator's interactivity with the excavator. Summary of the Invention

[0004] The present invention provides a method and system for controlling an excavator, which can optimize the human-machine interaction mode of the excavator and make the control mode of the excavator intelligent, which is beneficial to improving the safety and convenience of the operator's operation of the machine and improving the operator's interactivity with the excavator.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses a control method for an excavator, the method comprising:

[0006] When a controller of the excavator system receives a plurality of control instructions from an external input, the excavator system determines whether there is at least one target control instruction among the plurality of control instructions whose instruction type is a preset instruction type;

[0007] When it is determined that the instruction type corresponding to at least one target control instruction is a preset instruction type, the excavator system determines whether there are control instructions corresponding to two or more instruction types in the target control instruction;

[0008] When it is determined that there are control instructions corresponding to two or more instruction types in the target control instructions, the excavator system determines whether the excavation targets corresponding to all the target control instructions are consistent;

[0009] When it is determined that the excavation targets corresponding to all target control instructions are consistent, the excavator system switches the control mode of the excavator to the first control mode;

[0010] When it is determined that the excavation targets corresponding to all target control instructions are inconsistent, the excavator system switches the control mode of the excavator to the second control mode.

[0011] As an optional embodiment, in the first aspect of the present invention, the preset instruction type includes: one of a manual control type, a remote control type, and an automatic control type; the first control mode represents a human-machine sharing mode; and the second control mode represents a human-machine switching mode:

[0012] The control mode further includes: one of a manual control mode, a remote control mode, and an automatic control mode, wherein the manual control mode is used to perform control operations related to the manual control type on the excavator, the remote control mode is used to perform control operations related to the remote control type on the excavator, and the automatic control mode is used to perform control operations related to the automatic control type on the excavator;

[0013] The excavator system switches the control mode of the excavator to a first control mode, including:

[0014] The excavator system calculates the target control instruction according to a preset control algorithm and the instruction type of the target control instruction to obtain an optimal control instruction, and uses the optimal control instruction as a control instruction for performing a control operation on the excavator;

[0015] The calculation formula of the preset control algorithm is expressed as: ;

[0016] K represents a control right allocation coefficient, Uh represents an operator input parameter, which includes control instructions corresponding to the manual control type and the remote control type, Um represents a machine input parameter, which includes control instructions corresponding to the automatic control type, and U represents an actual input of the excavator system;

[0017] The method further comprises:

[0018] When it is determined that the instruction type corresponding to any target control instruction among the multiple control instructions is not a preset instruction type, the target control instruction is discarded.

[0019] As an optional embodiment, in the first aspect of the present invention, the excavator system switches the control mode of the excavator to the second control mode, including:

[0020] The excavator system determines the instruction priority corresponding to each target control instruction according to the instruction type corresponding to each target control instruction, and controls the excavator according to the instruction priority corresponding to each target control instruction;

[0021] Among them, the instruction priority corresponding to the control instruction of the manual control type is the first priority, the instruction priority corresponding to the control instruction of the remote control type is the second priority, and the instruction priority corresponding to the control instruction of the automatic control type is the third priority.

[0022] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0023] When it is determined that there is only one control instruction corresponding to one instruction type in the target control instruction, the excavator system determines whether the instruction type corresponding to the target control instruction is a manual control type;

[0024] When it is determined that the instruction type corresponding to the target control instruction is a manual control type, the excavator system performs a control operation related to the manual control type on the excavator according to the target control instruction;

[0025] When it is determined that the instruction type corresponding to the target control instruction is not a manual control type, the excavator system determines whether the instruction type corresponding to the target control instruction is a remote control type;

[0026] When it is determined that the instruction type corresponding to the target control instruction is a remote control type, the excavator system performs a control operation related to the remote control type on the excavator according to the target control instruction;

[0027] When it is determined that the instruction type corresponding to the target control instruction is not a remote control type, the excavator system determines whether the instruction type corresponding to the target control instruction is an automatic control type;

[0028] When it is determined that the instruction type corresponding to the target control instruction is a remote control type, the excavator system performs a control operation related to the automatic control type on the excavator according to the target control instruction.

[0029] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0030] When the control mode of the excavator is in the automatic control mode, the excavator system determines whether the excavator meets a preset abnormal condition;

[0031] When it is determined that the excavator meets a first abnormal condition, the excavator system switches the control mode of the excavator from the automatic control mode to the manual control mode;

[0032] When it is determined that the excavator meets a second abnormal condition, the excavator system switches the control mode of the excavator from the automatic control mode to the remote control mode;

[0033] When it is determined that the excavator satisfies a third abnormal condition, the excavator system exits the automatic control mode and stops the control operation of the excavator.

[0034] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0035] The excavator system collects working parameters of the excavator's current working state through sensors provided on the excavator, wherein the working parameters include external parameters and internal parameters, wherein the external parameters include at least one of external meteorological environment parameters and external geographical environment parameters, and the internal parameters include at least one of the state parameters of the operator in the excavator cabin and internal environment parameters;

[0036] Determining whether the working parameters of the excavator in the current working state meet the preset parameter conditions;

[0037] When it is determined that the working parameter meets the first parameter condition, the excavator system switches the control mode of the excavator to the manual control mode;

[0038] When it is determined that the working parameter satisfies a second parameter condition, the excavator system switches the control mode of the excavator to the remote control mode;

[0039] When it is determined that the operating parameter satisfies a third parameter condition, the excavator system switches the control mode of the excavator to the automatic control mode.

[0040] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0041] When the control mode of the excavator is in the automatic control mode or the remote control mode, the excavator system determines whether a preset human operation action is triggered inside the excavator;

[0042] When it is determined that a preset human operation action is triggered inside the excavator, the excavator system sends a request to the operator to exit the automatic control mode or the remote control mode, and sends a prompt to the operator to trigger the manual operation action, and waits for the operator to respond to the request;

[0043] When the waiting time for a response to the request is longer than a preset time, the excavator system stops the automatic control mode or the remote control mode;

[0044] The preset human operation action includes: one of a handle control action, an unlocking action, and a locking action.

