Excavator, control method and device for cable drum of excavator and storage medium

Abstract

The invention provides an excavator, a control method and device for a cable drum of the excavator and a storage medium. The control method for the excavator cable drum comprises the steps that the motion state of an excavator and the treading angles of a left walking pedal and a right walking pedal are obtained; based on the motion state of the excavator and the treading angles of the left walking pedal and the right walking pedal, the speed of a left crawler belt and the speed of a right crawler belt are calculated; based on the motion state of the excavator and the speeds of the left crawler belt and the right crawler belt, the cable release speed of a cable drum is calculated; and controlling the cable drum to release the cable at the release speed. According to the control method for the cable drum of the excavator, the release speed of the cable can be matched with the walking and steering speed of the whole excavator, and therefore the problem that the cable is released too tightly or too loosely in the operation process of the excavator is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and more particularly to a method for controlling an excavator cable reel. The present invention also relates to a control device for an excavator cable reel based on the control method, an excavator equipped with the control device for the excavator cable reel, and a computer-readable storage medium capable of implementing the control method for the excavator cable reel. Background Art

[0002] With the increasing adoption of new energy sources in construction machinery, demand for electric-powered hydraulic excavators is increasing. At the same time, users have developed a higher awareness and demand for excavator performance and safety. To ensure safe and convenient use of the cable at the rear of an electric excavator, cable reels are often used to release and retract the cable. Common cable reels include manually rotated, spring-loaded, and motor-powered retractable types. To mechanize and automate cable pulling, improve excavator efficiency, and protect construction workers, there is a growing demand for automatic cable retraction devices at the rear of electric-powered hydraulic excavators.

[0003] The cable is an important component of the towed electric excavator, and it is mainly wound on the drum for reeling and releasing. There are two common ways to reel the cable on the existing electric-driven cable reels. The first is to manually reel in and release the cable by remote control before the excavator moves according to demand. The second is that when the excavator is moving at a specific speed, the cable reel automatically reels and releases the cable according to the tension of the cable. However, when using the second method to reel in and release the cable, the cable line often becomes too tight or too loose. If the cable line is too loose, it will cause the cable line to pile up, causing the cable on the reel to be out of the groove. If the cable line is too tight, it will cause the cable to be broken or worn, so that the cable needs to be replaced frequently, which not only affects production efficiency, but also increases costs, and there are certain safety hazards. Therefore, how to design a control method for a cable reel that is simple to control, safe and reliable, and operates smoothly to avoid the cable being released too tightly or too loose has become an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the present invention aims to propose a control method for an excavator cable reel, which can match the release speed of the cable with the walking and turning speed of the entire machine, and avoid the cable being released too tightly or too loosely.

[0005] To achieve the above object, the present invention is achieved through the following technical solutions:

[0006] A method for controlling an excavator cable reel, comprising:

[0007] Obtain the motion state of the excavator and the pedaling angles of the left and right walking pedals;

[0008] Calculating the speeds of the left crawler track and the right crawler track based on the motion state of the excavator and the pedaling angles of the left and right walking pedals;

[0009] Calculating a cable release speed of a cable drum based on a motion state of the excavator and speeds of the left crawler track and the right crawler track;

[0010] The cable reel is controlled to release the cable at the release speed.

[0011] Furthermore, the motion state of the excavator includes:

[0012] a. The left crawler of the excavator moves forward, and the right crawler moves forward;

[0013] b. The left crawler track of the excavator moves backward, and the right crawler track moves backward;

[0014] c. The left crawler of the excavator stops and the right crawler moves forward;

[0015] d. The left crawler of the excavator stops and the right crawler moves backward;

[0016] e. The left crawler of the excavator moves forward and the right crawler stops;

[0017] f. The left crawler of the excavator moves backward and the right crawler stops;

[0018] g. The left crawler of the excavator moves forward and the right crawler moves backward;

[0019] h. The left track of the excavator moves backward and the right track moves forward.

