Excavator control methods, devices and excavators

Abstract

This application relates to an excavator control method, device, and excavator, belonging to the field of construction machinery technology. The excavator control method includes obtaining a preset sway threshold based on the current working mode; acquiring real-time sway parameters of the machine body; and adjusting the working parameters of the target hydraulic cylinder if the real-time sway parameters exceed the preset sway threshold. This excavator control method, device, and excavator can reduce the degree of machine body sway, improve operator comfort, and thus increase operator work efficiency.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to an excavator control method, device, and excavator. Background Technology

[0002] During operation, excavators are prone to shaking (such as the cab and upper structure). If the shaking is significant, it will affect the operator's comfort and further reduce their work efficiency. Summary of the Invention

[0003] To address the aforementioned technical problems, embodiments of this application provide an excavator control method, device, and excavator that reduce machine sway, improve operator comfort, and thereby increase operator work efficiency.

[0004] Firstly, an excavator control method is provided, including:

[0005] Based on the current working mode, the preset shaking threshold is obtained;

[0006] The real-time swaying parameters of the machine body are obtained; wherein the real-time swaying parameters characterize the degree of swaying of the machine body at the current moment;

[0007] If the real-time swaying parameter is greater than the preset swaying threshold, adjust the operating parameters of the target cylinder.

[0008] According to a first aspect of this application, the preset sway threshold includes a preset displacement threshold, a preset velocity threshold, and a preset acceleration threshold; the real-time sway parameters include real-time sway displacement, real-time sway velocity, and real-time sway acceleration.

[0009] If the real-time swaying parameter is greater than the preset swaying threshold, adjusting the operating parameters of the target hydraulic cylinder includes:

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

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

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

[0013] According to a first aspect of this application, obtaining the preset shaking threshold based on the current operating mode includes:

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

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

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

[0017] Wherein, 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 velocity threshold is greater than the second preset velocity threshold; the second preset velocity threshold is greater than the third preset velocity threshold; the first preset acceleration threshold is greater than the second preset acceleration threshold; and the second preset acceleration threshold is greater than the third preset acceleration threshold.

[0018] According to a first aspect of this application, the target cylinder includes a bucket cylinder, a stick cylinder, and a boom cylinder;

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

[0020] If the real-time swaying 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 stick cylinder, and the boom cylinder;

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

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

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

[0024] Reduce the pressure of at least one of the bucket cylinder, the stick cylinder, and the boom cylinder.

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

[0026] Obtain the extended length of the piston rod of the target hydraulic cylinder after adjustment;

[0027] 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, the real-time swaying 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 a first aspect of this application, after reducing the flow rate of the target cylinder, the excavator control method further includes:

[0030] Obtain the flow rate after the target hydraulic cylinder is lowered;

[0031] 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 rate threshold, the real-time swaying speed of the machine body at the next moment is obtained.

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

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

[0034] Obtain the pressure after the target hydraulic cylinder is depressurized;

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

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

[0037] According to a first aspect of this application, the machine body includes a driver's cab, an upper vehicle, a turntable, and an lower vehicle, wherein the driver's cab is located on the upper vehicle, the upper vehicle is located on the turntable, and the turntable is rotatably coupled with the lower vehicle;

[0038] The acquisition of the real-time shaking parameters of the machine body includes:

[0039] Obtain the real-time sway parameters of at least one of the cab, the upper vehicle, the turntable, and the lower vehicle.

[0040] Secondly, an excavator control device is also provided, comprising:

[0041] The first acquisition module is used to obtain the preset shaking threshold according to the current working mode;

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

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

[0044] Thirdly, an excavator is also provided, including:

[0045] Organism;

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

[0047] As described in the previous embodiment, the excavator control device is communicatively connected to the machine body and the sway sensor.

[0048] Fourthly, an electronic device is also provided, comprising:

[0049] processor;

[0050] And a memory for storing the processor's executable instructions;

[0051] The processor is used to execute the excavator control method described in the above embodiments.

[0052] Fifthly, a computer-readable storage medium is also provided, the storage medium storing a computer program for executing the excavator control method described in the above embodiments.

