Control method and control system for distributed backup power supply case of excavator

Abstract

The invention discloses a control method and a control system for a distributed backup power supply case of an excavator, and relates to the technical field of excavator control, and the control method comprises the following steps: obtaining a bucket code corresponding to each bucket function; analyzing each bucket action by using a bucket analysis method to obtain a power consumption curve and a switching curve of each bucket action; obtaining the residual electric quantity in the excavator power supply in real time, and setting the time for starting the back-up power supply case by using a power supply analysis method; according to the control method for the backup power source case of the excavator, the problem that in an existing control method for the backup power source case of the excavator, when the electric quantity of a battery module is used up when a bucket of the electric excavator executes the bucket action, the bucket action of the bucket is blocked, and therefore accidents are caused by the interruption of the bucket action is solved.

Description

Technical Field

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

[0002] The back-up power chassis for excavators is a system that provides back-up power for excavators. It is usually used to ensure the normal operation of the excavator in the event of a main power failure, operations in caves or deep places, and in emergencies. This back-up power chassis is in the form of a rechargeable battery pack or generator set, designed to be stable and reliable, and able to meet the power needs of the excavator when needed. At the same time, when the electric excavator's own power supply is exhausted, the back-up power supply can be used to control the bucket, thereby preventing accidents caused by interruptions in the bucket's movement.

[0003] The existing control method for the backup power supply chassis of the excavator is usually to ensure that the required power of the drive system of the electric excavator is always at the maximum value by combining the battery module with the power battery pack, so that the electric excavator can always work; although this improved method can ensure the working efficiency of the electric excavator, it can only ensure power when the power in the battery module is sufficient. When the battery module is exhausted during the bucket action of the electric excavator, the power battery pack can continue to power the electric excavator but still cause the bucket action of the bucket to be stuck, thereby causing an accident caused by the interruption of the bucket action. For example, in the patent application with publication number CN112878416A, a method for controlling the working mode of an electric excavator, a system The system and electric excavator, the solution is to make the power module and the power battery pack supply power to the drive system at the same time, so that the power demand of the electric excavator drive system can be always met, the electric excavator can always work normally, and the working efficiency of the electric excavator is improved. Other methods for controlling the backup power supply chassis of the excavator usually use a replenishment module to replenish the power supply in time when the power of the power supply is exhausted. This improvement method still cannot solve the problem that when the battery module is exhausted during the bucket action of the electric excavator, the bucket action will be stuck, thereby causing an accident caused by the interruption of the bucket action. In view of this, it is necessary to improve the existing control method for the backup power supply chassis of the excavator. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the prior art to a certain extent, by proposing a control method and a control system for a distributed backup power supply chassis of an excavator, so as to solve the problem in the existing control method for the backup power supply chassis of an excavator that when the battery module is exhausted during the bucket action of the electric excavator bucket, the bucket action will be stuck, thereby causing an accident due to the interruption of the bucket action.

[0005] To achieve the above objectives, in a first aspect, the present application provides a method for controlling a distributed backup power supply chassis of an excavator, comprising the following steps:

[0006] Acquire a bucket code corresponding to each bucket function based on a plurality of bucket actions performed when implementing the bucket function;

[0007] Analyze each bucket action using a bucket analysis method, and obtain a power consumption curve and a switching curve of each bucket action based on the analysis results;

[0008] When the excavator is in operation, the remaining power in the excavator power supply is obtained in real time, and the power supply analysis method is used to set the time to start the backup power supply chassis based on the remaining power and the input bucket function command.

[0009] Further, obtaining a bucket code corresponding to each bucket function based on multiple bucket actions performed when implementing the bucket function includes:

[0010] The multiple actions that the bucket can achieve when the electrical control device of the excavator controls the bucket are recorded as bucket actions CD1 to CD2. n The multiple functions that can be realized by using the bucket in the actual operation of the excavator are recorded as bucket function CG1 to bucket function CG m ;

[0011] For any bucket function CG m1 , realize the bucket function of excavator CG m1 The bucket actions CD performed in sequence are recorded as bucket function actions GD1 to GD k ; For any bucket function action GD k1 , set the bucket function action GD k1 The number in the bucket action CD is recorded as the bucket function action GD k1 Get the code number corresponding to all bucket function actions GD, and convert bucket function actions GD1 to bucket function actions GD k The code numbers are placed in array A m1 and arranged from left to right, where the length of array Am1 is k, and the bucket function action GD k1 The position number is denoted as k1.

[0012] Further, obtaining a bucket code corresponding to each bucket function based on multiple bucket actions performed when implementing the bucket function also includes:

[0013] The array A corresponding to all bucket functions CG is obtained, and the code consisting of numbers in the array A is recorded as the bucket code corresponding to the bucket function CG.

