Automatic operation control method, device and equipment for excavator and storage medium

Abstract

The invention discloses an automatic operation control method, device and equipment for an excavator and a storage medium, and the method comprises the steps that manual action data of the excavator in the manual loading action process from an action starting point to a discharging point are recorded, the manual action data comprises the corresponding relation between the rotation angle of the rotation platform and the angle of the associated equipment at each moment, the current for controlling the proportional valve of the associated equipment and the coordinates of the hinge point of the bucket oil cylinder and the bucket connecting rod; when an automatic operation instruction is received, the current working state posture of the excavator is obtained; and under the current working state posture, the bucket is automatically controlled to move to a discharging point according to the manual action data. Manual action data in the manual loading process are recorded, the bucket is automatically controlled to run to the unloading point according to the recorded manual action data between the action starting point and the unloading point, automatic control over the operation process of the excavator is achieved, repeated manual operation is avoided, the comfort of an excavator driver is improved, and the working efficiency of the excavator is improved. And the working efficiency of the excavator is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic excavation of excavators, and in particular to an automatic operation control method, device, equipment and storage medium for excavators. Background Art

[0002] In the construction field, excavators are usually involved, and excavator drivers operate the excavators to assist in completing construction. When operating the excavator for loading operations, the excavator driver needs to coordinate the operation of the boom, dipper arm and rotation to make the bucket reach the predetermined unloading point for unloading.

[0003] However, in the process of controlling the excavator to perform operations, due to the complexity of the excavator operation, the excavator driver is usually required to have skilled techniques. Since the excavator operation time is long, the excavator driver's operation intensity is high during the operation, and long-term operation causes great damage to the joints. Therefore, the manual control of the excavator not only requires the excavator driver to have professional knowledge, but also has low work efficiency due to the complexity of manual operation. Summary of the invention

[0004] The invention provides an automatic operation control method for an excavator, so as to realize automatic operation control of the excavator.

[0005] According to a first aspect of the present invention, there is provided an automatic operation control method for an excavator, comprising:

[0006] Recording manual action data of the excavator during manual loading from the starting point to the unloading point, wherein the manual action data includes the corresponding relationship between the slewing angle of the slewing platform and the angle of the associated equipment, the current of the proportional valve controlling the associated equipment, and the coordinates of the hinge point between the bucket cylinder and the bucket connecting rod at each moment;

[0007] When receiving an automatic operation instruction, obtain the current working state and posture of the excavator;

[0008] In the current working state posture, the bucket is automatically controlled to move to the unloading point according to the manual action data.

[0009] According to another aspect of the present invention, there is provided an automatic operation control device for an excavator, comprising:

[0010] A manual action data recording module is used for recording manual action data during the manual loading action of the excavator from the action starting point to the unloading point, wherein the manual action data includes the corresponding relationship between the rotation angle of the rotary platform and the angle of the associated equipment, the current of the proportional valve controlling the associated equipment, and the coordinates of the hinge point between the bucket cylinder and the bucket connecting rod at each moment;

[0011] A current working state posture acquisition module is used to acquire the current working state posture of the excavator when receiving an automatic operation instruction;

[0012] The automatic operation module is used to automatically control the bucket to move to the unloading point according to the manual action data in the current working state posture.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can perform the method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention records the manual action data during the manual loading process, and automatically controls the bucket to run to the unloading point according to the recorded manual action data between the action starting point and the unloading point, thereby realizing automatic control of the excavator operation process, avoiding repetitive manual operations, improving the comfort of the excavator driver, and improving the efficiency of the excavator operation.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of an automatic operation control method for an excavator provided according to the first embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of the mechanism of an excavator provided according to the first embodiment of the present invention;

[0023] Figure 3 is a flow chart of an automatic operation control method for an excavator provided according to a second embodiment of the present invention;

[0024] Figure 4 is a structural schematic diagram of an automatic operation control device for an excavator provided according to a third embodiment of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of an electronic device provided by Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1

[0029] Figure 1 A flowchart of an automatic operation control method for an excavator is provided for the first embodiment of the present invention. This embodiment is applicable to the case of automatically controlling the operation of an excavator. The method can be executed by an automatic operation control device for an excavator, which can be implemented in the form of hardware and / or software. Figure 1 As shown, the method includes:

[0030] Step S101, recording manual motion data of the excavator during the manual loading motion from the motion starting point to the unloading point.