[0020] Furthermore, the calculation of the speeds of the left crawler track and the right crawler track based on the motion state of the excavator and the pedaling angles of the left walking pedal and the right walking pedal includes:

[0021] When the excavator is in motion state a, the forward speed of the left crawler and the forward speed of the right crawler are calculated by v1=v2=a1α12+b1α1+c1;

[0022] When the excavator is in the b motion state, the backward speed of the left crawler and the backward speed of the right crawler are calculated by v3=v4=a2α22+b2α2+c2;

[0023] When the excavator is in the c motion state, the forward speed of the right crawler is calculated by v2=a3β12+b3β1+c3;

[0024] When the excavator is in the d motion state, the backward speed of the right crawler is calculated by v4=a4β22+b4β2+c4;

[0025] When the excavator is in the e motion state, the forward speed of the left crawler is calculated by v1=a5α12+b5α1+c5;

[0026] When the excavator is in the f motion state, the backward speed of the left crawler is calculated by v3=a6α22+b6α2+c6;

[0027] When the excavator is in the g motion state, the forward speed of the left crawler and the backward speed of the right crawler are calculated by v1=a7α12+b7α1+c7, v4=a8β22+b8β2+c7;

[0028] When the excavator is in the h motion state, the backward speed of the left crawler and the forward speed of the right crawler are calculated by v2=a9β12+b9β1+c9, v3=a10α22+b10α2+c10;

[0029] Wherein, v1 is the forward speed of the left crawler, v2 is the forward speed of the right crawler, v3 is the backward speed of the left crawler, and v4 is the backward speed of the right crawler;

[0030] α1 is the pedaling angle of the left walking pedal when the left crawler of the excavator moves forward, α2 is the pedaling angle of the left walking pedal when the left crawler of the excavator moves backward, β1 is the pedaling angle of the right walking pedal when the right crawler of the excavator moves forward, β2 is the pedaling angle of the right walking pedal when the right crawler of the excavator moves backward;

[0031] a1-a10, b1-b10, and c1-c10 are preset adjustment coefficients.

[0032] Furthermore, the calculating of the release speed of the cable reel based on the motion state of the excavator and the speeds of the left crawler and the right crawler includes:

[0033] When the excavator is in motion state a, the release speed of the cable drum cable is calculated by v5=v1;

[0034] When the excavator is in the motion state c, the release speed of the cable drum cable is calculated by v5=d1v2;

[0035] When the excavator is in the motion state d, the release speed of the cable drum cable is calculated by v5=d2v4;

[0036] When the excavator is in the motion state e, the release speed of the cable drum cable is calculated by v5=d3v1;

[0037] When the excavator is in the motion state f, the release speed of the cable drum cable is calculated by v5=d4v3;

[0038] When the excavator is in the g motion state, the release speed of the cable drum cable is calculated by v5=d5v1+d6v4;

[0039] When the excavator is in the h motion state, the release speed of the cable drum cable is calculated by v5=d7v2+d8v3;

[0040] Among them, v5 is the release speed of the cable from the cable reel, and d1~d8 are preset adjustment coefficients.

[0041] Furthermore, the control method of the excavator cable reel further includes:

[0042] Calculating a cable recovery speed of a cable drum based on a motion state of the excavator and speeds of the left crawler and the right crawler;

[0043] The cable reel is controlled to retract the cable at the retracting speed.

[0044] Furthermore, the calculation of the recovery speed of the cable reel based on the motion state of the excavator and the speeds of the left crawler and the right crawler includes:

[0045] When the excavator is in the b motion state, the recovery speed of the cable drum cable is calculated by v6=v3, wherein v6 is the recovery speed of the cable drum cable.

[0046] Furthermore, the control method of the excavator cable reel further includes:

[0047] When controlling the cable reel to release the cable at the release speed, obtaining the length of the released cable;

[0048] When the length of the released cable reaches a preset cable length, the cable reel is stopped from releasing the cable and an alarm is issued.

[0049] Compared with the prior art, the present invention has the following advantages:

[0050] The excavator cable reel control method of the present invention calculates the speeds of the left and right crawler tracks based on the excavator's motion state and the pedal angles of the left and right travel pedals. Furthermore, the cable reel's cable release speed is determined based on the excavator's motion state and the calculated left and right crawler track speeds, thereby matching the excavator's travel and steering speeds with the cable release speed.

