Rotary ground leveling auxiliary control method, control system and excavator

Abstract

The invention discloses a rotary leveling auxiliary control method and system and an excavator. The control system comprises a controller, a rotary platform, a movable arm, a bucket rod, a bucket, a movable arm oil cylinder, a bucket rod oil cylinder, a bucket oil cylinder, a movable arm oil cylinder displacement sensor, a bucket rod oil cylinder displacement sensor, a bucket oil cylinder displacement sensor and a rotary pressure sensor. The controller controls the bucket tooth tip position and the bucket angle by controlling the length of the movable arm oil cylinder, the length of the bucket rod oil cylinder and the length of the bucket oil cylinder, and the bottom face of the bucket is controlled to be parallel to the operation datum plane. In the system, the movement of the movable arm, the bucket rod and the bucket is controlled in a combined manner, so that the bottom surface of the bucket is always parallel to the operation reference surface, rapid rotary leveling is realized, and a good leveling effect is obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a rotation leveling auxiliary control method, a control system and an excavator. Background Art

[0002] The existing semi-automatic leveling control scheme of the excavator controls two or three of the boom, dipper arm and bucket to make the bottom surface of the bucket or the tip of the bucket tooth move along a set straight line, such as moving toward or away from the driver, to achieve the work of leveling the ground or repairing the slope.

[0003] However, in actual operation, in order to achieve a better leveling effect more quickly, the operator often performs scraping by rotating to achieve a faster leveling operation. However, in the existing technical solutions, only the retraction and extension of the working device (such as the dipper arm and the bucket) are assisted, and there is no assisted control of the rotating leveling, especially no assisted control of the rotating leveling according to the size of the rotating pressure. This makes it difficult for the operator to perform fast and efficient leveling operations when performing the rotating leveling operation, and it is difficult to obtain the desired leveling effect. Summary of the invention

[0004] In order to overcome at least one of the defects of the above-mentioned prior art, the present invention provides a rotary leveling auxiliary control method, which controls the bottom surface of the bucket to be always parallel to the working reference plane, thereby realizing fast and efficient leveling operations of the working device (such as the dipper arm, bucket), and obtaining the desired leveling effect.

[0005] In order to overcome at least one of the defects of the above-mentioned prior art, the present invention provides a rotary leveling auxiliary control system. In this system, by combining the movement of the boom, the dipper arm and the bucket, the bottom surface of the bucket is controlled to be always parallel to the working reference plane, thereby achieving rapid rotary leveling and obtaining a good leveling effect.

[0006] In order to overcome at least one of the defects of the prior art described above, the present invention provides an excavator, in which the aforementioned slewing and leveling auxiliary control system is adopted, so that the excavator can quickly realize the slewing and leveling operation.

[0007] The technical solution adopted by the present invention to solve the problem is:

[0008] A slewing leveling auxiliary control method, characterized in that:

[0009] S1. Control the bucket posture and obtain the relative posture of the bucket and the working reference plane. For the first time, control the bottom surface of the bucket to be parallel to the working reference plane;

[0010] S2. Obtain the swing pressure, and control the distance between the bucket and the working reference surface according to the swing pressure. When the swing pressure is greater than the set pressure, control the bucket to rise, increase the distance between the bucket and the working reference surface, and then remove part of the material on the working reference surface until the swing pressure reaches the set pressure;

[0011] S3. Control the bucket posture for the second time, and obtain the relative posture of the bucket and the working reference plane, and control the bottom surface of the bucket to be parallel to the working reference plane for the second time;

[0012] S4. Control the bucket to perform leveling work.

[0013] Furthermore: the bottom surface of the bucket is always higher than the reference surface.

[0014] Furthermore: during the process of the bucket rising, the bucket posture is also synchronously controlled so that the bottom surface of the bucket is parallel to the working reference plane.

