Excavator control method and system, excavator, device and storage medium

Abstract

The invention provides an excavator control method and system, an excavator, a device and a storage medium, and relates to the technical field of excavators. The method comprises the steps that the oil way pressure intensity of hydraulic cylinders of a plurality of joints on an operation arm of the excavator is obtained; according to the oil way pressure intensity of the hydraulic cylinders of the multiple joints, the output torque of the multiple joints is calculated; according to the output torque of the multiple joints, the tail end acting force of the operation arm is calculated. The tail end acting force of the working arm of the excavator can be obtained, so that the acting force of the excavator on the acting surface is obtained according to the tail end acting force, when the excavator makes contact with different acting surfaces, the control strategy can be adjusted according to the actual conditions of the acting surfaces, and the working efficiency and working safety of the excavator are improved.

Description

Technical Field

[0001] The present application relates to the technical field of excavators, and in particular to a control method, system, excavator, device and storage medium for an excavator. Background Art

[0002] With the continuous development of sensing technology and automation technology, there has been work applying automated control technology to heavy equipment such as excavators, achieving high-precision, efficient, and robust position and speed control of the excavator, as well as a certain degree of automation. The current technology can control each joint of the excavator's working arm to move at a specified speed or reach a specified position when the excavator is unloaded, allowing the excavator to be used in some simple tasks to achieve automatic construction, such as brushing slopes and leveling the ground.

[0003] However, since the excavator can only sense its own movement speed and position, but cannot sense the force exerted by the excavator on the working surface, it is impossible to adjust the control strategy according to the actual situation of the working surface, resulting in the excavator being unable to reach the specified position. This is very inefficient and dangerous. Therefore, how to sense the force exerted by the excavator on the working surface to improve the working efficiency and safety of the excavator is an urgent problem that needs to be solved. Summary of the Invention

[0004] In response to the above-mentioned deficiencies in the prior art, the present application provides a control method, system, excavator, device and storage medium for an excavator, so as to solve the problems existing in the prior art.

[0005] The technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for controlling an excavator, comprising:

[0007] Obtaining the oil circuit pressures of the hydraulic cylinders of multiple joints on the working arm of the excavator;

[0008] Calculating the output torques of the plurality of joints respectively according to the oil pressures of the hydraulic cylinders of the plurality of joints;

[0009] The end force of the working arm is calculated according to the output torques of the plurality of joints.

[0010] In one embodiment, after calculating the end force of the working arm based on the output torque of the multiple joints, the method further includes: controlling the oil inlet and outlet of the hydraulic cylinders of the multiple joints based on the end force of the working arm to control the operation of the working arm.

[0011] In one embodiment, the oil inlet and outlet of the hydraulic cylinders of the plurality of joints are controlled according to the end force of the working arm to control the operation of the working arm, including:

[0012] Obtaining a preset force threshold;

[0013] determining an operation control strategy for the excavator according to the terminal force and the preset force threshold;

[0014] According to the operation control strategy, the oil inlet and outlet of the hydraulic cylinders of the multiple joints are controlled to drive the multiple joints to move until the end force reaches the preset force threshold.

[0015] In one embodiment, before respectively calculating the output torques of the plurality of joints based on the oil circuit pressures of the hydraulic cylinders of the plurality of joints, the method further comprises:

[0016] obtaining the inclination angles of the plurality of joints;

[0017] The step of calculating the output torques of the plurality of joints according to the oil pressures of the hydraulic cylinders of the plurality of joints comprises:

[0018] Calculating the joint moments of the plurality of joints respectively according to the oil circuit pressures of the hydraulic cylinders of the plurality of joints;

[0019] The output torques of the multiple joints are calculated respectively according to the joint torques of the multiple joints and the inclination angles of the multiple joints.

[0020] In one embodiment, the calculating of the joint torques of the plurality of joints according to the oil pressures of the hydraulic cylinders of the plurality of joints includes:

[0021] Calculating the output force of the hydraulic cylinder of each joint according to the oil circuit pressure of the hydraulic cylinder of each joint and the force application area of the hydraulic cylinder of each joint;

[0022] The joint torque of each joint is calculated according to the output force of the hydraulic cylinder of each joint and the moment arm of each joint.

[0023] In one embodiment, the calculating the output torques of the plurality of joints respectively according to the joint torques of the plurality of joints and the inclination angles of the plurality of joints includes:

[0024] Calculating the gravitational moment of each joint according to the inclination angle of each joint, the mass of each joint, and the distance between the preset anchor point and the center of mass of each joint;

[0025] The output torque of each joint is calculated according to the gravity torque of each joint and the preset friction torque of each joint.

[0026] In one embodiment, the calculating the end force of the working arm according to the output torques of the plurality of joints includes:

[0027] The end force of the working arm is calculated according to the output torques of the multiple joints and the inclination angles of the multiple joints.

[0028] In a second aspect, an embodiment of the present application provides a force sensing system for an excavator, comprising: a control unit, a plurality of groups of pressure sensors;

[0029] The multiple groups of pressure sensors are respectively arranged on the oil circuits of the hydraulic cylinders corresponding to the multiple joints on the working arm of the excavator to respectively collect the oil circuit pressures of the hydraulic cylinders of the multiple joints;

[0030] The multiple groups of pressure sensors are respectively connected to the control unit, and the control unit is used to execute the excavator control method described in any one of the above embodiments.

[0031] In one embodiment, the force sensing system further includes: a plurality of inclination sensors, wherein the plurality of inclination sensors are respectively arranged on the plurality of joints to respectively collect the inclination angles of the plurality of joints; and the plurality of inclination sensors are respectively connected to the control unit.

[0032] In one embodiment, each group of pressure sensors includes: an oil inlet pressure sensor and an oil outlet pressure sensor, and the oil inlet pressure sensor and the oil outlet pressure sensor are respectively arranged at the oil inlet and oil outlet of the hydraulic cylinder corresponding to a joint.

[0033] In a third aspect, an embodiment of the present application provides an operation control system for an excavator, comprising: the force sensing system described in any of the above embodiments, and an operation system, wherein the operation system comprises: an operation arm, and a plurality of hydraulic cylinders;

[0034] The plurality of hydraulic cylinders are respectively arranged on the plurality of joints of the working arm, and are used to control the plurality of joints of the working arm to move; the plurality of hydraulic cylinders are respectively connected to the control unit in the force sensing system.

