Excavator control method, control system, device, electronic equipment and storage medium

Abstract

The invention discloses an excavator control method, system and device, electronic equipment and a storage medium, and the method comprises the steps: carrying out the processing through an excavator control system based on an expected joint position of a target joint position and an expected joint speed, and determining and controlling a target joint speed of a target joint part; and the target joint part moves according to the preset moving track based on the target joint speed, so that errors existing in track control can be effectively reduced, the track control stability of the excavator is ensured, the track control accuracy is improved, the response speed is increased, and the working efficiency of the excavator is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automatic control of excavators, and in particular to an excavator control method, control system, device, electronic equipment and storage medium. Background Art

[0002] At present, excavators, as an important type of engineering machinery, are widely used in earthwork, mining, construction and other fields. With people's demand for construction accuracy, the intelligent development of excavators has become a general trend. Among them, one of the keys to realizing the intelligence of excavators is the application of trajectory control technology. Construction personnel can set the working trajectory of each joint of the excavator according to actual work needs, so that the excavator can track the working trajectory to work.

[0003] Existing excavators are usually driven by hydraulic systems. When the excavator works according to a preset working trajectory, since the operation of the hydraulic system is based on the transmission of fluid, there will be a certain delay in the fluid transmission process. As a result, when the control command is issued, the hydraulic system needs a certain amount of time to respond and transmit it to the drive device, which will cause errors and instability in trajectory control, resulting in low accuracy of trajectory control and untimely response, resulting in low working efficiency of the excavator. Summary of the invention

[0004] The embodiments of the present application provide an excavator control method, control system, device, electronic device and storage medium. The excavator control system processes the expected joint position and the expected joint speed based on the target joint position to determine the target joint speed for controlling the target joint part, so that the target joint part moves according to the preset moving trajectory based on the target joint speed. This can effectively reduce the error in trajectory control, ensure the stability of the excavator's trajectory control, improve the accuracy of trajectory control, increase the response speed, and improve the working efficiency of the excavator.

[0005] In a first aspect, an embodiment of the present application provides an excavator control method, which is applied to an excavator control system of an excavator, wherein the excavator includes a plurality of joint parts, and the method includes:

[0006] Acquire trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator;

[0007] When it is detected that the current time reaches the target execution timestamp, based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp, the current actual joint position and actual joint speed of the target joint part are determined;

[0008] Converting a position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value; converting a speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value;

[0009] Determining a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and performing duty cycle calculation based on the third speed compensation value to obtain a first PWM duty cycle;

[0010] Calculating a duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle;

[0011] Based on the first PWM duty cycle and the second PWM duty cycle, a target joint speed for controlling the target joint part is determined so that the target joint part moves according to a preset movement trajectory based on the target joint speed.

[0012] In a second aspect, an embodiment of the present application provides an excavator control device, comprising:

[0013] an acquisition unit, configured to acquire trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator;

[0014] a detection unit, configured to determine a current actual joint position and an actual joint speed of the target joint part based on an expected joint position and an expected joint speed of the target joint part corresponding to the target execution timestamp when detecting that the current time reaches the target execution timestamp;

[0015] A first processing unit is used to convert a position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value; and to convert a speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value;

[0016] a second processing unit, configured to determine a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and to calculate a duty cycle based on the third speed compensation value to obtain a first PWM duty cycle;

[0017] a third processing unit, configured to calculate a duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle;

[0018] A determination unit is used to determine a target joint speed for controlling the target joint part based on the first PWM duty cycle and the second PWM duty cycle, so that the target joint part moves according to a preset movement trajectory based on the target joint speed.

[0019] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a memory storing a plurality of instructions; a processor loads instructions from the memory to execute the steps of any excavator control method provided in the embodiment of the present application.

[0020] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores a plurality of instructions suitable for loading by a processor to execute the steps of any excavator control method provided in an embodiment of the present application.

[0021] In a fifth aspect, an embodiment of the present application further provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements the steps of any excavator control method provided in the embodiment of the present application.

[0022] By adopting the solution of the embodiment of the present application, the excavator control system processes the expected joint position and the expected joint speed based on the target joint position, and determines the target joint speed for controlling the target joint part, so that the target joint part moves according to the preset moving trajectory based on the target joint speed. This can effectively reduce the error in trajectory control, ensure the stability of the excavator's trajectory control, improve the accuracy of trajectory control, increase the response speed, and improve the working efficiency of the excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a schematic flow chart of an embodiment of the excavator control method provided in the embodiment of the present application;

[0025] Figure 2a It is a structural schematic diagram of an excavator control system provided in an embodiment of the present application;

[0026] Figure 2b It is a structural schematic diagram of an excavator control system provided in an embodiment of the present application;

[0027] Figure 2c It is a structural schematic diagram of an excavator control system provided in an embodiment of the present application;

[0028] Figure 2d It is a structural schematic diagram of an excavator control system provided in an embodiment of the present application;

[0029] Figure 3 is a schematic structural diagram of an excavator control device provided in an embodiment of the present application;

[0030] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. At the same time, in the description of the embodiments of the present application, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0032] The embodiment of the present application provides an excavator control method, control system, device, electronic device and storage medium. Specifically, the present embodiment will be described from the perspective of the excavator control device, and the excavator control device can be specifically integrated in an electronic device, that is, the excavator control method of the embodiment of the present application can be executed by an electronic device, and optionally, the electronic device can include: a terminal device. The terminal device can be a mobile phone, a tablet computer, a smart Bluetooth device, a laptop, or a personal computer (PC) and other devices.

