A control method and control system for the distributed backup power supply chassis of an excavator

Abstract

The present invention discloses a control method and a control system for a distributed backup power supply chassis of an excavator, which relates to the technical field of excavator control and includes: obtaining a bucket code corresponding to each bucket function; analyzing each bucket action using a bucket analysis method to obtain the power consumption curve and the switching curve of each bucket action; obtaining the remaining power in the excavator power supply in real time and setting the time to start the backup power supply chassis using a power supply analysis method. The present invention is used to solve the problem that in the existing control method for the backup power supply chassis of an excavator, when the power of the battery module is exhausted during the bucket action of the electric excavator, the bucket action of the bucket will be stuck, resulting in accidents caused by the interruption of the bucket action.

Description

Technical Field

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

[0002] The backup power supply chassis of an excavator is a system that provides backup power for the excavator, and is usually used to ensure the normal operation of the excavator in case of main power failure, operation in caves or deep areas, and emergencies; this backup power supply chassis is in the form of a rechargeable battery pack or a generator set, and is designed to be stable, reliable, and capable of meeting the power requirements of the excavator when needed; at the same time, when the power of the electric excavator's own power supply is exhausted, the backup power can be used to control the bucket, thus preventing accidents caused by the interruption of the bucket movement.

[0003] Existing methods for controlling the backup power supply chassis of an excavator usually combine a battery module with a power battery pack to ensure that the required power of the drive system of the electric excavator is always at the maximum value, so as to enable the electric excavator to keep working; although this improved method can ensure the working efficiency of the electric excavator, it can only ensure the power when the battery module has sufficient power. When the battery module runs out of power during the bucket operation of the electric excavator, although the power battery pack can continue to supply power to the electric excavator, it will still cause the bucket movement to be stuck, resulting in accidents caused by the interruption of the bucket movement. For example, in the patent application with the publication number CN112878416A, a control method, system and electric excavator for the working mode of an electric excavator are disclosed. This solution enables the power supply module and the power battery pack to supply power to the drive system at the same time, so that the required power of the electric excavator drive system can always be met, and the electric excavator can keep working normally, improving the working efficiency of the electric excavator. Other methods for controlling the backup power supply chassis of an excavator usually use a power replenishment module to replenish power to the power supply in time when the power runs out. This improved method still cannot solve the problem that when the battery module runs out of power during the bucket operation of the electric excavator, it will cause the bucket movement to be stuck, resulting in accidents caused by the interruption of the bucket movement. In view of this, it is necessary to improve the existing methods for controlling the backup power supply chassis of an 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 providing a control method and control system for a distributed backup power supply chassis of an excavator, it is used to solve the problem that in the existing control methods for the backup power supply chassis of an excavator, when the battery module runs out of power during the bucket operation of the electric excavator, it will cause the bucket movement to be stuck, resulting in accidents caused by the interruption of the bucket movement.

[0005] To achieve the above object, in a first aspect, the present application provides a control method for an excavator distributed backup power supply chassis, including the following steps:

[0006] Obtain the bucket code corresponding to each bucket function based on multiple bucket actions performed when implementing the bucket function;

[0007] Use the bucket analysis method to analyze each bucket action, and obtain the power consumption curve and switching curve of each bucket action based on the analysis results;

[0008] When the excavator is operating, real-time obtain the remaining power in the excavator power supply, and use the power analysis method to set the time to start the backup power supply chassis based on the remaining power and the instruction of the input bucket function.

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

[0010] Respectively record the multiple actions that the bucket can achieve when the electrical control equipment of the excavator controls the bucket as bucket actions CD1 to bucket action CD n ; Respectively record the multiple functions that can be achieved by using the bucket during the actual operation of the excavator as bucket functions CG1 to bucket function CG m ;

[0011] For any bucket function CG m1 , record the bucket actions CD successively made when the excavator implements the bucket function CG m1 as bucket function actions GD1 to bucket function actions GD k ; For any bucket function action GD k1 , record the number of bucket function action GD k1 in the bucket action CD as the code number of bucket function action GD k1 ; Obtain the code numbers corresponding to all bucket function actions GD, and put the code numbers of bucket function actions GD1 to bucket function actions GD k into the array A m1 in sequence and arrange them from left to right. Among them, the length of the array Am1 is k, and record the position number of bucket function action GD k1 as k1.

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

[0013] Obtain the array A corresponding to all bucket functions CG, and record the code composed of the numbers in the array A as the bucket code corresponding to the bucket function CG.