[0053] The excavator control method, device, and excavator provided in this application have two main aspects. First, when the real-time sway parameter exceeds a preset sway threshold, the real-time sway parameter of the machine body can be reduced by adjusting the working parameters of the target cylinder, thereby reducing the degree of real-time sway and improving the operator's work comfort. Second, different preset sway thresholds are set for different working modes, enabling operators to mitigate the sway effect to varying degrees under different working modes, which is beneficial to improving the operator's work comfort and efficiency under different working conditions. Attached Figure Description

[0054] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0055] Figure 1 This is a flowchart illustrating an exemplary embodiment of the excavator control method provided in this application.

[0056] Figure 2 This is a schematic flowchart illustrating the process of adjusting the operating parameters of a target hydraulic cylinder, provided as an exemplary embodiment of this application.

[0057] Figure 3 This is a schematic diagram illustrating a process for obtaining a preset shaking threshold based on the current working mode, provided as an exemplary embodiment of this application.

[0058] Figure 4 This is a schematic flowchart illustrating the process of adjusting the operating parameters of a target hydraulic cylinder, provided as another exemplary embodiment of this application.

[0059] Figure 5 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application.

[0060] Figure 6 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application.

[0061] Figure 7 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application.

[0062] Figure 8 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application.

[0063] Figure 9 A structural block diagram of an excavator control device provided for an exemplary embodiment of this application.

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

[0065] Figure 11 A structural block diagram of an excavator provided for an exemplary embodiment of this application.

[0066] Figure 12 A structural block diagram of an electronic device provided for an exemplary embodiment of this application. Detailed Implementation

[0067] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0068] Figure 1 This is a flowchart illustrating an exemplary embodiment of the excavator control method provided in this application. Figure 1 As shown, the excavator control method provided in this application embodiment may include:

[0069] S210: Obtain the preset shaking threshold based on the current working mode.

[0070] Specifically, excavators typically have different working modes to adapt to different working conditions. For example, working modes may include high-efficiency working mode (primarily focusing on work efficiency, with comfort as a secondary consideration), normal working mode (balancing work efficiency and comfort), and comfort working mode (primarily focusing on comfort, with work efficiency as a secondary consideration). Operators can select the appropriate working mode according to the actual working conditions.

[0071] It should be noted that the preset shaking threshold varies depending on the current working mode. This helps to accurately improve the shaking sensation experienced by workers in different working modes, thereby enhancing the comfort and efficiency of operators in different working modes (different working conditions).

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

[0073] Specifically, an excavator typically consists of a body, boom, stick, and bucket. The two ends of the boom are connected to the body and the stick, respectively, and the end of the stick furthest from the boom is connected to the bucket. During operation, the boom, stick, and bucket usually cause the machine body to sway, which workers on the machine will feel to varying degrees.

[0074] It should be noted that real-time sway parameters can be used to represent the degree of swaying of the machine at the current moment. Therefore, obtaining the real-time sway parameters of the machine can determine the degree of swaying experienced by the staff. For example, real-time sway parameters can include real-time sway displacement, real-time sway velocity, real-time sway acceleration, etc. (which will be discussed in detail later).

[0075] In one embodiment, a corresponding sway sensor can be installed on the machine body to detect the corresponding real-time sway parameters. For example, a corresponding speed sensor can be used to detect the sway speed.

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

[0077] It should be noted that the target cylinders may include the bucket cylinder, stick cylinder, and boom cylinder. Changes in the operating parameters of the bucket cylinder, stick cylinder, and boom cylinder will all have varying degrees of impact on the degree of shaking of the machine body, which will be discussed in detail later.

[0078] Therefore, if the real-time swaying parameter is greater than the preset swaying threshold, it can be considered that the current swaying degree of the machine body is large. The swaying degree of the machine body can be reduced by adjusting the working parameters of the target cylinder, thereby improving the operator's work comfort.

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

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

[0081] The excavator control method provided in this application has two aspects. First, when the real-time sway parameter is greater than a preset sway threshold, the real-time sway parameter of the machine body can be reduced by adjusting the working parameters of the target cylinder, thereby reducing the degree of real-time sway and improving the operator's work comfort. Second, different preset sway thresholds are set for different working modes, so that the operator can alleviate the sway effect to different degrees in different working modes, which is conducive to improving the operator's work comfort and work efficiency under different working conditions.