[0014] Further, the bucket analysis method includes:

[0015] A plane rectangular coordinate system is established, which is recorded as the motion analysis coordinate system, wherein the unit of the X-axis of the motion analysis coordinate system is percentage, and the unit of the Y-axis is power consumption; the power supply normally used by the excavator is recorded as the standing power supply, and the backup power supply used after the standing power supply is exhausted is recorded as the backup power supply; for any bucket action CD, the ratio of the power consumed by the excavator when realizing the bucket action CD to the total power of the standing power supply is recorded as the action ratio, the value of the action ratio × 100% is recorded as the action percentage, and the value of 100% divided by the action percentage and rounded down is recorded as t; the interval from 0 to 100 in the X-axis of the motion analysis coordinate system is evenly divided into t parts, and all the parts are recorded from left to right as analysis parts FX1 to analysis parts FX t ; For any analysis FX t1 , adjust the power of the excavator's standby power supply to the analysis FX t1 The value corresponding to the leftmost point of the excavator is controlled at this time to realize the bucket action CD, and the power consumed at this time is recorded as the analysis power, and the horizontal axis is the analysis power FX t1 The leftmost point of the graph with the vertical coordinate corresponding to the analyzed power is recorded as the power consumption point HD t1 .

[0016] Furthermore, the bucket analysis method further includes:

[0017] Obtain the power consumption points HD corresponding to all analysis portions FX, and record the curve formed by fitting the scatter plots corresponding to all power consumption points HD as the power consumption curve of the bucket action CD; obtain the power consumption curve corresponding to all bucket actions CD.

[0018] Furthermore, the bucket analysis method further includes:

[0019] For any bucket action CD n1 , will contain the bucket action CD n1 The array A corresponding to the bucket function CG is recorded as the analysis array. For any analysis array, when the bucket action CD in the analysis array n1 When the corresponding position number is equal to 1, the analysis of the analysis array ends; when the bucket action CD in the analysis array n1 When the corresponding position number is greater than 1, it will be in bucket action CD n1 The bucket action CD corresponding to the position number before the position number is recorded as the associated action LD; after analyzing all the analysis numbers, the bucket action CD n1 All the corresponding associated actions LD are recorded as associated action LD1 to associated action LD q ;

[0020] For any associated action LD q1 , get the bucket action CD n1 The motion analysis coordinate system where the power consumption curve is located, for any analysis part FX in the motion analysis coordinate system t1 , adjust the power of the excavator's standby power supply to the analysis FX t1 The value corresponding to the leftmost point and adjust the excavator's action at this time to the associated action LD q1 , control the excavator to realize bucket movement CD n1 , record the power consumed at this time as the power consumption, and the horizontal axis is the analysis part FX t1 The leftmost point of the graph with the vertical coordinate corresponding to the power consumption is recorded as the consumption point XH t1 ;

[0021] Obtain the consumption points XH corresponding to all analysis portions FX, and record the curve formed by fitting the scatter plots corresponding to all consumption points XH as bucket action CD n1 and associated action LD q1 Switching curve; for bucket action CD n1 Any point (x1, y1) in the power consumption curve of the bucket action CD n1 and associated action LD q1 The vertical coordinate of the point with the horizontal coordinate x1 in the switching curve is marked as y2, and the absolute value of the difference between y1 and y2 is recorded as the switching additional power to obtain the bucket action CD n1 Power consumption curve and bucket action CD n1 and associated action LD q1 The maximum value of all the switching additional power corresponding to the switching curve is recorded as the switching maximum power.

[0022] Furthermore, the bucket analysis method further includes:

[0023] Get the Bucket Action CD n1 The switching curves of all associated curves LD and the corresponding maximum power of all switching;

[0024] Get the switching curves corresponding to all bucket action CDs and the maximum switching power.

[0025] Further, the power supply analysis method includes:

[0026] When the excavator is in operation, the real-time power in the standby power supply of the excavator is recorded as the real-time power, and the value obtained by dividing the real-time power by the total power of the standby power supply and multiplying it by 100% is recorded as the real-time percentage; based on the input instruction, the bucket function CG to be performed by the excavator is recorded as the real-time bucket function, and for any bucket function action GD in the real-time bucket function, the vertical coordinate of the point whose horizontal coordinate is the real-time percentage in the power consumption curve corresponding to the bucket function action GD is marked as the normal power consumption value; the normal power consumption values ​​corresponding to all bucket function actions GD are obtained, and the sum of all normal power consumption values ​​is recorded as the total normal power consumption value;

[0027] For any bucket function action GD with a position number greater than 1 corresponding to the real-time bucket function, the bucket function action GD corresponding to the position number before the position number of the bucket function action GD in the array A corresponding to the real-time bucket function is recorded as the real-time associated action; the maximum switching power corresponding to the bucket function action GD and the real-time associated action is recorded as the switching power consumption value; the sum of the switching power consumption values ​​corresponding to all bucket function actions GD with a position number greater than 1 corresponding to the real-time bucket function is obtained, and recorded as the total switching power consumption value; the sum of the total switching power consumption value and the total conventional power consumption value is recorded as the total functional consumption.

[0028] Furthermore, the power supply analysis method also includes:

[0029] When the real-time power consumption is greater than the total functional consumption, the start-up time of the backup power supply chassis is not set; when the real-time power consumption is less than or equal to the total functional consumption and greater than the total conventional power consumption, the start-up time of the backup power supply chassis is set to the operation period of the real-time bucket function; when the real-time power consumption is less than or equal to the total conventional power consumption, the backup power supply chassis is started.

