Control method and control device for excavator, excavator, and storage medium

Abstract

The embodiment of the application discloses a control method and device for a excavator, the excavator and a storage medium, and belongs to the technical field of equipment control. The control method comprises the following steps: acquiring the unloading angle of the excavator when the state of the excavator is an unloading state; acquiring the digging angle of the excavator when the state of the excavator is a starting loading state; determining the target loading angle of the excavator according to the unloading angle and the digging angle; and determining the control signal of the rotary valve core according to the target loading angle and the control percentage of the handle, so as to control the work of the rotary valve core through the control signal. The excavator actively detects the unloading state and the starting loading state, so as to control the rotary valve core according to the unloading angle corresponding to the unloading state and the digging angle corresponding to the starting loading state. The excavator is controlled according to the loading angle and the control percentage of the handle, so that the matching of the boom lifting speed and the rotating speed is realized, and the overall operation efficiency and the controllability of the excavator are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of device control, in particular to a control method and device for an excavator, an excavator and a storage medium. BACKGROUND

[0002] With the rapid development of manufacturing technology of engineering machinery, excavators are widely used in various engineering construction scenes. The working process of an excavator usually includes a digging process, a loading process, an unloading process and a returning process. The digging process refers to retracting a boom and operating a bucket to dig to excavate materials in a digging position into the bucket. The loading process refers to rotating the excavator and lifting a swing arm to move the bucket to a target position. The unloading process refers to swinging out the boom and operating the bucket to unload materials to the target position. The returning process refers to rotating the excavator and lowering the swing arm to return the bucket to the digging position.

[0003] If the rotating speed of the excavator does not match the lifting speed of the swing arm during the loading process, the overall working efficiency of the excavator is low and the fuel consumption is increased. Usually, the excavator is provided with a logic valve, and the ratio between the lifting speed of the swing arm and the rotating speed can be adjusted by setting the opening degree of the logic valve. However, the actual working conditions of the excavator are complex, and the user needs to frequently set the opening degree of the logic according to the actual working conditions, which affects the overall working efficiency of the excavator. In addition, due to the difference in operating habits of different users, the opening degree of the logic valve is often not accurately set, which makes it difficult to match the lifting speed of the swing arm and the rotating speed, further reducing the overall working efficiency of the excavator. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a control method and device for an excavator, an excavator and a storage medium, which are used to solve the problem of low overall working efficiency of the excavator in the prior art.

[0005] To achieve the above-mentioned purpose, the first aspect of the present application provides a control method for an excavator, which comprises:

[0006] In the case that the state of the excavator is an unloading state, an unloading angle of the excavator is obtained;

[0007] In the case that the state of the excavator is a starting loading state, a digging angle of the excavator is obtained;

[0008] According to the unloading angle and the digging angle, a target loading angle of the excavator is determined;

[0009] According to the target loading angle and the operating percentage of the handle, a control signal of a rotating valve core is determined to control the work of the rotating valve core through the control signal.

[0010] In the embodiments of the present application, when the state of the excavator is in the unloading state, before the unloading angle of the excavator is obtained, the method further comprises:

[0011] According to whether the bucket lever swing signal, the bucket unloading signal, the first start-stop time of the bucket lever swing signal and the second start-stop time of the bucket unloading signal are detected, it is determined whether the state of the excavator is in the unloading state.

[0012] In the embodiments of the present application, according to whether the bucket lever swing signal, the bucket unloading signal, the first start-stop time of the bucket lever swing signal and the second start-stop time of the bucket unloading signal are detected, it is determined whether the state of the excavator is in the unloading state, comprising:

[0013] In the case that the bucket lever swing signal and the bucket unloading signal are detected, and the start time of the bucket lever swing signal and the bucket unloading signal is the same, the first duration is determined according to the first start-stop time of the bucket lever swing signal, and the second duration is determined according to the second start-stop time of the bucket unloading signal;

[0014] In the case that the first duration and the second duration are both greater than the first time threshold, it is determined that the state of the excavator is in the unloading state.

[0015] In the embodiments of the present application, according to whether the bucket lever swing signal, the bucket unloading signal, the first start-stop time of the bucket lever swing signal and the second start-stop time of the bucket unloading signal are detected, it is determined whether the state of the excavator is in the unloading state, comprising:

[0016] In the case that the bucket lever swing signal and the bucket unloading signal are detected, and the start time of the bucket lever swing signal and the bucket unloading signal is not the same, the time difference between the bucket lever swing signal and the bucket unloading signal and the third duration are determined according to the first start-stop time of the bucket lever swing signal and the second start-stop time of the bucket unloading signal, wherein the time difference is determined according to the smaller one of the difference between the end time of one of the bucket lever swing signal and the bucket unloading signal and the start time of the other, and the third duration is determined according to the larger one of the difference between the end time of one of the bucket lever swing signal and the bucket unloading signal and the start time of the other;

[0017] In the case that the time difference is less than the preset time difference, and the third duration is greater than the second time threshold, it is determined that the state of the excavator is in the unloading state.

[0018] In the embodiments of the present application, according to whether the bucket lever swing signal, the bucket unloading signal, the first start-stop time of the bucket lever swing signal and the second start-stop time of the bucket unloading signal are detected, it is determined whether the state of the excavator is in the unloading state, comprising:

[0019] In a case where the bucket unloading signal is detected and the bucket lever swing-out signal is not detected, a fourth duration is determined according to a second start-stop time of the bucket unloading signal;

[0020] In a case where the fourth duration is greater than a third duration threshold, the state of the excavator is determined as the unloading state.

[0021] In the embodiments of the present application, in a case where the state of the excavator is the start loading state, before the digging angle of the excavator is obtained, the method further comprises:

[0022] According to a third start-stop time of the boom lifting signal and a fourth start-stop time of the swing platform slewing signal, it is determined whether the state of the excavator is the start loading state.