[0082] Figure 2 This is a schematic flowchart illustrating the process of adjusting the operating parameters of a target hydraulic cylinder, provided as an exemplary embodiment of this application. Figure 2 As shown, the preset sway threshold may include a preset displacement threshold, a preset velocity threshold, and a preset acceleration threshold; the real-time sway parameters may include real-time sway displacement, real-time sway velocity, and real-time sway acceleration. Correspondingly, step S230 may include:

[0083] S231: If the real-time swaying 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 (i.e., 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 cylinder can either increase or decrease its extension length. Taking the stick cylinder as an example, increasing the extension length of the piston rod causes the stick to rotate counterclockwise relative to the boom. This causes the stick to rotate counterclockwise and move closer to the machine body. This shortens the distance between the bucket and the machine body, thereby improving the overall stability of the machine, reducing real-time swaying displacement, and enhancing operator comfort and work efficiency. Similarly, shortening the extension length of the piston rod causes the stick to rotate clockwise relative to the boom. This causes the stick to rotate clockwise and move closer to the machine body. This also shortens the distance between the bucket and the machine body, reducing real-time swaying displacement and enhancing operator comfort and work efficiency.

[0086] S232: If the real-time swaying 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 is too large (for example, the real-time shaking speed is greater than the preset speed threshold), it can easily cause dizziness to the operator and affect the accuracy of the operation.

[0088] Specifically, the flow rate of the target hydraulic cylinder affects the moving speed of the bucket relative to the machine body. The greater the flow rate of the target hydraulic cylinder, the greater the moving speed of the bucket relative to the machine body, and the greater the real-time swaying speed of the machine body. Therefore, when the real-time swaying speed exceeds a preset speed threshold, the real-time swaying speed of the machine body can be reduced by decreasing the flow rate of the target hydraulic cylinder.

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

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

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

[0092] Specifically, the pressure of the target hydraulic cylinder affects the acceleration of the bucket relative to the machine body. The greater the pressure of the target hydraulic cylinder, the greater the acceleration of the bucket relative to the machine body, and the greater the real-time swaying acceleration of the machine body. Therefore, when the real-time swaying acceleration exceeds a preset acceleration threshold, the real-time swaying acceleration of the machine body can be reduced by decreasing the pressure of the target hydraulic cylinder.

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

[0094] In one embodiment, steps S231, S232, and S233 can be executed sequentially. The purpose is that swaying displacement has the greatest impact on the operator's safe operation of the equipment and is most likely to cause safety accidents, followed by swaying speed, and then swaying acceleration. Therefore, executing steps S231, S232, and S233 sequentially helps to quickly improve the operator's experience, reduce the probability of safety accidents, and enhance operator comfort and work efficiency.

[0095] Figure 3 This is a schematic diagram illustrating a process for obtaining a preset shaking threshold based on the current operating mode, provided as an exemplary embodiment of this application. Figure 3 As shown, step S210 includes:

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

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

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

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

[0100] Since the high-efficiency working mode prioritizes work efficiency over comfort, the first preset displacement threshold, the first preset velocity threshold, and the first preset acceleration threshold should be set to relatively high values ​​to prevent comfort adjustments (such as adjusting the working parameters of the target cylinder) from intervening too early. Conversely, the comfort working mode prioritizes comfort over work efficiency, so the third preset displacement threshold, the third preset velocity threshold, and the third preset acceleration threshold should be set to relatively low values ​​to allow comfort adjustments (such as adjusting the working parameters of the target cylinder) to intervene earlier. The normal working mode needs to balance work efficiency and comfort; therefore, the value of the second preset displacement threshold should be between the first and third preset displacement thresholds. Similarly, the value of the second preset velocity threshold should be between the first and third preset velocity thresholds, and the value of the second preset acceleration threshold should be between the first and third preset acceleration thresholds. 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 velocity threshold is greater than the second preset velocity threshold; the second preset velocity threshold is greater than the third preset velocity threshold; the first preset acceleration threshold is greater than the second preset acceleration threshold; and 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 swaying displacement should be compared with a first preset displacement threshold; and / or, during the execution of step S232, the real-time swaying speed should be compared with a first preset speed threshold; and / or, during the execution of step S233, the real-time swaying acceleration should be compared with a first preset acceleration threshold.