[0035] In a fourth aspect, an embodiment of the present application provides an excavator, which at least includes the operation control system of the excavator described in the above embodiment.

[0036] In a fifth aspect, an embodiment of the present application provides a control device for an excavator, comprising:

[0037] An acquisition module, configured to acquire the oil circuit pressures of the hydraulic cylinders of the multiple joints on the working arm of the excavator;

[0038] a torque calculation module, configured to calculate the output torques of the plurality of joints according to the oil pressures of the hydraulic cylinders of the plurality of joints;

[0039] The force calculation module is used to calculate the end force of the working arm according to the output torque of the multiple joints, and the end force is used to represent the force of the end of the working arm relative to the preset action surface.

[0040] In a sixth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon. When the computer program is executed by a control unit, the control method of the excavator described in any of the above embodiments is implemented.

[0041] The beneficial effects of the present application are as follows: the present application provides an excavator control method, system, excavator, device, and storage medium. The excavator control method includes obtaining the oil pressure of the hydraulic cylinders of multiple joints on the excavator's working arm; calculating the output torque of the multiple joints based on the oil pressure of the hydraulic cylinders of the multiple joints; and calculating the end force of the working arm based on the output torque of the multiple joints.

[0042] Among them, by obtaining the end force of the excavator's working arm, the force exerted by the excavator on the action surface can be obtained based on the end force, so that when the excavator contacts different action surfaces, the control strategy can be adjusted according to the actual situation of the action surface, thereby improving the working efficiency and work safety of the excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A schematic diagram of the structure of the excavator provided for this application;

[0045] Figure 2 This is a schematic diagram of the structure of a force sensing system for an excavator provided in one embodiment of the present application;

[0046] Figure 3 This is a second structural diagram of the force sensing system for an excavator provided in one embodiment of the present application;

[0047] Figure 4 This is a third structural diagram of the force sensing system for an excavator provided in one embodiment of the present application;

[0048] Figure 5 A schematic structural diagram of an excavator operation control system provided in one embodiment of the present application;

[0049] Figure 6 This is a flow chart of a method for controlling an excavator according to an embodiment of the present application;

[0050] Figure 7 This is a second flow chart of a method for controlling an excavator provided in one embodiment of the present application;

[0051] Figure 8 This is a third flow chart of a method for controlling an excavator provided in one embodiment of the present application;

[0052] Figure 9 This is a fourth flow chart of a method for controlling an excavator provided in one embodiment of the present application;

[0053] Figure 10 This is a fifth flow chart of a method for controlling an excavator provided in one embodiment of the present application;

[0054] Figure 11 A schematic structural diagram of a control device for an excavator provided in one embodiment of the present application;

[0055] Figure 12 This is a schematic diagram of the structure of the control unit provided in this application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0057] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0058] In the description of this application, it should be noted that if the terms "upper", "lower", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the application is usually placed when in use. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.

[0059] In addition, the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0060] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, a detachable connection, or an integral connection. They may refer to a direct connection, an indirect connection via an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0061] It should be noted that, in the absence of conflict, the features in the embodiments of this application can be combined with each other.

[0062] Existing intelligent excavators achieve precise motion control, capable of controlling the excavator's working arm to reach a specified position or move at a specified speed. There are currently two control schemes for position and speed control during the excavator's execution of tasks:

[0063] One method is to specify several locations that need to be reached in advance and control the excavator to reach these locations in sequence; the other method is to plan a trajectory in advance, which specifies the position and speed that the excavator's working arm joint should reach at each moment, and then the control unit will make the excavator move according to the speed and position specified by this trajectory at each moment.

[0064] The above two methods based on position control or speed control are difficult to guarantee the control effect when dealing with situations where there is a large interaction force with the working surface. The former will cause the excavator to get stuck and unable to reach the specified position, and even if it reaches the specified position, the movement of the excavator during the process may not be as expected. The latter will prevent the excavator from moving at the specified position and speed due to the interaction force of the working surface. In order to enable the excavator to move at the specified position and speed, the control unit will increase the output of the excavator (the oil pressure of the hydraulic cylinder). At this time, if there are huge stones on the working surface or the soil is very hard, the excavator's working arm will be stuck or the excavator will be lifted up, which is very inefficient and unsafe. The root cause of these problems is that the excavator cannot perceive the external environment and can only "dig blindly". It is impossible to adjust the excavator's control strategy according to the different external working surface environments.

[0065] Therefore, the present application provides a control method, system, excavator, device and storage medium for an excavator, which can solve the problems existing in the prior art. Specific examples are described below with reference to the accompanying drawings through multiple examples.

[0066] First, the structure of the excavator of this application is described. Figure 1 The structural diagram of the excavator provided for this application is as follows: Figure 1 As shown, the excavator includes a working arm 01 and a vehicle body 02, wherein the multiple joints of the working arm 01 include a bucket 101, a forearm 102 and an upper arm 103, θ1 represents the angle between the bucket 101 and the forearm 102, θ2 represents the angle between the forearm 102 and the upper arm 103, θ3 represents the angle between the upper arm 103 and the horizontal plane, and point A represents the tip of the bucket tooth.

[0067] Point B represents the connection point between the bucket 101 and the forearm 102, which is also the preset anchor point of the bucket 101; Point D represents the connection point between the forearm 102 and the boom 103, which is also the preset anchor point of the forearm 102; Point O represents the connection point between the boom 103 and the vehicle body 02, which is also the preset anchor point of the boom 103.

[0068] F A Indicates the end force of the working arm, F1 indicates the output force of the hydraulic cylinder of the bucket joint, F2 indicates the output force of the hydraulic cylinder of the forearm joint, and F3 indicates the output force of the hydraulic cylinder of the boom joint.

[0069] This application also provides a force sensing system for an excavator. Figure 2 This is one of the structural diagrams of the force sensing system of the excavator provided in one embodiment of the present application, such as Figure 2 As shown, the force sensing system of the excavator includes a control unit 1 and multiple groups of pressure sensors 2.

[0070] Multiple groups of pressure sensors are respectively arranged on the oil circuits of the hydraulic cylinders corresponding to multiple joints on the working arm 01 of the excavator to respectively collect the oil circuit pressures of the hydraulic cylinders of the multiple joints; multiple groups of pressure sensors are respectively connected to the control unit to send the collected oil circuit pressures of the hydraulic cylinders to the control unit, and the control unit is used to execute the control method of the excavator described in the following embodiments.

