Automatic control method of excavator, excavator controller, excavator and medium

Abstract

The invention provides an automatic control method of an excavator, an excavator controller, the excavator and a medium, and relates to the technical field of excavator control. The method comprises the steps that a current operation track corresponding to the first operation cycle of the excavator is obtained; the relative position and the relative height between the starting point and the ending point of the current operation track are determined; according to the relative position and the relative height of the current operation track, the shortest target operation track between the starting point and the ending point is determined; determining a target speed proportional relation between the lifting speed of the movable arm and the rotating speed of the movable arm according to the target operation track; and the actual handle opening degree of the operation handle is determined according to the target speed proportional relation, and the excavator is automatically controlled according to the actual handle opening degree. According to the method, the opening degree of the handle can be automatically adjusted according to the actual working condition so as to automatically adapt to different working conditions, the operation difficulty of the excavator is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of excavator control, and in particular to an automatic control method for an excavator, an excavator controller, an excavator and a medium. Background Art

[0002] Most of the current excavators use hydraulics as the driving medium, with a single or two pumps driving multiple actuators such as the boom, dipper rod, bucket, and slewing at the same time. Its biggest feature is that it belongs to a single power source multi-actuator system. During compound actions, the operating speed of each actuator is determined by the flow distribution, and the proportion of flow distribution is directly related to the working conditions and load. Usually, when the excavator leaves the factory, the priority parameters of the flow distribution of each actuator will be pre-set mainly for certain working conditions, and the parameters cannot be adjusted automatically after being fixed. Due to the complex and changeable working conditions during actual operations, a single flow distribution priority parameter is difficult to meet the needs of different working conditions. The driver needs to continuously adjust the handle opening according to the actual working conditions. The excavator controller will combine the manually input handle opening and the fixed flow distribution priority parameter to determine the solenoid valve opening of the corresponding actuator, thereby controlling the operation of the excavator.

[0003] However, it is difficult for the driver to adjust the handle opening according to the actual working conditions, and it is difficult to achieve the effect adapted to the actual working conditions, and the work efficiency is low. Summary of the invention

[0004] The embodiments of the present application provide an automatic control method of an excavator, an excavator controller, an excavator and a medium, which can automatically adjust the handle opening according to the actual working conditions to automatically adapt to different working conditions, reduce the difficulty of operation, and improve the working efficiency.

[0005] In a first aspect, an embodiment of the present application provides an automatic control method for an excavator, comprising:

[0006] Get the current operation trajectory corresponding to the first operation cycle of the current working condition of the excavator;

[0007] Determine the relative position and relative height between the starting point and the end point of the current operation track;

[0008] Determine the shortest target operation trajectory between the starting point and the end point according to the relative position and relative height between the starting point and the end point of the current operation trajectory;

[0009] Determine a target speed proportional relationship between a boom lifting speed and a boom rotation speed according to the target operation trajectory, wherein the target speed proportional relationship is used to instruct the excavator to lift the boom to the relative height and rotate the boom to the relative position at the same time;

[0010] The input handle opening is corrected according to the target speed proportional relationship to obtain a corrected actual handle opening, and the excavator is automatically controlled according to the actual handle opening.

[0011] In a possible implementation, the whole vehicle of the excavator is provided with a rotation angle sensor; the boom of the excavator is provided with a cylinder displacement sensor or a boom angle sensor; the determining the relative position and relative height between the starting point and the end point of the current operation track includes:

[0012] According to the cylinder displacement sensor, determine the boom cylinder displacement corresponding to the current operating trajectory, and determine the first boom lifting height corresponding to the current operating trajectory according to the boom cylinder displacement; or, according to the boom angle sensor, determine the boom lifting angle corresponding to the current operating trajectory, and determine the boom cylinder displacement corresponding to the current operating trajectory according to the boom lifting angle, and determine the first boom lifting height corresponding to the current operating trajectory according to the boom cylinder displacement;

[0013] Determining the relative height between the starting point and the end point of the current operation trajectory according to the first boom lifting height;

[0014] Determine, according to the rotation angle sensor, a first boom rotation angle corresponding to completing the current operation trajectory;

[0015] The relative position between the starting point and the end point of the current operation track is determined according to the first boom rotation angle.

[0016] In a possible implementation manner, determining the shortest target operating trajectory between the starting point and the end point according to the relative position and relative height between the starting point and the end point of the current operating trajectory includes:

[0017] Determine the entire operation trajectory from the starting point to the end point according to the relative position and relative height between the starting point and the end point of the current operation trajectory;

[0018] Determining executable operation trajectories that do not collide with obstacles among all the operation trajectories;

[0019] The target operation trajectory is determined according to the shortest operation trajectory among the executable operation trajectories.

[0020] In a possible implementation manner, determining a target speed proportional relationship between a boom lifting speed and a boom rotation speed according to the target operation trajectory includes:

[0021] Determine the second boom lifting height and the second boom rotation angle corresponding to completing the target operation trajectory;

[0022] Determine a target boom lifting speed and a target boom rotation speed for completing the target working trajectory according to the target working trajectory and the second boom lifting height and the second boom rotation angle, so that the excavator raises and lowers the boom to the relative height using the target boom lifting speed and rotates the boom to the relative position using the target boom rotation speed;

[0023] According to the target boom lifting speed and the target boom rotation speed, a target speed proportional relationship between the boom lifting speed and the boom rotation speed is determined.

[0024] In a possible implementation manner, the step of correcting the input handle opening according to the target speed proportional relationship to obtain a corrected actual handle opening includes:

[0025] Determine the flow distribution priority parameters for boom lifting and boom swinging in the preset handle control coefficient;

[0026] The input handle opening is corrected according to the target speed proportional relationship and the flow distribution priority parameter to obtain a corrected actual handle opening, and the flow distribution proportional relationship between the boom lifting and boom rotation corresponding to the actual handle opening is consistent with the target speed proportional relationship.

[0027] In a possible implementation manner, the step of obtaining the current operation trajectory corresponding to the first operation cycle of the current working condition of the excavator includes:

[0028] Obtain the real-time operation trajectory of the excavator's current working condition;

[0029] Determining whether the current working condition is a cyclic working condition according to the real-time working trajectory;

[0030] If it is a cyclic operation condition, the current operation trajectory is determined according to the first operation cycle in the real-time operation trajectory.

