Auxiliary control method, device, equipment, medium and system for excavator

Abstract

The present invention discloses an auxiliary control method, device, equipment, medium, and system for an excavator. The method uses the acquired original excavator sensor joint description data to calibrate the current excavator sensor joint description data, obtaining the current excavator sensor joint description calibration data and determining the current excavator operating condition. The method also obtains the hydraulic pump speed, dipper arm movement speed, and operating point distance corresponding to the current excavator to determine the boom cylinder solenoid valve reference current and bucket cylinder solenoid valve reference current. The method also calculates the target boom position and target bucket cylinder length. The method also obtains the actual boom position and actual bucket cylinder length corresponding to the current excavator, and adjusts the boom cylinder solenoid valve reference current and bucket cylinder solenoid valve reference current using current control rules to achieve auxiliary control of the current excavator. The method solves the problem of complex and difficult manual operation of excavators and improves the efficiency and accuracy of excavator operation.

Description

Technical Field

[0001] The present invention relates to the field of excavator control technology, and in particular to an excavator auxiliary control method, device, equipment, medium and system. Background Art

[0002] Excavators are important pieces of engineering machinery and are widely used in infrastructure construction, mining and other fields, playing an important role. However, due to the diverse operating conditions and complex operations of excavators, high requirements are placed on drivers.

[0003] In the process of realizing the present invention, the inventors found that the existing technology has the following defects: At present, when working on level ground or brushing slopes, the driver needs to operate the boom, dipper arm and bucket at the same time to coordinate the movements to complete the work, which requires a very high level of operating skills of the driver, and the construction quality is difficult to guarantee. The operation is difficult, which is not conducive to improving the working efficiency of the excavator. Summary of the Invention

[0004] The present invention provides an excavator auxiliary control method, device, equipment, medium and system to improve the efficiency and accuracy of excavator operation.

[0005] According to one aspect of the present invention, there is provided an auxiliary control method for an excavator, comprising:

[0006] Acquire current excavator sensor joint description data and original excavator sensor joint description data, and calibrate the current excavator sensor joint description data using the original excavator sensor joint description data to obtain current excavator sensor joint description calibration data;

[0007] Determining the current excavator operating condition based on the current excavator sensor combined description calibration data;

[0008] Obtain the hydraulic pump speed, arm movement speed, and working point distance corresponding to the current excavator, and determine the boom cylinder solenoid valve movement reference current and bucket cylinder solenoid valve reference current based on the current excavator working condition;

[0009] Obtaining the current arm position and calculating the target boom position and target bucket cylinder length based on the current excavator sensor joint description calibration data while maintaining the bucket's relative position to the work surface;

[0010] The actual boom position and actual bucket cylinder length corresponding to the current excavator are obtained, and according to the target boom position and the target bucket cylinder length, the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current are adjusted respectively through the pre-set current control rules to realize auxiliary control of the current excavator.

[0011] According to another aspect of the present invention, there is provided an auxiliary control device for an excavator, comprising:

[0012] a current excavator sensor joint description calibration data determination module, configured to obtain current excavator sensor joint description data and original excavator sensor joint description data, and calibrate the current excavator sensor joint description data using the original excavator sensor joint description data to obtain current excavator sensor joint description calibration data;

[0013] a current excavator operating condition determination module, configured to determine the current excavator operating condition based on the current excavator sensor joint description calibration data;

[0014] A reference current determination module is used to obtain the hydraulic pump speed, bucket arm movement speed and working point distance corresponding to the current excavator, and determine the boom cylinder solenoid valve movement reference current and bucket cylinder solenoid valve reference current according to the current excavator working condition;

[0015] a target boom position and target bucket cylinder length calculation module, configured to obtain the current arm position and, based on the current excavator sensor joint description calibration data, calculate the target boom position and target bucket cylinder length while maintaining the bucket's relative position to the work surface;

[0016] The reference current regulation module is used to obtain the actual boom position and actual bucket cylinder length corresponding to the current excavator, and according to the target boom position and the target bucket cylinder length, adjust the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current respectively through the preset current control rules to achieve auxiliary control of the current excavator.

[0017] According to another aspect of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the excavator auxiliary control method described in any embodiment of the present invention is implemented.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the excavator auxiliary control method according to any embodiment of the present invention when executed.

[0019] According to another aspect of the present invention, there is provided an excavator auxiliary control system, the excavator auxiliary control system comprising: a boom inclination sensor, a bucket arm inclination sensor, a bucket cylinder displacement sensor, a vehicle body inclination sensor, and a controller;

[0020] Wherein, the boom inclination angle sensor is used to detect the relative rotation angle of the boom;

[0021] The arm inclination sensor is used to detect the relative rotation angle of the arm;

[0022] The bucket cylinder displacement sensor is used to detect the displacement length of the bucket cylinder;

[0023] The vehicle body inclination sensor is used to detect the longitudinal and lateral inclination of the vehicle body;

[0024] The controller is used to execute the excavator auxiliary control method described in any embodiment of the present invention.