[0033] The excavator control method provided in the embodiment of the present application can be applied to a terminal corresponding to the excavator control system. The terminal can be a device including both receiving and transmitting hardware, that is, a device having receiving and transmitting hardware capable of performing bidirectional communication on a bidirectional communication link.

[0034] The embodiment of the present application provides an excavator control method, which can be executed by a terminal or a server. The embodiment of the present application takes the excavator control method executed by the terminal as an example for explanation. Among them, the terminal may include a touch display screen and a processor (of course, the terminal may also use peripherals such as a mouse and a keyboard as input devices, and only the touch display screen is used as an example for explanation here), and the touch display screen is used to present a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. When the user operates the graphical user interface through the touch display screen, the graphical user interface can control the local content of the terminal by responding to the received operation instructions, and can also control the content of the opposite server by responding to the received operation instructions. For example, the operation instructions generated by the user acting on the graphical user interface include instructions for starting an application, and the processor is configured to start the application after receiving the instructions for starting the application provided by the user. In addition, the processor is configured to render and draw the associated graphical user interface on the touch display screen. The touch display screen is a multi-touch sensitive screen that can sense touch or sliding operations performed simultaneously on multiple points on the screen.

[0035] The following is a detailed description in conjunction with the accompanying drawings. In this embodiment, the execution subject is a terminal device as an example. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments. Although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order different from that shown in the accompanying drawings.

[0036] See also Figure 1 , Figure 1 The flowchart of an excavator control method provided in an embodiment of the present application is a schematic diagram. The present application embodiment takes the excavator control method executed by a terminal device as an example for explanation. The specific flow of the excavator control method may be as follows: Steps 101 to 106:

[0037] Step 101: Acquire trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator.

[0038] In an embodiment of the present application, a user can input a preset movement trajectory into the excavator control system. The preset movement trajectory is generally a joint space trajectory, and the trajectory tracking is performed in the joint space of the excavator. Among them, the joint space refers to the vector space composed of the feasible areas of each joint. For example, the four joint parts of the excavator include the cockpit, the boom, the forearm, and the bucket. Their angles are set to θ1, θ2, θ3, θ4, respectively, and the ranges of the four angles are all [-Π, Π). The joint space of the excavator is the vector space where the vector [θ1, θ2, θ3, θ4] exists. Any specific point in this vector space (that is, a vector) corresponds to a set of joint angles of the excavator.

[0039] Specifically, the embodiment of the present application only needs to give a trajectory sequence of a preset moving trajectory that meets the requirements, then each joint of the excavator can be controlled to track the trajectory. For offline trajectory tracking, a complete moving trajectory can be preset first, and for online tracking, the trajectory can be obtained in real time through other algorithms.

[0040] The trajectory sequence information is used to indicate at what joint speed a certain joint should reach a specified joint position at a certain time point. Specifically, the trajectory sequence information contains several groups of "joint position, joint speed, and corresponding timestamp". Assuming that the movement trajectory control is performed at 100hz and the preset movement trajectory is 5s, then it should contain 500 groups of the above trajectory sequence information.

[0041] Step 102: When it is detected that the current time reaches the target execution timestamp, the current actual joint position and actual joint speed of the target joint part are determined based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp.

[0042] Specifically, the step of “determining the current actual joint position and actual joint speed of the target joint part based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp” includes:

[0043] The speed control module of the excavator control system calculates the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp to obtain the current actual joint position and actual joint speed of the target joint part.

[0044] In an embodiment of the present application, a known trajectory sequence containing the joint position and joint speed of the target joint part can be acquired, and the PWM duty cycle required to control the pilot solenoid valve can be calculated based on the above trajectory sequence, and the opening and closing degree of the solenoid valve can be directly controlled by the PWM duty cycle, thereby achieving accurate tracking of the trajectory.

[0045] Among them, the pulse width modulation (PWM) duty cycle refers to the percentage of high level (or low level) in the PWM signal within a period of time. The PWM signal is a periodic square wave signal. The voltage or power is regulated by controlling the ratio of the high level time of the square wave signal to the period. The PWM duty cycle can be expressed by the formula:

[0046] Duty cycle = (high level time / period) * 100%

[0047] The high level time is the duration of the high level of the PWM signal in one cycle, and the cycle is the time length of a complete cycle of the PWM signal.