[0045] A second aspect of the present invention discloses a control system for an excavator, the system comprising:

[0046] a judgment module, configured to, when the excavator system receives a plurality of control instructions inputted from the outside, judge whether there is at least one target control instruction among the plurality of control instructions whose instruction type is a preset instruction type;

[0047] The judging module is further configured to, when it is judged that the instruction type corresponding to at least one target control instruction is a preset instruction type, judge whether there are control instructions corresponding to two or more instruction types in the target control instruction;

[0048] The judgment module is further configured to, when the judgment module determines that there are control instructions corresponding to two or more instruction types in the target control instructions, determine whether the excavation targets corresponding to all the target control instructions are consistent;

[0049] a switching module, configured to switch the control mode of the excavator to the first control mode when it is determined that the excavation targets corresponding to all target control instructions are consistent;

[0050] The switching module is further configured to switch the control mode of the excavator to the second control mode when the judging module judges that the excavation targets corresponding to all target control instructions are inconsistent.

[0051] As an optional embodiment, in the second aspect of the present invention, the preset instruction type includes: one of a manual control type, a remote control type, and an automatic control type; the first control mode represents a human-machine sharing mode; and the second control mode represents a human-machine switching mode:

[0052] The control mode further includes: one of a manual control mode, a remote control mode, and an automatic control mode, wherein the manual control mode is used to perform control operations related to the manual control type on the excavator, the remote control mode is used to perform control operations related to the remote control type on the excavator, and the automatic control mode is used to perform control operations related to the automatic control type on the excavator;

[0053] The specific manner in which the switching module switches the control mode of the excavator to the first control mode is:

[0054] Calculating the target control instruction according to a preset control algorithm and the instruction type of the target control instruction to obtain an optimal control instruction, and using the optimal control instruction as a control instruction for performing a control operation on the excavator;

[0055] The calculation formula of the preset control algorithm is expressed as: ;

[0056] K represents a control right allocation coefficient, Uh represents an operator input parameter, which includes control instructions corresponding to the manual control type and the remote control type, Um represents a machine input parameter, which includes control instructions corresponding to the automatic control type, and U represents an actual input of the excavator system;

[0057] The system further comprises:

[0058] The discarding module is configured to discard the target control instruction when the judging module judges that the instruction type corresponding to any target control instruction among the multiple control instructions is not a preset instruction type.

[0059] As an optional implementation, in the second aspect of the present invention, the switching module switches the control mode of the excavator to the second control mode in the following specific manner:

[0060] Determining the instruction priority corresponding to each target control instruction according to the instruction type corresponding to each target control instruction, and controlling the excavator according to the instruction priority corresponding to each target control instruction;

[0061] Among them, the instruction priority corresponding to the control instruction of the manual control type is the first priority, the instruction priority corresponding to the control instruction of the remote control type is the second priority, and the instruction priority corresponding to the control instruction of the automatic control type is the third priority.

[0062] As an optional embodiment, in the second aspect of the present invention, the system further includes:

[0063] The judging module is further configured to, when it is judged that there is only one control instruction corresponding to one instruction type in the target control instruction, judge whether the instruction type corresponding to the target control instruction is a manual control type;

[0064] a control module configured to, when the judgment module determines that the instruction type corresponding to the target control instruction is a manual control type, execute a control operation related to the manual control type on the excavator according to the target control instruction;

[0065] The judging module judges whether the instruction type corresponding to the target control instruction is a remote control type when it is judged that the instruction type corresponding to the target control instruction is not a manual control type;

[0066] The control module is further configured to, when the judgment module judges that the instruction type corresponding to the target control instruction is a remote control type, execute a control operation related to the remote control type on the excavator according to the target control instruction;

[0067] The judging module is further configured to, when it is judged that the instruction type corresponding to the target control instruction is not a remote control type, judge whether the instruction type corresponding to the target control instruction is an automatic control type;

[0068] The control module is further configured to execute a control operation related to the automatic control type on the excavator according to the target control instruction when the judgment module determines that the instruction type corresponding to the target control instruction is a remote control type.

[0069] As an optional embodiment, in the second aspect of the present invention, the system further includes:

[0070] The judgment module is further configured to judge whether the excavator meets a preset abnormal condition when the control mode of the excavator is in the automatic control mode;

[0071] The switching module is further configured to switch the control mode of the excavator from the automatic control mode to the manual control mode when the judging module judges that the excavator meets the first abnormal condition;

[0072] When it is determined that the excavator meets a second abnormal condition, switching the control mode of the excavator from the automatic control mode to the remote control mode;

[0073] A stopping module is configured to exit the automatic control mode and stop controlling the excavator when the judging module judges that the excavator meets a third abnormal condition.

[0074] As an optional embodiment, in the second aspect of the present invention, the system further includes:

[0075] a collection module, configured to collect working parameters of the excavator's current working state through sensors provided on the excavator, the working parameters including external parameters and internal parameters, the external parameters including at least one of external meteorological environment parameters and external geographical environment parameters, and the internal parameters including at least one of a state parameter of an operator in the excavator cabin and an internal environment parameter;

[0076] The judging module is further configured to judge whether the working parameters of the current working state of the excavator collected by the collecting module meet preset parameter conditions;

[0077] The switching module is further configured to switch the control mode of the excavator to the manual control mode when the judging module judges that the working parameter satisfies the first parameter condition;

[0078] When it is determined that the operating parameter satisfies a second parameter condition, switching the control mode of the excavator to the remote control mode;

[0079] When it is determined that the operating parameter meets the third parameter condition, the control mode of the excavator is switched to the automatic control mode.

[0080] As an optional embodiment, in the second aspect of the present invention, the system further includes:

[0081] The judgment module is further configured to judge whether a preset human operation action is triggered inside the excavator when the control mode of the excavator is in the automatic control mode or the remote control mode;

[0082] a sending module, configured to send a request to the operator to exit the automatic control mode or the remote control mode when the judging module determines that a preset manual operation action has been triggered inside the excavator, and to send a prompt to the operator to trigger the manual operation action;

[0083] A waiting module, configured to wait for the operator to respond to the request sent by the sending module;

[0084] a stopping module, configured to stop the automatic control mode or the remote control mode when the waiting time for the response corresponding to the request being waited for by the waiting module is longer than a preset time;

[0085] The preset human operation action includes: one of a handle control action, a pedal control action, an unlocking action, and a locking action.

[0086] A third aspect of the present invention discloses another excavator control system, the system comprising:

[0087] a memory storing executable program code;

[0088] a processor coupled to the memory;

[0089] The processor calls the executable program code stored in the memory to execute the excavator control method disclosed in the first aspect of the present invention.

