Method and device for controlling excavator

Abstract

The invention provides a method and device for controlling an excavator and relates to the technical field of engine control, and the method comprises the steps that a pilot pressure signal of the excavator and an actual pressure value of a hydraulic system are obtained; identifying whether the current action of the excavator is an excavating action or not based on the pilot pressure signal and the actual pressure value; when the current action is the excavation action, a preset target rotating speed correction program is started, and the target rotating speed correction program is configured to correct the target rotating speed of the engine based on the actual rotating speed change rate of the engine; the actual rotating speed of the engine is obtained, and the rotating speed control torque of the engine is generated based on the actual rotating speed and the corrected target rotating speed; adjusting the running state of the engine based on the rotating speed control torque. According to the method, the excavation action with the maximum speed regulation is optimized, oil consumption waste caused by interference of other actions is avoided, the transient responsiveness to the excavation action can be improved, and the engine can output larger torque within shorter time to resist external sudden loads.

Description

Technical Field

[0001] The present disclosure belongs to the technical field of engine control, and in particular relates to a method and device for controlling an excavator. Background Art

[0002] During daily operations, an excavator's engine typically runs at a constant speed to ensure stable and efficient excavation. However, when faced with sudden loads, such as when digging into hard rock or encountering unexpected resistance, the engine speed can drop rapidly. This sudden change in speed not only reduces the excavator's efficiency but, in certain environments, such as high altitudes where the air is thin and oxygen levels are low, can even cause the engine to stall.

[0003] Excavator control systems are often unable to accurately distinguish and identify specific movements. For example, during excavation, due to large load variations, the speed regulation requirements also increase accordingly, making precise control of engine speed particularly important. The currently widely used proportional-integral-derivative (PID) control strategy exhibits significant torque response lag when faced with sudden loads in practical applications, and is generally only effective when the speed regulation is high.

[0004] Furthermore, when designing a PID control strategy, the accuracy and robustness of the PID parameters in steady-state speed control must be comprehensively considered. However, relying solely on adjusting PID parameters to achieve the desired control effect has certain limitations. Optimizing PID parameters often requires a trade-off between different control objectives, and the parameter adjustment process is complex, making it difficult to fully adapt to all operating conditions. This can result in suboptimal control performance under certain conditions. Summary of the Invention

[0005] The present disclosure provides a method and device for controlling an excavator, which aims to at least to some extent solve the technical problem in the related art that the engine speed drops sharply or even stalls when a sudden load is applied.

[0006] At least one embodiment of the present disclosure provides a method for controlling an excavator, the excavator including an engine and a hydraulic system driven by the engine, the method comprising:

[0007] Acquiring a pilot pressure signal of the excavator and an actual pressure value of the hydraulic system, wherein the pilot pressure signal is used to control the hydraulic system to drive the excavator to complete a current action;

[0008] identifying whether a current action of the excavator is an excavation action based on the pilot pressure signal and the actual pressure value;

[0009] When the current action is an excavation action, starting a preset target speed correction program, wherein the target speed correction program is configured to correct the target speed of the engine based on an actual speed change rate of the engine;

[0010] Acquiring an actual speed of the engine, and generating a speed control torque of the engine based on the actual speed combined with a corrected target speed; and

[0011] An operating state of the engine is adjusted based on the speed control torque.

[0012] In the method provided by at least one embodiment of the present disclosure, the excavator further includes a hydraulic system controller, an operator handle, and a pilot pressure relay coupled to the operator handle, and the method further includes:

[0013] After the excavator is started, the pilot pressure relay is powered on so that the pilot pressure relay converts the action instruction of the operator's handle into the corresponding pilot pressure signal and transmits it to the hydraulic system controller;

[0014] obtaining a message including the pilot pressure signal sent by the hydraulic system controller;

[0015] Parsing the message based on a preset communication protocol;

[0016] When the message is parsed successfully, the data included in the leading pressure signal is obtained, and a first notification message indicating the start of mining action recognition is issued.

[0017] In the method provided by at least one embodiment of the present disclosure, the excavator further includes an operator handle connector and an oscilloscope connected to the operator handle connector, and the method further includes:

[0018] When the message parsing fails, starting the oscilloscope to collect voltage waveform signals of pins of the operator handle connector;

[0019] Acquiring a movement start time and a movement amplitude of the operator's handle based on the voltage waveform signal;

[0020] The pilot pressure signal is generated based on the movement start time and movement amplitude of the operator handle.

[0021] In the method provided by at least one embodiment of the present disclosure, the excavator further includes a bucket and an arm coupled to the bucket, the hydraulic system includes a first hydraulic pump and a second hydraulic pump, the pilot pressure signal includes a bucket retraction pilot pressure value and an arm retraction pilot pressure value, and the step of identifying whether the current action of the excavator is an excavation action based on the pilot pressure signal and the actual pressure value includes:

[0022] determining whether the bucket retraction pilot pressure value, the arm retraction pilot pressure value, the actual pressure value of the first hydraulic pump, and the pressure value of the second hydraulic pump meet preset excavation action recognition conditions;

[0023] If so, issuing a second notification message indicating that the current action is a mining action; and

[0024] If not, a third notification message is issued to indicate that the current action is not a mining action.

[0025] In the method provided by at least one embodiment of the present disclosure, the excavation action identification conditions include: the bucket retraction pilot pressure value is greater than a first set value, the boom retraction pilot pressure value is greater than a second set value, the actual pressure value of the first hydraulic pump is greater than a third set value, and the pressure value of the second hydraulic pump is greater than a fourth set value, wherein the third set value is greater than the first set value and the second set value, and the fourth set value is greater than the first set value and the second set value.