[0051] Furthermore, the present invention determines the cable release speed of the cable reel based on the excavator's motion state and the calculated speeds of the left and right crawler tracks. For example, when the excavator is in reverse, the cable retraction speed is calculated to match the excavator's reverse speed with the cable retraction speed.

[0052] In addition, the present invention also obtains the length of the released cable in real time when controlling the cable reel to release the cable at a calculated release speed, and when it is detected that the length of the released cable reaches a preset cable length, controls the cable reel to stop releasing the cable and issues an alarm at the same time, thereby ensuring safety during the cable release process.

[0053] The present invention also provides a control device for an excavator cable reel, comprising:

[0054] An acquisition module is used to acquire the motion state of the excavator and the pedaling angles of the left and right walking pedals;

[0055] a first calculation module, configured to calculate the speeds of the left crawler track and the right crawler track based on the motion state of the excavator and the pedaling angles of the left and right walking pedals;

[0056] a second calculation module, configured to calculate a cable release speed of the cable drum based on a motion state of the excavator and speeds of the left crawler and the right crawler;

[0057] A control module is configured to control the cable reel to release the cable at the release speed.

[0058] The present invention also provides an excavator, comprising the control device for the excavator cable reel as described above.

[0059] The present invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the control method of the cable reel of the excavator as described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0061] Figure 1 A schematic flow chart of a method for controlling an excavator cable reel according to an embodiment of the present invention;

[0062] Figure 2 A schematic structural diagram of an excavator control system provided by an embodiment of the present invention;

[0063] Figure 3 A schematic structural diagram of a control device for an excavator cable reel provided in an embodiment of the present invention.

[0064] Description of reference numerals:

[0065] 301. Acquisition module; 302. First calculation module; 303. Second calculation module; 304. Control module. Detailed implementation manners

[0066] In the following description, specific details such as specific system architectures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0067] It should be understood that when used in the specification and appended claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0068] It should also be understood that the term "and / or" used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0069] As used in the specification and appended claims of the present application, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" according to the context.

[0070] In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0071] The reference to "one embodiment" or "some embodiments" etc. described in the specification of the present application means that specific features, structures, or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0072] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0073] Example 1

[0074] This embodiment relates to a control method for an excavator cable reel. Figure 1 As shown in , the control method of the excavator cable reel includes:

[0075] Step S100: Acquire the motion state of the excavator and the pedaling angles of the left and right walking pedals.

[0076] It should be noted that, in step S100, the structure of the communication network of the communication control system of the excavator is as follows: Figure 2 As shown, the display shows the travel speed, cable retraction and release speed, and cable length. The VCU is the vehicle control unit (VCU), responsible for receiving various input signals, processing them through various calculations and logic, and ultimately sending corresponding information messages to each actuator via the CAN communication network. The MCU is the motor controller for the cable reel. The electronically controlled travel pedals, divided into left and right travel pedals, are used to input travel signals and control the drive of the left and right tracks respectively.

[0077] In step S100, the excavator's motion state and the pedal angles of the left and right travel pedals are first acquired. These excavator motion states can include straight-line backward movement, straight-line forward movement, turning, and rotating on the spot. As a feasible data transmission method, this acquired data can be sent to the vehicle's VCU via the vehicle's CAN communication network.

[0078] Step S200: Calculate the speeds of the left crawler track and the right crawler track based on the motion state of the excavator and the pedaling angles of the left walking pedal and the right walking pedal.

[0079] In step S200, the speeds of the left and right crawler tracks are calculated based on the excavator's motion state and the pedal angles of the left and right walking pedals, thereby controlling the excavator to move at a specific speed. For example, if the excavator's motion state is determined to be straight forward, the pedal angles of the left and right walking pedals are further determined to be α1 and β1, respectively. Based on the correspondence between the pedal angles and track speeds preset in the VCU, the forward speeds v1 and v2 of the left and right crawler tracks can be calculated. It is understood that when the excavator is moving in a straight line, α1 = β1 and v1 = v2.

[0080] Step S300 : Calculating the cable release speed of the cable drum based on the motion state of the excavator and the speeds of the left crawler and the right crawler.