[0025] The technical solution of the embodiment of the present invention is to obtain the current excavator sensor joint description data and the original excavator sensor joint description data, and calibrate the current excavator sensor joint description data through the original excavator sensor joint description data to obtain the current excavator sensor joint description calibration data; determine the current excavator operating condition according to the current excavator sensor joint description calibration data; obtain the hydraulic pump speed, dipper arm movement speed and working point distance corresponding to the current excavator, and determine the boom cylinder solenoid valve movement reference current and the bucket cylinder solenoid valve reference current according to the current excavator operating condition; obtain the current dipper arm position, and calculate the target boom position and target bucket cylinder length according to the current excavator sensor joint description calibration data while keeping the bucket in an unchanged relative position to the working surface; obtain the actual boom position and actual bucket cylinder length corresponding to the current excavator, and according to the target boom position and target bucket cylinder length, adjust the boom cylinder solenoid valve movement reference current and the bucket cylinder solenoid valve reference current respectively through pre-set current control rules to achieve auxiliary control of the current excavator. It solves the problem of complex and difficult manual operation of excavators, improves the efficiency and accuracy of excavator operation, reduces labor costs, and reduces the operational complexity of excavator leveling or slope operations.

[0026] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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.

[0028] Figure 1 This is a flow chart of an auxiliary control method for an excavator provided according to the first embodiment of the present invention;

[0029] Figure 2 This is a structural diagram of an auxiliary control device for an excavator provided according to a second embodiment of the present invention;

[0030] Figure 3 This is a schematic structural diagram of an electronic device provided according to a third embodiment of the present invention;

[0031] Figure 4 1 is a structural diagram of an excavator auxiliary control system provided according to embodiment 5 of the present invention. DETAILED DESCRIPTION

[0032] 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 drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "target", "current", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Example 1

[0035] Figure 1 A flowchart of an excavator auxiliary control method is provided for the first embodiment of the present invention. This embodiment is applicable to situations where auxiliary control of an excavator is performed when the excavator is performing leveling or slope operations. The method can be executed by an excavator auxiliary control device, which can be implemented in the form of hardware and / or software.

[0036] Correspondingly, such as Figure 1 As shown, the method includes:

[0037] S110 , obtaining current excavator sensor joint description data and original excavator sensor joint description data, and calibrating the current excavator sensor joint description data using the original excavator sensor joint description data to obtain current excavator sensor joint description calibration data.

[0038] The current excavator sensor joint description data may be data collected by multiple types of sensors. The raw excavator sensor joint description data may be standard data collected by multiple types of sensors. The current excavator sensor joint description calibration data may be data obtained by calibrating the current excavator sensor joint description data.

[0039] Specifically, the current excavator sensor joint description data may include: the current vehicle body horizontal state vehicle body inclination sensor data, the current boom inclination sensor data when the boom is raised to the extreme position and the dipper arm is opened to the extreme position, the current dipper arm inclination sensor data and the bucket cylinder sensor data when the bucket is currently opened and retracted to the extreme position.

[0040] In addition, the original excavator sensor joint description data may include: original body horizontal state body inclination sensor data, original boom inclination sensor data when the boom is raised to the extreme position and the dipper arm is opened to the extreme position, original dipper arm inclination sensor data and original bucket cylinder sensor data when the bucket is opened and retracted to the extreme position.

[0041] In this embodiment, the current excavator sensor joint description data may be calibrated using the original excavator sensor joint description data, thereby obtaining the current excavator sensor joint description calibration data.

[0042] For example, assuming the original excavator sensor joint description data is {a1, b1, c1, d1} and the current excavator sensor joint description data is {a2, b2, c2, d2}, {a1, b1, c1, d1} can be used to calibrate {a2, b2, c2, d2} to obtain the current excavator sensor joint description calibration data. Specifically, the current excavator sensor joint description calibration data can be {a2-a1, b2-b1, c2-c1, d2-d1}.

[0043] S120: Determine the current excavator operating condition based on the current excavator sensor joint description calibration data.

[0044] The current excavator operating condition may include the height of the working surface, the slope of the working surface, and the position of the boom perpendicular to the working surface.

[0045] In this embodiment, the height of the working surface, the slope of the working surface, and the position of the boom perpendicular to the working surface can be calculated respectively by combining the current excavator sensors with the described calibration data.

[0046] S130: Obtain the hydraulic pump speed, arm movement speed, and working point distance corresponding to the current excavator, and determine the boom cylinder solenoid valve movement reference current and bucket cylinder solenoid valve reference current according to the current excavator working condition.

[0047] The boom cylinder solenoid valve actuation reference current may be a value determined based on the description parameters of the current excavator. The bucket cylinder solenoid valve actuation reference current may be a value determined based on the description parameters of the current excavator.

[0048] In this embodiment, the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current can be determined respectively by the hydraulic pump speed, boom movement speed, work point distance and current excavator working condition (specifically, the current excavator working condition can be the working surface height, working surface slope and the position of the boom perpendicular to the working surface).