[0015] A slewing and leveling auxiliary control system, wherein the control system is controlled according to the slewing and leveling auxiliary control method mentioned above,

[0016] The control system includes a controller, a slewing platform, a boom, an arm, a bucket, a boom cylinder for driving the boom, an arm cylinder for driving the arm, a bucket cylinder for driving the bucket, a boom cylinder displacement sensor, an arm cylinder displacement sensor, a bucket cylinder displacement sensor, and a slewing pressure sensor installed on the slewing platform;

[0017] The rotary pressure sensor acquires the rotary pressure and transmits the rotary pressure signal to the controller; the controller controls the distance between the bottom surface of the bucket and the working reference surface according to the rotary pressure;

[0018] The boom cylinder displacement sensor obtains the length of the boom cylinder and transmits the length of the boom cylinder to the controller, the dipper arm cylinder displacement sensor obtains the length of the dipper arm cylinder and transmits the length of the dipper arm cylinder to the controller, and the bucket cylinder displacement sensor obtains the length of the bucket cylinder and transmits the length of the bucket cylinder to the controller. The controller controls the bucket tooth tip position and the bucket angle by controlling the boom cylinder length, the dipper arm cylinder length and the bucket cylinder length, thereby controlling the bottom surface of the bucket to be parallel to the working reference plane.

[0019] Furthermore, when the vehicle body is not tilted, the controller controls the bottom surface of the bucket to be parallel to the working base plane.

[0020] Furthermore, the slewing leveling auxiliary control system also includes a body tilt sensor, which obtains the body tilt angle and transmits the body tilt angle to the controller. When the body tilts, the controller controls the bottom surface of the bucket to be parallel to the working base surface.

[0021] Furthermore, the controller includes a displacement calculation module, a displacement deviation comparison module and an action judgment module.

[0022] Furthermore, the slewing leveling auxiliary control system also includes an operating device, a slewing solenoid valve for controlling the slewing platform, an arm solenoid valve for controlling the lifting or lowering of the arm, an arm solenoid valve for controlling the opening or retraction of the boom, and a bucket solenoid valve for controlling the opening or retraction of the bucket.

[0023] Furthermore, the slewing leveling auxiliary control system also includes a boom position sensor installed on the boom, a dipper arm position sensor installed on the dipper arm, and a bucket position sensor installed on the bucket. The boom position sensor obtains the boom angle, the dipper arm position sensor obtains the dipper arm angle, and the bucket position sensor obtains the dipper arm angle. The controller controls the bucket tooth tip position and the bucket angle according to the boom angle, the dipper arm angle, and the bucket angle, so as to control the bucket bottom surface to be parallel to the working reference plane.

[0024] An excavator comprises the aforementioned slewing and leveling auxiliary control system.

[0025] In summary, the slewing leveling auxiliary control method provided by the present invention has the following technical effects:

[0026] By controlling the relative posture of the bucket and the working reference surface, the bottom surface of the bucket is controlled to be always parallel to the working reference surface, and the distance between the bottom surface of the bucket and the working reference surface is controlled according to the rotation pressure, so as to achieve rapid rotation to level the ground.

[0027] In summary, the rotary leveling auxiliary control system provided by the present invention has the following technical effects:

[0028] By combining the movement of the boom, arm and bucket, the bottom surface of the bucket is controlled to be always parallel to the working reference surface. At the same time, the distance between the bottom surface of the bucket and the working reference surface is controlled to achieve rapid rotation and leveling, thus obtaining a good leveling effect.

[0029] In summary, the excavator provided by the present invention has the following technical effects: the excavator adopts the aforementioned rotation and leveling auxiliary control system, so that the excavator can quickly realize the rotation and leveling operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1It is a schematic diagram of the state of the excavator in the technical solution of the present invention when performing a rotary leveling operation.

[0031] Figure 2 It is a schematic diagram of the structure of an excavator in the technical solution of the present invention and a schematic diagram of the installation positions of various functional modules arranged on the excavator.

[0032] Figure 3 It is a framework diagram of the rotary leveling auxiliary control system in the technical solution of the present invention.

[0033] Figure 4 It is a flowchart of the rotation leveling auxiliary control method in the technical solution of the present invention.

[0034] Figure 5 This is an auxiliary diagram for calculating the principle of controlling the bottom surface of the bucket to be parallel to the working reference plane through the motion states of the boom, the dipper arm and the bucket in the technical solution of the present invention when the vehicle body is in a non-tilted state.

[0035] Figure 6 This is an auxiliary diagram for calculating the principle of controlling the bottom surface of the bucket to be parallel to the working reference plane through the motion state of the boom, the dipper arm and the bucket in the technical solution of the present invention when the vehicle body is in an inclined state.