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

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

[0104] Figure 4 This is a schematic flowchart illustrating the adjustment of the operating parameters of a target hydraulic cylinder, provided as another exemplary embodiment of this application. Figure 4 As shown, step S231 may include:

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

[0106] Specifically, referring to the aforementioned description of step S231, when the real-time swaying 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, stick cylinder, and boom cylinder can be increased or decreased to make the bucket relatively closer to the machine body, shorten the distance between the bucket and the machine body, thereby improving the overall stability of the machine body and reducing the real-time swaying displacement of the machine body.

[0107] In one embodiment, since the extension length of the piston rod of the boom cylinder has the greatest impact on the distance between the bucket and the machine body, the extension length of the piston rod of the boom cylinder can be increased or decreased first to significantly reduce the real-time swaying displacement of the machine body. Then, the real-time swaying displacement of the machine body can be fine-tuned by increasing or decreasing the extension length of the piston rods of the bucket cylinder and the boom cylinder, so as to avoid significant discomfort to the operator due to sudden and large adjustments to the degree of swaying of the machine body, thereby further improving the operator's work comfort.

[0108] Step S232 may include:

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

[0110] Specifically, referring to the aforementioned description of step S232, when the real-time swaying speed of the machine body is greater than the preset speed threshold, the real-time swaying speed of the machine body can be reduced by decreasing the flow rate of at least one of the bucket cylinder, stick cylinder, and boom cylinder, thereby improving the overall stability of the machine body.

[0111] In one embodiment, since the flow rate of the boom cylinder has the greatest impact on the real-time sway speed of the machine body, the flow rate of the boom cylinder can be reduced first to significantly reduce the real-time sway speed of the machine body. Then, the flow rate of the bucket cylinder and boom cylinder can be reduced to fine-tune the real-time sway speed of the machine body, so as to avoid significant discomfort to the operator due to sudden and large adjustments to the sway degree of the machine body, thereby further improving the operator's work comfort.

[0112] Step S233 may include:

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

[0114] Specifically, referring to the aforementioned description of step S233, when the real-time swaying acceleration of the machine body is greater than the preset acceleration threshold, the real-time swaying acceleration of the machine body can be reduced by lowering the pressure of at least one of the bucket cylinder, stick cylinder, and boom cylinder, thereby improving the overall stability of the machine body.

[0115] In one embodiment, since the pressure of the boom cylinder has the greatest impact on the real-time sway acceleration of the machine body, the stroke of the boom cylinder can be reduced first to significantly reduce the real-time sway acceleration of the machine body. Then, the pressure of the bucket cylinder and boom cylinder can be reduced to fine-tune the real-time sway acceleration of the machine body, so as to avoid significant discomfort to the operator due to sudden and large adjustments to the degree of sway of the machine body, thereby further improving the operator's work comfort.

[0116] Figure 5 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 5 As shown, after step S231, the excavator control method further includes:

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

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

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

[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 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 in this adjustment cycle. Therefore, step S250 is executed to obtain the real-time shaking displacement at the next moment and 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, the extended length of the piston rod of the target cylinder is adjusted 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 the extended length of the piston rod of the target cylinder has not been adjusted to the correct position in this adjustment cycle and needs to be adjusted again. 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 the actual situation, and the embodiments of this application do not specifically limit the length threshold.

[0124] Figure 6 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 6 As shown, after step S232, the excavator control method further includes:

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

[0126] Specifically, a flow sensor can be installed on the target cylinder to detect the flow rate of the target cylinder.

[0127] S280: 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 rate threshold, obtain the real-time shaking speed of the machine body at the next moment.

[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 rate threshold, it can be considered that the adjustment of the flow rate of the target cylinder has met the adjustment requirements and the adjustment operation has been completed in this adjustment cycle. Therefore, step S280 is executed to obtain the real-time shaking speed at the next moment and to confirm whether the flow rate of the target cylinder still needs to be adjusted in the next cycle.

[0129] S290: If the difference between the flow rate after the target cylinder is reduced and the flow rate before the reduction is less than or equal to the flow rate threshold, reduce the flow rate of the target cylinder 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 rate threshold, it can be considered that the flow rate of the target cylinder has not been adjusted properly in this adjustment cycle and needs to be adjusted again. Therefore, step S290 is executed to adjust the flow rate of the target cylinder again.

[0131] It should be noted that the traffic threshold can be set according to the actual situation, and the embodiments of this application do not specifically limit the traffic threshold.