[0049] S140, obtaining the current arm position, and calculating the target boom position and the target bucket cylinder length based on the current excavator sensor joint description calibration data while maintaining the relative position of the bucket to the working surface unchanged.

[0050] The current arm position may be a specific position of the current excavator arm. The target boom position may be a target position of the current excavator boom. The target bucket cylinder length may be a target length of the current excavator bucket cylinder.

[0051] In this embodiment, while the bucket maintains its relative position to the work surface, the current arm position and the calibration data of the current excavator sensors can be used to further determine the target boom position and bucket cylinder length of the current excavator. For example, assume that the target boom position is M and the target bucket cylinder length is L.

[0052] In addition, the current excavator operation mode includes: bucket tip operation mode and bucket bottom operation mode; among them, in the bucket tip operation mode, the current excavator bucket remains stationary; during the bucket arm movement corresponding to the bucket bottom operation mode, the current excavator boom and the current excavator bucket movement are automatically controlled so that the bucket bottom of the current excavator bucket fits the working surface.

[0053] It is understandable that in the bucket tip operation mode, since the current excavator bucket remains stationary, it is only necessary to calculate the target boom position, and then only the reference current of the boom cylinder solenoid valve action needs to be adjusted.

[0054] Furthermore, in the bucket bottom operation mode, it is necessary to simultaneously calculate the target boom position and the target bucket cylinder length, and then adjust the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current respectively.

[0055] Accordingly, when the current excavator is performing leveling or slope operations, it is only necessary to operate the handle to control the action of the dipper arm, and the controller automatically controls the action of the boom and bucket to move the bucket tip or bottom on the working plane.

[0056] In addition, the control mode of the handle controlling the boom may include a terminal constant speed mode or a terminal variable speed mode.

[0057] Specifically, in the terminal uniform speed mode, the moving speed of the work point is determined according to the angle of the boom operating handle, and the controller automatically controls the movement speed of the boom, arm and bucket, so that the bucket tip or bottom moves on the working surface at the set movement speed.

[0058] Correspondingly, in the terminal speed change mode, the movement speed of the bucket arm is determined according to the angle of the bucket arm operating handle, and the controller automatically controls the movement speed of the boom and bucket so that the bucket tip or bucket bottom moves within the working plane.

[0059] In addition, the operation of the excavator arm can include inward and outward swing. When the arm is inward, the bucket is only adjusted to drop out, and when the arm is swung out, the bucket is only adjusted to retract.

[0060] Specifically, during the arm-in process, only arm-raising control and current regulation are performed before the line connecting the arm-boom hinge point and the bucket tip working point is perpendicular to the work surface. After the arm is perpendicular to the work surface, only arm-lowering control and current regulation are performed. During the arm-out process, only arm-raising control and current regulation are performed before the line connecting the arm-boom hinge point and the bucket tip working point is perpendicular to the work surface. After the arm is perpendicular to the work surface, only arm-lowering control and current regulation are performed.

[0061] S150. Obtain the actual boom position and actual bucket cylinder length corresponding to the current excavator, and according to the target boom position and the target bucket cylinder length, adjust the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current respectively through the pre-set current control rules to achieve auxiliary control of the current excavator.

[0062] The actual boom position may be the actual boom position of the current excavator, and the actual bucket cylinder length may be the actual length of the bucket cylinder of the current excavator.

[0063] Specifically, the actual boom position and actual bucket cylinder length corresponding to the current excavator are obtained, and according to the target boom position and the target bucket cylinder length, the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current are adjusted respectively by a pre-set current control rule to realize auxiliary control of the current excavator, including: calculating the current boom position deviation value according to the actual boom position and the target boom position; adjusting the current boom current adjustment value according to the current boom position deviation value; calculating the current bucket cylinder length deviation value according to the actual bucket cylinder length and the target bucket cylinder length; adjusting the current bucket cylinder current adjustment value according to the current control rule according to the current bucket cylinder length deviation value; adjusting the boom cylinder solenoid valve action reference current according to the current boom current adjustment value, and adjusting the bucket cylinder solenoid valve reference current according to the current bucket cylinder current adjustment value to realize auxiliary control of the current excavator.

[0064] The current boom position deviation value may be the deviation between the target boom position and the actual boom position. The current boom current adjustment value may be the value to which the current boom current needs to be adjusted. The current bucket cylinder length deviation value may be the deviation between the actual bucket cylinder length and the target bucket cylinder length. The current bucket cylinder current adjustment value may be the value to which the current bucket cylinder current needs to be adjusted.

[0065] Continuing with the previous example, since the target boom position is M and the target bucket cylinder length is L, assuming that the actual boom position is M1 and the actual bucket cylinder length is L1, the current boom position deviation value can be calculated as M-M1 and the current bucket cylinder length deviation value can be calculated as L-L1 respectively.