[0031] Specifically, Figure 2The diagram shows the mechanism of an excavator, where CBDF is the excavator's boom, EFGQ is the dipper arm, QKV is the bucket, AB is the large chamber of the boom cylinder, GM is the bucket cylinder, and a sensor for detecting the rotation angle of the boom and frame articulation shaft is installed on the excavator's boom, a sensor for detecting the rotation angle of the dipper arm relative to the dipper arm and the boom articulation shaft is installed on the dipper arm, a sensor for detecting the length of the bucket cylinder is installed on the bucket cylinder, a sensor for detecting the rotation angle is installed on the excavator's slewing platform, and a sensor for detecting the pressure of the large chamber of the boom cylinder is installed on the large chamber of the boom cylinder. Figure 2 As shown, the rotation angle of the boom and the frame hinge axis is α, the angle between the bucket arm and the boom is β, the angle between the bucket and the bucket arm is ε, and the hinge point between the bucket cylinder and the bucket connecting rod is M, wherein the changes in the above-mentioned angles can be detected by sensors, and the coordinates of the hinge point between the bucket cylinder and the bucket connecting rod can be obtained by calculation through the data detected by the sensor.

[0032] Optionally, the manual motion data of the excavator during the manual loading action from the action starting point to the unloading point is recorded, including: obtaining the working parameters of the excavator, and determining the action starting point and the unloading point according to the working parameters; during the manual loading action from the action starting point to the unloading point, the manual motion data is recorded at specified time intervals.

[0033] Specifically, in this embodiment, the manual action data generated during the manual control of the excavator operation will be recorded before automatic control is performed, wherein the recorded manual action data include the corresponding relationship between the rotation angle of the slewing platform and the angle of the associated equipment, the current of the proportional valve controlling the associated equipment, and the coordinates of the hinge point between the bucket cylinder and the bucket connecting rod at each moment, and the associated equipment angle includes: the boom angle and the stick angle, and the proportional valve current controlling the associated equipment includes: the proportional valve current controlling the boom action, the proportional valve current controlling the stick action, and the proportional valve current controlling the slewing platform rotation action. Of course, this embodiment is only an example, and does not limit the specific content of the recorded manual action data. Among them, the manual action data recorded in this embodiment specifically records the corresponding relationship between the slewing platform rotation angle and the proportional valve current controlling the boom action, the proportional valve current controlling the dipper stick action and the proportional valve current controlling the slewing platform rotation action at each moment, the corresponding relationship between the slewing platform rotation angle and the boom angle and the dipper stick angle at each moment, and the corresponding relationship between the slewing platform rotation angle and the hinge point coordinates of the bucket cylinder and the bucket connecting rod at each moment, that is, all the three types of information, namely, the angle of all associated equipment, the proportional valve current of the associated equipment and the hinge point coordinates of the bucket cylinder and the bucket connecting rod, are corresponding to the slewing platform rotation angle, so that in the subsequent automatic control process, the slewing platform rotation angle can be used as a comparison standard to adjust the associated equipment to the state recorded by the manual action data, and then the subsequent automatic operation of the excavator can be performed according to the information recorded in the manual action data. As shown in Table 1 below, it is an example of the recorded manual action data:

[0034] Table 1

[0035]

[0036]

[0037] Due to space limitation, Table 1 only uses manual motion data recorded at three intervals as an example, and the specific number of recorded manual motion data is not limited in this implementation.