[0031] In a possible implementation, it further includes:

[0032] In response to an input working condition adaptive mode closing signal, obtaining an input handle opening of an operating handle;

[0033] The operation of the excavator is controlled according to the input handle opening of the operating handle and a preset handle control coefficient.

[0034] In a second aspect, an embodiment of the present application provides an excavator controller, comprising:

[0035] A processor, and a memory communicatively connected to the processor;

[0036] Memory is used to store computer executable instructions;

[0037] The processor is used to execute the computer-executable instructions stored in the memory, so that the processor executes the above-mentioned first aspect and / or various possible implementations of the first aspect.

[0038] In a third aspect, an embodiment of the present application provides an excavator, comprising: a rotation angle sensor, a cylinder displacement sensor / boom angle sensor, and an excavator controller as described in the second aspect;

[0039] The rotation angle sensor and the cylinder displacement sensor / boom angle sensor are respectively connected to the excavator controller;

[0040] The rotation angle sensor is arranged on the whole vehicle of the excavator and is used to collect the rotation angle of the boom of the excavator;

[0041] The cylinder displacement sensor is arranged on the boom of the excavator to collect the displacement of the boom cylinder of the excavator; or the boom angle sensor is arranged on the boom of the excavator to collect the lifting angle of the boom of the excavator;

[0042] The excavator controller is used to obtain the current working trajectory corresponding to the first working cycle of the current working condition of the excavator; determine the relative position and relative height between the starting point and the end point of the current working trajectory; determine the shortest target working trajectory between the starting point and the end point according to the relative position and relative height between the starting point and the end point of the current working trajectory; determine the target speed proportional relationship between the boom lifting speed and the boom rotation speed according to the target working trajectory, the target speed proportional relationship is used to instruct the excavator to raise the boom to the relative height and rotate the boom to the relative position at the same time; correct the input handle opening according to the target speed proportional relationship to obtain the corrected actual handle opening, and automatically control the excavator according to the actual handle opening.

[0043] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above-mentioned first aspect and / or various possible implementation methods of the first aspect.

[0044] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the above-mentioned first aspect and / or various possible implementation methods of the first aspect.

[0045] The embodiment of the present application provides an automatic control method for an excavator, an excavator controller, an excavator and a medium. After the excavator starts working, the current working trajectory corresponding to the first working cycle of the current working condition can be obtained, and the relative position and relative height between the starting point and the end point of the current working trajectory can be determined. Since the excavator is in a working cycle at this time, the starting point and the end point of each operation are the same. Therefore, the target working trajectory with the shortest distance can be determined according to the relative position and the relative height between the starting point and the end point, thereby shortening the working distance and improving the working efficiency. Afterwards, the target speed proportional relationship between the boom lifting speed and the boom rotation speed can be determined according to the target working trajectory, and the input handle opening is corrected accordingly to obtain the corrected actual handle opening, so that the excavator can automatically control the excavator according to the actual handle opening, so that the relative height between the boom lifting starting point and the end point can be adjusted, and the relative position between the boom rotation starting point and the end point can be adjusted at the same time, so as to achieve the best working effect of the current working condition. Through such a setting, the current working condition can be automatically identified according to the relative position and relative height between the starting point and the end point of the current working trajectory, and the target working trajectory with the shortest distance for the current working condition and the target speed proportional relationship of the boom lifting and boom rotation that takes the shortest time to achieve the target working trajectory can be determined. The input handle opening can be corrected according to the target speed proportional relationship to adapt to the needs of the current working condition, and the actual handle opening can be automatically adjusted according to the actual working condition. The driver does not need to constantly adjust the handle opening according to the actual working condition, which reduces the difficulty of operation and improves working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0047] Figure 1 A system architecture diagram of an embodiment of the present application;

[0048] Figure 2 This is a flow chart of an automatic control method for an excavator according to an embodiment of the present application;

[0049] Figure 3 This is a schematic diagram of the structure of an excavator controller according to an embodiment of the present application;

[0050] Figure 4 This is a schematic structural diagram of an excavator controller according to another embodiment of the present application.

[0051] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0053] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application 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 data used in this way can be interchangeable where appropriate, so that the embodiments of the present application 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 are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising 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.

[0054] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0055] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0056] The automatic control method of the excavator, the excavator controller, the excavator and the medium of the present application can be used in the field of excavator control, and can also be used in any field except the field of excavator control, such as the field of operation trajectory planning, etc. The application field of the automatic control method of the excavator, the excavator controller, the excavator and the medium of the present application is not limited.

[0057] The automatic control method of the excavator, the excavator controller, the excavator and the medium of the present application can be applied to scenarios where the excavator performs cyclic operations. Any related scenarios involving the excavator performing cyclic operations can be applied to the automatic control method of the excavator, the excavator controller, the excavator and the medium of the present application.

[0058] First, the terms involved in this application are explained:

[0059] Flow Rate, in electric excavators, flow rate usually refers to the speed at which hydraulic oil flows in the hydraulic system. The flow rate of hydraulic oil determines the speed of action of hydraulic actuators (such as hydraulic cylinders and hydraulic motors). Flow rate is usually provided by the hydraulic pump and is measured in liters per minute (L / min). A higher flow rate means that the hydraulic system can transfer energy faster, thereby increasing the working speed of the electric excavator. Adjusting the flow rate can be achieved by adjusting the output of the hydraulic pump or using a flow control valve to adapt to different working requirements.

[0060] The slewing angle of an excavator usually refers to the ability of its superstructure (such as the cab and boom) to rotate relative to the chassis. Most modern excavators have a 360-degree slewing capability, which means they can make a full circle without moving the chassis. This full slewing capability makes the excavator more flexible and efficient in narrow or confined spaces.

