Excavator rotation control method, device and equipment

Abstract

The invention discloses an excavator rotation control method, device and equipment, and the method comprises the steps: obtaining an actual angle value from a working device of an excavator to an electronic wall, and determining a rotation brake triggering state according to the actual angle value and a brake angle value needed by current rotation; acquiring a preset angle boundary value and a preset rotation angular velocity boundary value when the rotation brake triggering state is triggered; and controlling the working device to pass through a rotation deceleration stage, a low-speed rotation stage and a rotation stop stage based on the angle boundary value and the rotation angular velocity boundary value so as to complete braking in the target rotation direction when the working device reaches the electronic wall. The obtained current rotation braking angle value is compared with the actual angle value between the current working device and the enclosing wall, whether rotation braking is triggered or not is judged, and after rotation braking is triggered, the rotation stopping process is divided into a rotation speed reduction section, a low-speed rotation section and a rotation stopping section in a multi-stage rotation braking mode; therefore, safe operation in the electronic wall is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of excavators, and in particular to an excavator rotation control method, device and equipment. BACKGROUND

[0002] An excavator is a kind of earth-moving machine that uses a shovel to excavate materials and load them into a transport vehicle. During operation, if a water pipe or optical cable is buried underground or there are other obstacles on both sides, an operator's operation may be incorrect, which not only affects the efficiency of project implementation but also causes damage to vehicles or persons. Therefore, an electronic fence is used to limit the operating range of the excavator within the fence to ensure safe operation.

[0003] However, the rotation operation of the excavator mainly relies on the driving of a hydraulic motor. Due to the unique internal structure of the hydraulic motor, it cannot be stopped immediately in actual work. This feature makes it difficult to accurately control the rotation to stop within the left and right electronic fence ranges when the excavator is rotating, and there is a safety hazard of colliding with surrounding obstacles when the rotation exceeds the fence. Therefore, there is an urgent need for an excavator rotation braking control method based on left and right electronic fences to solve this problem. SUMMARY

[0004] The present application provides an excavator rotation control method, device and equipment to accurately control the rotation operation of the excavator to ensure safe operation within the electronic fence.

[0005] According to one aspect of the present application, an excavator rotation control method is provided, comprising: querying a rotation braking data table according to current state parameters of the excavator to obtain a required braking angle value for current rotation, wherein the state parameters include a body rotation angular velocity, an arm span and a target rotation direction;

[0006] An actual angle value of a working device of the excavator from the electronic fence is obtained, and a rotation braking trigger state is determined according to the actual angle value and the required braking angle value for current rotation, wherein the rotation braking trigger state includes triggering or not triggering;

[0007] When the rotation braking trigger state is triggering, a pre-set angle boundary value and a rotation angular velocity boundary value are obtained;

[0008] The working device is controlled to pass through a rotation deceleration stage, a low-speed rotation stage and a rotation stop stage based on the angle boundary value and the rotation angular velocity boundary value, so as to complete braking in the target rotation direction when reaching the electronic fence.

[0009] According to another aspect of the present application, there is provided a swing control device for a excavator, comprising: a swing brake data table query module configured to query a swing brake data table according to current state parameters of the excavator to obtain a required brake angle value for current swing, wherein the state parameters comprise a body swing angular velocity, an arm span, and a target swing direction;

[0010] a swing brake trigger state determination module configured to obtain an actual angle value of a working device of the excavator from an electronic fence, and determine a swing brake trigger state according to the actual angle value and the required brake angle value for current swing, wherein the swing brake trigger state comprises triggering or not triggering;

[0011] a boundary value obtaining module configured to obtain a preset angle boundary value and a swing angular velocity boundary value when the swing brake trigger state is triggering;

[0012] a multi-stage swing brake module configured to control the working device to pass through a swing deceleration stage, a low-speed swing stage, and a swing stop stage based on the angle boundary value and the swing angular velocity boundary value, so as to complete braking in the target swing direction when reaching the electronic fence.

[0013] According to another aspect of the present application, there is provided a computer device, comprising:

[0014] at least one processor; and

[0015] a memory connected to the at least one processor in communication; wherein,

[0016] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the method according to any one of the embodiments of the present application.

[0017] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to implement the method according to any one of the embodiments of the present application when executed.

[0018] The technical solution of the embodiments of the present application obtains a required brake angle value for current swing by querying a swing brake data table according to current state parameters of the excavator, compares the obtained required brake angle value for current swing with an actual angle value of a working device from a fence, determines whether to trigger swing braking, adopts a multi-stage swing braking mode when swing braking is triggered, divides a swing stop process into a swing deceleration stage, a low-speed swing stage, and a swing stop stage, and ensures safe operation within an electronic fence.