[0081] In step S300, the cable release speed of the cable drum is further calculated based on the excavator's motion state and the calculated speeds of the left and right crawler tracks. This ensures that the cable release speed matches the excavator's travel and steering speeds, thereby preventing the cable from being too tight or too loose when the excavator is moving. Specifically, taking the excavator's motion state as a straight line, the speeds v1 and v2 of the left and right crawler tracks are calculated. Based on the correspondence between the crawler speeds and the cable release speeds preset in the VCU, the cable release speed is calculated as v5. It is understood that when the excavator is moving in a straight line, v5 = v1.

[0082] Step S400: Control the cable reel to release the cable at the release speed.

[0083] In step S400, after the cable release speed is calculated, a CAN signal may be sent to the cable reel motor via the CAN communication network to control the cable reel to release the cable at the calculated release speed.

[0084] The excavator cable reel control method provided in this embodiment calculates the speeds of the left and right crawler tracks based on the excavator's motion state and the pedal angles of the left and right travel pedals. Furthermore, the cable reel's cable release speed is determined based on the excavator's motion state and the calculated left and right crawler track speeds, thereby matching the excavator's travel and steering speeds with the cable release speed.

[0085] In a preferred embodiment, the motion state of the excavator includes:

[0086] a. The left crawler track of the excavator moves forward, and the right crawler track moves forward.

[0087] b. The left track of the excavator moves backward, and the right track moves backward.

[0088] c. The left track of the excavator stops and the right track moves forward.

[0089] d. The left track of the excavator stops and the right track moves backward.

[0090] e. The left track of the excavator moves forward and the right track stops.

[0091] f. The left track of the excavator moves backward and the right track stops.

[0092] g. The left track of the excavator moves forward and the right track moves backward.

[0093] h. The left track of the excavator moves backward and the right track moves forward.

[0094] In this embodiment, all motion states of the excavator when walking are included, such as the excavator's straight forward state corresponding to the left crawler of the excavator moving forward and the right crawler moving forward; the excavator's straight backward state corresponding to the left crawler of the excavator moving backward and the right crawler moving backward; the excavator's left turn state corresponding to the left crawler of the excavator stopping and the right crawler moving forward; the excavator's right turn state corresponding to the left crawler of the excavator stopping and the right crawler moving backward; the excavator's left turn state corresponding to the left crawler of the excavator moving forward and the right crawler stopping; the excavator's left turn state corresponding to the left crawler of the excavator moving backward and the right crawler stopping; the excavator's left rotation state corresponding to the left crawler of the excavator moving forward and the right crawler moving backward; and the excavator's right rotation state corresponding to the left crawler of the excavator moving backward and the right crawler moving forward.

[0095] At this time, as an achievable manner, the calculation of the speeds of the left crawler track and the right crawler track based on the motion state of the excavator and the pedaling angles of the left and right walking pedals includes:

[0096] When the excavator is in the motion state a, the forward speed of the left crawler and the forward speed of the right crawler are calculated by v1=v2=a1α12+b1α1+c1.

[0097] When the excavator is in the b motion state, the backward speed of the left crawler and the backward speed of the right crawler are calculated by v3=v4=a2α22+b2α2+c2.

[0098] When the excavator is in the c motion state, the forward speed of the right crawler is calculated by v2=a3β12+b3β1+c3.

[0099] When the excavator is in the d motion state, the backward speed of the right crawler is calculated by v4=a4β22+b4β2+c4.

[0100] When the excavator is in the e-motion state, the forward speed of the left crawler is calculated by v1=a5α12+b5α1+c5.

[0101] When the excavator is in the f motion state, the backward speed of the left crawler is calculated by v3=a6α22+b6α2+c6.

[0102] When the excavator is in the g motion state, the forward speed of the left crawler and the backward speed of the right crawler are calculated by v1=a7α12+b7α1+c7, v4=a8β22+b8β2+c7.

[0103] When the excavator is in the h motion state, the backward speed of the left crawler and the forward speed of the right crawler are calculated by v2=a9β12+b9β1+c9, v3=a10α22+b10α2+c10.

