Method and device for intelligently controlling excavator bucket and excavator

Abstract

The invention relates to the technical field of excavator control, in particular to a method and device for intelligently controlling an excavator bucket and an excavator. The method comprises the following steps: acquiring current displacement data of a first hydraulic cylinder of the excavator to obtain first displacement data; calculating a movable arm joint rotation angle of the excavating movable arm at the current moment according to the first displacement data; acquiring current displacement data of a second hydraulic cylinder of the excavator to obtain second displacement data; calculating a bucket rod joint rotation angle of the excavator bucket rod at the current moment according to the second displacement data; calculating a target joint rotation angle of the digging bucket according to the movable arm joint rotation angle, the bucket rod joint rotation angle and a predetermined target attitude angle; and controlling a third hydraulic cylinder of the excavator to drive the digging bucket to rotate according to the target joint rotation angle so as to adjust the current attitude angle of the digging bucket. The current attitude angle of the excavator bucket can be automatically adjusted, manual operation adjustment is not needed, and therefore the accuracy and stability of excavator bucket angle control are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of excavator control, and particularly to a method, device and excavator for intelligently controlling an excavator bucket. Background Art

[0002] During the process of excavation operation or material transportation of an excavator, it is often necessary to control the attitude angle of the bucket to remain as unchanged as possible. Currently, usually, the excavator driver manually operates the boom, arm and bucket of the excavator to achieve the purpose of maintaining the bucket angle.

[0003] However, it is found in practice that it is difficult to operate the boom, arm and bucket of the excavator simultaneously during the operation process, resulting in relatively low accuracy and stability of the excavator driver's manual operation to control the bucket angle, and reducing the operation efficiency of the driver to control the excavator.

[0004] Therefore, how to improve the accuracy and stability of the excavator bucket angle control, so as to improve the excavator operation efficiency is a technical problem to be solved urgently at present. Summary of the Invention

[0005] The present invention provides a method, device and excavator for intelligently controlling an excavator bucket, which can improve the accuracy and stability of the excavator bucket angle control, thereby improving the excavator operation efficiency.

[0006] To solve the above technical problems, in the first aspect of the present invention, a method for intelligently controlling an excavator bucket is disclosed, and the method includes:

[0007] Obtain the current displacement data of the first hydraulic cylinder of the excavator to obtain the first displacement data; the first hydraulic cylinder is used to drive the boom of the excavator to rotate;

[0008] Calculate the boom joint angle of the boom at the current moment according to the first displacement data; the boom joint angle is the angle between the straight line where the first node and the second node are located and the horizontal plane, the first node is the connection point between the boom and the excavator turntable, and the second node is the connection point between the boom and the arm of the excavator;

[0009] Obtain the current displacement data of the second hydraulic cylinder of the excavator to obtain the second displacement data; the second hydraulic cylinder is used to drive the arm of the excavator to rotate;

[0010] Calculate the arm joint angle of the arm at the current moment according to the second displacement data; the arm joint angle is the angle between the straight line where the first node and the second node are located and the straight line where the second node and the third node are located, and the third node is the connection point between the arm and the bucket of the excavator;

[0011] Calculate a target joint angle of the excavation bucket according to the boom joint angle, the stick joint angle, and a pre-determined target attitude angle; the target attitude angle is an angle between a straight line where the third node and the fourth node are located and a horizontal plane obtained at a previous moment, the fourth node is a tip vertex of the excavation bucket, and the target joint angle is an angle between a straight line where the third node and the second node are located and a straight line where the third node and the fourth node are located;

[0012] Control a third hydraulic cylinder of the excavator to drive the excavation bucket to rotate according to the target joint angle so as to adjust a current attitude angle of the excavation bucket; the third hydraulic cylinder is used to drive the excavation bucket to rotate, and the current attitude angle is an angle between a straight line where the third node and the fourth node are located and a horizontal plane at the current moment.

[0013] As an optional implementation manner, in the first aspect of the present invention, the calculating the boom joint angle of the excavation boom at the current moment according to the first displacement data includes:

[0014] Perform angle conversion according to the first displacement data to obtain a first calculated angle; the first calculated angle is an angle between a straight line where the first node and the fifth node are located and a straight line where the first node and the sixth node are located, the fifth node is a connection point of the first hydraulic cylinder and the excavation turntable, and the sixth node is a connection point of the first hydraulic cylinder and the excavation boom;

[0015] Obtain a pre-determined first preset angle and a second preset angle, and calculate a sum value of the first preset angle and the second preset angle to obtain a second calculated angle; the first preset angle is an angle between a straight line where the first node and the fifth node are located and a horizontal plane, the second preset angle is an angle between a straight line where the first node and the sixth node are located and a straight line where the first node and the second node are located, and both the first preset angle and the second preset angle are fixed values;

[0016] Calculate a difference between the first calculated angle and the second calculated angle to obtain the boom joint angle of the excavation boom at the current moment.

[0017] As an optional implementation manner, in the first aspect of the present invention, the calculating the stick joint angle of the excavation stick at the current moment according to the second displacement data includes:

[0018] Perform angle conversion based on the second displacement data to obtain a third calculated angle; the third calculated angle is the included angle between the straight line where the second node and the seventh node are located and the straight line where the second node and the eighth node are located, the seventh node is the connection point of the second hydraulic cylinder and the digging boom, and the eighth node is the connection point of the second hydraulic cylinder and the digging bucket rod;

[0019] Obtain a pre-determined third preset angle and a fourth preset angle, and calculate the sum of the third preset angle, the fourth preset angle, and the third calculated angle to obtain a fourth calculated angle; the third preset angle is the included angle between the straight line where the second node and the first node are located and the straight line where the second node and the seventh node are located, the fourth preset angle is the included angle between the straight line where the second node and the eighth node are located and the straight line where the second node and the third node are located, and both the third preset angle and the fourth preset angle are fixed values;

[0020] Calculate the difference between the circumferential angle and the fourth calculated angle to obtain the bucket rod joint rotation angle of the digging bucket rod at the current moment.

[0021] As an optional implementation manner, in the first aspect of the present invention, the calculating the target joint angle of the digging bucket according to the boom joint rotation angle, the bucket rod joint rotation angle, and a pre-determined target attitude angle includes:

[0022] Calculate the sum of the target attitude angle and the bucket rod joint rotation angle to obtain a fifth calculated angle;

[0023] Calculate the difference between the boom joint rotation angle and the fifth calculated angle to obtain a target angle difference, and calculate the sum of the target angle difference and the circumferential angle to obtain the target joint angle of the digging bucket.

[0024] As an optional implementation manner, in the first aspect of the present invention, the controlling the third hydraulic cylinder of the excavator to drive the digging bucket to rotate according to the target joint angle to adjust the current attitude angle of the digging bucket includes:

[0025] Calculate the target working displacement of the third hydraulic cylinder of the excavator according to the target joint angle;

[0026] Control the third hydraulic cylinder to drive the digging bucket to rotate according to the target working displacement, thereby adjusting the current attitude angle of the digging bucket.

[0027] As an optional implementation manner, in the first aspect of the present invention, the calculating the target working displacement of the third hydraulic cylinder of the excavator according to the target joint angle includes:

[0028] Obtain a pre-determined fifth preset angle and a sixth preset angle, and calculate the sum of the fifth preset angle, the sixth preset angle, and the target joint rotation angle to obtain a sixth calculated angle; the fifth preset angle is the included angle between the straight line where the second node and the third node are located and the straight line where the third node and the first mechanism point are located, the first mechanism point is the connection point between the linkage mechanism of the excavator and the digging stick, the sixth preset angle is the included angle between the straight line where the third node and the fourth node are located and the straight line where the third node and the second mechanism point are located, the second mechanism point is the connection point between the linkage mechanism and the digging bucket, and both the fifth preset angle and the sixth preset angle are fixed values;

[0029] Calculate the difference between the circumferential angle and the sixth calculated angle to obtain a seventh calculated angle; the seventh calculated angle is the included angle between the straight line where the third node and the first mechanism point are located and the straight line where the third node and the second mechanism point are located;

[0030] Perform angle conversion according to the seventh calculated angle to obtain an eighth calculated angle; the eighth calculated angle is the included angle between the straight line where the first mechanism point and the ninth node are located and the straight line where the first mechanism point and the tenth node are located, the ninth node is the connection point between the third hydraulic cylinder of the excavator and the digging stick, and the tenth node is the connection point between the third hydraulic cylinder of the excavator and the linkage mechanism;

[0031] Calculate the target working displacement of the third hydraulic cylinder of the excavator according to the eighth calculated angle.