[0023] In the embodiments of the present application, according to the third start-stop time of the boom lifting signal and the fourth start-stop time of the swing platform slewing signal, it is determined whether the state of the excavator is the start loading state, comprising:

[0024] In a case where the boom lifting signal and the slewing signal are detected, a fifth duration is determined according to the third start-stop time of the boom lifting signal, and a sixth duration is determined according to the fourth start-stop time of the swing platform slewing signal;

[0025] According to the third start-stop time and the fourth start-stop time, it is determined whether the start times of the boom lifting signal and the slewing signal are the same;

[0026] In a case where the start times of the boom lifting signal and the slewing signal are the same, and the fifth duration and the sixth duration are both greater than the fourth duration threshold, the state of the excavator is determined as the start loading state;

[0027] In a case where the start time of the boom lifting signal is earlier than the start time of the slewing signal, and the fifth duration is greater than a fifth duration threshold, the state of the excavator is determined as the start loading state.

[0028] In the embodiments of the present application, according to the target loading angle and the control percentage of the handle, the control signal of the slewing valve core is determined to control the work of the slewing valve core through the control signal, comprising:

[0029] According to the target loading angle, a target maximum slewing pressure of the excavator is determined;

[0030] According to the target maximum slewing pressure and the control percentage of the handle, a target slewing pressure of the excavator is determined;

[0031] Based on the target slewing pressure, the control signal of the slewing valve core is determined to control the work of the slewing valve core through the control signal.

[0032] In the embodiments of the present application, the target maximum swing pressure of the excavator is determined according to the target loading angle, including:

[0033] In the case where the target loading angle is less than or equal to the minimum preset loading angle, the preset minimum value of the maximum swing pressure is determined as the target maximum swing pressure of the excavator;

[0034] In the case where the target loading angle is greater than or equal to the maximum preset loading angle, the preset maximum value of the maximum swing pressure is determined as the target maximum swing pressure of the excavator;

[0035] In the case where the target loading angle is greater than the minimum preset loading angle and less than the maximum preset loading angle, the target maximum swing pressure of the excavator is determined according to the minimum preset loading angle, the maximum preset loading angle, the preset minimum value of the maximum swing pressure, the preset maximum value of the maximum swing pressure and the target loading angle.

[0036] In the embodiments of the present application, the target swing pressure of the excavator is determined according to the target maximum swing pressure and the control percentage of the handle, including:

[0037] In the case where the control percentage of the handle is greater than or equal to the first percentage, the target swing pressure of the excavator is determined as the target maximum swing pressure of the excavator;

[0038] In the case where the control percentage of the handle is less than the first percentage and greater than the second percentage, the target swing pressure of the excavator is determined according to the minimum swing pressure, the target maximum swing pressure, the first percentage, the second percentage and the control percentage of the handle.

[0039] In the embodiments of the present application, the target loading angle of the excavator is determined according to the unloading angle and the digging angle, including:

[0040] In the case where the absolute value of the angle difference is less than or equal to 180°, the absolute value of the angle difference is determined as the target loading angle of the excavator;

[0041] In the case where the absolute value of the angle difference is greater than 180° and the swing direction of the loading start state is the same as the swing direction of the unloading state, 360° is subtracted from the absolute value of the angle difference to obtain the target loading angle of the excavator;

[0042] In the case where the absolute value of the angle difference is greater than 180° and the swing direction of the loading start state is opposite to the swing direction of the unloading state, the target loading angle of the excavator is determined as 180°.

[0043] The second aspect of the present application provides a control device, including:

[0044] a memory configured to store instructions;

[0045] a processor configured to call the instructions from the memory and implement the above-mentioned control method for the excavator when executing the instructions.

[0046] The third aspect of the present application provides an excavator, comprising:

[0047] a bucket configured to perform a dumping action according to the received instructions;

[0048] a stick configured to perform an outer swing action according to the received instructions;

[0049] a boom configured to perform a lifting action according to the received instructions;

[0050] a swing platform configured to perform a swing action according to the received instructions;

[0051] a swing spool configured to adjust an opening degree to control a flow of a swing motor;

[0052] a swing motor configured to drive the swing platform to swing;

[0053] a control device according to the above.

[0054] The fourth aspect of the present application provides a machine readable storage medium, which stores instructions for causing a machine to execute the above-mentioned control method for the excavator.

[0055] The present application provides a control method for an excavator, comprising: in a case where a state of the excavator is a dumping state, acquiring a dumping angle of the excavator; in a case where the state of the excavator is a start loading state, acquiring a digging angle of the excavator; determining a target loading angle of the excavator according to the dumping angle and the digging angle; determining a control signal of a swing spool according to the target loading angle and a control percentage of a handle, so as to control a work of the swing spool through the control signal. The excavator actively detects the dumping state and the start loading state, so as to determine a loading angle of the excavator through a dumping angle corresponding to the dumping state and a digging angle corresponding to the start loading state. Generally, the smaller the loading angle of the excavator is, the smaller the required swing speed is, and the larger the loading angle of the excavator is, the higher the required swing speed is. Since the swing speed of the excavator is affected by a flow of the swing spool, the swing spool is controlled according to the loading angle of the excavator and the control percentage of the handle, so as to realize a matching of a boom lifting speed and the swing speed, and improve an overall operation efficiency of the excavator. Meanwhile, since the swing spool is actively controlled according to the loading angle of the excavator and the control percentage of the handle, a user no longer needs to manually adjust a logic valve of the excavator, and the controllability of the excavator is further improved.

[0056] Other features and advantages of the embodiments of the present application will be described in the following detailed description of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0057] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, help to explain the embodiments of the present application, and together with the specific embodiments below, help to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0058] Figure 1 A flowchart of a control method for a excavator according to an embodiment of the present application is schematically shown;

[0059] Figure 2 An example diagram of a bucket arm swing-out signal and a bucket unloading signal according to an embodiment of the present application is schematically shown;

[0060] Figure 3 An example diagram of a boom lifting signal and a swing signal according to an embodiment of the present application is schematically shown;

[0061] Figure 4 An example diagram of a target loading angle and a target maximum swing pressure according to an embodiment of the present application is schematically shown;

[0062] Figure 5 An example diagram of a control percentage and a target swing pressure according to an embodiment of the present application is schematically shown;

[0063] Figure 6 A structural diagram of a excavator according to an embodiment of the present application is schematically shown;

[0064] Figure 7 An application example diagram of a excavator according to an embodiment of the present application is schematically shown.

