Hydraulic control system for excavator

Abstract

The invention relates to the technical field of hydraulic control, and discloses a hydraulic control system for an excavator, which is characterized in that the system monitors the moving operation of a track by acquiring a safe area and a dangerous area of the operation of the excavator and adopting a first type of mistaken touch prevention strategy, and simulates the area of the track in contact with the ground; judging whether the excavator enters a safe area or not; and if the touch is mistakenly touched, the crawler operation is stopped. And secondly, the working states of the large arm, the small arm and the bucket of the excavator are monitored through a second type of mistaken touch prevention strategy, judgment is conducted according to the projections of the large arm, the small arm and the bucket on the ground, and if the second type of mistaken touch occurs, excavation operation is stopped. Besides, the system further analyzes whether misoperation occurs or not based on the operation habits of the driver, such as the propelling direction, force and distance of an operating lever, by using a third type of mistaken touch prevention strategy, and further optimizes the operation habit library according to the feedback of the driver.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic control, and in particular to a hydraulic control system for an excavator. Background Art

[0002] With the widespread application of modern engineering machinery and equipment, excavators have become an indispensable and important tool in earthwork, mining and other scenarios; the hydraulic system of the excavator is its core power and control part, which is used to drive the movement and operation of various working devices, such as the boom, arm, bucket and track; the hydraulic system transfers energy through the pressure of hydraulic oil to achieve precise control of mechanical components; the operation of the excavator usually involves a complex multi-axis linkage system, and the driver needs to operate multiple components, such as tracks, booms, arms and buckets, to complete specific tasks; these operations may pose safety hazards in some cases, especially when the driver misoperates the excavator, which may cause equipment damage or endanger the safety of the work area; therefore, in order to improve the safety and accuracy of excavator operation, the introduction of a mechanism to prevent misoperation is particularly important.

[0003] Traditional excavators rely on the driver's experience and operating skills. However, when the driver lacks experience or the environment is complex, the risk of misoperation is greatly increased. Especially in complex terrain or dangerous working areas, the consequences of misoperation are often serious. Misoperation of the excavator's boom, arm and bucket may also cause equipment damage and even threaten surrounding buildings or personnel.

[0004] To address this issue, existing technologies have proposed some basic anti-accidental touch systems, such as warning systems based on the operating range of the excavator. However, these systems are mostly in the form of a single alarm and lack accurate identification and prevention mechanisms for different operating actions, and cannot fully cover the potential risks caused by different operating behaviors.

[0005] In summary, there is an urgent need for a hydraulic control system for an excavator to ensure the safe operation of the excavator in a complex environment. Summary of the invention

[0006] The present invention provides a hydraulic control system for an excavator, which helps to solve the problems mentioned in the above background technology.

[0007] The present invention provides the following technical solution: a hydraulic control system for an excavator, comprising:

[0008] Obtain the operating area where the excavator is allowed to operate and record it as a safe area;

[0009] Areas other than safe areas are recorded as dangerous areas;

[0010] Acquiring an operation instruction issued by a driver to the excavator, wherein the operation instruction includes a crawler movement instruction and an excavation instruction;

[0011] Obtain two crawlers of the excavator, select one crawler as the first crawler, and the other crawler as the second crawler;

[0012] During the crawler movement operation of the excavator, judging whether the excavator has a first type of false touch according to the first type of false touch prevention strategy;

[0013] If the excavator has the first type of false touch, the crawler movement operation of the excavator will not be performed;

[0014] If the excavator does not have the first type of false touch, the crawler movement operation of the excavator is performed;

[0015] Get the excavator's boom, arm, and bucket;

[0016] During the excavation operation of the excavator, judging whether the excavator has a second type of false touch according to the second type of false touch prevention strategy;

[0017] If the excavator has the second type of false touch, the excavation operation of the excavator will not be performed;

[0018] If the excavator does not have the second type of false touch, the excavation operation on the excavator is performed;

[0019] During the excavation operation of the excavator, judging whether the excavator has a third type of false touch according to the third type of false touch prevention strategy;

[0020] If the excavator has the third type of false touch, the excavation operation of the excavator will not be performed;

[0021] If the excavator does not have the third type of false touch, the excavation operation on the excavator is performed.

[0022] Optionally, during the crawler movement operation of the excavator, judging whether the excavator has a first type of false touch according to the first type of false touch prevention strategy specifically includes:

[0023] After simulating the crawler movement operation of the excavator, the area where the ground is expected to contact the first crawler is recorded as the first area;

[0024] After simulating the crawler movement operation of the excavator, the area where the ground is expected to contact the second crawler is recorded as the second area;

[0025] Get the safe area;

[0026] Obtain the area of ​​the region where the first region and the safety region overlap, recorded as the first area;

[0027] Obtain the area of ​​the region where the second region and the safety region overlap, recorded as the second area;

[0028] If the first area is equal to zero and the second area is also equal to zero, it is determined that the excavator does not have the first type of false touch;

[0029] If the first area is not equal to zero, or the second area is not equal to zero, it is determined that the excavator has a first type of false touch.