[0090] A fourth aspect of the present invention discloses a computer storage medium, wherein the computer storage medium stores computer instructions. When the computer instructions are called, they are used to execute the excavator control method disclosed in the first aspect of the present invention.

[0091] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0092] The present invention provides an excavator control method and system. The method includes: when the excavator system receives multiple control instructions from an external input, the excavator system determines whether at least one target control instruction corresponds to a preset instruction type among the multiple control instructions; when it is determined that at least one target control instruction corresponds to the preset instruction type, determining whether there are control instructions corresponding to two or more instruction types among the target control instructions; when it is determined that there are two or more instruction types, determining whether the excavation targets corresponding to all the target control instructions are consistent; if the excavation targets are consistent, switching the excavator control mode to a first control mode; if the excavation targets are inconsistent, switching the excavator control mode to a second control mode. It can be seen that the implementation of the present invention can determine whether the excavation targets corresponding to all the control instructions are consistent when two or more instruction types are detected in the control instructions input to the excavator, and intelligently switch the control mode according to the excavation targets. This can optimize the human-machine interaction mode of the excavator, make the excavator control method intelligent, reduce the probability of excavator failure, and improve the stability of the excavator, thereby improving the safety and convenience of the operator's operation of the machine and improving the operator's interaction with the excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0094] Figure 1 This is a flow chart of a control method for an excavator disclosed in an embodiment of the present invention;

[0095] Figure 2 It is a flow chart of another excavator control method disclosed in an embodiment of the present invention;

[0096] Figure 3 This is a schematic structural diagram of a control system for an excavator disclosed in an embodiment of the present invention;

[0097] Figure 41 is a schematic structural diagram of another excavator control system disclosed in an embodiment of the present invention;

[0098] Figure 5 This is a structural diagram of another excavator control system disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0099] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0100] The terms "first," "second," and so on, in the description and claims of the present invention and the accompanying drawings are used to distinguish between different items, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or end comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or end.

[0101] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0102] The present invention discloses an excavator control method and system. These methods, when detecting the presence of two or more control instructions corresponding to different types within an input excavator control command, determine whether all control instructions correspond to the same excavation target and intelligently switch control modes based on the excavation target. This method optimizes the excavator's human-machine interaction, intelligentizes the excavator's control, reduces the probability of excavator failure, and improves excavator stability, thereby enhancing operator safety and convenience in machine control and improving operator interaction with the excavator. These methods are described in detail below.

[0103] Example 1

[0104] See also Figure 1 , Figure 1This is a flow chart of a control method for an excavator disclosed in an embodiment of the present invention. Figure 1 The control method of the excavator described can be applied to the control system of the excavator, and the system can be applied to the control device of the excavator, wherein the excavator system can be a fully electronic excavator control system, which can include at least one of a controller and a human-computer interaction module, etc., which is not limited in the embodiment of the present invention. Figure 1 As shown, the control method of the excavator may include the following operations:

[0105] 101. When an excavator system receives multiple control instructions from an external input, the excavator system determines whether there is at least one target control instruction among the multiple control instructions whose instruction type is a preset instruction type.

[0106] In an embodiment of the present invention, the preset instruction type may include: a manual control type, a remote control type, and an automatic control type. The first control mode may be represented as a human-machine sharing mode, and the second control mode may be represented as a human-machine switching mode. Furthermore, the control mode may also include: a manual control mode, a remote control mode, and an automatic control mode. The manual control mode is used to perform control operations related to the manual control type on the excavator, the remote control mode is used to perform control operations related to the remote control type on the excavator, and the automatic control mode is used to perform control operations related to the automatic control type on the excavator.

[0107] In an embodiment of the present invention, when it is determined that the instruction type corresponding to at least one target control instruction is a preset instruction type, the operation of step 102 may be performed.

[0108] When it is determined that the instruction type corresponding to any target control instruction among multiple control instructions is not the preset instruction type, the target control instruction is discarded, and a control instruction corresponding to the instruction type with errors, violations, illegality or illegality in the control instruction is sent to the operator.

[0109] In this way, the excavator system can determine whether the instruction type corresponding to the target control instruction among multiple control instructions is a preset instruction type. While processing the simultaneous input of multiple instructions, it avoids the input of illegal and illegal operation instructions, which is beneficial to improving the safety and stability of excavator operation.

[0110] 102. The excavator system determines whether there are control instructions corresponding to two or more instruction types in the target control instructions.

[0111] In the embodiment of the present invention, when it is determined that there are control instructions corresponding to two or more instruction types in the target control instructions, the operation of step 103 may be performed.

[0112] In this way, the excavator system can determine whether there are control instructions corresponding to multiple instruction types in the target control instruction, and can handle the situation where multiple instructions are input at the same time, which is beneficial to improving the safety and stability of excavator operation.

[0113] 103. When it is determined that there are control instructions corresponding to two or more instruction types in the target control instructions, the excavator system determines whether the excavation targets corresponding to all the target control instructions are consistent.

[0114] In the embodiment of the present invention, when it is determined that the mining targets corresponding to all target control instructions are consistent, the operation of step 104 may be executed; when it is determined that the mining targets corresponding to all target control instructions are inconsistent, the operation of step 105 may be executed.

[0115] In this way, the excavator system can determine whether the excavation targets corresponding to the target control instructions are all consistent, avoiding misoperation or failure problems during the excavator operation, which is conducive to improving the safety and convenience of the operator's control of the machine, and improving the operator's interactivity with the excavator.

[0116] 104. The excavator system switches the control mode of the excavator to the first control mode.

[0117] In the embodiment of the present invention, the excavator system switches the control mode of the excavator to the first control mode, which may include:

[0118] The excavator system calculates the target control instruction according to a preset control algorithm and the instruction type of the target control instruction to obtain the optimal control instruction, and uses the optimal control instruction as the control instruction for executing the control operation on the excavator.

[0119] Among them, the calculation formula of the preset control algorithm is expressed as: U=UhK+Um(1-k), K represents the control right allocation coefficient, Uh represents the operator input parameter, the operator input parameter may include: control instructions corresponding to manual control type and remote control type, Um can be represented as machine input parameters, the machine input parameters may include: control instructions corresponding to automatic control type, and U can be represented as the actual input of the excavator system.