[0061] Most of the current excavators use hydraulics as the driving medium, with a single or two pumps driving multiple actuators such as the boom, dipper rod, bucket, and slewing at the same time. Its biggest feature is that it belongs to a single power source multi-actuator system. During compound actions, the operating speed of each actuator is determined by the flow distribution, and the flow distribution ratio is directly related to the working conditions and load. Usually, when the excavator leaves the factory, the priority parameters of the flow distribution of each actuator will be pre-set mainly for certain working conditions, and the parameters cannot be automatically adjusted after being fixed.

[0062] Due to the complex and changeable working conditions during actual operations, a single flow distribution priority parameter is difficult to meet the needs of different working conditions. The driver needs to continuously adjust the handle opening according to the actual working conditions. The excavator controller will combine the manually input handle opening and the fixed flow distribution priority parameters to determine the solenoid valve opening of the corresponding actuator, thereby controlling the operation of the excavator.

[0063] However, it is difficult for the driver to adjust the handle opening according to the actual working conditions, and it is difficult to achieve the effect adapted to the actual working conditions, and the work efficiency is low.

[0064] Based on the above technical problems, the inventive concept of this application is: how to provide an automatic control solution for an excavator that can automatically adjust the handle opening according to actual working conditions to automatically adapt to different working conditions, reduce operating difficulty, and improve working efficiency.

[0065] The embodiments of the present application provide an automatic control method for an excavator, an excavator controller, an excavator and a medium. After obtaining the current working trajectory corresponding to the first working cycle of the current working condition, the current working condition can be automatically identified according to the relative position and relative height between the starting point and the end point of the current working trajectory, and the target working trajectory with the shortest distance for the current working condition and the target speed proportional relationship of boom lifting and boom rotation that takes the shortest time to achieve the target working trajectory can be determined. The input handle opening can be corrected according to the target speed proportional relationship to adapt to the needs of the current working condition, and the actual handle opening can be automatically adjusted according to the actual working condition. The driver does not need to constantly adjust the handle opening according to the actual working condition, which reduces the difficulty of operation and improves the working efficiency.

[0066] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0067] Figure 1 This is a system architecture diagram of an embodiment of the present application, such as Figure 1 As shown, a slewing angle sensor is provided at the vehicle slewing connection position of the excavator, a cylinder displacement sensor is provided at the boom cylinder of the excavator or a boom angle sensor is provided on the boom, and the slewing angle sensor and the cylinder displacement sensor / boom angle sensor are respectively connected to the excavator controller, and the excavator controller is also connected to the boom main valve and the slewing main valve. The excavator controller obtains the current operation trajectory corresponding to the first operation cycle of the excavator; determines the relative position and relative height between the starting point and the end point of the current operation trajectory according to the slewing angle collected by the slewing angle sensor and the cylinder displacement collected by the cylinder displacement sensor / boom angle sensor; determines the shortest target operation trajectory between the starting point and the end point according to the relative position and relative height of the current operation trajectory; determines the target speed proportional relationship between the boom lifting speed and the boom slewing speed according to the target operation trajectory; determines the actual handle opening of the operating handle according to the target speed proportional relationship, and controls the proportion of the boom main valve and the proportion of the slewing main valve according to the actual handle opening, so as to automatically control the excavator.

[0068] Figure 2 1 is a flow chart of an automatic control method for an excavator according to an embodiment of the present application. In this embodiment, the automatic control method for an excavator is described by taking the excavator controller as the execution subject. Figure 2 As shown, the automatic control method of the excavator may include the following steps:

[0069] S201: Obtain the current operation trajectory corresponding to the first operation cycle of the current working condition of the excavator.

[0070] In this embodiment, the switch of the working condition adaptive mode can be set in any manner at the handle, display screen, etc. of the excavator, and the driver can turn on the switch at any time during the operation to start the working condition adaptive mode. The setting position and implementation method of the switch of the working condition adaptive mode can be flexibly set by those skilled in the art according to actual conditions, and no limitation is made here.

[0071] In this embodiment, after the driver turns on the switch of the working condition adaptive mode, a corresponding working condition adaptive mode on signal is generated and sent to the excavator controller to turn on the working condition adaptive mode. Correspondingly, after the driver turns off the switch of the working condition adaptive mode, a corresponding working condition adaptive mode off signal is generated and sent to the excavator controller to turn off the working condition adaptive mode, and the excavator operates in normal mode.

[0072] In this embodiment, the excavator controller may be a controller of the entire excavator vehicle, which may be connected to the switch of the operating condition adaptive mode to receive an operating condition adaptive mode start signal and an operating condition adaptive mode close signal.

[0073] In this embodiment, the starting point and the end point of each operation of the excavator are the same (or the error is not large), and it can be considered that the excavator is performing a cyclic operation.

[0074] In this embodiment, after detecting that the excavator starts working and receiving a signal to start the working condition adaptive mode, the excavator controller will obtain the current working trajectory of the excavator and determine whether the excavator is in cyclic operation based on the current working trajectory. If it is determined that the excavator is in cyclic operation, the working trajectory of the first working cycle can be used as the current working trajectory. If the excavator is not in cyclic operation, the excavator operates in normal mode until it is determined that the excavator enters cyclic operation.

[0075] S202: Determine the relative position and relative height between the starting point and the end point of the current operation track.

[0076] In this embodiment, after determining the starting point and the end point of the current operation track, the relative position and relative height between the starting point and the end point can be determined, that is, the relative position and relative height where the excavator needs to operate.

[0077] S203: Determine the shortest target operation trajectory between the starting point and the end point according to the relative position and relative height between the starting point and the end point of the current operation trajectory.

[0078] In this embodiment, when the starting point and end point of the current operating trajectory, as well as the relative position and relative height between the starting point and the end point are known, all possible operating trajectories between the starting point and the end point can be determined, among which the trajectory with the shortest distance is the optimal target operating trajectory, which shortens the operating distance of the excavator and improves operating efficiency.

[0079] S204: Determine a target speed proportional relationship between the boom lifting speed and the boom rotation speed according to the target operation trajectory.

[0080] In this embodiment, the target speed proportional relationship can be used to instruct the excavator to raise or lower the boom to a relative height while rotating the boom to a relative position.

[0081] In this embodiment, after determining the optimal target operating trajectory, the boom lifting speed and boom rotation speed corresponding to achieving the target operating trajectory can be determined, thereby determining the target speed proportional relationship between the boom lifting speed and the boom rotation speed.

