Auxiliary excavating and loading control system and method for excavator

Abstract

The invention discloses an auxiliary excavating and loading control system and method for an excavator, and belongs to the technical field of excavators. The control system comprises a parameter storage module, a safety detection module, a driver fatigue detection module, a compartment material accumulation detection module and a central control module, and the central control module is connected with an excavator main pump, an excavator main valve, the parameter storage module, the safety detection module, the driver fatigue detection module and the compartment material accumulation detection module. And the safety condition in the auxiliary excavating and loading process is judged in real time. The energy of a driver is effectively saved, the fatigue of the driver is relieved, the working environment is improved, and the working efficiency and the working safety are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of excavators, and in particular relates to an excavator-assisted excavation and loading control system and a control method. Background Art

[0002] Excavation and loading operations are among the most common conditions in an excavator's daily operations. At construction sites, excavators and dump trucks often work in conjunction: the excavator loads the dump truck, which then transports the material to its destination for unloading, then returns to the loading point for reloading. This cycle repeats until the loading and transporting tasks are complete. Each excavator's excavation and loading cycle includes four steps: excavation, rotary hoisting, unloading, and return. A complete excavation and loading cycle typically takes approximately 15 to 30 seconds. Currently, the entire excavation and loading process requires manual operation by the driver, resulting in tedious and laborious working conditions and cycles. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an excavator-assisted excavation and loading control system and control method, which can effectively save the driver's energy, reduce the driver's fatigue, improve the working environment, and improve the working efficiency and safety of the operation.

[0004] The present invention provides the following technical solutions:

[0005] In a first aspect, an excavator-assisted excavation and loading control system is provided, comprising: a parameter storage module for storing learning parameters for the assisted excavation and loading, the learning parameters including a handle action signal, an excavator main pump parameter, and an excavator main valve parameter;

[0006] A safety detection module, used to detect the distance between the surrounding space objects and the excavator, the safety detection module comprising a plurality of distance sensors arranged on the excavator body;

[0007] A driver fatigue detection module, configured to detect the driver's eye movement frequency, blinking frequency, and yawning frequency, the driver fatigue detection module comprising a visual sensor disposed in the excavator cab;

[0008] A compartment material accumulation detection module, used to detect the accumulation state of materials in the excavator compartment, the compartment material accumulation detection module comprising a camera arranged on the back of the excavator bucket;

[0009] The central control module is connected to the excavator main pump, excavator main valve, parameter storage module, safety detection module, driver fatigue detection module and carriage material accumulation detection module; the central control module receives the real-time operating parameters of the excavator main pump and excavator main valve, and compares them with the learning parameters to determine whether the current auxiliary excavation and loading is in a safe state; receives distance data from the safety detection module and compares it with the pre-set safety threshold to determine whether the area around the excavator is safe; receives the driver's eye movement frequency, blinking frequency and yawning frequency to determine whether the driver is tired; receives the accumulation status information of the excavator carriage material to determine whether the carriage material is full during the auxiliary excavation and loading process;

[0010] During assisted excavation and loading, if the excavation and loading is not in a safe state or the area around the excavator is unsafe or the driver is tired or the carriage is full of materials, the central control module will determine to exit the assisted excavation and loading.

[0011] As an optional technical solution of the present invention, it also includes a human-computer interaction module connected to the central control module, for the driver to choose to read the previously stored learning parameters or create new learning parameters, and receive alarm information from the central control module;

[0012] If the driver chooses to create new learning parameters, the human-computer interaction module prompts the driver to manually operate the excavator, perform the excavation and loading operation cycle, and cycle several times; the central control module receives the working parameters of each cycle, and calculates the average of all working parameters, and uses the average as the learning parameter for this auxiliary excavation and loading.