[0071] For example, the multiple joints of the working arm 01 include a bucket 101, an arm 102 and an arm 103. Correspondingly, there can be three groups of pressure sensors, and the three groups of pressure sensors are respectively arranged on the oil circuits of the hydraulic cylinders corresponding to the bucket 101, the arm 102 and the arm 103 to respectively collect the oil circuit pressures of the hydraulic cylinders of the bucket 101, the arm 102 and the arm 103; the three groups of pressure sensors are respectively connected to the control units to send the collected oil circuit pressures of the hydraulic cylinders corresponding to the bucket 101, the arm 102 and the arm 103 to the control unit.

[0072] The force sensing system of the excavator provided in this embodiment can obtain the oil circuit pressure of the hydraulic cylinders of multiple joints of the excavator through multiple groups of pressure sensors, so that the control unit can execute the control method of the excavator according to the oil circuit pressure of the hydraulic cylinders.

[0073] It should also be noted that the pressure sensor provided in this embodiment can be set in the oil circuit of the hydraulic cylinder through a three-way valve. The three-way valve has one inlet and two outlets. The pressure sensor is set on one of the outlets. The inlet and the other outlet are installed according to the oil flow direction of the hydraulic cylinder so that the pressure sensor can collect the oil circuit pressure of the hydraulic cylinder.

[0074] Figure 3 This is the second structural diagram of the force sensing system of the excavator provided in one embodiment of the present application. Usually, the hydraulic cylinder is provided with an oil inlet and an oil outlet. Correspondingly, the oil inlet is connected to the oil inlet circuit of the hydraulic cylinder, and the oil outlet is connected to the oil outlet circuit of the hydraulic cylinder.

[0075] Then Figure 3 As shown, each group of pressure sensors may include: an oil inlet pressure sensor and an oil outlet pressure sensor, which are respectively arranged at the oil inlet and oil outlet circuits of a hydraulic cylinder corresponding to a joint, and the oil inlet pressure sensor is used to collect the pressure of the oil inlet circuit of the hydraulic cylinder, and the oil outlet pressure sensor is used to collect the pressure of the oil outlet circuit of the hydraulic cylinder.

[0076] Through the arrangement of this embodiment, an oil inlet pressure sensor and an oil outlet pressure sensor are respectively arranged at the oil inlet circuit and the oil outlet circuit of the hydraulic cylinder, which conforms to the oil inlet and oil outlet structure of the hydraulic cylinder. Therefore, the oil circuit pressure of the hydraulic cylinder collected by the oil inlet pressure sensor and the oil outlet pressure of the hydraulic cylinder collected by the oil outlet pressure sensor can be made more accurate.

[0077] Figure 4 This is a third structural diagram of the force sensing system of an excavator provided in an embodiment of the present application, as shown in FIG. Figure 4 As shown, the force sensing system may further include a plurality of tilt sensors 3, which may be, for example, a level meter, an inclinometer, etc., and may be used to measure the tilt angle between an object and the horizontal plane of the earth.

[0078] The plurality of inclination sensors are respectively arranged on the plurality of joints to respectively collect the inclination angles of the plurality of joints; the plurality of inclination sensors are respectively connected to the control unit to send the collected inclination angles of the plurality of joints to the control unit.

[0079] For example, the multiple joints of the working arm 01 include a bucket 101, an arm 102 and an arm 103. Correspondingly, three inclination sensors can be set, and the three inclination sensors are respectively arranged on the bucket 101, the arm 102 and the arm 103 to respectively collect the inclination angle of the bucket 101 and the horizontal plane, the inclination angle of the arm 102 and the horizontal plane, and the inclination angle of the arm 103 and the horizontal plane; the three inclination sensors are respectively connected to the control unit to send the collected inclination angles corresponding to the bucket 101, the arm 102 and the arm 103 to the control unit.

[0080] Based on the force sensing system of the excavator, this application also provides an operation control system for the excavator. Figure 5 This is a structural diagram of an excavator operation control system provided in one embodiment of the present application, as shown in FIG. Figure 5 As shown, the operation control system of the excavator includes the force sensing system of the excavator described in any of the above embodiments, and an operation system, wherein the operation system includes an operation arm 01 and multiple hydraulic cylinders.

[0081] Multiple hydraulic cylinders are respectively arranged on multiple joints of the working arm 01, and are used to control the movement of multiple joints of the working arm; multiple hydraulic cylinders are respectively connected to the control unit in the force sensing system. Based on this connection, the control unit can control the oil inlet and oil outlet of the hydraulic cylinder to adjust the oil circuit pressure of the hydraulic cylinder, thereby realizing the control of the joint movement corresponding to the hydraulic cylinder.

[0082] This application only takes the multiple joints of the working arm 01 including the bucket 101, the forearm 102 and the upper arm 103 as an example, and does not mean that the joints on the working arm of the excavator only include the bucket 101, the forearm 102 and the upper arm 103. In actual operation, the number and installation positions of the pressure sensors and inclination sensors in the force sensing system of the excavator can be adjusted according to the specific settings of the joints on the working arm.

[0083] The present application also provides an excavator, which at least includes the excavator operation control system provided by the above embodiment. The excavator can use the excavator operation control system provided by the above embodiment to adjust the excavator control strategy according to different external action surface environments.

[0084] The following is combined with Figure 6-10 , the control method of the excavator provided in this application is specifically illustrated through multiple examples.

[0085] Figure 6 This is one of the flow charts of the control method for an excavator provided in one embodiment of the present application, such as Figure 6 As shown, the control method of the excavator includes:

[0086] S101: Obtain the oil pressure of the hydraulic cylinders of multiple joints on the working arm of the excavator.

[0087] Multiple joints on the working arm of the excavator are each provided with a hydraulic cylinder, and a group of pressure sensors are each provided on the oil circuits of the hydraulic cylinders corresponding to the multiple joints on the working arm of the excavator.

[0088] The oil pressure of the hydraulic cylinders at multiple joints on the excavator's working arm can be obtained through pressure sensors. Optionally, a pressure transmitter, piezoelectric sensor, spring dynamometer, or any other device capable of measuring the oil pressure of the hydraulic cylinders at multiple joints on the excavator's working arm can be installed in the oil circuits of the hydraulic cylinders corresponding to the multiple joints on the excavator's working arm to collect the oil pressure of the hydraulic cylinders at multiple joints on the excavator's working arm.