[0120] In this way, by adding an algorithm to switch from automatic control and remote control mode to manual mode, it is ensured that human intervention in control can be made at any time, thereby reducing the probability of excavator failure and improving the stability of the excavator, which is conducive to improving the safety and convenience of machine operation by operators, as well as improving the interactivity of operators with the excavator.

[0121] 105. The excavator system switches the control mode of the excavator to the second control mode.

[0122] In the embodiment of the present invention, the excavator system switches the control mode of the excavator to the second control mode, which may include:

[0123] The excavator system determines the instruction priority corresponding to each target control instruction according to the instruction type corresponding to each target control instruction, and controls the excavator according to the instruction priority corresponding to each target control instruction.

[0124] Among them, the instruction priority corresponding to the control instruction of the manual control type is expressed as the first priority, the instruction priority corresponding to the control instruction of the remote control type is expressed as the second priority, and the instruction priority corresponding to the control instruction of the automatic control type is expressed as the third priority. The first priority > the second priority > the third priority.

[0125] In this way, the automatic control, remote control and manual modes of the excavator are switched through command priority, ensuring that human intervention in the control can be made at any time, thereby reducing the probability of excavator failure and improving the stability of the excavator, which is conducive to improving the safety and convenience of the operator's control of the machine, as well as improving the operator's interactivity with the excavator.

[0126] In an optional embodiment, after executing step 104, the method may further include the following operations:

[0127] The controller of the excavator system determines whether a request for switching the control mode has been received from an operator.

[0128] When determining whether a request for switching the control mode is received from the operator (for example, switching from remote control mode to handle operation mode), the excavator system first asks the operator whether to clear all control instructions of the corresponding instruction type under the control mode before the current switch. After receiving the operator's confirmation instruction, all control instructions under the current control mode of the excavator are cleared and the current control mode is switched.

[0129] If no confirmation instruction is received from the operator after waiting for the preset time, the switching request is delayed and the above steps are repeated.

[0130] It can be seen that this optional embodiment can clear all control instructions of the corresponding instruction type in the control mode before the current switch when the excavator switches the control mode, thereby reducing the probability of excavator misoperation and improving the stability of the excavator, which is beneficial to improving the safety and convenience of the operator's control of the machine, and improving the operator's interactivity with the excavator.

[0131] In another optional embodiment, after executing step 104, the method may further include the following operations:

[0132] When it is determined that there is only one control instruction corresponding to one instruction type in the target control instruction, the excavator system determines whether the instruction type corresponding to the target control instruction is a manual control type.

[0133] When it is determined that the instruction type corresponding to the target control instruction is a manual control type, the excavator system performs a control operation related to the manual control type on the excavator according to the target control instruction.

[0134] When it is determined that the instruction type corresponding to the target control instruction is not a manual control type, the excavator system determines whether the instruction type corresponding to the target control instruction is a remote control type.

[0135] When it is determined that the instruction type corresponding to the target control instruction is a remote control type, the excavator system performs a control operation related to the remote control type on the excavator according to the target control instruction.

[0136] When it is determined that the instruction type corresponding to the target control instruction is not a remote control type, the excavator system determines whether the instruction type corresponding to the target control instruction is an automatic control type.

[0137] When it is determined that the instruction type corresponding to the target control instruction is a remote control type, the excavator system performs a control operation related to the automatic control type on the excavator according to the target control instruction.

[0138] It can be seen that this optional embodiment can intelligently control the excavator according to the control instruction type of the excavator, optimize the control mode of the excavator, make the control method of the excavator intelligent, reduce the probability of excavator failure and improve the stability of the excavator, thereby helping to improve the safety and convenience of the operator's control of the machine, and improve the operator's interactivity with the excavator.

[0139] In yet another optional embodiment, after executing step 104, the method may further include the following operations:

[0140] When the excavator system detects that the control mode of the excavator is in the automatic control mode, the excavator system determines whether the excavator meets a preset abnormal condition.

[0141] When it is determined that the excavator satisfies the first abnormal condition, the excavator system switches the control mode of the excavator from the automatic control mode to the manual control mode.

[0142] When it is determined that the excavator satisfies the second abnormal condition, the excavator system switches the control mode of the excavator from the automatic control mode to the remote control mode.

[0143] When it is determined that the excavator meets the third abnormal condition, the excavator system exits the automatic control mode and stops the control operation of the excavator.

[0144] In this optional embodiment, the first abnormal condition may include: at least one of the following: the power-on signal is invalid, the mode switch is invalid, the heartbeat signal is abnormal, and the CAN communication is interrupted; the second abnormal condition may include: at least one of the following: the power-on signal is invalid, the mode switch is invalid, the heartbeat signal is abnormal, the emergency stop switch is valid, the CAN communication is interrupted, and the remote control request signal is valid; the third abnormal condition may include: at least one of the following: detecting the presence of a handle operation signal and continuing for a preset time value, detecting the presence of a locking operation, and the emergency stop switch being valid.

[0145] It can be seen that this optional embodiment can timely and effectively control the control mode of the excavator according to the abnormal conditions determined by the excavator system, can optimize the control mode of the excavator, make the control method of the excavator intelligent, reduce the probability of excavator failure and improve the stability of the excavator, thereby helping to improve the safety and convenience of the operator's control of the machine, and improve the operator's interactivity with the excavator.

[0146] In yet another optional embodiment, after executing step 104, the method may further include the following operations:

[0147] When the control mode of the excavator is in the automatic control mode or the remote control mode, the excavator system determines whether a preset human operation action is triggered inside the excavator.

[0148] When it is determined that a preset human operation action has been triggered inside the excavator, the excavator system sends a request to the operator to exit the automatic control mode or remote control mode, and sends a prompt to the operator to trigger the manual operation action, waiting for the operator to respond to the request.

[0149] When the waiting time for a response to the request is longer than a preset time, the excavator system stops the automatic control mode or the remote control mode.

[0150] In this optional embodiment, the preset human operation action may optionally include: one of a handle control action, a pedal control action, an unlocking action, a locking action, etc., which is not limited in the embodiment of the present invention.