[0014] Further, the bucket analysis method includes:

[0015] Establish a rectangular coordinate system in the plane, denoted as the motion analysis coordinate system. Among them, the unit of the X-axis of the motion analysis coordinate system is percentage, and the unit of the Y-axis is power consumption; Denote the power supply normally used by the excavator as the standby power supply, and denote the backup power supply used after the standby power supply is exhausted as the backup power supply; For any bucket motion CD, denote the ratio of the power consumed when the excavator realizes the bucket motion CD to the total power of the standby power supply as the motion ratio, denote the value of the motion ratio × 100% as the motion percentage, and denote the value obtained by dividing 100% by the motion percentage and rounding down as t; Divide the interval from 0 to 100 on the X-axis of the motion analysis coordinate system into t equal parts, and sequentially denote all parts from left to right as analysis parts FX1 to FX t ; For any analysis part FX t1 , adjust the power in the standby power supply of the excavator to the value corresponding to the leftmost point of the analysis part FX t1 , and at this time control the excavator to realize the bucket motion CD, denote the power consumed at this time as the analysis power, and denote the point with the abscissa being the leftmost point of the analysis part FX t1 and the ordinate being the analysis power as the power consumption point HD t1 .

[0016] Further, the bucket analysis method also includes:

[0017] Obtain all the power consumption points HD corresponding to the analysis parts FX, and denote the curve obtained by fitting the scatter plot of all the power consumption points HD as the power consumption curve of the bucket motion CD; Obtain the power consumption curves corresponding to all the bucket motions CD.

[0018] Further, the bucket analysis method also includes:

[0019] For any bucket motion CD n1 , denote the array A corresponding to the bucket function CG containing the bucket motion CD n1 as the analysis array. For any analysis array, when the position number corresponding to the bucket motion CD n1 in the analysis array is equal to 1, end the analysis of this analysis array; When the position number corresponding to the bucket motion CD n1 in the analysis array is greater than 1, denote the bucket motion CD corresponding to the position number one before the position number where the bucket motion CD n1 is located as the associated motion LD; After analyzing all the analysis numbers, denote all the associated motions LD corresponding to the bucket motion CD n1 as the associated motions LD1 to LD q in sequence;

[0020] For any associated action LD q1 , obtain the bucket action CD n1 in the motion analysis coordinate system where the power consumption curve is located. For any analysis portion FX t1 within the motion analysis coordinate system, adjust the power in the standby power supply of the excavator to the value corresponding to the leftmost point of the analysis portion FX t1 and adjust the motion of the excavator to the associated action LD q1 . Control the excavator to perform the bucket action CD n1 . Record the power consumed at this time as the consumed power. Denote the point with the abscissa being the leftmost point of the analysis portion FX t1 and the ordinate being the consumed power as the consumption point XH t1 ;

[0021] Obtain the consumption points XH corresponding to all analysis portions FX, and denote the curve fitted from the scatter plot of all consumption points XH as the switching curve of the bucket action CD n1 and the associated action LD q1 . For any point (x1, y1) on the power consumption curve of the bucket action CD n1 , denote the ordinate of the point on the switching curve of the bucket action CD n1 and the associated action LD q1 with the abscissa being x1 as y2, and denote the absolute value of the difference between y1 and y2 as the switching extra power. Obtain the maximum value among all the switching extra powers corresponding to the power consumption curve of the bucket action CD n1 and the switching curve of the bucket action CD n1 and the associated action LD q1 , and denote it as the switching maximum power.

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

[0023] Obtain the switching curves of the bucket action CD n1 and all associated curves LD and the corresponding all switching maximum powers;

[0024] Obtain the switching curves and switching maximum powers corresponding to all bucket actions CD.

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

[0026] When the excavator is operating, record the real-time power in the standby power supply of the excavator as the real-time power, and record the value obtained by dividing the real-time power by the total power of the standby power supply and then multiplying by 100% as the real-time percentage; based on the input instruction, record the bucket function CG that the excavator is about to execute as the real-time bucket function. For any bucket function action GD within the real-time bucket function, record the ordinate of the point on the power consumption curve corresponding to the bucket function action GD where the abscissa is the real-time percentage as the normal power consumption value; obtain the normal power consumption values corresponding to all bucket function actions GD, and record the sum of all normal power consumption values as the total normal power consumption;

[0027] For any bucket function action GD with a position number greater than 1 corresponding to the real-time bucket function, record 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 as the real-time associated action; record the maximum switching power between 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 with a position number greater than 1 corresponding to the real-time bucket function, and record it as the total switching power consumption; record the sum of the total switching power consumption and the total normal power consumption as the total function power consumption.