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

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

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

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

[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 the pressure adjustment of the target cylinder has met the adjustment requirements and the adjustment operation has been completed in this adjustment cycle. Therefore, step S320 is executed to obtain the real-time shaking acceleration at the next moment and to confirm whether the pressure of the target cylinder still needs to be adjusted in the next cycle.

[0137] S330: If the difference between the pressure after the target cylinder is reduced and the pressure before the reduction is less than or equal to the pressure threshold, reduce the pressure of the target cylinder 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 properly in this adjustment cycle and needs to be adjusted again. 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 the actual situation, and the embodiments of this application do not specifically limit the pressure threshold.

[0140] Figure 8 A flowchart illustrating an excavator control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 8 As shown, step S220 may include:

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

[0142] Specifically, the aircraft body includes a driver's cab, an upper vehicle, a turntable, and a lower vehicle. The driver's cab is located on the upper vehicle, and the upper vehicle is located on the turntable. The turntable and the lower vehicle rotate in coordination. It should be noted that the real-time sway parameters are instantaneous parameters. The driver's cab, upper vehicle, turntable, and lower vehicle can be considered relatively stationary at the moment the real-time sway parameters are acquired. Therefore, the real-time sway parameters of at least one of the driver's cab, upper vehicle, turntable, and lower vehicle can be used as the real-time sway parameters of the entire aircraft body. In other words, sway sensors can be installed on at least one of the driver's cab, upper vehicle, turntable, and lower vehicle to detect the real-time sway parameters.

[0143] Figure 9 This is a structural block diagram of an excavator control device provided as an exemplary embodiment of this application. (See diagram below.) Figure 9 As shown, the excavator control device 500 provided in this application embodiment may include: a first acquisition module 510, used to obtain a preset sway threshold according to the current working mode; a second acquisition module 520, used to acquire real-time sway parameters of the machine body; wherein, the real-time sway parameters characterize the degree of sway of the machine body at the current moment; and a first adjustment module 530, used to adjust the working parameters of the target cylinder if the real-time sway parameters are greater than the preset sway threshold.

[0144] The excavator control device provided in this application embodiment has two aspects. First, when the real-time sway parameter is greater than a preset sway threshold, it can reduce the real-time sway parameter of the machine body by adjusting the working parameters of the target cylinder, thereby reducing the degree of real-time sway and improving the operator's work comfort. Second, it sets different preset sway thresholds for different working modes, so that the operator can alleviate the sway effect to different degrees in different working modes, which is conducive to improving the operator's work comfort and work efficiency under different working conditions.

[0145] Figure 10 A structural block diagram of an excavator control device provided as another exemplary embodiment of this application. (See diagram below.) Figure 10 As shown, in one embodiment, the first adjustment module 530 may include a length adjustment module 531, used to adjust the extension length of the piston rod of the target cylinder if the real-time swaying displacement is greater than a preset displacement threshold; a flow rate adjustment module 532, used to reduce the flow rate of the target cylinder if the real-time swaying speed is greater than a preset speed threshold; and a pressure adjustment module 533, used to reduce the pressure of the target cylinder if the real-time swaying acceleration is greater than a preset acceleration threshold.

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

[0147] like Figure 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, stick cylinder, and boom cylinder if the real-time swaying displacement is greater than a preset displacement threshold; the flow rate adjustment module 532 can also be used to reduce the flow rate of at least one of the bucket cylinder, stick cylinder, and boom cylinder if the real-time swaying speed is greater than a preset speed threshold; and the pressure adjustment module 533 can also be used to reduce the pressure of at least one of the bucket cylinder, stick cylinder, and boom cylinder if the real-time swaying acceleration is greater than a preset acceleration threshold.

[0148] like Figure 10 As shown, in one embodiment, the excavator control device 500 may include a sixth acquisition module 540 for acquiring the extended length of the piston rod of the target cylinder after adjustment; a seventh acquisition module 550 for acquiring the real-time sway displacement of the machine 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; and a second adjustment module 560 for readjusting the extended length of the piston rod of the target cylinder 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 Figure 10 As shown, in one embodiment, the excavator control device 500 may include an eighth acquisition module 570 for acquiring the flow rate after the target cylinder is lowered; a ninth acquisition module 580 for acquiring the real-time swaying speed of the machine 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 a flow rate threshold; and a third adjustment module 590 for further reducing the flow rate of the target cylinder 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 a flow rate threshold.