[0013] As an optional technical solution of the present invention, the central control module receives the real-time operating parameters of the excavator main pump and the excavator main valve, compares them with the learned parameters, and determines whether the current auxiliary excavation and loading is in a safe state, including:

[0014] If the error between the real-time working parameters of the excavator main pump and the excavator main valve and the corresponding learning parameters exceeds the preset error threshold S1, an alarm message is sent to the human-computer interaction module; if the error between the real-time working parameters of the excavator main pump and the excavator main valve and the corresponding learning parameters exceeds the preset error threshold S2, an alarm message is sent to the human-computer interaction module and the auxiliary excavation and loading is exited; the error between the real-time working parameters and the learning parameters is expressed as:

[0015] ;

[0016] Where S represents the error between the real-time working parameters and the learning parameters.

[0017] As an optional technical solution of the present invention, the central control module receives the distance data from the safety detection module and compares it with a pre-set safety threshold to determine whether the area around the excavator is safe, including:

[0018] The distance data detected by the distance sensor is expressed as N i , where i represents the i-th distance sensor, ; The safety thresholds are represented as L1 and L2;

[0019] When MIN( )>L1, it is judged that the area around the excavator is safe; when L2≤MIN( )≤L1, it is determined that there is a safety hazard around the excavator and an alarm message is sent to the human-computer interaction module; when MIN( )<L2, it is judged that the area around the excavator is unsafe, an alarm message is sent to the human-computer interaction module, and the auxiliary excavation and loading is exited.

[0020] As an optional technical solution of the present invention, the central control module receives the driver's eye movement frequency, blinking frequency, and yawning frequency to determine whether the driver is tired, including:

[0021] The level of eye movement frequency is expressed as T1, the level of blinking frequency is expressed as T2, and the level of yawning frequency is expressed as T3;

[0022] Express the driver fatigue level as:

[0023] T=T1*K1+T2*K2+T3*K3;

[0024] Among them, K1, K2, and K3 represent the weight coefficients of eyeball activity frequency level, blinking frequency level, and yawning frequency level, respectively, and T represents the driver fatigue level;

[0025] The pre-set fatigue level thresholds are expressed as TT1 and TT2. When T<TT1, it is judged that the driver is not fatigued. When TT1≤T<TT2, it is judged that the driver is mildly or moderately fatigued, and an alarm message is sent to the human-computer interaction module. When TT2≤T, it is judged that the driver is driving with severe fatigue, and an alarm message is sent to the human-computer interaction module and the assisted excavation and loading is exited.

[0026] As an optional technical solution of the present invention, the central control module is connected to the excavator safety handle. When the safety handle is in the closed state, the auxiliary excavation and loading cannot be entered; if the auxiliary excavation and loading is in operation, closing the safety handle will exit the auxiliary excavation and loading.

[0027] As an optional technical solution of the present invention, the excavator main pump parameters include a main pump solenoid valve control current signal;

[0028] The excavator main valve parameters include the main valve solenoid valve control current signal;

[0029] The main pump solenoid valve control current signal and the main valve solenoid valve control current signal serve as target signals in the auxiliary excavation and loading process. The central control module sends the main pump solenoid valve control current signal and the main valve solenoid valve control current signal to the main pump and main valve in real time for output control.

[0030] In a second aspect, a control method for the excavator-assisted excavation and loading control system according to the first aspect is provided, comprising:

[0031] After the driver starts the excavator and sends a command to the central control module to turn on the auxiliary excavation and loading, the central control module receives the learning parameters and uses the handle action signal in the learning parameters as the input signal for this auxiliary excavation and loading. The excavator main pump parameters and excavator main valve parameters in the learning parameters are used as the target signals for this auxiliary excavation and loading and are sent to the main pump solenoid valve and the main valve solenoid valve in real time for output control;

[0032] During the auxiliary excavation and loading process, the central control module receives the real-time operating parameters of the excavator's main pump and main valve, compares them with the learned parameters, and determines whether the current auxiliary excavation and loading is in a safe state. If it is determined that the current auxiliary excavation and loading is in an unsafe state, the auxiliary excavation and loading is exited;

[0033] The central control module receives the distance data from the safety detection module and compares it with the pre-set safety threshold to determine whether the area around the excavator is safe. If it is determined that the area around the excavator is not safe, the auxiliary excavation and loading function is exited;

[0034] The central control module receives the driver's eye movement frequency, blinking frequency and yawning frequency to determine whether the driver is tired. If the driver is tired, the auxiliary excavation and loading function is terminated.

