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

Abstract

The application provides an automatic control method of an excavator, an excavator controller, an excavator and a medium, and relates to the technical field of excavator control. The method comprises the following steps: acquiring a current work track corresponding to a first work cycle of the excavator; determining a relative position and a relative height between a starting point and an ending point of the current work track; determining a target work track with the shortest distance between the starting point and the ending point according to the relative position and the relative height of the current work track; determining a target speed proportion relationship between a swing speed of a swing arm and a lifting speed of the swing arm according to the target work track; determining an actual handle opening degree of an operation handle according to the target speed proportion relationship, and automatically controlling the excavator according to the actual handle opening degree. According to the method, the handle opening degree can be automatically adjusted according to an actual working condition, so that different working conditions can be automatically adapted, 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 current excavators use hydraulics as the driving medium, with a single or two pumps simultaneously driving multiple actuators such as the boom, dipper arm, bucket, and slewing mechanism. Their biggest feature is that they are single-power-source, multi-actuator systems. During compound actions, the operating speed of each actuator is determined by the flow distribution, and the ratio of flow distribution is directly related to the working conditions and load. Usually, when an excavator leaves the factory, the priority parameters for flow distribution of each actuator are pre-set, mainly for certain working conditions. Once the parameters are fixed, they cannot be automatically adjusted. 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 of adapting 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 for an excavator, an excavator controller, an excavator and a medium, which 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.

[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 excavator's current working condition;

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

[0008] Determining 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;

[0009] determining 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 simultaneously lift the boom to the relative height and rotate the boom to the relative position;

[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 one possible embodiment, the excavator is provided with a rotation angle sensor; the excavator boom is provided with a cylinder displacement sensor or a boom angle sensor; and determining the relative position and relative height between the starting point and the end point of the current operation trajectory includes:

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

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

[0014] Determining, 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 trajectory is determined according to the first boom rotation angle.

[0016] In a possible implementation, determining 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 includes:

[0017] Determine the entire operation 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 operation trajectory;

[0018] Determining an executable operating trajectory that does not collide with obstacles among all the operating trajectories;

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

[0020] In a possible implementation, 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] Determining a target boom raising / lowering speed and a target boom rotating speed for completing the target operating trajectory based on the target operating trajectory, the second boom raising / lowering height, and the second boom rotating angle, so that the excavator raises / lowers the boom to the relative height using the target boom raising / lowering speed and rotates the boom to the relative position using the target boom rotating 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, the 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 rotation 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. 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, 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, the method further includes:

[0032] In response to an input working condition adaptive mode closing signal, obtaining an input handle opening of the 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 coupled 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 the 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 provided 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 provided on the boom of the excavator for collecting the displacement of the boom cylinder of the excavator; or the boom angle sensor is provided on the boom of the excavator for collecting 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 excavator's current working condition; 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 based on 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 based on 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, it can obtain the current working trajectory corresponding to the first working cycle of the current working condition, and determine the relative position and relative height between the starting point and the end point of the current working trajectory. 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 based on the relative position and relative height between the starting point and the end point, thereby shortening the working distance and improving the working efficiency. Afterwards, the target speed ratio relationship between the boom lifting speed and the boom rotation speed can be determined based on 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 start point and the end point can be adjusted while the relative position between the boom rotation start point and the end point can be adjusted 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 ratio relationship of the boom lifting and boom rotation with the shortest time to achieve the target working trajectory can be determined. The input handle opening can be corrected according to the target speed ratio 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. 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 This is 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 structural diagram of an excavator controller according to an embodiment of the present application;

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

[0051] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain 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 sequential order. 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 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.

[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. 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 other than 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 apply the automatic control method of the excavator, the excavator controller, the excavator and the medium of the present application.

[0058] First, let’s explain the terms involved in this application:

[0059] Flow rate. In electric excavators, flow rate typically refers to the speed at which hydraulic oil flows through the hydraulic system. The flow rate of hydraulic oil determines the speed of hydraulic actuators (such as hydraulic cylinders and hydraulic motors). Flow rate is typically provided by the hydraulic pump and measured in liters per minute (L / min). A higher flow rate means the hydraulic system can deliver energy more quickly, thereby increasing the operating 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 operating requirements.

[0060] An excavator's slew rate generally 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 slew rate, meaning they can rotate a full circle without moving the chassis. This full slew rate allows excavators to operate more flexibly and efficiently in narrow or confined spaces.