[0028] Furthermore, the power analysis method further includes:

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

[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 the bucket code corresponding to each bucket function based on multiple bucket actions performed when realizing the bucket function;

[0032] The power consumption analysis module is used to analyze each bucket action using the 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, when the excavator is operating, obtain the remaining power in the excavator power supply in real time, and use the power analysis method to set the start time of the backup power supply chassis based on the remaining power and the input instruction of the bucket function.

[0034] Advantages of the present invention: Firstly, based on multiple bucket actions performed when implementing the bucket function, the bucket code corresponding to each bucket function is obtained. The advantage of this is that by obtaining the bucket code corresponding to each bucket function, it helps to comprehensively analyze the power consumption of the bucket actions when implemented by the bucket during subsequent analysis of each bucket function and each bucket action, so as to ensure that the backup power supply chassis can meet the real-time bucket action requirements when started, and prevent problems such as accidents caused by the interruption of the bucket action due to the depletion of the battery module's power during the execution of the bucket action by the bucket;

[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 analysis method is used to set the startup time of the backup power supply chassis based on the remaining power and the input instruction of the bucket function. The advantage of this is that by obtaining the power consumption curve and switching curve, and setting the startup time of the backup power supply chassis based on the remaining power and the input instruction of the bucket function, it can effectively judge the startup time of the backup power supply chassis when the power of the excavator is about to be exhausted, prevent power waste caused by starting too early and prevent the bucket action from being stuck due to starting too late, and further avoid accidents caused by the interruption of the bucket action. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

[0040] Figure 5 is the structural schematic diagram of the electronic device of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] Example 1, First aspect, please refer to Figure 1 As shown, the present application provides a control system for the distributed backup power supply chassis of 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 the multiple actions that the bucket can achieve when the electrical control equipment of the excavator controls the bucket as bucket actions CD1 to bucket action CD n ; record the multiple functions that can be achieved by using the bucket during the actual operation of the excavator as bucket functions CG1 to bucket function CG m ; obtain the bucket code corresponding to each bucket function CG based on the multiple bucket actions CD performed when realizing the bucket function CG;

[0044] In the specific implementation process, the bucket actions CD of the bucket can include: forward upward, backward downward, straight up and down, etc. In the specific implementation, it can be specifically described according to the name of the actual bucket action CD; the bucket functions CG can include: functions that the bucket can achieve such as shoveling soil, shoveling sand, and filling pits. In the specific implementation, the bucket function CG can be further set according to the functions that the bucket can actually achieve and the scene; for example, when the bucket function CG is digging soil, the corresponding bucket actions CG can 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, and the bucket code acquisition strategy includes:

[0046] For any bucket function CG m1 , record the bucket actions CD successively made when the excavator realizes the bucket function CG m1 as bucket function actions GD1 to bucket function action GD k ; for any bucket function action GD k1 , record the number of the bucket function action GD k1 in the bucket action CD as the code number of the bucket function action GD k1 ; obtain the code numbers corresponding to all bucket function actions GD, and put the code numbers of bucket function actions GD1 to bucket function action GD k into the array A m1 in sequence from left to right. Among them, the length of the array Am1 is k, and record the position number of the bucket function action GD k1 as k1;

[0047] In the specific implementation process, for example, during a data processing operation, when the bucket function CG is obtained as earth excavation, and the bucket actions CD performed by the excavator during earth excavation are successively 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, the bucket function action GD4 is throwing out the soil. And among the bucket actions CD1 to bucket action CD n in, the corresponding numbers for inserting into the soil, hooking up the soil, raising the boom, and throwing out the soil are 4, 3, 1, and 5 in sequence. Then the array A corresponding to earth excavation is [4, 3, 1, 5]. Among them, the position number of the bucket function action GD3 is 3;

[0048] Obtain the array A corresponding to all bucket functions CG, and record the code composed of the numbers in the array A as the bucket code corresponding to the bucket function CG.