[0035] The central control module receives the accumulation status information of the excavator compartment material, determines whether the compartment material is full during the auxiliary excavation and loading process, and exits the auxiliary excavation and loading process if the compartment material is full.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The excavator assisted excavation and loading control system provided by the present invention receives data from a parameter storage module, a safety detection module, a driver fatigue detection module and a carriage material accumulation detection module through a central control module during the assisted excavation and loading process, judges the safety of the current work, and can immediately exit the assisted excavation and loading if there is a safety hazard, thereby saving the driver's energy, reducing the driver's fatigue, improving the working environment, and improving the working efficiency and safety of the work. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of an excavator-assisted excavation and loading control system according to an embodiment of the present invention;

[0039] Figure 2 4 is a flow chart of an excavator-assisted excavation and loading control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0041] Example 1

[0042] This embodiment provides an excavator auxiliary excavation and loading control system, such as Figure 1 As shown, including:

[0043] The parameter storage module is used to store learning parameters for auxiliary excavation and loading, wherein the learning parameters include handle action signals, excavator main pump parameters and excavator main valve parameters.

[0044] Furthermore, the excavator main pump parameters include the main pump solenoid valve control current signal; the excavator main valve parameters include the main valve solenoid valve control current signal; the main pump solenoid valve control current signal and the main valve solenoid valve control current signal serve as target signals in the auxiliary excavation and loading process, and the central control module sends the main pump solenoid valve control current signal and the main valve solenoid valve control current signal to the main pump and main valve in real time for output control.

[0045] Furthermore, the main valve solenoid valve control current signal includes a boom solenoid valve control current signal, an arm solenoid valve control current signal, a bucket solenoid valve control current signal, and a swing solenoid valve control current signal.

[0046] The safety detection module is used to detect the distance between the surrounding space objects and the excavator. The safety detection module includes a plurality of distance sensors arranged on the excavator body.

[0047] A driver fatigue detection module is used to detect the driver's eye movement frequency, blinking frequency and yawning frequency. The driver fatigue detection module includes a visual sensor and a processor arranged in the excavator cab. The visual sensor collects the driver's facial image, and the processor extracts the driver's eye movement frequency, blinking frequency and yawning frequency.

[0048] The compartment material accumulation detection module is used to detect the accumulation status of materials in the excavator compartment. It includes a processor and a camera located on the back of the excavator bucket. The camera captures a real-time surface image of the material accumulation in the loading compartment, and the processor determines the accumulation status of the material in the loading compartment. This status includes whether the material is full and whether it is evenly packed.

[0049] The central control module is connected to the excavator main pump, excavator main valve, parameter storage module, safety detection module, driver fatigue detection module and carriage material accumulation detection module; the central control module receives the real-time working parameters of the excavator main pump and excavator main valve, and compares them with the learning parameters to determine whether the current auxiliary excavation and loading is in a safe state; receives the distance data from the safety detection module, and compares it with the pre-set safety threshold to determine whether the area around the excavator is safe; receives the driver's eye movement frequency, blinking frequency and yawning frequency to determine whether the driver is tired; receives the accumulation status information of the excavator carriage material to determine whether the carriage material is full during the auxiliary excavation and loading process.

[0050] Furthermore, the central control module is connected to the excavator safety handle. When the safety handle is in the closed state, the auxiliary excavation and loading cannot be entered; if the auxiliary excavation and loading is in operation, closing the safety handle will exit the auxiliary excavation and loading.

[0051] The human-computer interaction module, connected to the central control module, allows the driver to select whether to read previously stored learning parameters or create new ones, and receives alarm information from the central control module. It also receives instructions from the driver to correct the actions of each working device during the assisted excavation and loading process.