[0030] In a second aspect, the present application also provides a distributed backup power supply chassis control system for an excavator, including a bucket function analysis module, a power consumption analysis module, and a backup power supply control module;

[0031] The bucket function analysis module is used to obtain a bucket code corresponding to each bucket function based on a plurality of bucket actions performed when implementing the bucket function;

[0032] The power consumption analysis module is used to analyze each bucket action using a bucket analysis method, and obtain the bucket power consumption and bucket switching power of each bucket action based on the analysis results;

[0033] The backup power supply control module is used to obtain the remaining power in the excavator power supply in real time when the excavator is operating, and use the power supply analysis method to set the time to start the backup power supply chassis based on the remaining power and the input bucket function command.

[0034] Beneficial effects of the present invention: The present invention first obtains a bucket code corresponding to each bucket function based on multiple bucket actions performed when the bucket function is realized. This has the advantage that, by obtaining the bucket code corresponding to each bucket function, it is helpful to conduct a comprehensive analysis of the power consumed by the bucket action when the bucket action is realized by the bucket based on the bucket code when each bucket function and each bucket action are subsequently analyzed, thereby ensuring that the backup power supply chassis can meet the real-time bucket action requirements when it is started, and preventing the bucket action of the bucket from being stuck when the battery module is exhausted during the bucket action, thereby causing an accident caused by the interruption of the bucket action;

[0035] The present invention also uses a bucket analysis method to analyze each bucket action, and obtains the power consumption curve and switching curve of each bucket action based on the analysis results; finally, when the excavator is operating, the remaining power in the excavator power supply is obtained in real time, and the power supply analysis method is used to set the time to start the backup power supply chassis based on the remaining power and the input bucket function instruction. The advantage of this is that by obtaining the power consumption curve and the switching curve, and setting the time to start the backup power supply chassis based on the remaining power and the input bucket function instruction, the start-up time of the backup power supply chassis can be effectively judged when the power supply of the excavator is about to run out, thereby preventing power waste due to starting too early and jamming of the bucket action due to starting too late, thereby avoiding accidents caused by interruption of the bucket action. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a functional block diagram of the system of the present invention;

[0037] Figure 2 It is a schematic diagram of obtaining the power consumption point HD of the present invention;

[0038] Figure 3 A schematic diagram of obtaining the maximum switching power of the present invention;

[0039] Figure 4 is a flow chart of the steps of the method of the present invention;

[0040] Figure 5 It is a schematic structural diagram of the electronic device of the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Example 1, first aspect, please refer to Figure 1 As shown, the present application provides a distributed backup power supply chassis control system for an excavator, including a bucket function analysis module, a power consumption analysis module, and a backup power supply control module;

[0043] The bucket function analysis module is used to record multiple actions that the bucket can achieve when the electrical control device of the excavator controls the bucket as bucket actions CD1 to CD2. n The multiple functions that can be realized by using the bucket in the actual operation of the excavator are recorded as bucket function CG1 to bucket function CG m ; Based on the multiple bucket actions CD performed when implementing the bucket function CG, the bucket code corresponding to each bucket function CG is obtained;

[0044] In the specific implementation process, the bucket action CD of the bucket may include: forward upward, backward downward, and straight up and down, etc., and in the specific implementation, it can be specifically expressed according to the name of the actual bucket action CD; the bucket function CG may include: shoveling soil, shoveling sand, and filling pits, etc., and in the specific implementation, the bucket function CG may be further set according to the actual bucket function and the scene; for example, when the bucket function CG is digging soil, the corresponding bucket action CG may be inserting into the soil, hooking up the soil, lifting the boom, and throwing out the soil in sequence;

[0045] The bucket function analysis module includes a bucket code acquisition unit, and the bucket code acquisition unit is configured with a bucket code acquisition strategy. The bucket code acquisition strategy includes:

[0046] For any bucket function CG m1 , realize the bucket function of excavator CG m1 The bucket actions CD performed in sequence are recorded as bucket function actions GD1 to GD k ; For any bucket function action GD k1 , set the bucket function action GD k1 The number in the bucket action CD is recorded as the bucket function action GD k1 Get the code number corresponding to all bucket function actions GD, and convert bucket function actions GD1 to bucket function actions GD k The code numbers are placed in array A m1 and arranged from left to right, where the length of array Am1 is k, and the bucket function action GD k1 The position number is denoted as k1;

[0047] In the specific implementation process, for example, during a data processing, it is obtained that the bucket function CG is digging, and the bucket actions CD performed by the excavator when digging are inserting into the soil, hooking up the soil, raising the boom, and throwing out the soil. Then the bucket function action GD1 is inserting into the soil, the bucket function action GD2 is hooking up the soil, the bucket function action GD3 is raising the boom, and the bucket function action GD4 is throwing out the soil. In bucket actions CD1 to CD n In the figure, the numbers corresponding to inserting into the soil, hooking up the soil, lifting the boom, and throwing out the soil are 4, 3, 1, and 5, respectively. Then the array A corresponding to digging is [4, 3, 1, 5], where the position number of the bucket function action GD3 is 3;

[0048] The array A corresponding to all bucket functions CG is obtained, and the code consisting of numbers in the array A is recorded as the bucket code corresponding to the bucket function CG.