[0032] As an optional implementation manner, in the first aspect of the present invention, the controlling the third hydraulic cylinder to drive the digging bucket to rotate according to the target working displacement, and then adjusting the current attitude angle of the digging bucket includes:

[0033] Perform speed conversion according to the target working displacement to obtain the target hydraulic speed of the third hydraulic cylinder;

[0034] Determine the valve current of the third hydraulic cylinder according to the target hydraulic speed to obtain a target valve current;

[0035] Supply power to the third hydraulic cylinder according to the target valve current to drive the digging bucket to rotate, and then adjust the current attitude angle of the digging bucket.

[0036] The second aspect of the present invention discloses a device for intelligently controlling an excavator bucket, and the device includes:

[0037] The first data acquisition module is configured to acquire the current displacement data of the first hydraulic cylinder of the excavator to obtain first displacement data; the first hydraulic cylinder is used to drive the digging boom of the excavator to rotate;

[0038] The first angle calculation module is configured to calculate the boom joint rotation angle of the digging boom at the current moment according to the first displacement data; the boom joint rotation angle is the angle between the straight line where the first node and the second node are located and the horizontal plane, the first node is the connection point between the digging boom and the slewing platform of the excavator, and the second node is the connection point between the digging boom and the dipper stick of the excavator;

[0039] The second data acquisition module is configured to acquire the current displacement data of the second hydraulic cylinder of the excavator to obtain second displacement data; the second hydraulic cylinder is used to drive the dipper stick to rotate;

[0040] The second angle calculation module is configured to calculate the dipper stick joint rotation angle of the dipper stick at the current moment according to the second displacement data; the dipper stick joint rotation angle is the angle between the straight line where the first node and the second node are located and the straight line where the second node and the third node are located, and the third node is the connection point between the dipper stick and the digging bucket of the excavator;

[0041] The third angle calculation module is configured to calculate the target joint rotation angle of the digging bucket according to the boom joint rotation angle, the dipper stick joint rotation angle and a predetermined target attitude angle; the target attitude angle is the angle between the straight line where the third node and the fourth node are located and the horizontal plane acquired at a previous moment, the fourth node is the apex of the bucket tip of the digging bucket, and the target joint rotation angle is the angle between the straight line where the third node and the second node are located and the straight line where the third node and the fourth node are located;

[0042] The bucket angle adjustment module is configured to control the third hydraulic cylinder of the excavator to drive the digging bucket to rotate according to the target joint rotation angle so as to adjust the current attitude angle of the digging bucket; the third hydraulic cylinder is used to drive the digging bucket to rotate, and the current attitude angle is the angle between the straight line where the third node and the fourth node are located and the horizontal plane at the current moment.

[0043] As an optional implementation manner, in the second aspect of the present invention, the specific manner in which the first angle calculation module calculates the boom joint rotation angle of the digging boom at the current moment according to the first displacement data includes:

[0044] Perform angle conversion based on the first displacement data to obtain a first calculated angle; the first calculated angle is the included angle between the straight line where the first node and the fifth node are located and the straight line where the first node and the sixth node are located, the fifth node is the connection point of the first hydraulic cylinder and the excavation turntable, and the sixth node is the connection point of the first hydraulic cylinder and the excavation boom;

[0045] Obtain a pre-determined first preset angle and a second preset angle, and calculate the sum value of the first preset angle and the second preset angle to obtain a second calculated angle; the first preset angle is the included angle between the straight line where the first node and the fifth node are located and the horizontal plane, the second preset angle is the included angle between the straight line where the first node and the sixth node are located and the straight line where the first node and the second node are located, and both the first preset angle and the second preset angle are fixed values;

[0046] Calculate the difference between the first calculated angle and the second calculated angle to obtain the boom joint rotation angle of the excavation boom at the current moment.

[0047] As an optional implementation manner, in the second aspect of the present invention, the specific manner in which the second angle calculation module calculates the stick joint rotation angle of the excavation stick based on the second displacement data includes:

[0048] Perform angle conversion based on the second displacement data to obtain a third calculated angle; the third calculated angle is the included angle between the straight line where the second node and the seventh node are located and the straight line where the second node and the eighth node are located, the seventh node is the connection point of the second hydraulic cylinder and the excavation boom, and the eighth node is the connection point of the second hydraulic cylinder and the excavation stick;

[0049] Obtain a pre-determined third preset angle and a fourth preset angle, and calculate the sum value of the third preset angle, the fourth preset angle and the third calculated angle to obtain a fourth calculated angle; the third preset angle is the included angle between the straight line where the second node and the first node are located and the straight line where the second node and the seventh node are located, the fourth preset angle is the included angle between the straight line where the second node and the eighth node are located and the straight line where the second node and the third node are located, and both the third preset angle and the fourth preset angle are fixed values;

[0050] Calculate the difference between the circumferential angle and the fourth calculated angle to obtain the stick joint rotation angle of the excavation stick at the current moment.

[0051] As an alternative embodiment, in the second aspect of the present invention, the specific manner in which the third angle calculation module calculates the target joint angle of the excavation bucket according to the boom joint angle, the stick joint angle, and a pre-determined target attitude angle includes:

[0052] Calculate the sum value of the target attitude angle and the stick joint angle to obtain a fifth calculated angle;

[0053] Calculate the difference value between the boom joint angle and the fifth calculated angle to obtain a target angle difference, and calculate the sum value of the target angle difference and the circumferential angle to obtain the target joint angle of the excavation bucket.

[0054] As an alternative embodiment, in the second aspect of the present invention, the specific manner in which the bucket angle adjustment module controls the third hydraulic cylinder of the excavator to drive the excavation bucket to rotate according to the target joint angle to adjust the current attitude angle of the excavation bucket includes:

[0055] Calculate the target working displacement of the third hydraulic cylinder of the excavator according to the target joint angle;

[0056] Control the third hydraulic cylinder to drive the excavation bucket to rotate according to the target working displacement, thereby adjusting the current attitude angle of the excavation bucket.

[0057] As an alternative embodiment, in the second aspect of the present invention, the specific manner in which the bucket angle adjustment module calculates the target working displacement of the third hydraulic cylinder of the excavator according to the target joint angle includes:

[0058] Obtain a pre-determined fifth preset angle and a sixth preset angle, and calculate the sum value of the fifth preset angle, the sixth preset angle, and the target joint angle to obtain a sixth calculated angle; the fifth preset angle is the included angle between the straight line where the second node and the third node are located and the straight line where the third node and the first mechanism point are located, the first mechanism point is the connection point between the linkage mechanism of the excavator and the excavation stick, the sixth preset angle is the included angle between the straight line where the third node and the fourth node are located and the straight line where the third node and the second mechanism point are located, the second mechanism point is the connection point between the linkage mechanism and the excavation bucket, and both the fifth preset angle and the sixth preset angle are fixed values;

[0059] Calculate the difference value between the circumferential angle and the sixth calculated angle to obtain a seventh calculated angle; the seventh calculated angle is the included angle between the straight line where the third node and the first mechanism point are located and the straight line where the third node and the second mechanism point are located;

[0060] Perform angle conversion based on the seventh calculated angle to obtain an eighth calculated angle; the eighth calculated angle is the included angle between the straight line where the first mechanism point and the ninth node are located and the straight line where the first mechanism point and the tenth node are located, the ninth node is the connection point between the third hydraulic cylinder of the excavator and the digging bucket rod, and the tenth node is the connection point between the third hydraulic cylinder of the excavator and the linkage mechanism;

[0061] Calculate the target working displacement of the third hydraulic cylinder of the excavator according to the eighth calculated angle.