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

[0050] The bucket analysis method includes: establishing a plane rectangular coordinate system, denoted as the action analysis coordinate system. Among them, the unit of the X-axis of the action analysis coordinate system is percentage, and the unit of the Y-axis is power consumption; Denote the power supply normally used by the excavator as the standing power supply, and denote the backup power supply used after the standing power supply is exhausted as the backup power supply; For any bucket action CD, denote the ratio of the power consumed when the excavator implements the bucket action CD to the total power of the standing power supply as the action ratio, denote the value of the action ratio × 100% as the action percentage, and denote the value obtained by dividing 100% by the action percentage and rounding down as t; Divide the interval from 0 to 100 on the X-axis of the action analysis coordinate system into t equal parts on average, and successively denote all parts from left to right as analysis parts FX1 to analysis part FX t ; For any analysis part FX t1 , adjust the power in the standing power supply of the excavator to the value corresponding to the leftmost point of the analysis part FX t1 , and at this time control the excavator to implement the bucket action CD. Denote the power consumed at this time as the analysis power, and denote the point with the abscissa as the leftmost point of the analysis part FX t1 and the ordinate as the analysis power as the power consumption point HD t1 ;

[0051] In the specific implementation process, for example, in a data processing operation, the bucket movement CD is to scoop up soil. When the excavator performs the action of scooping up soil, the ratio of the power consumption to the total power of the standby power supply is 0.005. Through calculation, the action percentage can be obtained as 0.5%. When t is 200, in the X-axis of the action analysis coordinate system established for analyzing the action of scooping up soil, the interval from 0 to 100 can be evenly divided into 200 parts; for example, for a bucket movement CD corresponding to the action analysis coordinate system obtained after a data processing operation, please refer to Figure 2 as shown. Among them, the interval between the straight line FF1 and the straight line FF2 is an analysis portion FX. Adjust the power in the standby power supply of the excavator to point XX1, and when controlling the excavator to perform the bucket movement CD at this time, the power consumption is H. Then, mark point HD1 as the power consumption point HD;

[0052] Obtain all the power consumption points HD corresponding to the analysis portions FX, and record the curve obtained by fitting the scatter plot of all the power consumption points HD as the power consumption curve of the bucket movement CD; obtain the power consumption curves corresponding to all the bucket movements CD;

[0053] For any bucket movement CD n1 , record the array A corresponding to the bucket function CG containing the bucket movement CD n1 as the analysis array. For any analysis array, when the position number corresponding to the bucket movement CD n1 in the analysis array is equal to 1, end the analysis of this analysis array; when the position number corresponding to the bucket movement CD n1 in the analysis array is greater than 1, record the bucket movement CD corresponding to the position number one before the position number where the bucket movement CD n1 is located as the associated movement LD; after analyzing all the analysis numbers, record all the associated movements LD corresponding to the bucket movement CD n1 in sequence as the associated movement LD1 to the associated movement LD q ;

[0054]

[0054] In the specific implementation process, for example, the code number corresponding to the bucket movement CD n1 is 5, and an analysis array corresponding to the bucket movement CD n1 is [5, 2, 3, 1, 7, 6]. Then, the analysis of this analysis data can be ended. For the bucket movement CD n1For another corresponding 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, it is possible to obtain, in subsequent analysis, the power consumption when each bucket action CD is about to be realized and converted from the associated action LD to the bucket action CD, thereby providing data support for the subsequent judgment of starting the backup power supply chassis. For example, when a bucket action CD is realized, it consumes 1% of the power supply, and when converting from the associated action LD to the bucket action CD, it consumes 2% of the power supply. Then, 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 the power supply contains at least more than 2% of the power to ensure that there will be no jamming situation.

[0055] For any associated action LD q1 , obtain the bucket action CD n1 in the action analysis coordinate system where the power consumption curve is located. For any analysis portion FX t1 in the action analysis coordinate system, adjust the power in the standby power supply of the excavator to the value corresponding to the leftmost point of the analysis portion FX t1 and adjust the action of the excavator to the associated action LD q1 , control the excavator to implement the bucket action CD n1 , record the power consumption at this time as the consumed power, and record the point with the abscissa being the leftmost point of the analysis portion FX t1 and the ordinate being the consumed power as the consumption point XH t1 ;