[0048] In one specific embodiment, see Figure 2a , the expected joint position Pd and the expected joint velocity Vd of the target joint part can be input into the excavator control system to obtain the actual joint position P and the actual joint velocity V.

[0049] Step 103: converting the position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value; converting the speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value.

[0050] In one specific embodiment, see Figure 2b , the actual joint position P and the actual joint velocity V can be obtained, and the position outer loop (i.e., the first position processing module) is used to obtain the actual position error, that is, through Pd-P=Perr, the obtained Perr is used as the position error; then, the position error Perr is input into the PDI controller of the position outer loop to obtain the first velocity compensation value. At the same time, the velocity outer loop (i.e., the first velocity processing module) is used to obtain the actual velocity error, that is, through Vd-V=Verr, the obtained Verr is used as the velocity error; then, the velocity error Verr is input into the PDI controller of the velocity outer loop to obtain the second velocity compensation value.

[0051] Specifically, the step of “converting the position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value” includes:

[0052] Acquire a first difference between the actual joint position and the expected joint position as a position error;

[0053] A trajectory control module of the excavator control system performs a conversion calculation based on the position error to obtain a first speed compensation value.

[0054] Specifically, the step of “converting the speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value” includes:

[0055] Acquire a second difference between the actual joint velocity and the expected joint velocity as a velocity error;

[0056] A trajectory control module of the excavator control system performs a conversion calculation based on the speed error to obtain a second speed compensation value.

[0057] Step 104: determine a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and calculate a duty cycle based on the third speed compensation value to obtain a first PWM duty cycle.

[0058] In one specific embodiment, for example, see Figure 2c , the first speed compensation value, the second speed compensation value, the expected joint speed Vd, and the actual joint speed V can be obtained, the first speed compensation value, the second speed compensation value and the expected speed Vd are added to obtain the expected speed Vcor1 after the expected speed is compensated; then, the expected speed Vcor1 is subtracted from the actual joint speed V to obtain the error Vcor2 of the expected speed; the error Vcor2 of the expected speed is input into the PID controller of the speed controller to obtain the first PWM duty cycle (i.e., PWM duty cycle compensation).

[0059] In one embodiment, the step of “determining a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed” includes:

[0060] Obtaining a first sum of the first speed compensation value, the second speed compensation value, and the expected joint speed;

[0061] A third difference between the first sum and the actual joint velocity is obtained as a third velocity compensation value.

[0062] Step 105 : Calculate the duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle.

[0063] In this application example, for example Figure 2c As shown, the actual joint position P and the expected joint velocity Vd are input into the velocity feedforward model of the position inner loop (ie, the second position processing module), and the second PWM duty cycle (ie, the PWM duty cycle) of the actual expected velocity value is output.

[0064] Step 106: Determine a target joint speed for controlling the target joint part based on the first PWM duty cycle and the second PWM duty cycle, so that the target joint part moves according to a preset movement trajectory based on the target joint speed.

[0065] In an embodiment of the present application, the compensated PWM duty cycle obtained by adding the first PWM duty cycle and the second PWM duty cycle is used as the target PWM duty cycle, and is input into the solenoid valve to determine the target opening and closing degree. The target joint speed is determined according to the target opening and closing degree, and the target joint speed is used to control the hydraulic cylinder at the target joint part.

[0066] Specifically, the step of “determining the target joint speed for controlling the target joint part based on the first PWM duty cycle and the second PWM duty cycle” includes:

[0067] Determining a target PWM duty cycle based on the first PWM duty cycle and the second PWM duty cycle;

[0068] Determining a target opening and closing degree of a solenoid valve controlling a target joint portion in the excavator control system based on the target PWM duty cycle;

[0069] A target joint speed for controlling the target joint part is determined based on the target opening and closing degree.

[0070] In one embodiment, the step of “determining a target PWM duty cycle based on the first PWM duty cycle and the second PWM duty cycle” includes:

[0071] A sum of the first PWM duty cycle and the second PWM duty cycle is obtained as a target PWM duty cycle.

[0072] The embodiment of the present application constructs a trajectory control system for an excavator. The entire control system consists of two nested feedback systems, and both feedback systems are structures of feedforward plus dual-loop feedback. See the result schematic diagram in the above specific embodiment for details. Specifically, the speed feedforward value is the expected joint velocity value of the known target trajectory. After the closed-loop control in the dotted box, the real-time position error and speed error obtained are corrected by PID feedback and superimposed on the feedforward speed. Speed ​​tracking is achieved in the dotted box by feedforward plus dual-loop feedback. This cycle repeats until the trajectory tracking is completed.

[0073] To summarize, the embodiment of the present application provides an excavator control method, which determines the target joint speed of the target joint part based on the expected joint position and the expected joint speed of the target joint position by the excavator control system, so that the target joint part moves according to the preset moving trajectory based on the target joint speed. This can effectively reduce the error in trajectory control, ensure the stability of the excavator's trajectory control, improve the accuracy of trajectory control, increase the response speed, and improve the working efficiency of the excavator.