[0104] Among them, v1 is the forward speed of the left crawler, v2 is the forward speed of the right crawler, v3 is the backward speed of the left crawler, and v4 is the backward speed of the right crawler.

[0105] α1 is the pedaling angle of the left walking pedal when the left crawler of the excavator moves forward, α2 is the pedaling angle of the left walking pedal when the left crawler of the excavator moves backward, β1 is the pedaling angle of the right walking pedal when the right crawler of the excavator moves forward, β2 is the pedaling angle of the right walking pedal when the right crawler of the excavator moves backward.

[0106] a1-a10, b1-b10, and c1-c10 are preset adjustment coefficients.

[0107] At the same time, as an implementable manner, the release speed of the cable reel based on the motion state of the excavator and the speeds of the left crawler and the right crawler includes:

[0108] When the excavator is in the motion state a, the release speed of the cable drum cable is calculated by v5=v1.

[0109] When the excavator is in the c motion state, the release speed of the cable drum cable is calculated by v5=d1v2.

[0110] When the excavator is in the d motion state, the release speed of the cable drum cable is calculated by v5=d2v4.

[0111] When the excavator is in the e motion state, the release speed of the cable drum cable is calculated by v5=d3v1.

[0112] When the excavator is in the motion state f, the release speed of the cable drum cable is calculated by v5=d4v3.

[0113] When the excavator is in the g motion state, the release speed of the cable drum cable is calculated by v5=d5v1+d6v4.

[0114] When the excavator is in the h motion state, the release speed of the cable drum cable is calculated by v5=d7v2+d8v3.

[0115] Among them, v5 is the release speed of the cable from the cable reel, and d1~d8 are preset adjustment coefficients.

[0116] It should be noted that, in the above embodiment, a1 to a10, b1 to b10, c1 to c10, and d1 to d8 are preset adjustment coefficients, which can be obtained through debugging and calculation according to actual usage scenarios.

[0117] In this embodiment, a calculation equation for the speed of the left and right crawler tracks is preset based on the excavator's various motion states. This allows the excavator to travel at a specific speed in each motion state based on the driver's pedal angle. Furthermore, a calculation equation for the release speed of the cable reel is preset based on each motion state. This ensures that the calculated release speed of the cable reel matches the speed of the left and right crawler tracks, and thus the excavator's motion state, effectively preventing the release cable from being too tight or too loose during excavator travel.

[0118] In a preferred embodiment, the control method of the excavator cable reel further includes: calculating the cable recovery speed of the cable reel based on the motion state of the excavator and the speeds of the left track and the right track; and controlling the cable reel to recover the cable at the recovery speed.

[0119] In this embodiment, when the excavator is in the backward motion state, the corresponding cable reel retracts the cable. At this time, the cable retraction speed is calculated based on the same principle as in the above embodiment.

[0120] Specifically, when the excavator is in the b motion state, the recovery speed of the cable drum cable is calculated by v6=v3, wherein v6 is the recovery speed of the cable drum cable.

[0121] It should be pointed out that the above-mentioned motion states of the excavators and the calculation methods of their corresponding cable release and recovery speeds are applicable when the initial crawler and cable are in the same direction. When the crawler and cable are not in the same direction, the judgment of whether to release the cable or recover the cable can be determined by two methods. The first method can be through the pressure sensor on the cable reel, and the second method can be to establish a calculus model through the foot signal to determine the relative position state of the crawler and cable.

[0122] In addition, in a preferred embodiment, the control method of the excavator cable reel also includes: when controlling the cable reel to release the cable at the release speed, obtaining the length of the released cable; when the length of the released cable reaches the preset cable length, stopping the cable reel from releasing the cable and issuing an alarm.

[0123] In this embodiment, to ensure safety during cable release, the VCU may be configured to forcibly stop the cable reel from releasing the cable when the received cable length L2 approaches the preset total cable length L1.

[0124] The control method for an excavator cable reel disclosed herein calculates the speeds of the left and right tracks based on the excavator's motion state and the pedal angles of the left and right walking pedals. Furthermore, the cable reel's cable release speed is determined based on the excavator's motion state and the calculated speeds of the left and right tracks. Implementing the control method disclosed herein effectively prevents cable retraction and release from being inconsistent with the excavator's travel speed, which could lead to over-tightening or over-loosening of the cable during release or retraction.