[0056] Obtain all the consumption points XH corresponding to the analysis portions FX, and record the curve obtained by fitting the scatter plot of all the consumption points XH as the switching curve of the bucket action CD n1 and the associated action LD q1 ; for any point (x1, y1) on the power consumption curve of the bucket action CD n1 , record the ordinate of the point on the switching curve of the bucket action CD n1 and the associated action LD q1 with the abscissa being x1 as y2, record the absolute value of the difference between y1 and y2 as the switching extra power, and obtain the maximum value among all the switching extra powers corresponding to the power consumption curve of the bucket action CD n1 and the switching curve of the bucket action CD n1 and the associated action LD q1 , and record it 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 obtained and a switching curve of the bucket action CD and the associated action LD are as shown in Figure 3As shown in the figure, where QQ1 is a switching curve for the bucket operation CD and the associated operation LD, and QQ2 is the power consumption curve of the bucket operation CD. By analysis, the maximum value of the switched additional power is the difference in the ordinates of points DD1 and DD2. Then, the maximum switched power is the difference between HH1 and HH2;

[0058] Obtain the bucket operation CD n1 and the switching curves of all associated curves LD and the corresponding maximum switched power for each;

[0059] Obtain the switching curves and the maximum switched power corresponding to all bucket operations CD.

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

[0061] The power analysis method includes: when the excavator is operating, record the real-time power in the excavator's standing power supply as the real-time power, and record the value obtained by dividing the real-time power by the total power of the standing power supply and multiplying by 100% as the real-time percentage; based on the input instruction, record the bucket function CG that the excavator is about to execute as the real-time bucket function. For any bucket function action GD within the real-time bucket function, record the ordinate of the point on the power consumption curve corresponding to the bucket function action GD where the abscissa is the real-time percentage as the normal power consumption value; obtain the normal power consumption values corresponding to all bucket function actions GD, and record the sum of all normal power consumption values as the total normal power consumption;

[0062] For any bucket function action GD with a position number greater than 1 corresponding to the real-time bucket function, record the bucket function action GD corresponding to the position number immediately 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 switched power corresponding to the bucket function action GD and the real-time associated action as the switched power consumption value; obtain the sum of the switched power consumption values corresponding to all bucket function actions GD with a position number greater than 1 corresponding to the real-time bucket function, and record it as the total switched power consumption; record the sum of the total switched power consumption and the total normal power consumption as the total function power consumption;

[0063] In the specific implementation process, for example, during a data processing, if the total conventional power consumption is obtained as 20 kilowatts and the total switched power consumption is 5 kilowatts, then through calculation, the total power consumption of the function can be obtained as 25 kilowatts. This indicates that all bucket functions CD in the real-time bucket function of the excavator require 20 kilowatts, but continuously implementing the real-time bucket function requires 25 kilowatts. If the real-time power at this time is 30 kilowatts, then the remaining power is sufficient to implement the real-time bucket function, so the startup time of the backup power supply chassis is not set; while if the real-time power is 20 kilowatts at this time, then the remaining power cannot meet the power required for 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 function can be achieved, so only starting the backup power supply chassis during the operation of the real-time bucket function can meet the real-time power consumption requirements;

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

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

[0066] Step S1, respectively record the multiple actions that the bucket can achieve when the electrical control equipment of the excavator controls the bucket as bucket actions CD1 to bucket action CD n ; respectively record the multiple functions that can be achieved by using the bucket during the actual operation of the excavator as bucket functions 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 , record the bucket actions CD successively made when the excavator implements the bucket function CG m1 as bucket function actions GD1 to bucket function action GD k ; for any bucket function action GD k1 , record the number of the bucket function action GD k1 in the bucket action CD as the code number of the bucket function action GD k1 ; obtain the code numbers corresponding to all bucket function actions GD, and put the code numbers of bucket function actions GD1 to bucket function action GD k into the array A m1 in sequence and arrange them from left to right. Among them, the length of the array Am1 is k, and the bucket function action GDk1 The position number is denoted as k1;

[0067] Step S102: Obtain the array A corresponding to all bucket functions CG, and denote the code formed by the numbers in the array A as the bucket code corresponding to the bucket function CG.

[0068] Step S2: Analyze each bucket action CD using the bucket analysis method, and obtain the power consumption curve and switching curve of each bucket action CD based on the analysis results; the bucket analysis method includes:

[0069] Step S201: Establish a rectangular coordinate system, denoted as the action analysis coordinate system. Among them, the unit of the X-axis of the action analysis coordinate system is percentage, and the unit of the Y-axis is power consumption; denote the power supply normally used by the excavator as the standby power supply, and denote the backup power supply used after the standby power supply is exhausted as the backup power supply; for any bucket action CD, denote the ratio of the power consumed when the excavator implements the bucket action CD to the total power of the standby power supply as the action ratio, denote the value of the action ratio × 100% as the action percentage, and denote the value obtained by dividing 100% by the action percentage and rounding down as t; evenly divide the interval from 0 to 100 on the X-axis of the action analysis coordinate system into t parts, and sequentially denote all parts from left to right as analysis parts FX1 to FX t ; for any analysis part FX t1 , adjust the power in the standby power supply of the excavator to the value corresponding to the leftmost point of the analysis part FX t1 , and at this time, control the excavator to implement the bucket action CD, denote the power consumed at this time as the analysis power, and denote the point with the abscissa being the leftmost point of the analysis part FX t1 and the ordinate being the analysis power as the power consumption point HD t1 ;