[0066] In detail, the adjustment process is performed according to the current control rule based on the current boom position deviation value to obtain the current boom current adjustment value, including: obtaining a preset boom position upper boundary and boom position lower boundary; if the current boom position deviation value is between the boom position upper boundary and the boom position lower boundary, determining the change trend of the current boom position deviation value; if the current boom position deviation value is an increasing trend, performing an increase adjustment process according to the current control rule to obtain the current boom current adjustment value; if the current boom position deviation value is a decreasing trend, performing a decrease adjustment process according to the current control rule to obtain the current boom current adjustment value; if the current boom position deviation value is greater than the boom position upper boundary and meets the increase of the action current of the action proportional valve, performing an adjustment process on the current boom position deviation value according to the current control rule to obtain the current boom current adjustment value; if the current boom position deviation value is less than the boom position lower boundary and meets the decrease of the action current of the action proportional valve, performing an adjustment process on the current boom position deviation value according to the current control rule to obtain the current boom current adjustment value.

[0067] Continuing from the previous example, assume that the upper boundary of the boom position is M max , the lower boundary of the boom position is M min Assume that the current boom position deviation value M-M1 is at M max and M min Between, that is, M min <M-M1<M max Assuming that the current boom position deviation value has an increasing trend, the current control rule is used to perform an increasing adjustment process to obtain the current boom current adjustment value. Assuming that the current boom position deviation value has a decreasing trend, the current control rule is used to perform a decreasing adjustment process to obtain the current boom current adjustment value.

[0068] Furthermore, assuming that M-M1>M max , and the action current of the proportional valve increases, then the current position deviation of the boom is adjusted according to the current control rule to obtain the current adjustment value of the boom current. Assume that M-M1<M min , and the action current of the proportional valve is reduced, the current boom position deviation value is adjusted through the current control rule to obtain the current boom current adjustment value.

[0069] Similarly, it can be known that the same calculation method is used to adjust the current bucket cylinder current adjustment value according to the current bucket cylinder length deviation value through the current control rule, which will not be repeated here.

[0070] Optionally, after adjusting the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current respectively to realize auxiliary control of the current excavator, it also includes: obtaining the current boom position deviation value and the current bucket cylinder length deviation value for a predetermined number of consecutive times; if each of the current boom position deviation values ​​is greater than the preset boom position predetermined value, and the actual output current of the boom action is greater than the boom cylinder solenoid valve action reference current at the corresponding operating point distance, then increasing the set value of the boom cylinder solenoid valve action reference current at the corresponding operating point distance; if each of the current boom position deviation values ​​is greater than the preset boom position predetermined value, and the actual output current of the boom action is less than the boom position predetermined value at the corresponding operating point distance, then increasing the set value of the boom cylinder solenoid valve action reference current at the corresponding operating point distance; If the arm cylinder solenoid valve action reference current is reduced, the set value of the arm cylinder solenoid valve action reference current at the corresponding operating point distance of the adjusted arm is reduced; if the current bucket cylinder length deviation values ​​are all greater than the preset bucket cylinder length predetermined value, and the actual output current of the bucket action is greater than the reference current of the bucket cylinder solenoid valve at the corresponding operating point distance, the set value of the bucket cylinder solenoid valve reference current at the corresponding operating point distance of the adjusted bucket is increased; if the current bucket cylinder length deviation values ​​are all greater than the preset bucket cylinder length predetermined value, and the actual output current of the bucket action is less than the reference current of the bucket cylinder solenoid valve at the corresponding operating point distance, the set value of the bucket cylinder solenoid valve reference current at the corresponding operating point distance of the adjusted bucket is reduced.

[0071] In this embodiment, during excavator operation, the current boom position deviation and actual boom proportional valve output current, as well as the current bucket cylinder length deviation and actual bucket proportional valve output current, are collected at different distances from the work point. The controller can then automatically adjust the reference currents for the corresponding positions stored in the controller based on these deviations, fine-tuning the boom cylinder solenoid valve reference current and the bucket cylinder solenoid valve reference current.

[0072] Specifically, first, it is necessary to obtain the current boom position deviation value and the current bucket cylinder length deviation value for a predetermined number of consecutive times; it is also necessary to obtain the boom position predetermined value, the bucket cylinder length predetermined value, the actual output current of the boom action, and the actual output current of the bucket action.

[0073] In this embodiment, the set value of the boom cylinder solenoid valve action reference current is further increased or decreased by comparing the size relationship between the current boom position deviation value and the boom position preset value, as well as the size relationship between the actual boom action output current and the boom cylinder solenoid valve action reference current.

[0074] Furthermore, by comparing the current bucket cylinder length deviation value and the predetermined bucket cylinder length value, as well as the actual output current of the bucket action and the reference current of the bucket cylinder solenoid valve, the set value of the bucket cylinder solenoid valve reference current is further increased or decreased.

[0075] The advantage of this setting is that it is necessary to fine-tune the set values ​​of the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current, so that a more accurate boom cylinder solenoid valve action reference current and bucket cylinder solenoid valve reference current can be determined based on the hydraulic pump speed, dipper arm action speed, operating point distance and current excavator operating conditions corresponding to the current excavator.