[0026] In the method provided by at least one embodiment of the present disclosure, the pilot pressure signal further includes a bucket retraction pilot pressure change rate and an arm retraction pilot pressure change rate, and the identifying whether the current action of the excavator is an excavation action based on the pilot pressure signal and the actual pressure value further includes:

[0027] In response to the bucket retraction pilot pressure change rate being greater than a preset first change rate and continuously increasing, a preset bucket retraction pilot pressure value correction program is initiated, and based on the corrected bucket retraction pilot pressure value, it is identified whether the current action is an excavation action, thereby accelerating the identification of the excavation action, wherein the bucket retraction pilot pressure value correction program is configured to correct the current bucket retraction pilot pressure value based on the bucket retraction pilot pressure change rate;

[0028] In response to the boom retraction pilot pressure change rate being greater than a preset second change rate and continuing to increase, a preset boom retraction pilot pressure value correction program is started, and based on the corrected boom retraction pilot pressure value, it is identified whether the current action is an excavation action to accelerate the identification of the excavation action, wherein the boom retraction pilot pressure value correction program is configured to correct the current boom retraction pilot pressure value based on the boom retraction pilot pressure change rate.

[0029] In the method provided by at least one embodiment of the present disclosure, the bucket retraction pilot pressure value correction procedure includes: based on a preset correspondence between a bucket retraction pilot pressure change rate and a bucket retraction pilot pressure multiple, obtaining the bucket retraction pilot pressure multiple that matches the current bucket retraction pilot pressure change rate, and generating the corrected arm retraction pilot pressure value based on the bucket retraction pilot pressure multiple and the current bucket retraction pilot pressure value; and,

[0030] The boom retraction pilot pressure value correction procedure includes: based on the correspondence between the preset boom retraction pilot pressure change rate and the boom retraction pilot pressure multiple, obtaining the boom retraction pilot pressure multiple that matches the current boom retraction pilot pressure change rate, and generating the corrected boom retraction pilot pressure value based on the boom retraction pilot pressure multiple and the current boom retraction pilot pressure value.

[0031] In the method provided in at least one embodiment of the present disclosure, the target speed correction procedure includes:

[0032] Obtaining an actual speed change rate of the engine;

[0033] In response to the actual speed change rate being less than a preset first change rate threshold, based on a preset mapping relationship between the actual speed change rate and the speed change amount, obtaining the speed change amount that matches the actual speed change rate, and generating the corrected target speed by superimposing the speed change amount and the current target speed;

[0034] In response to the actual speed change rate being greater than a preset second change rate threshold, the target speed correction program is terminated, and the current target speed is used as the corrected target speed, wherein the first change rate threshold is less than 0 and the second change rate threshold is greater than or equal to 0.

[0035] In the method provided by at least one embodiment of the present disclosure, generating the speed control torque of the engine based on the actual speed combined with the corrected target speed includes: obtaining a speed deviation between the actual speed and the corrected target speed, and generating the speed control torque of the engine based on the speed deviation; and the method further includes:

[0036] After the operator completes the operation of the handle, monitoring the change of the actual speed of the engine and the change of the torque percentage of the engine;

[0037] identifying whether a time interval from when the actual speed of the engine is reduced to when it starts to recover is less than a first set value and a time interval from when the torque percentage of the engine is reduced to when it starts to recover is less than a second set value;

[0038] If so, issuing a fourth notification message indicating that the response to the excavation action has met the criteria; and

[0039] If not, the target speed correction program is adjusted to make the response of the excavation action meet the standard.

[0040] At least one embodiment of the present disclosure further provides a device for controlling an excavator, the excavator comprising an engine and a hydraulic system driven by the engine, the device comprising:

[0041] a data acquisition unit configured to acquire a pilot pressure signal of the excavator and an actual pressure value of the hydraulic system, wherein the pilot pressure signal is used to control the hydraulic system to drive the excavator to complete a current action;

[0042] an action recognition unit configured to recognize whether a current action of the excavator is an excavation action based on the pilot pressure signal and the actual pressure value;

[0043] a first data processing unit configured to, when the current action is an excavation action, start a preset target speed correction program, wherein the target speed correction program is configured to correct the target speed of the engine based on an actual speed change rate of the engine;

[0044] A second data processing unit is configured to obtain the actual speed of the engine and generate a speed control torque in combination with the corrected target speed; and

[0045] A control unit is configured to adjust an operating state of the engine based on the speed control torque.

[0046] At least one embodiment of the present disclosure further provides a storage medium, wherein the storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the method provided in any embodiment of the present disclosure are implemented.

[0047] At least one embodiment of the present disclosure further provides a program product, including a program or instructions, wherein when the program or instructions are executed by a processor, the steps of the method provided in any embodiment of the present disclosure are implemented.

[0048] Compared to related technologies, the method and device for controlling an excavator provided by the embodiments of the present disclosure achieve accurate identification of excavator movements by optimizing the control strategy, and specifically optimize the movements with the largest speed changes during the excavation process. This is intended to avoid interference from other movements, thereby reducing engine fuel consumption. The optimized control strategy can improve the transient responsiveness of the excavator's movements, allowing the engine to provide greater torque output in a shorter period of time to cope with external sudden loads. This helps alleviate the problem of excessive engine speed drop caused by sudden loads, significantly reduces the time the engine runs at unnecessarily high speeds, enhances engine speed stability, and reduces fuel consumption and emissions. At the same time, the target speed is corrected based on the speed change rate. The speed change rate, as the most sensitive signal in the speed control system, can achieve the fastest and most accurate response. By keeping the PID parameters unchanged, the system's robustness to speed regulation is ensured. Because this method can more accurately adjust the engine speed according to changes in operating conditions, the excavator's power output is more stable, significantly reducing the mechanical impact and wear caused by speed fluctuations, thereby extending the service life of the equipment. In addition, this method also improves the adaptability and flexibility of the excavator under complex working conditions, making the operation more precise and efficient, bringing significant economic and environmental benefits to engineering construction, and solving the technical problem of related technologies that the engine speed drops sharply or even stalls when encountering sudden loads.