[0074] The present application also provides an excavator control system. Figure 2a to Figure 2d , Figure 2a to Figure 2d The structural diagram of the excavator control system is shown in FIG. 1 , which includes a trajectory control module and a speed control module which are electrically connected. The trajectory control module includes a first position processing module and a first speed processing module which are electrically connected. The speed control module includes a main processing module and a second position processing module which are electrically connected. The main processing module includes a solenoid valve which is electrically connected to each joint of the excavator so that the excavator control system can control the movement of each joint of the excavator. The specific description is as follows:

[0075] The trajectory control module is used to obtain trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator;

[0076] The main processing module is used to determine the current actual joint position and actual joint speed of the target joint part based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp when it is detected that the current time reaches the target execution timestamp;

[0077] The first position processing module is used to convert the position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value;

[0078] The first speed processing module is used to convert the speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value;

[0079] The main processing module is further used to determine a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and calculate the duty cycle based on the third speed compensation value to obtain a first PWM duty cycle;

[0080] The second position processing module is used to calculate the duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle;

[0081] The main processing module is further used to determine a target joint speed for controlling the target joint part based on the first PWM duty cycle and the second PWM duty cycle, so that the target joint part moves according to a preset movement trajectory based on the target joint speed.

[0082] Based on the above introduction, the excavator control method of the present application will be further illustrated by taking examples below. The specific implementation example of the excavator control method is as follows.

[0083] The present application provides a method for controlling the trajectory of the joint parts of an excavator in the joint space. When the target joint parts of the excavator are tracking the trajectory, the target joint parts need to be controlled and fed back according to the expected joint speed and expected joint position of the preset trajectory. The entire control system is end-to-end control. By inputting the expected joint speed and expected joint position of the preset trajectory, the target PWM duty cycle is output to directly control the opening and closing degree of the pilot solenoid valve, thereby controlling the joint speed of the target joint parts of the excavator. Since the control system has feedforward, two speed feedback loops (i.e., a first speed processing module and a second speed processing module), and two position feedback loops (i.e., a first position processing module and a second position processing module), high-precision control of the movement of the joint parts according to the trajectory can be achieved.

[0084] See also Figure 2a , the part in the dotted box can be abstracted into an end-to-end speed controller (i.e., speed control module), and the part in the dotted box and the part outside the dotted box together constitute a complete end-to-end trajectory controller (i.e., control system). Since the expected joint position and expected joint speed are the values ​​carried in the existing preset trajectory, they are read and input into the control system in sequence according to the timestamp of the preset trajectory. After passing through the entire system, the real-time position error and real-time speed error can be obtained, and then fed back through PID feedback loops and other methods.

[0085] Among them, there are two speed feedback loops, the inner loop in the dotted box (that is, the first speed processing module), which can be understood as the speed feedback loop at the speed control level, and the speed feedback loop outside the dotted box (that is, the second speed processing module) at the trajectory control level, and both feedback loops are in the form of PID feedback. Similarly, there are two position feedback loops, the inner loop in the dotted box (that is, the second position processing module), which can be understood as the position feedback loop at the speed control level, directly feeding back to the speed feedforward model without PID calculation, and the position feedback loop outside the dotted box (that is, the first position processing module) at the trajectory control level, in the form of PID feedback. The purpose of using two inner and outer feedback loops in this application is to reduce the impact of the delay of the hydraulic system on the real-time requirements of trajectory tracking. Finally, the value calculated by PID and the speed feedforward value are added to obtain the PWM wave duty cycle, which corresponds to different opening and closing degrees of the solenoid valve, thereby corresponding to different pilot pressures. The pilot pressure affects the flow rate of the hydraulic oil, and then the joint speed of the excavator is obtained. This cycle repeats until the trajectory is tracked. The control frequency depends on the frequency that the solenoid valve can support, which is generally 100HZ.

[0086] The embodiment of the present application realizes high-precision control of the hydraulic system by directly controlling the opening and closing degree of the pilot solenoid valve. Compared with the traditional method, the present application does not need to rely on the performance of the underlying speed controller, which greatly improves the accuracy of trajectory tracking. The present application comprehensively considers the low bandwidth, high latency, load-sensitive characteristics of the hydraulic system and the coupling characteristics of the joint output torque, so that the control system can maintain high performance under different load conditions and operating requirements. Whether it is for complex operations such as excavation and loading, or under conditions of dynamic load changes, the system can show excellent trajectory tracking capabilities, thereby realizing high-precision trajectory tracking of the excavator. In addition, the present invention adopts a dual-loop feedback structure and combines feedforward control. Even under complex working conditions, the system can respond quickly through the feedback of position error and speed error, maintain the stability and accuracy of trajectory tracking, and greatly enhance the robustness of the system. Further, due to the use of feedforward plus dual-loop feedback control, the system can correct the speed and position errors in real time, thereby significantly improving the response speed of the control system, so that the excavator can effectively avoid trajectory deviation and operation delay in high dynamic operation.