[0049] The power consumption analysis module includes a power consumption analysis unit, which is used to analyze each bucket action CD using a bucket analysis method, and obtain the bucket power consumption and bucket switching power of each bucket action CD based on the analysis result;

[0050] The bucket analysis method includes: establishing a plane rectangular coordinate system, recorded as a motion analysis coordinate system, wherein the unit of the X-axis of the motion analysis coordinate system is percentage, and the unit of the Y-axis is power consumption; recording the power supply normally used by the excavator as the standing power supply, and recording the backup power supply used after the standing power supply is exhausted as the backup power supply; for any bucket action CD, recording the ratio of the power consumed by the excavator when realizing the bucket action CD to the total power of the standing power supply as the action ratio, recording the value of the action ratio × 100% as the action percentage, and recording the value of 100% divided by the action percentage and rounded down as t; dividing the interval from 0 to 100 in the X-axis of the motion analysis coordinate system into t parts on average, and recording all the parts from left to right as analysis parts FX1 to analysis parts FX t ; For any analysis FX t1 , adjust the power of the excavator's standby power supply to the analysis FX t1 The value corresponding to the leftmost point of the excavator is controlled at this time to realize the bucket action CD, and the power consumed at this time is recorded as the analysis power, and the horizontal axis is the analysis power FX t1 The leftmost point of the graph with the vertical coordinate corresponding to the analyzed power is recorded as the power consumption point HD t1 ;

[0051] In the specific implementation process, for example, in a data processing, the bucket action CD analyzed is to lift the soil, and the ratio of the power consumed by the excavator when lifting the soil to the total power of the standing power supply is 0.005. Then, by calculation, the action percentage can be obtained as 0.5%. If t is 200, the interval from 0 to 100 in the X-axis of the action analysis coordinate system established when analyzing the lifting of soil can be evenly divided into 200 parts; for example, the action analysis coordinate system corresponding to a bucket action CD obtained after a data processing can be referred to Figure 2 As shown, the interval between the straight line FF1 and the straight line FF2 is an analysis portion FX, the power in the standby power supply of the excavator is adjusted to point XX1, and the power consumed when the excavator is controlled to realize the bucket action CD at this time is H, then point HD1 is recorded as the power consumption point HD;

[0052] Obtain the power consumption points HD corresponding to all analysis portions FX, and record the curves fitted by the scatter plots corresponding to all power consumption points HD as the power consumption curves of the bucket actions CD; obtain the power consumption curves corresponding to all bucket actions CD;

[0053] For any bucket action CD n1 , will contain the bucket action CD n1 The array A corresponding to the bucket function CG is recorded as the analysis array. For any analysis array, when the bucket action CD in the analysis array n1 When the corresponding position number is equal to 1, the analysis of the analysis array ends; when the bucket action CD in the analysis array n1 When the corresponding position number is greater than 1, it will be in bucket action CD n1 The bucket action CD corresponding to the position number before the position number is recorded as the associated action LD; after analyzing all the analysis numbers, the bucket action CD n1 All the corresponding associated actions LD are recorded as associated action LD1 to associated action LD q ;

[0054] In the specific implementation process, such as bucket action CD n1 The corresponding code number is 5, and the bucket action CD n1 The corresponding analysis array is [5,2,3,1,7,6], then the analysis of the analysis data can be ended, and for the bucket action CD n1Corresponding to another analysis array [3, 1, 5, 4, 3], the bucket action CD corresponding to 1 can be recorded as the associated action LD; by obtaining the associated action LD of the bucket action CD, the power consumed by the conversion from the associated action LD to the bucket action CD when each bucket action CD is about to be realized can be obtained in the subsequent analysis, thereby providing data support for the subsequent judgment of starting the backup power supply chassis; for example, when a bucket action CD is realized, 1% of the power supply power is consumed, and when it is converted from the associated action LD to the bucket action CD, 2% of the power supply power is consumed. When the bucket makes the bucket action CD and is converted from the associated action LD to the bucket action CD, it should be ensured that at least the power supply contains more than 2% of the power to ensure that there will be no jamming;

[0055] For any associated action LD q1 , get the bucket action CD n1 The motion analysis coordinate system where the power consumption curve is located, for any analysis part FX in the motion analysis coordinate system t1 , adjust the power of the excavator's standby power supply to the analysis FX t1 The value corresponding to the leftmost point and adjust the excavator's action at this time to the associated action LD q1 , control the excavator to realize bucket movement CD n1 , record the power consumed at this time as the power consumption, and the horizontal axis is the analysis part FX t1 The leftmost point of the graph with the vertical coordinate corresponding to the power consumption is recorded as the consumption point XH t1 ;

[0056] Obtain the consumption points XH corresponding to all analysis portions FX, and record the curve formed by fitting the scatter plots corresponding to all consumption points XH as bucket action CD n1 and associated action LD q1 Switching curve; for bucket action CD n1 Any point (x1, y1) in the power consumption curve of the bucket action CD n1 and associated action LD q1 The vertical coordinate of the point with the horizontal coordinate x1 in the switching curve is marked as y2, and the absolute value of the difference between y1 and y2 is recorded as the switching additional power to obtain the bucket action CD n1 Power consumption curve and bucket action CD n1 and associated action LD q1 The maximum value of all the switching additional power corresponding to the switching curve is recorded as the switching maximum power;

[0057] In the specific implementation process, for example, in a data processing process, the power consumption curve of the bucket action CD and a switching curve of the bucket action CD and the associated action LD are obtained as follows: Figure 3As shown, QQ1 is a switching curve of bucket action CD and associated action LD, QQ2 is the power consumption curve of bucket action CD, and through analysis, the maximum value of the switching additional power is the difference between the ordinates of point DD1 and point DD2, and the maximum switching power is the difference between HH1 and HH2;

[0058] Get the Bucket Action CD n1 The switching curves of all associated curves LD and the corresponding maximum power of all switching;

[0059] Get the switching curves corresponding to all bucket action CDs and the maximum switching power.