[0065] REFERENCE SIGNS

[0066] 200 excavator 210 bucket

[0067] 220 bucket arm 230 boom

[0068] 240 swing platform 250 swing spool

[0069] 260 swing motor DETAILED DESCRIPTION

[0070] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific implementation described herein is only used to explain and illustrate the embodiments of the present application, and is not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0071] It should be noted that if the directionality indication is involved in the embodiments of the present application, the directionality indication is only used to explain the relative positional relationship, motion condition and the like between components in a certain specific posture, and if the specific posture changes, the directionality indication also changes accordingly.

[0072] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for description purpose, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that the technical solutions can be realized by those of ordinary skill in the art, and when the combination of the technical solutions contradicts each other or cannot be realized, it should be considered that the combination of the technical solutions does not exist, and is also not within the protection scope claimed by the present application.

[0073] Please refer to Figure 1 , Figure 1 The flowchart of the control method for the excavator according to the embodiments of the present application is schematically shown. As Figure 1 shown, the embodiments of the present application provide a control method for an excavator, which can include the following steps:

[0074] S110, in the case that the state of the excavator is an unloading state, obtaining an unloading angle of the excavator.

[0075] The unloading angle of the excavator refers to the inclination angle of the excavator relative to the ground when the bucket of the excavator is unloading materials. Generally, the unloading angle affects the unloading efficiency, safety and stability of the excavator. Since there are differences in the operation habits of different users, even if the position of unloading materials remains unchanged, the unloading angle when different users operate the excavator also differs. In the case that the state of the excavator is an unloading state, the unloading angle of the excavator is obtained according to the current swing angle of the excavator.

[0076] S120, in the case that the state of the excavator is a start loading state, obtaining a digging angle of the excavator.

[0077] The digging angle of the excavator, also referred to as an initial loading angle, is an angle of inclination of the excavator relative to the ground when the excavator is digging material. The digging angle generally affects the control efficiency and digging depth of the excavator, and also affects the material transportation efficiency and construction safety. Due to differences in control habits of different users, even if the position of the excavated material remains unchanged, the digging angle of the excavator controlled by different users also differs. In a case where the state of the excavator is a start loading state, the excavator digs material to load the material. According to a current rotation angle of the excavator, a digging angle of the excavator is obtained.

[0078] In S130, according to the unloading angle and the digging angle, a target loading angle of the excavator is determined.

[0079] The loading angle of the excavator is an angle of inclination of the excavator relative to the ground when the excavator loads the excavated material onto a material stacking area such as a vehicle compartment. The loading angle of the excavator generally affects the material loading efficiency, the material loading amount, and the control safety of the excavator. According to the unloading angle and the digging angle, the target loading angle of the excavator is determined.

[0080] In an embodiment of the present application, according to the unloading angle and the digging angle, the target loading angle of the excavator is determined, including:

[0081] In a case where the absolute value of the angle difference is less than or equal to 180°, the absolute value of the angle difference is determined as the target loading angle of the excavator;

[0082] In a case where the absolute value of the angle difference is greater than 180° and the rotation direction of the start loading state is the same as the rotation direction of the unloading state, 360° is subtracted from the absolute value of the angle difference to obtain the target loading angle of the excavator;

[0083] In a case where the absolute value of the angle difference is greater than 180° and the rotation direction of the start loading state is opposite to the rotation direction of the unloading state, the target loading angle of the excavator is determined as 180°.

[0084] According to the unloading angle and the digging angle, the absolute value of the angle difference between the unloading angle and the digging angle is calculated. In the actual operation process of the excavator, the maximum loading angle of the excavator is 180°. Since the excavator can rotate clockwise or counterclockwise, it is determined whether the absolute value of the angle difference is greater than 180°. In the case that the absolute value of the angle difference is less than or equal to 180°, the absolute value of the angle difference is directly determined as the target loading angle of the excavator. In the case that the absolute value of the angle difference is greater than 180°, it is determined whether the absolute value of the angle difference is greater than 180° due to the opposite rotation direction of the starting loading state and the unloading state. In the case that the rotation direction of the starting loading state is the same as that of the unloading state, 360° is subtracted from the absolute value of the angle difference to obtain the target loading angle of the excavator. In the case that the rotation direction of the starting loading state is opposite to that of the unloading state, the target loading angle of the excavator is determined as 180°. Generally, the smaller the loading angle of the excavator, the smaller the required rotation speed and the higher the required boom lifting speed. The larger the loading angle of the excavator, the higher the required rotation speed and the smaller the required boom lifting speed.

[0085] S140, a control signal of the rotation valve core is determined according to the target loading angle and the handle control percentage, so as to control the work of the rotation valve core through the control signal.

[0086] The target rotation speed required is determined according to the target loading angle and the handle control percentage. Based on the target rotation speed required, the control signal of the rotation valve core is determined. The opening degree of the rotation valve core when working is controlled through the control signal, so as to control the flow of the rotation motor. By controlling the flow of the rotation motor, the speed of the rotation platform driven by the rotation motor to rotate is adjusted, and then the matching of the boom lifting speed and the rotation speed of the excavator is realized.

[0087] The loading angle of the excavator is determined by the unloading angle corresponding to the unloading state and the digging angle corresponding to the starting loading state. Generally, the smaller the loading angle of the excavator, the smaller the required rotation speed, and the larger the loading angle of the excavator, the higher the required rotation speed. Since the rotation speed of the excavator is affected by the flow of the rotation valve core, the rotation valve core is controlled according to the loading angle of the excavator and the handle control percentage, so as to realize the matching of the boom lifting speed and the rotation speed, and improve the overall operation efficiency of the excavator. At the same time, since the rotation valve core is actively controlled according to the loading angle of the excavator and the handle control percentage, the user no longer needs to manually adjust the logic valve of the excavator, which further improves the controllability of the excavator.

[0088] In the embodiment of the present application, when the state of the excavator is the unloading state, before the unloading angle of the excavator is obtained, the method further comprises:

[0089] According to whether the bucket lever swing signal, the bucket unloading signal, the first start-stop time of the bucket lever swing signal and the second start-stop time of the bucket unloading signal are detected, it is determined whether the state of the excavator is the unloading state.

