Excavator anti-roll-off control method and related devices

Abstract

The application discloses a kind of excavator anti-drop speed control method and related device, can be based on the temperature of excavator and hydraulic oil temperature after the start of excavator, determine the starting condition of excavator;If the starting condition of excavator is: cold start, then excavator carries out hydraulic preloading when operating, engine speed, engine lamda correction, close exhaust gas recirculation valve, open rear spray and hydraulic loading ramp, to improve engine load capacity, reduce drop speed;If the starting condition of excavator is: hot start, then excavator adjusts hydraulic power loading ramp, engine lamda correction and closes exhaust gas recirculation valve when first operating, to improve engine load capacity, reduce drop speed.The application does not increase any hardware, based on the parameter of excavator is identified, distinguish cold start and hot start, then take different control strategy to reduce the speed of excavator, ensure the power of excavator, effect is remarkable and need not increase hardware cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of excavators, and in particular to an excavator anti-drop speed control method and related device. BACKGROUND

[0002] The working conditions of excavators are complex and diverse, and the drop speed level is related to the performance of the selected engine, the working environment, and the working conditions. A good excavator should ensure a good drop speed level in all working conditions. Therefore, how to ensure the power of the excavator when the machine is first operated after starting has become a technical problem to be solved by personnel in the field. SUMMARY

[0003] In view of the above problems, the present application provides an excavator anti-drop speed control method and related device which overcomes the above problems or at least partially solves the above problems.

[0004] In a first aspect, an excavator anti-drop speed control method comprises:

[0005] After the excavator is started, the starting condition of the excavator is determined based on the water temperature and the hydraulic oil temperature of the excavator.

[0006] If the starting condition of the excavator is cold start, the excavator performs hydraulic preloading, engine speed increase, engine lambda correction, closing of the exhaust gas recirculation valve, opening of the post-injection, and hydraulic loading ramp when operating to improve the engine load capacity and reduce the drop speed.

[0007] If the starting condition of the excavator is hot start, the excavator adjusts the hydraulic power loading ramp, the engine lambda correction, and the closing of the exhaust gas recirculation valve when first operating to improve the engine load capacity and reduce the drop speed.

[0008] Optionally, in some optional embodiments, after the excavator is started, the starting condition of the excavator is determined based on the water temperature and the hydraulic oil temperature of the excavator, comprising:

[0009] After the excavator is started, if the water temperature of the excavator is not greater than a first preset water temperature and the hydraulic oil temperature of the excavator is not greater than a first preset oil temperature, the starting condition of the excavator is determined to be cold start.

[0010] If the water temperature of the excavator is greater than the first preset water temperature and not greater than a second preset water temperature, and the hydraulic oil temperature of the excavator is greater than the first preset oil temperature and not greater than a second preset oil temperature, the starting condition of the excavator is determined to be hot start.

[0011] Optionally, in some optional embodiments, if the starting condition of the excavator is cold start, the excavator, when operating, performs hydraulic preloading, engine speed raising, engine lambda correction, closing of the exhaust gas recirculation valve, opening of the post injection, and hydraulic loading ramp, to improve the engine load resistance and reduce the speed drop, including:

[0012] If the starting condition of the excavator is cold start, the excavator, when operating, controls the bucket flow valve to be closed to cause the hydraulic pump end pressure to overflow and increase the engine load;

[0013] The exhaust gas recirculation valve and the intake throttle valve are controlled to be closed;

[0014] Switch to normal operation mode;

[0015] The post injection is opened to increase the combustion temperature and the intake level;

[0016] According to the current hydraulic oil temperature, the hydraulic power loading ramp value is adjusted;

[0017] The speed of the excavator is raised to a preset speed, and the lambda coefficient is adjusted to 1.

[0018] Optionally, in some optional embodiments, if the starting condition of the excavator is hot start, the excavator, when operating for the first time, adjusts the hydraulic power loading ramp, the engine lambda correction, and the closing of the exhaust gas recirculation valve, to improve the engine load resistance and reduce the speed drop, including:

[0019] If the starting condition of the excavator is hot start, the excavator, when operating for the first time, adjusts the hydraulic power loading ramp value;

[0020] The exhaust gas recirculation valve is closed, and the current lambda coefficient is adjusted to 1.