[0060] The backup power supply control module includes a backup power supply control unit, which is used to obtain the remaining power in the excavator power supply in real time when the excavator is in operation, and use a power supply analysis method to set the time to start the backup power supply chassis based on the remaining power and the input command of the bucket function CG;

[0061] The power supply analysis method includes: when the excavator is in operation, recording the real-time power in the standby power supply of the excavator as the real-time power, and recording the value obtained by dividing the real-time power by the total power of the standby power supply and multiplying it by 100% as the real-time percentage; based on the input instruction, recording the bucket function CG to be performed by the excavator as the real-time bucket function, and for any bucket function action GD in the real-time bucket function, marking the vertical coordinate of the point whose horizontal coordinate is the real-time percentage in the power consumption curve corresponding to the bucket function action GD as the normal power consumption value; obtaining the normal power consumption values ​​corresponding to all bucket function actions GD, and recording the sum of all normal power consumption values ​​as the total normal power consumption value;

[0062] For any bucket function action GD with a position number greater than 1 corresponding to the real-time bucket function, the bucket function action GD corresponding to the position number before the position number of the bucket function action GD in the array A corresponding to the real-time bucket function is recorded as the real-time associated action; the maximum switching power corresponding to the bucket function action GD and the real-time associated action is recorded as the switching power consumption value; the sum of the switching power consumption values ​​corresponding to all bucket function actions GD with a position number greater than 1 corresponding to the real-time bucket function is obtained, and recorded as the total switching power consumption value; the sum of the total switching power consumption value and the total conventional power consumption value is recorded as the total functional consumption;

[0063] In the specific implementation process, for example, during a data processing, the total conventional power consumption is 20 kilowatts, and the total switching power consumption is 5 kilowatts. Then, the total functional consumption is 25 kilowatts through calculation, indicating that the excavator needs 20 kilowatts to realize all bucket functions CD in the real-time bucket function, but 25 kilowatts are required to realize the real-time bucket function continuously. If the real-time power is 30 kilowatts at this time, the remaining power is sufficient to realize the real-time bucket function, so the start-up time of the backup power supply chassis is not set; and if the real-time power is 20 kilowatts at this time, the remaining power cannot meet the power required by the real-time bucket function, and the backup power supply chassis should be started; if the real-time power is 23 kilowatts at this time, it means that most of the real-time bucket functions can be realized, so it is only necessary to start the backup power supply chassis during the operation of the real-time bucket function to meet the real-time power consumption demand;

[0064] When the real-time power consumption is greater than the total functional consumption, the start-up time of the backup power supply chassis is not set; when the real-time power consumption is less than or equal to the total functional consumption and greater than the total conventional power consumption, the start-up time of the backup power supply chassis is set to the operation period of the real-time bucket function; when the real-time power consumption is less than or equal to the total conventional power consumption, the backup power supply chassis is started.

[0065] Example 2, second aspect, please refer to Figure 4 As shown, the present application also provides a method for controlling a distributed backup power supply chassis of an excavator, comprising the following steps:

[0066] Step S1, when the electrical control device of the excavator controls the bucket, a plurality of actions that the bucket can achieve are recorded as bucket actions CD1 to CD2. n The multiple functions that can be realized by using the bucket in the actual operation of the excavator are recorded as bucket function CG1 to bucket function CG m ; Based on the multiple bucket actions CD performed when implementing the bucket function CG, obtain the bucket code corresponding to each bucket function CG; Step S1 includes the following sub-steps: Step S101, for any bucket function CG m1 , realize the bucket function of excavator CG m1 The bucket actions CD performed in sequence are recorded as bucket function actions GD1 to GD k ; For any bucket function action GD k1 , set the bucket function action GD k1 The number in the bucket action CD is recorded as the bucket function action GD k1 Get the code number corresponding to all bucket function actions GD, and convert bucket function actions GD1 to bucket function actions GD k The code numbers are placed in array A m1 and arranged from left to right, where the length of array Am1 is k, and the bucket function action GDk1 The position number is denoted as k1;

[0067] Step S102, obtaining an array A corresponding to all bucket functions CG, and recording the code consisting of numbers in the array A as the bucket code corresponding to the bucket function CG.