[0090] The excavator in the embodiment includes a bucket, a bucket lever, a boom, a swing platform, a swing valve core and a swing motor connected with the swing valve core. When the bucket of the excavator is above a material stacking area such as a car, the user needs to control the bucket lever swing and control the bucket unloading to switch the state of the excavator to the unloading state.

[0091] The bucket, the bucket lever, the boom and the swing platform perform actions, and the excavator will detect signals. The first time length is the time length of detecting the bucket unloading signal, and the second time length is the time length of detecting the bucket lever swing signal. According to whether the bucket lever swing signal, the bucket unloading signal, the first start-stop time of the bucket lever swing signal and the second start-stop time of the bucket unloading signal are detected, it is determined whether the state of the excavator is the unloading state. By recognizing whether the state of the excavator is the unloading state through the start-stop time of the actions of the bucket lever and the bucket, the system fault tolerance of the excavator can be increased, and state misjudgment can be avoided.

[0092] In the embodiment of the application, according to whether the bucket lever swing signal, the bucket unloading signal, the first start-stop time of the bucket lever swing signal and the second start-stop time of the bucket unloading signal are detected, it is determined whether the state of the excavator is the unloading state, including:

[0093] In the case that the bucket lever swing signal and the bucket unloading signal are detected and the start time of the bucket lever swing signal and the bucket unloading signal is the same, the first duration is determined according to the first start-stop time of the bucket lever swing signal, and the second duration is determined according to the second start-stop time of the bucket unloading signal.

[0094] In the case that the first duration and the second duration are both greater than the first time length threshold, it is determined that the state of the excavator is the unloading state.

[0095] Please refer to Figure 2 , Figure 2 The example diagram of the bucket lever swing signal and the bucket unloading signal according to the embodiment of the application is schematically shown.

[0096] Generally, in the case that the bucket swing-out signal and the bucket dumping signal are detected at the same time, the state of the excavator is determined as the dumping state. In order to avoid misjudgment of the state of the excavator, the judgment time length of the signals is set in the embodiment. Specifically, in the case that the bucket swing-out signal and the bucket dumping signal are detected and the starting time of the bucket swing-out signal and the starting time of the bucket dumping signal are the same, the first duration is determined according to the first start-stop time of the bucket swing-out signal, and the second duration is determined according to the second start-stop time of the bucket dumping signal. For ease of understanding, in the embodiment of the present application, the first duration and the second duration are the same.

[0097] It is determined whether the first duration and the second duration are both greater than the first time threshold. In the case that the first duration and the second duration are both greater than the first time threshold, the state of the excavator is determined as the dumping state. It should be understood that the value of the first time threshold is set according to actual needs, which is limited herein.

[0098] In the embodiment of the present application, whether the state of the excavator is the dumping state is determined according to whether the bucket swing-out signal, the bucket dumping signal, the first start-stop time of the bucket swing-out signal and the second start-stop time of the bucket dumping signal are detected, including:

[0099] In the case that the bucket swing-out signal and the bucket dumping signal are detected and the starting time of the bucket swing-out signal and the starting time of the bucket dumping signal are not the same, the time difference between the bucket swing-out signal and the bucket dumping signal and the third duration are determined according to the first start-stop time of the bucket swing-out signal and the second start-stop time of the bucket dumping signal, wherein the time difference is determined according to the smaller one of the difference between the termination time of one of the bucket swing-out signal and the bucket dumping signal and the starting time of the other, and the third duration is determined according to the larger one of the difference between the termination time of one of the bucket swing-out signal and the bucket dumping signal and the starting time of the other.

[0100] In the case that the time difference is less than the preset time difference and the third duration is greater than the second time threshold, the state of the excavator is determined as the dumping state.

[0101] In the actual scene of the user actually controlling the excavator to dump, the starting time of the actions of controlling the bucket swing-out and the bucket dumping is usually not synchronized. In the case that the bucket swing-out signal and the bucket dumping signal are detected and the starting time of the bucket swing-out signal and the starting time of the bucket dumping signal are not the same, the time difference between the bucket swing-out signal and the bucket dumping signal and the third duration are determined according to the first start-stop time of the bucket swing-out signal and the second start-stop time of the bucket dumping signal.

[0102] The time difference is determined according to the smaller one of the difference between the end time of one of the boom swing signal and the bucket discharge signal and the start time of the other, and the third duration is determined according to the larger one of the difference between the end time of one of the boom swing signal and the bucket discharge signal and the start time of the other. Specifically, as shown in FIG. 22, in the case where the start time of the boom swing signal is earlier than the start time of the bucket discharge signal, the time difference is the time difference between the end time of the boom swing signal and the start time of the bucket discharge signal, and the third duration is the duration from the start time of the boom swing signal to the end time of the bucket discharge signal. In the case where the start time of the boom swing signal is later than the start time of the bucket discharge signal, the time difference is the time difference between the end time of the bucket discharge signal and the start time of the boom swing signal, and the third duration is the duration from the start time of the bucket discharge signal to the end time of the boom swing signal. Figure 2

[0103] In the case where the time difference is smaller than a preset time difference and the third duration is greater than a second duration threshold, i.e., the time difference between the boom swing and the bucket discharge actions is low and the duration of the boom swing and the bucket discharge actions is long, it is determined that the state of the excavator is the discharge state. It should be understood that the values of the preset time difference and the second duration threshold are set according to actual requirements and are not limited herein.

[0104] In the embodiments of the present application, whether the state of the excavator is the discharge state is determined according to whether the boom swing signal, the bucket discharge signal, the first start and end time of the boom swing signal and the second start and end time of the bucket discharge signal are detected, comprising:

[0105] In the case where the bucket discharge signal is detected and the boom swing signal is not detected, a fourth duration is determined according to the second start and end time of the bucket discharge signal.

[0106] In the case where the fourth duration is greater than a third duration threshold, it is determined that the state of the excavator is the discharge state.