[0049] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 A flowchart of a method for controlling an excavator provided by at least one embodiment of the present disclosure;

[0052] Figure 2 A flowchart of another method for controlling an excavator provided by at least one embodiment of the present disclosure;

[0053] Figure 3 A flowchart of another method for controlling an excavator provided for at least one embodiment of the present disclosure;

[0054] Figure 4 A flowchart of an example of a method for controlling an engine provided in accordance with at least one embodiment of the present disclosure;

[0055] Figure 5 A structural block diagram of a device for controlling an engine provided by at least one embodiment of the present disclosure;

[0056] Figure 6 A structural block diagram of a program product provided for at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] The present disclosure is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present disclosure and do not limit the scope of the present disclosure. Similarly, the following examples are only some embodiments of the present disclosure and not all embodiments. All other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present disclosure.

[0058] The terms "first," "second," and "third" in the embodiments of the present disclosure are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, features defined as "first," "second," and "third" may explicitly or implicitly include at least one of such features. In the description of the present disclosure, the meaning of "plurality" is at least two, such as two or three, etc., unless otherwise specifically defined.

[0059] In the present disclosure, the terms "one embodiment", "some embodiments", "examples", "specific examples" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, unless there is any contradiction, those skilled in the art may combine and perform secondary processing on the different embodiments or examples and the features of the different embodiments or examples described in this specification.

[0060] The terms "including," "having," and any variations thereof in the embodiments of the present disclosure are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or components inherent to the process, method, product, or apparatus.

[0061] As used herein, a "program product" is a software product that implements its solution primarily through a computer program and is not limited to running on a specific type of electronic device or apparatus.

[0062] As used herein, “electronic device” (or simply “terminal”) includes, but is not limited to, a device configured to receive / send communication signals via a wired line connection (such as via a public switched telephone network (PSTN), a digital subscriber line (DSL), a digital cable, a direct cable connection, and / or another data connection / network) and / or via a wireless interface (for example, for a cellular network, a wireless local area network (WLAN), a digital television network such as a DVB-H network, a satellite network, an AM-FM broadcast transmitter, and / or another communication terminal).

[0063] The term "pilot pressure signal" in the present disclosure refers to the hydraulic signal generated by a pilot control valve, such as an operator's handle, during operation of an excavator. This pilot pressure signal reflects the operator's control intent for the excavator's working mechanism, such as lifting, lowering, rotating, and digging.

[0064] The term "engine controller" in the embodiment of the present disclosure is referred to as ECU for short. The ECU can be used to implement the method for controlling an excavator in the embodiment of the present disclosure.

[0065] The term "smoke limited torque" in the embodiment of the present disclosure refers to the maximum torque value output by the ECU of the excavator engine under specific conditions, such as when the smoke density exceeds the standard, in order to protect the engine and reduce emissions.

[0066] In related technologies, when an engine operating at a constant speed encounters a sudden load, its engine speed will drop sharply, and it may even stall, especially at high altitudes, affecting the operator's experience.

[0067] Figure 1 A flowchart of a method for controlling an excavator provided by at least one embodiment of the present disclosure. The excavator includes an engine and a hydraulic system driven by the engine. Figure 1 As shown, the method includes the following steps S10 to S50.

[0068] Step S10: obtaining a pilot pressure signal of an excavator (hereinafter referred to as excavator) and an actual pressure value of a hydraulic system, wherein the pilot pressure signal is used to control the hydraulic system to drive the excavator to complete the current action.

[0069] Step S20: Identify whether the current action of the excavator is an excavation action based on the pilot pressure signal and the actual pressure value.

[0070] Step S30: When the current action is the excavation action, a preset target speed correction program is started, wherein the target speed correction program is configured to correct the target speed (also called external control speed, set speed) of the engine based on the actual speed change rate of the engine.

[0071] Step S40: Acquire the actual speed of the engine, and generate the speed control torque of the engine based on the actual speed and the corrected target speed.

[0072] Step S50: adjusting the operating state of the engine based on the speed control torque.

[0073] It should be noted that this method can be applied to any of the engine controllers (ECU), vehicle controllers, or remote controllers, and the embodiments of this disclosure are not limited thereto. The target speed correction routine can further consider factors such as the excavator's load, ambient operating temperature, and hydraulic system operating pressure to achieve a more precise correction of the engine's target speed. This design aims to improve the excavator's operating efficiency and stability under complex operating conditions, ensuring that the engine can provide sufficient power output while avoiding excessive wear and increased energy consumption.

[0074] Some embodiments of the present disclosure also provide devices, storage media, and program products corresponding to the above methods.

[0075] The method for controlling an excavator provided by at least one embodiment of the present disclosure is applicable to any existing excavator application scenario, and the embodiments of the present disclosure are not limited thereto. For example, in scenarios such as construction, mining, or road paving, excavators typically need to perform multiple operations such as excavation, loading, and leveling. By applying the control method provided by the embodiments of the present disclosure, optimizing the excavation action with the highest speed regulation can significantly improve the operating efficiency and operational accuracy of the excavator.

[0076] Compared with related technologies, the method proposed in the present disclosure achieves accurate identification of excavator movements by optimizing the control strategy, and specifically optimizes the movements with the largest speed changes during the excavation process. This is intended to avoid interference from other movements, thereby reducing engine fuel consumption. The optimized control strategy can improve the transient responsiveness of the excavator's movements, allowing the engine to provide greater torque output in a shorter period of time to cope with external sudden loads. This helps to alleviate the problem of excessive engine speed drop caused by sudden loads, significantly reduces the engine's operating time at non-essentially high speeds, enhances engine speed stability, and reduces fuel consumption and emission pollution. At the same time, the target speed is corrected based on the speed change rate. The speed change rate is the most sensitive signal in the speed control system and can achieve the fastest and most accurate response. By keeping the PID parameters unchanged, the system's robustness to speed regulation is ensured. Since this method can more accurately adjust the engine speed according to changes in working conditions, the excavator's power output is more stable, significantly reducing the mechanical impact and wear caused by speed fluctuations, thereby extending the service life of the equipment. In addition, this method also improves the adaptability and flexibility of the excavator under complex working conditions, making the operation more precise and efficient, bringing significant economic and environmental benefits to engineering construction, and solving the technical problem of related technologies that the engine speed drops sharply or even stalls when encountering sudden loads.