[0052] Furthermore, if the driver chooses to create new learning parameters, the human-computer interaction module prompts the driver to manually operate the excavator, perform an excavation and loading operation cycle, and cycle several times; the central control module receives the working parameters of each cycle, and calculates the average of all working parameters, and uses the average as the learning parameter for this auxiliary excavation and loading.

[0053] During assisted excavation and loading, if the excavation and loading is not in a safe state or the area around the excavator is unsafe or the driver is tired or the carriage is full of materials, the central control module will determine to exit the assisted excavation and loading.

[0054] Specifically, the central control module receives the real-time operating parameters of the excavator main pump and the excavator main valve, compares them with the learned parameters, and determines whether the current auxiliary excavation and loading is in a safe state, including:

[0055] If the error between the real-time working parameters of the excavator main pump and the excavator main valve and the corresponding learning parameters exceeds the preset error threshold S1, an alarm message is sent to the human-computer interaction module; if the error between the real-time working parameters of the excavator main pump and the excavator main valve and the corresponding learning parameters exceeds the preset error threshold S2, an alarm message is sent to the human-computer interaction module and the auxiliary excavation and loading is exited; the error between the real-time working parameters and the learning parameters is expressed as:

[0056] ;

[0057] Where S represents the error between the real-time working parameters and the learning parameters.

[0058] The central control module receives the distance data from the safety detection module and compares it with the pre-set safety threshold to determine whether the area around the excavator is safe, including:

[0059] The distance data detected by the distance sensor is expressed as N i , where i represents the i-th distance sensor, ; The safety thresholds are represented as L1 and L2;

[0060] When MIN( )>L1, it is judged that the area around the excavator is safe; when L2≤MIN( )≤L1, it is determined that there is a safety hazard around the excavator and an alarm message is sent to the human-computer interaction module; when MIN( )<L2, it is judged that the area around the excavator is unsafe, an alarm message is sent to the human-computer interaction module, and the auxiliary excavation and loading is exited.

[0061] The central control module receives the driver's eye movement frequency, blinking frequency, and yawning frequency to determine whether the driver is tired, including:

[0062] The level of eyeball activity frequency is expressed as T1, the level of blinking frequency is expressed as T2, and the level of yawning frequency is expressed as T3. The higher the driver's eyeball activity frequency, the smaller the T1 value, the higher the blinking frequency, the smaller the T2 value, and the higher the yawning frequency, the larger the T3 value;

[0063] Express the driver fatigue level as:

[0064] T=T1*K1+T2*K2+T3*K3;

[0065] Among them, K1, K2, and K3 represent the weight coefficients of eyeball activity frequency level, blinking frequency level, and yawning frequency level, respectively, and T represents the driver fatigue level;

[0066] The pre-set fatigue level thresholds are expressed as TT1 and TT2. When T<TT1, it is judged that the driver is not fatigued. When TT1≤T<TT2, it is judged that the driver is mildly or moderately fatigued, and an alarm message is sent to the human-computer interaction module. When TT2≤T, it is judged that the driver is driving with severe fatigue, and an alarm message is sent to the human-computer interaction module and the assisted excavation and loading is exited.

[0067] When the central control module receives information about uneven loading in the carriage, it adjusts the rotary solenoid valve control current signal to correct the rotary action to ensure that the materials in the carriage are evenly stacked.

[0068] Example 2

[0069] This embodiment provides a control method based on the first embodiment.

[0070] like Figure 2 As shown, the control method includes:

[0071] After the driver starts the excavator and sends a command to the central control module to enable assisted excavation and loading, the central control module receives the learned parameters and uses the handle action signals in the learned parameters as the input signals for this assisted excavation and loading operation. The excavator's main pump and main valve parameters in the learned parameters are sent in real time to the main pump and main valve solenoid valves as the target signals for this assisted excavation and loading operation for output control. The driver can choose to read previously stored assisted excavation and loading learning parameters or create new ones. If the driver chooses to create new learning parameters, the human-computer interaction module will provide prompts to guide the driver to manually operate the excavator according to their operating habits, performing the excavation and loading operation cycle N times. The central control module records the operating parameters of each cycle in real time and calculates the average of the operating parameters for these N cycles as the learning parameters for this assisted excavation and loading operation.