[0021] In a second aspect, a control device for preventing speed drop of an excavator, comprising: a condition judging unit, a cold start unit, and a hot start unit;

[0022] The condition judging unit is configured to determine the starting condition of the excavator based on the water temperature and the hydraulic oil temperature of the excavator after the excavator is started;

[0023] The cold start unit is configured to, if the starting condition of the excavator is cold start, perform hydraulic preloading, engine speed raising, engine lambda correction, closing of the exhaust gas recirculation valve, opening of the post injection, and hydraulic loading ramp when the excavator is operating, to improve the engine load resistance and reduce the speed drop;

[0024] The hot start unit is configured to, if the start condition of the excavator is a hot start, adjust a hydraulic power loading ramp, an engine lambda correction, and close an exhaust gas recirculation valve when the excavator is operated for the first time, so as to improve engine load resistance and reduce speed drop.

[0025] Optionally, in some optional embodiments, the condition judging unit comprises a cold start condition subunit and a hot start condition subunit.

[0026] The cold start condition subunit is configured to, if the water temperature of the excavator is not greater than a first preset water temperature and the hydraulic oil temperature of the excavator is not greater than a first preset oil temperature after the excavator is started, determine that the start condition of the excavator is a cold start.

[0027] The hot start condition subunit is configured to, if the water temperature of the excavator is greater than the first preset water temperature and not greater than a second preset water temperature, and the hydraulic oil temperature of the excavator is greater than the first preset oil temperature and not greater than a second preset oil temperature, determine that the start condition of the excavator is a hot start.

[0028] Optionally, in some optional embodiments, the cold start unit comprises a confluence valve closing subunit, a circulation valve closing subunit, a mode switching subunit, a post-injection opening subunit, a first ramp adjusting subunit, and a first lambda adjusting subunit.

[0029] The confluence valve closing subunit is configured to, if the start condition of the excavator is a cold start, control a bucket confluence valve to be closed when the excavator is operated, so as to cause hydraulic pump end pressure to overflow and increase engine load.

[0030] The circulation valve closing subunit is configured to control an exhaust gas recirculation valve and an intake throttle valve to be closed.

[0031] The mode switching subunit is configured to switch to a normal operation mode.

[0032] The post-injection opening subunit is configured to open post-injection, so as to increase combustion temperature and intake level.

[0033] The first ramp adjusting subunit is configured to adjust a hydraulic power loading ramp value according to a current hydraulic oil temperature.

[0034] The first lambda adjusting subunit is configured to increase a rotating speed of the excavator to a preset rotating speed and adjust a lambda coefficient to 1.

[0035] Optionally, in some optional embodiments, the hot start unit comprises a second ramp adjusting subunit and a second lambda adjusting subunit.

[0036] The second ramp adjustment subunit is configured to adjust the hydraulic power loading ramp value if the starting condition of the excavator is a hot start.

[0037] The second lamda adjustment subunit is configured to close the exhaust gas recirculation valve and adjust the current lamda coefficient to 1.

[0038] In a third aspect, a computer readable storage medium having stored thereon a program, the program being executed by a processor to implement the excavator anti-speed drop control method of any of the preceding aspects.

[0039] In a fourth aspect, an electronic device includes at least one processor, and at least one memory connected to the processor via a bus; wherein the processor, the memory complete mutual communication through the bus; the processor is used to call the program instruction in the memory, to execute the excavator anti-speed drop control method of any of the preceding aspects.

[0040] By the above technical solution, the excavator anti-speed drop control method and related device provided by the application can determine the starting condition of the excavator based on the water temperature and the hydraulic oil temperature of the excavator after the excavator is started; if the starting condition of the excavator is a cold start, the excavator performs hydraulic preloading, engine speed raising, engine lamda correction, closing of the exhaust gas recirculation valve, opening of the post-injection, and hydraulic loading ramp when operating, so as to improve the engine load resistance and reduce the speed drop; if the starting condition of the excavator is a hot start, the excavator adjusts the hydraulic power loading ramp, the engine lamda correction, and the closing of the exhaust gas recirculation valve when operating for the first time, so as to improve the engine load resistance and reduce the speed drop. It can be seen that the application can identify the cold start and the hot start based on the parameters of the excavator without increasing any hardware, and then take different control strategies to reduce the speed drop of the excavator, so as to ensure the power of the excavator, which is remarkable and does not need to increase the hardware cost.