[0062] As an optional implementation manner, in the second aspect of the present invention, the specific manner in which the bucket angle adjustment module controls the third hydraulic cylinder to drive the digging bucket to rotate according to the target working displacement, and further adjusts the current attitude angle of the digging bucket includes:

[0063] Perform speed conversion according to the target working displacement to obtain the target hydraulic speed of the third hydraulic cylinder;

[0064] Determine the valve current of the third hydraulic cylinder according to the target hydraulic speed to obtain a target valve current;

[0065] Supply power to the third hydraulic cylinder according to the target valve current to drive the digging bucket to rotate, and further adjust the current attitude angle of the digging bucket.

[0066] The third aspect of the present invention discloses another device for intelligently controlling an excavator bucket, and the device includes:

[0067] A memory storing executable program code;

[0068] A processor coupled to the memory;

[0069] The processor calls the executable program code stored in the memory and executes a method for intelligently controlling an excavator bucket disclosed in the first aspect of the present invention.

[0070] The fourth aspect of the present invention discloses an excavator, which includes a digging turntable, a digging boom, a digging bucket rod, a digging bucket, a first hydraulic cylinder, a second hydraulic cylinder, and a third hydraulic cylinder, and executes a method for intelligently controlling an excavator bucket disclosed in the first aspect of the present invention through the digging turntable, the digging boom, the digging bucket rod, the digging bucket, the first hydraulic cylinder, the second hydraulic cylinder, and the third hydraulic cylinder.

[0071] The fifth aspect of the present invention discloses a computer storage medium, which stores computer instructions, and when the computer instructions are called by a processor, they are used to execute a method for intelligently controlling an excavator bucket disclosed in the first aspect of the present invention.

[0072] Compared with the prior art, the present invention has the following beneficial effects:

[0073] First, obtain the displacement data of the first hydraulic cylinder to calculate the current boom joint angle of the excavator's boom, and obtain the displacement data of the second hydraulic cylinder to calculate the current stick joint angle of the excavator's stick; then calculate the target joint angle of the excavating bucket according to the target attitude angle that the bucket needs to maintain and the calculated boom joint angle and stick joint angle; finally, control the third hydraulic cylinder to drive the excavating bucket to rotate according to the target joint angle to adjust the current attitude angle of the excavating bucket. Automatically adjust the joint angle of the bucket according to the current joint angles of the boom and stick of the excavator to adjust the current attitude angle of the excavating bucket, without manual operation to adjust the joint angle of the excavating bucket, thereby improving the accuracy and stability of the bucket angle control of the excavator, and further improving the operation efficiency of the excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0075] Figure 1 is a schematic flow chart of a method for intelligently controlling the bucket of an excavator disclosed in an embodiment of the present invention;

[0076] Figure 2 is a schematic diagram of the node positions of the excavator involved in an embodiment of the present invention;

[0077] Figure 3 is a schematic diagram of the relevant node relationships of the first hydraulic cylinder of the excavator in an embodiment of the present invention;

[0078] Figure 4 is a schematic diagram of the relevant node relationships of the second hydraulic cylinder of the excavator in an embodiment of the present invention;

[0079] Figure 5 is a schematic diagram of the relevant node relationships of the third hydraulic cylinder of the excavator in an embodiment of the present invention;

[0080] Figure 6 is a schematic structural diagram of a device for intelligently controlling the bucket of an excavator disclosed in an embodiment of the present invention;

[0081] Figure 7 is a schematic structural diagram of another device for intelligently controlling the bucket of an excavator disclosed in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0082] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0083] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product that includes a series of steps or units or is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products, or other steps or units.

[0084] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0085] When an excavator is performing excavation or material transportation, it is often necessary to control the bucket attitude angle to remain as constant as possible. Currently, the excavator driver usually manually operates the excavator boom, dipper arm and bucket to achieve the purpose of maintaining the bucket angle.

[0086] However, practice has found that it is difficult to simultaneously operate the excavator's boom, dipper arm and bucket during operation, which makes the excavator driver's manual control of the bucket angle less accurate and stable, reducing the driver's operating efficiency in controlling the excavator.

[0087] Therefore, how to improve the accuracy and stability of the excavator bucket angle control, thereby improving the excavator operating efficiency is a technical problem that needs to be solved urgently.

[0088] In order to solve the above technical problems, the present invention discloses a method, device and excavator for intelligently controlling an excavator bucket, which can improve the accuracy and stability of the excavator bucket angle control, thereby improving the excavator operating efficiency.

[0089] Embodiment 1

[0090] See also Figure 1 ,Figure 1 It is a schematic flow chart of a method for intelligently controlling an excavator bucket disclosed in an embodiment of the present invention. Figure 1 The bucket angle control method shown can be applied to a bucket angle control device, which can improve the accuracy and stability of excavator bucket angle control. Further, this device can be integrated into the bucket control system of the excavator or exist independently of the bucket control system of the excavator, and the embodiments of the present invention do not make limitations. As Figure 1 shown, a method for intelligently controlling an excavator bucket disclosed in an embodiment of the present invention includes but is not limited to the following operations:

[0091] 101. Obtain the current displacement data of the first hydraulic cylinder of the excavator to obtain the first displacement data; the first hydraulic cylinder is used to drive the excavation boom of the excavator to rotate;

[0092] 102. Calculate the boom joint rotation angle of the excavation boom at the current moment according to the first displacement data; the boom joint rotation angle is the angle between the straight line where the first node and the second node are located and the horizontal plane, the first node is the connection point between the excavation boom and the excavation turntable of the excavator, and the second node is the connection point between the excavation boom and the excavation dipper stick of the excavator;

[0093] 103. Obtain the current displacement data of the second hydraulic cylinder of the excavator to obtain the second displacement data; the second hydraulic cylinder is used to drive the excavation dipper stick to rotate;

[0094] 104. Calculate the dipper stick joint rotation angle of the excavation dipper stick at the current moment according to the second displacement data; the dipper stick joint rotation angle is the angle between the straight line where the first node and the second node are located and the straight line where the second node and the third node are located, and the third node is the connection point between the excavation dipper stick and the excavation bucket of the excavator;

[0095] 105. Calculate the target joint rotation angle of the excavation bucket according to the boom joint rotation angle, the dipper stick joint rotation angle and a pre-determined target attitude angle; the target attitude angle is the angle between the straight line where the third node and the fourth node are located and the horizontal plane obtained at a previous moment, the fourth node is the tip vertex of the excavation bucket, and the target joint rotation angle is the angle between the straight line where the third node and the second node are located and the straight line where the third node and the fourth node are located;

[0096] 106. Control the third hydraulic cylinder of the excavator to drive the excavation bucket to rotate according to the target joint rotation angle to adjust the current attitude angle of the excavation bucket; the third hydraulic cylinder is used to drive the excavation bucket to rotate, and the current attitude angle is the angle between the straight line where the third node and the fourth node are located and the horizontal plane at the current moment.

[0097] Please refer to Figure 2 , Figure 2 which is a schematic diagram of the node positions of the excavator involved in the embodiment of the present invention. As Figure 2As shown in the figure, the first node is denoted as A, the second node as B, the third node as C, and the fourth node as D. Any point on the same horizontal line as point A is taken as N. In the embodiment of the present invention, ∠BAN is the boom joint rotation angle, ∠ABC is the stick joint rotation angle, ∠BCD is the target joint rotation angle of the bucket, and ∠θ is the attitude angle of the bucket. In some other implementation scenarios, for the convenience of angle conversion, the included angle between the extension line of line segment AB and line segment BC can also be used as the stick joint rotation angle, or the included angle between the extension line of line segment BC and line segment CD can be used as the joint rotation angle of the bucket. In the embodiment of the present invention, the displacement of the hydraulic cylinder and the joint rotation angle of the working structure are converted through the conversion relationship between the joint space and the driving space. The joint space is composed of the joint rotation angles of each working structure of the excavator, and the joint space at least includes the slewing angle of the excavating turntable, the boom joint rotation angle of the excavating boom, the stick joint rotation angle of the excavating stick, and the bucket joint rotation angle of the excavating bucket. The driving space is composed of the motion parameters of each hydraulic cylinder of the excavator, and the driving space at least includes the displacement information of the first hydraulic cylinder, the displacement information of the second hydraulic cylinder, and the displacement information of the third hydraulic cylinder.