[0061] Most current excavators use hydraulics as their drive medium, with a single or dual pump simultaneously driving multiple actuators, including the boom, arm, bucket, and slewing mechanism. This unique characteristic characterizes a single-power-source, multi-actuator system. During complex motions, the operating speed of each actuator is determined by flow distribution, and the flow distribution ratio is directly related to the operating conditions and load. Typically, excavators are factory-set with flow distribution priority parameters for each actuator, specifically for specific operating conditions. Once these parameters are fixed, they cannot be automatically adjusted.

[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 parameter 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 of adapting to the actual working conditions, and the work efficiency is low.

[0064] Based on the above technical problems, the invention 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] An embodiment of the present application provides 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 method can automatically identify the current working condition based on the relative position and relative height between the starting point and the end point of the current working trajectory, and determine 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. 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 following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. 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, the excavator's vehicle slewing connection is equipped with a slewing angle sensor, and the excavator's boom cylinder is equipped with a cylinder displacement sensor or a boom angle sensor is installed on the boom. The slewing angle sensor and the cylinder displacement sensor / boom angle sensor are respectively connected to the excavator controller, which is also connected to the boom main valve and the swing main valve. The excavator controller obtains the current operating trajectory corresponding to the excavator's first operating cycle; based on the slewing angle collected by the slewing angle sensor and the boom angle collected by the cylinder displacement sensor / boom angle sensor, it determines the relative position and relative height between the starting point and the end point of the current operating trajectory; based on the relative position and relative height of the current operating trajectory, it determines the shortest target operating trajectory between the starting point and the end point; based on the target operating trajectory, it determines the target speed ratio between the boom lifting speed and the boom swing speed; based on the target speed ratio, it determines the actual handle opening of the operating handle, and controls the ratio of the boom main valve and the ratio of the swing main valve according to the actual handle opening, thereby automatically controlling the excavator.

[0068] Figure 2 This is a flow chart of an automatic control method for an excavator according to an embodiment of the present application. This embodiment describes the automatic control method for an excavator 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, a switch for the adaptive working condition mode can be set in any manner on the excavator's handle, display, or other location. The operator can turn on the switch to activate the adaptive working condition mode at any time during operation. The location and implementation of the adaptive working condition mode switch can be flexibly configured by those skilled in the art based on practical needs and are not limited herein.

[0071] In this embodiment, when the driver turns on the adaptive operating mode switch, a corresponding adaptive operating mode on signal is generated and sent to the excavator controller to activate the adaptive operating mode. Similarly, when the driver turns off the adaptive operating mode switch, a corresponding adaptive operating mode off signal is generated and sent to the excavator controller to deactivate the adaptive operating 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 working condition adaptive mode to receive a working condition adaptive mode on signal and a working condition adaptive mode off 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, upon detecting that the excavator has begun operation and receiving a signal to activate the adaptive working mode, the excavator controller obtains the excavator's current operating trajectory and, based on the current operating trajectory, determines whether the excavator is in cyclic operation. If the excavator is determined to be in cyclic operation, the operating trajectory of the first operating cycle may be used as the current operating trajectory. If the excavator is not in cyclic operation, the excavator operates in normal mode until it is determined that the excavator has entered 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 start and end points of the current operation trajectory, the relative position and relative height between the start and end points can be determined, that is, the relative position and relative height at which the excavator needs to operate.

[0077] S203: Determine 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.

[0078] In this embodiment, when the starting point and end point of the current operation trajectory, as well as the relative position and relative height between the starting point and the end point are known, all possible operation trajectories between the starting point and the end point can be determined, among which the trajectory with the shortest distance is the optimal target operation trajectory, shortening the operating distance of the excavator and improving the operation 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 simultaneously raise and lower the boom to a relative height and rotate 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 ratio 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 end point of the boom lifting can be adjusted while the relative position between the starting point and 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 most effective way 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 pre-stores priority parameters for flow distribution to each actuator, namely, the handle control coefficients. During excavator operation, the operator inputs a rough handle opening based on the operating conditions. This input can be a relatively rough, approximate handle opening, without requiring precise precision. The excavator controller automatically adjusts it, significantly reducing operator effort. The controller automatically adjusts and corrects the input handle opening, ensuring optimal operation and achieving results that are consistent with actual operating 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 the 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 the 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 for boom lifting is -50, and the flow distribution priority parameter for 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 according to the actual handle opening, thereby automatically controlling the excavator.