[0030] Optionally, during the excavation operation of the excavator, judging whether the excavator has a second type of false touch according to the second type of false touch prevention strategy specifically includes:

[0031] Obtain the central axis of the excavator arm, recorded as the first central axis;

[0032] After simulating the excavation operation of the excavator, the vertical downward projection of the first central axis on the ground is estimated and recorded as the first line segment;

[0033] Obtain the center axis of the excavator arm, which is recorded as the second center axis;

[0034] After simulating the excavation operation of the excavator, the vertical downward projection of the second central axis on the ground is estimated and recorded as the second line segment;

[0035] Obtain the center axis of the excavator bucket, which is recorded as the third center axis;

[0036] After simulating the excavation operation of the excavator, the vertical downward projection of the third central axis on the ground is estimated and recorded as the third line segment;

[0037] A line segment formed by connecting the first line segment, the second line segment, and the third line segment is obtained, and recorded as a target line segment.

[0038] Optionally, during the excavation operation of the excavator, judging whether the excavator has a second type of false touch according to the second type of false touch prevention strategy, further includes:

[0039] Get the length of the target line segment, recorded as the first length;

[0040] Obtain the center axis of the first crawler, recorded as the fourth center axis;

[0041] Obtain the center axis of the second crawler, recorded as the fifth center axis;

[0042] After simulating the excavation operation of the excavator, the plane where the fourth central axis and the fifth central axis are simultaneously located is estimated to be recorded as the first plane;

[0043] Draw a straight line on the first plane that is parallel to the fourth central axis and the fifth central axis and has an equal distance to the fourth central axis and the fifth central axis, and record it as the reference straight line;

[0044] Draw a straight line on the first plane that is perpendicular to the reference straight line and record it as the auxiliary straight line.

[0045] Optionally, during the excavation operation of the excavator, judging whether the excavator has a second type of false touch according to the second type of false touch prevention strategy, further includes:

[0046] Obtain the smaller angle of the two angles formed by the intersection of the straight line where the target line segment is located and the auxiliary straight line, and record it as the first angle;

[0047] Set the angle threshold;

[0048] The angle threshold is used to characterize the size of the first angle;

[0049] Setting a first length threshold;

[0050] The first length threshold is used to characterize the magnitude of the first length value when the first angle is less than the angle threshold;

[0051] When 0<first angle<angle threshold, compare the value of the first length with the first length threshold;

[0052] If the value of the first length is less than the first length threshold, it is determined that the excavator does not have the second type of false touch;

[0053] If the value of the first length is greater than or equal to the first length threshold, it is determined that the excavator has a second type of false touch.

[0054] Optionally, during the operation of the excavator, judging whether the excavator has a second type of false touch according to the second type of false touch prevention strategy, further includes:

[0055] Setting a second length threshold;

[0056] The second length threshold is used to characterize the magnitude of the first length value when the first angle is greater than or equal to the angle threshold;

[0057] When the first angle is greater than or equal to the angle threshold, comparing the value of the first length with the second length threshold;

[0058] If the value of the first length is less than the second length threshold, it is determined that the excavator does not have the second type of false touch;

[0059] If the value of the first length is greater than or equal to the second length threshold, it is determined that the excavator has a second type of false touch.

[0060] Optionally, during the excavation operation of the excavator, judging whether the excavator has a third type of false touch according to the third type of false touch prevention strategy specifically includes:

[0061] Get the driver's operating habits of the excavator, specifically:

[0062] Obtain the time when the driver starts the excavator, and record it as the start time;

[0063] From the start time to the thirty minutes after the start time;

[0064] Obtain the driving direction of the excavator joystick controlled by the driver to form a driving direction library;

[0065] For each propulsion direction in the propulsion direction library, the corresponding operation force and propulsion distance are obtained to form an operation habit library;

[0066] For the same propulsion direction, the average operation force and average propulsion distance in the same propulsion direction are calculated and recorded as average force and average distance, respectively.

[0067] Optionally, during the excavation operation of the excavator, judging whether the excavator has a third type of false touch according to the third type of false touch prevention strategy, further includes:

[0068] Set the force control accuracy;

[0069] The force control accuracy is used to characterize the force applied by the driver to operate the excavator joystick;

[0070] Set the distance control accuracy;

[0071] The distance control accuracy is used to characterize the distance that the driver pushes the excavator joystick;

[0072] Thirty minutes after the start time;

[0073] For every operation of the excavator joystick by the driver;

[0074] Obtain the corresponding propulsion direction, operation force and propulsion distance, which are recorded as target direction, target force and target distance respectively;

[0075] Obtain the average force and average distance in the same direction as the target, and record them as the first force and the first distance respectively;

[0076] If the first force - force control accuracy ≤ target force ≤ first force + force control accuracy and the first distance - distance control accuracy ≤ target distance ≤ first distance + distance control accuracy; it is determined that the excavator has not experienced the third type of false touch; and the target direction, target force and target distance are included in the operation habit library, and the operation habit library is updated.

