Excavator control method and device and excavator

Abstract

The invention relates to an excavator control method and device and an excavator, and relates to the technical field of engineering machinery. The excavator control method comprises the steps that a preset shaking threshold value is obtained according to a current working mode; acquiring a real-time shaking parameter of the machine body; and if the real-time shaking parameter is larger than the preset shaking threshold value, the working parameter of the target oil cylinder is adjusted. According to the excavator control method and device and the excavator, the shaking degree of the machine body can be reduced, the operation comfort of operators is improved, and therefore the working efficiency of the operators is improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to an excavator control method, device and excavator. Background Art

[0002] During the operation of the excavator, the machine body (such as the cab and the vehicle) is prone to shaking. If the degree of shaking of the machine body is large, it will affect the operator's working comfort and further affect the operator's work efficiency. Summary of the invention

[0003] In order to solve the above-mentioned technical problems, the embodiments of the present application provide an excavator control method, device and excavator, which reduce the shaking degree of the machine body, improve the working comfort of the operator, and thus improve the work efficiency of the operator.

[0004] In a first aspect, a method for controlling an excavator is provided, comprising:

[0005] According to the current working mode, a preset shaking threshold is obtained;

[0006] Acquire a real-time shaking parameter of the machine body; wherein the real-time shaking parameter represents the shaking degree of the machine body at the current moment;

[0007] If the real-time shaking parameter is greater than the preset shaking threshold, the working parameter of the target cylinder is adjusted.

[0008] According to the first aspect of the present application, the preset shaking threshold includes a preset displacement threshold, a preset speed threshold, and a preset acceleration threshold; the real-time shaking parameter includes a real-time shaking displacement, a real-time shaking speed, and a real-time shaking acceleration;

[0009] If the real-time shaking parameter is greater than the preset shaking threshold, adjusting the working parameter of the target cylinder includes:

[0010] If the real-time shaking displacement is greater than the preset displacement threshold, adjusting the extension length of the piston rod of the target cylinder; and / or,

[0011] If the real-time shaking speed is greater than the preset speed threshold, reducing the flow rate of the target cylinder; and / or,

[0012] If the real-time shaking acceleration is greater than the preset acceleration threshold, the pressure of the target cylinder is reduced.

[0013] According to the first aspect of the present application, obtaining a preset shaking threshold according to the current working mode includes:

[0014] If the current working mode is the high-efficiency working mode, a first preset shaking threshold is obtained; wherein the first preset shaking threshold includes a first preset displacement threshold, a first preset speed threshold, and a first preset acceleration threshold;

[0015] If the current working mode is the normal working mode, a second preset shaking threshold is obtained; wherein the second preset shaking threshold includes a second preset displacement threshold, a second preset speed threshold, and a second preset acceleration threshold;

[0016] If the current working mode is the comfort working mode, a third preset shaking threshold is obtained; wherein the third preset shaking threshold includes a third preset displacement threshold, a third preset speed threshold, and a third preset acceleration threshold;

[0017] Among them, the first preset displacement threshold is greater than the second preset displacement threshold; the second preset displacement threshold is greater than the third preset displacement threshold; the first preset speed threshold is greater than the second preset speed threshold; the second preset speed threshold is greater than the third preset speed threshold; the first preset acceleration threshold is greater than the second preset acceleration threshold; the second preset acceleration threshold is greater than the third preset acceleration threshold.

[0018] According to a first aspect of the present application, the target cylinders include a bucket cylinder, an arm cylinder, and a boom cylinder;

[0019] If the real-time shaking displacement is greater than the preset displacement threshold, adjusting the extension length of the piston rod of the target oil cylinder includes:

[0020] If the real-time shaking displacement is greater than the preset displacement threshold, adjusting the extension length of the piston rod of at least one of the bucket cylinder, the arm cylinder and the boom cylinder;

[0021] If the real-time shaking speed is greater than the preset speed threshold, reducing the flow rate of the target cylinder includes:

[0022] If the real-time shaking speed is greater than the preset speed threshold, reducing the flow rate of at least one of the bucket cylinder, the stick cylinder and the boom cylinder;

[0023] If the real-time shaking acceleration is greater than the preset acceleration threshold, reducing the pressure of the target cylinder includes:

[0024] The pressure of at least one of the bucket cylinder, the arm cylinder, and the boom cylinder is reduced.

[0025] According to the first aspect of the present application, after adjusting the extension length of the piston rod of the target oil cylinder, the excavator control method further includes:

[0026] Obtaining the extended length of the piston rod of the target oil cylinder after adjustment;

[0027] If the difference between the extended length of the piston rod of the target oil cylinder after adjustment and the extended length before adjustment is greater than a length threshold, the real-time shaking displacement of the machine body at the next moment is obtained;

[0028] If the difference between the extended length of the piston rod of the target cylinder after adjustment and the extended length before adjustment is less than or equal to the length threshold, the extended length of the piston rod of the target cylinder is adjusted again.

[0029] According to the first aspect of the present application, after reducing the flow rate of the target cylinder, the excavator control method further includes:

[0030] Obtaining the flow rate of the target oil cylinder after it is lowered;

[0031] If the difference between the flow rate after the target oil cylinder is lowered and the flow rate before the lowering is greater than the flow rate threshold, the real-time shaking speed of the machine body at the next moment is obtained;

[0032] If the difference between the flow rate of the target cylinder after being lowered and the flow rate before being lowered is less than or equal to the flow rate threshold, the flow rate of the target cylinder is lowered again.