[0076] The technical solution of the embodiment of the present invention is to obtain the current excavator sensor joint description data and the original excavator sensor joint description data, and calibrate the current excavator sensor joint description data through the original excavator sensor joint description data to obtain the current excavator sensor joint description calibration data; determine the current excavator operating condition according to the current excavator sensor joint description calibration data; obtain the hydraulic pump speed, dipper arm movement speed and working point distance corresponding to the current excavator, and determine the boom cylinder solenoid valve movement reference current and the bucket cylinder solenoid valve reference current according to the current excavator operating condition; obtain the current dipper arm position, and calculate the target boom position and target bucket cylinder length according to the current excavator sensor joint description calibration data while keeping the bucket in an unchanged relative position to the working surface; obtain the actual boom position and actual bucket cylinder length corresponding to the current excavator, and according to the target boom position and target bucket cylinder length, adjust the boom cylinder solenoid valve movement reference current and the bucket cylinder solenoid valve reference current respectively through pre-set current control rules to achieve auxiliary control of the current excavator. It solves the problem of complex and difficult manual operation of excavators, improves the efficiency and accuracy of excavator operation, reduces labor costs, and reduces the operational complexity of excavator leveling or slope operations.

[0077] Example 2

[0078] Figure 2 This is a structural diagram of an excavator auxiliary control device provided in the second embodiment of the present invention. The excavator auxiliary control device provided in this embodiment can be implemented by software and / or hardware, and can be configured in a terminal device or server to implement an excavator auxiliary control method in the embodiment of the present invention. Figure 2 As shown, the device includes: a current excavator sensor joint description calibration data determination module 210, a current excavator operating condition determination module 220, a reference current determination module 230, a target boom position and target bucket cylinder length calculation module 240 and a reference current adjustment module 250.

[0079] The current excavator sensor joint description calibration data determination module 210 is configured to obtain the current excavator sensor joint description data and the original excavator sensor joint description data, and calibrate the current excavator sensor joint description data using the original excavator sensor joint description data to obtain the current excavator sensor joint description calibration data.

[0080] a current excavator operating condition determination module 220, configured to determine the current excavator operating condition based on the current excavator sensor joint description calibration data;

[0081] The reference current determination module 230 is used to obtain the hydraulic pump speed, bucket arm movement speed and working point distance corresponding to the current excavator, and determine the boom cylinder solenoid valve movement reference current and bucket cylinder solenoid valve reference current according to the current excavator working condition;

[0082] A target boom position and target bucket cylinder length calculation module 240 is used to obtain the current arm position and, based on the current excavator sensor joint description calibration data, calculate the target boom position and target bucket cylinder length while maintaining the bucket's relative position to the work surface;

[0083] The reference current regulation module 250 is used to obtain the actual boom position and actual bucket cylinder length corresponding to the current excavator, and according to the target boom position and the target bucket cylinder length, adjust the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current respectively through the pre-set current control rules to achieve auxiliary control of the current excavator.

[0084] The technical solution of the embodiment of the present invention is to obtain the current excavator sensor joint description data and the original excavator sensor joint description data, and calibrate the current excavator sensor joint description data through the original excavator sensor joint description data to obtain the current excavator sensor joint description calibration data; determine the current excavator operating condition according to the current excavator sensor joint description calibration data; obtain the hydraulic pump speed, dipper arm movement speed and working point distance corresponding to the current excavator, and determine the boom cylinder solenoid valve movement reference current and the bucket cylinder solenoid valve reference current according to the current excavator operating condition; obtain the current dipper arm position, and calculate the target boom position and target bucket cylinder length according to the current excavator sensor joint description calibration data while keeping the bucket in an unchanged relative position to the working surface; obtain the actual boom position and actual bucket cylinder length corresponding to the current excavator, and according to the target boom position and target bucket cylinder length, adjust the boom cylinder solenoid valve movement reference current and the bucket cylinder solenoid valve reference current respectively through pre-set current control rules to achieve auxiliary control of the current excavator. It solves the problem of complex and difficult manual operation of excavators, improves the efficiency and accuracy of excavator operation, reduces labor costs, and reduces the operational complexity of excavator leveling or slope operations.

[0085] On the basis of the above embodiments, it can also be specifically used for: the current excavator sensor joint description data includes: the current vehicle body horizontal state vehicle body inclination sensor data, the current boom inclination sensor data when the boom is raised to the extreme position and the dipper arm is opened to the extreme position, the current dipper arm inclination sensor data and the bucket cylinder sensor data when the bucket is currently opened and retracted to the extreme position; the current excavator operating condition includes the working surface height, the working surface slope, and the position of the dipper arm perpendicular to the working surface.