[0089] S102. Calculate the output torques of the multiple joints according to the oil pressures of the hydraulic cylinders of the multiple joints.

[0090] The output torque of a joint refers to the torque of the force output by the joint to other objects outside it under the action of the hydraulic cylinder. This embodiment can calculate the output torque of multiple joints separately according to the oil circuit pressure of the hydraulic cylinders of multiple joints.

[0091] Taking multiple joints including bucket 101, forearm 102 and boom 103 as an example, the output torque of bucket 101 is calculated according to the oil circuit pressure of the hydraulic cylinder corresponding to bucket 101, which is represented by τout1; the output torque of forearm 102 is calculated according to the oil circuit pressure of the hydraulic cylinder corresponding to forearm 102, which is represented by τout2; the output torque of boom 103 is calculated according to the oil circuit pressure of the hydraulic cylinder corresponding to boom 103, which is represented by τout3.

[0092] It should be noted that this embodiment only takes the joints on the excavator working arm including the bucket 101, the small arm 102 and the large arm 103 as an example to illustrate the output torque of multiple joints on the working arm. It does not mean that the working arm of the excavator can only include the above-mentioned joints. In fact, this embodiment can calculate the output torque of any joint on the working arm.

[0093] Optionally, gravity sensors or other devices can be respectively set on multiple joints of the working arm. By converting the readings of the gravity sensors or other devices into external forces acting on multiple joints, since the action of force is mutual, the output torque of multiple joints can be obtained according to the size of the external forces acting on the joints.

[0094] S103: Calculate the end force of the working arm according to the output torque of multiple joints.

[0095] In this embodiment, the end force refers to the force applied to the excavator when it contacts a predetermined working surface in order to perform excavation operations on the predetermined working surface. The end force represents the force applied by the end of the working arm relative to the predetermined working surface. For example, it can be the force applied when the tooth tip A of the end articulated bucket 101 of the working arm 01 contacts the predetermined working surface. The predetermined working surface is the predetermined surface on which the excavator performs excavation operations, such as the ground, a wall, or any other surface.

[0096] After obtaining the output torques of multiple joints, the end force of the working arm can be calculated. That is, after obtaining the output torque τout1 of the bucket 101, the output torque τout2 of the small arm 102, and the output torque τout3 of the large arm 103, the force acting on the tooth tip point A of the end joint of the working arm 01 can be obtained. The end force of the excavator working arm 01 is expressed by F A express.

[0097] Optionally, a pressure sensor, strain gauge or other device capable of measuring pressure may be installed at the position where the end joint of the working arm contacts the preset action surface (such as the tip of the bucket tooth) to directly measure the end force of the working arm through these devices.

[0098] In summary, this embodiment provides a control method for an excavator. By obtaining the end force of the excavator's working arm, the force exerted by the excavator on the action surface can be obtained based on the end force. When the excavator contacts different action surfaces, the control strategy can be adjusted according to the actual situation of the action surface, thereby improving the working efficiency and work safety of the excavator.

[0099] Another embodiment of the present application also provides an implementation method for operating the working arm. After calculating the end force of the working arm based on the output torque of multiple joints in S103, the control method of the excavator may also include: controlling the oil inlet and outlet of the hydraulic cylinders of multiple joints according to the end force of the working arm to perform operating control on the working arm.

[0100] Specifically, after obtaining the end force of the excavator's working arm, the amount of force required for the excavator to perform excavation operations on the preset action surface can be known based on the end force of the working arm, and the actual conditions of the preset action surface (such as hardness, presence or absence of obstacles, etc.) can be obtained. Therefore, according to the actual conditions of the preset action surface, the oil in and out of the hydraulic cylinders of multiple joints on the excavator's working arm can be controlled to adjust the current operating conditions of the working arm and realize the operation control of the working arm.

[0101] Figure 7 The second flow chart of the control method of the excavator provided in one embodiment of the present application is as follows: Figure 7 As shown, the present application provides a specific implementation method for controlling the working arm, including:

[0102] S201: Obtain a preset force threshold.

[0103] Before executing the method of this embodiment, a preset force threshold can be set first. The preset force threshold indicates the magnitude of the force applied to the end of the working arm when the excavator performs excavation operations when the preset hardness of the action surface is optimal. The specific value of the preset force threshold can be pre-set based on experiments or experience.

[0104] For example, experiments show that when the preset working surface is soft, the force exerted on the end of the excavator's working arm during excavation is 30-50 N. When the preset working surface is hard, the force exerted on the end of the excavator's working arm during excavation is 80-100 N. Since 50-80 N represents the optimal hardness of the preset working surface, the preset force threshold is set to 50-80 N.

[0105] S202: Determine an operation control strategy for the excavator based on the terminal force and a preset force threshold.

[0106] After obtaining the preset force threshold, the operation control strategy for the excavator can be determined based on the terminal force and the preset force threshold.

[0107] For example, when the end force F of the working arm A When the force is less than the minimum value of the preset force threshold (less than 50N), it means that the working surface is relatively soft, and the working arm can dig deeper, so that the excavator can complete the excavation task in a shorter driving distance, thereby reducing the fuel consumption of the excavator; when the end force F A When the force is greater than the maximum value of the preset force threshold (greater than 80N), it means that the working surface is harder, which can make the working arm dig shallower, thereby avoiding the risk of the excavator arm getting stuck or the excavator being lifted up, thereby reducing the mechanical loss of the excavator.

[0108] Optionally, when the end force F of the working arm A When the force is greater than 100N, it can be considered that the working arm has encountered a stone or other obstacle that cannot be excavated. The working arm can then be controlled to bypass the obstacle to achieve flexible control of the excavator.

[0109] S203. According to the operation control strategy, the oil inlet and outlet of the hydraulic cylinders of the multiple joints are controlled to drive the multiple joints to move until the end force reaches a preset force threshold.

[0110] After obtaining the operation control strategy for the excavator, the oil in and out of the hydraulic cylinders of multiple joints can be controlled according to the operation control strategy to change the output torque of multiple joints on the excavator's working arm, and drive multiple joints to move according to the changed output torque.