[0036] The meanings of the reference numerals are as follows:

[0037] 1. Excavator; 2. Leveled material; 101. Boom; 102. Dipper arm; 103. Bucket; 104. Rotating platform; 105. Boom cylinder; 106. Dipper arm cylinder; 107. Bucket cylinder; 108. Controller; 109. Body inclination sensor; 110. Boom position sensor; 111. Dipper arm position sensor; 112. Bucket position sensor; 113. Setting and guiding module; 114. Rotation angle sensor; 115. Rotation pressure sensor; 24. Operating device; 25. Rotation solenoid valve. DETAILED DESCRIPTION

[0038] For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0039] In the description of the present invention, it should be noted that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0041] See also Figure 1 and Figure 4 , the present invention discloses a rotation leveling auxiliary control method.

[0042] A slewing leveling auxiliary control method,

[0043] S1. Control the bucket posture and obtain the relative posture between the bucket and the working reference plane. For the first time, control the bottom surface of the bucket to be parallel to the working reference plane.

[0044] S2. Obtain the swing pressure, and control the distance between the bucket and the working reference surface according to the swing pressure. When the swing pressure is greater than the set pressure, control the bucket to rise, increase the distance between the bucket and the working reference surface, and then clear part of the material on the working reference surface until the swing pressure reaches the set pressure.

[0045] S3. Control the bucket posture for the second time, and obtain the relative posture of the bucket and the working reference plane, and control the bottom surface of the bucket to be parallel to the working reference plane for the second time.

[0046] S4. Control the bucket to perform leveling work.

[0047] During specific operation, the operator first selects the automatic adjustment mode and enters the automatic control process of the rotary leveling auxiliary control method.

[0048] Specific control process such as Figure 4 As shown, first, enter step S301, the operator performs the slewing and leveling operation, and the operator can decide whether the slewing and leveling control method of the present invention is needed according to the working conditions and his own situation. If necessary, select to activate the function in the display of the control panel of the excavator, and set the working reference surface that needs to be leveled. A setting and guidance module 113 is set in the display of the control panel of the excavator for the operator to select, start the automatic control system and automatic control method, and realize the automatic control of the bucket tooth tip position and posture.

[0049] Then, enter steps S302 and S303. When the operator is operating the rotary platform to level the ground, if materials are piled up in the direction of rotation, causing the platform to be unable to rotate, the operator can control the rotary pressure sensor to obtain the rotary pressure. However, when the rotary pressure is relatively high, the control unit controls the working device to rise, and then detects the rotary pressure. If the rotary pressure is still relatively high, the control unit continues to control the working device to rise until the rotary pressure drops to a more reasonable value. This value allows the excavator to dig materials more quickly, and this value can be set through experience or multiple attempts. In the process of controlling the working device to rise, the control unit does not simply lift the boom, but controls the combined action of the boom and the bucket, so that when the working device is lifted, the bucket angle is adjusted so that the bottom surface of the bucket is always parallel to the reference plane.

[0050] Then, the process proceeds to steps S304 and S305, where the operator operates the rotation to level the ground. During the rotation to level the ground, if the bottom surface of the bucket is not parallel to the reference surface, the bucket posture is controlled to make the bottom surface of the bucket parallel to the reference surface. If during the operation, the operator operates the boom and the dipper rod, causing the bottom surface of the bucket to be not parallel to the reference surface, the control is continued to make the bottom surface of the bucket parallel to the reference surface. During the operation, if the bottom surface of the bucket is not parallel to the reference surface due to the tilt of the vehicle body, the boom, the dipper rod and the bucket posture are continued to make the bottom surface of the bucket parallel to the reference surface.

[0051] Finally, enter step S306, S307, after completing this round of rotary leveling operation, since there is still material on the ground, the operator operates the rotary operation to return the bucket to the position where the ground needs to be leveled, and operates a new round of rotary leveling operation. It is worth noting that since the operator has set the reference surface, no matter how the operator operates, the working device (bucket bottom surface) will not exceed the reference surface, and the bucket will not damage the reference surface, which not only reduces the operator's adjustment time and makes the construction efficiency higher, but also can obtain a good construction effect.