[0038] Optionally, the action starting point and the unloading point are determined according to the working parameters, including: obtaining the boom cylinder large chamber pressure and the bucket retraction angle at each action point, and taking the action point where the boom cylinder large chamber pressure is greater than a pressure threshold and the bucket retraction angle is greater than a first angle threshold as the action starting point; obtaining the bucket working state and the bucket unloading action angle of each action point, and taking the action point where the bucket working state is a unloading action and the bucket unloading action angle is greater than a second angle threshold as the unloading point.

[0039] Among them, in this embodiment, when recording data, the manual action data from the action start point to the unloading point is collected, that is, during the manual loading action from the action start point to the unloading point, the manual action data is recorded at a specified time interval, for example, data is recorded once every 1 second. Of course, this embodiment is only an example, and the specific value of the specified time interval is not limited. And in this embodiment, when determining the action start point and the unloading point, it is specifically determined according to the working parameters of the excavator. For example, if it is detected that the pressure of the large chamber of the boom cylinder is greater than the set pressure threshold, and the bucket retracting angle is greater than the set first angle threshold, the action point when the boom is lifted or rotated is taken as the action start point. In addition, when determining the unloading point, it is also determined according to the working parameters of the excavator. For example, if it is detected that the working state of the bucket is unloading and the bucket unloading action angle is greater than the second angle threshold, the action point is taken as the unloading point. After determining the action starting point and the unloading point, when the excavator driver controls the excavator to move from the action starting point to the unloading point, the controller will record the manual action data generated by the driver when manually operating the excavator at a specified time interval, for example, once every 1 second. In this embodiment, the time interval for recording the manual action data is not limited, and the time interval can be determined according to the required accuracy of the automatic control.

[0040] Step S102, when receiving the automatic operation instruction, obtaining the current working state posture of the excavator.

[0041] Optionally, the current working state posture of the excavator is obtained, including: obtaining the lifting angle of the current boom of the excavator through a sensor set on the boom; obtaining the current coordinates of the hinge point between the bucket cylinder and the bucket connecting rod, and the current rotation angle of the slewing platform.

[0042] Specifically, in the present embodiment, an automatic control button is provided on the control platform of the excavator. When the driver triggers the automatic control button, the controller will receive an automatic operation instruction, and when the automatic operation instruction is received, the current working state and posture of the excavator will be obtained, that is, the angle position of each structure of the excavator is currently in. For example, the lifting angle of the current boom of the excavator is obtained by a sensor provided on the boom. At this time, the lifting angle of the current boom obtained corresponds to the boom angle in the manual action data. In addition, the current coordinates of the hinge point between the bucket cylinder and the bucket connecting rod, as well as the current rotation angle of the slewing platform are also obtained. Based on the above three information including angles and coordinates, the current state and posture of the excavator can be basically determined.

[0043] It should be noted that after obtaining the current working status posture of the excavator in this embodiment, the rotation angle of the front slewing platform can be used as a comparison reference, and the excavator can be adjusted and operated according to the manual action data to achieve automatic control of the subsequent excavator assisted by historical manual operation records, thereby achieving automatic control of the excavator without the participation of the excavator driver.

[0044] Step S103, in the current working state, automatically controlling the bucket to move to the unloading point according to the manual action data.

[0045] Optionally, in the current working state and posture, the bucket is automatically controlled to move to the unloading point according to the manual action data, including: querying the target boom angle corresponding to the current slewing angle of the slewing platform and the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod from the manual action data; obtaining the target time corresponding to the target boom angle or the target coordinates; and outputting the proportional valve current of the control-related equipment after the target time in the manual data at a specified time interval to control the bucket to move to the unloading point.

[0046] Specifically, in this embodiment, after determining the current working state posture, the bucket can be automatically controlled to move to the unloading point according to the manual action data, and the goal during automatic control is to let the excavator work according to the manual action data shown in Table 1. However, since the posture of the excavator at the starting moment of automatic control may not be the manual action data recorded for the first time in Table 1, it is necessary to determine the target moment corresponding to Table 1 according to the current rotation angle of the rotary platform in this embodiment, that is, from which moment to start automatic control according to the manual action data in Table 1. After determining the target moment, that is, the starting point, it is necessary to adjust the various structures of the excavator to the manual action data recorded at the target moment in Table 1, and then perform automatic control with reference to the manual action data from the target moment to control the bucket to move to the unloading point.

