Auxiliary excavation mode automatic determination method, device, equipment, medium and program

Abstract

The application discloses an auxiliary excavation mode automatic determination method, device, equipment, medium and program. The method comprises the following steps: in response to an auxiliary excavation instruction, a preliminary posture of a working device of an excavator when the excavator is at rest is acquired, and a posture change is monitored; when a swing arm is in a descending state, a swing arm rotation angle change amount is less than an angle threshold value, and a cylinder pressure change amount is greater than a pressure threshold value, an initial position coordinate of a bucket tip is acquired; a vertical distance between the bucket tip and a plane where the excavator is located is calculated according to the initial position coordinate, and an auxiliary excavation mode is determined; a shovel loading posture requirement is acquired, and whether an activation condition of the excavation mode is met is judged according to the shovel loading posture requirement; if the activation condition is met, automatic auxiliary excavation is performed according to a control program. The embodiment of the application has the ability to adapt to different working environments and operation requirements, reduces the operation complexity of a driver in the excavation process and the time for human judgment, and improves the overall excavation efficiency and the precision and accuracy of the excavation operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular to an auxiliary excavation mode automatic determination method, device, equipment, medium and program. BACKGROUND

[0002] As heavy machinery, excavators play an important role in material excavation operations. However, when operating the excavator for excavation operations, the excavator driver needs to frequently operate the control handle of the working device. This process not only requires the cooperation of the left and right hands, but also has a high requirement on the technical level of the driver, which means that the driver needs to undergo long-term training and practice to master the operation skills of the excavator.

[0003] In addition, since excavation operations usually need to be continuously performed, the driver needs to maintain high concentration and precise operation for a long time, which is of high work intensity. Long-time operation leads to poor operation comfort. Therefore, there is an urgent need for a method capable of automatically determining an auxiliary excavation mode based on the working environment and performing corresponding auxiliary excavation actions to reduce manual participation and improve the convenience and efficiency of excavation work. SUMMARY

[0004] Therefore, the present application provides an auxiliary excavation mode automatic determination method, device, equipment, medium and program to solve the problems of high operation intensity, high requirement on the technical level of the driver and poor operation comfort in the traditional operation mode of the excavator.

[0005] In a first aspect, an auxiliary excavation mode automatic determination method is provided, which comprises:

[0006] In response to an auxiliary excavation instruction of the driver, a preliminary posture of the working device of the excavator when stationary is obtained as a posture starting point, and the posture change of the working device of the excavator is monitored in real time, wherein the working device comprises a boom, a stick and a bucket;

[0007] When it is monitored that the boom is in a descending state, the change amount of the boom rotation angle is less than an angle threshold value, and the change amount of the cylinder pressure is greater than a pressure threshold value, the initial position coordinates of the bucket tip at the current time are obtained and recorded;

[0008] The vertical distance between the bucket tip and the plane where the excavator is located is calculated according to the initial position coordinates, and the target auxiliary excavation mode is determined according to the vertical distance;

[0009] The target loading posture requirement corresponding to the target auxiliary excavation mode is obtained, and it is judged in real time whether the activation condition of the auxiliary excavation is met according to the target loading posture requirement;

[0010] When the activation conditions for auxiliary excavation are met, the control program corresponding to the target auxiliary excavation mode that has been pre-input is called to automatically control the excavator's boom, arm and bucket to complete an auxiliary excavation.

[0011] In a second aspect, an embodiment of the present invention further provides an auxiliary mining mode automatic determination device, the device comprising:

[0012] a preparatory posture monitoring module, configured to respond to the driver's auxiliary excavation command, obtain the preparatory posture of the working device of the excavator when it is stationary as a posture starting point, and monitor the posture changes of the working device of the excavator in real time, wherein the working device includes a boom, a dipper arm, and a bucket;

[0013] The working device state determination module is used to obtain and record the initial position coordinates of the bucket tip at the current moment when it is monitored that the boom is in a lowered state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold;

[0014] an auxiliary excavation mode determination module, configured to calculate a vertical distance between the bucket tip and the plane where the excavator is located based on the initial position coordinates, and determine a target auxiliary excavation mode based on the vertical distance;

[0015] a posture requirement determination module, configured to obtain a target shoveling posture requirement corresponding to a target assisted excavation mode, and determine in real time whether an activation condition for assisted excavation is satisfied based on the target shoveling posture requirement;

[0016] The auxiliary excavation execution module is used to call the pre-input control program corresponding to the target auxiliary excavation mode when the activation conditions of the auxiliary excavation are met, and automatically control the excavator's boom, dipper arm and bucket to complete an auxiliary excavation.