[0151] It can be seen that this optional embodiment can timely and effectively control the control mode of the excavator by detecting whether there is any human operation behavior on the excavator according to the excavator system, and can optimize the control mode of the excavator, make the control method of the excavator intelligent, reduce the probability of excavator failure and improve the stability of the excavator, thereby helping to improve the safety and convenience of the operator's control of the machine, and improve the operator's interactivity with the excavator.

[0152] In yet another optional embodiment, after executing step 104, the method may further include the following operations:

[0153] When the excavator system detects that the excavator is currently in automatic control mode, the excavator system calculates the power upper limit percentage based on the real-time working power and rated power of the excavator, and determines whether the power upper limit percentage value is lower than the preset percentage value.

[0154] When it is determined that the power upper limit percentage value is lower than the preset percentage value, the excavator system switches the excavator from automatic control mode to remote control mode, and determines whether a response request for the remote control mode is received. When no corresponding request for the remote control mode is received, the excavator system switches the excavator from automatic control mode to manual control mode.

[0155] In an optional embodiment, optionally, an electronic fence is provided in the excavator system, and the electronic fence is a virtual wall that limits the range of the excavator's operating movement.

[0156] When the excavator system detects that the excavator is approaching the working boundary, the excavator system will emit alarm sounds and text prompts of different frequencies. When the excavator is detected to be moving to the set virtual wall, the excavator system will stop the current action of the excavator.

[0157] If the electronic fence function fails and the excavator does not stop when it moves to the set virtual wall, the excavator system will exit the current automatic control mode of the excavator and request to switch to remote control mode. If the remote control mode does not respond, the excavator system will switch the excavator from automatic control mode to manual control mode.

[0158] It can be seen that this optional embodiment can timely and effectively control the control mode of the excavator by detecting the power upper limit percentage value of the excavator and whether the electronic wall exceeds the preset threshold range according to the excavator system, which can further reduce the probability of excavator failure, thereby helping to improve the stability of the excavator, improve the safety and convenience of the operator's control of the machine, and improve the operator's interactivity with the excavator.

[0159] Example 2

[0160] See also Figure 2 , Figure 2 This is a flow chart of a control method for an excavator disclosed in an embodiment of the present invention. Figure 2The control method of the excavator described can be applied to the control system of the excavator, and the system can be applied to the control device of the excavator, wherein the excavator system can be a fully electronic excavator control system, which can include at least one of a controller and a human-computer interaction module, etc., which is not limited in the embodiment of the present invention. Figure 2 As shown, the control method of the excavator may include the following operations:

[0161] 201. When an excavator system receives multiple control instructions from an external input, the excavator system determines whether there is at least one target control instruction among the multiple control instructions whose instruction type is a preset instruction type.

[0162] In the embodiment of the present invention, when it is determined that the instruction type corresponding to at least one target control instruction is a preset instruction type, the operation of step 202 may be performed.

[0163] 202. The excavator system collects working parameters of the excavator's current working state through sensors provided on the excavator, and determines whether the working parameters of the excavator's current working state meet preset parameter conditions.

[0164] In an embodiment of the present invention, the working parameters include: external parameters and internal parameters. The external parameters may include: at least one of external meteorological environment parameters, external geographical environment parameters, etc. The internal parameters may include: at least one of the operating personnel status parameters in the excavator cabin, internal environment parameters, etc.

[0165] 203. Determine whether the working parameters meet the first parameter condition. When it is determined that the working parameters meet the first parameter condition, the operation of step 204 can be executed. When it is determined that the working parameters do not meet the first parameter condition, the operation of step 205 can be executed.

[0166] In an embodiment of the present invention, optionally, the first parameter condition may include: external parameter conditions and internal parameter conditions. The external conditions may include: the presence of at least one of large obstacles, steep slopes, rock formations, deep pits, landslide-prone geology, and water-related areas near the area where the excavator is located, and the current weather conditions are heavy rain and haze. The internal conditions may include: the presence of operator manipulation is detected.

[0167] 204. The excavator system switches the control mode of the excavator to the manual control mode.

[0168] 205. Determine whether the working parameters meet the second parameter condition. When it is determined that the working parameters meet the second parameter condition, the operation of step 206 can be executed. When it is determined that the working parameters do not meet the second parameter condition, the operation of step 207 can be executed.

[0169] In an embodiment of the present invention, optionally, the second parameter condition may include: external parameter conditions and internal parameter conditions. The external conditions may include: the presence of at least one of small and medium-sized obstacles, shallow pits, etc. near the area where the excavator is located, the current weather conditions are foggy and rainy, etc., and the internal conditions may include: no operator operation is detected, etc.

[0170] 206. The excavator system switches the control mode of the excavator to the remote control mode.

[0171] 207. Determine whether the working parameters meet the third parameter condition. When it is determined that the working parameters meet the third parameter condition, the operation of step 208 can be executed. When it is determined that the working parameters do not meet the third parameter condition, the operation of step 202 is repeated.

[0172] In an embodiment of the present invention, the third parameter condition may include: external parameter conditions and internal parameter conditions. The external conditions may include: there are no obstacles near the area where the excavator is located, the current weather conditions are sunny, etc. The internal conditions may include: it is detected that there is no operator operation, the operator is in a fatigued state, etc.

[0173] 208. The excavator system switches the excavator's control mode to automatic control mode.

[0174] In this embodiment of the present invention, you can further select the switching mode (manual control mode, remote control mode, and automatic control mode) through the interactive graphical interface. Click the enable switch of the desired mode to switch from the current mode to another mode. A switching password can be set to avoid accidental activation. The working mode can be selected as trenching, leveling, slope repair, and high platform loading.

[0175] In the embodiment of the present invention, for other descriptions of step 201, please refer to the detailed description of step 101 in the first embodiment, which will not be repeated in the embodiment of the present invention.

[0176] It can be seen that the implementation of the embodiment of the present invention can collect real-time environmental parameters outside or inside the excavator, and determine the control mode of the excavator through the real-time environmental parameters, which can make the control method of the excavator diversified and intelligent, reduce the probability of excavator failure and improve the stability of the excavator, thereby helping to improve the safety and convenience of the operator's control of the machine, and improve the operator's interactivity and usage experience of the excavator.