[0098] Further, after obtaining the first displacement data and the second displacement data, the displacement data can be preprocessed by means of Kalman filtering to eliminate the influence of noise interference data.

[0099] It can be seen that in the embodiment of the present invention, first, the displacement data of the first hydraulic cylinder is obtained to calculate the current boom joint rotation angle of the excavating boom of the excavator, and the displacement data of the second hydraulic cylinder is obtained to calculate the current stick joint rotation angle of the excavating stick of the excavator; then, according to the target attitude angle that the bucket needs to maintain and the calculated boom joint rotation angle and stick joint rotation angle, the target joint rotation angle of the excavating bucket is calculated; finally, according to the target joint rotation angle, the third hydraulic cylinder is controlled to drive the excavating bucket to rotate to adjust the current attitude angle of the excavating bucket. Automatically adjusting the joint rotation angle of the bucket according to the current joint rotation angles of the excavating boom and the excavating stick to adjust the current attitude angle of the excavating bucket, without manual operation to adjust the joint rotation angle of the excavating bucket, thereby improving the accuracy and stability of the bucket angle control of the excavator, and further improving the operation efficiency of the excavator.

[0100] In an alternative embodiment, specifically calculating the boom joint rotation angle of the excavating boom at the current moment according to the first displacement data includes:

[0101] Performing angle conversion according to the first displacement data to obtain a first calculated angle; the first calculated angle is the included angle between the straight line where the first node and the fifth node are located and the straight line where the first node and the sixth node are located, the fifth node is the connection point between the first hydraulic cylinder and the excavating turntable, and the sixth node is the connection point between the first hydraulic cylinder and the excavating boom;

[0102] Obtain a pre-determined first preset angle and a second preset angle, and calculate the sum value of the first preset angle and the second preset angle to obtain a second calculated angle; the first preset angle is the included angle between the straight line where the first node and the fifth node are located and the horizontal plane, and the second preset angle is the included angle between the straight line where the first node and the sixth node are located and the straight line where the first node and the second node are located. Both the first preset angle and the second preset angle are fixed values;

[0103] Calculate the difference between the first calculated angle and the second calculated angle to obtain the boom joint rotation angle of the excavator at the current moment.

[0104] Please refer to Figure 2 and Figure 3 , Figure 3 which is a schematic diagram of the relevant node relationship of the first hydraulic cylinder of the excavator in the embodiment of the present invention. As Figure 2 and Figure 3 shown, the fifth node is denoted as E, and the sixth node is denoted as F. Then the first calculated angle is ∠EAF, the first preset angle is ∠EAN, and the second preset angle is ∠BAF. It can be understood that for the same excavator, both the first preset angle and the second preset angle are fixed values.

[0105] As Figure 3 shown, in △EAF, there is the following relationship:

[0106]

[0107] ∠BAN = ∠EAF - ∠EAN - ∠BAF

[0108] wherein, L AE represents the fixed distance between the first node and the fifth node; L AF represents the fixed distance between the first node and the sixth node; L EF represents the distance between the fifth node and the sixth node, that is, the current length of the first hydraulic cylinder represented by the first displacement data.

[0109] In another alternative embodiment, calculating the stick joint rotation angle of the excavator bucket at the current moment according to the second displacement data specifically includes:

[0110] Perform angle conversion according to the second displacement data to obtain a third calculated angle; the third calculated angle is the included angle between the straight line where the second node and the seventh node are located and the straight line where the second node and the eighth node are located. The seventh node is the connection point of the second hydraulic cylinder and the boom, and the eighth node is the connection point of the second hydraulic cylinder and the stick;

[0111] Obtain a predetermined third preset angle and a fourth preset angle, and calculate the sum of the third preset angle, the fourth preset angle, and the third calculated angle to obtain a fourth calculated angle; the third preset angle is the included angle between the straight line where the second node and the first node are located and the straight line where the second node and the seventh node are located, the fourth preset angle is the included angle between the straight line where the second node and the eighth node are located and the straight line where the second node and the third node are located, and both the third preset angle and the fourth preset angle are fixed values;

[0112] Calculate the difference between the circumferential angle and the fourth calculated angle to obtain the bucket arm joint rotation angle of the excavator bucket at the current moment.

[0113] Please refer to Figure 2 and Figure 4 , Figure 4 which is a schematic diagram of the relevant node relationship of the second hydraulic cylinder of the excavator in the embodiment of the present invention. As Figure 2 and Figure 4 shown, the seventh node is denoted as G, the eighth node is denoted as H, then the third calculated angle is ∠GBH, the third preset angle is ∠GBA, and the fourth preset angle is ∠HBC. It can be understood that for the same excavator, the third preset angle and the fourth preset angle are fixed values.

[0114] As Figure 4 shown, in △GBH, there is the following relationship:

[0115]

[0116] ∠ABC = 2π - ∠GBA - ∠GBH - ∠HBC

[0117] wherein, L BG represents the fixed distance between the second node and the seventh node; L BH represents the fixed distance between the second node and the eighth node; L GH represents the distance between the seventh node and the eighth node, that is, the current length of the second hydraulic cylinder represented by the second displacement data.

[0118] In another optional embodiment, calculating the target joint angle of the excavator bucket according to the boom joint angle, the bucket arm joint angle, and a predetermined target attitude angle specifically includes:

[0119] Calculate the sum of the target attitude angle and the bucket arm joint angle to obtain a fifth calculated angle;

[0120] Calculate the difference between the boom joint angle and the fifth calculated angle to obtain a target angle difference, and calculate the sum of the target angle difference and the circumferential angle to obtain the target joint angle of the excavator bucket.

[0121] The relationship between the attitude angle of the excavation bucket, the boom joint rotation angle, the arm joint rotation angle, and the target joint rotation angle of the excavation bucket is as follows:

[0122] ∠θ = ∠BAN + (π - ∠ABC) + (π - ∠BCD)

[0123] Therefore, the calculation method for the target joint rotation angle of the excavation bucket is:

[0124] ∠BCD = 2π + ∠BAN - ∠ABC - ∠θ

[0125] In yet another alternative embodiment, controlling the third hydraulic cylinder of the excavator to drive the excavation bucket to rotate according to the target joint rotation angle to adjust the current attitude angle of the excavation bucket specifically includes:

[0126] Calculating the target working displacement of the third hydraulic cylinder of the excavator according to the target joint rotation angle;

[0127] Controlling the third hydraulic cylinder to drive the excavation bucket to rotate according to the target working displacement, thereby adjusting the current attitude angle of the excavation bucket.

[0128] It can be seen that in this alternative embodiment, the target joint rotation angle is converted into the target working displacement of the third hydraulic cylinder, so as to more accurately drive the excavation bucket to rotate to adjust the current attitude angle of the excavation bucket.