[0017] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising:

[0018] at least one processor; and

[0019] a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the method for automatically determining an auxiliary mining pattern according to any embodiment of the present invention.

[0021] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement an auxiliary mining pattern automatic determination method described in any embodiment of the present invention when executed.

[0022] In a fifth aspect, an embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the method for automatically determining an auxiliary mining pattern as described in any embodiment of the present invention.

[0023] The technical solution of this embodiment of the present invention determines the target assisted excavation mode by calculating the vertical distance between the bucket tip and the excavator's plane, making the excavator's assisted excavation operation more adaptable to different working environments and operational requirements. By automatically determining and executing the control program corresponding to the target assisted excavation mode, the operator's operational complexity and manual judgment time during the excavation process are reduced. This automated control also reduces the operator's operational intensity during the excavation process, helping to reduce driver fatigue, improve operational safety, and further enhance overall excavation efficiency and the precision and accuracy of the excavation operation.

[0024] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 This is a flow chart of a method for automatically determining an auxiliary mining pattern according to the first embodiment of the present invention;

[0027] Figure 2 This is a reference diagram of the connection relationship of an excavator working device applicable to an embodiment of the present invention;

[0028] Figure 3 is a flowchart of another method for automatically determining an auxiliary mining pattern according to the second embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of an excavation trajectory in a flat ground excavation mode according to an embodiment of the present invention;

[0030] Figure 5 2 is a schematic structural diagram of an auxiliary mining mode automatic determination device provided according to a third embodiment of the present invention;

[0031] Figure 6 2 is a schematic structural diagram of an electronic device for assisting in the automatic determination of mining modes according to a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Example 1

[0035] Figure 1 This is a flow chart of a method for automatically determining an auxiliary excavation mode provided in the first embodiment of the present invention. This embodiment is applicable to the case of performing auxiliary excavation control on an excavator. The method can be executed by a device for automatically determining an auxiliary excavation mode. The device can be implemented in the form of hardware and / or software and can be configured in a hydraulic excavator that supports automatic control. Figure 1 As shown, the method includes:

[0036] S110 , in response to the driver's auxiliary excavation instruction, obtaining a preparatory posture of the working device of the excavator when it is stationary as a posture starting point, and monitoring the posture changes of the working device of the excavator in real time, wherein the working device includes a boom, a dipper arm, and a bucket.

[0037] The driver's assisted excavation command indicates that the current excavation task requires automated execution using assisted excavation. Therefore, receiving the driver's assisted excavation command serves as the signal to initiate assisted excavation. After receiving the assisted excavation signal, the preparatory phase begins, initializing the working device. This preparatory posture provides a baseline for subsequent monitoring and analysis. This preparatory posture allows the initial position of each working device to be determined, and subsequent status determination is performed by monitoring the working device's posture changes in real time.

[0038] S120. When it is monitored that the boom is in a descending state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold, the initial position coordinates of the bucket tip at the current moment are obtained and recorded.

[0039] By monitoring the boom's descent state, the change in the boom's rotation angle, and the change in the cylinder pressure, it is possible to accurately identify whether the excavator has entered a specific excavation state. It should be noted that the excavator used in the embodiments of the present invention is equipped with a hydraulic cylinder, which primarily generates force through the principle of hydraulic transmission, thereby achieving various excavator actions, such as raising and lowering the boom, extending and retracting the dipper arm, and rotating the bucket. As the boom continues to descend, the cylinder pressure rises. When all conditions are met (the boom descends, the change in rotation angle is less than a preset angle threshold, and the change in cylinder pressure is greater than a preset pressure threshold), the initial position coordinates of the bucket tip at the current moment are obtained and recorded. These initial position coordinates are an important basis for subsequently calculating the vertical distance and determining the excavation mode.

[0040] like Figure 2 As shown in the figure, the working device includes a boom, an arm, and a bucket. The boom section includes points C, B, F, E, and D; the arm section includes points E, G, M, K, Q, N, and F; and the bucket section includes points K, Q, and V. Point F is the connection point between the boom and the arm, points Q and K are the connection points between the arm and the bucket, and point C is the connection point between the boom and the vehicle body. BA represents the boom cylinder, and α represents the boom rotation angle, which is the angle formed by the line connecting points C and F and the plane on which the excavator is located.

[0041] S130: Calculate a vertical distance between the bucket tip and the plane where the excavator is located according to the initial position coordinates, and determine a target auxiliary excavation mode according to the vertical distance.