[0082] In this embodiment, the target speed proportional relationship between boom lifting and boom rotation refers to controlling the operation of the excavator according to the target speed proportional relationship, so that the relative height between the starting point and the end point of the boom lifting can be adjusted while the relative position between the starting point and the end point of the boom rotation can be adjusted, thereby achieving the best operating effect under the current working conditions.

[0083] In this embodiment, when the excavator is operating, first lifting the boom to a relative height and then rotating the boom to a relative position is undoubtedly the most time-consuming operation; the shortest time-consuming and best-effect method is undoubtedly to lift the boom and rotate the boom at the same time, and according to the boom lifting speed, the relative height can be reached at the end of the operation, and according to the boom rotation speed, the relative position can be reached at the end of the operation. At this time, the ratio of the boom lifting speed to the boom rotation speed is the optimal target speed ratio relationship.

[0084] S205: Correcting the input handle opening according to the target speed proportional relationship to obtain a corrected actual handle opening, and automatically controlling the excavator according to the actual handle opening.

[0085] In this embodiment, the excavator controller itself stores the priority parameters of the flow distribution of each actuator, that is, the handle control coefficient, and during the operation of the excavator, the driver will input a rough handle opening according to the working conditions. The handle opening input by the driver can be a relatively rough and approximate handle opening, which does not need to be too precise. The excavator controller can automatically adjust it, thereby greatly reducing the operating difficulty of the driver. The excavator controller automatically adjusts and corrects the input handle opening, which also ensures the working effect and achieves the working effect adapted to the actual working conditions.

[0086] In this embodiment, after determining the target speed proportional relationship, the excavator controller can adjust the handle opening input by the driver in combination with the flow distribution priority parameters of boom lifting and boom rotation and the target speed proportional relationship to obtain a more accurate actual handle opening that adapts to the current working conditions, so that the flow distribution proportional relationship between boom lifting and boom rotation corresponding to the actual handle opening is consistent with the target speed proportional relationship.

[0087] For example, the handle opening input by the driver is 100, the flow distribution priority parameter of boom lifting is -50, and the flow distribution priority parameter of boom rotation is 0. If the target speed ratio is 1:1, the handle opening corresponding to boom lifting needs to be adjusted to 100-50+25=75, and the handle opening corresponding to boom rotation needs to be adjusted to 100-25=75, so that the flow ratio of boom lifting and boom rotation is also 1:1.

[0088] In this embodiment, after obtaining the corrected actual handle opening, the proportion (opening) of the boom main valve and the proportion (opening) of the swing main valve are controlled respectively according to the actual handle opening, so that the excavator can be automatically controlled.

[0089] In this embodiment, after the excavator starts working, the current working trajectory corresponding to the first working cycle of the current working condition can be obtained, and the relative position and relative height between the starting point and the end point of the current working trajectory can be determined. Since the excavator is in a working cycle at this time, the starting point and the end point of each operation are the same. Therefore, the target working trajectory with the shortest distance can be determined according to the relative position and the relative height between the starting point and the end point, thereby shortening the working distance and improving the working efficiency. Afterwards, the target speed proportional relationship between the boom lifting speed and the boom rotation speed can be determined according to the target working trajectory, and the input handle opening can be corrected accordingly to obtain the corrected actual handle opening, so that the excavator can be automatically controlled according to the actual handle opening, so that the relative height between the starting point and the end point of the boom lifting can be adjusted, and the relative position between the starting point and the end point of the boom rotation can be adjusted at the same time, so as to achieve the best working effect of the current working condition. Through such a setting, the current working condition can be automatically identified according to the relative position and relative height between the starting point and the end point of the current working trajectory, and the target working trajectory with the shortest distance for the current working condition and the target speed proportional relationship of the boom lifting and boom rotation that takes the shortest time to achieve the target working trajectory can be determined. The input handle opening can be corrected according to the target speed proportional relationship to adapt to the needs of the current working condition, and the actual handle opening can be automatically adjusted according to the actual working condition. The driver does not need to constantly adjust the handle opening according to the actual working condition, which reduces the difficulty of operation and improves working efficiency.

[0090] In a possible implementation, the step S201 of obtaining the current operation trajectory corresponding to the first operation cycle of the current working condition of the excavator may include:

[0091] S11: Obtain the real-time operation trajectory of the excavator's current working condition.

[0092] S12: Determine whether the current working condition is a cyclic working condition according to the real-time working trajectory.

[0093] S13: If it is a cyclic operation condition, the current operation trajectory is determined according to the first operation cycle in the real-time operation trajectory.

[0094] In this embodiment, if the current working condition is not a cyclic working condition, the excavator operation is controlled according to the handle opening input by the driver until it is detected that the current working condition is a cyclic working condition according to the real-time working trajectory.

[0095] In this embodiment, after the excavator is started, the excavator controller will be controlled according to the handle opening input by the driver in the initial stage to obtain the real-time operation trajectory of the current working condition of the excavator. If the real-time operation trajectory is a trajectory generated by cyclic operation at two locations, it can be determined that the current working condition is a cyclic operation condition.

[0096] For example, if the real-time operation trajectory of the excavator is: the bucket digs at point A, the boom rotates back and forth to unload at point B, the bucket digs at point A, and so on, and the cycle repeats continuously, the current working condition can be considered as a cyclic operation condition. The current operation trajectory can be: after digging at point A, the boom is raised to a certain height and rotated to a certain angle, and the material is transported to point B for unloading.

[0097] In this embodiment, before obtaining the current operating trajectory, it is first necessary to determine whether the current operating condition is a cyclic operating condition. Only if the current operating condition is a cyclic operating condition, the current operating trajectory will be determined based on the first operating cycle in the real-time operating trajectory to facilitate subsequent automatic control of the excavator.

[0098] In a possible implementation, the whole vehicle of the excavator may be provided with a rotation angle sensor, and the boom of the excavator may be provided with a cylinder displacement sensor. The above step S202 of determining the relative position and relative height between the starting point and the end point of the current operation track may include:

[0099] S21: Determine the boom cylinder displacement corresponding to the current operation trajectory according to the cylinder displacement sensor.