[0077] In step S10, the system first uses a high-precision sensor to collect the excavator's pilot pressure signal in real time. This signal, a direct reflection of the operator's input via the joystick, is a core element in controlling the excavator's various movements. Simultaneously, the system also monitors the actual pressure value of the hydraulic system, which provides real-time information on the hydraulic system's operating status during the excavator's movements.

[0078] In step S20, the system's built-in algorithm comprehensively analyzes and compares the collected pilot pressure signal and the actual pressure value. Using pre-set recognition logic, the system accurately determines whether the excavator is currently digging. For example, when the pilot pressure signal reaches a certain range and the actual pressure value exhibits a trend consistent with digging, the system determines that the excavator is digging. This efficient and accurate recognition process provides a solid foundation for subsequent adjustment of engine speed based on the type of action.

[0079] In step S30, the speed sensor measures the actual engine speed and its rate of change in real time, thereby establishing a relative time relationship between the operator's intended input via the joystick and the actual engine speed. This process involves real-time monitoring of the engine's actual speed and its rate of change, comparing it with a preset ideal speed model to dynamically adjust the engine's target speed. For example, if the actual speed change rate is detected to be outside a preset range, indicating a potential engine overload or underpower problem, the target speed correction program automatically intervenes and adjusts the target speed to ensure stable and efficient engine operation. This correction mechanism not only improves excavator operating efficiency but also effectively extends the engine's service life.

[0080] In step S40, the system accurately captures the actual engine speed data and then meticulously compares and analyzes it against the previously corrected target speed. Using a complex algorithm, the system generates an optimal speed control torque that meets the current operational requirements while ensuring efficient and stable engine operation. This torque value is generated by fully considering the excavator's actual operating conditions, load conditions, and the current state of the engine, ensuring optimal engine operation during various operations. This improves operational efficiency, effectively protects the engine, and reduces wear and failure.

[0081] Step S50's core function is to convert the generated speed control torque into specific control instructions and transmit them to the excavator's engine control system. Emission regulations and the 1939 communication protocol require that excavator engine torque be transmitted in the form of messages and parsed. This step significantly improves excavator operating efficiency and enhances operational safety and reliability.

[0082] Figure 2 A flowchart of another method for controlling an excavator provided by at least one embodiment of the present disclosure. Figure 2 As shown, in order to accurately identify the excavating action of the excavator, the excavator further includes a hydraulic system controller, an operator handle, and a pilot pressure relay connected to the operator handle, and the method further includes the following steps S01 to S04.

[0083] Step S01: After the excavator is started, the pilot pressure relay is powered on so that the pilot pressure relay converts the action instruction of the operator's handle into a corresponding pilot pressure signal and transmits it to the hydraulic system controller.

[0084] Step S02: Acquire a message containing a pilot pressure signal sent by the hydraulic system controller.

[0085] Step S03: Parse the message based on a preset communication protocol.

[0086] Step S04: When the message is parsed successfully, the data included in the leading pressure signal is obtained, and a first notification message is issued to indicate the start of mining action recognition.

[0087] By executing steps S01 to S04, precise identification and control of the excavator's excavation motion are achieved. During actual operation, the pilot pressure relay, as a core component, captures the operator's handle motion commands in real time and converts them into precise pilot pressure signals. The hydraulic system controller is responsible for receiving the pilot pressure signal and transmitting it to the engine controller ECU in the form of a data message. The engine controller ECU then collects engine messages and determines whether the hydraulic system controller has sent a pilot pressure signal based on communication protocol analysis. It also makes an enabling decision based on the actual action. This process not only improves the response rate of the excavation action but also ensures the accuracy and stability of the action.

[0088] Figure 3 A flowchart of another method for controlling an excavator provided by at least one embodiment of the present disclosure. The excavator further includes an oscilloscope connected to an operator handle connector and an operator handle connector, and Figure 3 As shown, in order to ensure the smooth progress of the excavation action, the method further includes the following steps S05 to S07.

[0089] Step S05: When the message parsing fails, the oscilloscope is started to collect the voltage waveform signal of the pin of the operator's handle connector.

[0090] Step S06: Acquire the operator's handle movement start time and movement amplitude based on the voltage waveform signal.

[0091] Step S07: Generate a pilot pressure signal based on the operator's handle movement start time and movement amplitude.

[0092] Among them, through steps S05-S07, real-time monitoring and signal conversion of the operator's handle movements can be achieved. During the operation of the excavator, if a message parsing anomaly is encountered, the traditional processing method may require stopping the machine for inspection, which not only affects work efficiency but also may bring safety hazards. By integrating the oscilloscope and the operator's handle connector, the system can quickly respond to the failure of message parsing and automatically start the oscilloscope to collect voltage waveform signals. This function not only improves the system's fault self-diagnosis capability, but also effectively shortens the troubleshooting time, ensuring the efficient and stable operation of the excavator. In addition, based on the collected voltage waveform signal, the system can accurately analyze the movement characteristics of the operator's handle, and then generate a pilot pressure signal that is highly consistent with the actual operation, which further enhances the accuracy and smoothness of the excavator's movement and improves the operating experience.

[0093] In some embodiments, the excavator further includes a bucket and an arm coupled to the bucket. The hydraulic system includes a first hydraulic pump and a second hydraulic pump. One of the first and second hydraulic pumps serves as a main hydraulic pump, also referred to as a main pump. The pilot pressure signal includes a bucket retraction pilot pressure value and an arm retraction pilot pressure value. Furthermore, to accurately identify the operator's intention, step S20 includes sub-steps S201 through S203.

[0094] Sub-step S201: determining whether the bucket retraction pilot pressure value, the arm retraction pilot pressure value, the actual pressure value of the first hydraulic pump and the pressure value of the second hydraulic pump meet preset excavation action recognition conditions.

[0095] Sub-step S202: If yes, issue a second notification message indicating that the current action is a mining action.