[0033] According to the first aspect of the present application, after reducing the pressure of the target cylinder, the excavator control method further includes:

[0034] Obtaining the pressure of the target oil cylinder after it is lowered;

[0035] If the difference between the pressure of the target oil cylinder after the reduction and the pressure before the reduction is greater than the pressure threshold, obtaining the real-time shaking acceleration of the machine body at the next moment;

[0036] If the difference between the pressure of the target cylinder after the reduction and the pressure before the reduction is less than or equal to the pressure threshold, the pressure of the target cylinder is reduced again.

[0037] According to the first aspect of the present application, the machine body includes a cab, an upper vehicle, a turntable, and an lower vehicle, wherein the cab is arranged on the upper vehicle, the upper vehicle is arranged on the turntable, and the turntable is rotatably matched with the lower vehicle;

[0038] The obtaining of real-time shaking parameters of the body comprises:

[0039] The real-time shaking parameter of at least one of the cab, the upper vehicle, the turntable, and the lower vehicle is obtained.

[0040] In a second aspect, there is also provided an excavator control device, comprising:

[0041] A first acquisition module, used for obtaining a preset shaking threshold according to a current working mode;

[0042] A second acquisition module is used to acquire real-time shaking parameters of the body; wherein the real-time shaking parameters represent the shaking degree of the body at the current moment;

[0043] The first adjustment module is used to adjust the working parameters of the target cylinder if the real-time shaking parameter is greater than the preset shaking threshold.

[0044] In a third aspect, an excavator is also provided, comprising:

[0045] Body;

[0046] A shaking sensor is provided on the machine body, and the shaking sensor is used to detect real-time shaking parameters of the machine body;

[0047] The excavator control device as described in the previous embodiment is communicatively connected between the machine body and the shaking sensor.

[0048] In a fourth aspect, an electronic device is also provided, including:

[0049] processor;

[0050] and a memory for storing instructions executable by said processor;

[0051] Wherein, the processor is used to execute the excavator control method described in the above embodiment.

[0052] In a fifth aspect, a computer-readable storage medium is also provided, wherein the storage medium stores a computer program, and the computer program is used to execute the excavator control method described in the above embodiment.

[0053] The excavator control method, device and excavator provided in the embodiments of the present application, on the first hand, when the real-time shaking parameter is greater than the preset shaking threshold, the real-time shaking parameter of the machine body can be reduced by adjusting the working parameters of the target cylinder, that is, the real-time shaking degree of the machine body can be reduced, thereby improving the working comfort of the operator; on the second hand, different preset shaking thresholds are set for different working modes, so that the operator can alleviate the influence of shaking to different degrees in different working modes, which is beneficial to improving the working comfort and work efficiency of the operator under different working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0055] Figure 1 A schematic flow chart of an excavator control method provided as an exemplary embodiment of the present application.

[0056] Figure 2 A schematic diagram of a flow chart for adjusting the working parameters of a target cylinder provided in an exemplary embodiment of the present application.

[0057] Figure 3 A schematic diagram of a flow chart for obtaining a preset shaking threshold value according to a current working mode provided for an exemplary embodiment of the present application.

[0058] Figure 4 A schematic diagram of a flow chart for adjusting the working parameters of a target cylinder provided in accordance with another exemplary embodiment of the present application.

[0059] Figure 5 A schematic flow chart of an excavator control method provided as another exemplary embodiment of the present application.

[0060] Figure 6 A schematic flow chart of an excavator control method provided as another exemplary embodiment of the present application.

[0061] Figure 7 A schematic flow chart of an excavator control method provided as another exemplary embodiment of the present application.

[0062] Figure 8 A schematic flow chart of an excavator control method provided as another exemplary embodiment of the present application.

[0063] Fig. 9 A structural block diagram of an excavator control device provided as an exemplary embodiment of the present application.

[0064] Fig.10 A structural block diagram of an excavator control device provided for another exemplary embodiment of the present application.

[0065] Fig.11 A structural block diagram of an excavator provided as an exemplary embodiment of the present application.

[0066] Fig.12 A structural block diagram of an electronic device provided for an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0067] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0068] Figure 1 The following is a flow chart of an excavator control method provided by an exemplary embodiment of the present application. Figure 1 As shown, the excavator control method provided by the embodiment of the present application may include:

[0069] S210: Obtaining a preset shaking threshold according to the current working mode.

[0070] Specifically, in order to adapt to different working conditions, excavators usually have different working modes. For example, the working modes may include high-efficiency working mode (mainly focusing on work efficiency, supplemented by comfort), normal working mode (taking both work efficiency and comfort into consideration), comfortable working mode (mainly focusing on comfort, supplemented by work efficiency), etc. The staff can select the corresponding working mode according to the actual working conditions.

[0071] It should be noted that when the current working mode is in different modes, the corresponding preset shaking threshold is also different. This is conducive to accurately improving the shaking feeling of the staff in different working modes and improving the operating comfort and work efficiency of the operators in different working modes (different working conditions).

[0072] S220: Obtain real-time shaking parameters of the body.