[0100] S22: Determine the first boom lifting height corresponding to the current operation trajectory according to the boom cylinder displacement.

[0101] S23: Determine the relative height between the starting point and the end point of the current operation track according to the first boom lifting height.

[0102] S24: Determine the first boom rotation angle corresponding to the current operation trajectory according to the rotation angle sensor.

[0103] S25: Determine the relative position between the starting point and the end point of the current operation track according to the first boom rotation angle.

[0104] In this embodiment, the rotation angle sensor is specifically set at the position of the whole vehicle of the excavator. Those skilled in the art can flexibly set it according to actual conditions, and no limitation is made here, as long as the rotation angle sensor can detect the boom rotation angle when the boom rotates.

[0105] In this embodiment, the specific setting position of the cylinder displacement sensor on the boom can be flexibly set by technicians in this field according to actual conditions, and no limitation is made here, as long as the cylinder displacement sensor can detect the boom cylinder displacement when the boom is raised or lowered.

[0106] In this embodiment, the specific implementation of determining the corresponding boom lifting height according to the boom cylinder displacement can refer to the relevant prior art, which will not be described in detail here. Similarly, the specific implementation of determining the corresponding relative position according to the boom rotation angle can also refer to the relevant prior art, which will not be described in detail here.

[0107] For example, if the current operation trajectory is: after excavation at point A, the boom is lifted to a certain height and rotated to a certain angle, and the material is transported to point B for unloading. Then point A is the operation starting point, point B is the operation end point, the height difference between point A and point B is the relative height between the starting point and the end point, and the horizontal distance difference between point A and point B is the relative position between the starting point and the end point.

[0108] In this embodiment, the cylinder displacement sensor can detect the boom cylinder displacement generated during the boom lifting process. Therefore, the first boom lifting height corresponding to the current working trajectory can be accurately determined based on the boom cylinder displacement, and then the relative height between the starting point and the end point of the current working trajectory can be determined. The rotation angle sensor can detect the boom rotation angle generated during the boom rotation process. Therefore, the first boom rotation angle corresponding to the current working trajectory can be accurately determined based on the boom rotation angle, and then the relative position between the starting point and the end point of the current working trajectory can be determined. According to the relative position and relative height between the starting point and the end point of the current working trajectory, the current working condition can be accurately and automatically identified, so as to automatically adjust the handle opening according to the identified working condition to automatically adapt to different working conditions.

[0109] In a possible implementation, the whole excavator may be provided with a rotation angle sensor, and the boom of the excavator may be provided with a boom angle sensor. The above step S202 of determining the relative position and relative height between the starting point and the end point of the current operation track may include:

[0110] S31: Determine the boom lifting angle corresponding to the current operation trajectory according to the boom angle sensor.

[0111] S32: Determine the boom cylinder displacement corresponding to the current operation trajectory according to the boom lifting angle.

[0112] S33: Determine the first boom lifting height corresponding to the current operation trajectory according to the boom cylinder displacement.

[0113] S34: Determine the relative height between the starting point and the end point of the current operation track according to the first boom lifting height.

[0114] S35: Determine the first boom rotation angle corresponding to the current operation trajectory according to the rotation angle sensor.

[0115] S36: Determine the relative position between the starting point and the end point of the current operation track according to the first boom rotation angle.

[0116] In this embodiment, the rotation angle sensor is specifically set at the position of the whole vehicle of the excavator. Those skilled in the art can flexibly set it according to actual conditions, and no limitation is made here, as long as the rotation angle sensor can detect the boom rotation angle when the boom rotates.

[0117] In this embodiment, the specific setting position of the boom angle sensor on the boom can be flexibly set by technical personnel in this field according to actual conditions, and no limitation is made here, as long as the boom angle sensor can detect the change of the boom angle when the boom is raised or lowered.

[0118] In this embodiment, the specific implementation of determining the corresponding boom cylinder displacement according to the boom lifting angle can refer to the relevant prior art, which will not be described in detail here. Similarly, the specific implementation of determining the corresponding boom lifting height according to the boom cylinder displacement can refer to the relevant prior art, which will not be described in detail here.

[0119] In addition, the specific implementation method of determining the corresponding relative position according to the swing angle of the boom can also refer to the relevant existing technology and will not be described in detail here.

[0120] For example, if the current operation trajectory is: after excavation at point A, the boom is lifted to a certain height and rotated to a certain angle, and the material is transported to point B for unloading. Then point A is the operation starting point, point B is the operation end point, the height difference between point A and point B is the relative height between the starting point and the end point, and the horizontal distance difference between point A and point B is the relative position between the starting point and the end point.

[0121] In this embodiment, the boom angle sensor can detect the boom angle change generated during the boom lifting process. Therefore, the boom lifting angle corresponding to the current working trajectory can be accurately determined based on the boom angle sensor, and then the corresponding first boom lifting height can be determined, thereby determining the relative height between the starting point and the end point of the current working trajectory. The rotation angle sensor can detect the boom rotation angle generated during the boom rotation process. Therefore, the first boom rotation angle corresponding to the current working trajectory can be accurately determined based on the boom rotation angle, thereby determining the relative position between the starting point and the end point of the current working trajectory. According to the relative position and relative height between the starting point and the end point of the current working trajectory, the current working condition can be accurately and automatically identified, so as to automatically adjust the handle opening according to the identified working condition to automatically adapt to different working conditions.

[0122] In a possible implementation, the above step S203 determines the shortest target operation trajectory between the starting point and the end point according to the relative position and relative height between the starting point and the end point of the current operation trajectory, which may include:

[0123] S41: Determine the entire operation trajectory from the starting point to the end point according to the relative position and relative height between the starting point and the end point of the current operation trajectory.

[0124] S42: Determine an executable operation trajectory that does not collide with obstacles among all operation trajectories.

[0125] S43: Determine a target operation trajectory according to the shortest operation trajectory among the executable operation trajectories.

[0126] In this embodiment, obstacles may be objects such as mine cars and pedestrians in the current working environment that may prevent the excavator from traveling along a preset working trajectory. The location information of the obstacles may be obtained by setting a laser radar on the excavator.