[0068] Step S2, using a bucket analysis method to analyze each bucket action CD, and obtaining a power consumption curve and a switching curve of each bucket action CD based on the analysis result; the bucket analysis method includes:

[0069] Step S201, establish a plane rectangular coordinate system, recorded as the motion analysis coordinate system, wherein the unit of the X-axis of the motion analysis coordinate system is percentage, and the unit of the Y-axis is power consumption; the power supply normally used by the excavator is recorded as the standing power supply, and the backup power supply used after the standing power supply is exhausted is recorded as the backup power supply; for any bucket action CD, the ratio of the power consumed by the excavator when realizing the bucket action CD to the total power of the standing power supply is recorded as the action ratio, the value of the action ratio × 100% is recorded as the action percentage, and the value of 100% divided by the action percentage and rounded down is recorded as t; the interval from 0 to 100 in the X-axis of the motion analysis coordinate system is evenly divided into t parts, and all the parts are recorded from left to right as analysis parts FX1 to analysis parts FX t ; For any analysis FX t1 , adjust the power of the excavator's standby power supply to the analysis FX t1 The value corresponding to the leftmost point of the excavator is controlled at this time to realize the bucket action CD, and the power consumed at this time is recorded as the analysis power, and the horizontal axis is the analysis power FX t1 The leftmost point of the graph with the vertical coordinate corresponding to the analyzed power is recorded as the power consumption point HD t1 ;

[0070] Step S202, obtaining the power consumption points HD corresponding to all analysis portions FX, and recording the curve formed by fitting the scatter plots corresponding to all power consumption points HD as the power consumption curve of the bucket action CD; obtaining the power consumption curve corresponding to all bucket actions CD;

[0071] Step S203, for any bucket action CD n1 , will contain the bucket action CD n1 The array A corresponding to the bucket function CG is recorded as the analysis array. For any analysis array, when the bucket action CD in the analysis array n1 When the corresponding position number is equal to 1, the analysis of the analysis array ends; when the bucket action CD in the analysis array n1 When the corresponding position number is greater than 1, it will be in bucket action CD n1The bucket action CD corresponding to the position number before the position number is recorded as the associated action LD; after analyzing all the analysis numbers, the bucket action CD n1 All the corresponding associated actions LD are recorded as associated action LD1 to associated action LD q ;

[0072] Step S204: for any associated action LD q1 , get the bucket action CD n1 The motion analysis coordinate system where the power consumption curve is located, for any analysis part FX in the motion analysis coordinate system t1 , adjust the power of the excavator's standby power supply to the analysis FX t1 The value corresponding to the leftmost point and adjust the excavator's action at this time to the associated action LD q1 , control the excavator to realize bucket movement CD n1 , record the power consumed at this time as the power consumption, and the horizontal axis is the analysis part FX t1 The leftmost point of the graph with the vertical coordinate corresponding to the power consumption is recorded as the consumption point XH t1 ;

[0073] Step S205, obtain the consumption points XH corresponding to all analysis portions FX, and record the curve formed by fitting the scatter plots corresponding to all consumption points XH as bucket action CD n1 and associated action LD q1 Switching curve; for bucket action CD n1 Any point (x1, y1) in the power consumption curve of the bucket action CD n1 and associated action LD q1 The vertical coordinate of the point with the horizontal coordinate x1 in the switching curve is marked as y2, and the absolute value of the difference between y1 and y2 is recorded as the switching additional power to obtain the bucket action CD n1 Power consumption curve and bucket action CD n1 and associated action LD q1 The maximum value of all the switching additional power corresponding to the switching curve is recorded as the switching maximum power;

[0074] Step S206, obtaining bucket action CD n1 The switching curves of all associated curves LD and the corresponding maximum power of all switching;

[0075] Step S207, obtaining the switching curves corresponding to all bucket actions CD and the maximum switching power.

[0076] Step S3, when the excavator is in operation, the remaining power in the excavator power supply is obtained in real time, and the time to start the backup power supply chassis is set based on the remaining power and the input command of the bucket function CG using a power supply analysis method; the power supply analysis method includes:

[0077] Step S301, when the excavator is in operation, the real-time power in the standby power supply of the excavator is recorded as the real-time power, and the value obtained by dividing the real-time power by the total power of the standby power supply and multiplying it by 100% is recorded as the real-time percentage; based on the input instruction, the bucket function CG to be performed by the excavator is recorded as the real-time bucket function, and for any bucket function action GD in the real-time bucket function, the vertical coordinate of the point whose horizontal coordinate is the real-time percentage in the power consumption curve corresponding to the bucket function action GD is marked as the normal power consumption value; the normal power consumption values ​​corresponding to all bucket function actions GD are obtained, and the sum of all normal power consumption values ​​is recorded as the total normal power consumption value;

[0078] Step S302: for any bucket function action GD corresponding to the real-time bucket function and having a position number greater than 1, record the bucket function action GD corresponding to the position number preceding the position number of the bucket function action GD in the array A corresponding to the real-time bucket function as the real-time associated action; record the maximum switching power corresponding to the bucket function action GD and the real-time associated action as the switching power consumption value; obtain the sum of the switching power consumption values ​​corresponding to all bucket function actions GD corresponding to the real-time bucket function and having a position number greater than 1, and record it as the total switching power consumption value; record the sum of the total switching power consumption value and the total conventional power consumption value as the total functional power consumption;

[0079] Step S303, when the real-time power supply is greater than the total functional consumption, the startup time of the backup power supply chassis is not set; when the real-time power supply is less than or equal to the total functional consumption and greater than the total conventional power consumption, the startup time of the backup power supply chassis is set to the operation period of the real-time bucket function; when the real-time power supply is less than or equal to the total conventional power consumption, the backup power supply chassis is started.