[0042] This embodiment of the present invention provides two excavation modes for two different excavation scenarios: flat ground and elevated platform. Flat ground generally refers to the excavator being on the ground, on the same level as the material to be loaded and unloaded and the dump truck, while elevated platform refers to the excavator being on a higher level, while the dump truck or material to be loaded and unloaded is located below. Therefore, by obtaining the position information of the shovel tip in the bucket and the current position information of the excavator's position on the plane, the vertical distance is calculated, and the current auxiliary excavation mode is further determined based on the correspondence between the pre-set vertical distance range and the excavation mode.

[0043] S140: Acquire a target shoveling posture requirement corresponding to the target auxiliary excavation mode, and determine in real time whether an activation condition for auxiliary excavation is met based on the target shoveling posture requirement.

[0044] The target assisted excavation mode is the assisted excavation mode selected according to the actual situation, and the shoveling posture requirement is a more specific judgment on whether to activate the assisted excavation operation. In the above-mentioned embodiment of the invention, only the changes in the boom and the oil pressure are judged to be prone to contingency. Therefore, after meeting the above-mentioned state change requirements and determining the corresponding assisted excavation mode, it is possible to further determine whether the shoveling posture corresponding to the target assisted excavation mode meets the requirements in the target assisted excavation mode. If the shoveling posture requirements are met, the activation conditions of the assisted excavation are met, and the corresponding assisted excavation operation will be automatically controlled.

[0045] S150: When the activation conditions for auxiliary excavation are met, a pre-input control program corresponding to the target auxiliary excavation mode is called to automatically control the boom, arm, and bucket of the excavator to complete an auxiliary excavation.

[0046] In assisted excavation operations, each component in the working device has a corresponding control method, and the pre-input control program is pre-designed and debugged based on the corresponding target assisted excavation mode. By accurately controlling the motion trajectory and speed of each component in the working device, it assists the driver in completing an excavation task.

[0047] Optionally, the process of automatically controlling the boom, arm, and bucket of the excavator may also include:

[0048] The gear status of the excavator's control handle is monitored in real time. If the gear status changes, the current automatic control is interrupted and the target auxiliary excavation mode is exited.

[0049] During assisted excavation, the system automatically adjusts the excavator's boom, arm, and bucket positions according to pre-set control programs to achieve efficient excavation. However, in actual operation, the driver may need to adjust the excavator's operation at any time based on site conditions or unexpected situations. If a change in the control handle's gear position is detected, indicating that the driver wishes to manually adjust the excavator's operation, the system automatically interrupts the current automatic control process and disengages from the target assisted excavation mode, ensuring that the excavator can respond to the driver's manual control.

[0050] The technical solution of this embodiment of the present invention determines the target assisted excavation mode by calculating the vertical distance between the bucket tip and the excavator's plane, making the excavator's assisted excavation operation more adaptable to different working environments and operational requirements. By automatically determining and executing the control program corresponding to the target assisted excavation mode, the operator's operational complexity and manual judgment time during the excavation process are reduced. This automated control also reduces the operator's operational intensity during the excavation process, helping to reduce driver fatigue, improve operational safety, and further enhance overall excavation efficiency and the precision and accuracy of the excavation operation.

[0051] Example 2

[0052] Figure 3 This is a flow chart of another method for automatically determining an auxiliary mining pattern provided by the second embodiment of the present invention. This embodiment is based on the above embodiment and is refined. Figure 3 As shown, the method includes:

[0053] S310 , in response to the driver's auxiliary excavation instruction, obtaining a preparatory posture of the working device of the excavator when it is stationary as a posture starting point, and monitoring the posture changes of the working device of the excavator in real time, wherein the working device includes a boom, a dipper arm, and a bucket.

[0054] S320: When it is monitored that the boom is in a descending state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold, the initial position coordinates of the bucket tip at the current moment are obtained and recorded.

[0055] S330. Calculate the vertical distance between the bucket tip and the plane where the excavator is located based on the initial position coordinates. If the vertical distance between the bucket tip and the plane where the excavator is located is less than a distance threshold, determine that the auxiliary excavation mode is the flat ground excavation mode.

[0056] S340: If the vertical distance between the bucket tip and the plane where the excavator is located is greater than or equal to the distance threshold, and the bucket tip is located below the plane where the excavator is located, determine that the auxiliary excavation mode is the high-platform loading excavation mode.

[0057] The specific decision logic for the auxiliary excavation mode is as follows: if the vertical distance between the bucket tip and the plane where the excavator is located is less than the distance threshold, it means that the bucket is close to the plane where the excavator is located in the current excavation environment, so it is inferred that the auxiliary excavation mode is flat ground excavation mode. Flat ground excavation is usually suitable for relatively flat ground, and the excavator needs to perform excavation operations on a flat surface or a slight slope; if the vertical distance between the bucket tip and the plane where the excavator is located is greater than the distance threshold, and the bucket tip is below the plane where the excavator is located, it means that the bucket is far from the plane where the excavator is located in the current excavation environment, so it is inferred that the auxiliary excavation mode is high-platform loading excavation mode. High-platform loading excavation is usually suitable for operating scenarios where excavated materials need to be loaded onto vehicles or other equipment above the ground.