[0125] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0126] Example 2

[0127] This embodiment relates to a control device for an excavator cable reel, which corresponds to the control method for an excavator cable reel described in the first embodiment, wherein: Figure 3 The structural block diagram of the control device for the cable drum of an excavator of this embodiment is shown. Figure 3 In terms of overall structure, the control device for the excavator cable reel in this embodiment includes an acquisition module 301, a first calculation module 302, a second calculation module 303 and a control module 304.

[0128] The acquisition module 301 is configured to acquire the excavator's motion state and the pedaling angles of the left and right walking pedals. The first calculation module 302 is configured to calculate the speeds of the left and right crawler tracks based on the excavator's motion state and the pedaling angles of the left and right walking pedals. The second calculation module 303 is configured to calculate the cable release speed of the cable reel based on the excavator's motion state and the speeds of the left and right crawler tracks. The control module 304 is configured to control the cable reel to release the cable at the release speed.

[0129] It should be noted that, in a preferred embodiment, the motion state of the excavator includes:

[0130] a. The left crawler track of the excavator moves forward, and the right crawler track moves forward.

[0131] b. The left track of the excavator moves backward, and the right track moves backward.

[0132] c. The left track of the excavator stops and the right track moves forward.

[0133] d. The left track of the excavator stops and the right track moves backward.

[0134] e. The left track of the excavator moves forward and the right track stops.

[0135] f. The left track of the excavator moves backward and the right track stops.

[0136] g. The left track of the excavator moves forward and the right track moves backward.

[0137] h. The left track of the excavator moves backward and the right track moves forward.

[0138] At this time, in one achievable manner, the calculation of the speeds of the left crawler track and the right crawler track based on the motion state of the excavator and the pedaling angles of the left and right walking pedals includes:

[0139] When the excavator is in the motion state a, the forward speed of the left crawler and the forward speed of the right crawler are calculated by v1=v2=a1α12+b1α1+c1.

[0140] When the excavator is in the b motion state, the backward speed of the left crawler and the backward speed of the right crawler are calculated by v3=v4=a2α22+b2α2+c2.

[0141] When the excavator is in the c motion state, the forward speed of the right crawler is calculated by v2=a3β12+b3β1+c3.

[0142] When the excavator is in the d motion state, the backward speed of the right crawler is calculated by v4=a4β22+b4β2+c4.

[0143] When the excavator is in the e-motion state, the forward speed of the left crawler is calculated by v1=a5α12+b5α1+c5.

[0144] When the excavator is in the f motion state, the backward speed of the left crawler is calculated by v3=a6α22+b6α2+c6.

[0145] When the excavator is in the g motion state, the forward speed of the left crawler and the backward speed of the right crawler are calculated by v1=a7α12+b7α1+c7, v4=a8β22+b8β2+c7.

[0146] When the excavator is in the h motion state, the backward speed of the left crawler and the forward speed of the right crawler are calculated by v2=a9β12+b9β1+c9, v3=a10α22+b10α2+c10.

[0147] Among them, v1 is the forward speed of the left crawler, v2 is the forward speed of the right crawler, v3 is the backward speed of the left crawler, and v4 is the backward speed of the right crawler.

[0148] α1 is the pedaling angle of the left walking pedal when the left crawler of the excavator moves forward, α2 is the pedaling angle of the left walking pedal when the left crawler of the excavator moves backward, β1 is the pedaling angle of the right walking pedal when the right crawler of the excavator moves forward, β2 is the pedaling angle of the right walking pedal when the right crawler of the excavator moves backward.

[0149] a1-a10, b1-b10, and c1-c10 are preset adjustment coefficients.

[0150] At the same time, in one achievable manner, the above-mentioned calculation of the release speed of the cable reel based on the motion state of the excavator and the speeds of the left crawler and the right crawler includes:

[0151] When the excavator is in the motion state a, the release speed of the cable drum cable is calculated by v5=v1.