[0087] This embodiment also provides an excavator control device, which can be integrated into a terminal device. Figure 3 As shown, the excavator control device may include:

[0088] An acquisition unit 201 is used to acquire trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator;

[0089] A detection unit 202, configured to determine a current actual joint position and an actual joint speed of the target joint part based on an expected joint position and an expected joint speed of the target joint part corresponding to the target execution timestamp when detecting that the current time reaches the target execution timestamp;

[0090] The first processing unit 203 is used to convert the position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value; convert the speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value;

[0091] The second processing unit 204 is used to determine a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and calculate the duty cycle based on the third speed compensation value to obtain a first PWM duty cycle;

[0092] A third processing unit 205 is used to calculate the duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle;

[0093] The determination unit 206 is used to determine a target joint speed for controlling the target joint part based on the first PWM duty cycle and the second PWM duty cycle, so that the target joint part moves according to a preset movement trajectory based on the target joint speed.

[0094] In some embodiments, the excavator control device includes a processing subunit for:

[0095] The speed control module of the excavator control system calculates the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp to obtain the current actual joint position and actual joint speed of the target joint part.

[0096] In some embodiments, the excavator control device includes a processing subunit for:

[0097] Acquire a first difference between the actual joint position and the expected joint position as a position error;

[0098] A trajectory control module of the excavator control system performs a conversion calculation based on the position error to obtain a first speed compensation value.

[0099] In some embodiments, the excavator control device includes a processing subunit for:

[0100] Acquire a second difference between the actual joint velocity and the expected joint velocity as a velocity error;

[0101] A trajectory control module of the excavator control system performs a conversion calculation based on the speed error to obtain a second speed compensation value.

[0102] In some embodiments, the excavator control device includes a processing subunit for:

[0103] Obtaining a first sum of the first speed compensation value, the second speed compensation value, and the expected joint speed;

[0104] A third difference between the first sum and the actual joint velocity is obtained as a third velocity compensation value.

[0105] In some embodiments, the excavator control device includes a processing subunit for:

[0106] Determining a target PWM duty cycle based on the first PWM duty cycle and the second PWM duty cycle;

[0107] Determining a target opening and closing degree of a solenoid valve controlling a target joint portion in the excavator control system based on the target PWM duty cycle;

[0108] A target joint speed for controlling the target joint part is determined based on the target opening and closing degree.

[0109] In some embodiments, the excavator control device includes a processing subunit for:

[0110] A sum of the first PWM duty cycle and the second PWM duty cycle is obtained as a target PWM duty cycle.

[0111] The embodiment of the present application discloses an excavator control device, which acquires trajectory sequence information of a preset moving trajectory through an acquisition unit 201, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator; when the detection unit 202 detects that the current time reaches the target execution timestamp, based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp, determines the current actual joint position and actual joint speed of the target joint part; the first processing unit 203 converts the position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value; and converts the position error obtained based on the actual joint speed and the expected joint position to obtain a first speed compensation value. The speed error obtained by the expected joint speed is converted to obtain a second speed compensation value; the second processing unit 204 determines the third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and calculates the duty cycle based on the third speed compensation value to obtain a first PWM duty cycle; the third processing unit 205 calculates the duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle; the determination unit 206 determines the target joint speed of the target joint part based on the first PWM duty cycle and the second PWM duty cycle, so that the target joint part moves according to the preset moving trajectory based on the target joint speed. The embodiment of the present application determines the target joint speed of the target joint part by processing the expected joint position and the expected joint speed of the target joint position based on the excavator control system, so that the target joint part moves according to the preset moving trajectory based on the target joint speed, which can effectively reduce the error existing in the trajectory control, ensure the stability of the trajectory control of the excavator, improve the accuracy of the trajectory control, improve the response speed, and improve the working efficiency of the excavator.

[0112] Accordingly, an embodiment of the present application further provides an electronic device, which may be a terminal, such as a smart phone, a tablet computer, a laptop computer, a touch screen, a personal computer (PC), a personal digital assistant (PDA), etc. Alternatively, the electronic device may be a server.

[0113] like Figure 4 As shown, Figure 4A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 300 includes a processor 301 having one or more processing cores, a memory 302 having one or more computer-readable storage media, and a computer program stored in the memory 302 and executable on the processor. The processor 301 is electrically connected to the memory 302. Those skilled in the art will appreciate that the electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown, or combine certain components, or arrange components differently.