[0041] The above description is only a summary of the technical solutions of the application. In order to enable one skilled in the art to better understand the technical means of the application, the content of the specification can be implemented, and in order to enable the above and other purposes, features and advantages of the application to be more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0042] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used throughout the several views that follow. In the drawings:

[0043] Figure 1 A flow chart of an excavator speed reduction prevention control method provided by the present invention is shown;

[0044] Figure 2 A schematic diagram of a first cold start control program provided by the present invention is shown;

[0045] Figure 3 A schematic diagram of a second cold start control program provided by the present invention is shown;

[0046] Figure 4 A schematic diagram of a third cold start control program provided by the present invention is shown;

[0047] Figure 5 shows a schematic diagram of a first hot start control program provided by the present invention;

[0048] Figure 6 shows a schematic diagram of a second hot start control program provided by the present invention;

[0049] Figure 7 shows a schematic diagram of a third hot start control program provided by the present invention;

[0050] Figure 8 The present invention shows a schematic structural diagram of an anti-speed drop control device for an excavator;

[0051] Figure 9 A schematic structural diagram of an electronic device provided by the present invention is shown. DETAILED DESCRIPTION

[0052] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0053] like Figure 1 As shown, the present invention provides an excavator anti-speed drop control method, including: S100, S200 and S300;

[0054] S100: After the excavator is started, determining the starting working condition of the excavator based on the water temperature and the hydraulic oil temperature of the excavator;

[0055] Optionally, the first operation of the excavator after starting is divided into: the first operation of the excavator after cold starting and the first operation of the excavator after hot starting. The first operation of the excavator after cold starting is because the temperature of the combustion chamber is low after cold starting, the fuel atomization effect is poor, the supercharger performance is poor, etc. At this time, the operation of the machine (heavy load) causes large speed drop due to poor combustion and less fuel injection. The first operation of the excavator after hot starting is because the speed is low after starting (generally idling after starting), the load is low, the exhaust temperature is low, and the supercharger capacity is poor. At this time, the injection is limited due to less and slow intake, resulting in large speed drop. Therefore, the present application can identify the starting condition of the excavator after starting the excavator, so as to control the excavator based on different starting conditions when operating the machine, thereby improving the effect of speed drop prevention. The present application does not limit this.

[0056] Optionally, the water temperature of the excavator can be collected based on the existing water temperature monitoring system of the excavator, and the hydraulic oil temperature can be collected based on the existing hydraulic oil temperature monitoring system of the excavator. The present application does not need to increase external hardware for collecting water temperature and hydraulic oil temperature. Of course, for excavators that do not have a water temperature monitoring system and a hydraulic oil temperature monitoring system when leaving the factory, the present application can set up a corresponding sensor system for collecting water temperature and hydraulic oil temperature. The present application does not limit this.

[0057] Optionally, the present application can set different water temperature thresholds and hydraulic oil temperature thresholds according to actual needs, for comparison with the collected water temperature and hydraulic oil temperature, and further judge the starting condition of the excavator according to the comparison result. The present application does not limit this.

[0058] For example, in some optional embodiments, the S100 comprises steps 1.1 and 1.2.

[0059] Step 1.2, if the water temperature of the excavator is not greater than the first preset water temperature and the hydraulic oil temperature of the excavator is not greater than the first preset oil temperature, it is determined that the starting condition of the excavator is cold starting.

[0060] Optionally, the present application can set the specific values of the first preset water temperature and the first preset oil temperature according to actual needs. For example, the present application can set the first preset water temperature to 60 degrees Celsius and the first preset oil temperature to 15 degrees Celsius. When the water temperature is less than or equal to 60 degrees Celsius and the hydraulic oil temperature is less than or equal to 15 degrees Celsius, it is determined that the starting condition of the excavator is cold starting. The present application does not limit this.

[0061] Step 1.2, if the water temperature of the excavator is greater than the first preset water temperature and not greater than the second preset water temperature, and the hydraulic oil temperature of the excavator is greater than the first preset oil temperature and not greater than the second preset oil temperature, it is determined that the starting condition of the excavator is hot starting.