[0080] Example 3, please refer to Figure 5 As shown, Figure 5 The structural diagram of an electronic device is illustrated, and the electronic device may include: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus. The memory stores computer-readable instructions, and the processor can call the instructions in the memory. When the computer-readable instructions are executed by the processor, the steps in a method for controlling a distributed backup power supply chassis of an excavator are executed to achieve the following functions: First, when the electrical control device of the excavator controls the bucket, the multiple actions that the bucket can achieve are recorded as bucket actions CD1 to CD2. n The multiple functions that can be realized by using the bucket in the actual operation of the excavator are recorded as bucket function CG1 to bucket function CGm ; Based on multiple bucket actions CD performed when implementing the bucket function CG, the bucket code corresponding to each bucket function CG is obtained, and then each bucket action CD is analyzed using the bucket analysis method, and the power consumption curve and switching curve of each bucket action CD are obtained based on the analysis results; finally, when the excavator is operating, the remaining power in the excavator power supply is obtained in real time, and the power supply analysis method is used to set the time to start the backup power supply chassis based on the remaining power and the input bucket function CG instruction.

[0081] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0082] Embodiment 4, the present application also provides a computer-readable storage medium, the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above method for controlling a distributed backup power supply chassis of an excavator are executed to achieve the following functions: first, when the electrical control device of the excavator controls the bucket, a plurality of actions that the bucket can achieve are recorded as bucket actions CD1 to CD2 respectively. n The multiple functions that can be realized by using the bucket in the actual operation of the excavator are recorded as bucket function CG1 to bucket function CG m ; Based on multiple bucket actions CD performed when implementing the bucket function CG, the bucket code corresponding to each bucket function CG is obtained, and then each bucket action CD is analyzed using the bucket analysis method, and the power consumption curve and switching curve of each bucket action CD are obtained based on the analysis results; finally, when the excavator is operating, the remaining power in the excavator power supply is obtained in real time, and the power supply analysis method is used to set the time to start the backup power supply chassis based on the remaining power and the input bucket function CG instruction.

[0083] Through the description of the above implementation methods, the embodiments of the present invention can be provided as methods, systems or computer program products. Based on such an understanding, the above technical solutions can be essentially or partly contributed to the prior art in the form of software products, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and include several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0084] In the embodiments provided in the present application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of systems, modules and units can be electrical, mechanical or other forms.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a distributed backup power supply chassis of an excavator, characterized in that: The steps include: Acquire a bucket code corresponding to each bucket function based on a plurality of bucket actions performed when implementing the bucket function; Analyze each bucket action using a bucket analysis method, and obtain a power consumption curve and a switching curve of each bucket action based on the analysis results; When the excavator is in operation, the remaining power in the excavator power supply is obtained in real time, and the power supply analysis method is used to set the time to start the backup power supply chassis based on the remaining power and the input bucket function command.

2. The method for controlling a distributed backup power supply chassis of an excavator according to claim 1, characterized in that: The bucket code corresponding to each bucket function is obtained based on multiple bucket actions performed when implementing the bucket function, including: The multiple actions that the bucket can achieve when the electrical control device of the excavator controls the bucket are recorded as bucket actions CD1 to CD2. n The multiple functions that can be realized by using the bucket in the actual operation of the excavator are recorded as bucket function CG1 to bucket function CG m ; For any bucket function CG m1 , realize the bucket function of the excavator CG m1 The bucket actions CD performed in sequence are recorded as bucket function actions GD1 to GD k ; For any bucket function action GD k1 , set the bucket function action GD k1 The number in the bucket action CD is recorded as the bucket function action GD k1 Get the code number corresponding to all bucket function actions GD, and convert bucket function actions GD1 to bucket function actions GD k The code numbers are placed in array A m1 and arranged from left to right, where the length of array Am1 is k, and the bucket function action GD k1 The position number is denoted as k1.

3. The method for controlling a distributed backup power supply chassis of an excavator according to claim 2, characterized in that: Acquiring a bucket code corresponding to each bucket function based on multiple bucket actions performed when implementing the bucket function also includes: The array A corresponding to all bucket functions CG is obtained, and the code consisting of numbers in the array A is recorded as the bucket code corresponding to the bucket function CG.

4. The method for controlling a distributed backup power supply chassis of an excavator according to claim 3, characterized in that: Bucket analysis methods include: A plane rectangular coordinate system is established, which is recorded as the motion analysis coordinate system, wherein the unit of the X-axis of the motion analysis coordinate system is percentage, and the unit of the Y-axis is power consumption; the power supply normally used by the excavator is recorded as the standing power supply, and the backup power supply used after the standing power supply is exhausted is recorded as the backup power supply; for any bucket action CD, the ratio of the power consumed by the excavator when realizing the bucket action CD to the total power of the standing power supply is recorded as the action ratio, the value of the action ratio × 100% is recorded as the action percentage, and the value of 100% divided by the action percentage and rounded down is recorded as t; the interval from 0 to 100 in the X-axis of the motion analysis coordinate system is evenly divided into t parts, and all the parts are recorded from left to right as analysis parts FX1 to analysis parts FX t ; For any analysis FX t1 , adjust the power of the excavator's standby power supply to the analysis FX t1 The value corresponding to the leftmost point of the excavator is controlled at this time to realize the bucket action CD, and the power consumed at this time is recorded as the analysis power, and the horizontal axis is the analysis power FX t1 The leftmost point of the graph with the vertical coordinate corresponding to the analyzed power is recorded as the power consumption point HD t1 .