[0019] It is to be understood that the embodiments described herein are merely exemplary of the application and that a person skilled in the art can devise other embodiments without departing from the scope of the present application. It is also to be understood that not all of the features and aspects of the present application are necessarily included in every embodiment of the application. The following description of the embodiments of the present application is provided to enable any person skilled in the art to make or use the application. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0021] Figure 1 is a flow chart of a excavator slewing control method according to the first embodiment of the present application;

[0022] Figure 2 is a schematic diagram of a excavator slewing operation according to the first embodiment of the present application;

[0023] Figure 3 is a flow chart of a excavator slewing control method according to the first embodiment of the present application;

[0024] Figure 4 is a structural schematic diagram of a excavator slewing control device according to the third embodiment of the present application;

[0025] Figure 5 is a structural schematic diagram of an electronic device according to the fourth embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the technical personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort should be within the scope of protection of the present application.

[0027] It is to be understood that the terms "first", "second", and the like, used in the description and the claims of the present application as well as the above description of the drawings merely refer to structure which is different, and do not necessarily imply that the structures are to be performed in any particular order. It is to be understood that the use of the terms first, second, etc., is merely to distinguish one applicable embodiment from another, but is not connote a ordering, unless specifically stated otherwise. Furthermore, "including" and "comprising" and any variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of steps or elements does not include only those steps or elements but can include other not expressly listed steps or elements. These steps or elements can be addable to another process, method, article, or apparatus and still be within the scope of the present application.

[0028] Embodiment one

[0029] Figure 1 A flow chart of a method for excavator swing control is provided for the first embodiment of the present application. The embodiment can be applied to the case of controlling the swing of an excavator. The method can be executed by an excavator swing control device, which can be realized in the form of hardware and / or software. As shown in FIG. 1, the method comprises the following steps. Figure 1

[0030] In step S101, a current swing braking angle value is obtained by querying a swing braking data table according to current state parameters of the excavator.

[0031] Optionally, before the step of obtaining the current swing braking angle value by querying the swing braking data table according to the current state parameters of the excavator, the method further comprises the step of determining a construction mode of the swing braking data table, wherein the construction mode comprises real excavator experimental test or virtual excavator simulation calculation; obtaining a mapping data subset of braking angular velocity required by different swing angular velocities of the working device under each arm span based on the construction mode; constructing a mapping data set according to the corresponding mapping data subsets under different arm spans, wherein the mapping data set comprises a left swing mapping data set and a right swing mapping data set; and constructing the swing braking data table according to the left swing mapping data set and the right swing mapping data set.

[0032] Specifically, the swing braking data table in the embodiment can be constructed in advance by a specified construction mode, which comprises real excavator experimental test or virtual excavator simulation calculation. The real excavator experimental test refers to selecting an excavator, moving it to a test site, and respectively testing the left swing and right swing braking of the excavator under different swing angular velocities at a certain arm span of the working device, and recording the angle moved by the working device from closing the corresponding swing proportional electromagnetic valve at a specified swing angular velocity to the complete autonomous stop of the excavator, which is the braking angle required by the excavator at the arm span under the swing angular velocity. For example, under the arm span l1, the left swing and right swing braking of the excavator are tested under different swing angular velocities, and the braking angles required by the excavator under the arm span l1 are recorded. Similarly, the braking angles required by the excavator under the arm span l2 are recorded.​ As the left rotation starting angular velocity, each time increase the same angular velocity value as the next gear angular velocity, a total of n gear angular velocities, perform the left rotation braking test, and obtain the left rotation angular velocity and the corresponding braking angle mapping Wherein, the difference of each gear angular velocity can be 5 degrees, and the angular velocity variation interval range can be 0-80 degrees, of course, in the embodiment, only an example is illustrated, and the difference of different gear angular velocities and the specific angle range are not limited. Similarly, under the arm span l1, the left rotation angular velocity and the corresponding braking angle mapping data set under different arm spans are obtained As the right rotation starting angular velocity, each time increase the same angular velocity value as the next gear angular velocity, a total of n gear angular velocities, perform the right rotation braking test, and obtain the right rotation angular velocity and the corresponding braking angle mapping And the above obtained And As a mapping data subset, of course, in the embodiment, only the above two number mapping data subsets are taken as an example for illustration, and in actual application, multiple data mapping subsets can be obtained.