[0107] ​In the scenario that the user actually controls the excavator to unload, there is usually a case that the user only controls the bucket to unload. In a case that the bucket unloading signal is detected and the dipper arm swing signal is not detected, a fourth duration is determined according to the second start-stop time of the bucket unloading signal. In a case that the fourth duration is greater than the third duration threshold, it is determined that the user controls the bucket to unload for a long time, and it is determined that the state of the excavator is the unloading state. It should be understood that the value of the third duration threshold is set according to actual needs, and the third duration threshold can be the same as or different from the first duration threshold, which is not limited herein. For ease of understanding, in the embodiments of the present application, the value range of the first duration threshold and the third duration threshold is 1s to 3s. Since the second duration and the fourth duration are both determined according to the second start-stop time of the bucket unloading signal, the second duration and the fourth duration are equal.

[0108] In the embodiments of the present application, in a case that the state of the excavator is the start loading state, before the digging angle of the excavator is obtained, the following further includes:

[0109] According to the third start-stop time of the boom lifting signal and the fourth start-stop time of the rotating platform swing signal, it is determined whether the state of the excavator is the start loading state.

[0110] After the bucket of the excavator completes material digging, the user needs to control the boom of the excavator to lift and control the rotating platform to swing, so as to switch the state of the excavator to the start loading state. According to the third start-stop time of the boom lifting signal and the fourth start-stop time of the rotating platform swing signal, the duration of the boom lifting action and the duration of the swing action of the excavator are determined, and then it is determined whether the excavator is in the start loading state. By using the start-stop time of the actions of the boom and the rotating platform to identify whether the state of the excavator is the start loading state, the system fault tolerance of the excavator can be increased, and state misjudgment can be avoided.

[0111] In the embodiments of the present application, according to the third start-stop time of the boom lifting signal and the fourth start-stop time of the rotating platform swing signal, it is determined whether the state of the excavator is the start loading state, which includes:

[0112] In a case that the boom lifting signal and the swing signal are detected, a fifth duration is determined according to the third start-stop time of the boom lifting signal, and a sixth duration is determined according to the fourth start-stop time of the rotating platform swing signal;

[0113] According to the third start-stop time and the fourth start-stop time, it is determined whether the start times of the boom lifting signal and the swing signal are the same;

[0114] In a case that the starting time of the boom lifting signal is same as the starting time of the slewing signal, and the fifth duration and the sixth duration are both greater than the fourth duration threshold, it is determined that the state of the excavator is the starting loading state.

[0115] In a case that the starting time of the boom lifting signal is earlier than the starting time of the slewing signal, and the fifth duration is greater than the fifth duration threshold, it is determined that the state of the excavator is the starting loading state.

[0116] Please refer to Figure 3 , Figure 3 An example diagram of the boom lifting signal and the slewing signal according to an embodiment of the present application is schematically shown.

[0117] In a case that the excavator completes material excavation, the user will control the boom lifting of the excavator and the slewing of the rotating platform to load the material. Usually, in a case that the bucket lever swing signal and the bucket unloading signal are detected at the same time, it is determined that the state of the excavator is the unloading state. In order to avoid misjudgment of the state of the excavator, a judgment duration of the signal is set in the embodiment. Specifically, in a case that the boom lifting signal and the slewing signal are detected, the fifth duration is determined according to the third start-stop time of the boom lifting signal, and the sixth duration is determined according to the fourth start-stop time of the slewing signal. According to the third start-stop time and the fourth start-stop time, it is determined whether the starting time of the boom lifting signal and the starting time of the slewing signal are same.

[0118] In the scenario that the user actually controls the excavator to unload, there is a case that the user first controls the boom lifting to lift the bucket out of the material and then controls the slewing of the rotating platform, and there is also a case that the user simultaneously controls the boom lifting and the slewing of the rotating platform. In a case that the starting time of the boom lifting signal is same as the starting time of the slewing signal, and the fifth duration and the sixth duration are both greater than the fourth duration threshold, it is determined that the user simultaneously controls the boom lifting and the slewing of the rotating platform, and further it is determined that the state of the excavator is the starting loading state. In a case that the starting time of the boom lifting signal is earlier than the starting time of the slewing signal, and the fifth duration is greater than the fifth duration threshold, it is determined that the user first controls the boom lifting and then controls the slewing of the rotating platform, and further it is determined that the state of the excavator is switched to the starting loading state, i.e., the state of the excavator is the starting loading state.

[0119] In the embodiment of the present application, the control signal of the slewing valve core is determined according to the target loading angle and the control percentage of the handle, so as to control the work of the slewing valve core through the control signal, including:

[0120] According to the target loading angle, the target maximum slewing pressure of the excavator is determined;

[0121] According to the target maximum slewing pressure and the control percentage of the handle, the target slewing pressure of the excavator is determined;

[0122] determining a control signal of the rotary spool based on the target swing pressure to control the work of the rotary spool through the control signal.

[0123] It needs to be understood that the swing pressure of the excavator generally includes a swing primary pressure, a swing secondary pressure and a swing tertiary pressure, etc. For the convenience of understanding, the swing pressure in the present application is the swing secondary pressure of the excavator. Generally, the swing secondary pressure of the excavator refers to the torque or force provided by the engine when the excavator is performing a swing action. The swing secondary pressure determines the resistance or load that the excavator can withstand when completing the swing action, ensuring the safety of the excavator.

[0124] Generally, according to the model, design specifications and working environment requirements of the excavator, the swing pressure range of each model of excavator is different. In the embodiment, the upper limit value of the swing pressure range is the set minimum value of the swing secondary pressure of the excavator, i.e. the target maximum swing pressure. According to the target loading angle, the target maximum swing pressure of the excavator is determined. According to the target maximum swing pressure and the handle control percentage, the target swing pressure of the excavator when performing a swing action is determined. Based on the target swing pressure, the control signal of the rotary spool is determined to control the work of the rotary spool through the control signal, thereby controlling the flow of the rotary motor, and realizing the matching of the boom lifting speed and the swing speed.