[0129] In yet another alternative embodiment, calculating the target working displacement of the third hydraulic cylinder of the excavator according to the target joint rotation angle specifically includes:

[0130] Obtaining a pre-determined fifth preset angle and a sixth preset angle, and calculating the sum of the fifth preset angle, the sixth preset angle, and the target joint rotation angle to obtain a sixth calculated angle; the fifth preset angle is the included angle between the straight line where the second node and the third node are located and the straight line where the third node and the first mechanism point are located, the first mechanism point is the connection point between the link mechanism of the excavator and the excavation arm, the sixth preset angle is the included angle between the straight line where the third node and the fourth node are located and the straight line where the third node and the second mechanism point are located, the second mechanism point is the connection point between the link mechanism and the excavation bucket, and both the fifth preset angle and the sixth preset angle are fixed values;

[0131] Calculating the difference between the circumferential angle and the sixth calculated angle to obtain a seventh calculated angle; the seventh calculated angle is the included angle between the straight line where the third node and the first mechanism point are located and the straight line where the third node and the second mechanism point are located;

[0132] Perform angle conversion according to the seventh calculated angle to obtain the eighth calculated angle; the eighth calculated angle is the included angle between the straight line where the first mechanism point and the ninth node are located and the straight line where the first mechanism point and the tenth node are located, the ninth node is the connection point between the third hydraulic cylinder of the excavator and the digging bucket rod, and the tenth node is the connection point between the third hydraulic cylinder of the excavator and the linkage mechanism;

[0133] Calculate the target working displacement of the third hydraulic cylinder of the excavator according to the eighth calculated angle.

[0134] Please refer to Figure 2 and Figure 5 , Figure 5 is a schematic diagram of the relevant node relationship of the third hydraulic cylinder of the excavator in the embodiment of the present invention. As shown in Figure 2 and Figure 5 shown, the ninth node is denoted as I, the tenth node is denoted as J, the first mechanism point is denoted as K, and the second mechanism point is denoted as M. Then the fifth preset angle is ∠BCK, the sixth preset angle is ∠MCD, the seventh calculated angle is ∠KCM, and the eighth calculated angle is ∠IKJ. It can be understood that for the same excavator, the fifth preset angle and the sixth preset angle are fixed values.

[0135] As shown in Figure 5 shown, the calculation method of the seventh calculated angle is:

[0136] ∠KCM = 2π - ∠BCD - ∠BCK - ∠MCD

[0137] The method for converting the eighth calculated angle according to the seventh calculated angle is:

[0138]

[0139] ∠IKJ = 2π - ∠BKC - ∠BKI - ∠CKM - MKJ

[0140] Among them, L KM represents the distance between the first mechanism point and the second mechanism point; L CK represents the fixed distance between the third node and the first mechanism point; L CM represents the fixed distance between the third node and the second mechanism point; L JK represents the fixed distance between the tenth node and the first mechanism point; L JM represents the fixed distance between the tenth node and the second mechanism point; ∠BKC is the included angle between the line segment KB and the line segment KC, and ∠BKI is the included angle between the line segment KB and the line segment KI. Both ∠BKC and ∠BKI are fixed values.

[0141] The method for calculating the target working displacement of the third hydraulic cylinder of the excavator according to the eighth calculated angle is:

[0142]

[0143] Among them, L IJ represents the target length between the ninth node and the tenth node, that is, the target working displacement of the third hydraulic cylinder; L IK represents the fixed distance between the ninth node and the first mechanism point; L JK represents the fixed distance between the tenth node and the first mechanism point.

[0144] In another alternative embodiment, controlling the third hydraulic cylinder to drive the excavation bucket to rotate according to the target working displacement, and further adjusting the current attitude angle of the excavation bucket specifically includes:

[0145] Performing speed conversion according to the target working displacement to obtain the target hydraulic speed of the third hydraulic cylinder;

[0146] Determining the valve current of the third hydraulic cylinder according to the target hydraulic speed to obtain the target valve current;

[0147] Powering the third hydraulic cylinder according to the target valve current to drive the excavation bucket to rotate, and further adjusting the current attitude angle of the excavation bucket.

[0148] It can be seen that this alternative embodiment converts the displacement that the third hydraulic cylinder needs to perform within the target time period into the hydraulic cylinder operating speed, and further converts it into the magnitude of the valve current that drives the third hydraulic cylinder to work, so as to more accurately drive the excavation bucket to rotate to adjust the current attitude angle of the excavation bucket.

[0149] In another alternative embodiment, a PID compensation mechanism is introduced during the process of adjusting the current attitude angle of the excavation bucket, and the transfer function of the PID compensation is:

[0150]

[0151] Among them, u(t) represents the output of the PID compensation, e(t) represents the current error, K p represents the proportional gain, K i represents the integral gain, K d represents the derivative gain.

[0152] It can be seen that this alternative embodiment optimizes the dynamic characteristics of the system in cooperation in the frequency domain and time domain through proportional fast response, integral elimination of static error, and derivative suppression of oscillation, and finally improves the stability, rapidity and accuracy of the attitude angle adjustment process of the excavation bucket.

[0153] Embodiment 2

[0154] Please refer to Figure 6 , Figure 6 which is a schematic structural diagram of a device for intelligently controlling an excavator bucket disclosed in an embodiment of the present invention. Figure 6The device shown can be used to execute the bucket angle control method described in Embodiment 1. This device can improve the accuracy and stability of the bucket angle control of the excavator. Further, this device can be integrated into the bucket control system of the excavator or exist independently of the bucket control system of the excavator, and the embodiments of the present invention do not make any restrictions. As Figure 6 shown, a device for intelligently controlling the bucket of an excavator disclosed in an embodiment of the present invention includes, but is not limited to, the following modules:

[0155] The first data acquisition module 201 is configured to acquire the current displacement data of the first hydraulic cylinder of the excavator to obtain the first displacement data; the first hydraulic cylinder is used to drive the digging boom of the excavator to rotate;

[0156] The first angle calculation module 202 is configured to calculate the boom joint rotation angle of the digging boom at the current moment according to the first displacement data; the boom joint rotation angle is the included angle between the straight line where the first node and the second node are located and the horizontal plane, the first node is the connection point of the digging boom and the digging turntable of the excavator, and the second node is the connection point of the digging boom and the digging dipper of the excavator;

[0157] The second data acquisition module 203 is configured to acquire the current displacement data of the second hydraulic cylinder of the excavator to obtain the second displacement data; the second hydraulic cylinder is used to drive the digging dipper to rotate;

[0158] The second angle calculation module 204 is configured to calculate the dipper joint rotation angle of the digging dipper at the current moment according to the second displacement data; the dipper joint rotation angle is the included angle between the straight line where the first node and the second node are located and the straight line where the second node and the third node are located, and the third node is the connection point of the digging dipper and the digging bucket of the excavator;

[0159] The third angle calculation module 205 is configured to calculate the target joint rotation angle of the digging bucket according to the boom joint rotation angle, the dipper joint rotation angle and a predetermined target attitude angle; the target attitude angle is the included angle between the straight line where the third node and the fourth node are located and the horizontal plane obtained at a previous moment, the fourth node is the apex of the bucket tip of the digging bucket, and the target joint rotation angle is the included angle between the straight line where the third node and the second node are located and the straight line where the third node and the fourth node are located;

[0160] The bucket angle adjustment module 206 is configured to control the third hydraulic cylinder of the excavator to drive the digging bucket to rotate according to the target joint rotation angle so as to adjust the current attitude angle of the digging bucket; the third hydraulic cylinder is used to drive the digging bucket to rotate, and the current attitude angle is the included angle between the straight line where the third node and the fourth node are located and the horizontal plane at the current moment.

[0161] Please refer to Figure 2 , Figure 2 is a schematic diagram of the node positions of the excavator involved in the embodiment of the present invention. As Figure 2As shown in the figure, the first node is denoted as A, the second node is denoted as B, the third node is denoted as C, and the fourth node is denoted as D. Any point on the same horizontal line as point A is taken as N. In the embodiment of the present invention, ∠BAN is the swing arm joint rotation angle, ∠ABC is the stick joint rotation angle, ∠BCD is the target joint rotation angle of the bucket, and ∠θ is the attitude angle of the bucket. In some other implementation scenarios, for the convenience of angle conversion, the included angle between the extension line of line segment AB and line segment BC can also be used as the stick joint rotation angle, or the included angle between the extension line of line segment BC and line segment CD can be used as the joint rotation angle of the bucket. In the embodiment of the present invention, the displacement of the hydraulic cylinder and the joint rotation angle of the working structure are converted through the conversion relationship between the joint space and the driving space. The joint space is composed of the joint rotation angles of each working structure of the excavator, and the joint space at least includes the swing angle of the excavating turntable, the swing arm joint rotation angle of the excavating swing arm, the stick joint rotation angle of the excavating stick, and the bucket joint rotation angle of the excavating bucket. The driving space is composed of the motion parameters of each hydraulic cylinder of the excavator, and the driving space at least includes the displacement information of the first hydraulic cylinder, the displacement information of the second hydraulic cylinder, and the displacement information of the third hydraulic cylinder.