[0111] It should be noted that when the end force reaches the preset force threshold, the control changes of the oil in and out of the hydraulic cylinders of multiple joints are stopped, so that the oil in and out of the hydraulic cylinders of multiple joints remain in the current state. That is, when the end force reaches the preset force threshold, it is considered that the end force of the excavator's working arm has reached the optimal value at this time, and the excavator can perform excavation operations in the optimal state on the current preset action surface without the need to adjust the end force.

[0112] Specifically, according to the operation control strategy, the oil in and out of the hydraulic cylinders of multiple joints are controlled to drive the multiple joints to move, which may include: when the end force F of the working arm is A When the force is less than the minimum value of the preset force threshold (less than 50N), it means that the action surface is relatively soft, and the oil flow in and out of the hydraulic cylinder can be increased to make the end force F A The value of increases, making the working arm dig deeper; when the end force F AWhen the force is greater than the maximum value of the preset force threshold (greater than 80N), it means that the action surface is hard, and the oil flow in and out of the hydraulic cylinder can be reduced to make the end force F A Reduce the value to make the working arm dig shallower.

[0113] It should be noted that the end force F of the working arm in this embodiment A When the force is less than the preset threshold, the end force F A The value of is increased, when the end force F of the working arm A When the force is greater than the preset threshold, the end force F A The value of is reduced, which is only an exemplary description of controlling the oil in and out of the hydraulic cylinder, and does not mean that this application can only control the oil in and out of the hydraulic cylinder in this way. Optionally, if the force F at the end of the working arm is A When the force is less than the preset threshold, no force F is applied to the end. A Even if the value is adjusted, the excavator can still complete the excavation operation.

[0114] In summary, the method of this embodiment can determine the operation control strategy for the excavator based on the end force and the preset force threshold, taking into account the current actual situation of the preset action surface, so that when the excavator performs excavation operations, it can adjust the operation control strategy according to the actual situation of the preset action surface and perform excavation work in the optimal state.

[0115] This application provides a possible implementation method for calculating the output torque of a joint based on the oil circuit pressure. Figure 8 The third flow chart of the control method of the excavator provided in one embodiment of the present application is as follows: Figure 8 As shown, before S102 respectively calculates the output torques of the multiple joints according to the oil pressures of the hydraulic cylinders of the multiple joints, the excavator control method may further include:

[0116] S301: Obtain the inclination angles of multiple joints.

[0117] Multiple joints on the working arm of the excavator are provided with inclination sensors, and the inclination angles between the multiple joints on the working arm of the excavator and the horizontal plane can be obtained through the inclination sensors.

[0118] Then, the step S102 of calculating the output torques of the multiple joints according to the oil pressures of the hydraulic cylinders of the multiple joints may include:

[0119] S302. Calculate the joint torques of the multiple joints respectively according to the oil pressures of the hydraulic cylinders of the multiple joints.

[0120] The joint torque of a joint refers to the torque of the resultant force acting on the joint. After obtaining the oil circuit pressures of the hydraulic cylinders of multiple joints, the joint torques of the multiple joints can be calculated separately based on the oil circuit pressures of the hydraulic cylinders of the multiple joints.

[0121] S303 , calculating the output torques of the multiple joints respectively according to the joint torques of the multiple joints and the inclination angles of the multiple joints.

[0122] The output torque of a joint refers to the magnitude of the torque of the force output by the joint to other objects outside it under the action of the hydraulic cylinder. The joint torque of a joint refers to the torque of the resultant force acting on the joint. Therefore, after obtaining the joint torques of multiple joints, the torque of the joint's own force (such as gravity, friction, etc.) is calculated according to the inclination angles of multiple joints, and the output torque of multiple joints can be calculated.

[0123] In this embodiment, the output torque is calculated using the joint torque and the inclination angle information, which improves the accuracy of obtaining the output torque and further improves the accuracy of the excavator control method.

[0124] An embodiment of the present application provides a possible implementation method for calculating joint torque. Specifically, Figure 9 The fourth flow chart of the control method of the excavator provided in one embodiment of the present application is as follows: Figure 9 As shown, the calculation of the joint torques of the multiple joints according to the oil pressures of the hydraulic cylinders of the multiple joints in S302 may include:

[0125] S401. Calculate the output force of the hydraulic cylinder of each joint according to the oil circuit pressure of the hydraulic cylinder of each joint and the force application area of the hydraulic cylinder of each joint.

[0126] Taking the bucket joint 101 as an example, an oil inlet pressure sensor and an oil outlet pressure sensor are respectively provided at the oil inlet and oil outlet of the hydraulic cylinder corresponding to the bucket joint. Assume that the hydraulic cylinder outlet pressure data collected by the oil outlet pressure sensor is P1, and the hydraulic cylinder inlet pressure data collected by the oil inlet pressure sensor is P2. Then, the oil circuit pressure corresponding to the bucket joint 101 is P1-P2. By measuring the force application area S of the hydraulic cylinder of the bucket joint, the output force of the hydraulic cylinder of the bucket joint 101 can be calculated according to formula (1), which is represented by F1.

[0127] F1 = (P1-P2)×S (1)

[0128] Here, S represents the force acting cross-sectional area of the hydraulic cylinder corresponding to the bucket 101, and the specific value of S can be obtained in advance by measuring according to any measurement method, or by the factory design parameters of the hydraulic cylinder.

[0129] S402: Calculate the joint torque of each joint according to the output force of the hydraulic cylinder of each joint and the moment arm of each joint.

[0130] Taking the bucket joint 101 as an example, by measuring the lever arm L(θ) of the bucket joint, the joint torque of the bucket joint 101 can be calculated according to formula (2) and represented by τ.

[0131] τ = (P1-P2)× L(θ)×S (2)

[0132] Among them, L(θ) represents the arm size of the bucket, for example Figure 1 The length of BC in , and the size of the bucket's lever arm varies with the angle θ1 between the bucket joint 101 and the forearm joint 102. The size of the bucket's lever arm can be obtained by measurement. For example, a positioning device can be installed at the connection point B between the bucket and the forearm, and a positioning device can be installed on the oil circuit of the cylinder at point C. The position information collected by the two positioning devices can be used to calculate the length of BC, that is, the size of the bucket's lever arm L(θ). Alternatively, the size of the bucket's lever arm L(θ) can be obtained by directly measuring.

[0133] The calculation principles of the output force and joint torque of the forearm 102 and the upper arm 103 are the same as those of the bucket 101 and will not be repeated here.