[0058] S350: Obtain a target shoveling posture requirement corresponding to the target auxiliary excavation mode, and determine in real time whether an activation condition for auxiliary excavation is met based on the target shoveling posture requirement.

[0059] Optionally, before determining in real time whether an activation condition for auxiliary excavation is satisfied according to the target shoveling posture requirement, the following steps may also be included:

[0060] When the target auxiliary excavation mode is the flat ground excavation mode, the platform where the excavator is located is defined as the working surface;

[0061] When the target auxiliary excavation mode is high-platform loading excavation, the initial position of the bucket tip and the line connecting the intersection of the boom and the vehicle body are defined as the working surface;

[0062] Determine the angle between the bucket bottom and the working surface according to the initial position of the bucket tip, and determine the chord length of the excavation trajectory corresponding to the angle in a predefined excavation trajectory mapping table;

[0063] determining a chord height of a bucket digging trajectory according to a predetermined digging depth;

[0064] Drawing a target excavation trajectory of the bucket that satisfies a target-assisted excavation mode based on the chord length and the chord height;

[0065] Furthermore, calling a pre-input control program corresponding to the target auxiliary excavation mode to automatically control the boom, arm, and bucket of the excavator to complete an auxiliary excavation may include:

[0066] According to the working surface and the target excavation trajectory, a control program corresponding to the target auxiliary excavation mode input in advance is called to automatically control the boom, arm and bucket of the excavator respectively to complete an auxiliary excavation.

[0067] Firstly, in different auxiliary excavation modes, the defined working surface is different due to the different planes where the excavator is located. When the target auxiliary excavation mode is determined as flat ground excavation, the platform where the excavator is located is directly defined as the working surface. This is because flat ground excavation is usually performed on a relatively flat surface, and the position of the excavator is the working reference surface. When the target auxiliary excavation mode is determined as high platform loading excavation, the definition of the working surface becomes more complex. At this time, the line connecting the initial position of the bucket tip (i.e., the point where excavation starts) and the intersection of the boom and the vehicle body is defined as the working surface. This is because high platform loading excavation usually involves excavating material from a lower position and loading it onto a higher vehicle, so the working surface is no longer a simple horizontal surface, but is dynamically determined according to the excavation starting point and the boom position.

[0068] Secondly, after the working surface is determined, the angle between the bucket bottom and the working surface needs to be determined according to the initial position of the bucket tip. This angle reflects the degree of inclination of the bucket during excavation. In the pre-defined excavation trajectory mapping table, the chord length of the excavation trajectory corresponding to this angle is found, where the chord length refers to the projection length of the excavation trajectory in the horizontal direction, which determines the distance the bucket needs to move during excavation; the chord height is the height change of the excavation trajectory in the vertical direction, which is determined according to the pre-determined excavation depth. The excavation depth is the depth that the bucket needs to cut into the material, which determines the height that the bucket needs to lift during excavation. The chord height and chord length together constitute the basic shape of the excavation trajectory. Based on the determined chord length and chord height, a target excavation trajectory of the bucket that satisfies the target auxiliary excavation mode can be drawn.

[0069] For ease of understanding, Figure 4 A schematic diagram of the excavation trajectory in flat ground excavation mode is shown, which is composed of three points Q, K, and V. The bucket tip coincides with point V, and the angle between the bucket bottom and the working surface is denoted as θ.

[0070] Optionally, based on the working surface and the target excavation trajectory, a pre-input control program corresponding to the target auxiliary excavation mode is called to automatically control the boom, stick, and bucket of the excavator, respectively, to complete one auxiliary excavation, which can include:

[0071] The stick is retracted to the side close to the boom at a preset first stick speed, while the bucket moves along the target excavation trajectory at a preset first bucket speed, and the bucket bottom angle relative to the working surface is calculated in real time;

[0072] When the bucket bottom angle is not greater than a preset first angle, the boom is moved upward at a preset first boom speed until the bucket bottom angle is greater than the preset first angle;

[0073] When the bucket angle is greater than the preset first angle, the boom is controlled to move upward at a preset second speed until it stops at a target height corresponding to the target auxiliary excavation mode;

[0074] When the bucket angle is greater than the preset first angle, the boom is controlled to move upward at a preset second speed until it stops at a target height corresponding to the target auxiliary excavation mode;