[0152] When the excavator is in the c motion state, the release speed of the cable drum cable is calculated by v5=d1v2.

[0153] When the excavator is in the d motion state, the release speed of the cable drum cable is calculated by v5=d2v4.

[0154] When the excavator is in the e motion state, the release speed of the cable drum cable is calculated by v5=d3v1.

[0155] When the excavator is in the motion state f, the release speed of the cable drum cable is calculated by v5=d4v3.

[0156] When the excavator is in the g motion state, the release speed of the cable drum cable is calculated by v5=d5v1+d6v4.

[0157] When the excavator is in the h motion state, the release speed of the cable drum cable is calculated by v5=d7v2+d8v3.

[0158] Among them, v5 is the release speed of the cable from the cable reel, and d1~d8 are preset adjustment coefficients.

[0159] In addition, in a preferred embodiment, the control method of the excavator cable reel further includes:

[0160] The cable reel is controlled to retract the cable at the retracting speed based on the motion state of the excavator and the speeds of the left crawler and the right crawler.

[0161] At this time, in an implementable manner, calculating the cable recovery speed of the cable reel based on the motion state of the excavator and the speeds of the left and right crawlers includes: when the excavator is in the b motion state, calculating the cable recovery speed of the cable reel through v6 = v3, where v6 is the cable recovery speed of the cable reel.

[0162] In a preferred implementation form, the above control method for the excavator cable reel further includes:

[0163] When controlling the cable reel to release the cable at the release speed, obtaining the length of the released cable; when the length of the released cable reaches the preset cable length, stopping the cable reel from releasing the cable and giving an alarm.

[0164] It should be noted that for the information interaction, execution process, etc. between the above devices / units, since they are based on the same concept as the method embodiments of the present application, their specific functions and the technical effects brought can be specifically referred to in the method embodiment part, and will not be elaborated here.

[0165] It should be noted that those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional unit and module is used as an example. In practical applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments and will not be elaborated here.

[0166] Embodiment III

[0167] [[ID=1 | 18]]This embodiment relates to an excavator, and a control device for the excavator cable reel in Embodiment II is provided in the excavator.

[0168] Embodiment IV

[0169] This embodiment relates to a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps in each of the embodiments of the control method for the excavator cable reel in the above Embodiment I can be implemented.

[0170] At this time, this embodiment also provides a computer program product. When the computer program product runs on a mobile terminal, it enables the mobile terminal to execute the steps in each of the above embodiments of the control method for the excavator cable reel when executed.

[0171] Among them, if the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above embodiment methods of this application, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc.

[0172] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0173] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0174] In the embodiments provided in the present application, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0175] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0176] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application 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 for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method for an excavator cable reel, characterized in that, include: Obtain the motion state of the excavator and the pedaling angles of the left and right walking pedals; Calculating the speeds of the left crawler track and the right crawler track based on the motion state of the excavator and the pedaling angles of the left and right walking pedals; Calculating a cable release speed of a cable drum based on a motion state of the excavator and speeds of the left crawler track and the right crawler track; The cable reel is controlled to release the cable at the release speed.

2. The control method of the excavator cable reel according to claim 1, wherein, The motion states of the excavator include: a. The left crawler of the excavator moves forward, and the right crawler moves forward; b. The left crawler track of the excavator moves backward, and the right crawler track moves backward; c. The left crawler of the excavator stops and the right crawler moves forward; d. The left crawler of the excavator stops and the right crawler moves backward; e. The left crawler of the excavator moves forward and the right crawler stops; f. The left crawler of the excavator moves backward and the right crawler stops; g. The left crawler of the excavator moves forward and the right crawler moves backward; h. The left track of the excavator moves backward and the right track moves forward.