[0077] Optionally, during the excavation operation of the excavator, judging whether the excavator has a third type of false touch according to the third type of false touch prevention strategy, further includes:

[0078] If the target force is less than the first force - force control accuracy, or the target force is greater than the first force + force control accuracy, or the target distance is less than the first distance - distance control accuracy, or the target distance is greater than the first distance + distance control accuracy, a reminder is sent to the driver, who selects whether the operation on the excavator is an accidental touch;

[0079] If the driver selects that the operation of the excavator this time is an accidental touch, then the excavator is deemed to have a third type of accidental touch;

[0080] If the driver selects that the operation of the excavator this time is not an accidental touch, it is determined that the excavator has not had the third type of accidental touch; and the target direction, target force and target distance are included in the operation habit library, and the operation habit library is updated.

[0081] The present invention has the following beneficial effects:

[0082] 1. This hydraulic control system for an excavator can effectively prevent the excavator from entering the dangerous area by mistake by dividing it into safe areas and dangerous areas, thereby reducing operational risks. This area division first improves the safety performance of the excavator. During excavation operations, mistakenly entering the dangerous area may cause damage to equipment or surrounding facilities, and even endanger personnel safety. Therefore, the division of safe and dangerous areas is introduced, so that the system can intelligently identify potential dangers and promptly warn or stop operations to prevent accidents. At the same time, during the operation, the driver can focus more on the work task without worrying about potential dangers, reducing work pressure and the difficulty of complex operations.

[0083] 2. This hydraulic control system for an excavator can accurately determine whether the crawler will touch the dangerous area by simulating the area where the crawler contacts the ground. The crawler is a key component of the excavator's movement, and its movement operation directly affects the selection and adjustment of the working area. The system can ensure that the crawler's movement operation is carried out within a predetermined safety range by introducing the first type of anti-misoperation strategy, so as to avoid the excavator entering the dangerous area due to misoperation. By simulating the moving trajectory of the crawler and the area where the crawler contacts the ground, the system can determine in advance whether the crawler will enter the dangerous area, and thus take anti-misoperation operations, thereby improving the safety of the overall operation.

[0084] 3. A hydraulic control system for an excavator, which obtains the central axis of a boom, an arm and a bucket, and simulates the projection of the central axis of the boom, the arm and the bucket vertically downward on the ground to form a target line segment, obtains the central axis of the first track and the second track, simulates the acquisition of the first plane, and obtains an auxiliary straight line on the first plane; obtains the smaller angle of the two angles formed by the intersection of the straight line where the target line segment is located and the auxiliary straight line, recorded as the first angle, and sets an angle threshold, a first length threshold and a second length threshold. When 0 < the first angle < the angle threshold, it represents that the boom, arm and bucket of the excavator are rotated to the position on the side of the excavator track; if the length of the target line segment is greater than or equal to the first length threshold, the boom, arm and bucket of the excavator are stretched too long at this time, which will cause the center of gravity of the excavator to move outward, which may cause the excavator to ... Therefore, when 0<first angle<angle threshold and the length of the target line segment is greater than or equal to the first length threshold, it is determined that the excavator has the second type of false touch; when the first angle ≥angle threshold, it means that the excavator's boom, arm and bucket have not rotated to the position of the side of the excavator track; if the length of the target line segment is greater than or equal to the second length threshold, the excavator's boom, arm and bucket are extended too long, which will cause the excavator's center of gravity to move outward and may also cause the excavator to roll over, so when the first angle ≥angle threshold and the length of the target line segment is greater than or equal to the second length threshold, it is determined that the excavator has the second type of false touch; this advance judgment method can avoid the excavator from rolling over due to the movement of the boom, arm or bucket during operation, reduce potential accident risks, and greatly improve construction safety.

[0085] 4. This hydraulic control system for excavators records the driver's operating habits within thirty minutes after the start time and generates a habit library. The system can make intelligent adjustments and optimizations based on the driver's personalized operating methods. This strategy of introducing the driver's operating habits can not only improve the adaptability and flexibility of the system, but also enhance the driver's operating comfort. By analyzing the driver's push rod direction, operating force and propulsion distance, the system can automatically adjust according to the operating characteristics of different drivers to improve detection accuracy.

[0086] 5. This hydraulic control system for excavators can monitor and adjust the driver's operation more accurately by setting the force control accuracy and distance control accuracy. This intelligent optimization mechanism ensures that the driver's operation is within the safety range through the set accuracy range. The optimization mechanism can effectively reduce misoperation through preset accuracy parameters.