[0072] During the auxiliary excavation and loading process, the central control module receives the real-time working parameters of the excavator main pump and the excavator main valve, and compares them with the learning parameters to determine whether the current auxiliary excavation and loading is in a safe state. If it is determined that the current auxiliary excavation and loading is in an unsafe state, the auxiliary excavation and loading is exited.

[0073] The central control module receives the distance data from the safety detection module and compares it with a pre-set safety threshold to determine whether the area around the excavator is safe. If it is determined that the area around the excavator is not safe, the auxiliary excavation and loading function is exited.

[0074] The central control module receives the driver's eye movement frequency, blinking frequency and yawning frequency, and determines whether the driver is tired. If the driver is tired, the auxiliary excavation and loading function is exited.

[0075] The central control module receives the accumulation status information of the excavator compartment material, determines whether the compartment material is full during the auxiliary excavation and loading process, and exits the auxiliary excavation and loading process if the compartment material is full.

[0076] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0077] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0078] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An excavator-assisted excavation and loading control system, characterized in that: include: A parameter storage module is used to store learning parameters for auxiliary excavation and loading, wherein the learning parameters include handle action signals, excavator main pump parameters, and excavator main valve parameters; A safety detection module, used to detect the distance between the surrounding space objects and the excavator, the safety detection module comprising a plurality of distance sensors arranged on the excavator body; A driver fatigue detection module, configured to detect the driver's eye movement frequency, blinking frequency, and yawning frequency, the driver fatigue detection module comprising a visual sensor disposed in the excavator cab; A compartment material accumulation detection module, used to detect the accumulation state of materials in the excavator compartment, the compartment material accumulation detection module comprising a camera arranged on the back of the excavator bucket; The central control module is connected to the excavator main pump, excavator main valve, parameter storage module, safety detection module, driver fatigue detection module and carriage material accumulation detection module; the central control module receives the real-time operating parameters of the excavator main pump and excavator main valve, and compares them with the learning parameters to determine whether the current auxiliary excavation and loading is in a safe state; receives distance data from the safety detection module and compares it with the pre-set safety threshold to determine whether the area around the excavator is safe; receives the driver's eye movement frequency, blinking frequency and yawning frequency to determine whether the driver is tired; receives the accumulation status information of the excavator carriage material to determine whether the carriage material is full during the auxiliary excavation and loading process; During assisted excavation and loading, if the excavation and loading is not in a safe state or the area around the excavator is unsafe or the driver is tired or the carriage is full of materials, the central control module will determine to exit the assisted excavation and loading.

2. The excavator-assisted excavation and loading control system according to claim 1, characterized in that: It also includes a human-computer interaction module, which is connected to the central control module and is used by the driver to select to read the previously stored learning parameters or create new learning parameters, and to receive alarm information from the central control module; If the driver chooses to create new learning parameters, the human-computer interaction module prompts the driver to manually operate the excavator, perform the excavation and loading operation cycle, and cycle several times; the central control module receives the working parameters of each cycle, and calculates the average of all working parameters, and uses the average as the learning parameter for this auxiliary excavation and loading.

3. The excavator-assisted excavation and loading control system according to claim 2, characterized in that: The central control module receives the real-time operating parameters of the excavator main pump and the excavator main valve, compares them with the learned parameters, and determines whether the current auxiliary excavation and loading is in a safe state, including: If the error between the real-time working parameters of the excavator main pump and the excavator main valve and the corresponding learning parameters exceeds the preset error threshold S1, an alarm message is sent to the human-computer interaction module; if the error between the real-time working parameters of the excavator main pump and the excavator main valve and the corresponding learning parameters exceeds the preset error threshold S2, an alarm message is sent to the human-computer interaction module and the auxiliary excavation and loading is exited; the error between the real-time working parameters and the learning parameters is expressed as: ； Where S represents the error between the real-time working parameters and the learning parameters.