[0075] The embodiment of the present application is a detailed description of how to control the boom, stick, and bucket of the excavator to automatically complete a digging operation after determining the target auxiliary excavation mode (such as flat ground excavation or high platform loading excavation) and the corresponding target excavation trajectory. The stick moves towards the boom at a preset first speed (a speed that is set in advance and suitable for the current excavation mode), i.e., the stick is retracted. This is done to adjust the position of the bucket so that it starts digging along the preset target excavation trajectory. At the same time, the bucket also moves along the target excavation trajectory at a preset speed, which means that the bucket not only adjusts its position with the movement of the stick during the digging process, but also performs precise digging actions according to the target excavation trajectory. The bucket angle between the bucket bottom and the working surface is calculated in real time during the digging process, which is an important indicator for evaluating the digging depth and bucket posture.

[0076] If the bucket angle is less than or equal to the preset first angle (set in advance according to the auxiliary excavation mode and the excavation trajectory), the boom will start moving upward at a preset first speed, which is to adjust the overall posture of the excavator to ensure smooth progress of the digging process. The boom continues to move upward until the bucket angle is greater than the preset first angle. This step is to maintain an appropriate bucket posture during the digging process to avoid over-digging or under-digging. When the bucket angle exceeds the preset first angle, the boom will continue to move upward at a different speed (preset second speed). The second speed may be faster or slower, depending on the excavation mode and current operational requirements. The boom will stop moving only when it reaches the target height corresponding to the target auxiliary excavation mode.

[0077] At the same time, when the bucket angle is greater than the preset first angle, the speed of the stick will change from the preset first speed to the second speed and continue to retract towards the boom. This step is to further adjust the position and posture of the bucket to ensure the accuracy and efficiency of the digging process. The stick will continue to retract until it is perpendicular to the plane in which the excavator is located. This is an end marker for the digging process, indicating that the bucket has completed the predetermined excavation trajectory and depth.

[0078] S360: When the activation conditions for auxiliary excavation are met, a pre-input control program corresponding to the target auxiliary excavation mode is called to automatically control the boom, arm, and bucket of the excavator to complete an auxiliary excavation.

[0079] S370. When the auxiliary excavation instruction is received from the driver again, the initial position coordinates of the bucket tip during the last auxiliary excavation are obtained and used as the historical position coordinates, and the position coordinates of the bucket tip at the current moment are read and used as the new initial position coordinates.

[0080] Since the initial position coordinates of the bucket tip before the start of auxiliary excavation have been acquired and recorded in the above-mentioned embodiment of the invention, after receiving a new round of auxiliary excavation instructions, the initial position coordinates of the bucket tip during the last auxiliary excavation are used as historical coordinates, and the current position coordinates of the bucket tip at the current moment after the auxiliary excavation operation is performed are re-acquired as the initial position coordinates before the start of a new round of auxiliary excavation operation.

[0081] S380: Calculate the position change between the historical position coordinates and the new position coordinates. When the position change falls within a preset position change range, obtain the target excavation trajectory of the previous auxiliary excavation.

[0082] S390. Determine the range coordinates of the last auxiliary excavation area based on the target excavation trajectory. If the new position coordinates of the bucket tip do not fall within the range coordinates, obtain the preparatory posture of the working device of the excavator when it is stationary again, and monitor the changes in the posture of the working device of the excavator in real time until the auxiliary excavation is completed.

[0083] If the calculated position change is within a preset, acceptable range, the target excavation trajectory recorded during the previous assisted excavation is called up, and the area of ​​the previous assisted excavation, i.e., the boundary of the excavation operation, is calculated based on the target excavation trajectory. If the current bucket tip position is not within the coordinate range of the previous excavation area, this means that the excavator bucket has moved to a new position, meeting the conditions for a new round of assisted excavation. At this time, the steps starting from S110 are re-executed, and the assisted excavation mode and activation conditions are determined in sequence until the current assisted excavation task is completed.

[0084] The technical solution of the embodiment of the present invention, through the refinement of the overall solution, mainly provides a detailed explanation of the determination of the bucket excavation trajectory and the control means of each working device in the auxiliary excavation process. Specifically, by accurately determining the working surface and drawing the target excavation trajectory, the excavator can excavate according to the preset optimal path, reducing unnecessary actions and waiting time; through the preset control program, the excavator can automatically complete the excavation action without the need for manual operation by the driver, reducing the driver's labor intensity; the movement speed and direction of the boom, dipper arm and bucket are adjusted in real time according to parameters such as the excavation depth and bucket retraction angle, ensuring the smoothness of the excavation action and improving the excavation quality.