[0073] Specifically, an excavator usually includes a machine body, a boom, a dipper arm, and a bucket. The two ends of the boom are connected to the machine body and the dipper arm respectively, and the end of the dipper arm away from the boom is connected to the bucket. When the boom, dipper arm, and bucket are in operation, they usually cause the machine body to shake, and the workers working on the machine body will feel different degrees of shaking.

[0074] It should be noted that the real-time shaking parameters can be used to represent the shaking degree of the machine body at the current moment. Therefore, obtaining the real-time shaking parameters of the machine body can also determine the shaking degree currently experienced by the staff. For example, the real-time shaking parameters may include real-time shaking displacement, real-time shaking speed, real-time shaking acceleration, etc. (this will be described in detail later).

[0075] In one embodiment, a corresponding shaking sensor may be provided on the machine body to detect and obtain corresponding real-time shaking parameters. For example, when detecting shaking speed, a corresponding speed sensor may be used.

[0076] S230: If the real-time shaking parameter is greater than the preset shaking threshold, adjust the working parameter of the target cylinder.

[0077] It should be noted that the target cylinders may include a bucket cylinder, an arm cylinder, and a boom cylinder. When the working parameters of the bucket cylinder, the arm cylinder, and the boom cylinder are changed, the shaking degree of the machine body will be affected to varying degrees, which will be introduced in detail later.

[0078] Therefore, if the real-time shaking parameter is greater than the preset shaking threshold, it can be considered that the current shaking degree of the machine body is large. The shaking degree of the machine body can be reduced and the operating comfort of the operator can be improved by adjusting the working parameters of the target cylinder.

[0079] It should be noted that the working parameters of the target oil cylinder may include the extension length of the piston rod of the target oil cylinder, the flow rate of the target oil cylinder, and the pressure of the target oil cylinder. The specific adjustment process will be described in detail later.

[0080] In one embodiment, when executing step S230, one, two or all of the extension length of the piston rod, the flow rate of the target cylinder, and the pressure of the target cylinder may be adjusted.

[0081] The excavator control method provided in the embodiment of the present application, on the first hand, when the real-time shaking parameter is greater than the preset shaking threshold, by adjusting the working parameters of the target cylinder, the real-time shaking parameter of the machine body can be reduced, that is, the real-time shaking degree of the machine body can be reduced, thereby improving the working comfort of the operator; on the second hand, different preset shaking thresholds are set for different working modes, so that the operator can alleviate the impact of shaking to different degrees in different working modes, which is conducive to improving the working comfort and work efficiency of the operator under different working conditions.

[0082] Figure 2 A schematic diagram of a flow chart for adjusting the working parameters of a target oil cylinder provided by an exemplary embodiment of the present application. Figure 2 As shown, the preset shaking threshold may include a preset displacement threshold, a preset speed threshold, and a preset acceleration threshold; the real-time shaking parameter may include a real-time shaking displacement, a real-time shaking speed, and a real-time shaking acceleration. Correspondingly, step S230 may include:

[0083] S231: If the real-time shaking displacement is greater than the preset displacement threshold, adjust the extension length of the piston rod of the target cylinder.

[0084] It should be noted that if the real-time shaking displacement (ie, shaking amplitude) of the machine body is large (for example, the real-time shaking displacement is greater than the preset displacement threshold), it will seriously affect the operator's safe operation of the equipment, thereby seriously affecting the safety of the operation.

[0085] Specifically, adjusting the extension length of the piston rod of the target oil cylinder can increase the extension length of the piston rod or shorten the extension length of the piston rod. Taking the target oil cylinder as the boom oil cylinder as an example, after the extension length of the piston rod of the boom oil cylinder increases, the boom rotates counterclockwise relative to the boom, and the boom will drive the bucket to rotate counterclockwise and approach the machine body, so that the distance between the bucket and the machine body can be shortened, thereby improving the overall stability of the machine body, reducing the real-time shaking displacement of the machine body, and improving the operating comfort and work efficiency of the operator; similarly, after the extension length of the piston rod of the boom oil cylinder is shortened, the boom rotates clockwise relative to the boom, and the boom will drive the bucket to rotate clockwise and approach the machine body, so that the distance between the bucket and the machine body can be shortened, reducing the real-time shaking displacement of the machine body, and improving the operating comfort and work efficiency of the operator.

[0086] S232: If the real-time shaking speed is greater than the preset speed threshold, reduce the flow rate of the target cylinder.

[0087] It should be noted that if the real-time shaking speed of the machine body is high (for example, the real-time shaking speed is greater than the preset speed threshold), it is easy to cause dizziness to the operator, affecting the accuracy of the operation.

[0088] Specifically, the flow rate of the target oil cylinder will affect the moving speed of the bucket relative to the machine body. The greater the flow rate of the target oil cylinder, the greater the moving speed of the bucket relative to the machine body, and the greater the real-time shaking speed of the machine body. Therefore, when the real-time shaking speed is greater than the preset speed threshold, the real-time shaking speed of the machine body can be reduced by reducing the flow rate of the target oil cylinder.

[0089] S233: If the real-time shaking acceleration is greater than the preset acceleration threshold, the pressure of the target cylinder is reduced.

[0090] It should be noted that if the real-time shaking acceleration of the machine body is large (for example, the real-time shaking acceleration is greater than the preset acceleration threshold), the shaking impact may cause harm to the operator and affect the reliability of equipment operation.