[0177] It can be seen that implementation Figure 2The described excavator control method can process the simultaneous input of multiple instructions while collecting real-time environmental parameters outside or inside the excavator, and determine the control mode of the excavator based on the real-time environmental parameters. It can optimize the human-computer interaction mode of the excavator, make the control method of the excavator intelligent, reduce the probability of excavator failure and improve the stability of the excavator, thereby helping to improve the safety and convenience of the operator's operation of the machine, and improve the operator's interactivity with the excavator.

[0178] Example 3

[0179] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a control system for an excavator disclosed in an embodiment of the present invention. Figure 3 The described system can execute the above-mentioned excavator control method, and the system can be applied to the control device of the excavator, wherein the excavator system can be a fully electronic excavator control system, and the system can include at least one of a controller and a human-computer interaction module, etc., which is not limited in the embodiment of the present invention. Figure 3 As shown, the control system of the excavator may include: a judgment module 301 and a switching module 302, wherein:

[0180] The judgment module 301 is configured to judge whether there is at least one target control instruction whose instruction type is a preset instruction type among the multiple control instructions when the excavator system receives multiple control instructions from an external input.

[0181] The judging module 301 is further configured to, when it is determined that the instruction type corresponding to at least one target control instruction is a preset instruction type, judge whether there are control instructions corresponding to two or more instruction types in the target control instruction.

[0182] The judgment module 301 is further configured to, when it is determined that there are control instructions corresponding to two or more instruction types in the target control instructions, determine whether the mining targets corresponding to all the target control instructions are consistent.

[0183] The switching module 302 is configured to switch the control mode of the excavator to the first control mode when the judging module 301 judges that the excavation targets corresponding to all target control instructions are consistent.

[0184] The switching module 302 is further configured to switch the control mode of the excavator to the second control mode when the judging module 301 judges that the excavation targets corresponding to all target control instructions are inconsistent.

[0185] It can be seen that implementation Figure 3The control system of the excavator described is capable of processing the simultaneous input of multiple instructions while collecting real-time environmental parameters outside or inside the excavator, and determining the control mode of the excavator through the real-time environmental parameters. It can optimize the human-computer interaction mode of the excavator, make the control method of the excavator intelligent, reduce the probability of excavator failure and improve the stability of the excavator, thereby helping to improve the safety and convenience of the operator's operation of the machine, and improve the operator's interactivity with the excavator.

[0186] In an optional embodiment, the preset instruction type includes: one of a manual control type, a remote control type, and an automatic control type. The first control mode represents a human-machine sharing mode, and the second control mode represents a human-machine switching mode.

[0187] The control mode also includes: one of: manual control mode, remote control mode, and automatic control mode, wherein the manual control mode is used to perform control operations related to the manual control type on the excavator, the remote control mode is used to perform control operations related to the remote control type on the excavator, and the automatic control mode is used to perform control operations related to the automatic control type on the excavator.

[0188] As well as Figure 4 As shown, the specific manner in which the switching module 302 switches the control mode of the excavator to the first control mode is:

[0189] The target control instruction is calculated according to a preset control algorithm and the instruction type of the target control instruction to obtain an optimal control instruction, and the optimal control instruction is used as a control instruction for executing a control operation on the excavator.

[0190] Among them, the calculation formula of the preset control algorithm is expressed as:

[0191] K represents the control right allocation coefficient, Uh represents the operator input parameter, which includes: control instructions corresponding to manual control type and remote control type, Um represents the machine input parameter, which includes: control instructions corresponding to automatic control type, and U represents the actual input of the excavator system.

[0192] The system also includes:

[0193] The discarding module 303 is configured to discard the target control instruction when the judging module 301 judges that the instruction type corresponding to any target control instruction among the multiple control instructions is not a preset instruction type.

[0194] It can be seen that implementation Figure 4The control system of the excavator described can ensure that human intervention in control can be made at any time by adding an algorithm for switching from automatic control and remote control modes to manual mode, thereby reducing the probability of excavator failure and improving the stability of the excavator, which is beneficial to improving the safety and convenience of the operator's operation of the machine, as well as improving the operator's interactivity with the excavator.

[0195] In another optional embodiment, Figure 4 As shown, the specific manner in which the switching module 302 switches the control mode of the excavator to the second control mode is:

[0196] The instruction priority corresponding to each target control instruction is determined according to the instruction type corresponding to each target control instruction, and the excavator is controlled according to the instruction priority corresponding to each target control instruction.

[0197] Among them, the instruction priority corresponding to the control instruction of the manual control type is the first priority, the instruction priority corresponding to the control instruction of the remote control type is the second priority, and the instruction priority corresponding to the control instruction of the automatic control type is the third priority.

[0198] It can be seen that implementation Figure 4 The control system of the excavator described can switch the automatic control, remote control and manual mode of the excavator through command priority, ensuring that human intervention in the control can be made at any time, thereby reducing the probability of failure of the excavator and improving the stability of the excavator, which is conducive to improving the safety and convenience of the operator's operation of the machine, and improving the operator's interactivity with the excavator.

[0199] In another optional embodiment, Figure 4 As shown, the system also includes:

[0200] The judging module 301 is further configured to judge whether the instruction type corresponding to the target control instruction is a manual control type when it is determined that there is only a control instruction corresponding to one instruction type in the target control instruction.

[0201] The control module 304 is configured to execute a control operation related to the manual control type on the excavator according to the target control instruction when the judgment module 301 judges that the instruction type corresponding to the target control instruction is the manual control type.

[0202] The judgment module 301 judges whether the instruction type corresponding to the target control instruction is a remote control type when it is judged that the instruction type corresponding to the target control instruction is not a manual control type.

[0203] The control module 304 is further configured to execute a control operation related to the remote control type on the excavator according to the target control instruction when the judgment module 301 judges that the instruction type corresponding to the target control instruction is the remote control type.

[0204] The judging module 301 is further configured to judge whether the instruction type corresponding to the target control instruction is an automatic control type when it is judged that the instruction type corresponding to the target control instruction is not a remote control type.

[0205] The control module 304 is further configured to execute a control operation related to the automatic control type on the excavator according to the target control instruction when the judgment module 301 judges that the instruction type corresponding to the target control instruction is the remote control type.

[0206] It can be seen that implementation Figure 4 The control system of the excavator described can be intelligently controlled according to the control instruction type of the excavator, can optimize the control mode of the excavator, make the control method of the excavator intelligent, reduce the probability of excavator failure and improve the stability of the excavator, thereby helping to improve the safety and convenience of the operator's operation of the machine, and improve the operator's interactivity with the excavator.