[0127] In this embodiment, the shortest operating trajectory among the executable operating trajectories requires the shortest operating time and has the highest operating efficiency.

[0128] In this embodiment, when the starting point and end point of the current working trajectory, as well as the relative position and relative height between the starting point and the end point are known, all possible working trajectories between the starting point and the end point can be determined. Under the constraint that there will be no collision with obstacles, the trajectory with the shortest distance is the optimal target working trajectory, which shortens the working distance of the excavator and further improves the working efficiency.

[0129] In a possible implementation, the above step S204 determines the target speed ratio relationship between the boom lifting speed and the boom rotation speed according to the target operation trajectory, which may include:

[0130] S51: Determine the second boom lifting height and the second boom rotation angle corresponding to the target operation trajectory.

[0131] S52: Determine the target boom lifting speed and the target boom rotation speed to complete the target working trajectory according to the target working trajectory, the second boom lifting height and the second boom rotation angle, so that the excavator uses the target boom lifting speed to lift the boom to a relative height and uses the target boom rotation speed to rotate the boom to a relative position.

[0132] S53: Determine a target speed proportional relationship between the boom lifting speed and the boom rotation speed according to the target boom lifting speed and the target boom rotation speed.

[0133] In this embodiment, on the premise that the second boom lifting height and the target working trajectory (the relative height between the starting point and the end point) are known, several boom lifting speeds can be obtained; on the premise that the second boom rotation angle and the target working trajectory (the relative position between the starting point and the end point) are known, several boom rotation speeds can also be obtained.

[0134] In this embodiment, each combination of boom lifting speed and boom rotation speed will correspond to different operation times, among which lifting the boom to a relative height first and then rotating the boom to a relative position is undoubtedly the most time-consuming operation; the shortest time-consuming and best effect method is to lift the boom and rotate the boom at the same time, and the relative height can be reached at the end of the operation according to the boom lifting speed, and the relative position can be reached at the end of the operation according to the boom rotation speed. At this time, the boom lifting speed is the optimal target boom lifting speed, and the boom rotation speed is the optimal target boom rotation speed. The ratio of the target boom lifting speed to the target boom rotation speed is the optimal target speed ratio relationship.

[0135] In this embodiment, when the optimal target operation trajectory is known, the second boom lifting height and the second boom rotation angle required to achieve the target operation trajectory can be determined. Under the premise that the second boom lifting height, the second boom rotation angle and the target operation trajectory (the relative height and relative position between the starting point and the end point) are known, several boom lifting speeds and boom rotation speeds can be obtained, among which the boom lifting speed and boom rotation speed that can lift the boom to a relative height and rotate the boom to a relative position are the target boom lifting speed and target boom rotation speed. According to the target boom lifting speed and target boom rotation speed, the corresponding target speed ratio relationship can be determined, at which the operation time required is the shortest and the operation efficiency is the highest.

[0136] In a possible implementation, the step S205 of correcting the input handle opening according to the target speed proportional relationship to obtain the corrected actual handle opening may include:

[0137] S61: Determine the flow distribution priority parameters of boom lifting and boom rotation in the preset handle control coefficient;

[0138] S62: The input handle opening is corrected according to the target speed proportional relationship and the flow distribution priority parameter to obtain a corrected actual handle opening. The flow distribution proportional relationship between the boom lifting and boom rotation corresponding to the actual handle opening is consistent with the target speed proportional relationship.

[0139] In this embodiment, the excavator controller itself pre-stores the priority parameters of the flow distribution of each actuator, that is, the handle control coefficient. The flow distribution priority parameters of the boom lifting and boom rotation can be obtained from the preset handle control coefficient.

[0140] In this embodiment, after determining the target speed proportional relationship, the excavator controller can adjust the handle opening input by the driver in combination with the flow distribution priority parameters of boom lifting and boom rotation and the target speed proportional relationship to obtain a more accurate actual handle opening that adapts to the current working conditions, so that the flow distribution proportional relationship between boom lifting and boom rotation corresponding to the actual handle opening is consistent with the target speed proportional relationship.

[0141] For example, the handle opening input by the driver is 100, the flow distribution priority parameter of boom lifting is -50, and the flow distribution priority parameter of boom rotation is 0. If the target speed ratio is 1:1, the handle opening corresponding to boom lifting needs to be adjusted to 100-50+25=75, and the handle opening corresponding to boom rotation needs to be adjusted to 100-25=75, so that the flow ratio of boom lifting and boom rotation is also 1:1.

[0142] In this embodiment, during the operation of the excavator, the driver will input a rough handle opening according to the working conditions. The handle opening input by the driver can be a relatively rough and approximate handle opening, and does not need to be too precise. The excavator controller can automatically adjust it according to the target speed proportional relationship to adapt to the actual working conditions, thereby greatly reducing the driver's operating difficulty. The excavator controller automatically adjusts and corrects the input handle opening according to the target speed proportional relationship and the flow distribution priority parameter, which can adapt to the needs of the current working conditions. The driver does not need to constantly adjust the handle opening according to the actual working conditions, ensuring that the operating effect can automatically adapt to the actual working conditions.

[0143] In a possible implementation, the method may further include:

[0144] S71: In response to an input working condition adaptive mode closing signal, obtaining an input handle opening of an operating handle.

[0145] S72: Controlling the operation of the excavator according to the input handle opening of the operating handle and the preset handle control coefficient.

[0146] In this embodiment, the switch of the working condition adaptation mode can be set in any manner at the handle, display screen, etc. of the excavator, and the driver can turn on / off the switch at any time during the operation to turn on / off the working condition adaptation mode.

[0147] For example, the handle opening input by the driver is 100, the flow distribution priority parameter of boom lifting is -50, and the flow distribution priority parameter of boom rotation is 0. Then the handle opening corresponding to boom lifting is 100-50=50, and the handle opening corresponding to boom rotation is 100. The excavator operation is controlled with the flow ratio of boom lifting to boom rotation being 1:2.

[0148] In this embodiment, after the driver turns off the switch of the working condition adaptive mode, a corresponding working condition adaptive mode closing signal is generated and sent to the excavator controller. After receiving the signal, the excavator controller turns off the working condition adaptive mode and controls the operation of the excavator according to the handle opening of the operating handle currently input by the driver and the preset handle control coefficient.