[0091] It should be noted that the pressure of the target oil cylinder can be understood as the force exerted by the liquid in the target oil cylinder on the unit area of ​​the inner wall of the target oil cylinder.

[0092] Specifically, the pressure of the target cylinder will affect the acceleration of the bucket relative to the machine body. The greater the pressure of the target cylinder, the greater the acceleration of the bucket relative to the machine body, and the greater the real-time shaking acceleration of the machine body. Therefore, when the real-time shaking acceleration is greater than the preset acceleration threshold, the real-time shaking acceleration of the machine body can be reduced by reducing the pressure of the target cylinder.

[0093] In one embodiment, for step S231, step S232, and step S233, one, two, or all of them may be executed.

[0094] In one embodiment, step S231, step S232, and step S233 may be performed in sequence, the purpose of which is that the shaking displacement has the greatest impact on the operator's safe operation of the equipment and is most likely to cause safety accidents, followed by the impact of the shaking speed, and the impact of the shaking acceleration. Therefore, performing steps S231, step S232, and step S233 in sequence is conducive to quickly improving the operator's operating experience, reducing the probability of safety accidents, and improving the operator's operating comfort and work efficiency.

[0095] Figure 3 A schematic diagram of a flow chart of obtaining a preset shaking threshold value according to a current working mode is provided as an exemplary embodiment of the present application. Figure 3 As shown, step S210 includes:

[0096] S211: If the current working mode is the high-efficiency working mode, obtain a first preset shaking threshold.

[0097] S212: If the current working mode is the normal working mode, obtain a second preset shaking threshold.

[0098] S213: If the current working mode is the comfortable working mode, obtain a third preset shaking threshold.

[0099] It should be noted that the first preset shake threshold includes a first preset displacement threshold, a first preset speed threshold, and a first preset acceleration threshold; the second preset shake threshold includes a second preset displacement threshold, a second preset speed threshold, and a second preset acceleration threshold; the third preset shake threshold includes a third preset displacement threshold, a third preset speed threshold, and a third preset acceleration threshold.

[0100] Since the high-efficiency working mode focuses on work efficiency and takes comfort as a secondary consideration, in the high-efficiency working mode, the first preset displacement threshold, the first preset speed threshold and the first preset acceleration threshold should be set to higher values ​​to prevent the comfort adjustment action (such as the aforementioned adjustment of the working parameters of the target cylinder) from intervening too early; correspondingly, the comfortable working mode focuses on comfort and takes work efficiency as a secondary consideration. Therefore, in the comfortable working mode, the third preset displacement threshold, the third preset speed threshold and the third preset acceleration threshold should be set to lower values ​​so that the comfort adjustment action (such as the aforementioned adjustment of the working parameters of the target cylinder) intervenes earlier; while the normal working mode needs to take into account both work efficiency and comfort. Therefore, the value of the second preset displacement threshold should be between the first preset displacement threshold and the third preset displacement threshold. Similarly, the value of the second preset speed threshold should be between the first preset speed threshold and the third preset speed threshold, and the value of the second preset acceleration threshold should be between the first preset acceleration threshold and the third preset acceleration threshold. That is, the first preset displacement threshold is greater than the second preset displacement threshold; the second preset displacement threshold is greater than the third preset displacement threshold; the first preset speed threshold is greater than the second preset speed threshold; the second preset speed threshold is greater than the third preset speed threshold; the first preset acceleration threshold is greater than the second preset acceleration threshold; the second preset acceleration threshold is greater than the third preset acceleration threshold.

[0101] It should be understood that, in the case of executing step S211, during the execution of step S231, the real-time shake displacement should be compared with the first preset displacement threshold; and / or, during the execution of step S232, the real-time shake speed should be compared with the first preset speed threshold; and / or, during the execution of step S233, the real-time shake acceleration should be compared with the first preset acceleration threshold.

[0102] Similarly, when executing step S212, during the execution of step S231, the real-time shake displacement should be compared with the second preset displacement threshold; and / or, during the execution of step S232, the real-time shake speed should be compared with the second preset speed threshold; and / or, during the execution of step S233, the real-time shake acceleration should be compared with the second preset acceleration threshold.

[0103] Similarly, in the case of executing step S213, during the execution of step S231, the real-time shake displacement should be compared with the third preset displacement threshold; and / or, during the execution of step S232, the real-time shake speed should be compared with the third preset speed threshold; and / or, during the execution of step S233, the real-time shake acceleration should be compared with the third preset acceleration threshold.

[0104] Figure 4 A schematic diagram of a flow chart of adjusting the working parameters of a target oil cylinder provided by another exemplary embodiment of the present application. Figure 4 As shown, step S231 may include:

[0105] S2311: If the real-time shaking displacement is greater than the preset displacement threshold, adjust the extension length of the piston rod of at least one of the bucket cylinder, the boom cylinder and the arm cylinder.

[0106] Specifically, referring to the aforementioned introduction to step S231, when the real-time shaking displacement of the machine body is greater than the preset displacement threshold, the extension length of the piston rod of at least one of the bucket cylinder, the dipper arm cylinder and the boom cylinder can be increased or shortened to make the bucket relatively close to the machine body and shorten the distance between the bucket and the machine body, thereby improving the overall stability of the machine body and reducing the real-time shaking displacement of the machine body.