[0114] The processor 301 is the control center of the electronic device 300. It uses various interfaces and lines to connect various parts of the entire electronic device 300, and executes various functions and processes data of the electronic device 300 by running or loading software programs and / or units stored in the memory 302, and calling data stored in the memory 302, so as to monitor the electronic device 300 as a whole. The processor 301 can be a central processing unit CPU, a graphics processing unit GPU, a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0115] In the embodiment of the present application, the processor 301 in the electronic device 300 will load instructions corresponding to the processes of one or more application programs into the memory 302 according to the following steps, and the processor 301 will run the application programs stored in the memory 302 to implement various functions, such as:

[0116] Acquire trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator;

[0117] When it is detected that the current time reaches the target execution timestamp, based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp, the current actual joint position and actual joint speed of the target joint part are determined;

[0118] Converting a position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value; converting a speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value;

[0119] Determining a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and performing duty cycle calculation based on the third speed compensation value to obtain a first PWM duty cycle;

[0120] Calculating a duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle;

[0121] Based on the first PWM duty cycle and the second PWM duty cycle, a target joint speed for controlling the target joint part is determined so that the target joint part moves according to a preset movement trajectory based on the target joint speed.

[0122] In one embodiment, determining the current actual joint position and actual joint speed of the target joint part based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp includes:

[0123] The speed control module of the excavator control system calculates the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp to obtain the current actual joint position and actual joint speed of the target joint part.

[0124] In one embodiment, converting the position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value includes:

[0125] Acquire a first difference between the actual joint position and the expected joint position as a position error;

[0126] A trajectory control module of the excavator control system performs a conversion calculation based on the position error to obtain a first speed compensation value.

[0127] In one embodiment, converting the speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value includes:

[0128] Acquire a second difference between the actual joint velocity and the expected joint velocity as a velocity error;

[0129] A trajectory control module of the excavator control system performs a conversion calculation based on the speed error to obtain a second speed compensation value.

[0130] In one embodiment, determining a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed comprises:

[0131] Obtaining a first sum of the first speed compensation value, the second speed compensation value, and the expected joint speed;

[0132] A third difference between the first sum and the actual joint velocity is obtained as a third velocity compensation value.

[0133] In one embodiment, determining a target joint speed for controlling the target joint part based on the first PWM duty cycle and the second PWM duty cycle includes:

[0134] Determining a target PWM duty cycle based on the first PWM duty cycle and the second PWM duty cycle;

[0135] Determining a target opening and closing degree of a solenoid valve controlling a target joint portion in the excavator control system based on the target PWM duty cycle;

[0136] A target joint speed for controlling the target joint part is determined based on the target opening and closing degree.

[0137] In one embodiment, determining a target PWM duty cycle based on the first PWM duty cycle and the second PWM duty cycle includes:

[0138] A sum of the first PWM duty cycle and the second PWM duty cycle is obtained as a target PWM duty cycle.

[0139] In one embodiment, the present application further provides an excavator control system, the excavator control system comprising an electrically connected trajectory control module and a speed control module, the trajectory control module comprising an electrically connected first position processing module and a first speed processing module, the speed control module comprising an electrically connected main processing module and a second position processing module; wherein the main processing module comprises an electromagnetic valve, the electromagnetic valve is electrically connected to each joint of the excavator, so that the excavator control system can control the movement of each joint of the excavator, including:

[0140] The trajectory control module is used to obtain trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator;

[0141] The main processing module is used to determine the current actual joint position and actual joint speed of the target joint part based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp when it is detected that the current time reaches the target execution timestamp;

[0142] The first position processing module is used to convert the position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value;

[0143] The first speed processing module is used to convert the speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value;

[0144] The main processing module is further used to determine a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and calculate the duty cycle based on the third speed compensation value to obtain a first PWM duty cycle;

[0145] The second position processing module is used to calculate the duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle;

[0146] The main processing module is further used to determine a target joint speed for controlling the target joint part based on the first PWM duty cycle and the second PWM duty cycle, so that the target joint part moves according to a preset movement trajectory based on the target joint speed.

[0147] The electronic device provided in the embodiment of the present application can obtain trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator; then, when it is detected that the current time reaches the target execution timestamp, based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp, the current actual joint position and actual joint speed of the target joint part are determined; then, the position error obtained based on the actual joint position and the expected joint position is converted to obtain a first speed compensation value; the position error obtained based on the actual joint speed and the expected joint speed is converted to obtain a first speed compensation value. The speed error obtained by the joint speed is converted and processed to obtain a second speed compensation value; then, a third speed compensation value is determined based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and a duty cycle is calculated based on the third speed compensation value to obtain a first PWM duty cycle; then, a duty cycle is calculated based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle; finally, based on the first PWM duty cycle and the second PWM duty cycle, a target joint speed for controlling the target joint part is determined so that the target joint part moves according to a preset moving trajectory based on the target joint speed. Therefore, the scheme of the embodiment of the present application is adopted, and the excavator control system processes the expected joint position and the expected joint speed of the target joint position based on the target joint position, and determines the target joint speed for controlling the target joint part so that the target joint part moves according to the preset moving trajectory based on the target joint speed, which can effectively reduce the error existing in the trajectory control, ensure the stability of the trajectory control of the excavator, improve the accuracy of the trajectory control, improve the response speed, and improve the working efficiency of the excavator.