[0207] In yet another optional embodiment, the system further comprises:

[0208] The judgment module 301 is further configured to judge whether the excavator meets a preset abnormal condition when the control mode of the excavator is in the automatic control mode.

[0209] The switching module is further configured to switch the control mode of the excavator from the automatic control mode to the manual control mode when the judging module 301 judges that the excavator meets the first abnormal condition.

[0210] When it is determined that the excavator satisfies the second abnormal condition, the control mode of the excavator is switched from the automatic control mode to the remote control mode.

[0211] The stopping module 305 is configured to exit the automatic control mode and stop controlling the excavator when the judging module 301 judges that the excavator meets the third abnormal condition.

[0212] It can be seen that implementation Figure 4 The control system of the excavator described can timely and effectively control the control mode of the excavator according to the abnormal conditions determined by the excavator system, optimize the control mode of the excavator, make the control method of the excavator intelligent, reduce the probability of failure of the excavator and improve the stability of the excavator, thereby helping to improve the safety and convenience of the operator's operation of the machine, and improve the operator's interactivity with the excavator.

[0213] In yet another optional embodiment, the system further comprises:

[0214] The acquisition module 306 is used to collect the working parameters of the excavator's current working state through the sensors set on the excavator. The working parameters include: external parameters and internal parameters. The external parameters include: at least one of the external meteorological environment parameters and the external geographical environment parameters. The internal parameters include: the operating personnel status parameters in the excavator cabin and at least one of the internal environment parameters.

[0215] The judging module 301 is further configured to judge whether the working parameters of the excavator's current working state collected by the collecting module 306 meet preset parameter conditions.

[0216] The switching module is further configured to switch the control mode of the excavator to the manual control mode when the judging module 301 judges that the working parameter meets the first parameter condition.

[0217] When it is determined that the working parameter meets the second parameter condition, the control mode of the excavator is switched to the remote control mode.

[0218] When it is determined that the working parameter meets the third parameter condition, the control mode of the excavator is switched to the automatic control mode.

[0219] It can be seen that implementation Figure 4 The control system of the excavator described is capable of collecting real-time environmental parameters outside or inside the excavator, and determining the control mode of the excavator based on the real-time environmental parameters, thereby diversifying and intelligentizing the control mode of the excavator, reducing the probability of failure of the excavator and improving the stability of the excavator, thereby helping to improve the safety and convenience of the operator's operation of the machine, as well as improving the operator's interactivity and user experience with the excavator.

[0220] In yet another optional embodiment, the system further comprises:

[0221] The judgment module 301 is further configured to judge whether a preset human operation action is triggered inside the excavator when the control mode of the excavator is in the automatic control mode or the remote control mode.

[0222] The sending module 307 is used to send a request to the operator to exit the automatic control mode or remote control mode when the judging module 301 judges that a preset manual operation action is triggered inside the excavator, and send a prompt to the operator to trigger the manual operation action.

[0223] The waiting module 308 is used to wait for the operator to respond to the request sent by the sending module 307.

[0224] The stopping module 309 is configured to stop the automatic control mode or the remote control mode when the waiting time for the response corresponding to the request waited for by the waiting module 308 is longer than a preset time.

[0225] Among them, the preset human operation actions include: one of: handle control action, pedal control action, unlocking action, and locking action.

[0226] It can be seen that implementation Figure 4 The control system of the excavator described can timely and effectively control the control mode of the excavator by detecting whether there is any human operation behavior on the excavator. It can optimize the control mode of the excavator, make the control method of the excavator intelligent, reduce the probability of excavator failure and improve the stability of the excavator, thereby helping to improve the safety and convenience of the operator's operation of the machine, and improve the operator's interactivity with the excavator.

[0227] Example 4

[0228] See also Figure 5 , Figure 5 FIG. 1 is a structural diagram of another excavator control system disclosed in an embodiment of the present invention. Figure 5 As shown, the control system of the excavator may include:

[0229] A memory 401 storing executable program code;

[0230] a processor 402 coupled to the memory 401;

[0231] The processor 402 calls the executable program code stored in the memory 401 to execute the steps of the excavator control method described in the first embodiment or the second embodiment of the present invention.

[0232] Example 5

[0233] An embodiment of the present invention discloses a computer storage medium storing computer instructions. When the computer instructions are called, they are used to execute the steps of the excavator control method described in the first embodiment or the second embodiment of the present invention.

[0234] Example 6

[0235] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps in the excavator control method described in embodiment 1 or embodiment 2.

[0236] The system embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present embodiment without inventive effort.

[0237] Through the detailed description of the above embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by means of hardware. Based on this understanding, the above technical solution, in essence, or the portion 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 a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0238] Finally, it should be noted that the control method and system for an excavator disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, and are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A control method for an excavator, characterized in that: The method comprises: When the excavator system receives a plurality of control instructions from an external input, the excavator system determines whether there is at least one target control instruction among the plurality of control instructions whose instruction type is a preset instruction type; When it is determined that the instruction type corresponding to at least one target control instruction is a preset instruction type, the excavator system determines whether there are control instructions corresponding to two or more instruction types in the target control instruction; When it is determined that there are control instructions corresponding to two or more instruction types in the target control instructions, the excavator system determines whether the excavation targets corresponding to all the target control instructions are consistent; When it is determined that the excavation targets corresponding to all target control instructions are consistent, the excavator system switches the control mode of the excavator to the first control mode; When it is determined that the excavation targets corresponding to all target control instructions are inconsistent, the excavator system switches the control mode of the excavator to the second control mode; The preset instruction type includes: one of a manual control type, a remote control type, and an automatic control type. The first control mode represents a human-machine sharing mode, and the second control mode represents a human-machine switching mode. The control mode further includes: one of a manual control mode, a remote control mode, and an automatic control mode, wherein the manual control mode is used to perform control operations related to the manual control type on the excavator, the remote control mode is used to perform control operations related to the remote control type on the excavator, and the automatic control mode is used to perform control operations related to the automatic control type on the excavator; The excavator system switches the control mode of the excavator to a first control mode, including: The excavator system calculates the target control instruction according to a preset control algorithm and the instruction type of the target control instruction to obtain an optimal control instruction, and uses the optimal control instruction as a control instruction for performing a control operation on the excavator; The calculation formula of the preset control algorithm is expressed as: ; K represents a control right allocation coefficient, Uh represents an operator input parameter, which includes control instructions corresponding to the manual control type and the remote control type, Um represents a machine input parameter, which includes control instructions corresponding to the automatic control type, and U represents an actual input of the excavator system; The method further comprises: When it is determined that the instruction type corresponding to any target control instruction among the multiple control instructions is not a preset instruction type, the target control instruction is discarded.