3. The control method of the excavator cable reel according to claim 1, characterized in that, The calculating of the speeds of the left crawler track and the right crawler track based on the motion state of the excavator and the pedaling angles of the left walking pedal and the right walking pedal comprises: When the excavator is in motion state a, the forward speed of the left crawler and the forward speed of the right crawler are calculated by v1=v2=a1α12+b1α1+c1; When the excavator is in the b motion state, the backward speed of the left crawler and the backward speed of the right crawler are calculated by v3=v4=a2α22+b2α2+c2; When the excavator is in the c motion state, the forward speed of the right crawler is calculated by v2=a3β12+b3β1+c3; When the excavator is in the d motion state, the backward speed of the right crawler is calculated by v4=a4β22+b4β2+c4; When the excavator is in the e motion state, the forward speed of the left crawler is calculated by v1=a5α12+b5α1+c5; When the excavator is in the f motion state, the backward speed of the left crawler is calculated by v3=a6α22+b6α2+c6; When the excavator is in the g motion state, the forward speed of the left crawler and the backward speed of the right crawler are calculated by v1=a7α12+b7α1+c7, v4=a8β22+b8β2+c7; When the excavator is in the h motion state, the backward speed of the left crawler and the forward speed of the right crawler are calculated by v2=a9β12+b9β1+c9, v3=a10α22+b10α2+c10; Wherein, v1 is the forward speed of the left crawler, v2 is the forward speed of the right crawler, v3 is the backward speed of the left crawler, and v4 is the backward speed of the right crawler; α1 is the pedaling angle of the left walking pedal when the left crawler of the excavator moves forward, α2 is the pedaling angle of the left walking pedal when the left crawler of the excavator moves backward, β1 is the pedaling angle of the right walking pedal when the right crawler of the excavator moves forward, β2 is the pedaling angle of the right walking pedal when the right crawler of the excavator moves backward; a1-a10, b1-b10, and c1-c10 are preset adjustment coefficients.

4. The control method of the excavator cable reel according to claim 3, characterized in that, The method of calculating the release speed of the cable drum based on the motion state of the excavator and the speeds of the left crawler and the right crawler comprises: When the excavator is in motion state a, the release speed of the cable drum cable is calculated by v5=v1; When the excavator is in the motion state c, the release speed of the cable drum cable is calculated by v5=d1v2; When the excavator is in the motion state d, the release speed of the cable drum cable is calculated by v5=d2v4; When the excavator is in the motion state e, the release speed of the cable drum cable is calculated by v5=d3v1; When the excavator is in the motion state f, the release speed of the cable drum cable is calculated by v5=d4v3; When the excavator is in the g motion state, the release speed of the cable drum cable is calculated by v5=d5v1+d6v4; When the excavator is in the h motion state, the release speed of the cable drum cable is calculated by v5=d7v2+d8v3; Among them, v5 is the release speed of the cable from the cable reel, and d1~d8 are preset adjustment coefficients.

5. The control method of the excavator cable reel according to claim 4, characterized in that, Also includes: Calculating a cable recovery speed of a cable drum based on a motion state of the excavator and speeds of the left crawler and the right crawler; The cable reel is controlled to retract the cable at the retracting speed.

6. The control method of the excavator cable reel according to claim 5, wherein The calculating of the recovery speed of the cable reel based on the motion state of the excavator and the speeds of the left crawler and the right crawler comprises: When the excavator is in the b motion state, the recovery speed of the cable drum cable is calculated by v6=v3, wherein v6 is the recovery speed of the cable drum cable.

7. The control method of the excavator cable reel according to any one of claims 1-6, characterized in that, Also includes: When controlling the cable reel to release the cable at the release speed, obtaining the length of the released cable; When the length of the released cable reaches a preset cable length, the cable reel is stopped from releasing the cable and an alarm is issued.

8. A control device for an excavator cable reel, characterized in that, include: An acquisition module (301) is used to acquire the motion state of the excavator and the pedaling angles of the left and right walking pedals; A first calculation module (302) is used to calculate the speed of the left crawler track and the right crawler track based on the motion state of the excavator and the pedaling angles of the left and right walking pedals; A second calculation module (303) is used to calculate the cable release speed of the cable drum based on the motion state of the excavator and the speeds of the left crawler and the right crawler; A control module (304) is used to control the cable reel to release the cable at the release speed.

9. An excavator, characterized in that, A control device for an excavator cable reel comprising the device according to claim 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, the control method of the excavator cable reel according to any one of claims 1 to 7 is implemented.

Images