[0087] 6. In this hydraulic control system for an excavator, in the process of judging whether it is a false touch, the system can further improve the safety and accuracy of the operation by reminding the driver and asking him to actively confirm whether it is a false touch operation. This active confirmation mechanism not only provides an intelligent false touch judgment function, but also gives the driver the final decision-making power, avoiding the rigidity problem that may be caused by the fully automated operation of the system. Under certain circumstances, the driver can judge the false touch situation according to the actual operating environment, which increases the flexibility and practicality of the system. Especially in some special circumstances, such as sudden changes in terrain or environments that require rapid response, the driver's judgment may be more intuitive than the system. The active confirmation mechanism provides the driver with more control and improves the reliability and safety of the entire operating system.

[0088] 7. This is a hydraulic control system for excavators. The system can not only establish an operating habit library, but also update the contents of the library according to the real-time operation of the driver. This real-time update mechanism ensures the dynamic adaptability of the system and can be adjusted according to the changes in the driver's operation. Through continuous self-learning and updating, the system can reduce the possibility of misoperation while maintaining operational efficiency. Especially in complex or high-pressure working environments, the driver's operating habits may change as working conditions change. The system can quickly adapt to these changes and improve the working efficiency of the excavator through real-time recording and updating. This mechanism can also reduce the driver's work pressure, allowing him to focus on the task itself without having to worry about misoperation frequently.

[0089] 8. This hydraulic control system for excavators introduces a third type of anti-mistouch strategy based on the driver's operating habits. By recording the driver's propulsion direction, operating force and propulsion distance when operating the excavator, a driver's operating habit library is established. The system can monitor the driver's operating behavior in real time to determine whether it is consistent with the operating habits. If the operation exceeds the normal range, the system will issue a prompt and the driver can choose to confirm whether it is a mistouch operation. This strategy not only improves the accuracy of mistouch detection, but also updates the driver's operating habit library over time, making the system more intelligent and personalized. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Figure 1 It is a schematic diagram of the process of the present invention.

[0091] Figure 2 This is a schematic diagram of the present invention from a first angle. DETAILED DESCRIPTION

[0092] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0093] Example, see Figure 1 and Figure 2 , a hydraulic control system for an excavator, comprising:

[0094] Obtain the operating area where the excavator is allowed to operate and record it as a safe area;

[0095] Areas other than safe areas are recorded as dangerous areas;

[0096] This hydraulic control system for an excavator can effectively prevent the excavator from entering the dangerous area by mistake by dividing it into safe areas and dangerous areas, thereby reducing operational risks. This area division first improves the safety performance of the excavator. During excavation operations, mistakenly entering the dangerous area may cause damage to the equipment or surrounding facilities, or even endanger personnel safety. Therefore, the division of safe and dangerous areas is introduced, so that the system can intelligently identify potential dangers and issue warnings or stop operations in a timely manner to prevent accidents. At the same time, during the operation, the driver can focus more on the work task without worrying about potential dangers, reducing work pressure and the difficulty of complex operations;

[0097] Acquiring an operation instruction issued by a driver to the excavator, wherein the operation instruction includes a crawler movement instruction and an excavation instruction;

[0098] Obtain two crawlers of the excavator, select one crawler as the first crawler, and the other crawler as the second crawler;

[0099] During the crawler movement operation of the excavator, judging whether the excavator has a first type of false touch according to the first type of false touch prevention strategy;

[0100] If the excavator has the first type of false touch, the crawler movement operation of the excavator will not be performed;

[0101] If the excavator does not have the first type of false touch, the crawler movement operation of the excavator is performed;

[0102] Get the excavator's boom, arm, and bucket;

[0103] During the excavation operation of the excavator, judging whether the excavator has a second type of false touch according to the second type of false touch prevention strategy;

[0104] If the excavator has the second type of false touch, the excavation operation of the excavator will not be performed;

[0105] If the excavator does not have the second type of false touch, the excavation operation on the excavator is performed;

[0106] During the excavation operation of the excavator, judging whether the excavator has a third type of false touch according to the third type of false touch prevention strategy;

[0107] If the excavator has the third type of false touch, the excavation operation of the excavator will not be performed;

[0108] If the excavator does not have the third type of false touch, the excavation operation on the excavator is performed.