[0096] Sub-step S203: If not, a third notification message is issued to indicate that the current action is not a mining action.

[0097] Substeps S201-S203 accurately identify the operator's intended excavation action. When the system detects the simultaneous retraction of the bucket and arm, and the pressure values ​​of the two hydraulic pumps meet preset conditions, it identifies the excavation action and immediately provides feedback to the operator or excavator control system via a second notification message, ensuring a timely response. Conversely, if the conditions for identifying an excavation action are not met, a third notification message alerts the operator or system that the current action is not an excavation action, effectively preventing misoperation and improving the safety and efficiency of excavation operations.

[0098] In some embodiments, to prevent misjudgment of excavation actions, the excavation action recognition conditions are configured to simultaneously include: the bucket retraction pilot pressure value is greater than a first set value, the arm retraction pilot pressure value is greater than a second set value, the actual pressure value of the first hydraulic pump is greater than a third set value, the pressure value of the second hydraulic pump is greater than a fourth set value, the third set value is greater than the first and second set values, and the fourth set value is greater than the first and second set values. The first, second, third, and fourth set values ​​are set based on the actual requirements of the excavation operation and the mechanical characteristics of the excavator. The bucket retraction pilot pressure value and the arm retraction pilot pressure value being greater than their respective set values ​​ensure that the operator is indeed intending to perform the excavation operation, avoiding misjudgment caused by accidental touch or minor operation. The actual pressure values ​​of the first and second hydraulic pumps being greater than their respective set values ​​indicates that the excavator has sufficient power to perform the excavation action. The third and fourth set values ​​are greater than the first and second set values, ensuring that the hydraulic pump can provide greater pressure during excavation than would be achieved with a simple bucket or arm movement. This meets the force requirements of the excavation operation, improving excavation efficiency and operational stability. This setting enables the system to more accurately identify excavation actions, enhancing the safety and efficiency of excavation operations.

[0099] In some embodiments, in order to more quickly identify the excavation action of the excavator, the pilot pressure signal also includes the bucket retraction pilot pressure change rate and the arm retraction pilot pressure change rate, and step S20 also includes the following sub-steps S204 and S205.

[0100] Sub-step S204: In response to the bucket retraction pilot pressure change rate being greater than a preset first change rate and continuously increasing, a preset bucket retraction pilot pressure value correction program is started, and based on the corrected bucket retraction pilot pressure value, it is identified whether the current action is an excavation action to accelerate the identification of the excavation action, wherein the bucket retraction pilot pressure value correction program is configured to correct the current bucket retraction pilot pressure value based on the bucket retraction pilot pressure change rate.

[0101] Sub-step S205: In response to the boom retraction pilot pressure change rate being greater than a preset second change rate and continuing to increase, a preset boom retraction pilot pressure value correction program is started, and based on the corrected boom retraction pilot pressure value, it is identified whether the current action is an excavation action to accelerate the identification of the excavation action, wherein the boom retraction pilot pressure value correction program is configured to correct the current boom retraction pilot pressure value based on the boom retraction pilot pressure change rate.

[0102] Substeps S204 and S205 enable faster identification of the excavator's digging action, improving digging efficiency. In specific implementations, the system can also perform a comprehensive analysis based on the corrected bucket and arm retraction pilot pressure values, combined with other relevant parameters (such as engine speed and pump pressure), to ensure faster identification of the digging action.

[0103] In some embodiments, to improve the accuracy of digging action recognition, the bucket retraction pilot pressure value correction procedure in step S204 includes: based on a pre-set correspondence between the bucket retraction pilot pressure change rate and the bucket retraction pilot pressure multiplier, obtaining a bucket retraction pilot pressure multiplier that matches the current bucket retraction pilot pressure change rate, and generating a corrected arm retraction pilot pressure value based on the bucket retraction pilot pressure multiplier and the current bucket retraction pilot pressure value. The corrected arm retraction pilot pressure value can be set as the product of the bucket retraction pilot pressure multiplier and the current bucket retraction pilot pressure value. The corrected arm retraction pilot pressure value can more accurately reflect the force and speed of the bucket retraction action, thereby improving the accuracy of digging action recognition. Furthermore, this correspondence can be adjusted and optimized based on actual usage to accommodate different working environments and operating habits. During implementation, the system also verifies the obtained bucket retraction pilot pressure multiplier to ensure its rationality and accuracy to avoid misjudgments or incorrect operations. In this way, the operating efficiency and safety of the excavator can be further improved.

[0104] In some embodiments, to precisely control the excavation depth and range of the excavator, the boom retraction pilot pressure value correction procedure in step S205 includes: based on a pre-set correspondence between the boom retraction pilot pressure change rate and the boom retraction pilot pressure multiple, obtaining a boom retraction pilot pressure multiple that matches the current boom retraction pilot pressure change rate, and generating a corrected boom retraction pilot pressure value based on the boom retraction pilot pressure multiple and the current boom retraction pilot pressure value. The corrected boom retraction pilot pressure value can more accurately describe the force and speed characteristics of the boom retraction action, which is crucial for precisely controlling the excavator's excavation depth and range. Furthermore, similar to the bucket retraction pilot pressure value correction procedure, the correspondence between the boom retraction pilot pressure change rate and the boom retraction pilot pressure multiple can also be flexibly adjusted based on actual operational needs to accommodate diverse construction scenarios and operational requirements. During the implementation process, the system will also strictly check the obtained boom retraction pilot pressure multiples to ensure that its value is within a reasonable range, thereby effectively avoiding operational errors and safety hazards, and providing strong guarantees for the stable and efficient operation of the excavator.

[0105] In some embodiments, in order to ensure stable operation of the excavator under complex working conditions, the target speed correction procedure in step S30 includes the following sub-steps S301 to S303.

[0106] Sub-step S301: Acquire the actual engine speed change rate.

[0107] Sub-step S302: In response to the actual speed change rate being less than a preset first change rate threshold, based on the preset mapping relationship between the actual speed change rate and the speed change amount, a speed change amount that matches the actual speed change rate is obtained, and a corrected target speed is generated based on the superposition of the speed change amount and the target speed at the current moment.