[0162] Further, after obtaining the first displacement data and the second displacement data, the displacement data can be preprocessed by means of Kalman filtering, so as to eliminate the influence of noise interference data.

[0163] It can be seen that in the embodiment of the present invention, first, the displacement data of the first hydraulic cylinder is obtained to calculate the current swing arm joint rotation angle of the excavating swing arm of the excavator, and the displacement data of the second hydraulic cylinder is obtained to calculate the current stick joint rotation angle of the excavating stick of the excavator; then, according to the target attitude angle that the bucket needs to maintain and the calculated swing arm joint rotation angle and stick joint rotation angle, the target joint rotation angle of the excavating bucket is calculated; finally, according to the target joint rotation angle, the third hydraulic cylinder is controlled to drive the excavating bucket to rotate, so as to adjust the current attitude angle of the excavating bucket. Automatically adjusting the joint rotation angle of the bucket according to the current joint rotation angles of the excavating swing arm and the excavating stick to adjust the current attitude angle of the excavating bucket, without manually adjusting the joint rotation angle of the excavating bucket, thereby improving the accuracy and stability of the bucket angle control of the excavator, and further improving the operation efficiency of the excavator.

[0164] In an alternative embodiment, the specific manner in which the first angle calculation module 202 calculates the swing arm joint rotation angle at the current moment according to the first displacement data includes:

[0165] Performing angle conversion according to the first displacement data to obtain a first calculated angle; the first calculated angle is the included angle between the straight line where the first node and the fifth node are located and the straight line where the first node and the sixth node are located, the fifth node is the connection point of the first hydraulic cylinder and the excavating turntable, and the sixth node is the connection point of the first hydraulic cylinder and the excavating swing arm;

[0166] Obtain a predetermined first preset angle and a second preset angle, and calculate the sum of the first preset angle and the second preset angle to obtain a second calculated angle; the first preset angle is the included angle between the straight line where the first node and the fifth node are located and the horizontal plane, and the second preset angle is the included angle between the straight line where the first node and the sixth node are located and the straight line where the first node and the second node are located. Both the first preset angle and the second preset angle are fixed values;

[0167] Calculate the difference between the first calculated angle and the second calculated angle to obtain the boom joint rotation angle of the excavator at the current moment.

[0168] Please refer to Figure 2 and Figure 3 , Figure 3 which is a schematic diagram of the relevant node relationship of the first hydraulic cylinder of the excavator according to the embodiment of the present invention. As Figure 2 and Figure 3 shown, the fifth node is denoted as E, the sixth node is denoted as F, then the first calculated angle is ∠EAF, the first preset angle is ∠EAN, and the second preset angle is ∠BAF. It can be understood that for the same excavator, both the first preset angle and the second preset angle are fixed values.

[0169] As Figure 3 shown, in △EAF, there is the following relationship:

[0170]

[0171] ∠BAN = ∠EAF - ∠EAN - ∠BAF

[0172] wherein, L AE represents the fixed distance between the first node and the fifth node; L AF represents the fixed distance between the first node and the sixth node; L EF represents the distance between the fifth node and the sixth node, that is, the current length of the first hydraulic cylinder represented by the first displacement data.

[0173] In another optional embodiment, the specific manner in which the second angle calculation module 204 calculates the stick joint rotation angle of the excavator bucket at the current moment according to the second displacement data includes:

[0174] Perform angle conversion according to the second displacement data to obtain a third calculated angle; the third calculated angle is the included angle between the straight line where the second node and the seventh node are located and the straight line where the second node and the eighth node are located. The seventh node is the connection point of the second hydraulic cylinder and the boom, and the eighth node is the connection point of the second hydraulic cylinder and the stick;

[0175] Obtain a pre-determined third preset angle and a fourth preset angle, and calculate the sum of the third preset angle, the fourth preset angle, and the third calculated angle to obtain a fourth calculated angle; the third preset angle is the included angle between the line where the second node and the first node are located and the line where the second node and the seventh node are located, the fourth preset angle is the included angle between the line where the second node and the eighth node are located and the line where the second node and the third node are located, and both the third preset angle and the fourth preset angle are fixed values;

[0176] Calculate the difference between the circumferential angle and the fourth calculated angle to obtain the bucket arm joint rotation angle of the excavator bucket at the current moment.

[0177] Please refer to Figure 2 and Figure 4 , Figure 4 which is a schematic diagram of the relevant node relationship of the second hydraulic cylinder of the excavator in the embodiment of the present invention. As Figure 2 and Figure 4 shown, the seventh node is denoted as G, the eighth node is denoted as H, then the third calculated angle is ∠GBH, the third preset angle is ∠GBA, and the fourth preset angle is ∠HBC. It can be understood that for the same excavator, the third preset angle and the fourth preset angle are fixed values.

[0178] As Figure 4 shown, in △GBH, there is the following relationship:

[0179]

[0180] ∠ABC = 2π - ∠GBA - ∠GBH - ∠HBC

[0181] wherein, L BG represents the fixed distance between the second node and the seventh node; L BH represents the fixed distance between the second node and the eighth node; L GH represents the distance between the seventh node and the eighth node, that is, the current length of the second hydraulic cylinder represented by the second displacement data.

[0182] In another optional embodiment, the specific manner in which the third angle calculation module 205 calculates the target joint angle of the excavator bucket according to the boom joint angle, the bucket arm joint angle, and a pre-determined target attitude angle includes:

[0183] Calculate the sum of the target attitude angle and the bucket arm joint angle to obtain a fifth calculated angle;

[0184] Calculate the difference between the boom joint angle and the fifth calculated angle to obtain a target angle difference, and calculate the sum of the target angle difference and the circumferential angle to obtain the target joint angle of the excavator bucket.

[0185] The relationship between the attitude angle of the excavation bucket, the rotation angle of the boom joint, the rotation angle of the arm joint, and the target joint angle of the excavation bucket is as follows:

[0186] ∠θ = ∠BAN + (π - ∠ABC) + (π - ∠BCD)

[0187] Therefore, the calculation method for the target joint angle of the excavation bucket is:

[0188] ∠BCD = 2π + ∠BAN - ∠ABC - ∠θ

[0189] In yet another alternative embodiment, the specific manner in which the bucket angle adjustment module 206 controls the third hydraulic cylinder of the excavator to drive the excavation bucket to rotate to adjust the current attitude angle of the excavation bucket includes:

[0190] Calculate the target working displacement of the third hydraulic cylinder of the excavator according to the target joint angle;

[0191] Control the third hydraulic cylinder to drive the excavation bucket to rotate according to the target working displacement, thereby adjusting the current attitude angle of the excavation bucket.

[0192] It can be seen that in this alternative embodiment, the target joint angle is converted into the target working displacement of the third hydraulic cylinder, so as to more accurately drive the excavation bucket to rotate to adjust the current attitude angle of the excavation bucket.