[0070] Step S202: Obtain all the power consumption points HD corresponding to the analysis parts FX, and denote the curve obtained by fitting the scatter plot of all the power consumption points HD as the power consumption curve of the bucket action CD; obtain the power consumption curves corresponding to all bucket actions CD;

[0071] Step S203: For any bucket action CD n1 , denote the array A corresponding to the bucket function CG containing the bucket action CD n1 as the analysis array. For any analysis array, when the position number corresponding to the bucket action CD n1 in the analysis array is equal to 1, end the analysis of this analysis array; when the position number corresponding to the bucket action CD n1 in the analysis array is greater than 1, the one in the bucket action CD n1The bucket operation CD corresponding to the position number one before the position number is denoted as the associated operation LD; after analyzing all the analysis numbers, the bucket operation CD n1 All the corresponding associated operations LD are successively denoted as the associated operation LD1 to the associated operation LD q ;

[0072] Step S204, for any one of the associated operations LD q1 , obtain the motion analysis coordinate system where the power consumption curve of the bucket operation CD n1 is located. For any one analysis portion FX t1 within the motion analysis coordinate system, adjust the power in the standby power supply of the excavator to the value corresponding to the leftmost point of the analysis portion FX t1 , and adjust the motion of the excavator to the associated operation LD q1 at this time, control the excavator to perform the bucket operation CD n1 , record the power consumed at this time as the consumed power, and denote the point with the leftmost point of the abscissa as the analysis portion FX t1 and the ordinate as the consumed power as the consumption point XH t1 ;

[0073] Step S205, obtain all the consumption points XH corresponding to the analysis portions FX, and denote the curve fitted from the scatter plot of all the consumption points XH as the switching curve of the bucket operation CD n1 and the associated operation LD q1 ; for any point (x1, y1) on the power consumption curve of the bucket operation CD n1 , denote the ordinate of the point with the abscissa x1 on the switching curve of the bucket operation CD n1 and the associated operation LD q1 as y2, denote the absolute value of the difference between y1 and y2 as the switching additional power, and obtain the maximum value among all the switching additional powers corresponding to the power consumption curve of the bucket operation CD n1 and the switching curve of the bucket operation CD n1 and the associated operation LD q1 , and denote it as the switching maximum power;

[0074] Step S206, obtain the switching curve of the bucket operation CD n1 and all the associated curves LD and the corresponding all switching maximum powers;

[0075] Step S207, obtain the switching curves and switching maximum powers corresponding to all the bucket operations CD.

[0076] Step S3, when the excavator is operating, obtain the remaining power in the excavator power supply in real time, and use a power analysis method to set the startup time of the backup power supply chassis based on the remaining power and the input instruction of the bucket function CG; the power analysis method includes:

[0077] Step S301, when the excavator is operating, record the real-time power in the excavator's standby power supply as the real-time power, and record the value obtained by dividing the real-time power by the total power of the standby power supply and multiplying by 100% as the real-time percentage; based on the input instruction, record the bucket function CG that the excavator is about to execute as the real-time bucket function. For any bucket function action GD within the real-time bucket function, record the ordinate of the point on the power consumption curve corresponding to the bucket function action GD where the abscissa is the real-time percentage as the normal power consumption value; obtain the normal power consumption values corresponding to all bucket function actions GD, and record the sum of all normal power consumption values as the total normal power consumption;

[0078] Step S302, for any bucket function action GD with a position number greater than 1 corresponding to the real-time bucket function, record the bucket function action GD corresponding to the position number immediately 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 with a position number greater than 1 corresponding to the real-time bucket function, and record it as the total switching power consumption; record the sum of the total switching power consumption and the total normal power consumption as the total function power consumption;