4. The excavator-assisted excavation and loading control system according to claim 2, characterized in that: The central control module receives the distance data from the safety detection module and compares it with the pre-set safety threshold to determine whether the area around the excavator is safe, including: The distance data detected by the distance sensor is expressed as N i , where i represents the i-th distance sensor, ; The safety thresholds are represented as L1 and L2; When MIN( )>L1, it is judged that the area around the excavator is safe; when L2≤MIN( )≤L1, it is determined that there is a safety hazard around the excavator and an alarm message is sent to the human-computer interaction module; when MIN( )<L2, it is judged that the area around the excavator is unsafe, an alarm message is sent to the human-computer interaction module, and the auxiliary excavation and loading is exited.

5. The excavator-assisted excavation and loading control system according to claim 2, characterized in that: The central control module receives the driver's eye movement frequency, blinking frequency, and yawning frequency to determine whether the driver is tired, including: The level of eye movement frequency is expressed as T1, the level of blinking frequency is expressed as T2, and the level of yawning frequency is expressed as T3; Express the driver fatigue level as: T=T1*K1+T2*K2+T3*K3; Among them, K1, K2, and K3 represent the weight coefficients of eyeball activity frequency level, blinking frequency level, and yawning frequency level, respectively, and T represents the driver fatigue level; The pre-set fatigue level thresholds are expressed as TT1 and TT2. When T<TT1, it is judged that the driver is not fatigued. When TT1≤T<TT2, it is judged that the driver is mildly or moderately fatigued, and an alarm message is sent to the human-computer interaction module. When TT2≤T, it is judged that the driver is driving with severe fatigue, and an alarm message is sent to the human-computer interaction module and the assisted excavation and loading is exited.

6. The excavator-assisted excavation and loading control system according to claim 1, characterized in that: The central control module is connected to the excavator safety handle. When the safety handle is in the closed state, the auxiliary excavation and loading cannot be entered; if the auxiliary excavation and loading is in operation, closing the safety handle will exit the auxiliary excavation and loading.

7. The excavator-assisted excavation and loading control system according to claim 1, characterized in that: The excavator main pump parameters include the main pump solenoid valve control current signal; The excavator main valve parameters include the main valve solenoid valve control current signal; The main pump solenoid valve control current signal and the main valve solenoid valve control current signal serve as target signals in the auxiliary excavation and loading process. The central control module sends the main pump solenoid valve control current signal and the main valve solenoid valve control current signal to the main pump and main valve in real time for output control.

8. A control method for an excavator-assisted excavation and loading control system according to any one of claims 1 to 7, characterized in that: include: After the driver starts the excavator and sends a command to the central control module to turn on the auxiliary excavation and loading, the central control module receives the learning parameters and uses the handle action signal in the learning parameters as the input signal for this auxiliary excavation and loading. The excavator main pump parameters and excavator main valve parameters in the learning parameters are used as the target signals for this auxiliary excavation and loading and are sent to the main pump solenoid valve and the main valve solenoid valve in real time for output control; During the auxiliary excavation and loading process, the central control module receives the real-time operating parameters of the excavator's main pump and main valve, compares them with the learned parameters, and determines whether the current auxiliary excavation and loading is in a safe state. If it is determined that the current auxiliary excavation and loading is in an unsafe state, the auxiliary excavation and loading is exited; The central control module receives the distance data from the safety detection module and compares it with the pre-set safety threshold to determine whether the area around the excavator is safe. If it is determined that the area around the excavator is not safe, the auxiliary excavation and loading function is exited; The central control module receives the driver's eye movement frequency, blinking frequency and yawning frequency to determine whether the driver is tired. If the driver is tired, the auxiliary excavation and loading function is terminated. The central control module receives the accumulation status information of the excavator compartment material, determines whether the compartment material is full during the auxiliary excavation and loading process, and exits the auxiliary excavation and loading process if the compartment material is full.

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