[0052] In the technical solution, during the operation, the bottom surface of the bucket is always higher than the reference surface.

[0053] In the technical solution, during the rising process of the bucket, the bucket posture is also synchronously controlled so that the bottom surface of the bucket is parallel to the working reference plane.

[0054] like Figure 1 As shown, it is a schematic diagram of the state in which the bucket 103 of the excavator 1 is leveling the leveled material 2 on the working reference surface.

[0055] like Figure 2 and Figure 3As shown, a turning and leveling auxiliary control system is provided, and the control system is controlled according to the turning and leveling auxiliary control method mentioned above.

[0056] The control system includes a controller 108, a rotating platform 104, a boom 101, an arm 102, a bucket 103, a boom cylinder 105 for driving the boom to move, an arm cylinder 106 for driving the arm to move, a bucket cylinder 107 for driving the bucket to move, a boom cylinder displacement sensor, an arm cylinder displacement sensor, a bucket cylinder displacement sensor, and a rotating pressure sensor 115 installed on the rotating platform 104.

[0057] The rotary pressure sensor acquires the rotary pressure and transmits the rotary pressure signal to the controller. The controller controls the distance between the bottom surface of the bucket and the working reference surface according to the rotary pressure.

[0058] The boom cylinder displacement sensor obtains the length of the boom cylinder and transmits the length of the boom cylinder to the controller, the dipper arm cylinder displacement sensor obtains the length of the dipper arm cylinder and transmits the length of the dipper arm cylinder to the controller, and the bucket cylinder displacement sensor obtains the length of the bucket cylinder and transmits the length of the bucket cylinder to the controller. The controller controls the bucket tooth tip position and the bucket angle by controlling the boom cylinder length, the dipper arm cylinder length and the bucket cylinder length, thereby controlling the bottom surface of the bucket to be parallel to the working reference plane.

[0059] In the above technical solution, when the excavator body is tilted or not tilted, the controller controls the bottom surface of the bucket to be parallel to the working base surface.

[0060] The following is combined Figure 2 and Figure 5 As shown, when the vehicle body is not tilted, the bucket tooth tip position and bucket angle are controlled by controlling the boom cylinder length, the arm cylinder length and the bucket cylinder length, thereby achieving the control process and principle of controlling the bucket bottom surface to be parallel to the working reference plane.

[0061] like Figure 5 As shown, the forward and inverse kinematics of the working device are solved in the boom coordinate system (X, Y), and the mutual conversion relationship between the bucket tooth tip coordinates, joint angle, and cylinder displacement is obtained.

[0062] According to the displacement information obtained by each cylinder displacement sensor, the position of the bucket tooth tip is solved

[0063] According to the length of the boom cylinder, the length of the dipper arm cylinder, and the length of the bucket cylinder, calculate the bucket tooth tip position and bucket angle

[0064] a. Through Figure 5The boom cylinder displacement sensor and the dipper arm cylinder displacement sensor shown measure the cylinder lengths of the boom and the dipper arm as λ1 and λ2, and the joint angles of the boom and the dipper arm are calculated as θ1 and θ2 according to the following formula.

[0065]

[0066] In the above calculation process, the goal is always to ensure that the bottom surface of the bucket is aligned with the working reference surface.

[0067] In the above control process, by controlling the length of each cylinder, the cylinder length is directly measured without converting it into the boom cylinder length and the stick cylinder length by the boom IMU and the stick IMU, thus reducing the conversion of intermediate quantities and making the control more precise.

[0068] b. Through Figure 5 The bucket cylinder displacement sensor shown measures the bucket cylinder length λ3, and the bucket joint angle θ3 is calculated according to the following formula.

[0069]

[0070] θ3=π-∠BCK-∠KCJ-∠MCJ-∠MCD (Formula 4)

[0071] c. Calculate the position of bucket tooth tip according to the joint angle

[0072] Through the DH method and matrix transformation, the bucket tip position [x D y D ξ] T for:

[0073]

[0074] Among them, s1 = sinθ1, c1 = cosθ1, s 12 = sin(θ1+θ2), c 12 =cos(θ1+θ2),s 123 = sin(θ1+θ2+θ3), c 123 =cos(θ1+θ2+θ3).