[0047] In the implementation mode of the present application, by recording the manual action data during the manual loading process, the bucket is automatically controlled to run to the unloading point according to the recorded manual action data between the action starting point and the unloading point, thereby realizing automatic control of the excavator operation process, avoiding repetitive manual operations, improving the comfort of the excavator driver, and improving the efficiency of the excavator operation.

[0048] Embodiment 2

[0049] Figure 3 The second embodiment of the invention provides a flow chart of an automatic operation control method for an excavator. This embodiment is based on the above embodiment and specifically describes how to automatically control the bucket to move to the unloading point according to manual action data in the current working state. Figure 3 The method includes:

[0050] Step S201, recording manual motion data of the excavator during the manual loading motion from the motion starting point to the unloading point.

[0051] Optionally, the manual motion data of the excavator during the manual loading action from the action starting point to the unloading point is recorded, including: obtaining the working parameters of the excavator, and determining the action starting point and the unloading point according to the working parameters; during the manual loading action from the action starting point to the unloading point, the manual motion data is recorded at specified time intervals.

[0052] Optionally, the action starting point and the unloading point are determined according to the working parameters, including: obtaining the boom cylinder large chamber pressure and the bucket retraction angle at each action point, and taking the action point where the boom cylinder large chamber pressure is greater than a pressure threshold and the bucket retraction angle is greater than a first angle threshold as the action starting point; obtaining the bucket working state and the bucket unloading action angle of each action point, and taking the action point where the bucket working state is a unloading action and the bucket unloading action angle is greater than a second angle threshold as the unloading point.

[0053] Step S202, when receiving the automatic operation instruction, obtaining the current working state posture of the excavator.

[0054] Optionally, the current working state posture of the excavator is obtained, including: obtaining the lifting angle of the current boom of the excavator through a sensor set on the boom; obtaining the current coordinates of the hinge point between the bucket cylinder and the bucket connecting rod, and the current rotation angle of the slewing platform.

[0055] Step S203, querying the target boom angle corresponding to the current slewing angle of the slewing platform and the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod from the manual action data.

[0056] Specifically, in this embodiment, after obtaining the current working state posture of the excavator, since the current working state posture includes the current boom lifting angle, the current coordinates of the hinge point between the bucket cylinder and the bucket connecting rod, and the current slewing platform rotation angle, the target boom angle corresponding to the current slewing platform rotation angle will be queried from the manual action data. For example, when it is determined that the current slewing platform rotation angle is 5 degrees, the target boom angle corresponding to the current slewing platform rotation angle is 35, and the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod are (15,18) will be queried from Table 1.

[0057] Step S204, obtaining the target time corresponding to the target boom angle or target coordinates.

[0058] Optionally, the target moment corresponding to the target boom angle or target coordinates is obtained, including: when it is determined that the current boom lifting angle is less than the target boom angle, controlling the boom to be lifted to the target boom angle according to a first specified action and speed; and querying the target moment when the target boom angle is recorded from the manual action data.

[0059] Optionally, when it is determined that the current boom lifting angle is equal to the target boom angle, and the current coordinates of the hinge point between the bucket cylinder and the bucket connecting rod are greater than the target coordinates, the bucket arm is controlled to recover to the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod according to a second specified action and speed; the target time when the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod are recorded is queried from the manual action data.

[0060] In a specific implementation, in this embodiment, when determining the target time, it is necessary to obtain the target time corresponding to the target boom angle or the target coordinates. For example, when it is determined that the current boom lifting angle is 30 degrees, since it is less than the target boom angle of 35 degrees, the boom will be controlled to lift to the target boom angle according to the first specified action and speed. For example, the first specified action and speed include moving upward at a speed of 5 cm / s. In this case, there is no need to adjust the boom angle. At this time, the current slewing platform rotation angle and the current boom lifting angle are both recorded in the manual action data. In this case, the target time when the target boom angle is recorded will be queried from the manual action data, for example, the 2nd second, etc.