[0125] In the embodiment of the present application, according to the target loading angle, the target maximum swing pressure of the excavator is determined, which includes:

[0126] In the case where the target loading angle is less than or equal to the minimum preset loading angle, the preset minimum value of the maximum swing pressure is determined as the target maximum swing pressure of the excavator;

[0127] In the case where the target loading angle is greater than or equal to the maximum preset loading angle, the preset maximum value of the maximum swing pressure is determined as the target maximum swing pressure of the excavator;

[0128] In the case where the target loading angle is greater than the minimum preset loading angle and less than the maximum preset loading angle, according to the minimum preset loading angle, the maximum preset loading angle, the preset minimum value of the maximum swing pressure, the preset maximum value of the maximum swing pressure and the target loading angle, the target maximum swing pressure of the excavator is determined.

[0129] Please refer to Figure 4 , Figure 4 The example diagram of the target loading angle and the target maximum swing pressure according to the embodiment of the present application is schematically shown.

[0130] Generally, the preset minimum value and the preset maximum value of the maximum slew pressure exist, and the actual maximum slew pressure can be any value between the preset minimum value and the preset maximum value. The preset minimum value and the preset maximum value are both set according to actual requirements, and are not limited herein. For the convenience of understanding, in the embodiments of the present application, the preset minimum value of the maximum slew pressure ranges from 10 Bar to 15 Bar, and the preset maximum value of the maximum slew pressure ranges from 25 Bar to 35 Bar. In the case that the target loading angle is less than or equal to the minimum preset loading angle, the preset minimum value of the maximum slew pressure is determined as the target maximum slew pressure of the excavator:

[0131] Set_SlewPilot_Max = Slew_Pilot_Max1 α ≤ Angle_Min Formula (1)

[0132] wherein, Set_SlewPilot_Max is the target maximum slew pressure, Slew_Pilot_Max1 is the preset minimum value of the maximum slew pressure, α is the target loading angle, and Angle_Min is the minimum preset loading angle.

[0133] In the case that the target loading angle is greater than or equal to the maximum preset loading angle, the preset maximum value of the maximum slew pressure is determined as the target maximum slew pressure of the excavator:

[0134] Set_SlewPilot_Max = Slew_Pilot_Max2 α ≥ Angle_Max Formula (2)

[0135] wherein, Set_SlewPilot_Max is the target maximum slew pressure, Slew_Pilot_Max2 is the preset maximum value of the maximum slew pressure, α is the target loading angle, and Angle_Max is the maximum preset loading angle.

[0136] It should be understood that the values of the maximum preset loading angle and the minimum preset loading angle are both set according to actual requirements, and are not limited herein. For the convenience of understanding, in the embodiments of the present application, the maximum preset loading angle ranges from 120° to 150°, and the maximum preset loading angle ranges from 15° to 30°.

[0137] In the case that the target loading angle is greater than the minimum preset loading angle and less than the maximum preset loading angle, the target maximum slew pressure of the excavator is determined according to the minimum preset loading angle, the maximum preset loading angle, the preset minimum value of the maximum slew pressure, the preset maximum value of the maximum slew pressure, and the target loading angle:

[0138]

[0139] Wherein, Set_SlewPilot_Max is the target maximum slew pressure, Slew_Pilot_Max1 is a preset minimum value of the maximum slew pressure, Slew_Pilot_Max2 is a preset maximum value of the maximum slew pressure, a is the target loading angle, Angle_Min is the minimum preset loading angle, and Angle_Max is the maximum preset loading angle.

[0140] In the embodiments of the present application, the target slew pressure of the excavator is determined according to the target maximum slew pressure and the handle control percentage, comprising:

[0141] In the case that the handle control percentage is greater than or equal to the first percentage, the target slew pressure of the excavator is determined as the target maximum slew pressure of the excavator.

[0142] In the case that the handle control percentage is less than the first percentage and greater than the second percentage, the target slew pressure of the excavator is determined according to the minimum slew pressure, the target maximum slew pressure, the first percentage, the second percentage and the handle control percentage.

[0143] Please refer to Figure 5 , Figure 5 An example diagram of the handle control percentage and the target slew pressure according to the embodiments of the present application is schematically shown.

[0144] The handle can also be other control mechanisms, and the type of the other control mechanisms is set according to actual needs, which is not limited herein. The handle control percentage refers to the control degree of the excavator function by the handle when the user controls the excavator. The handle control percentage is used to describe the moving range or the power application percentage of the operating rod of the control handle in the user control process, that is, the proportion of the maximum moving range or the power output of the operating rod of the control handle. The handle control percentage is from 0 to 100%, corresponding to the real-time speed of the excavator from zero to the maximum speed.

[0145] It should be understood that the values of the first percentage and the second percentage are set according to actual needs, which is not limited herein. For the convenience of understanding, the first percentage is 95% and the second percentage is 5% in the embodiments of the present application. In the case that the handle control percentage is greater than or equal to the first percentage, it is determined that the user expects to control the real-time speed of the excavator as the maximum speed, and the target slew pressure of the excavator is determined as the target maximum slew pressure of the excavator.

[0146]

[0147] Wherein, Set_SlewPilot is the target slew pressure, Slew_Per is the handle control percentage, Set_SlewPilot_Max is the target maximum slew pressure, and 95% is the first percentage.

[0148] In a case that the handle control percentage is less than the first percentage and greater than the second percentage, the target slew pressure of the excavator is determined according to the minimum slew pressure, the target maximum slew pressure, the first percentage, the second percentage and the handle control percentage:

[0149]

[0150] wherein Set_SlewPilot is the target slew pressure, Slew_Pilot_Min is the minimum slew pressure of the excavator, Set_SlewPilot_Max is the target maximum slew pressure, Slew_Per is the handle control percentage, 95% is the first percentage and 5% is the second percentage.

[0151] It should also be understood that, in order to avoid false triggering, in a case that the handle control percentage is less than or equal to the second percentage, the target slew pressure of the excavator is determined as zero:

[0152] Set_SlewPilot = 0 Slew Per ≤ 5% Formula (6)

[0153] wherein Set_SlewPilot is the target slew pressure and Slew_Per is the handle control percentage, and 5% is the second percentage.