[0075] The rotary leveling auxiliary control system also includes a body tilt sensor 109, which obtains the body tilt angle and transmits the body tilt angle to the controller. When the body tilts, the controller controls the bottom surface of the bucket to be parallel to the working base surface.

[0076] The following is combined Figure 2 and Figure 6As shown, when the vehicle body is tilted, the bucket tooth tip position and bucket angle are controlled by controlling the boom cylinder length, the dipper arm cylinder length and the bucket cylinder length, thereby achieving the control process and principle of controlling the bucket bottom surface to be parallel to the working reference plane.

[0077] According to the tilt angle of the vehicle body, coordinate conversion is performed to the geodetic coordinates, so that when the vehicle body is tilted, the bottom surface of the bucket is still kept parallel to the reference surface. That is, construction work is performed relative to the geodetic coordinates.

[0078] like Figure 6 As shown, if the inclination angle of the vehicle body inclination sensor is θ4, the formula in the above formula 1 can be used to obtain

[0079]

[0080] Then, through the DH method and matrix transformation, the bucket tooth tip position [x D y D ξ] T .

[0081] In this technical solution, the controller includes a displacement calculation module, a displacement deviation comparison module and an action judgment module. The displacement of the boom, the dipper arm and the bucket is calculated by the displacement calculation module, the displacement of the boom, the dipper arm and the bucket is corrected by the deviation comparison module, and the movement displacement of the boom, the dipper arm and the bucket is corrected and controlled by the action judgment module.

[0082] In the present technical solution, the rotary leveling auxiliary control system also includes an operating device 24, a rotary solenoid valve 25 for controlling the rotation of the rotary platform, an arm solenoid valve for controlling the lifting or lowering of the arm, an arm solenoid valve for controlling the opening or retraction of the boom, and a bucket solenoid valve for controlling the opening or retraction of the bucket.

[0083] In the present technical solution, the slewing leveling auxiliary control system also includes a boom position sensor 110 installed on the boom, a dipper arm position sensor 111 installed on the dipper arm, and a bucket position sensor 112 installed on the bucket. The boom position sensor obtains the boom angle, the dipper arm position sensor obtains the dipper arm angle, and the bucket position sensor obtains the dipper arm angle. The controller controls the bucket tooth tip position and the bucket angle according to the boom angle, the dipper arm angle, and the bucket angle, so as to control the bottom surface of the bucket to be parallel to the working reference plane.

[0084] In the process of controlling the movement of the boom, arm and bucket to make the bottom surface of the bucket parallel to the working reference plane, the control system can also calculate the boom, arm and bucket angles obtained by the position sensor. The calculation process is introduced below.

[0085] If any of the boom, arm, or bucket is replaced with an IMU (inertial measurement unit) for monitoring, the angle of the boom, arm, or bucket can be converted into the cylinder length based on the angle, and the angle of the bucket bottom relative to the reference plane can still be calculated.

[0086] a. Through Figure 2 and Figure 5 The boom IMU and arm IMU shown measure the joint angles of the boom and arm as θ1 and θ2, and the boom cylinder length λ1 and arm cylinder length λ2 are calculated according to the following formula.

[0087]

[0088] b. Calculate the bucket joint angle based on the bucket cylinder length

[0089] pass Figure 5 The bucket cylinder displacement sensor shown measures the bucket cylinder length λ3, and the bucket joint angle θ3 is calculated according to (Formula 3) and (Formula 4).

[0090] c. Calculate the position of bucket tooth tip according to the joint angle

[0091] Through the DH method and matrix transformation, the bucket tip position [x yξ] is obtained according to Formula 5 T .

[0092] Therefore, in summary, in the rotary leveling auxiliary control system of the technical solution of the present invention, the movement of the boom, arm and bucket are controlled in combination to achieve the control of the bottom surface of the bucket and the working reference plane to always be parallel, and at the same time control the distance between the bottom surface of the bucket and the working reference plane, thereby achieving rapid rotary leveling and obtaining a good leveling effect.

[0093] In the present technical solution, a rotation angle sensor 114 is also provided on the rotating platform. The rotation angle sensor 114 obtains the real-time angle of the rotating platform and the movement angle of the rotating platform during the rotation of the rotating platform on the flat ground.