[0062] Optionally, the present application can set the specific values of the second preset water temperature and the second preset oil temperature according to actual needs. For example, the present application can set the second preset water temperature to 80 degrees Celsius and the first preset oil temperature to 30 degrees Celsius. When the water temperature is in the range of 60 degrees Celsius to 80 degrees Celsius and the hydraulic oil temperature is in the range of 15 degrees Celsius to 30 degrees Celsius, it is determined that the starting condition of the excavator is hot start, and the present application does not limit this.

[0063] S200, if the starting condition of the excavator is cold start, the excavator performs hydraulic preloading, engine speed-up, engine lambda correction, closing of the exhaust gas recirculation valve, opening of the post-injection, and hydraulic loading ramp when operating to improve the engine load capacity and reduce the speed drop;

[0064] For example, in some optional embodiments, the S200 includes steps 2.1, 2.2, 2.3, 2.4, 2.5, and 2.6.

[0065] Step 2.1, if the starting condition of the excavator is cold start, the excavator controls the bucket flow valve to be closed when operating to make the hydraulic pump end pressure overflow and increase the engine load.

[0066] Step 2.2, control the exhaust gas recirculation valve and the intake throttle valve to be closed;

[0067] Step 2.3, switch to normal operation mode;

[0068] Step 2.4, open the post-injection to increase the combustion temperature and the intake level;

[0069] Step 2.5, adjust the hydraulic power loading ramp value according to the current hydraulic oil temperature;

[0070] Step 2.6, increase the speed of the excavator to a preset speed and adjust the lambda coefficient to 1.

[0071] Optionally, when the excavator enters the cold start condition, the present application can determine whether the excavator is operated based on the pilot signal and whether it is the first operation, and the present application does not limit this.

[0072] Optionally, the flow valve is also called Bypass valve, and the engine controller ECU closes the flow valve to make the hydraulic oil flow through the valve to the cylinder to make the hydraulic pump end pressure overflow, and the present application does not limit this.

[0073] Optionally, the engine controller ECU can increase the engine load, which has the effect of rapid warming up, and the size of the preloading amplitude can be determined through a large number of tests, and the present application does not limit this.

[0074] Optionally, the engine controller ECU can also close the exhaust gas recirculation valve (also called EGR valve) and the intake throttle valve (also called intake throttle valve). The exhaust gas recirculation valve and the intake throttle valve are both well-known technical concepts in the field. The present invention will not describe them in detail. Please refer to the relevant descriptions in this field for details.

[0075] Optionally, the engine controller ECU can also control the opening of post-injection. Post-injection is a well-known technical concept in the art, and the present invention will not describe it in detail. For details, please refer to the relevant description in the art.

[0076] For example, in a normal engine combustion, the injector has pre-injection, main injection and post-injection. Post-injection refers to the injection within the angle after the piston reaches the top dead center. These fuels will not participate in the combustion work, and most of them will be discharged into the exhaust pipe through the exhaust gas circulation. In this way, the temperature in the exhaust pipe will increase, and the responsiveness of the supercharger can be improved, so that the boost pressure will be increased.

[0077] Optionally, the hydraulic system controller (TCU) can adjust the hydraulic power loading ramp value based on oil temperature (a specific oil temperature-based correction formula is available for cold start conditions). The hydraulic power loading ramp value represents the rate at which the hydraulic pump loads during excavator operation. A larger ramp value indicates a slower loading rate. This value can be determined through extensive testing and is not a limitation of this invention.

[0078] Optionally, the engine controller ECU can increase the current engine speed by 100 rpm, and automatically adjust the current lamda coefficient to 1. The lamda coefficient represents the amount of fuel injection when the engine is loaded. The lamda value is usually greater than 1. The smaller the value, the more fuel injection is allowed. The smaller the Lamda value, the more fuel is injected and the greater the smoke density. It should be noted that a lamda coefficient of 1 is much smaller than the lamda during normal operation. Experiments have shown that a fuel injection amount with a lamda coefficient of 1 is sufficient. If it is smaller, even if more fuel is injected, the combustion will not be good, because there is only so much gas, and the oil-gas mixture requires a suitable ratio. The present invention does not impose any restrictions on this.