[0033] In addition, for different arm span dimensions, the above test is performed respectively to obtain the corresponding braking angle mapping data. For example, taking l1 as the starting working device arm span length, each time increase the same length value as the next gear arm span, a total of i gear arm spans, perform the left and right rotation braking test, and obtain the left rotation angular velocity and the corresponding braking angle mapping data set under different arm spans Right rotation angular velocity and the corresponding braking angle mapping data set under different arm spans And the above obtained As the left rotation mapping data set, the above obtained As the right rotation mapping data set, the left rotation mapping data set and the right rotation mapping data set are used to construct the rotation braking data table.

[0034] In the construction of the swing brake data table based on the virtual excavator simulation calculation, a high-precision virtual model of the excavator is established by using professional excavator dynamics simulation software according to detailed design drawings and parameters of the excavator. The model should include the body structure, swing mechanism, hydraulic system, boom system and all other key components of the excavator, and the physical properties and kinematic parameters of each component are accurately set. Different boom length and swing angular velocity dimension parameters are set in the simulation software to simulate the swing braking process of the excavator under various working conditions. Through simulation calculation, the brake angle data required for swing stopping under different working conditions are obtained. The data obtained by simulation calculation are analyzed and processed, and are classified and arranged according to the left swing and right swing under different boom lengths, and the left swing brake data table and the right swing brake data table are established, and finally the swing brake data table is formed, and the format of the swing brake data table obtained is basically the same as the swing brake data table obtained according to the real excavator experiment test, which will not be described in detail in this embodiment.

[0035] Optionally, the brake angle value required for current swing is obtained by querying the swing brake data table according to the current state parameters of the excavator, including: determining the target mapping data set to be queried according to the target swing direction; querying the target mapping data set according to the boom length to obtain a target mapping data subset; and querying the target mapping data subset according to the body swing angular velocity to obtain the brake angle value required for current swing matched with the body swing angular velocity.

[0036] Specifically, in this embodiment, the state parameters of the excavator currently working are obtained, wherein the state parameters include the body swing angular velocity, the boom length and the target swing direction, and the swing brake data table constructed above is queried according to the state parameters by using a three-level query method to obtain the brake angle value required for current swing corresponding to the body swing angular velocity. The first-level query means that when the excavator driver performs the swing operation, the target swing direction determined according to the signal of the excavator body swing operation handle is used to determine whether the left swing mapping data set or the right swing mapping data set is to be queried, and when the target swing direction is left swing, the target mapping data set to be queried is the left swing mapping data set When the target swing direction is left swing, the target mapping data set to be queried is the left swing mapping data set The second-level query means that on the basis of the target mapping data set to be queried determined in the first-level query, the target mapping data subset to be queried is further determined according to the boom length of the current excavator. For example, if it is determined that the left swing mapping data set should be queried, and the current working device boom length is l i , then the target mapping data subset is determined to be in the formula The third-level query refers to further querying the target mapping data subset according to the current vehicle body rotation angular velocity on the basis of the second-level query of explicitly mapping the target data subset, to obtain the current rotation required braking angle value matched with the vehicle body rotation angular velocity. For example, when the target mapping data subset is , if the current rotation angular velocity is , then the current required braking angle is . Of course, the present embodiment is only an example and does not limit the specific content of the current rotation required braking angle value.

[0037] It should be noted that for the above-mentioned second-level query, if the target mapping data subset corresponding to the current working device arm length cannot be directly queried, then the up / down one-gear method is used for querying. For example, if the current working device arm length is l j , and is between the queryable working device arm lengths l i-2 and l i-1 , when , then the target mapping data subset to be queried is , and when , then the target mapping data subset to be queried is Similarly, for the above-mentioned third-level query, if the current rotation required braking angle value corresponding to the current vehicle body rotation angular velocity of the working device cannot be directly queried, then the up / down one-gear method is used for querying. For example, if the left rotation angular velocity is , and is between the queryable left rotation angular velocities and , when , then the corresponding left rotation required braking angle value is , and when , then the corresponding left rotation required braking angle value is In addition, for the third-level query, the linear difference method can also be used. For example, if the left rotation angular velocity is , and is between the queryable left rotation angular velocities and , then the corresponding left rotation required braking angle value is Of course, the present embodiment is only an example and does not limit the specific acquisition method of the current rotation required braking angle value.

[0038] In step S102, the actual angle value of the working device of the excavator from the electronic fence is obtained, and the rotation braking triggering state is determined according to the actual angle value and the current rotation required braking angle value.