[0089] In this embodiment, after the excavator begins operation, the current operating trajectory corresponding to the first operating 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 operating trajectory can be determined. Since the excavator is in an operating cycle at this time, the starting point and end point of each operation are the same. Therefore, based on the relative position and relative height between the starting point and the end point, the target operating trajectory with the shortest distance can be determined, shortening the operating distance and improving operating efficiency. Subsequently, based on the target operating trajectory, the target speed ratio relationship between the boom lifting speed and the boom rotation speed can be determined. Based on this, the input handle opening is corrected to obtain the corrected actual handle opening. The excavator is automatically controlled according to the actual handle opening, and the relative height between the boom lifting start point and the end point is adjusted while the relative position between the boom rotation start point and the end point is adjusted, achieving the optimal operating effect for 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 ratio relationship of the boom lifting and boom rotation with the shortest time to achieve the target working trajectory can be determined. The input handle opening can be corrected according to the target speed ratio 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.

[0090] In a possible implementation, obtaining the current operation trajectory corresponding to the first operation cycle of the current working condition of the excavator in step S201 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 based on 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 the current working condition is detected as a cyclic working condition according to the real-time working trajectory.

[0095] In this embodiment, after the excavator is started, the excavator controller initially controls the excavator based on the handle opening input by the driver, generating a real-time operating trajectory for the excavator's current operating condition. If the real-time operating trajectory is a trajectory generated by cyclic operation at two locations, the current operating condition is determined to be a cyclic operation condition.

[0096] For example, if the excavator's real-time operating trajectory is: bucket digging at point A, boom swinging back to unload at point B, bucket digging at point A, etc., and repeating this cycle, the current operating condition can be considered a cyclic operating condition. The current operating trajectory can also be: after digging at point A, the boom lifts a certain height and swings a certain angle to move the material to point B for unloading.

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

[0098] In one possible embodiment, the excavator may be provided with a rotation angle sensor, and the excavator boom 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 trajectory may include:

[0099] S21: Determine the boom cylinder displacement corresponding to the current operation trajectory based on 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 a first boom rotation angle corresponding to completing 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 trajectory according to the first boom rotation angle.

[0104] In this embodiment, the rotation angle sensor is specifically set at the position of the entire vehicle of the excavator. Those skilled in the art can flexibly set it according to actual conditions and no restrictions are imposed 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 those skilled in the art according to actual conditions, and no restrictions are imposed 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 method of determining the corresponding boom lifting height based on the boom cylinder displacement can refer to the relevant existing technology and will not be described in detail here. Similarly, the specific implementation method of determining the corresponding relative position based on the boom rotation angle can also refer to the relevant existing technology and will not be described in detail here.

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

[0108] In this embodiment, the cylinder displacement sensor is capable of detecting the boom cylinder displacement generated during the boom raising and lowering process. Therefore, the first boom raising and lowering height corresponding to the completion of the current operating trajectory can be accurately determined based on the boom cylinder displacement, thereby determining the relative height between the starting point and the end point of the current operating trajectory. The rotation angle sensor is capable of detecting the boom rotation angle generated during the boom rotation process. Therefore, the first boom rotation angle corresponding to the completion of the current operating 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 operating trajectory. Based on the relative position and relative height between the starting point and the end point of the current operating trajectory, the current working condition can be accurately and automatically identified, so that the handle opening can be automatically adjusted according to the identified working condition to automatically adapt to different working conditions.

[0109] In one possible embodiment, the excavator may be provided with a rotation angle sensor, and the excavator boom 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 trajectory 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 a 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 trajectory according to the first boom rotation angle.

[0116] In this embodiment, the rotation angle sensor is specifically set at the position of the entire vehicle of the excavator. Those skilled in the art can flexibly set it according to actual conditions and no restrictions are imposed 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 those skilled in the art according to actual conditions, and no restrictions are imposed here, as long as the boom angle sensor can detect the change in boom angle when the boom is raised or lowered.

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

[0119] In addition, the specific implementation method of determining the corresponding relative position according to the boom rotation angle 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 raised to a certain height and rotated a certain angle to transport the material to point B for unloading, then point A is the operation starting point, point B is the operation end point, the height difference between points A and B is the relative height between the starting point and the end point, and the horizontal distance difference between points A and B is the relative position between the starting point and the end point.