[0149] The automatic control method of the excavator of the present application is described below with reference to a specific embodiment.

[0150] In a specific embodiment, an excavator needs to complete the excavation and unloading of materials at point A and point B of the construction site. The excavator is provided with a rotation angle sensor at the vehicle rotation connection position, and the boom cylinder is provided with a cylinder displacement sensor. In this process, the automatic control process of the excavator is as follows:

[0151] In the first step, the driver controls the excavator to power on and turns on the switch of the working condition adaptation mode on the display screen. The display screen sends the working condition adaptation mode start signal to the excavator controller.

[0152] In the second step, after the excavator controller receives the input signal to start the working condition adaptive mode, it controls the operation of the excavator according to the handle opening input by the driver and the preset handle control coefficient, obtains the real-time operation trajectory of the excavator's current working condition, and determines that the current working condition is a cyclic working condition. Then, according to the first operation cycle in the real-time operation trajectory, the current operation trajectory is determined: after excavation at point A, the boom is lifted to a certain height and rotated to a certain angle to transport the material to point B for unloading.

[0153] In the third step, the excavator controller determines the boom cylinder displacement corresponding to the current operating trajectory based on the cylinder displacement sensor; determines the first boom lifting height corresponding to the current operating trajectory based on the boom cylinder displacement; and determines the relative height between the starting point and the end point of the current operating trajectory based on the first boom lifting height.

[0154] In the fourth step, the excavator controller determines the first boom rotation angle corresponding to the current operating trajectory based on the rotation angle sensor; and determines the relative position between the starting point and the end point of the current operating trajectory based on the first boom rotation angle.

[0155] In the fifth step, the excavator controller determines the entire working trajectory from the starting point to the end point based on the relative position and relative height between the starting point and the end point of the current working trajectory; determines the executable working trajectory that does not collide with obstacles among all the working trajectories; and determines the target working trajectory based on the shortest working trajectory among the executable working trajectories.

[0156] In the sixth step, the excavator controller determines the second boom lifting height and the second boom rotation angle corresponding to the target operating trajectory; based on the target operating trajectory and the second boom lifting height and the second boom rotation angle, the target boom lifting speed and the target boom rotation speed to complete the target operating trajectory are determined, so that the excavator uses the target boom lifting speed to lift the boom to a relative height and uses the target boom rotation speed to rotate the boom to a relative position.

[0157] In the seventh step, the excavator controller determines the target speed proportional relationship between the boom lifting speed and the boom rotation speed according to the target boom lifting speed and the target boom rotation speed; determines the flow distribution priority parameters of the boom lifting and boom rotation in the preset handle control coefficient; corrects the input handle opening according to the target speed proportional relationship and the flow distribution priority parameter to obtain the corrected actual handle opening, and the flow distribution proportional relationship between the boom lifting and boom rotation corresponding to the actual handle opening is consistent with the target speed proportional relationship.

[0158] In the eighth step, the excavator controller controls the proportion of the boom main valve and the proportion of the swing main valve according to the actual handle opening to automatically control the excavator.

[0159] Figure 3 FIG. 1 is a schematic diagram of the structure of an excavator controller according to an embodiment of the present application. Figure 3 As shown, the excavator controller includes: an acquisition module 31, which is used to acquire the current working trajectory corresponding to the first working cycle of the current working condition of the excavator; a processing module 32, which is used to determine the relative position and relative height between the starting point and the end point of the current working trajectory; according to the relative position and relative height between the starting point and the end point of the current working trajectory, the shortest target working trajectory between the starting point and the end point is determined; according to the target working trajectory, a target speed proportional relationship between the boom lifting speed and the boom rotation speed is determined, and the target speed proportional relationship is used to instruct the excavator to raise the boom to a relative height and rotate the boom to a relative position at the same time; according to the target speed proportional relationship, the input handle opening is corrected to obtain the corrected actual handle opening, and the excavator is automatically controlled according to the actual handle opening.

[0160] The excavator controller provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0161] Figure 4 FIG. 1 is a schematic diagram of the structure of an excavator controller according to another embodiment of the present application. Figure 4 As shown, the excavator controller includes: a processor 401, and a memory 402 that is communicatively connected to the processor 401; the memory 402 stores computer-executable instructions; the processor 401 executes the computer-executable instructions stored in the memory 402 to implement the steps of the automatic control method of the excavator in the above-mentioned method embodiments.

[0162] In the above excavator controller, the memory 402 and the processor 401 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The memory 402 stores computer-executable instructions for implementing the data access control method, including at least one software function module that can be stored in the memory 402 in the form of software or firmware. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402.

[0163] The memory 402 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 402 is used to store programs, and the processor 401 executes the programs after receiving the execution instruction. Furthermore, the software programs and modules in the above-mentioned memory 402 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0164] The processor 401 may be an integrated circuit chip having the ability to process signals. The processor 401 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps, and logic diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0165] An embodiment of the present application also provides an excavator, such as Figure 1 As shown, the excavator includes: a rotation angle sensor, a cylinder displacement sensor / boom angle sensor, and Figure 4 The excavator controller shown, the slew angle sensor and the cylinder displacement sensor / boom angle sensor are respectively connected to the excavator controller.

[0166] The rotation angle sensor is installed on the excavator and is used to collect the rotation angle of the excavator's boom.

[0167] The cylinder displacement sensor is arranged on the boom of the excavator to collect the displacement of the boom cylinder of the excavator; or, the boom angle sensor is arranged on the boom of the excavator to collect the lifting angle of the boom of the excavator.

[0168] An excavator controller is used to obtain a current operating trajectory corresponding to the first operating cycle of the excavator's current operating condition; determine the relative position and relative height between the starting point and the end point of the current operating trajectory; determine the shortest target operating trajectory between the starting point and the end point based on the relative position and relative height between the starting point and the end point of the current operating trajectory; determine a target speed proportional relationship between a boom lifting speed and a boom rotation speed based on the target operating trajectory, the target speed proportional relationship being used to instruct the excavator to simultaneously lift the boom to a relative height and rotate the boom to a relative position; correct an input handle opening based on the target speed proportional relationship to obtain a corrected actual handle opening, and automatically control the excavator based on the actual handle opening.