[0150] like Figure 10As shown, in one embodiment, the excavator control device 500 may include a tenth acquisition module 610 for acquiring the pressure of the target cylinder after it has been reduced; an eleventh acquisition module 620 for acquiring the real-time swaying acceleration of the machine body at the next moment if the difference between the pressure of the target cylinder after it has been reduced and the pressure before it has been reduced is greater than a pressure threshold; and a fourth adjustment module 630 for reducing the pressure of the target cylinder again if the difference between the pressure of the target cylinder after it has been reduced and the pressure before it has been reduced is less than or equal to a pressure threshold.

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

[0152] Figure 11 This is a structural block diagram of an excavator provided for an exemplary embodiment of this application. (See diagram below.) Figure 11 As shown, the excavator 800 provided in this embodiment may include a body 810, a sway sensor 820, and an excavator control device 500 as described in the previous embodiment. The sway sensor 820 is disposed on the body 810 and is used to detect the real-time sway parameters of the body 810. 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 this embodiment can be referred to the beneficial effects of the aforementioned excavator control device 500.

[0153] In one embodiment, the excavator 800 may further 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 rate of the target cylinder; and the pressure sensor can be used to detect the pressure of the target cylinder.

[0154] Figure 12 This is a structural block diagram of an electronic device provided as an exemplary embodiment of this application. (See diagram below.) Figure 12 As shown, the electronic device 900 provided in this application embodiment 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 form of processing unit with 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, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 910 may execute the program instructions to implement the control methods and / or other desired functions of the various embodiments of this application described above. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

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

[0158] When the controller is a standalone device, the input device 930 can be a communication network connector for receiving the acquired 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, etc.

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

[0161] Of course, for the sake of simplicity, Figure 12 Only some of the components of the electronic device 900 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 900 may include any other suitable components depending on the specific application.

[0162] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0163] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0164] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0165] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0166] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

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

[0168] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for controlling an excavator, characterized in that, include: Based on the current working mode, a preset sway threshold is obtained; wherein, the preset sway threshold includes a preset displacement threshold, a preset velocity threshold, and a preset acceleration threshold; The real-time swaying parameters of the machine are obtained; wherein, the real-time swaying parameters characterize the degree of swaying of the machine at the current moment; wherein, the real-time swaying parameters include real-time swaying displacement, real-time swaying velocity, and real-time swaying acceleration; If the real-time swaying parameter is greater than the preset swaying threshold, the operating parameters of the target cylinder are adjusted; wherein, the target cylinder includes the bucket cylinder, the stick cylinder, and the boom cylinder; Wherein, if the real-time swaying parameter is greater than the preset swaying threshold, adjusting the operating parameters of the target hydraulic cylinder includes: If the real-time swaying displacement is greater than the preset displacement threshold, adjust the extension length of the piston rod of the target cylinder; and / or, If the real-time oscillation speed is greater than the preset speed threshold, reduce the flow rate of the target cylinder; and / or, If the real-time swaying acceleration is greater than the preset acceleration threshold, reduce the pressure of the target cylinder; Wherein, adjusting the extension length of the piston rod of the target cylinder if the real-time swaying displacement is greater than the preset displacement threshold includes: If the real-time swaying 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 stick cylinder, and the boom cylinder; Wherein, reducing the flow rate of the target cylinder if the real-time oscillation speed is greater than the preset speed threshold includes: If the real-time swaying speed is greater than the preset speed threshold, reduce the flow rate of at least one of the bucket cylinder, the stick cylinder, and the boom cylinder; Wherein, if the real-time swaying acceleration is greater than the preset acceleration threshold, reducing the pressure of the target hydraulic cylinder includes: If the real-time swaying acceleration is greater than the preset acceleration threshold, the pressure of at least one of the bucket cylinder, the stick cylinder, and the boom cylinder is reduced.