[0193] In yet another alternative embodiment, the specific manner in which the bucket angle adjustment module 206 calculates the target working displacement of the third hydraulic cylinder of the excavator according to the target joint angle includes:

[0194] Obtain a pre-determined fifth preset angle and a sixth preset angle, and calculate the sum of the fifth preset angle, the sixth preset angle, and the target joint angle to obtain a sixth calculated angle; the fifth preset angle is the angle between the straight line where the second node and the third node are located and the straight line where the third node and the first mechanism point are located, the first mechanism point is the connection point between the linkage mechanism of the excavator and the excavation arm, the sixth preset angle is the angle between the straight line where the third node and the fourth node are located and the straight line where the third node and the second mechanism point are located, the second mechanism point is the connection point between the linkage mechanism and the excavation bucket, and both the fifth preset angle and the sixth preset angle are fixed values;

[0195] Calculate the difference between the circumferential angle and the sixth calculated angle to obtain a seventh calculated angle; the seventh calculated angle is the angle between the straight line where the third node and the first mechanism point are located and the straight line where the third node and the second mechanism point are located;

[0196] Perform angle conversion according to the seventh calculated angle to obtain the eighth calculated angle; the eighth calculated angle is the included angle between the straight line where the first mechanism point and the ninth node are located and the straight line where the first mechanism point and the tenth node are located, the ninth node is the connection point between the third hydraulic cylinder of the excavator and the digging stick, and the tenth node is the connection point between the third hydraulic cylinder of the excavator and the linkage mechanism;

[0197] Calculate the target working displacement of the third hydraulic cylinder of the excavator according to the eighth calculated angle.

[0198] Please refer to Figure 2 and Figure 5 , Figure 5 which is a schematic diagram of the relevant node relationship of the third hydraulic cylinder of the excavator in the embodiment of the present invention. As Figure 2 and Figure 5 shown, the ninth node is denoted as I, the tenth node is denoted as J, the first mechanism point is denoted as K, and the second mechanism point is denoted as M. Then the fifth preset angle is ∠BCK, the sixth preset angle is ∠MCD, the seventh calculated angle is ∠KCM, and the eighth calculated angle is ∠IKJ. It can be understood that for the same excavator, the fifth preset angle and the sixth preset angle are fixed values.

[0199] As Figure 5 shown, the calculation method of the seventh calculated angle is:

[0200] ∠KCM = 2π - ∠BCD - ∠BCK - ∠MCD

[0201] The method of converting the eighth calculated angle according to the seventh calculated angle is:

[0202]

[0203]

[0204] ∠IKJ = 2π - ∠BKC - ∠BKI - ∠CKM - MKJ

[0205] wherein, L KM represents the distance between the first mechanism point and the second mechanism point; L CK represents the fixed distance between the third node and the first mechanism point; L CM represents the fixed distance between the third node and the second mechanism point; L JK represents the fixed distance between the tenth node and the first mechanism point; L JM represents the fixed distance between the tenth node and the second mechanism point; ∠BKC is the included angle between the line segment KB and the line segment KC, and ∠BKI is the included angle between the line segment KB and the line segment KI. Both ∠BKC and ∠BKI are fixed values.

[0206] The method for calculating the target working displacement of the third hydraulic cylinder of the excavator according to the eighth calculation angle is as follows:

[0207]

[0208] Among them, L IJ represents the target length between the ninth node and the tenth node, that is, the target working displacement of the third hydraulic cylinder; L IK represents the fixed distance between the ninth node and the first mechanism point; L JK represents the fixed distance between the tenth node and the first mechanism point.

[0209] In yet another alternative embodiment, the specific manner in which the bucket angle adjustment module 206 controls the third hydraulic cylinder to drive the excavation bucket to rotate according to the target working displacement, and then adjusts the current attitude angle of the excavation bucket includes:

[0210] Perform speed conversion according to the target working displacement to obtain the target hydraulic speed of the third hydraulic cylinder;

[0211] Determine the valve current of the third hydraulic cylinder according to the target hydraulic speed to obtain the target valve current;

[0212] Supply power to the third hydraulic cylinder according to the target valve current to drive the excavation bucket to rotate, and then adjust the current attitude angle of the excavation bucket.

[0213] It can be seen that in this alternative embodiment, the displacement that the third hydraulic cylinder needs to perform within the target time period is converted into the hydraulic cylinder operating speed, and further converted into the magnitude of the valve current that drives the third hydraulic cylinder to work, so as to more accurately drive the excavation bucket to rotate to adjust the current attitude angle of the excavation bucket.

[0214] In yet another alternative embodiment, a PID compensation mechanism is introduced during the process of adjusting the current attitude angle of the excavation bucket. The transfer function of the PID compensation is:

[0215]

[0216] Among them, u(t) represents the output of the PID compensation, e(t) represents the current error, and K p represents the proportional gain, K i represents the integral gain, and K d represents the derivative gain.

[0217] It can be seen that in this alternative embodiment, by means of proportional fast response, integral elimination of static error, and derivative suppression of oscillation, the dynamic characteristics of the system are optimized in both the frequency domain and the time domain, ultimately improving the stability, rapidity, and accuracy of the attitude angle adjustment process of the excavation bucket.

[0218] Embodiment III

[0219] Please refer to Figure 7 , Figure 7 which is a schematic structural diagram of another device for intelligently controlling the bucket of an excavator disclosed in an embodiment of the present invention. Figure 7 The device shown can be used to execute the bucket angle control method described in Embodiment 1. This device can improve the accuracy and stability of the bucket angle control of the excavator. Further, this device can be integrated into the bucket control system of the excavator or exist independently of the bucket control system of the excavator, and the embodiments of the present invention do not make any restrictions. As Figure 7 shown, a device for intelligently controlling the bucket of an excavator disclosed in an embodiment of the present invention includes but is not limited to:

[0220] A memory 301 storing executable program code;

[0221] A processor 302 coupled to the memory 301;

[0222] The processor 302 calls the executable program code stored in the memory 301 and executes some or all of the steps in the method for intelligently controlling the bucket of an excavator described in Embodiment 1 of the present invention.

[0223] Embodiment 4

[0224] An embodiment of the present invention discloses an excavator, which includes an excavation turntable, an excavation boom, an excavation stick, an excavation bucket, a first hydraulic cylinder, a second hydraulic cylinder, and a third hydraulic cylinder, and executes some or all of the steps in the method for intelligently controlling the bucket of an excavator described in Embodiment 1 of the present invention through the excavation turntable, the excavation boom, the excavation stick, the excavation bucket, the first hydraulic cylinder, the second hydraulic cylinder, and the third hydraulic cylinder.

[0225] Embodiment 5

[0226] An embodiment of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called by a processor, they are used to execute some or all of the steps in the method for intelligently controlling the bucket of an excavator described in Embodiment 1 of the present invention.

[0227] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules. They may be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0228] Through the above specific descriptions of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solutions, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, and the storage medium includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc memories, magnetic disk memories, tape memories, or any other medium that can be used to carry or store data and is computer-readable.

[0229] Finally, it should be noted that: the technical content disclosed in the embodiments of the present invention is only the preferred embodiments of the present invention, and is only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for intelligently controlling an excavator bucket, characterized in that, The method includes: Obtaining the current displacement data of the first hydraulic cylinder of the excavator to obtain first displacement data; the first hydraulic cylinder is used to drive the boom of the excavator to rotate; Calculating the boom joint angle of the boom at the current moment according to the first displacement data; the boom joint angle is the angle between the straight line where the first node and the second node are located and the horizontal plane, the first node is the connection point between the boom and the slewing platform of the excavator, and the second node is the connection point between the boom and the stick of the excavator; Obtaining the current displacement data of the second hydraulic cylinder of the excavator to obtain second displacement data; the second hydraulic cylinder is used to drive the stick to rotate; Calculating the stick joint angle of the stick at the current moment according to the second displacement data; the stick joint angle is the angle between the straight line where the first node and the second node are located and the straight line where the second node and the third node are located, and the third node is the connection point between the stick and the bucket of the excavator; Calculating the target joint angle of the bucket according to the boom joint angle, the stick joint angle and a pre-determined target attitude angle; the target attitude angle is the angle between the straight line where the third node and the fourth node are located and the horizontal plane obtained at a previous moment, the fourth node is the apex of the bucket tip of the bucket, and the target joint angle is the angle between the straight line where the third node and the second node are located and the straight line where the third node and the fourth node are located; Controlling the third hydraulic cylinder of the excavator to drive the bucket to rotate according to the target joint angle to adjust the current attitude angle of the bucket; the third hydraulic cylinder is used to drive the bucket to rotate, and the current attitude angle is the angle between the straight line where the third node and the fourth node are located and the horizontal plane at the current moment.