[0107] In one embodiment, since the extension length of the piston rod of the boom cylinder has the greatest influence on the distance between the bucket and the machine body, it is possible to choose to first increase or shorten the extension length of the piston rod of the boom cylinder to significantly reduce the real-time shaking displacement of the machine body; then, the real-time shaking displacement of the machine body can be fine-tuned by increasing or shortening the extension length of the piston rods of the bucket cylinder and the boom cylinder to avoid obvious discomfort to the operator due to sudden and drastic adjustments to the shaking degree of the machine body, thereby further improving the work comfort of the operator.

[0108] Step S232 may include:

[0109] S2321: If the real-time shaking speed is greater than the preset speed threshold, reduce the flow of at least one of the bucket cylinder, the boom cylinder and the arm cylinder.

[0110] Specifically, referring to the aforementioned introduction to step S232, when the real-time shaking speed of the machine body is greater than the preset speed threshold, the real-time shaking speed of the machine body can be reduced by reducing the flow of at least one of the bucket cylinder, the boom cylinder and the boom cylinder to improve the overall stability of the machine body.

[0111] In one embodiment, since the flow of the boom cylinder has the greatest impact on the real-time shaking speed of the machine body, it is possible to choose to first reduce the flow of the boom cylinder to significantly reduce the real-time shaking speed of the machine body; then, the real-time shaking speed of the machine body can be fine-tuned by reducing the flow of the bucket cylinder and the boom cylinder to avoid obvious discomfort to the operator due to sudden and drastic adjustments to the shaking degree of the machine body, thereby further improving the work comfort of the operator.

[0112] Step S233 may include:

[0113] S2331: If the real-time shaking acceleration is greater than the preset acceleration threshold, reduce the pressure of at least one of the bucket cylinder, the boom cylinder and the arm cylinder.

[0114] Specifically, referring to the aforementioned introduction to step S233, when the real-time shaking acceleration of the machine body is greater than the preset acceleration threshold, the real-time shaking acceleration of the machine body can be reduced by reducing the pressure of at least one of the bucket cylinder, the boom cylinder and the boom cylinder to improve the overall stability of the machine body.

[0115] In one embodiment, since the pressure of the boom cylinder has the greatest influence on the real-time shaking acceleration of the machine body, it is possible to choose to first reduce the stroke of the boom cylinder to significantly reduce the real-time shaking acceleration of the machine body; then, the real-time shaking acceleration of the machine body can be fine-tuned by reducing the pressure of the bucket cylinder and the boom cylinder to avoid obvious discomfort to the operator due to sudden and drastic adjustments to the shaking degree of the machine body, thereby further improving the work comfort of the operator.

[0116] Figure 5 FIG. 1 is a flow chart of an excavator control method provided by another exemplary embodiment of the present application. Figure 5 As shown, after step S231, the excavator control method further includes:

[0117] S240: Obtain the extension length of the piston rod of the target cylinder after adjustment.

[0118] Specifically, a stroke sensor may be provided on the target cylinder to detect the extension length of the piston rod of the target cylinder.

[0119] S250: If the difference between the extended length of the piston rod of the target oil cylinder after adjustment and the extended length before adjustment is greater than the length threshold, the real-time shaking displacement of the body at the next moment is obtained.

[0120] Specifically, if the difference between the extended length of the piston rod of the target cylinder after adjustment and the extended length before adjustment is greater than the length threshold, it can be considered that in this adjustment cycle, the adjustment of the extended length of the piston rod of the target cylinder has met the adjustment requirements and the adjustment operation has been completed. Therefore, step S250 is executed to obtain the real-time shaking displacement at the next moment to confirm whether the extended length of the piston rod needs to be adjusted in the next cycle.

[0121] S260: If the difference between the extended length of the piston rod of the target cylinder after adjustment and the extended length before adjustment is less than or equal to the length threshold, adjust the extended length of the piston rod of the target cylinder again.

[0122] Specifically, if the difference between the extended length of the piston rod of the target cylinder after adjustment and the extended length before adjustment is less than or equal to the length threshold, it can be considered that in this adjustment cycle, the extended length of the piston rod of the target cylinder has not been adjusted to the right position and needs to be further adjusted. Therefore, step S260 is executed to adjust the extended length of the piston rod of the target cylinder again.

[0123] It should be noted that the length threshold can be set according to actual conditions, and the embodiment of the present application does not specifically limit the length threshold.

[0124] Figure 6 FIG. 1 is a flow chart of an excavator control method provided by another exemplary embodiment of the present application. Figure 6 As shown, after step S232, the excavator control method further includes:

[0125] S270: Obtain the flow rate of the target cylinder after it is lowered.

[0126] Specifically, a flow sensor may be provided on the target cylinder to detect the flow of the target cylinder.

[0127] S280: If the difference between the flow rate after the target oil cylinder is lowered and the flow rate before the lowering is greater than the flow rate threshold, the real-time shaking speed of the body at the next moment is obtained.

[0128] Similar to step S250, if the difference between the flow rate of the target cylinder after adjustment and the flow rate before adjustment is greater than the flow threshold, it can be considered that in this adjustment cycle, the adjustment of the flow rate of the target cylinder has met the adjustment requirements and completed the adjustment operation. Therefore, step S280 is executed to obtain the real-time shaking speed at the next moment to confirm whether the flow rate of the target cylinder needs to be adjusted in the next cycle.