[0109] In the process of performing crawler movement operation on the excavator, judging whether the excavator has a first type of false touch according to the first type of false touch prevention strategy specifically includes:

[0110] After simulating the crawler movement operation of the excavator, the area where the ground is expected to contact the first crawler is recorded as the first area;

[0111] After simulating the crawler movement operation of the excavator, the area where the ground is expected to contact the second crawler is recorded as the second area;

[0112] Get the safe area;

[0113] Obtain the area of ​​the region where the first region and the safety region overlap, recorded as the first area;

[0114] Obtain the area of ​​the region where the second region and the safety region overlap, recorded as the second area;

[0115] If the first area is equal to zero and the second area is also equal to zero, it is determined that the excavator does not have the first type of false touch;

[0116] If the first area is not equal to zero, or the second area is not equal to zero, it is determined that the excavator has a first type of false touch;

[0117] This hydraulic control system for an excavator can accurately determine whether the crawler will touch the dangerous area by simulating the area where the crawler contacts the ground. The crawler is a key component of the excavator's movement, and its movement operation directly affects the selection and adjustment of the working area. The system can ensure that the crawler's movement operation is carried out within a predetermined safety range by introducing the first type of anti-misoperation strategy, so as to avoid the excavator entering the dangerous area due to misoperation. By simulating the moving trajectory of the crawler and the area where the crawler contacts the ground, the system can determine in advance whether the crawler will enter the dangerous area, thereby taking anti-misoperation operations and improving the safety of the overall operation.

[0118] In the process of performing the excavation operation on the excavator, judging whether the excavator has the second type of false touch according to the second type of false touch prevention strategy specifically includes:

[0119] Obtain the central axis of the excavator arm, recorded as the first central axis;

[0120] After simulating the excavation operation of the excavator, the vertical downward projection of the first central axis on the ground is estimated and recorded as the first line segment;

[0121] Obtain the center axis of the excavator arm, which is recorded as the second center axis;

[0122] After simulating the excavation operation of the excavator, the vertical downward projection of the second central axis on the ground is estimated and recorded as the second line segment;

[0123] Obtain the center axis of the excavator bucket, which is recorded as the third center axis;

[0124] After simulating the excavation operation of the excavator, the vertical downward projection of the third central axis on the ground is estimated and recorded as the third line segment;

[0125] A line segment formed by connecting the first line segment, the second line segment, and the third line segment is obtained, and recorded as a target line segment.

[0126] In the process of performing the excavation operation on the excavator, judging whether the excavator has the second type of false touch according to the second type of false touch prevention strategy, further includes:

[0127] Get the length of the target line segment, recorded as the first length;

[0128] Obtain the center axis of the first crawler, recorded as the fourth center axis;

[0129] Obtain the center axis of the second crawler, recorded as the fifth center axis;

[0130] After simulating the excavation operation of the excavator, the plane where the fourth central axis and the fifth central axis are simultaneously located is estimated to be recorded as the first plane;

[0131] Draw a straight line on the first plane that is parallel to the fourth central axis and the fifth central axis and has an equal distance to the fourth central axis and the fifth central axis, and record it as the reference straight line;

[0132] Draw a straight line on the first plane that is perpendicular to the reference straight line and record it as the auxiliary straight line.

[0133] In the process of performing the excavation operation on the excavator, judging whether the excavator has the second type of false touch according to the second type of false touch prevention strategy, further includes:

[0134] Obtain the smaller angle of the two angles formed by the intersection of the straight line where the target line segment is located and the auxiliary straight line, and record it as the first angle;

[0135] Set the angle threshold;

[0136] The angle threshold is used to characterize the size of the first angle;

[0137] Setting a first length threshold;

[0138] The first length threshold is used to characterize the magnitude of the first length value when the first angle is less than the angle threshold;

[0139] When 0<first angle<angle threshold, compare the value of the first length with the first length threshold;

[0140] If the value of the first length is less than the first length threshold, it is determined that the excavator does not have the second type of false touch;

[0141] If the value of the first length is greater than or equal to the first length threshold, it is determined that the excavator has a second type of false touch;

[0142] The hydraulic control system for an excavator obtains the central axis of a boom, an arm and a bucket, and simulates the vertical downward projection of the central axis of the boom, the arm and the bucket on the ground to form a target line segment, obtains the central axis of a first crawler and a second crawler, simulates the acquisition of a first plane, and obtains an auxiliary straight line on the first plane; obtains the smaller angle of the two angles formed by the intersection of the straight line where the target line segment is located and the auxiliary straight line, recorded as the first angle, and sets an angle threshold, a first length threshold and a second length threshold. When 0<the first angle<the angle threshold, it represents that the boom, the arm and the bucket of the excavator are rotated to the position on the side of the crawler of the excavator; if the length of the target line segment is greater than or equal to the first length threshold, the boom, the arm and the bucket of the excavator are extended too long at this time, which will cause the center of gravity of the excavator to move outward, and may cause the excavator to roll over. Therefore, when 0<the first angle<the angle threshold and the length of the target line segment is greater than or equal to the first length threshold, it is determined that the excavator has a second type of false touch;

[0143] In the process of operating the excavator, judging whether the excavator has a second type of false touch according to the second type of false touch prevention strategy, further includes:

[0144] Setting a second length threshold;

[0145] The second length threshold is used to characterize the magnitude of the first length value when the first angle is greater than or equal to the angle threshold;