[0134] Optionally, the present application may also provide a torque sensor at the bucket 101, forearm 102, and boom 103 of the excavator, respectively, and directly measure the joint torque of the bucket 101, forearm 102, and boom 103 through the torque sensor. In this way, the joint torque can be measured multiple times, and the multiple measurement results can be used to use formula (1) to infer the size of the product of L(θ)×S, and then the size of the joint torque τ can be calculated according to formula (1) to verify the measurement results of the torque sensor.

[0135] An embodiment of the present application provides a possible implementation method for calculating the output torque of a joint. Figure 10 The fifth flow chart of the control method of the excavator provided in one embodiment of the present application is as follows: Figure 10 As shown, the step S303 of calculating the output torques of the multiple joints according to the joint torques of the multiple joints and the inclination angles of the multiple joints may include:

[0136] S501. Calculate the gravitational torque of each joint according to the inclination angle of each joint, the mass of each joint, and the distance between the preset anchor point and the center of mass of each joint.

[0137] In this embodiment, each joint is subjected to full and repeated motion, and joint torque information is collected to calibrate the excavator arm's own gravity torque and friction torque. The friction torque of the joint, denoted as τf, is constant for each joint. Friction torque can be measured using any method. For example, the gravity component can be measured at a position where the joint gravity component is preset to zero (e.g., when the bucket torque coincides with the vertical direction). If the gravity component is non-zero at this point, the measured value is the friction force.

[0138] Taking the bucket joint as an example, the gravitational torque of the bucket joint is caused by the gravity of the bucket, which is recorded as τg1, τg1 = M1×g×S1×cos(θ1-k1), where M1 is the mass of the bucket joint, g is the acceleration of gravity, S1 is the distance from the center of mass of the bucket joint to its preset anchor point, θ1 is the angle between the bucket joint and the forearm joint, which can be obtained based on the measurement data of the inclination sensor, and k1 is the error value between the inclination sensor installed on the bucket and the actual angle.

[0139] The gravitational torque of the forearm joint is caused by the gravity of the bucket and the forearm, which is recorded as τg2, τg2 = M2×g×S2×cos(θ2-k2)+M1×g×(S1+L2)×cos(θ2-k2), where M2 is the mass of the forearm joint, S2 is the distance from the center of mass of the forearm joint to its preset anchor point, θ2 is the angle between the forearm joint and the arm joint, which can be obtained based on the measurement data of the inclination sensor, and k2 is the error value between the inclination sensor installed on the forearm and the actual angle.

[0140] The gravity moment of the boom joint is brought to the bucket, forearm, and boom, and so on. In this application, the preset anchor point of the bucket joint refers to the connection point B between the bucket joint and the forearm joint, the preset anchor point of the forearm joint refers to the connection point D between the forearm joint and the boom joint, and the preset anchor point of the boom joint refers to the connection point O between the boom joint and the vehicle body.

[0141] S502: Calculate the output torque of each joint according to the gravity torque of each joint and the preset friction torque of each joint.

[0142] After obtaining the joint torque τ, gravity torque τg and preset friction torque τf of the joints on the excavator working arm, the output torque τout of each joint can be calculated according to formula (3).

[0143] τout = (P1-P2)× L(θ)×S - τf - τg (3)

[0144] Among them, τf represents the friction torque, τg represents the gravity torque, (P1-P2) represents the oil circuit pressure of the hydraulic cylinder corresponding to the joint, L(θ) represents the force arm of the joint, and S represents the force application area of the hydraulic cylinder.

[0145] Optionally, since the force and the reaction force are a pair of forces of equal magnitude and opposite direction, the output torque of the joint can also be calculated by measuring the magnitude of the force acting on the point of action of the joint output torque.

[0146] Based on the above embodiment, the end force F of the working arm is calculated according to the output torque of multiple joints. A , which may include: according to the output torque of multiple joints, the inclination angles of multiple joints, and the length of the joints, using a preset force algorithm, substituting the output torque of multiple joints, the inclination angles of multiple joints, and the length of the joints, and calculating the end force of the working arm.

[0147] For example, according to the inclination angles of the bucket 101, the arm 102, and the arm 103 with the horizontal plane, we can get Figure 1 The angles θ1, θ2 and θ3 shown are then used, and according to the output torques of the bucket 101, the arm 102 and the boom 103, as well as the length AB of the bucket 101, the length BD of the arm 102 and the length OD of the boom 103, a preset force algorithm is used to substitute the output torques, angles θ1, θ2 and θ3 of the above-mentioned multiple joints, as well as the length AB of the bucket 101, the length BD of the arm 102 and the length OD of the boom 103 to calculate the end force of the working arm.

[0148] In summary, the present application provides a control method for an excavator, which has the following advantages: it can sense the magnitude of the torque output by each joint of the excavator, as well as the magnitude of the end force applied to the bucket when it contacts the working surface, which is equivalent to giving the excavator a "sense of touch". Based on this, the excavator can sense the softness and hardness of the working surface, and adopt corresponding control strategies based on the information of the end force when in contact with the working surface. This can, firstly, improve construction efficiency; secondly, reduce fuel consumption and mechanical loss; and thirdly, ensure that the excavator is not lifted or pulled down by excessive force, thereby ensuring safety.

[0149] The following continues to explain the device, storage medium and control unit for executing the excavator control method provided by any of the above embodiments of the present application. Its specific implementation process and the technical effects produced are the same as those of the corresponding method embodiments mentioned above. For the sake of brief description, for the parts not mentioned in the following embodiments, please refer to the corresponding content in the method embodiments.

[0150] Figure 11 This is a schematic diagram of the structure of the control device of the excavator provided in one embodiment of the present application, as shown in FIG. Figure 11 As shown, the present application provides a control device for an excavator, comprising:

[0151] The acquisition module 10 is used to acquire the oil circuit pressure of the hydraulic cylinders of multiple joints on the working arm of the excavator.

[0152] The torque calculation module 20 is used to calculate the output torques of the multiple joints according to the oil pressures of the hydraulic cylinders of the multiple joints.

[0153] The force calculation module 30 is used to calculate the end force of the working arm according to the output torque of multiple joints. The end force is used to represent the force of the end of the working arm relative to the preset action surface.

[0154] Optionally, the control device of the excavator further includes a control module for controlling the oil inflow and outflow of the hydraulic cylinders of multiple joints according to the end force of the working arm, so as to control the operation of the working arm.