[0169] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the steps of each method embodiment of the present application.

[0170] An embodiment of the present application further provides a computer program product, including a computer program, which implements the steps of each method embodiment of the present application when executed by a processor.

[0171] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0172] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0173] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0174] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0175] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0176] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

[0177] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. An automatic control method for an excavator, characterized in that: include: Get the current operation trajectory corresponding to the first operation cycle of the current working condition of the excavator; Determine the relative position and relative height between the starting point and the end point of the current operation track; Determine the shortest target operation trajectory between the starting point and the end point according to the relative position and relative height between the starting point and the end point of the current operation trajectory; Determine a target speed proportional relationship between a boom lifting speed and a boom rotation speed according to the target operation trajectory, wherein the target speed proportional relationship is used to instruct the excavator to lift the boom to the relative height and rotate the boom to the relative position at the same time; The input handle opening is corrected according to the target speed proportional relationship to obtain a corrected actual handle opening, and the excavator is automatically controlled according to the actual handle opening.

2. The automatic control method of an excavator according to claim 1, characterized in that: The whole vehicle of the excavator is provided with a rotation angle sensor; the boom of the excavator is provided with a cylinder displacement sensor or a boom angle sensor; the relative position and relative height between the starting point and the end point of the current operation track are determined, including: According to the cylinder displacement sensor, determine the boom cylinder displacement corresponding to the current operating trajectory, and determine the first boom lifting height corresponding to the current operating trajectory according to the boom cylinder displacement; or, according to the boom angle sensor, determine the boom lifting angle corresponding to the current operating trajectory, and determine the boom cylinder displacement corresponding to the current operating trajectory according to the boom lifting angle, and determine the first boom lifting height corresponding to the current operating trajectory according to the boom cylinder displacement; Determining the relative height between the starting point and the end point of the current operation trajectory according to the first boom lifting height; Determine, according to the rotation angle sensor, a first boom rotation angle corresponding to completing the current operation trajectory; The relative position between the starting point and the end point of the current operation track is determined according to the first boom rotation angle.

3. The automatic control method of an excavator according to claim 2, characterized in that: The step of determining the shortest target operating trajectory between the starting point and the end point according to the relative position and relative height between the starting point and the end point of the current operating trajectory comprises: Determine the entire operation trajectory from the starting point to the end point according to the relative position and relative height between the starting point and the end point of the current operation trajectory; Determining executable operation trajectories that do not collide with obstacles among all the operation trajectories; The target operation trajectory is determined according to the shortest operation trajectory among the executable operation trajectories.

4. The automatic control method of an excavator according to claim 3, characterized in that: The step of determining a target speed proportional relationship between a boom lifting speed and a boom rotation speed according to the target operation trajectory includes: Determine the second boom lifting height and the second boom rotation angle corresponding to completing the target operation trajectory; Determine a target boom lifting speed and a target boom rotation speed for completing the target working trajectory according to the target working trajectory and the second boom lifting height and the second boom rotation angle, so that the excavator raises and lowers the boom to the relative height using the target boom lifting speed and rotates the boom to the relative position using the target boom rotation speed; According to the target boom lifting speed and the target boom rotation speed, a target speed proportional relationship between the boom lifting speed and the boom rotation speed is determined.

5. The automatic control method of an excavator according to claim 1, characterized in that: The step of correcting the input handle opening according to the target speed proportional relationship to obtain a corrected actual handle opening includes: Determine the flow distribution priority parameters for boom lifting and boom swinging in the preset handle control coefficient; The input handle opening is corrected according to the target speed proportional relationship and the flow distribution priority parameter to obtain a corrected actual handle opening, and the flow distribution proportional relationship between the boom lifting and boom rotation corresponding to the actual handle opening is consistent with the target speed proportional relationship.

6. The automatic control method for an excavator according to any one of claims 1 to 5, characterized in that: The step of obtaining the current operation trajectory corresponding to the first operation cycle of the current working condition of the excavator includes: Obtain the real-time operation trajectory of the excavator's current working condition; Determining whether the current working condition is a cyclic working condition according to the real-time working trajectory; If it is a cyclic operation condition, the current operation trajectory is determined according to the first operation cycle in the real-time operation trajectory.

7. The automatic control method for an excavator according to any one of claims 1 to 5, characterized in that: Also includes: In response to an input working condition adaptive mode closing signal, obtaining an input handle opening of an operating handle; The operation of the excavator is controlled according to the input handle opening of the operating handle and a preset handle control coefficient.

8. An excavator controller, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executable instructions; The processor is used to execute the computer-executable instructions stored in the memory, so that the processor executes the automatic control method for an excavator according to any one of claims 1 to 7.

9. An excavator, characterized in that: include: A swing angle sensor, a cylinder displacement sensor / boom angle sensor, and an excavator controller as claimed in claim 8; The rotation angle sensor and the cylinder displacement sensor / boom angle sensor are respectively connected to the excavator controller; The rotation angle sensor is arranged on the whole vehicle of the excavator and is used to collect the rotation angle of the boom of the excavator; The cylinder displacement sensor is arranged on the boom of the excavator to collect the displacement of the boom cylinder of the excavator; or the boom angle sensor is arranged on the boom of the excavator to collect the lifting angle of the boom of the excavator; The excavator controller is used to obtain the current operation trajectory corresponding to the first operation cycle of the current working condition of the excavator; Determine the relative position and relative height between the starting point and the end point of the current operation trajectory; determine the shortest target operation trajectory between the starting point and the end point according to the relative position and the relative height between the starting point and the end point of the current operation trajectory; determine the target speed proportional relationship between the boom lifting speed and the boom rotation speed according to the target operation trajectory, the target speed proportional relationship is used to instruct the excavator to raise the boom to the relative height and rotate the boom to the relative position at the same time; The input handle opening is corrected according to the target speed proportional relationship to obtain a corrected actual handle opening, and the excavator is automatically controlled according to the actual handle opening.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the automatic control method for an excavator according to any one of claims 1 to 7.

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