[0085] Example 3

[0086] Figure 5 This is a schematic diagram of the structure of an auxiliary mining mode automatic determination device provided by the third embodiment of the present invention. Figure 5 As shown, the device includes:

[0087] a preparatory posture monitoring module 510 for obtaining, in response to the driver's auxiliary excavation command, a preparatory posture of the working device of the excavator when the excavator is stationary as a posture starting point, and monitoring the posture changes of the working device of the excavator in real time, wherein the working device includes a boom, an arm, and a bucket;

[0088] The working device state determination module 520 is configured to obtain and record the initial position coordinates of the bucket tip at the current moment when it is detected that the boom is in a lowered state, the change in the boom rotation angle is less than an angle threshold, and the change in the cylinder pressure is greater than a pressure threshold;

[0089] an auxiliary excavation mode determination module 530 for calculating a vertical distance between the bucket tip and the plane where the excavator is located based on the initial position coordinates, and determining a target auxiliary excavation mode based on the vertical distance;

[0090] The posture requirement determination module 540 is used to obtain a target shoveling posture requirement corresponding to the target assisted excavation mode, and determine in real time whether the activation condition of the assisted excavation is met according to the target shoveling posture requirement;

[0091] The auxiliary excavation execution module 550 is used to call the pre-input control program corresponding to the target auxiliary excavation mode when the activation conditions of the auxiliary excavation are met, and automatically control the boom, arm and bucket of the excavator to complete an auxiliary excavation.

[0092] The technical solution of this embodiment of the present invention determines the target assisted excavation mode by calculating the vertical distance between the bucket tip and the excavator's plane, making the excavator's assisted excavation operation more adaptable to different working environments and operational requirements. By automatically determining and executing the control program corresponding to the target assisted excavation mode, the operator's operational complexity and manual judgment time during the excavation process are reduced. This automated control also reduces the operator's operational intensity during the excavation process, helping to reduce driver fatigue, improve operational safety, and further enhance overall excavation efficiency and the precision and accuracy of the excavation operation.

[0093] Optionally, based on the above embodiments, the auxiliary mining mode determination module 330 may further include:

[0094] a flat ground excavation mode determining unit, configured to determine that the auxiliary excavation mode is the flat ground excavation mode if the vertical distance between the bucket tip and the plane where the excavator is located is less than a distance threshold;

[0095] The high platform loading excavation mode determination unit is used to determine that the auxiliary excavation mode is the high platform loading excavation mode if the vertical distance between the bucket tip and the plane where the excavator is located is greater than or equal to the distance threshold and the bucket tip is located below the plane where the excavator is located.

[0096] Optionally, based on the above embodiments, the method may further include a bucket excavation trajectory determination unit configured to define the platform on which the excavator is located as a working surface when the target auxiliary excavation mode is flat ground excavation before determining in real time whether an activation condition for auxiliary excavation is satisfied according to the target shoveling posture requirement;

[0097] When the target auxiliary excavation mode is high-platform loading excavation, the initial position of the bucket tip and the line connecting the intersection of the boom and the vehicle body are defined as the working surface;

[0098] Determine the angle between the bucket bottom and the working surface according to the initial position of the bucket tip, and determine the chord length of the excavation trajectory corresponding to the angle in a predefined excavation trajectory mapping table;

[0099] determining a chord height of a bucket digging trajectory according to a predetermined digging depth;

[0100] A target excavation trajectory of the bucket that meets the target auxiliary excavation mode is drawn based on the chord length and the chord height.

[0101] Optionally, based on the above embodiments, the auxiliary mining execution module 550 may include:

[0102] The control program calling unit is used to call the pre-input control program corresponding to the target auxiliary excavation mode according to the working surface and the target excavation trajectory, and automatically control the excavator's boom, dipper arm and bucket to complete an auxiliary excavation.

[0103] Optionally, based on the above embodiments, the auxiliary mining execution module 550 may further include:

[0104] a first control program execution unit, configured to control the dipper arm to retract toward a side close to the boom according to a preset first dipper arm speed, and simultaneously control the bucket to move along a target excavation trajectory according to a preset first bucket speed, and to calculate in real time a retraction angle of the bucket bottom relative to the working surface;

[0105] a second control program execution unit, configured to, when the bucket retraction angle is not greater than a preset first angle, control the boom to move upward according to a preset first boom speed until the bucket retraction angle is greater than the preset first angle;

[0106] a third control program execution unit, configured to control the boom to move upward to a target height corresponding to the target auxiliary excavation mode according to a preset second boom speed when the bucket retraction angle is greater than a preset first angle and then stop;

[0107] The fourth control program execution unit is used to change the bucket arm speed that is retracted according to the preset first bucket arm speed to the second bucket arm speed and continue to retract toward the side of the boom until the bucket arm is perpendicular to the plane where the excavator is located and stops when the bucket arm is retracted at a greater angle than the preset first angle.