[0129] S290: If the difference between the flow rate of the target cylinder after being lowered and the flow rate before being lowered is less than or equal to the flow rate threshold, the flow rate of the target cylinder is lowered again.

[0130] Similar to step S260, if the difference between the flow rate of the target cylinder after adjustment and the flow rate before adjustment is less than or equal to the flow threshold, it can be considered that the flow rate of the target cylinder has not been adjusted in place during this adjustment cycle and needs to be further adjusted. Therefore, step S290 is executed to adjust the flow rate of the target cylinder again.

[0131] It should be noted that the flow threshold can be set according to actual conditions, and the embodiment of the present application does not specifically limit the flow threshold.

[0132] Figure 7A flowchart of an excavator control method provided for another exemplary embodiment of the present application. After step S233, the excavator control method further includes:

[0133] S310: Obtain the pressure of the target cylinder after it is lowered.

[0134] Specifically, a pressure sensor may be provided on the target cylinder to detect the pressure of the target cylinder.

[0135] S320: If the difference between the pressure of the target cylinder after it is lowered and the pressure before it is lowered is greater than the pressure threshold, the real-time shaking acceleration of the body at the next moment is obtained.

[0136] Similar to step S280, if the difference between the pressure of the target cylinder after adjustment and the pressure before adjustment is greater than the pressure threshold, it can be considered that in this adjustment cycle, the adjustment of the pressure of the target cylinder has met the adjustment requirements and the adjustment operation has been completed. Therefore, step S320 is executed to obtain the real-time shaking acceleration at the next moment to confirm whether the pressure of the target cylinder needs to be adjusted in the next cycle.

[0137] S330: If the difference between the pressure of the target cylinder after the reduction and the pressure before the reduction is less than or equal to the pressure threshold, the pressure of the target cylinder is reduced again.

[0138] Similar to step S290, if the difference between the pressure of the target cylinder after adjustment and the pressure before adjustment is less than or equal to the pressure threshold, it can be considered that the pressure of the target cylinder has not been adjusted in place during this adjustment cycle and needs to be further adjusted. Therefore, step S330 is executed to adjust the pressure of the target cylinder again.

[0139] It should be noted that the pressure threshold can be set according to actual conditions, and the embodiment of the present application does not specifically limit the pressure threshold.

[0140] Figure 8 FIG. 1 is a flow chart of an excavator control method provided by another exemplary embodiment of the present application. Figure 8 As shown, step S220 may include:

[0141] S221: Obtain real-time shaking parameters of at least one of the cab, the upper vehicle, the turntable, and the lower vehicle.

[0142] Specifically, the machine body includes a cab, a vehicle, a turntable, and a disembarkation. The cab is arranged on the vehicle, the vehicle is arranged on the turntable, and the turntable rotates with the disembarkation. It should be noted that the real-time shaking parameter is an instantaneous parameter, and the cab, the vehicle, the turntable, and the disembarkation can be considered to be relatively static at the moment of obtaining the real-time shaking parameter. Therefore, the real-time shaking parameter of at least one of the cab, the vehicle, the turntable, and the disembarkation can be used as the real-time shaking parameter of the machine body. In other words, the shaking sensor can be arranged on at least one of the cab, the vehicle, the turntable, and the disembarkation to detect and obtain the real-time shaking parameter.

[0143] Fig. 9 The structural block diagram of the excavator control device provided by an exemplary embodiment of the present application. Fig. 9 As shown, the excavator control device 500 provided in the embodiment of the present application may include: a first acquisition module 510, used to obtain a preset shaking threshold value according to the current working mode; a second acquisition module 520, used to obtain the real-time shaking parameters of the machine body; wherein the real-time shaking parameters characterize the shaking degree of the machine body at the current moment; a first adjustment module 530, used to adjust the working parameters of the target cylinder if the real-time shaking parameters are greater than the preset shaking threshold value.

[0144] The excavator control device provided in the embodiment of the present application, on the first hand, can reduce the real-time shaking parameters of the machine body by adjusting the working parameters of the target cylinder when the real-time shaking parameters are greater than the preset shaking threshold values, that is, can reduce the real-time shaking degree of the machine body and improve the working comfort of the operator; on the second hand, it sets different preset shaking threshold values ​​for different working modes, so that the operator can alleviate the influence of shaking to different degrees in different working modes, which is conducive to improving the working comfort and work efficiency of the operator under different working conditions.

[0145] Fig.10 FIG. 1 is a block diagram of a control device for an excavator provided by another exemplary embodiment of the present application. Fig.10 As shown, in one embodiment, the first adjustment module 530 may include a length adjustment module 531, which is used to adjust the extension length of the piston rod of the target cylinder if the real-time shaking displacement is greater than a preset displacement threshold; a flow adjustment module 532, which is used to reduce the flow of the target cylinder if the real-time shaking speed is greater than a preset speed threshold; and a pressure adjustment module 533, which is used to reduce the pressure of the target cylinder if the real-time shaking acceleration is greater than a preset acceleration threshold.