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

[0080] Example 3, please refer to Figure 5 as shown in Figure 5 illustrates a schematic structural diagram of an electronic device. The electronic device may include: a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication 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 control method for a distributed backup power supply chassis of an excavator are run to implement the following functions: First, record the multiple actions that the bucket can achieve when the electrical control device of the excavator controls the bucket as bucket actions CD1 to bucket action CD n ; record the multiple functions that can be achieved by using the bucket during the actual operation of the excavator as bucket functions CG1 to bucket function CGm ; Obtain the bucket code corresponding to each bucket function CG based on multiple bucket actions CD performed when implementing the bucket function CG, then use the bucket analysis method to analyze each bucket action CD, and obtain the power consumption curve and switching curve of each bucket action CD based on the analysis results; finally, when the excavator is operating, obtain the remaining power in the excavator power supply in real time, 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 instruction of the input bucket function CG.

[0081] In addition, when the logical instructions in the above-mentioned memory can be implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0082] Example 4, this application also provides a computer-readable storage medium. This application provides a storage medium with a computer program stored thereon. When the computer program is executed by a processor, it runs the steps in the above-mentioned control method for the distributed backup power supply chassis of an excavator to achieve the following functions: First, respectively record the multiple actions that the bucket can achieve when the electrical control device of the excavator controls the bucket as bucket actions CD1 to bucket actions CD n ; respectively record the multiple functions that can be achieved by using the bucket during the actual operation of the excavator as bucket functions CG1 to bucket functions CG m ; Obtain the bucket code corresponding to each bucket function CG based on multiple bucket actions CD performed when implementing the bucket function CG, then use the bucket analysis method to analyze each bucket action CD, and obtain the power consumption curve and switching curve of each bucket action CD based on the analysis results; finally, when the excavator is operating, obtain the remaining power in the excavator power supply in real time, 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 instruction of the input bucket function CG.

[0083] Through the description of the above embodiments, the embodiments of the present invention can be provided as a method, a system or a computer program product. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing 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 above-described embodiments are merely illustrative. For example, the division of modules or units is only a logical functional division, and there may be other division methods in actual implementation. For another 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 displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. 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, and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for the distributed backup power supply chassis of an excavator, characterized in that, The steps are as follows: Obtain the bucket code corresponding to each bucket function based on multiple bucket actions performed when implementing the bucket function; Analyze each bucket action using the bucket analysis method, and obtain the power consumption curve and switching curve of each bucket action based on the analysis results; When the excavator is operating, obtain the remaining power in the excavator power supply in real time, and use the power supply analysis method to set the startup time of the backup power supply chassis based on the remaining power and the instruction of the input bucket function; The bucket analysis method includes: Establish a plane rectangular coordinate system, denoted as the motion analysis coordinate system. Among them, the unit of the X-axis of the motion analysis coordinate system is percentage, and the unit of the Y-axis is power consumption; Denote the power source normally used by the excavator as the standby power source, and denote the backup power source used after the standby power source is exhausted as the backup power source; For any bucket motion CD n1 , denote the ratio of the power consumption when the excavator realizes the bucket motion CD n1 to the total power of the standby power source as the motion ratio, denote the value of the motion ratio × 100% as the motion percentage, and denote the value obtained by dividing 100% by the motion percentage and rounding down as t; Divide the interval from 0 to 100 on the X-axis of the motion analysis coordinate system into t equal parts on average, and sequentially denote all the parts from left to right as analysis part FX1 to analysis part FX t ; For any analysis part FX t1 , adjust the power in the standby power source of the excavator to the value corresponding to the leftmost point of the analysis part FX t1 , and at this time control the excavator to realize the bucket motion CD n1 , denote the power consumption at this time as the analysis power consumption, and denote the point with the abscissa being the leftmost point of the analysis part FX t1 and the ordinate being the analysis power consumption as the power consumption point HD t1 ; Obtain the power consumption points HD corresponding to all analysis parts FX, and record the curve obtained 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 curves corresponding to all bucket actions CD; For any bucket action CD n1 , the array A corresponding to the bucket function CG containing the bucket action CD n1 is denoted as the analysis array. For any analysis array, when the position number corresponding to the bucket action CD n1 in the analysis array is equal to 1, the analysis of the analysis array ends; when the position number corresponding to the bucket action CD n1 in the analysis array is greater than 1, the bucket action CD corresponding to the position number one before the position number of the bucket action CD n1 is denoted as the associated action LD; after analyzing all the analysis arrays, all the associated actions LD corresponding to the bucket action CD n1 are successively denoted as the associated action LD1 to the associated action LD q ; For any associated action LD q1 , obtain the bucket action CD n1 of the action analysis coordinate system where the power consumption curve is located. For any analysis portion FX t1 within the action analysis coordinate system, adjust the power in the standby power supply of the excavator to the value corresponding to the leftmost point of the analysis portion FX t1 and adjust the action of the excavator to the associated action LD q1 , control the excavator to implement the bucket action CD n1 , record the power consumption at this time as the consumed power, and record the point with the abscissa being the leftmost point of the analysis portion FX t1 and the ordinate being the consumed power as the consumption point XH t1 ; Obtain the consumption points XH corresponding to all analysis copies FX, and denote the curve fitted from the scatter plots corresponding to all consumption points XH as the bucket action CD n1 and the associated action LD q1 of the switching curve; for any point (x1, y1) on the power consumption curve of the bucket action CD n1 , denote the ordinate of the point on the switching curve of the bucket action CD n1 and the associated action LD q1 with abscissa x1 as y2, and denote the absolute value of the difference between y1 and y2 as the switching additional power. Obtain the maximum value among all the switching additional powers corresponding to the power consumption curve of the bucket action CD n1 and the switching curve of the bucket action CD n1 and the associated action LD q1 , and denote it as the switching maximum power; Obtain the bucket operation CD n1 and the switching curves of all associated operation LD and all corresponding maximum switching power; Obtain the switching curves and switching maximum power corresponding to all bucket actions CD; The power supply analysis method includes: When the excavator is operating, record the real-time power in the standby power supply of the excavator as the real-time power, and record the value obtained by dividing the real-time power by the total power of the standby power supply and then multiplying by 100% as the real-time percentage; based on the input instruction, record the bucket function CG that the excavator is about to execute as the real-time bucket function, and for any bucket function action GD within the real-time bucket function k1 , record the vertical coordinate of the point on the power consumption curve corresponding to the bucket function action GD k1 where the abscissa is the real-time percentage as the conventional power consumption value; obtain the conventional power consumption values corresponding to all bucket function actions GD, and record the sum of all conventional power consumption values as the total conventional power consumption value; For any bucket function action GD with a position number greater than 1 corresponding to the real-time bucket function, record the bucket function action GD corresponding to the position number one before 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 switching maximum 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 with a position number greater than 1 corresponding to the real-time bucket function, 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 function power consumption; When the real-time power is greater than the total function power consumption, do not set the startup time of the backup power supply chassis; when the real-time power is less than or equal to the total function power consumption and greater than the total conventional power consumption value, set the startup time of the backup power supply chassis as the operation period of the real-time bucket function; when the real-time power is less than or equal to the total conventional power consumption value, start the backup power supply chassis.