[0061] In another specific implementation, when it is determined that the current boom lifting angle is 35 degrees and equal to the target boom angle of 35 degrees, the current coordinates (19, 18) of the hinge point between the bucket cylinder and the bucket connecting rod are obtained. Since the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod corresponding to the current slewing angle of the slewing platform are (15, 18), the horizontal coordinate in the current coordinate is greater than the horizontal coordinate in the target coordinate. At this time, the bucket arm will be controlled to recover to the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod according to the second specified action and speed. For example, The second specified action and speed include moving inward at a speed of 4 cm / s. In this case, although the boom is the same as the manual action data in the historical record, there is still a risk of collision between the bucket and the excavator. At this time, the current slewing platform rotation angle, the current boom lifting angle, and the current coordinates of the hinge point between the bucket cylinder and the bucket connecting rod are all recorded in the manual action data. In this case, the target time when the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod are recorded in the manual action data will be queried, for example, the 2nd second.

[0062] It should be noted that, in this embodiment, although the target moments obtained in the above two cases are the same, the adjusted structures are different, that is, for different situations of the current working state and posture of the excavator, it is necessary to refer to the manual action data to determine the target moment and adjust the different structures of the excavator according to different actual conditions.

[0063] Step S205: Output the proportional valve current of the control-related equipment after the target time in the manual action data at a specified time interval to control the bucket to move toward the unloading point.

[0064] Specifically, in this embodiment, after the target time is determined, the proportional valve current of the control-related equipment behind the target time in the manual action data is output according to the specified time interval when recording. For example, after the target time is determined to be 2 seconds, since the recording is performed according to the specified time interval of 1 second, the proportional valve current for controlling the boom action, the proportional valve current for controlling the arm action and the proportional valve current for controlling the slewing platform action recorded in the manual action data are output once every 1 second starting from the 2nd second.

[0065] Optionally, after outputting the proportional valve current of the control-related equipment after the target time in the manual data at a specified time interval, it also includes: judging whether the bucket has reached the unloading point, if so, terminating the automatic operation, otherwise, fine-tuning the related equipment to drive the bucket to move to the unloading point.

[0066] Among them, in this embodiment, since the weight carried by the excavator is different each time, after the proportional valve current of the control-related equipment after the target time in the manual data is output according to the specified time interval, when the weight carried by the excavator in the automatic control stage is greater than that in the manual control stage, the bucket may not reach the recorded unloading point position. At this time, the boom will be controlled to be lifted to the angle corresponding to the recorded unloading point at the set action speed, the dipper arm will move to the angle corresponding to the recorded unloading point at the set action speed, and the slewing platform will slew to the angle corresponding to the recorded unloading point at the set action speed, that is, the angles of the boom, dipper arm and slewing platform will be fine-tuned.

[0067] It should be noted that in the present embodiment, the boom, arm and slewing platform stop moving to the recorded unloading point position, and after the unloading action is completed, if the automatic operation instruction is received again, the boom, arm and slewing platform are automatically controlled to move in the opposite order of action to the recorded action starting point position and stop. The method of moving to the starting point is roughly the same as the method of moving to the unloading point, and will not be repeated in the present embodiment.

[0068] In the implementation mode of the present application, by recording the manual action data during the manual loading process, the bucket is automatically controlled to run to the unloading point according to the recorded manual action data between the action starting point and the unloading point, thereby realizing automatic control of the excavator operation process, avoiding repetitive manual operations, improving the comfort of the excavator driver, and improving the efficiency of the excavator operation.

[0069] Embodiment 3

[0070] Figure 4 A schematic diagram of the structure of an automatic operation control device for an excavator provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes: a manual action data recording module 310, a current working state posture acquisition module 320 and an automatic operation module 330.