[0146] like Fig.10As shown, in one embodiment, the first acquisition module 510 may include a third acquisition module 511, which is used to obtain a first preset shake threshold if the current working mode is a high-efficiency working mode; a fourth acquisition module 512, which is used to obtain a second preset shake threshold if the current working mode is a normal working mode; and a fifth acquisition module 513, which is used to obtain a third preset shake threshold if the current working mode is a comfortable working mode.

[0147] like Fig.10 As shown, in one embodiment, the length adjustment module 531 can also be used to adjust the extension length of the piston rod of at least one of the bucket cylinder, the arm cylinder and the boom cylinder if the real-time shaking displacement is greater than a preset displacement threshold; the flow adjustment module 532 can also be used to reduce the flow of at least one of the bucket cylinder, the arm cylinder and the boom cylinder if the real-time shaking speed is greater than a preset speed threshold; the pressure adjustment module 533 can also be used to reduce the pressure of at least one of the bucket cylinder, the arm cylinder and the boom cylinder if the real-time shaking acceleration is greater than a preset acceleration threshold.

[0148] like Fig.10 As shown, in one embodiment, the excavator control device 500 may include a sixth acquisition module 540, which is used to obtain the extended length of the piston rod of the target cylinder after adjustment; a seventh acquisition module 550, which is used to obtain the real-time shaking displacement of the body at the next moment if the difference between the extended length of the piston rod of the target cylinder after adjustment and the extended length before adjustment is greater than a length threshold; a second adjustment module 560, which is used to adjust the extended length of the piston rod of the target cylinder again if the difference between the extended length of the piston rod of the target cylinder after adjustment and the extended length before adjustment is less than or equal to the length threshold.

[0149] like Fig.10 As shown, in one embodiment, the excavator control device 500 may include an eighth acquisition module 570, which is used to obtain the flow rate after the target cylinder is lowered; a ninth acquisition module 580, which is used to obtain the real-time shaking speed of the body at the next moment if the difference between the flow rate after the target cylinder is lowered and the flow rate before the lowering is greater than the flow threshold; a third adjustment module 590, which is used to reduce the flow rate of the target cylinder again if the difference between the flow rate after the target cylinder is lowered and the flow rate before the lowering is less than or equal to the flow threshold.

[0150] like Fig.10As shown, in one embodiment, the excavator control device 500 may include a tenth acquisition module 610, which is used to obtain the pressure of the target cylinder after it is lowered; an eleventh acquisition module 620, which is used to obtain the real-time shaking acceleration of the body at the next moment if the difference between the pressure after the target cylinder is lowered and the pressure before the lowering is greater than the pressure threshold; and a fourth adjustment module 630, which is used to reduce the pressure of the target cylinder again if the difference between the pressure after the target cylinder is lowered and the pressure before the lowering is less than or equal to the pressure threshold.

[0151] like Fig.10 As shown, in one embodiment, the second acquisition module 520 can also be used to obtain real-time shaking parameters of at least one of the cab, the upper vehicle, the turntable, and the lower vehicle.

[0152] Fig.11 The structural block diagram of an excavator provided by an exemplary embodiment of the present application. Fig.11 As shown, the excavator 800 provided in the embodiment of the present application may include a body 810, a sway sensor 820, and the excavator control device 500 as described in the previous embodiment, wherein the sway sensor 820 is disposed on the body 810, and the sway sensor 820 is used to detect the real-time sway parameters of the body 810, and the excavator control device 500 is communicatively connected to the body 810 and the sway sensor 820. The beneficial effects of the excavator provided in the embodiment of the present application may refer to the beneficial effects of the excavator control device 500 described above.

[0153] In one embodiment, the excavator 800 may also include a stroke sensor, a flow sensor and a pressure sensor. The stroke sensor can be used to detect the extension length of the piston rod of the target cylinder; the flow sensor can be used to detect the flow of the target cylinder; and the pressure sensor can be used to detect the pressure of the target cylinder.

[0154] Fig.12 This is a structural block diagram of an electronic device provided by an exemplary embodiment of the present application. Fig.12 As shown, the electronic device 900 provided in the embodiment of the present application includes a processor 910; and a memory 920 for storing executable instructions of the processor 910; wherein the processor 910 is used to execute the excavator control method of the above embodiment.

[0155] The processor 910 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 900 to perform desired functions.

[0156] The memory 920 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 910 may run the program instructions to implement the control methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0157] In one example, the electronic device 900 may further include: an input device 930 and an output device 940 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0158] When the controller is a stand-alone device, the input device 930 may be a communication network connector for receiving collected input signals from the first device and the second device.

[0159] In addition, the input device 930 may also include, for example, a keyboard, a mouse, and the like.

[0160] The output device 940 can output various information to the outside, including the determined distance information, direction information, etc. The output device 940 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0161] Of course, to simplify, Fig.12 Only some of the components related to the present application in the electronic device 900 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 900 may also include any other appropriate components.

[0162] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0163] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0164] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0165] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0166] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0167] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0168] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for controlling an excavator, characterized in that: include: According to the current working mode, a preset shaking threshold is obtained; Acquire a real-time shaking parameter of the machine body; wherein the real-time shaking parameter represents the shaking degree of the machine body at the current moment; If the real-time shaking parameter is greater than the preset shaking threshold, the working parameter of the target cylinder is adjusted.