[0086] On the basis of the above embodiments, the reference current regulation module 250 can be specifically used to: calculate the current boom position deviation value according to the actual boom position and the target boom position; adjust the current boom current adjustment value according to the current boom position deviation value through the current control rule; calculate the current bucket cylinder length deviation value according to the actual bucket cylinder length and the target bucket cylinder length; adjust the current bucket cylinder current adjustment value according to the current bucket cylinder length deviation value through the current control rule; adjust the boom cylinder solenoid valve action reference current through the current boom current adjustment value, and adjust the bucket cylinder solenoid valve reference current through the current bucket cylinder current adjustment value to achieve auxiliary control of the current excavator.

[0087] On the basis of the above embodiments, the reference current regulation module 250 can also be specifically used to: obtain a preset upper boundary of the boom position and a lower boundary of the boom position; if the current boom position deviation value is between the upper boundary of the boom position and the lower boundary of the boom position, determine the change trend of the current boom position deviation value; if the current boom position deviation value is an increasing trend, perform an increase adjustment process through the current control rule to obtain the current boom current adjustment value; if the current boom position deviation value is a decreasing trend, perform a decrease adjustment process through the current control rule to obtain the current boom current adjustment value; if the current boom position deviation value is greater than the upper boundary of the boom position and meets the increase of the action current of the action proportional valve, perform an adjustment process on the current boom position deviation value through the current control rule to obtain the current boom current adjustment value; if the current boom position deviation value is less than the lower boundary of the boom position and meets the decrease of the action current of the action proportional valve, perform an adjustment process on the current boom position deviation value through the current control rule to obtain the current boom current adjustment value.

[0088] On the basis of the above embodiments, it can also be specifically used that the current excavator operation mode includes: bucket tip operation mode and bucket bottom operation mode; wherein, in the bucket tip operation mode, the current excavator bucket remains stationary; during the bucket arm movement corresponding to the bucket bottom operation mode, the current excavator boom and the current excavator bucket movement are automatically controlled so that the bucket bottom of the current excavator bucket fits into the working surface.

[0089] On the basis of the above embodiments, it also includes a reference current set value adjustment module, which obtains the current boom position deviation value and the current bucket cylinder length deviation value for a predetermined number of consecutive times after adjusting the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current respectively to realize auxiliary control of the current excavator; if each of the current boom position deviation values ​​is greater than the preset boom position predetermined value, and the actual output current of the boom action is greater than the boom cylinder solenoid valve action reference current at the corresponding operating point distance, then the set value of the boom cylinder solenoid valve action reference current at the corresponding operating point distance of the adjustment boom is increased; if each of the current boom position deviation values ​​is greater than the preset boom position predetermined value, and the actual output current of the boom action is less than The reference current of the boom cylinder solenoid valve action at the corresponding operating point distance is reduced, and the set value of the reference current of the boom cylinder solenoid valve action at the corresponding operating point distance of the adjusted boom is reduced; if the current bucket cylinder length deviation values ​​are all greater than the preset bucket cylinder length predetermined value, and the actual output current of the bucket action is greater than the reference current of the bucket cylinder solenoid valve at the corresponding operating point distance, then the set value of the reference current of the bucket cylinder solenoid valve at the corresponding operating point distance of the adjusted bucket is increased; if the current bucket cylinder length deviation values ​​are all greater than the preset bucket cylinder length predetermined value, and the actual output current of the bucket action is less than the reference current of the bucket cylinder solenoid valve at the corresponding operating point distance, then the set value of the reference current of the bucket cylinder solenoid valve at the corresponding operating point distance of the adjusted bucket is reduced.

[0090] The excavator auxiliary control device provided by the embodiment of the present invention can execute the excavator auxiliary control method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0091] Example 3

[0092] Figure 3 A schematic diagram of the structure of an electronic device 10 that can be used to implement the third embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0093] like Figure 3As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0094] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0095] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the excavator auxiliary control method.

[0096] In some embodiments, the excavator-assisted control method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the excavator-assisted control method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the excavator-assisted control method in any other suitable manner (e.g., via firmware).

[0097] The method includes: obtaining current excavator sensor joint description data and original excavator sensor joint description data, and calibrating the current excavator sensor joint description data using the original excavator sensor joint description data to obtain current excavator sensor joint description calibration data; determining the current excavator operating condition based on the current excavator sensor joint description calibration data; obtaining the hydraulic pump speed, dipper arm movement speed, and operating point distance corresponding to the current excavator, and determining the boom cylinder solenoid valve movement reference current and the bucket cylinder solenoid valve reference current based on the current excavator operating condition; obtaining the current dipper arm position, and calculating the target boom position and the target bucket cylinder length based on the current excavator sensor joint description calibration data while the bucket maintains an unchanged relative position to the working surface; obtaining the actual boom position and the actual bucket cylinder length corresponding to the current excavator, and adjusting the boom cylinder solenoid valve movement reference current and the bucket cylinder solenoid valve reference current based on the target boom position and the target bucket cylinder length using a preset current control rule to achieve auxiliary control of the current excavator.