2. The excavator control method according to claim 1, characterized in that: The excavator system switches the control mode of the excavator to a second control mode, including: The excavator system determines the instruction priority corresponding to each target control instruction according to the instruction type corresponding to each target control instruction, and controls the excavator according to the instruction priority corresponding to each target control instruction; Among them, the instruction priority corresponding to the control instruction of the manual control type is the first priority, the instruction priority corresponding to the control instruction of the remote control type is the second priority, and the instruction priority corresponding to the control instruction of the automatic control type is the third priority.

3. The excavator control method according to claim 1, characterized in that: The method further comprises: When it is determined that there is only one control instruction corresponding to one instruction type in the target control instruction, the excavator system determines whether the instruction type corresponding to the target control instruction is a manual control type; When it is determined that the instruction type corresponding to the target control instruction is a manual control type, the excavator system performs a control operation related to the manual control type on the excavator according to the target control instruction; When it is determined that the instruction type corresponding to the target control instruction is not a manual control type, the excavator system determines whether the instruction type corresponding to the target control instruction is a remote control type; When it is determined that the instruction type corresponding to the target control instruction is a remote control type, the excavator system performs a control operation related to the remote control type on the excavator according to the target control instruction; When it is determined that the instruction type corresponding to the target control instruction is not a remote control type, the excavator system determines whether the instruction type corresponding to the target control instruction is an automatic control type; When it is determined that the instruction type corresponding to the target control instruction is an automatic control type, the excavator system performs a control operation related to the automatic control type on the excavator according to the target control instruction.

4. The excavator control method according to claim 1, characterized in that: The method further comprises: When the control mode of the excavator is in the automatic control mode, the excavator system determines whether the excavator meets a preset abnormal condition; When it is determined that the excavator meets a first abnormal condition, the excavator system switches the control mode of the excavator from the automatic control mode to the manual control mode; When it is determined that the excavator satisfies a second abnormal condition, the excavator system switches the control mode of the excavator from the automatic control mode to the remote control mode; When it is determined that the excavator satisfies a third abnormal condition, the excavator system exits the automatic control mode and stops the control operation of the excavator.

5. The excavator control method according to any one of claims 1 to 4, characterized in that: The method further comprises: The excavator system collects working parameters of the excavator's current working state through sensors provided on the excavator, wherein the working parameters include external parameters and internal parameters, wherein the external parameters include at least one of external meteorological environment parameters and external geographical environment parameters, and the internal parameters include at least one of the state parameters of the operator in the excavator cabin and internal environment parameters; Determining whether the working parameters of the excavator in the current working state meet the preset parameter conditions; When it is determined that the working parameter meets the first parameter condition, the excavator system switches the control mode of the excavator to the manual control mode; When it is determined that the operating parameter satisfies a second parameter condition, the excavator system switches the control mode of the excavator to the remote control mode; When it is determined that the operating parameter satisfies a third parameter condition, the excavator system switches the control mode of the excavator to the automatic control mode.

6. The excavator control method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the control mode of the excavator is in the automatic control mode or the remote control mode, the excavator system determines whether a preset human operation action is triggered inside the excavator; When it is determined that a preset human operation action is triggered inside the excavator, the excavator system sends a request to the operator to exit the automatic control mode or the remote control mode, and sends a prompt to the operator to trigger the manual operation action, and waits for the operator to respond to the request; When the waiting time for a response to the request is longer than a preset time, the excavator system stops the automatic control mode or the remote control mode; The preset human operation action includes: one of a handle control action, a pedal control action, an unlocking action, and a locking action.

7. A control system for an excavator, characterized in that: The system comprises: a judgment module, configured to, when the excavator system receives a plurality of control instructions inputted from the outside, judge whether there is at least one target control instruction among the plurality of control instructions whose instruction type is a preset instruction type; The judging module is further configured to, when it is judged that the instruction type corresponding to at least one target control instruction is a preset instruction type, judge whether there are control instructions corresponding to two or more instruction types in the target control instruction; The judgment module is further configured to, when the judgment module determines that there are control instructions corresponding to two or more instruction types in the target control instructions, determine whether the excavation targets corresponding to all the target control instructions are consistent; a switching module, configured to switch the control mode of the excavator to the first control mode when it is determined that the excavation targets corresponding to all target control instructions are consistent; The switching module is further configured to switch the control mode of the excavator to the second control mode when the judging module judges that the excavation targets corresponding to all target control instructions are inconsistent; The preset instruction type includes: one of a manual control type, a remote control type, and an automatic control type. The first control mode represents a human-machine sharing mode, and the second control mode represents a human-machine switching mode. The control mode further includes: one of a manual control mode, a remote control mode, and an automatic control mode, wherein the manual control mode is used to perform control operations related to the manual control type on the excavator, the remote control mode is used to perform control operations related to the remote control type on the excavator, and the automatic control mode is used to perform control operations related to the automatic control type on the excavator; The specific manner in which the switching module switches the control mode of the excavator to the first control mode is: Calculating the target control instruction according to a preset control algorithm and the instruction type of the target control instruction to obtain an optimal control instruction, and using the optimal control instruction as a control instruction for performing a control operation on the excavator; The calculation formula of the preset control algorithm is expressed as: ; K represents a control right allocation coefficient, Uh represents an operator input parameter, which includes control instructions corresponding to the manual control type and the remote control type, Um represents a machine input parameter, which includes control instructions corresponding to the automatic control type, and U represents an actual input of the excavator system; The system further comprises: The discarding module is configured to discard the target control instruction when the judging module judges that the instruction type corresponding to any target control instruction among the multiple control instructions is not a preset instruction type.

8. A control system for an excavator, characterized in that: The system comprises: a memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the excavator control method according to any one of claims 1 to 6.

9. A computer storage medium, characterized in that The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the excavator control method according to any one of claims 1 to 6.

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