[0154] The application provides a control method for an excavator, comprising: in a case that the state of the excavator is a dumping state, obtaining a dumping angle of the excavator; in a case that the state of the excavator is a starting loading state, obtaining a digging angle of the excavator; determining a target loading angle of the excavator according to the dumping angle and the digging angle; and determining a control signal of a slew valve core according to the target loading angle and a handle control percentage, so as to control the work of the slew valve core through the control signal. The excavator actively detects the dumping state and the starting loading state, so as to determine the loading angle of the excavator through the dumping angle corresponding to the dumping state and the digging angle corresponding to the starting loading state. Generally, the smaller the loading angle of the excavator is, the smaller the required slew speed is, and the larger the loading angle of the excavator is, the higher the required slew speed is. Since the slew speed of the excavator is affected by the flow of the slew valve core, the slew valve core is controlled according to the loading angle of the excavator and the handle control percentage, so that the matching of the boom lifting speed and the slew speed is realized, and the overall operation efficiency of the excavator is improved. At the same time, since the slew valve core is actively controlled according to the loading angle of the excavator and the handle control percentage, the user no longer needs to manually adjust the logic valve of the excavator, and the controllability of the excavator is further improved.

[0155] The application also provides a control device, comprising:

[0156] a memory configured to store the instructions;

[0157] a processor configured to call the instructions from the memory and implement the above-mentioned control method for the excavator when executing the instructions.

[0158] The processor includes a core, and the core calls corresponding program units from the memory. The core can be one or more, and the problem of low overall working efficiency of the excavator in the prior art can be solved by adjusting the core parameters.

[0159] The memory can include non-permanent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0160] Please refer to Figure 6 , Figure 6 The structure of an excavator according to an embodiment of the present application is schematically shown. As Figure 6 shown, the present application also provides an excavator 200, which includes:

[0161] a bucket 210 configured to perform a dumping action according to the received instructions;

[0162] a dipper arm 220 configured to perform an outer swing action according to the received instructions;

[0163] a swing arm 230 configured to perform a lifting action according to the received instructions;

[0164] a swing platform 240 configured to perform a slewing action according to the received instructions;

[0165] a swing valve core 250 configured to adjust the opening degree to control the flow of a swing motor 260;

[0166] a swing motor 260 configured to drive the swing platform 240 to perform slewing;

[0167] According to the above-mentioned control device.

[0168] Please refer to Figure 7 , Figure 7 The application example of an excavator according to an embodiment of the present application is schematically shown.

[0169] The control device generates an instruction according to the user's operation, and controls at least one of the bucket 210, the arm 220, the boom 230 and the rotating platform 240 to perform an action through the instruction. In the case where the state of the excavator 200 is the unloading state, the unloading action can be performed only by the bucket 210, or the unloading action can be performed by the bucket 210 and the outward swinging action can be performed by the arm 220. In the case where the state of the excavator 200 is the unloading state, the lifting action is performed by the boom 230 and the rotating action is performed by the rotating platform 240. The control device acquires the unloading angle when the state of the excavator 200 is the unloading state, and the digging angle when the state of the excavator 200 is the starting loading state, and determines the target loading angle of the excavator 200 according to the unloading angle and the digging angle. During the operation of the excavator 200, the control device controls the rotating spool 250 according to the target loading angle, so as to control the flow of the rotating motor 260. The rotating spool 250 is controlled according to the loading angle of the excavator 200, so that the lifting speed of the boom 230 is matched with the rotating speed, and the overall operation efficiency of the excavator 200 is improved.

[0170] It should be understood that the excavator 200 in the embodiment is a fully electrically controlled hydraulic excavator 200, and the excavator 200 further includes other mechanisms, which are set according to actual needs and are not limited herein. For the convenience of understanding, the other mechanisms in the embodiment of the application further include a handle, a spool control solenoid valve group, a main control valve, a cylinder, a rotating angle sensor, a main pump solenoid valve, a main pump and an engine, which are not described herein.

[0171] The embodiment of the application further provides a machine readable storage medium, which stores instructions for causing a machine to execute the control method for the excavator.

[0172] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system or a computer program product. Therefore, the application can adopt a completely hardware embodiment, a completely software embodiment or an embodiment combining software and hardware aspects. Moreover, the application can adopt a computer program product in the form of being implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0173] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0174] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0175] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0176] In one typical configuration, the computing device includes one or more processors (CPU's), input / output interfaces, network interfaces, and memory.

[0177] The memory can include non-persistent memory and / or persistent memory, such as flash memory, read-only memory (ROM), and / or volatile or non-volatile random access memory (RAM), among others. The memory is an example of computer-readable media.

[0178] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0179] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0180] The above only is the embodiment of the present application, and is not used to limit the present application. The present application can have various changes and variations for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A control method for a shovel, characterized by, The control method for the excavator comprises: The excavator actively detects the unloading state and the start loading state; In the case that the state of the excavator is the unloading state, the unloading angle of the excavator is obtained according to the current swing angle of the excavator; In the case that the state of the excavator is the start loading state, the digging angle of the excavator is obtained according to the current swing angle of the excavator; According to the unloading angle and the digging angle, the target loading angle of the excavator is determined; According to the target loading angle and the control percentage of the handle, the control signal of the swing valve core is determined to control the work of the swing valve core through the control signal; The control signal of the swing valve core is determined according to the target loading angle and the control percentage of the handle, and the work of the swing valve core is controlled through the control signal, comprising: According to the comparison of the target loading angle and the preset loading angle, the target maximum swing pressure of the excavator is determined; According to the comparison of the control percentage of the handle and the preset percentage, and the target maximum swing pressure, the target swing pressure of the excavator is determined; Based on the target swing pressure, the control signal of the swing valve core is determined to control the work of the swing valve core.

2. The control method for the excavator according to claim 1, characterized by, Before the unloading angle of the excavator is obtained in the case that the state of the excavator is the unloading state, it further comprises: According to whether the bucket rod swing signal, the bucket unloading signal, the first start and stop time of the bucket rod swing signal and the second start and stop time of the bucket unloading signal are detected, it is determined whether the state of the excavator is the unloading state.