[0108] Sub-step S303: In response to the actual speed change rate being greater than a preset second change rate threshold, the target speed correction program is terminated, and the current target speed is used as the corrected target speed, wherein the first change rate threshold is less than 0 and the second change rate threshold is greater than or equal to 0.

[0109] Among them, the dynamic adjustment and optimization of the target speed of the excavator engine can be achieved through sub-steps S301-S303. When the actual speed of the engine changes relatively slowly, that is, the actual speed change rate is lower than the set first change rate threshold, the system will calculate the appropriate speed adjustment amount based on the established mapping relationship, and add it to the current target speed to obtain the adjusted target speed. This adjustment strategy ensures that under stable working conditions, the engine can operate in a more economical and efficient manner. On the contrary, if the actual speed of the engine changes drastically, that is, the actual speed change rate exceeds the set second change rate threshold, in order to prevent the speed adjustment from being too fast and may have a negative impact on the operation of the excavator, the system will suspend the target speed correction program and maintain the current target speed unchanged. This design not only ensures the stable operation of the excavator under complex working conditions, but also takes into account the economy and efficiency of the engine.

[0110] In some embodiments, in order to precisely control the excavator engine, generating the engine speed control torque based on the actual speed combined with the corrected target speed in step S40 is configured to include the following sub-steps S401 and S402 .

[0111] Sub-step S401: Obtain the speed deviation between the actual speed and the corrected target speed.

[0112] Sub-step S402: Generate engine speed control torque based on the speed deviation.

[0113] The speed deviation is calculated by subtracting the actual speed from the corrected target speed. If the actual speed is higher than the corrected target speed, the speed deviation is positive; conversely, if the actual speed is lower than the corrected target speed, the speed deviation is negative. The system then converts the calculated speed deviation into a corresponding torque correction based on a preset torque mapping relationship. This torque correction is used to adjust the engine's output torque, allowing the actual engine speed to gradually approach the corrected target speed. This control logic enables precise control of the excavator's engine speed, improving the excavator's operating efficiency and stability.

[0114] In some embodiments, in order to reduce the impact on the environment, step S40 further includes the following sub-steps S403 to S405.

[0115] Sub-step S403: Obtaining the smoke-limited torque.

[0116] Sub-step S404: taking the smaller of the smoke limit torque and the speed control torque to obtain the final speed control torque.

[0117] Sub-step S405: adjusting the engine operating state based on the final speed control torque.

[0118] Among them, sub-steps S403 and S404 can further ensure that the engine will not generate excessive smoke due to excessive torque during operation, thereby avoiding adverse effects on the environment and the health of operators. Specifically, in sub-step S403, the system will obtain the current smoke limit torque through sensors or other monitoring means. This torque value is the maximum torque that the engine can withstand without emitting too much smoke. Then, in sub-step S404, the system will further optimize and adjust the final speed control torque based on a series of complex algorithms and logical judgments, combined with the current working conditions and engine status. The purpose of this step is to minimize smoke emissions while ensuring engine performance, so as to achieve the dual standards of environmental protection and health. Through such refined control, the excavator can not only maintain efficient and stable operation under various working conditions, but also effectively reduce the impact on the environment and enhance the operator's work experience.

[0119] In some embodiments, in order to enable the response of the excavation action to meet the preset standard more quickly and accurately, the method further includes the following steps S60 to S90.

[0120] Step S60: After the operator completes the operation of the handle, monitor the change of the actual speed of the engine and the change of the torque percentage of the engine.

[0121] Step S70: Identify whether the time interval from when the actual engine speed decreases to when it starts to recover is less than a first set value and the time interval from when the engine torque percentage decreases to when it starts to recover is less than a second set value.

[0122] Step S80: If yes, a fourth notification message is issued to indicate that the response to the mining action has met the requirements.

[0123] Step S90: If not, adjust and modify the target speed correction program to make the excavation action response meet the standard.

[0124] Among them, through steps S60 to S90, the control logic of the excavator can be further refined to improve the response speed and accuracy of the excavation action. In step S60, the system monitors the changes in the actual speed and torque percentage of the engine in real time, which helps to capture the dynamic recovery of the engine after the excavation action is completed. The set values ​​in step S70, namely the first set value and the second set value, are preset according to the specific working conditions and performance requirements of the excavator. They provide the system with a benchmark for judging whether the response of the excavation action meets the standards. When the system recognizes that the actual speed and torque percentage of the engine have recovered within the preset time interval, step S80 will trigger the fourth notification information, which indicates that the response of the excavation action has reached the expected standard. If this standard is not met, step S90 will automatically adjust and correct the target speed correction program. By optimizing the control parameters, the response of the excavation action can be more quickly and accurately achieved. The preset standard is ensured, thereby ensuring the efficient and stable operation of the excavator. After testing, it was found that when the method of the disclosed embodiment was applied, after the handle action was completed during the actual heavy-load operation of the excavator, the time interval from the reduction to the recovery of the actual engine speed and torque percentage was very small, generally less than 0.15s, or the actual engine speed after the handle action was made was slightly higher than the speed corresponding to the no-load gear.