[0148] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0149] Optional, such as Figure 4 As shown, the electronic device 300 further includes: a touch screen 303, a radio frequency circuit 304, an audio circuit 305, an input unit 306, and a power supply 307. The processor 301 is electrically connected to the touch screen 303, the radio frequency circuit 304, the audio circuit 305, the input unit 306, and the power supply 307, respectively. Those skilled in the art can understand that Figure 4 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0150] The touch display screen 303 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 303 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the electronic device, and these graphical user interfaces can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light-emitting diode (OLED, Organic Light-Emitting Diode) and the like. The touch panel can be used to collect the user's touch operation on or near it (such as the user uses any suitable object or attachment such as a finger, a stylus, etc. on the touch panel or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 301, and can receive the command sent by the processor 301 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 301 to determine the type of touch event, and then the processor 301 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 303 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 303 can also be used as a part of the input unit 306 to realize the input function.

[0151] The radio frequency circuit 304 may be used to send and receive radio frequency signals, so as to establish wireless communication with a network device or other electronic devices through wireless communication, and to send and receive signals with the network device or other electronic devices.

[0152] The audio circuit 305 can be used to provide an audio interface between the user and the electronic device through a speaker and a microphone. The audio circuit 305 can transmit the electrical signal converted from the received audio data to the speaker, which is converted into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 305 and converted into audio data, and then the audio data is output to the processor 301 for processing, and then sent to another electronic device through the radio frequency circuit 304, or the audio data is output to the memory 302 for further processing. The audio circuit 305 may also include an earplug jack to provide communication between an external headset and the electronic device.

[0153] The input unit 306 may be used to receive input numbers, character information or user feature information (such as fingerprint, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0154] The power supply 307 is used to supply power to various components of the electronic device 300. Optionally, the power supply 307 can be logically connected to the processor 301 through a power management system, so that the power management system can manage charging, discharging, and power consumption. The power supply 307 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0155] although Figure 4 Not shown, the electronic device 300 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0156] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0157] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0158] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of computer programs are stored, and the computer program can be loaded by a processor to execute any of the excavator control methods provided in the embodiments of the present application. The computer program can execute the following steps of the excavator control method:

[0159] Acquire trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator;

[0160] When it is detected that the current time reaches the target execution timestamp, based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp, the current actual joint position and actual joint speed of the target joint part are determined;

[0161] Converting a position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value; converting a speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value;

[0162] Determining a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and performing duty cycle calculation based on the third speed compensation value to obtain a first PWM duty cycle;

[0163] Calculating a duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle;

[0164] Based on the first PWM duty cycle and the second PWM duty cycle, a target joint speed for controlling the target joint part is determined so that the target joint part moves according to a preset movement trajectory based on the target joint speed.

[0165] Due to the computer program stored in the storage medium, trajectory sequence information of a preset moving trajectory can be obtained, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator; then, when it is detected that the current time reaches the target execution timestamp, based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp, the current actual joint position and actual joint speed of the target joint part are determined; then, the position error obtained based on the actual joint position and the expected joint position is converted to obtain a first speed compensation value; the position error obtained based on the actual joint speed and the expected joint position is converted to obtain a first speed compensation value; The speed error obtained by the expected joint speed is converted and processed to obtain a second speed compensation value; then, a third speed compensation value is determined based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and a duty cycle is calculated based on the third speed compensation value to obtain a first PWM duty cycle; then, a duty cycle is calculated based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle; finally, based on the first PWM duty cycle and the second PWM duty cycle, a target joint speed for controlling the target joint part is determined so that the target joint part moves according to a preset moving trajectory based on the target joint speed. Therefore, the scheme of the embodiment of the present application is adopted, and the excavator control system processes the expected joint position and the expected joint speed of the target joint position based on the target joint position, and determines the target joint speed for controlling the target joint part so that the target joint part moves according to the preset moving trajectory based on the target joint speed, which can effectively reduce the error existing in the trajectory control, ensure the stability of the trajectory control of the excavator, improve the accuracy of the trajectory control, improve the response speed, and improve the working efficiency of the excavator.

[0166] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0167] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0168] Since the computer program stored in the computer-readable storage medium can execute any one of the excavator control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the excavator control methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0169] According to one aspect of the present application, a computer program product or a computer program is also provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the methods provided in various optional implementations of the above embodiments.

[0170] In the above-mentioned embodiments of the excavator control device, computer-readable storage medium, electronic device, and computer program product, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process and beneficial effects of the above-mentioned excavator control device, computer-readable storage medium, computer program product, electronic device and its corresponding units can refer to the description of the excavator control method in the above embodiment, and will not be repeated here.