[0155] Optionally, the acquisition module 10 is further configured to acquire a preset force threshold; the excavator control device further comprises a determination module configured to determine an operation control strategy for the excavator based on the terminal force and the preset force threshold.

[0156] The control module is also used to control the oil in and out of the hydraulic cylinders of multiple joints according to the operation control strategy to drive the multiple joints to move until the end force reaches a preset force threshold.

[0157] Optionally, the acquisition module 10 is also used to obtain the inclination angles of multiple joints; the torque calculation module 20 is also used to calculate the joint torques of multiple joints respectively according to the oil circuit pressures of the hydraulic cylinders of multiple joints; and calculate the output torques of multiple joints respectively according to the joint torques of multiple joints and the inclination angles of multiple joints.

[0158] Optionally, the torque calculation module 20 is also used to calculate the output force of the hydraulic cylinder of each joint based on the oil circuit pressure of the hydraulic cylinder of each joint and the force application area of the hydraulic cylinder of each joint; and calculate the joint torque of each joint based on the output force of the hydraulic cylinder of each joint and the lever arm of each joint.

[0159] Optionally, the torque calculation module 20 is further configured to calculate the gravitational torque of each joint based on the inclination angle of each joint, the mass of each joint, and the distance between the preset anchor point and the center of mass of each joint;

[0160] The output torque of each joint is calculated based on the gravity torque of each joint and the preset friction torque of each joint.

[0161] Optionally, the force calculation module 30 is further configured to calculate the end force of the working arm according to the output torques of the multiple joints and the inclination angles of the multiple joints.

[0162] The above-mentioned device is used to execute the method provided in the above-mentioned embodiment. Its implementation principle and technical effect are similar and will not be repeated here.

[0163] The above modules can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more microprocessors, or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented by scheduling program code through a processing element, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0164] The present application also provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a control unit, the excavator control method implemented is as follows: obtaining the oil circuit pressure of the hydraulic cylinders of multiple joints on the working arm of the excavator; calculating the output torque of the multiple joints respectively according to the oil circuit pressure of the hydraulic cylinders of the multiple joints; calculating the end force of the working arm according to the output torque of the multiple joints, and the end force is used to characterize the force of the end of the working arm relative to a preset action surface.

[0165] Optionally, after calculating the end force of the working arm based on the output torque of multiple joints, the method also includes: controlling the oil inlet and outlet of the hydraulic cylinders of multiple joints based on the end force of the working arm to control the operation of the working arm.

[0166] Optionally, according to the end force of the working arm, the oil inlet and outlet of the hydraulic cylinders of multiple joints are controlled to control the operation of the working arm, including:

[0167] Obtain a preset force threshold; determine an operation control strategy for the excavator based on the end force and the preset force threshold; and control the oil inlet and outlet of the hydraulic cylinders of multiple joints according to the operation control strategy to drive the multiple joints to move until the end force reaches the preset force threshold.

[0168] Optionally, before respectively calculating the output torques of the multiple joints according to the oil pressures of the hydraulic cylinders of the multiple joints, the excavator control method further comprises: acquiring the inclination angles of the multiple joints;

[0169] The output torques of the multiple joints are calculated respectively according to the oil circuit pressures of the hydraulic cylinders of the multiple joints, including: calculating the joint torques of the multiple joints respectively according to the oil circuit pressures of the hydraulic cylinders of the multiple joints; calculating the output torques of the multiple joints respectively according to the joint torques of the multiple joints and the inclination angles of the multiple joints.

[0170] Optionally, the joint torques of multiple joints are calculated separately according to the oil circuit pressures of the hydraulic cylinders of multiple joints, including: calculating the output force of the hydraulic cylinder of each joint according to the oil circuit pressure of the hydraulic cylinder of each joint and the force application area of the hydraulic cylinder of each joint; calculating the joint torque of each joint according to the output force of the hydraulic cylinder of each joint and the lever arm of each joint.

[0171] Optionally, the output torques of multiple joints are calculated separately based on the joint torques of multiple joints and the inclination angles of multiple joints, including: calculating the gravity torque of each joint based on the inclination angle of each joint, the mass of each joint, and the distance between the preset anchor point and the center of mass of each joint; calculating the output torque of each joint based on the gravity torque of each joint and the preset friction torque of each joint.

[0172] Optionally, calculating the end force of the working arm according to the output torques of the multiple joints includes: calculating the end force of the working arm according to the output torques of the multiple joints and the inclination angles of the multiple joints.

[0173] Optionally, the present application also provides a possible implementation of a control unit, Figure 12 The schematic diagram of the control unit provided in this application is as follows: Figure 12 As shown, the control unit includes a processor 100, a storage medium 200 and a bus 300, and the processor and the storage medium communicate with each other via the bus.

[0174] The storage medium stores program instructions executable by the processor. When the control unit is running, the processor executes the program instructions to implement the excavator control method, including: obtaining the oil circuit pressure of the hydraulic cylinders of multiple joints on the working arm of the excavator; calculating the output torque of the multiple joints respectively according to the oil circuit pressure of the hydraulic cylinders of the multiple joints; calculating the end force of the working arm according to the output torque of the multiple joints, and the end force is used to characterize the force of the end of the working arm relative to the preset action surface.

[0175] Optionally, after calculating the end force of the working arm based on the output torque of multiple joints, the method also includes: controlling the oil inlet and outlet of the hydraulic cylinders of multiple joints based on the end force of the working arm to control the operation of the working arm.

[0176] Optionally, according to the end force of the working arm, the oil inlet and outlet of the hydraulic cylinders of multiple joints are controlled to control the operation of the working arm, including:

[0177] Obtain a preset force threshold; determine an operation control strategy for the excavator based on the end force and the preset force threshold; and control the oil inlet and outlet of the hydraulic cylinders of multiple joints according to the operation control strategy to drive the multiple joints to move until the end force reaches the preset force threshold.

[0178] Optionally, before respectively calculating the output torques of the multiple joints according to the oil pressures of the hydraulic cylinders of the multiple joints, the excavator control method further comprises: acquiring the inclination angles of the multiple joints;

[0179] The output torques of the multiple joints are calculated respectively according to the oil circuit pressures of the hydraulic cylinders of the multiple joints, including: calculating the joint torques of the multiple joints respectively according to the oil circuit pressures of the hydraulic cylinders of the multiple joints; calculating the output torques of the multiple joints respectively according to the joint torques of the multiple joints and the inclination angles of the multiple joints.