2. The control method of an excavator distributed backup power supply chassis according to claim 1, wherein, Obtaining the bucket code corresponding to each bucket function based on multiple bucket actions performed when implementing the bucket function includes: The multiple actions that the bucket can achieve when the electrical control equipment of the excavator controls the bucket are respectively recorded as bucket actions CD1 to bucket action CD n ; The multiple functions that can be achieved by using the bucket during the actual operation of the excavator are respectively recorded as bucket functions CG1 to bucket function CG m ; For any bucket function CG m1 when the excavator implements the bucket function CG m1 the bucket actions CD successively made are respectively recorded as bucket function actions GD1 to bucket function action GD k ; for any bucket function action GD k1 the number of the bucket function action GD k1 in the bucket action CD is recorded as the code number of the bucket function action GD k1 ; obtain the code numbers corresponding to all bucket function actions GD, and put the code numbers of bucket function actions GD1 to bucket function action GD k into the array A m1 in sequence from left to right. Among them, the length of the array Am1 is k, and the position number of the bucket function action GD k1 is recorded as k1.

3. A control method for an excavator distributed backup power supply chassis according to claim 2, characterized in that, Obtaining the bucket code corresponding to each bucket function based on multiple bucket actions performed when implementing the bucket function further includes: Obtain the array A corresponding to all bucket functions CG, and record the code composed of the numbers in the array A as the bucket code corresponding to the bucket function CG.

4. A control system for a distributed backup power supply chassis of an excavator, which is used to implement the control method for the distributed backup power supply chassis of an excavator described in any one of claims 1-3, and is 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 the bucket code corresponding to each bucket function based on multiple bucket actions performed when implementing the bucket function; The power consumption analysis module is used to analyze each bucket action using the 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 startup time of the backup power supply chassis based on the remaining power and the instruction of the input bucket function.

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