[0108] Optionally, based on the above embodiments, the device may further include: an auxiliary excavation repetition execution unit configured to, after automatically controlling the boom, arm, and bucket of the excavator, upon receiving an auxiliary excavation instruction from the driver again, obtain the initial position coordinates of the bucket tip during the previous auxiliary excavation and use them as historical position coordinates, and read the position coordinates of the bucket tip at the current moment and use them as new initial position coordinates;

[0109] Calculate the position change between the historical position coordinates and the new position coordinates. When the position change falls within the preset position change range, obtain the target excavation trajectory of the last auxiliary excavation.

[0110] The range coordinates of the last auxiliary excavation area are determined based on the target excavation trajectory. If the new position coordinates of the bucket tip do not fall within the range coordinates, the operation of obtaining the preparatory posture of the working device of the excavator when it is stationary is performed again, and the changes in the posture of the working device of the excavator are monitored in real time until the auxiliary excavation is completed.

[0111] Optionally, on the basis of each of the above embodiments, a gear state monitoring unit can be further included, configured to monitor a gear state of a control handle of the excavator in real time during the automatic control of the boom, the stick and the bucket of the excavator, and if the gear state changes, the current automatic control is interrupted and the target auxiliary excavating mode is exited.

[0112] The auxiliary excavating mode automatic determination apparatus provided by the embodiment of the present application can execute the auxiliary excavating mode automatic determination method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0113] Embodiment four

[0114] Figure 6 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0115] As shown in Figure 6 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0116] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, a speaker, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0117] The processor 11 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as an auxiliary digging mode automatic determination method.

[0118] That is, in response to an auxiliary digging instruction of the driver, a preliminary posture of the working device of the excavator when the excavator is stationary is obtained as a posture starting point, and a posture change of the working device of the excavator is monitored in real time, wherein the working device includes a boom, a stick, and a bucket.

[0119] When it is monitored that the boom is in a descending state, a change amount of a boom rotation angle is less than an angle threshold, and a change amount of the oil cylinder pressure is greater than a pressure threshold, an initial position coordinate of a bucket tip at the current time is obtained and recorded.

[0120] A vertical distance between the bucket tip and a plane on which the excavator is located is calculated according to the initial position coordinate, and a target auxiliary digging mode is determined according to the vertical distance.

[0121] A target loading posture requirement corresponding to the target auxiliary digging mode is obtained, and whether an activation condition of the auxiliary digging is met is judged in real time according to the target loading posture requirement.

[0122] When the activation condition of the auxiliary digging is met, the boom, the stick, and the bucket of the excavator are automatically controlled according to a control program corresponding to the target auxiliary digging mode which is input in advance, and one auxiliary digging is completed.

[0123] In some embodiments, an auxiliary digging mode automatic determination method can be implemented as a computer program which is tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of an auxiliary digging mode automatic determination method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform an auxiliary digging mode automatic determination method by any other appropriate means (e.g., by means of firmware).

[0124] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0125] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0126] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0127] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0128] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0129] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0130] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0131] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for automatically determining an auxiliary mining pattern, characterized in that: include: In response to the driver's auxiliary excavation command, the preparatory posture of the working device of the excavator when it is stationary is obtained as a posture starting point, and the posture changes of the working device of the excavator are monitored in real time, wherein the working device includes a boom, a bucket arm and a bucket; When it is detected that the boom is in a descending state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold, the initial position coordinates of the bucket tip at the current moment are obtained and recorded; Calculating a vertical distance between the bucket tip and the plane where the excavator is located based on the initial position coordinates, and determining a target auxiliary excavation mode based on the vertical distance; determining the auxiliary excavation mode based on the vertical distance includes: if the vertical distance between the bucket tip and the plane where the excavator is located is less than a distance threshold, determining the auxiliary excavation mode to be a flat ground excavation mode; if the vertical distance between the bucket tip and the plane where the excavator is located is greater than or equal to the distance threshold, and the bucket tip is located below the plane where the excavator is located, determining the auxiliary excavation mode to be a high platform loading excavation mode; Obtaining a target shoveling posture requirement corresponding to a target assisted excavation mode, and determining in real time whether an activation condition for assisted excavation is met based on the target shoveling posture requirement; When the activation conditions for auxiliary excavation are met, the control program corresponding to the target auxiliary excavation mode that has been pre-input is called to automatically control the excavator's boom, arm, and bucket to complete an auxiliary excavation. Before determining in real time whether the activation condition of auxiliary excavation is met according to the target shoveling posture requirement, the method further includes: When the target auxiliary excavation mode is the flat ground excavation mode, the platform where the excavator is located is defined as the working surface; When the target auxiliary excavation mode is the high-platform loading excavation mode, the initial position of the bucket tip and the line connecting the intersection of the boom and the vehicle body are defined as the working surface; Determine the angle between the bucket bottom and the working surface according to the initial position of the bucket tip, and determine the chord length of the excavation trajectory corresponding to the angle in a predefined excavation trajectory mapping table; determining a chord height of a bucket digging trajectory according to a predetermined digging depth; Drawing a target excavation trajectory of the bucket that satisfies a target-assisted excavation mode based on the chord length and the chord height; The pre-entered control program corresponding to the target auxiliary excavation mode is called to automatically control the excavator's boom, arm, and bucket to complete an auxiliary excavation, including: According to the determined working surface and the target excavation trajectory, a control program corresponding to the target auxiliary excavation mode input in advance is called to automatically control the boom, arm and bucket of the excavator respectively to complete an auxiliary excavation.