2. The excavator control method according to claim 1, characterized in that, The step of obtaining the preset shaking threshold based on the current working mode includes: If the current working mode is the high-efficiency working mode, a first preset sway threshold is obtained; wherein, the first preset sway threshold includes a first preset displacement threshold, a first preset velocity threshold, and a first preset acceleration threshold; If the current working mode is the normal working mode, a second preset sway threshold is obtained; wherein, the second preset sway threshold includes a second preset displacement threshold, a second preset velocity threshold, and a second preset acceleration threshold; If the current working mode is the comfort working mode, a third preset sway threshold is obtained; wherein, the third preset sway threshold includes a third preset displacement threshold, a third preset velocity threshold, and a third preset acceleration threshold; Wherein, 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 velocity threshold is greater than the second preset velocity threshold; the second preset velocity threshold is greater than the third preset velocity threshold; the first preset acceleration threshold is greater than the second preset acceleration threshold; and the second preset acceleration threshold is greater than the third preset acceleration threshold.

3. The excavator control method according to claim 1, characterized in that, After adjusting the extension length of the piston rod of the target cylinder, the excavator control method further includes: Obtain the extended length of the piston rod of the target hydraulic cylinder after adjustment; 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, the real-time swaying 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.

4. The excavator control method according to claim 1, characterized in that, After reducing the flow rate of the target cylinder, the excavator control method further includes: Obtain the flow rate after the target hydraulic cylinder is lowered; 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 rate threshold, the real-time swaying speed of the machine body at the next moment is obtained. If the difference between the flow rate of the target cylinder after reduction and the flow rate before reduction is less than or equal to the flow rate threshold, the flow rate of the target cylinder is reduced again.

5. The excavator control method according to claim 1, characterized in that, After reducing the pressure of the target cylinder, the excavator control method further includes: Obtain the pressure after the target hydraulic cylinder is depressurized; If the difference between the pressure after the target cylinder is reduced and the pressure before the reduction is greater than the pressure threshold, the real-time shaking acceleration of the machine body at the next moment is obtained. If the difference between the pressure of the target cylinder after reduction and the pressure before reduction is less than or equal to the pressure threshold, the pressure of the target cylinder is reduced again.

6. The excavator control method according to claim 1, characterized in that, The machine body includes a driver's cab, an upper vehicle, a turntable, and an lower vehicle. The driver's cab is located on the upper vehicle, the upper vehicle is located on the turntable, and the turntable rotates with the lower vehicle. The acquisition of the real-time shaking parameters of the machine body includes: Obtain the real-time sway parameters of at least one of the driver's cab, the upper vehicle, the turntable, and the lower vehicle.

7. An excavator control device, characterized in that, include: The first acquisition module is used to obtain a preset sway threshold according to the current working mode; wherein, the preset sway threshold includes a preset displacement threshold, a preset velocity threshold, and a preset acceleration threshold; The second acquisition module is used to acquire the real-time shaking parameters of the machine body; wherein, the real-time shaking parameters characterize the degree of shaking of the machine body at the current moment; wherein, the real-time shaking parameters include real-time shaking displacement, real-time shaking velocity, and real-time shaking acceleration; The first adjustment module is used to adjust the operating parameters of the target cylinder if the real-time swaying parameter is greater than the preset swaying threshold; wherein the target cylinder includes a bucket cylinder, a stick cylinder, and a boom cylinder. The first adjustment module includes: A length adjustment module is used to adjust the extension length of the piston rod of the target cylinder if the real-time swaying displacement is greater than the preset displacement threshold; and / or, A flow rate adjustment module is used to reduce the flow rate of the target hydraulic cylinder if the real-time oscillation speed is greater than the preset speed threshold; and / or, The pressure adjustment module is used to reduce the pressure of the target cylinder if the real-time swaying acceleration is greater than the preset acceleration threshold. The length adjustment module is further used to adjust the extension length of the piston rod of at least one of the bucket cylinder, the stick cylinder, and the boom cylinder if the real-time swaying displacement is greater than the preset displacement threshold. The flow adjustment module is further configured to reduce the flow rate of at least one of the bucket cylinder, the stick cylinder, and the boom cylinder if the real-time swaying speed is greater than the preset speed threshold. The pressure adjustment module is further used to reduce the pressure of at least one of the bucket cylinder, stick cylinder, and boom cylinder if the real-time swaying acceleration is greater than the preset acceleration threshold.

8. An excavator, characterized in that, include: Organism; A sway sensor is installed on the machine body, and the sway sensor is used to detect the real-time sway parameters of the machine body; The excavator control device as described in claim 7 is communicatively connected to the machine body and the sway sensor.

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