5. The method for controlling a distributed backup power supply chassis of an excavator according to claim 4, characterized in that: Bucket analysis methods also include: Obtain the power consumption points HD corresponding to all analysis portions FX, and record the curve formed by fitting the scatter plots corresponding to all power consumption points HD as the power consumption curve of the bucket action CD; obtain the power consumption curve corresponding to all bucket actions CD.

6. The method for controlling a distributed backup power supply chassis of an excavator according to claim 5, characterized in that: Bucket analysis methods also include: For any bucket action CD n1 , will contain the bucket action CD n1 The array A corresponding to the bucket function CG is recorded as the analysis array. For any analysis array, when the bucket action CD in the analysis array n1 When the corresponding position number is equal to 1, the analysis of the analysis array ends; when the bucket action CD in the analysis array n1 When the corresponding position number is greater than 1, it will be in bucket action CD n1 The bucket action CD corresponding to the position number before the position number is recorded as the associated action LD; after analyzing all the analysis numbers, the bucket action CD n1 All the corresponding associated actions LD are recorded as associated action LD1 to associated action LD q ; For any associated action LD q1 , get the bucket action CD n1 The motion analysis coordinate system where the power consumption curve is located, for any analysis part FX in the motion analysis coordinate system t1 , adjust the power of the excavator's standby power supply to the analysis FX t1 The value corresponding to the leftmost point and adjust the excavator's action at this time to the associated action LD q1 , control the excavator to realize bucket movement CD n1 , record the power consumed at this time as the power consumption, and the horizontal axis is the analysis part FX t1 The leftmost point of the graph with the vertical coordinate corresponding to the power consumption is recorded as the consumption point XH t1 ; Obtain the consumption points XH corresponding to all analysis portions FX, and record the curve formed by fitting the scatter plots corresponding to all consumption points XH as bucket action CD n1 and associated action LD q1 Switching curve; for bucket action CD n1 Any point (x1, y1) in the power consumption curve of the bucket action CD n1 and associated action LD q1 The vertical coordinate of the point with the horizontal coordinate x1 in the switching curve is marked as y2, and the absolute value of the difference between y1 and y2 is recorded as the switching additional power to obtain the bucket action CD n1 Power consumption curve and bucket action CD n1 and associated action LD q1 The maximum value of all the switching additional power corresponding to the switching curve is recorded as the switching maximum power.

7. The method for controlling a distributed backup power supply chassis of an excavator according to claim 6, characterized in that: Bucket analysis methods also include: Get the Bucket Action CD n1 The switching curves of all associated curves LD and the corresponding maximum power of all switching; Get the switching curves corresponding to all bucket action CDs and the maximum switching power.

8. The method for controlling a distributed backup power supply chassis of an excavator according to claim 7, characterized in that: Power analysis methods include: When the excavator is in operation, the real-time power in the standby power supply of the excavator is recorded as the real-time power, and the value obtained by dividing the real-time power by the total power of the standby power supply and multiplying it by 100% is recorded as the real-time percentage; based on the input instruction, the bucket function CG to be performed by the excavator is recorded as the real-time bucket function, and for any bucket function action GD in the real-time bucket function, the vertical coordinate of the point whose horizontal coordinate is the real-time percentage in the power consumption curve corresponding to the bucket function action GD is marked as the normal power consumption value; the normal power consumption values ​​corresponding to all bucket function actions GD are obtained, and the sum of all normal power consumption values ​​is recorded as the total normal power consumption value; For any bucket function action GD with a position number greater than 1 corresponding to the real-time bucket function, the bucket function action GD corresponding to the position number before the position number of the bucket function action GD in the array A corresponding to the real-time bucket function is recorded as the real-time associated action; the maximum switching power corresponding to the bucket function action GD and the real-time associated action is recorded as the switching power consumption value; the sum of the switching power consumption values ​​corresponding to all bucket function actions GD with a position number greater than 1 corresponding to the real-time bucket function is obtained, and recorded as the total switching power consumption value; the sum of the total switching power consumption value and the total conventional power consumption value is recorded as the total functional consumption.

9. The method for controlling a distributed backup power supply chassis of an excavator according to claim 8, characterized in that: Power analysis methods also include: When the real-time power consumption is greater than the total functional consumption, the start-up time of the backup power supply chassis is not set; when the real-time power consumption is less than or equal to the total functional consumption and greater than the total conventional power consumption, the start-up time of the backup power supply chassis is set to the operation period of the real-time bucket function; when the real-time power consumption is less than or equal to the total conventional power consumption, the backup power supply chassis is started.

10. An excavator distributed backup power supply chassis control system, used to implement an excavator distributed backup power supply chassis control method according to any one of claims 1 to 9, characterized in that: It includes a bucket function analysis module, a power consumption analysis module and a backup power supply control module; The bucket function analysis module is used to obtain a bucket code corresponding to each bucket function based on a plurality of bucket actions performed when implementing the bucket function; The power consumption analysis module is used to analyze each bucket action using a bucket analysis method, and obtain the bucket power consumption and bucket switching power of each bucket action based on the analysis results; The backup power supply control module is used to obtain the remaining power in the excavator power supply in real time when the excavator is operating, and use the power supply analysis method to set the time to start the backup power supply chassis based on the remaining power and the input bucket function instructions.

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