[0098] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0099] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0100] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0101] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0102] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0103] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0104] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0105] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

[0106] Example 4

[0107] The fourth embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable instructions are used to execute an excavator auxiliary control method when executed by a computer processor, the method comprising: obtaining current excavator sensor joint description data and original excavator sensor joint description data, and calibrating the current excavator sensor joint description data through the original excavator sensor joint description data to obtain current excavator sensor joint description calibration data; determining the current excavator operating condition based on the current excavator sensor joint description calibration data; obtaining the hydraulic pump speed, bucket arm movement speed and operating point distance corresponding to the current excavator, and According to the current excavator operating condition, the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current are determined; the current dipper arm position is obtained, and according to the current excavator sensor joint description calibration data, the target boom position and the target bucket cylinder length are calculated while the bucket maintains an unchanged relative position to the working surface; the actual boom position and the actual bucket cylinder length corresponding to the current excavator are obtained, and according to the target boom position and the target bucket cylinder length, the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current are adjusted respectively through pre-set current control rules to realize auxiliary control of the current excavator.

[0108] Of course, the computer-readable storage medium provided in the embodiment of the present invention has computer-executable instructions that are not limited to the method operations described above, and can also execute related operations in the excavator auxiliary control method provided in any embodiment of the present invention.

[0109] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0110] It is worth noting that in the embodiment of the above-mentioned excavator auxiliary control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the various functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0111] Example 5

[0112] Figure 4 This is a schematic diagram of the structure of an excavator auxiliary control system provided in Example 5 of the present invention. The excavator auxiliary control system 400 includes: a boom tilt sensor 410, an arm tilt sensor 420, a bucket cylinder displacement sensor 430, a vehicle body tilt sensor 440 and a controller 450.

[0113] Wherein, the boom inclination angle sensor 410 is used to detect the relative rotation angle of the boom;

[0114] The arm inclination sensor 420 is used to detect the relative rotation angle of the arm;

[0115] The bucket cylinder displacement sensor 430 is used to detect the displacement length of the bucket cylinder;

[0116] The vehicle body inclination sensor 440 is used to detect the longitudinal and lateral inclination of the vehicle body;

[0117] The controller 450 is used to execute the excavator auxiliary control method described in any embodiment of the present invention.

[0118] In this embodiment, the vehicle body tilt sensor 440 can be used to collect vehicle body tilt sensor data when the vehicle body is currently horizontal. The boom tilt sensor 410 can be used to collect boom tilt sensor data when the boom is currently raised to its maximum position and the dipper arm is currently open. The dipper arm tilt sensor 420 can be used to collect dipper arm tilt sensor data. The bucket cylinder displacement sensor 430 can be used to collect bucket cylinder sensor data when the bucket is currently open and retracted to its maximum position.

[0119] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. An auxiliary control method for an excavator, characterized in that: include: Acquire current excavator sensor joint description data and original excavator sensor joint description data, and calibrate the current excavator sensor joint description data using the original excavator sensor joint description data to obtain current excavator sensor joint description calibration data; Determining the current excavator operating condition based on the current excavator sensor combined description calibration data; Obtain the hydraulic pump speed, arm movement speed, and working point distance corresponding to the current excavator, and determine the boom cylinder solenoid valve movement reference current and bucket cylinder solenoid valve reference current based on the current excavator working condition; Obtaining the current arm position and calculating the target boom position and target bucket cylinder length based on the current excavator sensor joint description calibration data while maintaining the bucket's relative position to the work surface; Obtaining the actual boom position and bucket cylinder length corresponding to the current excavator, and adjusting the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current respectively according to the target boom position and the target bucket cylinder length through a preset current control rule, thereby achieving auxiliary control of the current excavator; Among them, the current excavator sensor joint description data includes: the current body horizontal state body inclination sensor data, the current boom inclination sensor data when the boom is raised to the extreme position and the dipper arm is opened to the extreme position, the current dipper arm inclination sensor data and the bucket cylinder sensor data when the bucket is currently opened and retracted to the extreme position.

2. The method according to claim 1, characterized in that Also includes: The current excavator operating condition includes the height of the working surface, the slope of the working surface, and the position of the bucket arm perpendicular to the working surface.

3. The method according to claim 2, characterized in that The actual boom position and bucket cylinder length corresponding to the current excavator are obtained, and according to the target boom position and the target bucket cylinder length, the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current are adjusted respectively by a preset current control rule to achieve auxiliary control of the current excavator, including: Calculating a current boom position deviation value according to the actual boom position and the target boom position; According to the current arm position deviation value, the current arm current adjustment value is obtained by adjusting the current control rule; Calculating a current bucket cylinder length deviation value according to the actual bucket cylinder length and the target bucket cylinder length; According to the current bucket cylinder length deviation value, adjustment processing is performed using the current control rule to obtain a current bucket cylinder current adjustment value; The current boom current adjustment value is used to adjust the boom cylinder solenoid valve action reference current, and the current bucket cylinder current adjustment value is used to adjust the bucket cylinder solenoid valve reference current, so as to achieve auxiliary control of the current excavator.