[0079] Optionally, in cold start conditions, the present invention can automatically correct the above parameters whenever the machine is operated, regardless of whether it is the first time the machine is operated, thereby reducing the speed drop in cold start conditions. Figure 2 As shown, the present invention is not limited to this.

[0080] Optionally, the overall control process of the hydraulic system controller TCU is as follows Figure 3 As shown, the overall control process of the engine controller ECU is as follows Figure 4 As shown, the present invention will not go into details about this.

[0081] Optionally, in the cold start condition, when the driver does not operate (corresponding to the pilot system pressure is 0) or the engine and hydraulic temperature rises (for example, greater than 30 degrees Celsius), the engine speed, hydraulic power loading ramp value, and lambda system automatically restore to the normal state, and the present application does not limit this.

[0082] S300, if the start-up condition of the excavator is hot start, the excavator adjusts the hydraulic power loading ramp, engine lambda correction, and closes the exhaust gas recirculation valve during the first operation to improve the engine load capacity and reduce the speed drop.

[0083] For example, in some optional embodiments, S300 includes steps 3.1 and 3.2.

[0084] Step 3.1, if the start-up condition of the excavator is hot start, the excavator adjusts the hydraulic power loading ramp value during the first operation.

[0085] Step 3.2, close the exhaust gas recirculation valve and adjust the current lambda coefficient to 1.

[0086] Optionally, after the hot start is successful, when the driver operates the machine, the hydraulic system controller TCU can automatically adjust the hydraulic power loading ramp value (which can be a fixed correction value in the cold start condition), and the present application does not limit this.

[0087] Optionally, in the hot start condition, the engine controller ECU can automatically close the EGR valve and automatically adjust the current lambda coefficient to 1, and the present application does not limit this.

[0088] Optionally, in the hot start condition, after the first operation is completed, the special RS trigger mechanism will make the engine and hydraulic return to normal control parameters, avoiding the operation and responsiveness problems caused by special parameters. RS trigger mechanism: when S input is 1 and R input is 0, output Q=1, Q-=0. When the machine is first operated, the above S input condition is met, output Q=1, when the operation is completed, S input becomes 0, R becomes 1, Q becomes 0. Q- becomes 1, then R is always equal to 1. When the machine is operated again, even if S is equal to 1, due to R=1, the output Q is always 0.

[0089] Optionally, after the hot start, only the first operation of the machine, the present application will optimize the parameters to reduce the drop, and the present application does not limit this.

[0090] Optionally, the overall control strategy in the hot start condition is as shown in Figure 5 The overall control process of the hydraulic system controller TCU is as shown in Figure 6 The overall control process of the engine controller ECU is as shown inFigure 7 As shown, the present application does not make too much repetition.

[0091] As shown, the present application provides a control device for preventing speed drop of excavator, comprising: a working condition judging unit 100, a cold starting unit 200 and a hot starting unit 300; Figure 8 The working condition judging unit 100 is used for determining the starting working condition of the excavator based on the water temperature and the hydraulic oil temperature of the excavator after the excavator is started;

[0092] The cold starting unit 200 is used for, if the starting working condition of the excavator is cold starting, then the excavator performs hydraulic preloading, engine speed increasing, engine lambda correction, closing of exhaust gas recirculation valve, opening of post injection and hydraulic loading ramp when operating, so as to improve the engine load resistance and reduce the speed drop;

[0093] The hot starting unit 300 is used for, if the starting working condition of the excavator is hot starting, then the excavator adjusts the hydraulic power loading ramp, the engine lambda correction and the closing of the exhaust gas recirculation valve when operating for the first time, so as to improve the engine load resistance and reduce the speed drop.

[0094] Optionally, in some optional embodiments, the working condition judging unit 100 comprises a cold starting working condition subunit and a hot starting working condition subunit;

[0095] The cold starting working condition subunit is used for, after the excavator is started, if the water temperature of the excavator is not greater than a first preset water temperature and the hydraulic oil temperature of the excavator is not greater than a first preset oil temperature, then determining that the starting working condition of the excavator is cold starting;

[0096] The hot starting working condition subunit is used for, if the water temperature of the excavator is greater than the first preset water temperature and not greater than a second preset water temperature, and the hydraulic oil temperature of the excavator is greater than the first preset oil temperature and not greater than a second preset oil temperature, then determining that the starting working condition of the excavator is hot starting.