3. The control method for the excavator according to claim 2, characterized by, According to whether the bucket rod swing signal, the bucket unloading signal, the first start and stop time of the bucket rod swing signal and the second start and stop time of the bucket unloading signal are detected, it is determined whether the state of the excavator is the unloading state, comprising: In the case that the bucket rod swing signal and the bucket unloading signal are detected, and the start time of the bucket rod swing signal and the bucket unloading signal is the same, the first duration is determined according to the first start and stop time of the bucket rod swing signal, and the second duration is determined according to the second start and stop time of the bucket unloading signal; In the case that the first duration and the second duration are both greater than the first time threshold, it is determined that the state of the excavator is the unloading state.

4. The control method for the excavator according to claim 2, characterized by, According to whether the bucket rod swing signal, the bucket unloading signal, the first start and stop time of the bucket rod swing signal and the second start and stop time of the bucket unloading signal are detected, it is determined whether the state of the excavator is the unloading state, comprising: In a case where the boom swing signal and the bucket unloading signal are detected and start times of the boom swing signal and the bucket unloading signal are not the same, a time difference between the boom swing signal and the bucket unloading signal and a third duration are determined according to a first start-stop time of the boom swing signal and a second start-stop time of the bucket unloading signal, wherein the time difference is determined according to a smaller one of a difference between a termination time of one of the boom swing signal and the bucket unloading signal and a start time of the other, and the third duration is determined according to a larger one of the difference between the termination time of one of the boom swing signal and the bucket unloading signal and the start time of the other; In a case where the time difference is less than a preset time difference and the third duration is greater than a second duration threshold, the state of the excavator is determined to be an unloading state.

5. The control method for the excavator according to claim 2, characterized by, The determination of whether the state of the excavator is the unloading state according to whether the boom swing signal, the bucket unloading signal, the first start-stop time of the boom swing signal and the second start-stop time of the bucket unloading signal are detected includes: In a case where the bucket unloading signal is detected and the boom swing signal is not detected, a fourth duration is determined according to the second start-stop time of the bucket unloading signal; In a case where the fourth duration is greater than a third duration threshold, the state of the excavator is determined to be the unloading state.

6. The control method for the excavator according to claim 1, characterized by, Before the state of the excavator is determined to be the loading state, the method further includes: The state of the excavator is determined to be the loading state according to a third start-stop time of a boom raising signal and a fourth start-stop time of a rotating platform slewing signal.

7. The control method for the excavator according to claim 6, characterized by, The determination of whether the state of the excavator is the loading state according to the third start-stop time of the boom raising signal and the fourth start-stop time of the rotating platform slewing signal includes: In a case where the boom raising signal and the slewing signal are detected, a fifth duration is determined according to the third start-stop time of the boom raising signal, and a sixth duration is determined according to the fourth start-stop time of the rotating platform slewing signal; The start times of the boom raising signal and the slewing signal are determined to be the same according to the third start-stop time and the fourth start-stop time; In a case where the start times of the boom raising signal and the slewing signal are the same and the fifth duration and the sixth duration are both greater than a fourth duration threshold, the state of the excavator is determined to be the loading state; In a case where the start time of the boom raising signal is earlier than the start time of the slewing signal and the fifth duration is greater than a fifth duration threshold, the state of the excavator is determined to be the loading state.

8. The control method for the excavator according to claim 1, characterized by, The determination of the target maximum slewing pressure of the excavator according to the comparison between the target loading angle and the preset loading angle includes: In a case where the target loading angle is less than or equal to a minimum preset loading angle, a preset minimum value of the maximum slewing pressure is determined as the target maximum slewing pressure of the excavator; In a case where the target loading angle is greater than or equal to the maximum preset loading angle, a preset maximum value of the maximum swing pressure is determined as the target maximum swing pressure of the excavator; In a case where the target loading angle is greater than the minimum preset loading angle and less than the maximum preset loading angle, the target maximum swing pressure of the excavator is determined according to the minimum preset loading angle, the maximum preset loading angle, a preset minimum value of the maximum swing pressure, the preset maximum value of the maximum swing pressure, and the target loading angle.

9. The control method for the excavator according to claim 1, characterized by, The target swing pressure of the excavator is determined according to the comparison between the handle control percentage and the preset percentage, and the target maximum swing pressure, including: In a case where the handle control percentage is greater than or equal to the first percentage, the target swing pressure of the excavator is determined as the target maximum swing pressure of the excavator; In a case where the handle control percentage is less than the first percentage and greater than the second percentage, the target swing pressure of the excavator is determined according to the minimum swing pressure, the target maximum swing pressure, the first percentage, the second percentage, and the handle control percentage.

10. The control method for the excavator according to claim 1, characterized by, The target loading angle of the excavator is determined according to the unloading angle and the digging angle, including: An absolute value of an angle difference between the unloading angle and the digging angle is obtained, and it is determined whether the absolute value of the angle difference is greater than 180°; In a case where the absolute value of the angle difference is less than or equal to 180°, the absolute value of the angle difference is determined as the target loading angle of the excavator; In a case where the absolute value of the angle difference is greater than 180° and the swing direction of the loading start state is the same as the swing direction of the unloading state, 360° is subtracted from the absolute value of the angle difference to obtain the target loading angle of the excavator; In a case where the absolute value of the angle difference is greater than 180° and the swing direction of the loading start state is opposite to the swing direction of the unloading state, the target loading angle of the excavator is determined as 180°.

11. A control device characterized by comprising: including: a memory configured to store instructions; a processor configured to call the instructions from the memory and capable of implementing the control method for the excavator according to any one of claims 1 to 10 when executing the instructions.

12. An excavator characterized by comprising: including: a bucket configured to perform an unloading action according to the received instructions; a stick configured to perform an outer swing action according to the received instructions; a boom configured to perform a lifting action according to the received instructions; a swing platform configured to perform a swing action according to the received instructions; a swing spool configured to adjust an opening degree to control a flow of a swing motor; a swing motor configured to drive the swing platform to swing; the control device according to claim 11.

13. A machine-readable storage medium, characterized in that, The machine readable storage medium has instructions stored thereon for causing a machine to perform the control method for the excavator according to any one of claims 1 to 10. The machine readable storage medium has instructions stored thereon for causing a machine to perform the control method for the excavator according to any one of claims 1 to 10.

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