2. The method for intelligently controlling an excavator bucket according to claim 1, wherein, The calculating the boom joint angle of the boom at the current moment according to the first displacement data includes: Performing angle conversion according to the first displacement data to obtain a first calculated angle; the first calculated angle is the angle between the straight line where the first node and the fifth node are located and the straight line where the first node and the sixth node are located, the fifth node is the connection point between the first hydraulic cylinder and the slewing platform, and the sixth node is the connection point between the first hydraulic cylinder and the boom; Obtaining a pre-determined first preset angle and a second preset angle, and calculating the sum value of the first preset angle and the second preset angle to obtain a second calculated angle; the first preset angle is the angle between the straight line where the first node and the fifth node are located and the horizontal plane, the second preset angle is the angle between the straight line where the first node and the sixth node are located and the straight line where the first node and the second node are located, and both the first preset angle and the second preset angle are fixed values; Calculating the difference between the first calculated angle and the second calculated angle to obtain the boom joint angle of the boom at the current moment.

3. A method for intelligently controlling an excavator bucket according to claim 1, characterized in that, Calculating the bucket arm joint rotation angle of the excavator bucket arm at the current moment according to the second displacement data includes: Performing angle conversion according to the second displacement data to obtain a third calculated angle; the third calculated angle is the included angle between the straight line where the second node and the seventh node are located and the straight line where the second node and the eighth node are located, the seventh node is the connection point of the second hydraulic cylinder and the excavator boom, and the eighth node is the connection point of the second hydraulic cylinder and the excavator bucket arm; Obtaining a pre-determined third preset angle and a fourth preset angle, and calculating the sum of the third preset angle, the fourth preset angle and the third calculated angle to obtain a fourth calculated angle; the third preset angle is the included angle between the straight line where the second node and the first node are located and the straight line where the second node and the seventh node are located, the fourth preset angle is the included angle between the straight line where the second node and the eighth node are located and the straight line where the second node and the third node are located, and both the third preset angle and the fourth preset angle are fixed values; Calculating the difference between the circumferential angle and the fourth calculated angle to obtain the bucket arm joint rotation angle of the excavator bucket arm at the current moment.

4. A method for intelligently controlling an excavator bucket according to claim 1, characterized in that, Calculating the target joint rotation angle of the excavator bucket according to the boom joint rotation angle, the bucket arm joint rotation angle and a pre-determined target attitude angle includes: Calculating the sum of the target attitude angle and the bucket arm joint rotation angle to obtain a fifth calculated angle; Calculating the difference between the boom joint rotation angle and the fifth calculated angle to obtain a target angle difference, and calculating the sum of the target angle difference and the circumferential angle to obtain the target joint rotation angle of the excavator bucket.

5. A method for intelligently controlling an excavator bucket according to any one of claims 1 to 4, characterized in that, Controlling the third hydraulic cylinder of the excavator to drive the excavator bucket to rotate according to the target joint rotation angle to adjust the current attitude angle of the excavator bucket includes: Calculating the target working displacement of the third hydraulic cylinder of the excavator according to the target joint rotation angle; Controlling the third hydraulic cylinder to drive the excavator bucket to rotate according to the target working displacement, thereby adjusting the current attitude angle of the excavator bucket.

6. The method for intelligently controlling an excavator bucket according to claim 5, characterized in that, Calculating the target working displacement of the third hydraulic cylinder of the excavator according to the target joint rotation angle includes: Obtaining a pre-determined fifth preset angle and a sixth preset angle, and calculating the sum of the fifth preset angle, the sixth preset angle and the target joint rotation angle to obtain a sixth calculated angle; the fifth preset angle is the included angle between the straight line where the second node and the third node are located and the straight line where the third node and the first mechanism point are located, the first mechanism point is the connection point of the link mechanism of the excavator and the excavator bucket arm, the sixth preset angle is the included angle between the straight line where the third node and the fourth node are located and the straight line where the third node and the second mechanism point are located, the second mechanism point is the connection point of the link mechanism and the excavator bucket, and both the fifth preset angle and the sixth preset angle are fixed values; Calculate the difference between the circumferential angle and the sixth calculated angle to obtain a seventh calculated angle; the seventh calculated angle is the included angle between the straight line where the third node and the first mechanism point are located and the straight line where the third node and the second mechanism point are located; Perform angle conversion according to the seventh calculated angle to obtain an eighth calculated angle; the eighth calculated angle is the included angle between the straight line where the first mechanism point and the ninth node are located and the straight line where the first mechanism point and the tenth node are located, the ninth node is the connection point between the third hydraulic cylinder of the excavator and the digging boom, and the tenth node is the connection point between the third hydraulic cylinder of the excavator and the linkage mechanism; Calculate the target working displacement of the third hydraulic cylinder of the excavator according to the eighth calculated angle.

7. A method for intelligently controlling an excavator bucket according to claim 5, characterized in that, The step of controlling the third hydraulic cylinder to drive the digging bucket to rotate according to the target working displacement, thereby adjusting the current attitude angle of the digging bucket, includes: Perform speed conversion according to the target working displacement to obtain the target hydraulic speed of the third hydraulic cylinder; Determine the valve current of the third hydraulic cylinder according to the target hydraulic speed to obtain a target valve current; Supply power to the third hydraulic cylinder according to the target valve current to drive the digging bucket to rotate, thereby adjusting the current attitude angle of the digging bucket.

8. An apparatus for intelligently controlling an excavator bucket, characterized in that, The device includes: A first data acquisition module, configured to acquire the current displacement data of the first hydraulic cylinder of the excavator to obtain first displacement data; the first hydraulic cylinder is used to drive the digging boom of the excavator to rotate; A first angle calculation module, configured to calculate the boom joint rotation angle of the digging boom at the current moment according to the first displacement data; the boom joint rotation angle is the included angle between the straight line where the first node and the second node are located and the horizontal plane, the first node is the connection point between the digging boom and the excavator's slewing platform, and the second node is the connection point between the digging boom and the excavator's digging boom; A second data acquisition module, configured to acquire the current displacement data of the second hydraulic cylinder of the excavator to obtain second displacement data; the second hydraulic cylinder is used to drive the digging boom to rotate; A second angle calculation module, configured to calculate the boom joint rotation angle of the digging boom at the current moment according to the second displacement data; the boom joint rotation angle is the included angle between the straight line where the first node and the second node are located and the straight line where the second node and the third node are located, and the third node is the connection point between the digging boom and the excavator's digging bucket; A third angle calculation module, configured to calculate the target joint rotation angle of the digging bucket according to the boom joint rotation angle, the boom joint rotation angle, and a predetermined target attitude angle; the target attitude angle is the included angle between the straight line where the third node and the fourth node are located and the horizontal plane at a previous moment, the fourth node is the tip vertex of the digging bucket of the excavator, and the target joint rotation angle is the included angle between the straight line where the third node and the second node are located and the straight line where the third node and the fourth node are located; The bucket angle adjustment module is used to control the third hydraulic cylinder of the excavator to drive the excavation bucket to rotate according to the target joint rotation angle, so as to adjust the current attitude angle of the excavation bucket; the third hydraulic cylinder is used to drive the excavation bucket to rotate, and the current attitude angle is the included angle between the straight line where the third node and the fourth node are located at the current moment and the horizontal plane.

9. An apparatus for intelligently controlling an excavator bucket, characterized in that, The device includes: A memory storing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory and executes the method for intelligently controlling the excavator bucket according to any one of claims 1 to 7.

10. An excavator, characterized in that, The excavator includes an excavation turntable, an excavation boom, an excavation stick, an excavation bucket, a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder, and executes the method for intelligently controlling the excavator bucket according to any one of claims 1 to 7 through the excavation turntable, the excavation boom, the excavation stick, the excavation bucket, the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder.

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