[0097] Optionally, in some optional embodiments, the cold starting unit 200 comprises a confluence valve closing subunit, a circulation valve closing subunit, a mode switching subunit, a post injection opening subunit, a first ramp adjusting subunit and a first lambda adjusting subunit;

[0098] The confluence valve closing subunit is used for, if the starting working condition of the excavator is cold starting, then the excavator controls the closing of the bucket confluence valve when operating, so as to overflow the hydraulic pump end pressure and increase the engine load;

[0099] The circulation valve closing subunit is used for, if the starting working condition of the excavator is cold starting, then the excavator controls the closing of the circulation valve when operating, so as to increase the engine load;

[0100] The circulation valve closing subunit is used for controlling the closing of the exhaust gas recirculation valve and the intake throttle valve.

[0101] The mode switching subunit is used for switching to the normal operation mode.

[0102] The post-injection opening subunit is used for opening the post-injection to improve the combustion temperature and the intake level.

[0103] The first ramp adjusting subunit is used for adjusting the hydraulic power loading ramp value according to the current hydraulic oil temperature.

[0104] The first lamda adjusting subunit is used for increasing the speed of the excavator to a preset speed and adjusting the lamda coefficient to 1.

[0105] Optionally, in some optional embodiments, the hot start unit 300 comprises a second ramp adjusting subunit and a second lamda adjusting subunit.

[0106] The second ramp adjusting subunit is used for adjusting the hydraulic power loading ramp value when the excavator is started for the first time if the starting condition of the excavator is hot start.

[0107] The second lamda adjusting subunit is used for closing the exhaust gas recirculation valve and adjusting the current lamda coefficient to 1.

[0108] The application provides a computer readable storage medium, which stores a program, and the program is executed by a processor to implement the excavator anti-speed-drop control method.

[0109] As shown in Figure 9 The application provides an electronic device 70, which comprises at least one processor 701 and at least one memory 702 connected with the processor 701 and a bus 703; wherein the processor 701 and the memory 702 complete mutual communication through the bus 703; the processor 701 is used for calling program instructions in the memory 702 to execute the excavator anti-speed-drop control method.

[0110] In this disclosure, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0111] Each of the embodiments in the present specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other. Each of the embodiments mainly explains the difference from other embodiments. In particular, the system embodiments are described simply because they are basically similar to the method embodiments, and the related parts can be referred to the description of the method embodiments.

[0112] The above description of disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined in the present application can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown in the present application, but will conform to the widest scope consistent with the principles and novel features disclosed in the present application.

[0113] The above description is only the preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of preventing speed drop of an excavator, characterized by, The method comprises the steps of: After the excavator is started, the starting condition of the excavator is determined based on the water temperature and the hydraulic oil temperature of the excavator; If the starting condition of the excavator is cold start, the excavator performs hydraulic preloading, engine speed-up, engine lambda correction, closing of the exhaust gas recirculation valve, opening of the post-injection, and hydraulic loading ramp when operating, so as to improve the engine load resistance and reduce the speed drop; If the starting condition of the excavator is hot start, the excavator adjusts the hydraulic power loading ramp, engine lambda correction, and closing of the exhaust gas recirculation valve when operating for the first time, so as to improve the engine load resistance and reduce the speed drop.

2. The method of claim 1, wherein, After the excavator is started, the starting condition of the excavator is determined based on the water temperature and the hydraulic oil temperature of the excavator, which comprises the steps of: If the water temperature of the excavator is not greater than a first preset water temperature and the hydraulic oil temperature of the excavator is not greater than a first preset oil temperature after the excavator is started, it is determined that the starting condition of the excavator is cold start; If the water temperature of the excavator is greater than the first preset water temperature and not greater than a second preset water temperature, and the hydraulic oil temperature of the excavator is greater than the first preset oil temperature and not greater than a second preset oil temperature, it is determined that the starting condition of the excavator is hot start.