[0071] The manual action data recording module 310 is used for recording the manual action data of the excavator during the manual loading action from the action starting point to the unloading point, wherein the manual action data includes the corresponding relationship between the rotation angle of the rotary platform and the angle of the associated equipment, the current of the proportional valve controlling the associated equipment, and the coordinates of the hinge point between the bucket cylinder and the bucket connecting rod at each moment;

[0072] The current working state posture acquisition module 320 is used to acquire the current working state posture of the excavator when receiving the automatic operation instruction;

[0073] The automatic operation module 330 is used to automatically control the bucket to move to the unloading point according to the manual action data in the current working state posture.

[0074] Optionally, a manual action data recording module is used to obtain the working parameters of the excavator and determine the action starting point and the unloading point according to the working parameters;

[0075] During the manual loading process from the action start point to the unloading point, the manual action data is recorded at the specified time interval.

[0076] Optionally, a manual action data recording module is used to obtain the boom cylinder large chamber pressure and bucket retraction angle at each action point, and take the action point where the boom cylinder large chamber pressure is greater than the pressure threshold and the bucket retraction angle is greater than the first angle threshold as the action starting point;

[0077] The bucket working state and bucket unloading action angle of each action point are obtained, and the action point where the bucket working state is unloading action and the bucket unloading action angle is greater than the second angle threshold is taken as the unloading point.

[0078] Optionally, the associated equipment angles include: a boom angle and a stick angle;

[0079] The proportional valve current for controlling associated equipment includes: the proportional valve current for controlling the action of the boom, the proportional valve current for controlling the action of the stick, and the proportional valve current for controlling the rotation action of the rotary platform.

[0080] Optionally, a current working state posture acquisition module is used to obtain the lifting angle of the current boom of the excavator through a sensor set on the boom;

[0081] Get the current coordinates of the hinge point between the bucket cylinder and the bucket connecting rod, as well as the current slewing angle of the slewing platform.

[0082] Optional, automated operation modules, including:

[0083] A manual action data query unit is used to query the target boom angle corresponding to the current slewing angle of the slewing platform and the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod from the manual action data;

[0084] A target time acquisition unit, used to acquire a target time corresponding to a target boom angle or a target coordinate;

[0085] The automatic control unit is used to output the current of the proportional valve of the control-related equipment after the target time in the manual data at a specified time interval to control the bucket to move to the unloading point.

[0086] Optionally, a target moment acquisition unit is used to control the boom to be lifted to the target boom angle according to the first specified action and speed when it is determined that the current boom lifting angle is less than the target boom angle;

[0087] Query the target time when the target boom angle is recorded from the manual motion data.

[0088] Optionally, a target time acquisition unit is used to control the bucket arm to be recovered to the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod according to a second specified action and speed when it is determined that the current lifting angle of the boom is equal to the target boom angle and the current coordinates of the hinge point between the bucket cylinder and the bucket connecting rod are greater than the target coordinates;

[0089] The target time when the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod are recorded is queried from the manual motion data.

[0090] Optionally, the device also includes a fine-tuning module for determining whether the bucket has reached the unloading point, and if so, terminating the automatic operation.

[0091] Otherwise, make fine adjustments to the associated equipment to move the bucket to the unloading point.

[0092] The automatic operation control device for an excavator provided in an embodiment of the present invention can execute the automatic operation control method for an excavator provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0093] Embodiment 4

[0094] Figure 5 The present invention is a block diagram of an electronic device 10 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0095] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0096] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0097] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as an automatic operation control method for an excavator.

[0098] In some embodiments, the automatic operation control method for an excavator may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the automatic operation control method for an excavator described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the automatic operation control method for an excavator in any other appropriate manner (e.g., by means of firmware).

[0099] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0100] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0101] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0102] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0103] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0104] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0105] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0106] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic operation control method for an excavator, characterized in that: include: Recording manual action data of the excavator during manual loading from the starting point to the unloading point, wherein the manual action data includes the corresponding relationship between the slewing angle of the slewing platform and the angle of the associated equipment, the current of the proportional valve controlling the associated equipment, and the coordinates of the hinge point between the bucket cylinder and the bucket connecting rod at each moment; When receiving an automatic operation instruction, obtain the current working state and posture of the excavator; In the current working state posture, the bucket is automatically controlled to move to the unloading point according to the manual action data.