[0121] In this embodiment, the boom angle sensor is capable of detecting changes in the boom angle generated during the boom raising and lowering process. Therefore, the boom raising and lowering angle corresponding to the current operating trajectory can be accurately determined based on the boom angle sensor, and then the corresponding first boom raising and lowering height can be determined, thereby determining the relative height between the starting point and the end point of the current operating trajectory. The rotation angle sensor is capable of detecting the boom rotation angle generated during the boom rotation process. Therefore, the first boom rotation angle corresponding to the current operating 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 operating trajectory. Based on the relative position and relative height between the starting point and the end point of the current operating trajectory, the current working condition can be accurately and automatically identified, so that the handle opening can be automatically adjusted according to the identified working condition to automatically adapt to different working conditions.

[0122] In one possible implementation, step S203 above determines 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, which may include:

[0123] S41: Determine the entire operation 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 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 the 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 operation trajectory, as well as the relative position and relative height between the starting point and the end point are known, all possible operation trajectories between the starting point and the end point can be determined. Under the constraint condition of not colliding with obstacles, the trajectory with the shortest distance is the optimal target operation trajectory, which shortens the operating distance of the excavator and further improves the operation efficiency.

[0129] In one 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 completing the target operation trajectory.

[0131] S52: Determine the target boom lifting speed and target boom rotation speed to complete the target operating trajectory based on the target operating 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 a different operation time, among which 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 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 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 operating trajectory is known, the second boom lifting height and second boom rotation angle required to achieve the target operating trajectory can be determined. Given that the second boom lifting height, the second boom rotation angle, and the target operating trajectory (the relative height and relative position between the starting and ending points) are known, several boom lifting speeds and boom rotation speeds can be obtained. The boom lifting speed and boom rotation speed that can simultaneously raise and lower 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. Based on the target boom lifting speed and target boom rotation speed, the corresponding target speed ratio can be determined, which minimizes the time required for the operation and maximizes the efficiency.

[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 the 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 for flow distribution of each actuator, namely the handle control coefficient. The flow distribution priority parameters for 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 the 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 the 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 for boom lifting is -50, and the flow distribution priority parameter for 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 excavator operation, the driver inputs a rough handle opening based on the operating conditions. This handle opening can be a relatively rough, approximate setting, not requiring precise precision. The excavator controller automatically adjusts it to suit the actual operating conditions based on the target speed ratio, significantly reducing operational complexity for the driver. The excavator controller automatically adjusts and corrects the input handle opening based on the target speed ratio and flow distribution priority parameters, adapting to the current operating conditions. This eliminates the need for the driver to constantly adjust the handle opening based on actual operating conditions, ensuring an operational result that automatically adapts to the actual operating conditions.

[0143] In one 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: Control 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 the boom lifting is -50, and the flow distribution priority parameter of the boom rotation is 0. Then the handle opening corresponding to the boom lifting is 100-50=50, and the handle opening corresponding to the boom rotation is 100. The excavator operation is controlled with the flow rate of the boom lifting and the flow rate of the boom rotation being 1:2.

[0148] In this embodiment, when the driver turns off the adaptive operating mode, a corresponding adaptive operating mode off signal is generated and sent to the excavator controller. Upon receiving the signal, the excavator controller turns off the adaptive operating mode and controls the excavator based on the current driver-input handle opening and preset handle control coefficients.

[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 excavation and unloading of materials at points A and B on a construction site. The excavator's vehicle slewing connection is equipped with a slewing angle sensor, and the boom cylinder is equipped with a cylinder displacement sensor. During this process, the excavator's automatic control process 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 adaptive mode on the display screen. The display screen sends the working condition adaptive 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, based on the first operation cycle in the real-time operation trajectory, the current operation trajectory is determined: after excavation at point A, the boom is raised 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 operation trajectory based on the cylinder displacement sensor; determines the first boom lifting height corresponding to the current operation trajectory based on the boom cylinder displacement; and determines the relative height between the starting point and the end point of the current operation 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 operation trajectory based on the rotation angle sensor; and determines the relative position between the starting point and the end point of the current operation trajectory based on the first boom rotation angle.

[0155] In the fifth step, the excavator controller determines the entire operation 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 operation trajectory; determines the executable operation trajectory that does not collide with obstacles among all the operation trajectories; and determines the target operation trajectory based on the shortest operation trajectory among the executable operation 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 based on 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 ratio of the boom main valve and the ratio of the swing main valve according to the actual handle opening to automatically control the excavator.