[0180] Optionally, the joint torques of multiple joints are calculated separately according to the oil circuit pressures of the hydraulic cylinders of multiple joints, including: calculating the output force of the hydraulic cylinder of each joint according to the oil circuit pressure of the hydraulic cylinder of each joint and the force application area of the hydraulic cylinder of each joint; calculating the joint torque of each joint according to the output force of the hydraulic cylinder of each joint and the lever arm of each joint.

[0181] Optionally, the output torques of multiple joints are calculated separately based on the joint torques of multiple joints and the inclination angles of multiple joints, including: calculating the gravity torque of each joint based on the inclination angle of each joint, the mass of each joint, and the distance between the preset anchor point and the center of mass of each joint; calculating the output torque of each joint based on the gravity torque of each joint and the preset friction torque of each joint.

[0182] Optionally, calculating the end force of the working arm according to the output torques of the multiple joints includes: calculating the end force of the working arm according to the output torques of the multiple joints and the inclination angles of the multiple joints.

[0183] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0184] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0185] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0186] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor (English: processor) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (English: Read-Only Memory, abbreviated: ROM), a random access memory (English: Random Access Memory, abbreviated: RAM), a disk or an optical disk, and other media that can store program code.

[0187] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A control method for an excavator, characterized in that: include: Obtaining the oil circuit pressures of the hydraulic cylinders of multiple joints on the working arm of the excavator; Calculating the output torques of the plurality of joints respectively according to the oil pressures of the hydraulic cylinders of the plurality of joints; The end force of the working arm is calculated according to the output torques of the plurality of joints, and the end force is used to characterize the force of the end of the working arm relative to a preset action surface.

2. The method according to claim 1, characterized in that After calculating the end force of the working arm according to the output torques of the plurality of joints, the method further comprises: According to the end force of the working arm, the oil inlet and outlet of the hydraulic cylinders of the multiple joints are controlled to control the operation of the working arm.

3. The method according to claim 2, characterized in that The method of controlling the oil inflow and outflow of the hydraulic cylinders of the plurality of joints according to the end force of the working arm to control the operation of the working arm includes: Obtaining a preset force threshold; determining an operation control strategy for the excavator according to the terminal force and the preset force threshold; According to the operation control strategy, the oil inflow and outflow of the hydraulic cylinders of the multiple joints are controlled to drive the multiple joints to move until the end force reaches the preset force threshold.

4. The method according to claim 1, wherein Before respectively calculating the output torques of the plurality of joints according to the oil circuit pressures of the hydraulic cylinders of the plurality of joints, the method further comprises: obtaining the inclination angles of the plurality of joints; The step of calculating the output torques of the plurality of joints according to the oil pressures of the hydraulic cylinders of the plurality of joints comprises: Calculating the joint moments of the plurality of joints respectively according to the oil circuit pressures of the hydraulic cylinders of the plurality of joints; The output torques of the multiple joints are calculated respectively according to the joint torques of the multiple joints and the inclination angles of the multiple joints.

5. The method according to claim 4, characterized in that The calculating of the joint moments of the plurality of joints respectively according to the oil pressures of the hydraulic cylinders of the plurality of joints comprises: Calculating the output force of the hydraulic cylinder of each joint according to the oil circuit pressure of the hydraulic cylinder of each joint and the force application area of the hydraulic cylinder of each joint; The joint torque of each joint is calculated according to the output force of the hydraulic cylinder of each joint and the moment arm of each joint.

6. The method according to claim 4, characterized in that The step of calculating the output torques of the plurality of joints according to the joint torques of the plurality of joints and the inclination angles of the plurality of joints comprises: Calculating the gravitational moment of each joint according to the inclination angle of each joint, the mass of each joint, and the distance between the preset anchor point and the center of mass of each joint; The output torque of each joint is calculated according to the gravity torque of each joint and the preset friction torque of each joint.

7. The method according to claim 4, characterized in that The calculating the end force of the working arm according to the output torque of the plurality of joints includes: The end force of the working arm is calculated according to the output torques of the multiple joints and the inclination angles of the multiple joints.

8. A force sensing system for an excavator, characterized in that: include: Control unit, multiple groups of pressure sensors; The multiple groups of pressure sensors are respectively arranged on the oil circuits of the hydraulic cylinders corresponding to the multiple joints on the working arm of the excavator to respectively collect the oil circuit pressures of the hydraulic cylinders of the multiple joints; The multiple groups of pressure sensors are respectively connected to the control unit, and the control unit is used to execute the control method of the excavator according to any one of claims 1 to 7.

9. The force sensing system according to claim 8, characterized in that: The force sensing system further includes: a plurality of inclination sensors, which are respectively arranged on the plurality of joints to respectively collect the inclination angles of the plurality of joints; and the plurality of inclination sensors are respectively connected to the control unit.

10. The force sensing system according to claim 8, wherein: Each group of pressure sensors includes: an oil inlet pressure sensor and an oil outlet pressure sensor, and the oil inlet pressure sensor and the oil outlet pressure sensor are respectively arranged at the oil inlet oil path and the oil outlet oil path of the hydraulic cylinder corresponding to a joint.

11. An operation control system for an excavator, characterized in that: include: The force sensing system and operating system according to any one of claims 8 to 10, wherein the operating system comprises: an operating arm and a plurality of hydraulic cylinders; The plurality of hydraulic cylinders are respectively arranged on the plurality of joints of the working arm, and are used to control the plurality of joints of the working arm to move; the plurality of hydraulic cylinders are respectively connected to the control unit in the force sensing system.

12. An excavator, characterized in that: An operation control system for an excavator comprising at least the method according to claim 11.

13. A control device for an excavator, characterized in that: include: An acquisition module, configured to acquire the oil circuit pressures of the hydraulic cylinders of the multiple joints on the working arm of the excavator; a torque calculation module, configured to calculate the output torques of the plurality of joints according to the oil pressures of the hydraulic cylinders of the plurality of joints; The force calculation module is used to calculate the end force of the working arm according to the output torque of the multiple joints, and the end force is used to represent the force of the end of the working arm relative to the preset action surface.

14. A readable storage medium, characterized in that The readable storage medium stores a computer program, and when the computer program is executed by the control unit, the excavator control method according to any one of claims 1 to 7 is implemented.

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