2. The method according to claim 1, characterized in that According to the determined working surface and the target excavation trajectory, a control program corresponding to the target auxiliary excavation mode input in advance is called to automatically control the boom, arm and bucket of the excavator respectively to complete an auxiliary excavation, including: The bucket arm is controlled to retract toward the boom according to a preset first bucket arm speed, and the bucket is controlled to move along the target excavation trajectory according to a preset first bucket speed, and the retraction angle of the bucket bottom relative to the working surface is calculated in real time; When the bucket-retracting angle is not greater than the preset first angle, the boom is controlled to move upward according to the preset first boom speed until the bucket-retracting angle is greater than the preset first angle; When the bucket retraction angle is greater than the preset first angle, the boom is controlled to move upward according to the preset second boom speed to a target height corresponding to the target auxiliary excavation mode and stops; When the bucket retraction angle is greater than the preset first angle, the bucket arm speed that is retracted according to the preset first bucket arm speed is changed to the second bucket arm speed and continues to retract toward the side of the boom until the bucket arm is perpendicular to the plane where the excavator is located and stops.

3. The method according to claim 1, characterized in that After automatically controlling the excavator's boom, arm, and bucket, it also includes: When receiving the auxiliary excavation instruction from the driver again, the initial position coordinates of the bucket tip during the last auxiliary excavation are obtained and used as the historical position coordinates, and the position coordinates of the bucket tip at the current moment are read and used as the new initial position coordinates; Calculate the position change between the historical position coordinates and the new position coordinates. When the position change falls within the preset position change range, obtain the target excavation trajectory of the last auxiliary excavation. The range coordinates of the last auxiliary excavation area are determined based on the target excavation trajectory. If the new position coordinates of the bucket tip do not fall within the range coordinates, the operation of obtaining the preparatory posture of the working device of the excavator when it is stationary is performed again, and the changes in the posture of the working device of the excavator are monitored in real time until the auxiliary excavation is completed.

4. The method according to claim 1, wherein The process of automatically controlling the excavator's boom, arm, and bucket also includes: The gear status of the excavator's control handle is monitored in real time. If the gear status changes, the current automatic control is interrupted and the target auxiliary excavation mode is exited.

5. An automatic determination device for auxiliary excavation mode, characterized in that: The method for executing claim 1 comprises: a preparatory posture monitoring module, configured to respond to the driver's auxiliary excavation command, obtain the preparatory posture of the working device of the excavator when it is stationary as a posture starting point, and monitor the posture changes of the working device of the excavator in real time, wherein the working device includes a boom, a dipper arm, and a bucket; The working device state determination module is used to obtain and record the initial position coordinates of the bucket tip at the current moment when it is monitored that the boom is in a lowered state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold; an auxiliary excavation mode determination module, configured to calculate a vertical distance between the bucket tip and the plane where the excavator is located based on the initial position coordinates, and determine a target auxiliary excavation mode based on the vertical distance; a posture requirement determination module, configured to obtain a target shoveling posture requirement corresponding to a target assisted excavation mode, and determine in real time whether an activation condition for assisted excavation is satisfied based on the target shoveling posture requirement; The auxiliary excavation execution module is used to call the pre-input control program corresponding to the target auxiliary excavation mode when the activation conditions of the auxiliary excavation are met, and automatically control the excavator's boom, dipper arm and bucket to complete an auxiliary excavation.

6. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the method for automatically determining an auxiliary mining pattern according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement an auxiliary mining mode automatic determination method according to any one of claims 1 to 4 when executed.

8. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements an auxiliary mining pattern automatic determination method according to any one of claims 1 to 4.

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