[0159] Figure 3 This is a structural diagram 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 obtain 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; based on 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; based on 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 lift the boom to a relative height and rotate the boom to a relative position at the same time; based on 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. Its implementation principle and beneficial effects are similar and will not be repeated here.

[0161] Figure 4 This is a structural diagram 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 in communication with 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 aforementioned excavator controller, memory 402 and processor 401 are directly or indirectly electrically connected to each other to enable data transmission or interaction. For example, these components may be electrically connected via one or more communication buses or signal lines, such as a bus connection. Memory 402 stores computer-executable instructions for implementing the data access control method, including at least one software functional module stored in memory 402 in the form of software or firmware. Processor 401 executes various functional applications and data processing by running the software programs and modules stored in 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 electrically erasable programmable read-only memory (EEPROM), etc. The memory 402 is used to store programs, and the processor 401 executes the programs after receiving execution instructions. Furthermore, the software programs and modules in the memory 402 may also include an operating system, which may include various software components and / or drivers for managing system tasks (e.g., 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] Processor 401 can be an integrated circuit chip with signal processing capabilities. The processor 401 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. It can implement or execute the various methods, steps, and logic diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0165] An embodiment of the present application further provides an excavator, such as Figure 1 As shown, the excavator includes: a rotation angle sensor, a cylinder displacement sensor / arm angle sensor, and Figure 4 The excavator controller shown, the rotation 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 vehicle and is used to collect the rotation angle of the excavator's boom.

[0167] The cylinder displacement sensor is set on the boom of the excavator to collect the displacement of the boom cylinder of the excavator; or the boom angle sensor is set 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 the boom lifting speed and the 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 this application is not limited by the order of the actions described, because according to this 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 this specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0172] It should be further noted that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be performed 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 performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily to be performed in sequence, but may be performed 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-described device embodiments are merely illustrative, and the device of the present application may also be implemented in other ways. For example, the division of units / modules in the above-described embodiments is merely a logical functional division, and actual implementations may employ other division methods. For example, multiple units, modules, or components may be combined or integrated into another system, or some features may be omitted or not implemented.

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

[0175] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined in any way. To keep the description concise, not all possible combinations of the technical features in the above embodiments are 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 invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, 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 exact structure 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 excavator's current working condition; Determining the relative position and relative height between the starting point and the end point of the current operation track; Determining 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; determining 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 simultaneously lift the boom to the relative height and rotate the boom to the relative position; 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 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 determination of the relative position and relative height between the starting point and the end point of the current operation trajectory includes: Determine, based on the cylinder displacement sensor, the boom cylinder displacement corresponding to the current operating trajectory, and determine, based on the boom cylinder displacement, the first boom lifting height corresponding to the current operating trajectory; or, based on the boom angle sensor, determine the boom lifting angle corresponding to the current operating trajectory, and based on the boom lifting angle, determine, based on the boom cylinder displacement, the first boom lifting height corresponding to the current operating trajectory; determining a relative height between a starting point and an end point of the current operation trajectory according to the first boom lifting height; Determining, 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 trajectory 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 determining, based on the relative position and relative height between the starting point and the end point of the current operation trajectory, the shortest target operation trajectory between the starting point and the end point includes: Determine the entire operation 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 operation trajectory; Determining an executable operating trajectory that does not collide with obstacles among all the operating trajectories; The target operation trajectory is determined according to the shortest operation trajectory among the executable operation trajectories.

4. The automatic control method for an excavator according to claim 3, characterized in that: The determining of 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; Determining a target boom raising / lowering speed and a target boom rotating speed for completing the target operating trajectory based on the target operating trajectory, the second boom raising / lowering height, and the second boom rotating angle, so that the excavator raises / lowers the boom to the relative height using the target boom raising / lowering speed and rotates the boom to the relative position using the target boom rotating 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 rotation 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. 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 the 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 configured 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 rotation 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 provided on the boom of the excavator for collecting the displacement of the boom cylinder of the excavator; or the boom angle sensor is provided on the boom of the excavator for collecting 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; Determining the relative position and relative height between the starting point and the end point of the current operating trajectory; determining the shortest target operating trajectory between the starting point and the end point based on the relative position and the relative height between the starting point and the end point of the current operating trajectory; determining a target speed proportional relationship between a boom raising and lowering speed and a boom rotating speed based on the target operating trajectory, the target speed proportional relationship being used to instruct the excavator to simultaneously raise and lower the boom to the relative height and rotate the boom to the relative position; 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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