[0094] The technical solution provides an excavator 1, which includes the aforementioned rotary leveling auxiliary control system, so that the excavator can quickly realize the rotary leveling operation.

[0095] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above-mentioned technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. A method for assisting control of a slewing flat ground, characterized in that: S1. Control the bucket posture and obtain the relative posture of the bucket and the working reference plane. For the first time, control the bottom surface of the bucket to be parallel to the working reference plane; S2. Obtain the swing pressure, and control the distance between the bucket and the working reference surface according to the swing pressure. When the swing pressure is greater than the set pressure, control the bucket to rise, increase the distance between the bucket and the working reference surface, and then remove part of the material on the working reference surface until the swing pressure reaches the set pressure; S3. Control the bucket posture for the second time, and obtain the relative posture of the bucket and the working reference plane, and control the bottom surface of the bucket to be parallel to the working reference plane for the second time; S4. Control the bucket to perform leveling work.

2. The method for assisting control of a turning leveling machine according to claim 1, characterized in that: The bottom surface of the bucket is always located higher than the reference surface.

3. The slewing leveling auxiliary control method according to claim 1, characterized in that: During the bucket rising process, the bucket posture is also synchronously controlled so that the bottom surface of the bucket is parallel to the working reference plane.

4. A slewing leveling auxiliary control system, characterized in that: The control system is controlled according to the slewing leveling auxiliary control method according to any one of claims 1 to 3, The control system includes a controller, a slewing platform, a boom, an arm, a bucket, a boom cylinder for driving the boom, an arm cylinder for driving the arm, a bucket cylinder for driving the bucket, a boom cylinder displacement sensor, an arm cylinder displacement sensor, a bucket cylinder displacement sensor, and a slewing pressure sensor installed on the slewing platform; The rotary pressure sensor acquires the rotary pressure and transmits the rotary pressure signal to the controller; the controller controls the distance between the bottom surface of the bucket and the working reference surface according to the rotary pressure; The boom cylinder displacement sensor obtains the length of the boom cylinder and transmits the length of the boom cylinder to the controller, the dipper arm cylinder displacement sensor obtains the length of the dipper arm cylinder and transmits the length of the dipper arm cylinder to the controller, and the bucket cylinder displacement sensor obtains the length of the bucket cylinder and transmits the length of the bucket cylinder to the controller. The controller controls the bucket tooth tip position and the bucket angle by controlling the boom cylinder length, the dipper arm cylinder length and the bucket cylinder length, thereby controlling the bottom surface of the bucket to be parallel to the working reference plane.

5. The slewing leveling auxiliary control system according to claim 4, characterized in that: When the vehicle body is not tilted, the controller controls the bottom surface of the bucket to be parallel to the working base plane.

6. The slewing leveling auxiliary control system according to claim 4, characterized in that: It also includes a fuselage tilt sensor, which obtains the fuselage tilt angle and transmits the fuselage tilt angle to the controller. When the body is tilted, the controller controls the bottom surface of the bucket to be parallel to the working basic surface.

7. The slewing leveling auxiliary control system according to claim 4, characterized in that: The controller includes a displacement calculation module, a displacement deviation comparison module and an action judgment module.

8. The slewing leveling auxiliary control system according to claim 4, characterized in that: It also includes an operating device, a slewing solenoid valve for controlling the slewing of the slewing platform, an arm solenoid valve for controlling the lifting or lowering of the arm, an arm solenoid valve for controlling the opening or recovery of the dipper arm, and a bucket solenoid valve for controlling the opening or recovery of the bucket.

9. The slewing leveling auxiliary control system according to claim 4, characterized in that: It also includes a boom position sensor installed on the boom, an arm position sensor installed on the dipper arm, and a bucket position sensor installed on the bucket. The boom position sensor obtains the boom angle, the dipper arm position sensor obtains the dipper arm angle, and the bucket position sensor obtains the dipper arm angle. The controller controls the bucket tooth tip position and the bucket angle according to the boom angle, the dipper arm angle, and the bucket angle, so as to control the bottom surface of the bucket to be parallel to the working reference plane.

10. An excavator, characterized in that: The invention comprises a slewing leveling auxiliary control system as claimed in any one of claims 4 to 9.

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