2. The method according to claim 1, characterized in that The manual action data recorded during the manual loading action of the excavator from the action starting point to the unloading point includes: Acquire working parameters of the excavator, and determine the action starting point and the unloading point according to the working parameters; During the manual loading action process starting from the action starting point and ending at the unloading point, the manual action data is recorded at specified time intervals.

3. The method according to claim 2, characterized in that The step of determining the action starting point and the unloading point according to the working parameters comprises: Obtain the boom cylinder large chamber pressure and bucket retraction angle at each action point, and take the action point where the boom cylinder large chamber pressure is greater than a pressure threshold and the bucket retraction angle is greater than a first angle threshold as the action starting point; The bucket working state and bucket unloading action angle of each action point are obtained, and the action point where the bucket working state is unloading action and the bucket unloading action angle is greater than a second angle threshold is taken as the unloading point.

4. The method according to claim 2, characterized in that: The associated equipment angles include: boom angle and arm angle; The proportional valve current for controlling the associated equipment includes: a proportional valve current for controlling the action of the boom, a proportional valve current for controlling the action of the stick, and a proportional valve current for controlling the rotation action of the rotary platform.

5. The method according to claim 4, characterized in that The obtaining of the current working state posture of the excavator includes: The current lifting angle of the excavator's boom is obtained through a sensor arranged on the boom; Get the current coordinates of the hinge point between the bucket cylinder and the bucket connecting rod, as well as the current slewing angle of the slewing platform.

6. The method according to claim 5, characterized in that The step of automatically controlling the bucket to move to the unloading point according to the manual action data in the current working state posture includes: Querying the target boom angle corresponding to the current slewing angle of the slewing platform and the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod from the manual action data; Obtaining the target boom angle or the target time corresponding to the target coordinates; The current of the proportional valve of the control-related equipment after the target time in the manual data is output according to the specified time interval to control the bucket to move toward the unloading point.

7. The method according to claim 6, characterized in that The step of obtaining the target moment corresponding to the target boom angle or the target coordinates includes: When it is determined that the current boom lifting angle is less than the target boom angle, the boom is controlled to be lifted to the target boom angle according to a first specified action and speed; The target time when the target boom angle is recorded is queried from the manual motion data.

8. The method according to claim 6, characterized in that The step of obtaining the target moment corresponding to the target boom angle or the target coordinates includes: When it is determined that the current boom lifting angle is equal to the target boom angle, and the current coordinate of the hinge point between the bucket cylinder and the bucket connecting rod is greater than the target coordinate, the bucket rod is controlled to be recovered to the target coordinate of the hinge point between the bucket cylinder and the bucket connecting rod according to a second specified action and speed; The target time when the target coordinates of the hinge point between the bucket cylinder and the bucket connecting rod are recorded is queried from the manual action data.

9. The method according to claim 6, characterized in that After outputting the current of the proportional valve of the control-related device after the target time in the manual data according to the specified time interval, the method further includes: Determine whether the bucket has reached the unloading point, if so, terminate the automatic operation, Otherwise, the associated equipment is fine-tuned to drive the bucket to move to the unloading point.

10. An automatic operation control device for an excavator, characterized in that: include: A manual action data recording module is used for recording manual action data during the manual loading action of the excavator from the action starting point to the unloading point, wherein the manual action data includes the corresponding relationship between the rotation angle of the rotary platform and the angle of the associated equipment, the current of the proportional valve controlling the associated equipment, and the coordinates of the hinge point between the bucket cylinder and the bucket connecting rod at each moment; A current working state posture acquisition module is used to acquire the current working state posture of the excavator when receiving an automatic operation instruction; The automatic operation module is used to automatically control the bucket to move to the unloading point according to the manual action data in the current working state posture.

11. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so as to enable the at least one processor to perform the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method according to any one of claims 1 to 9 when executed.

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