[0146] When the first angle is greater than or equal to the angle threshold, comparing the value of the first length with the second length threshold;

[0147] If the value of the first length is less than the second length threshold, it is determined that the excavator does not have the second type of false touch;

[0148] If the value of the first length is greater than or equal to the second length threshold, it is determined that the excavator has a second type of false touch;

[0149] The hydraulic control system for an excavator obtains the central axis of a boom, an arm and a bucket, and simulates the vertical downward projection of the central axis of the boom, the arm and the bucket on the ground to form a target line segment, obtains the central axis of a first crawler and a second crawler, simulates the acquisition of a first plane, and obtains an auxiliary straight line on the first plane; obtains the smaller angle of two angles formed by the intersection of the straight line where the target line segment is located and the auxiliary straight line, recorded as the first angle, and sets an angle threshold, a first length threshold and a second length threshold. When the first angle is ≥ the angle threshold, it means that the boom, the arm and the bucket of the excavator are The bucket has not rotated to the position of the side of the excavator crawler; if the length of the target line segment is greater than or equal to the second length threshold, the excavator's boom, arm and bucket are stretched too long, which will cause the excavator's center of gravity to move outward and may also cause the excavator to roll over. Therefore, when the first angle ≥ the angle threshold and the length of the target line segment is greater than or equal to the second length threshold, the excavator is determined to have the second type of false touch; this advance judgment method can prevent the excavator from rolling over due to the movement of the boom, arm or bucket during operation, reduce potential accident risks, and greatly improve construction safety;

[0150] In the process of performing the excavation operation on the excavator, judging whether the excavator has the third type of false touch according to the third type of false touch prevention strategy specifically includes:

[0151] Get the driver's operating habits of the excavator, specifically:

[0152] Obtain the time when the driver starts the excavator, and record it as the start time;

[0153] From the start time to the thirty minutes after the start time;

[0154] Obtain the driving direction of the excavator joystick controlled by the driver to form a driving direction library;

[0155] For each propulsion direction in the propulsion direction library, the corresponding operation force and propulsion distance are obtained to form an operation habit library;

[0156] This hydraulic control system for excavators records the driver's operating habits within thirty minutes after the start time and generates a habit library. The system can make intelligent adjustments and optimizations based on the driver's personalized operating methods. This strategy of introducing the driver's operating habits can not only improve the adaptability and flexibility of the system, but also enhance the driver's operating comfort. By analyzing the driver's push rod direction, operating force and propulsion distance, the system can automatically adjust according to the operating characteristics of different drivers to improve detection accuracy;

[0157] For the same propulsion direction, the average operation force and average propulsion distance in the same propulsion direction are calculated and recorded as average force and average distance, respectively.

[0158] In the process of performing the excavation operation on the excavator, judging whether the excavator has a third type of false touch according to the third type of false touch prevention strategy, further includes:

[0159] Set the force control accuracy;

[0160] The force control accuracy is used to characterize the force applied by the driver to operate the excavator joystick;

[0161] Set the distance control accuracy;

[0162] The distance control accuracy is used to characterize the distance that the driver pushes the excavator joystick;

[0163] This hydraulic control system for excavators can monitor and adjust the driver's operation more accurately by setting the force control accuracy and distance control accuracy. This intelligent optimization mechanism ensures that the driver's operation is within the safety range through the set accuracy range. This optimization mechanism can effectively reduce misoperation through preset accuracy parameters;

[0164] Thirty minutes after the start time;

[0165] For every operation of the excavator joystick by the driver;

[0166] Obtain the corresponding propulsion direction, operation force and propulsion distance, which are recorded as target direction, target force and target distance respectively;

[0167] Obtain the average force and average distance in the same direction as the target, and record them as the first force and the first distance respectively;

[0168] If the first force - force control accuracy ≤ target force ≤ first force + force control accuracy and the first distance - distance control accuracy ≤ target distance ≤ first distance + distance control accuracy; it is determined that the excavator has not experienced the third type of false touch; and the target direction, target force and target distance are included in the operation habit library, and the operation habit library is updated.

[0169] In the process of performing the excavation operation on the excavator, judging whether the excavator has a third type of false touch according to the third type of false touch prevention strategy, further includes:

[0170] If the target force is less than the first force - force control accuracy, or the target force is greater than the first force + force control accuracy, or the target distance is less than the first distance - distance control accuracy, or the target distance is greater than the first distance + distance control accuracy, a reminder is sent to the driver, who selects whether the operation on the excavator is an accidental touch;