[0171] The above is a detailed introduction to an excavator control method, device, electronic device, computer-readable storage medium and computer program product provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for controlling an excavator, characterized in that: An excavator control system applied to an excavator, the excavator comprising a plurality of joint parts, the method comprising: Acquire trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator; When it is detected that the current time reaches the target execution timestamp, based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp, the current actual joint position and actual joint speed of the target joint part are determined; Converting a position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value; converting a speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value; Determining a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and performing duty cycle calculation based on the third speed compensation value to obtain a first PWM duty cycle; Calculating a duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle; Based on the first PWM duty cycle and the second PWM duty cycle, a target joint speed for controlling the target joint part is determined so that the target joint part moves according to a preset movement trajectory based on the target joint speed.

2. The method according to claim 1, characterized in that The determining of the current actual joint position and actual joint speed of the target joint part based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp includes: The speed control module of the excavator control system calculates the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp to obtain the current actual joint position and actual joint speed of the target joint part.

3. The method according to claim 1, characterized in that: The converting the position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value includes: Acquire a first difference between the actual joint position and the expected joint position as a position error; A trajectory control module of the excavator control system performs a conversion calculation based on the position error to obtain a first speed compensation value.

4. The method according to claim 2, characterized in that: The converting process of the speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value includes: Acquire a second difference between the actual joint velocity and the expected joint velocity as a velocity error; A trajectory control module of the excavator control system performs a conversion calculation based on the speed error to obtain a second speed compensation value.

5. The method according to claim 4, characterized in that The determining of a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed comprises: Obtaining a first sum of the first speed compensation value, the second speed compensation value, and the expected joint speed; A third difference between the first sum and the actual joint velocity is obtained as a third velocity compensation value.

6. The method according to claim 5, characterized in that The step of determining a target joint speed for controlling the target joint part based on the first PWM duty cycle and the second PWM duty cycle comprises: Determining a target PWM duty cycle based on the first PWM duty cycle and the second PWM duty cycle; Determining a target opening and closing degree of a solenoid valve controlling a target joint portion in the excavator control system based on the target PWM duty cycle; A target joint speed for controlling the target joint part is determined based on the target opening and closing degree.

7. The method according to claim 6, characterized in that The determining a target PWM duty cycle based on the first PWM duty cycle and the second PWM duty cycle includes: A sum of the first PWM duty cycle and the second PWM duty cycle is obtained as a target PWM duty cycle.

8. An excavator control system, characterized in that: The excavator control system includes a trajectory control module and a speed control module which are electrically connected, the trajectory control module includes a first position processing module and a first speed processing module which are electrically connected, the speed control module includes a main processing module and a second position processing module which are electrically connected; wherein the main processing module includes a solenoid valve which is electrically connected to each joint of the excavator so that the excavator control system can control the movement of each joint of the excavator, including: The trajectory control module is used to obtain trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator; The main processing module is used to determine the current actual joint position and actual joint speed of the target joint part based on the expected joint position and expected joint speed of the target joint part corresponding to the target execution timestamp when it is detected that the current time reaches the target execution timestamp; The first position processing module is used to convert the position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value; The first speed processing module is used to convert the speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value; The main processing module is further used to determine a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and calculate the duty cycle based on the third speed compensation value to obtain a first PWM duty cycle; The second position processing module is used to calculate the duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle; The main processing module is further used to determine a target joint speed for controlling the target joint part based on the first PWM duty cycle and the second PWM duty cycle, so that the target joint part moves according to a preset movement trajectory based on the target joint speed.

9. An excavator control device, characterized in that: include: an acquisition unit, configured to acquire trajectory sequence information of a preset moving trajectory, wherein the trajectory sequence information includes an execution timestamp, an expected joint position, and an expected joint speed associated with at least one joint part of the excavator; a detection unit, configured to determine a current actual joint position and an actual joint speed of the target joint part based on an expected joint position and an expected joint speed of the target joint part corresponding to the target execution timestamp when detecting that the current time reaches the target execution timestamp; A first processing unit is used to convert a position error obtained based on the actual joint position and the expected joint position to obtain a first speed compensation value; and to convert a speed error obtained based on the actual joint speed and the expected joint speed to obtain a second speed compensation value; a second processing unit, configured to determine a third speed compensation value based on the first speed compensation value, the second speed compensation value, the expected joint speed, and the actual joint speed, and to calculate a duty cycle based on the third speed compensation value to obtain a first PWM duty cycle; a third processing unit, configured to calculate a duty cycle based on the actual joint position and the expected joint speed to obtain a second PWM duty cycle; A determination unit is used to determine a target joint speed for controlling the target joint part based on the first PWM duty cycle and the second PWM duty cycle, so that the target joint part moves according to a preset movement trajectory based on the target joint speed.

10. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to execute the steps of the excavator control method according to any one of claims 1 to 7.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the steps of the excavator control method according to any one of claims 1 to 7.

Images