3. The method of claim 1, wherein, If the starting condition of the excavator is cold start, the excavator performs hydraulic preloading, engine speed-up, engine lambda correction, closing of the exhaust gas recirculation valve, opening of the post-injection, and hydraulic loading ramp when operating, so as to improve the engine load resistance and reduce the speed drop, which comprises the steps of: If the starting condition of the excavator is cold start, the excavator controls the bucket flow valve to be closed when operating, so as to cause the hydraulic pump end pressure to overflow and increase the engine load; The exhaust gas recirculation valve and the intake throttle valve are controlled to be closed; Switching to the normal operation mode; The post-injection is opened, so as to improve the combustion temperature and the intake level; The hydraulic power loading ramp value is adjusted according to the current hydraulic oil temperature; The speed of the excavator is increased to a preset speed, and the lambda coefficient is adjusted to 1.

4. The method of claim 1, wherein, If the starting condition of the excavator is hot start, the excavator adjusts the hydraulic power loading ramp, engine lambda correction, and closing of the exhaust gas recirculation valve when operating for the first time, so as to improve the engine load resistance and reduce the speed drop, which comprises the steps of: If the starting condition of the excavator is hot start, the excavator adjusts the hydraulic power loading ramp value when operating for the first time; The exhaust gas recirculation valve is closed, and the current lambda coefficient is adjusted to 1.

5. A swing prevention control device for a shovel, characterized by comprising: The method comprises the steps of: A condition judgment unit, a cold start unit, and a hot start unit; The condition judgment unit is used for determining the starting condition of the excavator based on the water temperature and the hydraulic oil temperature of the excavator after the excavator is started; The cold start unit is used for performing hydraulic preloading, engine speed-up, engine lambda correction, closing of the exhaust gas recirculation valve, opening of the post-injection, and hydraulic loading ramp when the excavator operates if the starting condition of the excavator is cold start, so as to improve the engine load resistance and reduce the speed drop; The hot start unit is configured to, if the start condition of the excavator is a hot start, adjust a hydraulic power loading ramp, an engine lambda correction, and close an exhaust gas recirculation valve when the excavator is operated for the first time, so as to improve engine load resistance and reduce speed drop.

6. The apparatus of claim 5, wherein, The condition judging unit comprises a cold start condition subunit and a hot start condition subunit. The cold start condition subunit is configured to, if the water temperature of the excavator is not greater than a first preset water temperature and the hydraulic oil temperature of the excavator is not greater than a first preset oil temperature after the excavator is started, determine that the start condition of the excavator is a cold start. The hot start condition subunit is configured to, if the water temperature of the excavator is greater than the first preset water temperature and not greater than a second preset water temperature, and the hydraulic oil temperature of the excavator is greater than the first preset oil temperature and not greater than a second preset oil temperature, determine that the start condition of the excavator is a hot start.

7. The apparatus of claim 5, wherein, The cold start unit comprises a confluence valve closing subunit, a circulation valve closing subunit, a mode switching subunit, a back spray opening subunit, a first ramp adjusting subunit, and a first lambda adjusting subunit. The confluence valve closing subunit is configured to, if the start condition of the excavator is a cold start, control a bucket confluence valve to be closed when the excavator is operated, so as to cause hydraulic pump end pressure to overflow and increase engine load. The circulation valve closing subunit is configured to control an exhaust gas recirculation valve and an intake throttle valve to be closed. The mode switching subunit is configured to switch to a normal operation mode. The back spray opening subunit is configured to open a back spray, so as to increase combustion temperature and intake level. The first ramp adjusting subunit is configured to adjust a hydraulic power loading ramp value according to a current hydraulic oil temperature. The first lambda adjusting subunit is configured to increase a speed of the excavator to a preset speed and adjust a lambda coefficient to 1.

8. The apparatus of claim 5, wherein, The hot start unit comprises a second ramp adjusting subunit and a second lambda adjusting subunit. The second ramp adjusting subunit is configured to, if the start condition of the excavator is a hot start, adjust a hydraulic power loading ramp value when the excavator is operated for the first time. The second lambda adjusting subunit is configured to close an exhaust gas recirculation valve and adjust a current lambda coefficient to 1.

9. A computer-readable storage medium having stored thereon a program, characterized in that, The program is executed by the processor to implement the excavator speed drop prevention control method in any one of claims 1 to 4.

10. An electronic device, comprising: The electronic device comprises at least one processor, at least one memory connected with the processor, and a bus; wherein the processor and the memory complete mutual communication through the bus; the processor is configured to call program instructions in the memory to execute the excavator speed drop prevention control method in any one of claims 1 to 4.

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