[0171] This hydraulic control system for an excavator can further improve the safety and accuracy of the operation by reminding the driver and asking him to actively confirm whether it is a false touch during the process of judging whether it is a false touch. This active confirmation mechanism not only provides an intelligent false touch judgment function, but also gives the driver the final decision-making power, avoiding the rigidity problem that may be caused by the fully automated operation of the system. In certain circumstances, the driver can judge the false touch situation according to the actual operating environment, which increases the flexibility and practicality of the system. Especially in some special circumstances, such as sudden changes in terrain or environments that require rapid response, the driver's judgment may be more intuitive than the system. The active confirmation mechanism provides the driver with more control and improves the reliability and safety of the entire operating system;

[0172] If the driver selects that the operation of the excavator this time is an accidental touch, then the excavator is deemed to have a third type of accidental touch;

[0173] If the driver selects that the operation of the excavator this time is not an accidental touch, it is determined that the excavator has not experienced the third type of accidental touch; and the target direction, target force and target distance are included in the operation habit library, and the operation habit library is updated;

[0174] This is a hydraulic control system for excavators. The system can not only establish an operating habit library, but also update the contents of the library according to the real-time operation of the driver. This real-time update mechanism ensures the dynamic adaptability of the system, and it can be adjusted according to the changes in the driver's operation. Through continuous self-learning and updating, the system can reduce the possibility of misoperation while maintaining operational efficiency. Especially in complex or high-pressure working environments, the driver's operating habits may change as working conditions change. The system can quickly adapt to these changes and improve the working efficiency of the excavator through real-time recording and updating. This mechanism can also reduce the driver's work pressure, allowing him to focus on the task itself without having to worry about the problem of misoperation frequently;

[0175] This hydraulic control system for excavators introduces a third type of anti-mistouch strategy based on the driver's operating habits. By recording the driver's propulsion direction, operating force and propulsion distance when operating the excavator, a driver's operating habit library is established. The system can monitor the driver's operating behavior in real time to determine whether it is consistent with the operating habits. If the operation exceeds the normal range, the system will issue a prompt and the driver can choose to confirm whether it is a mistouch operation. This strategy not only improves the accuracy of mistouch detection, but also updates the driver's operating habit library over time, making the system more intelligent and personalized.

[0176] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0177] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A hydraulic control system for an excavator, characterized in that: include: Obtain the operating area where the excavator is allowed to operate and record it as a safe area; Areas other than safe areas are recorded as dangerous areas; Acquiring an operation instruction issued by a driver to the excavator, wherein the operation instruction includes a crawler movement instruction and an excavation instruction; Obtain two crawlers of the excavator, select one crawler as the first crawler, and the other crawler as the second crawler; During the crawler movement operation of the excavator, judging whether the excavator has a first type of false touch according to the first type of false touch prevention strategy; If the excavator has the first type of false touch, the crawler movement operation of the excavator will not be performed; If the excavator does not have the first type of false touch, the crawler movement operation of the excavator is performed; Get the excavator's boom, arm, and bucket; During the excavation operation of the excavator, judging whether the excavator has a second type of false touch according to the second type of false touch prevention strategy; If the excavator has the second type of false touch, the excavation operation on the excavator will not be performed; If the excavator does not have the second type of false touch, the excavation operation on the excavator is performed; During the excavation operation of the excavator, judging whether the excavator has a third type of false touch according to the third type of false touch prevention strategy; If the excavator has the third type of false touch, the excavation operation of the excavator will not be performed; If the excavator does not have the third type of false touch, the excavation operation on the excavator is performed.

2. A hydraulic control system for an excavator according to claim 1, characterized in that: In the process of performing crawler movement operation on the excavator, judging whether the excavator has a first type of false touch according to the first type of false touch prevention strategy specifically includes: After simulating the crawler movement operation of the excavator, the area where the ground is expected to contact the first crawler is recorded as the first area; After simulating the crawler movement operation of the excavator, the area where the ground is expected to contact the second crawler is recorded as the second area; Get the safe area; Obtain the area of ​​the region where the first region and the safety region overlap, recorded as the first area; Obtain the area of ​​the region where the second region and the safety region overlap, recorded as the second area; If the first area is equal to zero and the second area is also equal to zero, it is determined that the excavator does not have the first type of false touch; If the first area is not equal to zero, or the second area is not equal to zero, it is determined that the excavator has a first type of false touch.

3. A hydraulic control system for an excavator according to claim 1, characterized in that: In the process of performing the excavation operation on the excavator, judging whether the excavator has the second type of false touch according to the second type of false touch prevention strategy specifically includes: Obtain the central axis of the excavator arm, recorded as the first central axis; After simulating the excavation operation of the excavator, the vertical downward projection of the first central axis on the ground is estimated and recorded as the first line segment; Obtain the center axis of the excavator arm, which is recorded as the second center axis; After simulating the excavation operation of the excavator, the vertical downward projection of the second central axis on the ground is estimated and recorded as the second line segment; Obtain the center axis of the excavator bucket, which is recorded as the third center axis; After simulating the excavation operation of the excavator, the vertical downward projection of the third central axis on the ground is estimated and recorded as the third line segment; A line segment formed by connecting the first line segment, the second line segment, and the third line segment is obtained, and recorded as a target line segment.