[0125] Figure 4 This is a flow chart of an example of a method for controlling an engine provided by at least one embodiment of the present disclosure. Figure 4 As shown in the figure, the engine controller ECU receives the message from the hydraulic system controller and obtains four main variables through parsing, among which P 铲斗内收 With P 斗杆内收 It is the pilot signal pressure value of the hydraulic system actuator action, P 第一液压泵 With P 第二液压泵 is the hydraulic pressure value of the two hydraulic pumps, measured by the sensor. The excavation action needs to meet the following four conditions: P 铲斗内收 With P 斗杆内收 The pressure value must be greater than or equal to 10bar, P 第一液压泵 With P 第二液压泵The relationship between these four values ​​is that they are taken and met at the same time to trigger the excavation action recognition switch, so as to make subsequent target speed control adjustments. Since the operator's action range is relatively large during the actual excavation operation, the pilot pressure change rate positive correction method can be used to quickly identify the action. Specifically, according to dP 铲斗内收 The value of / dt and P 基础铲斗内收 Multiple values ​​of dP establish a one-to-one array relationship, 铲斗内收 / dt value range [100, 150, 200, 250, 300], unit bar / s 2 , P 基础铲斗内收 Multiple value facP 铲斗内收 The value range is [1, 1.1, 1.2, 1.3, 1.4]. When dP 铲斗内收 When / dt increases rapidly, P 铲斗内收 Under correction, it also rises rapidly, thus quickly meeting P 铲斗内收 When the pressure is greater than or equal to 10 bar, P 斗杆内收 Control and P 铲斗内收 When the action switch is enabled, it triggers the external speed control demand and the correction of the target speed. The speed change is an array that corresponds to the actual speed change rate of the engine. When the actual speed change rate of the engine is less than -80r / s 2 Trigger the array to enable. The specific range of the actual speed change rate is [-160, -140, -120, -100, -80], and the corresponding speed change is [210, 170, 130, 90, 50]. The speed change includes the x-axis speed change and the y-axis speed change. The original value of the target speed and the speed change are in a sum relationship. When the actual speed change rate of the engine is ≥0r / s 2 When the speed change is positive, the correction data enable is disabled, meaning the speed change is set to 0 and the target speed remains at its original value, i.e., the current set speed ramp = the original value raw. When the speed change is positive, the final target speed will be greater than the original target speed, increasing the initial speed control bias and allowing for rapid PI torque compensation. The final speed control torque and the smoke-limited torque at the current cycle intake volume are taken as the smaller output torque.

[0126] Figure 5 The present disclosure provides a structural block diagram of a device for controlling an engine according to at least one embodiment. The excavator includes an engine and a hydraulic system driven by the engine. Figure 5 As shown, the engine control device 1 includes a data acquisition unit 11 , a motion recognition unit 12 , a first data processing unit 13 , a second data processing unit 14 and a control unit 15 .

[0127] The data acquisition unit 11 is configured to acquire a pilot pressure signal of the excavator and an actual pressure value of the hydraulic system, wherein the pilot pressure signal is used to control the hydraulic system to drive the excavator to complete the current action.

[0128] The action recognition unit 12 is configured to recognize whether the current action of the excavator is an excavation action based on the pilot pressure signal and the actual pressure value.

[0129] The first data processing unit 13 is configured to start a preset target speed correction program when the current action is excavation, wherein the target speed correction program is configured to correct the target speed of the engine based on the actual speed change rate of the engine. The first data processing unit 13 includes a first processor.

[0130] The second data processing unit 14 is configured to obtain the actual engine speed and generate a speed control torque based on the corrected target speed. The second data processing unit 14 includes a second processor.

[0131] The control unit 15 is configured to adjust the operating state of the engine based on the speed and torque control, wherein the control unit includes a controller.

[0132] The specific manner in which each unit in the above device embodiment performs actions has been described in detail in the embodiment of the method, and will not be elaborated on here.

[0133] The embodiment of the present disclosure further provides a storage medium, which stores a program or instruction. When the program or instruction is executed by a processor, the steps of the above method embodiment are implemented.

[0134] The present disclosure also provides a program product, such as Figure 6 As shown, the program product includes one or more processors 21 and a memory 22. Figure 6 A processor 21 is taken as an example.

[0135] The controller may further include an input device 23 and an output device 24 .

[0136] The processor 21, the memory 22, the input device 23 and the output device 24 may be connected via a bus or other means. Figure 6 The bus connection is taken as an example.

[0137] The processor 21 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips. The general-purpose processor can be a microprocessor or any conventional processor.

[0138] Memory 22, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and units, such as the program instructions / units corresponding to the method in the embodiments of the present disclosure. Processor 21 executes the non-transitory software programs, instructions, and units stored in memory 22 to execute various functional applications and data processing of the server, thereby implementing the steps of the above-mentioned method embodiments.

[0139] The memory 22 may include a program storage area and a data storage area, wherein the program storage area may store the application programs required by the action system and at least one function; the data storage area may store data created by the use of the processing device according to the server action, etc. In addition, the memory 22 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 22 may optionally include a memory remotely located relative to the processor 21, and these remote memories may be connected to a network connection device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0140] The input device 23 can receive input digital or character information and generate key signal input related to user settings and function control of the processing device of the server. The output device 24 can include a display device such as a display screen.

[0141] One or more units are stored in the memory 22 and when executed by one or more processors 21, perform the following steps: Figure 1 The method shown.

[0142] Those skilled in the art will appreciate that all or part of the processes in the above method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes in the above method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (FM), a hard disk drive (HDD), or a solid-state drive (SSD). The storage medium can also include a combination of the above types of memory.

[0143] Although the embodiments of the present disclosure have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations are all within the scope defined by the appended claims.

[0144] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present disclosure.

Claims

1. A method for controlling an excavator, the excavator comprising an engine and a hydraulic system driven by the engine, characterized in that: The method comprises: Acquiring a pilot pressure signal of the excavator and an actual pressure value of the hydraulic system, wherein the pilot pressure signal is used to control the hydraulic system to drive the excavator to complete a current action; identifying whether a current action of the excavator is an excavation action based on the pilot pressure signal and the actual pressure value; When the current action is an excavation action, starting a preset target speed correction program, wherein the target speed correction program is configured to correct the target speed of the engine based on an actual speed change rate of the engine; Acquiring an actual speed of the engine, and generating a speed control torque of the engine based on the actual speed combined with a corrected target speed; and An operating state of the engine is adjusted based on the speed control torque.