4. The method according to claim 3, characterized in that The adjusting process is performed according to the current control rule based on the current boom position deviation value to obtain the current boom current adjustment value, including: Obtaining the preset upper and lower boundaries of the boom position; If the current boom position deviation value is between the upper boom position boundary and the lower boom position boundary, determining the change trend of the current boom position deviation value; if the current boom position deviation value is an increasing change trend, performing an increasing adjustment process according to the current control rule to obtain the current boom current adjustment value; if the current boom position deviation value is a decreasing change trend, performing a decreasing adjustment process according to the current control rule to obtain the current boom current adjustment value; If the current boom position deviation value is greater than the upper limit of the boom position and the action current of the proportional valve is increased, the current boom position deviation value is adjusted according to the current control rule to obtain the current boom current adjustment value; If the current boom position deviation value is less than the lower limit of the boom position and the action current of the action proportional valve is reduced, the current boom position deviation value is adjusted according to the current control rule to obtain the current boom current adjustment value.

5. The method according to claim 4, characterized in that Also includes: The current excavator operation modes include: bucket tip operation mode and bucket bottom operation mode; Among them, in bucket tip operation mode, the current excavator bucket remains stationary; During the arm movement process corresponding to the bucket bottom operation mode, the current excavator boom and the current excavator bucket movement are automatically controlled so that the bucket bottom of the current excavator bucket fits the operation surface.

6. The method according to claim 4, characterized in that After respectively adjusting the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current to achieve auxiliary control of the current excavator, the method further includes: respectively obtaining the current boom position deviation value and the current bucket cylinder length deviation value for a predetermined number of consecutive times; If the current boom position deviation values ​​are all greater than the preset boom position predetermined values, and the actual output current of the boom action is greater than the reference current of the boom cylinder solenoid valve action at the corresponding operating point distance, then the set value of the boom cylinder solenoid valve action reference current at the corresponding operating point distance of the boom is increased; If the current boom position deviation values ​​are all greater than the preset boom position predetermined values, and the actual boom action output current is less than the boom cylinder solenoid valve action reference current at the corresponding operating point distance, then the set value of the boom cylinder solenoid valve action reference current at the corresponding operating point distance of the boom is reduced; If the current bucket cylinder length deviation values ​​are all greater than the preset bucket cylinder length predetermined value, and the actual output current of the bucket action is greater than the reference current of the bucket cylinder solenoid valve at the corresponding working point distance, then the set value of the bucket cylinder solenoid valve reference current at the corresponding working point distance of the bucket is increased; If the current bucket cylinder length deviation values ​​are all greater than the preset bucket cylinder length predetermined value, and the actual output current of the bucket movement is less than the reference current of the bucket cylinder solenoid valve at the corresponding working point distance, then the set value of the bucket cylinder solenoid valve reference current at the corresponding working point distance of the bucket is reduced.

7. An auxiliary control device for an excavator, characterized in that: include: a current excavator sensor joint description calibration data determination module, configured to obtain current excavator sensor joint description data and original excavator sensor joint description data, and calibrate the current excavator sensor joint description data using the original excavator sensor joint description data to obtain current excavator sensor joint description calibration data; a current excavator operating condition determination module, configured to determine the current excavator operating condition based on the current excavator sensor joint description calibration data; A reference current determination module is used to obtain the hydraulic pump speed, bucket arm movement speed and working point distance corresponding to the current excavator, and determine the boom cylinder solenoid valve movement reference current and bucket cylinder solenoid valve reference current according to the current excavator working condition; a target boom position and target bucket cylinder length calculation module, configured to obtain the current arm position and, based on the current excavator sensor joint description calibration data, calculate the target boom position and target bucket cylinder length while maintaining the bucket's relative position to the work surface; A reference current regulation module is used to obtain the actual boom position and actual bucket cylinder length corresponding to the current excavator, and according to the target boom position and the target bucket cylinder length, adjust the boom cylinder solenoid valve action reference current and the bucket cylinder solenoid valve reference current respectively through a preset current control rule to achieve auxiliary control of the current excavator; Among them, the current excavator sensor joint description data includes: the current body horizontal state body inclination sensor data, the current boom inclination sensor data when the boom is raised to the extreme position and the dipper arm is opened to the extreme position, the current dipper arm inclination sensor data and the bucket cylinder sensor data when the bucket is currently opened and retracted to the extreme position.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the excavator auxiliary control method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the excavator auxiliary control method according to any one of claims 1 to 6 when executed.

10. An auxiliary control system for an excavator, characterized in that: The excavator auxiliary control system includes: a boom inclination sensor, a bucket arm inclination sensor, a bucket cylinder displacement sensor, a body inclination sensor and a controller; Wherein, the boom inclination angle sensor is used to detect the relative rotation angle of the boom; The arm inclination sensor is used to detect the relative rotation angle of the arm; The bucket cylinder displacement sensor is used to detect the displacement length of the bucket cylinder; The vehicle body inclination sensor is used to detect the longitudinal and lateral inclination of the vehicle body; The controller is used to execute the excavator auxiliary control method according to any one of claims 1 to 6.

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