2. The excavator control method according to claim 1, characterized in that: The preset shaking threshold includes a preset displacement threshold, a preset speed threshold, and a preset acceleration threshold; the real-time shaking parameters include a real-time shaking displacement, a real-time shaking speed, and a real-time shaking acceleration; If the real-time shaking parameter is greater than the preset shaking threshold, adjusting the working parameter of the target cylinder includes: If the real-time shaking displacement is greater than the preset displacement threshold, adjusting the extension length of the piston rod of the target oil cylinder; and / or, If the real-time shaking speed is greater than the preset speed threshold, reducing the flow rate of the target cylinder; and / or, If the real-time shaking acceleration is greater than the preset acceleration threshold, the pressure of the target cylinder is reduced.

3. The excavator control method according to claim 2, characterized in that: The step of obtaining a preset shaking threshold according to the current working mode includes: If the current working mode is the high-efficiency working mode, a first preset shaking threshold is obtained; wherein the first preset shaking threshold includes a first preset displacement threshold, a first preset speed threshold, and a first preset acceleration threshold; If the current working mode is the normal working mode, a second preset shaking threshold is obtained; wherein the second preset shaking threshold includes a second preset displacement threshold, a second preset speed threshold, and a second preset acceleration threshold; If the current working mode is the comfort working mode, a third preset shaking threshold is obtained; wherein the third preset shaking threshold includes a third preset displacement threshold, a third preset speed threshold, and a third preset acceleration threshold; Among them, the first preset displacement threshold is greater than the second preset displacement threshold; the second preset displacement threshold is greater than the third preset displacement threshold; the first preset speed threshold is greater than the second preset speed threshold; the second preset speed threshold is greater than the third preset speed threshold; the first preset acceleration threshold is greater than the second preset acceleration threshold; the second preset acceleration threshold is greater than the third preset acceleration threshold.

4. The excavator control method according to claim 2, characterized in that: The target cylinders include a bucket cylinder, an arm cylinder and a boom cylinder; If the real-time shaking displacement is greater than the preset displacement threshold, adjusting the extension length of the piston rod of the target oil cylinder includes: If the real-time shaking displacement is greater than the preset displacement threshold, adjusting the extension length of the piston rod of at least one of the bucket cylinder, the arm cylinder and the boom cylinder; If the real-time shaking speed is greater than the preset speed threshold, reducing the flow rate of the target cylinder includes: If the real-time shaking speed is greater than the preset speed threshold, reducing the flow rate of at least one of the bucket cylinder, the stick cylinder and the boom cylinder; If the real-time shaking acceleration is greater than the preset acceleration threshold, reducing the pressure of the target cylinder includes: The pressure of at least one of the bucket cylinder, the arm cylinder, and the boom cylinder is reduced.

5. The excavator control method according to claim 2, characterized in that: After adjusting the extension length of the piston rod of the target oil cylinder, the excavator control method further includes: Obtaining the extended length of the piston rod of the target oil cylinder after adjustment; If the difference between the extended length of the piston rod of the target oil cylinder after adjustment and the extended length before adjustment is greater than a length threshold, the real-time shaking displacement of the machine body at the next moment is obtained; If the difference between the extended length of the piston rod of the target cylinder after adjustment and the extended length before adjustment is less than or equal to the length threshold, the extended length of the piston rod of the target cylinder is adjusted again.

6. The excavator control method according to claim 2, characterized in that: After reducing the flow rate of the target cylinder, the excavator control method further includes: Obtaining the flow rate of the target oil cylinder after it is lowered; If the difference between the flow rate after the target oil cylinder is lowered and the flow rate before the lowering is greater than the flow rate threshold, the real-time shaking speed of the machine body at the next moment is obtained; If the difference between the flow rate of the target cylinder after being lowered and the flow rate before being lowered is less than or equal to the flow rate threshold, the flow rate of the target cylinder is lowered again.

7. The excavator control method according to claim 2, characterized in that: After reducing the pressure of the target cylinder, the excavator control method further includes: Obtaining the pressure of the target oil cylinder after it is lowered; If the difference between the pressure of the target oil cylinder after the reduction and the pressure before the reduction is greater than the pressure threshold, obtaining the real-time shaking acceleration of the machine body at the next moment; If the difference between the pressure of the target cylinder after the reduction and the pressure before the reduction is less than or equal to the pressure threshold, the pressure of the target cylinder is reduced again.

8. The excavator control method according to claim 1, characterized in that: The machine body comprises a cab, an upper vehicle, a turntable, and an lower vehicle, wherein the cab is arranged on the upper vehicle, the upper vehicle is arranged on the turntable, and the turntable is rotatably matched with the lower vehicle; The obtaining of real-time shaking parameters of the body comprises: The real-time shaking parameter of at least one of the cab, the upper vehicle, the turntable, and the lower vehicle is obtained.

9. An excavator control device, characterized in that: include: A first acquisition module, used for obtaining a preset shaking threshold according to a current working mode; A second acquisition module is used to acquire real-time shaking parameters of the body; wherein the real-time shaking parameters represent the shaking degree of the body at the current moment; The first adjustment module is used to adjust the working parameters of the target cylinder if the real-time shaking parameter is greater than the preset shaking threshold.

10. An excavator, characterized in that: include: Body; A shaking sensor is provided on the machine body, and the shaking sensor is used to detect real-time shaking parameters of the machine body; The excavator control device as described in claim 9 is communicatively connected between the machine body and the sway sensor.

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