4. A hydraulic control system for an excavator according to claim 3, characterized in that: In the process of performing the excavation operation on the excavator, judging whether the excavator has the second type of false touch according to the second type of false touch prevention strategy, further includes: Get the length of the target line segment, recorded as the first length; Obtain the center axis of the first crawler, recorded as the fourth center axis; Obtain the center axis of the second crawler, recorded as the fifth center axis; After simulating the excavation operation of the excavator, the plane where the fourth central axis and the fifth central axis are simultaneously located is estimated to be recorded as the first plane; Draw a straight line on the first plane that is parallel to the fourth central axis and the fifth central axis and has an equal distance to the fourth central axis and the fifth central axis, and record it as the reference straight line; Draw a straight line on the first plane that is perpendicular to the reference straight line and record it as the auxiliary straight line.

5. A hydraulic control system for an excavator according to claim 4, characterized in that: In the process of performing the excavation operation on the excavator, judging whether the excavator has the second type of false touch according to the second type of false touch prevention strategy, further includes: Obtain the smaller angle of the two angles formed by the intersection of the straight line where the target line segment is located and the auxiliary straight line, and record it as the first angle; Set the angle threshold; The angle threshold is used to characterize the size of the first angle; Setting a first length threshold; The first length threshold is used to characterize the magnitude of the first length value when the first angle is less than the angle threshold; When 0<first angle<angle threshold, compare the value of the first length with the first length threshold; If the value of the first length is less than the first length threshold, it is determined that the excavator does not have the second type of false touch; If the value of the first length is greater than or equal to the first length threshold, it is determined that the excavator has a second type of false touch.

6. A hydraulic control system for an excavator according to claim 5, characterized in that: In the process of operating the excavator, judging whether the excavator has a second type of false touch according to the second type of false touch prevention strategy, further includes: Setting a second length threshold; The second length threshold is used to characterize the magnitude of the first length value when the first angle is greater than or equal to the angle threshold; When the first angle is greater than or equal to the angle threshold, comparing the value of the first length with the second length threshold; If the value of the first length is less than the second length threshold, it is determined that the excavator does not have the second type of false touch; If the value of the first length is greater than or equal to the second length threshold, it is determined that the excavator has a second type of false touch.

7. The hydraulic control system for an excavator according to claim 1, characterized in that: In the process of performing the excavation operation on the excavator, judging whether the excavator has the third type of false touch according to the third type of false touch prevention strategy specifically includes: Get the driver's operating habits of the excavator, specifically: Obtain the time when the driver starts the excavator, and record it as the start time; From the start time to the thirty minutes after the start time; Obtain the driving direction of the excavator joystick controlled by the driver to form a driving direction library; For each propulsion direction in the propulsion direction library, the corresponding operation force and propulsion distance are obtained to form an operation habit library; For the same propulsion direction, the average operation force and average propulsion distance in the same propulsion direction are calculated and recorded as average force and average distance, respectively.

8. A hydraulic control system for an excavator according to claim 7, characterized in that: In the process of performing the excavation operation on the excavator, judging whether the excavator has a third type of false touch according to the third type of false touch prevention strategy, further includes: Set the force control accuracy; The force control accuracy is used to characterize the force applied by the driver to operate the excavator joystick; Set the distance control accuracy; The distance control accuracy is used to characterize the distance that the driver pushes the excavator joystick; Thirty minutes after the start time; For every operation of the excavator joystick by the driver; Obtain the corresponding propulsion direction, operation force and propulsion distance, which are recorded as target direction, target force and target distance respectively; Obtain the average force and average distance in the same direction as the target, and record them as the first force and the first distance respectively; If the first force - force control accuracy ≤ target force ≤ first force + force control accuracy and the first distance - distance control accuracy ≤ target distance ≤ first distance + distance control accuracy; it is determined that the excavator has not experienced the third type of false touch; and the target direction, target force and target distance are included in the operation habit library, and the operation habit library is updated.

9. A hydraulic control system for an excavator according to claim 8, characterized in that: In the process of performing the excavation operation on the excavator, judging whether the excavator has a third type of false touch according to the third type of false touch prevention strategy, further includes: If the target force is less than the first force - force control accuracy, or the target force is greater than the first force + force control accuracy, or the target distance is less than the first distance - distance control accuracy, or the target distance is greater than the first distance + distance control accuracy, a reminder is sent to the driver, who selects whether the operation on the excavator is an accidental touch; If the driver selects that the operation of the excavator this time is an accidental touch, then the excavator is deemed to have a third type of accidental touch; If the driver selects that the operation of the excavator this time is not an accidental touch, it is determined that the excavator has not had the third type of accidental touch; and the target direction, target force and target distance are included in the operation habit library, and the operation habit library is updated.

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