2. The method according to claim 1, characterized in that The excavator further includes a hydraulic system controller, an operator handle, and a pilot pressure relay coupled to the operator handle, and the method further includes: After the excavator is started, the pilot pressure relay is powered on so that the pilot pressure relay converts the action instruction of the operator's handle into the corresponding pilot pressure signal and transmits it to the hydraulic system controller; obtaining a message including the pilot pressure signal sent by the hydraulic system controller; Parsing the message based on a preset communication protocol; and When the message is parsed successfully, the data included in the leading pressure signal is obtained, and a first notification message indicating the start of mining action recognition is issued.

3. The method according to claim 1, characterized in that The excavator further includes an operator handle connector and an oscilloscope coupled to the operator handle connector, and the method further includes: When the message parsing fails, starting the oscilloscope to collect voltage waveform signals of pins of the operator handle connector; Acquiring the start time and amplitude of the operator's handle movement based on the voltage waveform signal; and The pilot pressure signal is generated based on the movement start time and movement amplitude of the operator handle.

4. The method according to any one of claims 1 to 3, characterized in that The excavator further includes a bucket and an arm coupled to the bucket, the hydraulic system includes a first hydraulic pump and a second hydraulic pump, the pilot pressure signal includes a bucket retraction pilot pressure value and an arm retraction pilot pressure value, and the step of identifying whether a current action of the excavator is an excavation action based on the pilot pressure signal and the actual pressure value includes: determining whether the bucket retraction pilot pressure value, the arm retraction pilot pressure value, the actual pressure value of the first hydraulic pump, and the pressure value of the second hydraulic pump meet preset excavation action recognition conditions; If so, issuing a second notification message indicating that the current action is a mining action; and If not, a third notification message is issued to indicate that the current action is not a mining action.

5. The method according to claim 4, characterized in that The excavation action recognition conditions include: the bucket retraction pilot pressure value is greater than the first set value, the boom retraction pilot pressure value is greater than the second set value, the actual pressure value of the first hydraulic pump is greater than the third set value, and the pressure value of the second hydraulic pump is greater than the fourth set value, wherein the third set value is greater than the first set value and the second set value, and the fourth set value is greater than the first set value and the second set value.

6. The method according to claim 4, characterized in that The pilot pressure signal further includes a bucket retraction pilot pressure change rate and an arm retraction pilot pressure change rate, and the method of identifying whether the current action of the excavator is an excavation action based on the pilot pressure signal and the actual pressure value further includes: In response to the bucket retraction pilot pressure change rate being greater than a preset first change rate and continuously increasing, a preset bucket retraction pilot pressure value correction program is started, and based on the corrected bucket retraction pilot pressure value, whether the current action is an excavation action is identified to accelerate the identification of the excavation action, wherein the bucket retraction pilot pressure value correction program is configured to correct the current bucket retraction pilot pressure value based on the bucket retraction pilot pressure change rate; and In response to the boom retraction pilot pressure change rate being greater than a preset second change rate and continuing to increase, a preset boom retraction pilot pressure value correction program is started, and based on the corrected boom retraction pilot pressure value, it is identified whether the current action is an excavation action to accelerate the identification of the excavation action, wherein the boom retraction pilot pressure value correction program is configured to correct the current boom retraction pilot pressure value based on the boom retraction pilot pressure change rate.

7. The method according to claim 6, characterized in that The bucket retraction pilot pressure value correction program includes: obtaining the bucket retraction pilot pressure multiple that matches the current bucket retraction pilot pressure change rate based on a preset correspondence between the bucket retraction pilot pressure change rate and the bucket retraction pilot pressure multiple, and generating the corrected arm retraction pilot pressure value based on the bucket retraction pilot pressure multiple and the current bucket retraction pilot pressure value; and The boom retraction pilot pressure value correction procedure includes: based on the correspondence between the preset boom retraction pilot pressure change rate and the boom retraction pilot pressure multiple, obtaining the boom retraction pilot pressure multiple that matches the current boom retraction pilot pressure change rate, and generating the corrected boom retraction pilot pressure value based on the boom retraction pilot pressure multiple and the current boom retraction pilot pressure value.

8. The method according to any one of claims 1 to 3, characterized in that The target speed correction procedure includes: Obtaining an actual speed change rate of the engine; In response to the actual speed change rate being less than a preset first change rate threshold, based on a preset mapping relationship between the actual speed change rate and the speed change amount, obtaining the speed change amount that matches the actual speed change rate, and generating the corrected target speed by superimposing the speed change amount and the current target speed; and In response to the actual speed change rate being greater than a preset second change rate threshold, the target speed correction program is terminated, and the current target speed is used as the corrected target speed, wherein the first change rate threshold is less than 0 and the second change rate threshold is greater than or equal to 0.

9. The method according to claim 8, characterized in that Generating the engine speed control torque based on the actual speed combined with the corrected target speed includes: obtaining a speed deviation between the actual speed and the corrected target speed, and generating the engine speed control torque based on the speed deviation; and the method further includes: After the operator completes the operation of the handle, monitoring the change of the actual speed of the engine and the change of the torque percentage of the engine; identifying whether a time interval from when the actual speed of the engine is reduced to when it starts to recover is less than a first set value and a time interval from when the torque percentage of the engine is reduced to when it starts to recover is less than a second set value; If so, issuing a fourth notification message indicating that the response to the excavation action has met the criteria; and If not, the target speed correction program is adjusted to make the response of the excavation action meet the standard.

10. A device for controlling an excavator, the excavator comprising an engine and a hydraulic system driven by the engine, characterized in that: The device comprises: a data acquisition unit configured to acquire a pilot pressure signal of the excavator and an actual pressure value of the hydraulic system, wherein the pilot pressure signal is used to control the hydraulic system to drive the excavator to complete a current action; an action recognition unit configured to recognize whether a current action of the excavator is an excavation action based on the pilot pressure signal and the actual pressure value; a first data processing unit configured to, when the current action is an excavation action, start a preset target speed correction program, wherein the target speed correction program is configured to correct the target speed of the engine based on an actual speed change rate of the engine; A second data processing unit is configured to obtain the actual speed of the engine and generate a speed control torque in combination with the corrected target speed; and A control unit is configured to adjust an operating state of the engine based on the speed control torque.

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