[0039] Optionally, obtaining the actual angle value between the excavator's working device and the electronic fence includes: obtaining the first angle value between the electronic fence in the target direction and the front of the excavator; measuring the second angle value between the working device and the front of the excavator when the excavator rotates in the target direction using a slewing angle sensor; and obtaining the actual angle value based on the first angle value and the second angle value.

[0040] Optionally, the slewing braking trigger state can be determined based on the actual angle value and the braking angle value required for the current slewing, including: determining whether the braking angle value required for the current slewing is less than the actual angle value; if so, determining that the slewing braking trigger state is not triggered; otherwise, determining that the slewing braking trigger state is triggered.

[0041] Specifically, such as Figure 2 The diagram shows the excavator's slewing operation. Point O is the center of rotation, the dashed line represents the front of the excavator, and the left and right electronic barriers divide the work area into a workable zone and a prohibited zone. A slewing angle sensor is installed at point O, the center of rotation, to measure the angle between the working device and the front of the excavator in real time. Angles to the left of the dashed line are positive, and angles to the right are negative. Figure 4 Taking a left turn as an example, the triggering of the turn brake is explained. The electronic fence in the target direction is obtained, that is, the first angle value β between the left electronic fence and the front of the excavation. LF The second angle β between the working device and the front of the excavator is measured by the slewing angle sensor when the excavator rotates in the target direction. LW The actual angle value Δβ is obtained based on the first included angle value and the second included angle value. L =β LF -β LW .

[0042] The slewing brake trigger state includes triggered or not triggered. In this embodiment, when determining the slewing brake trigger state based on the actual angle value and the braking angle value required for the current slewing, specifically when... When the current actual angle value is sufficient for the excavator to brake automatically within the working area, the swing brake is not triggered; when If the current actual angle value is insufficient for the excavator to brake automatically within the working area, external factors are required, thus necessitating the activation of the swing brake. Of course, this embodiment is merely an example and does not limit the specific method for determining the swing brake activation state.

[0043] Step S103: When the slewing brake trigger state is triggered, obtain the preset angle boundary value and slewing angular velocity boundary value.

[0044] Specifically, when the rotation braking is triggered, the angle boundary value associated with the rotation braking trigger is obtained For example, 2° and the rotation angular velocity boundary value For example, 10° / s. The angle boundary value is used to determine the left rotation movement and stop. When the real-time angle difference between the working device and the left fence is greater than the angle boundary value, the left rotation movement is allowed; when the real-time angle difference between the working device and the left fence is less than the angle boundary value, the left rotation movement is stopped; the rotation angular velocity boundary value is used to determine the application and cancellation of the right rotation braking. When the real-time left rotation angular velocity of the excavator is greater than the rotation angular velocity boundary value, the right rotation braking is applied; when the real-time left rotation angular velocity of the excavator is less than the rotation angular velocity boundary value, the right rotation braking is cancelled. In the embodiment, the specific values of the angle boundary value and the rotation angular velocity boundary value are not limited, and the user can set them according to the accuracy of the rotation control.

[0045] Step S104, controlling the working device to pass through the rotation deceleration stage, the low-speed rotation stage and the rotation stop stage based on the angle boundary value and the rotation angular velocity boundary value, so as to complete the braking in the target rotation direction when reaching the electronic fence.

[0046] Optionally, the method of controlling the working device to pass through the rotation deceleration stage, the low-speed rotation stage and the rotation stop stage based on the angle boundary value and the rotation angular velocity boundary value, so as to complete the braking in the target rotation direction when reaching the electronic fence, comprises: determining to enter the rotation deceleration stage when determining that the actual angle difference is greater than the angle boundary value and the vehicle body rotation angular velocity is greater than the rotation angular velocity boundary value, gradually reducing the rotation proportional valve current in the target rotation direction to reduce the first proportional valve opening degree, and continuously opening the second proportional valve in the target rotation reverse direction with a specified current, so as to gradually reduce the vehicle body rotation angular velocity; determining to enter the low-speed rotation stage when determining that the vehicle body rotation angular velocity is not greater than the rotation angular velocity boundary value, keeping the rotation proportional valve current in the target direction unchanged to keep the first proportional valve opening degree unchanged, and closing the second proportional valve in the target rotation reverse direction, so as to keep the vehicle body rotation angular velocity at a fixed value for low-speed uniform rotation; and entering the rotation stop stage when determining that the actual angle difference is less than the angle boundary value, immediately reducing the rotation proportional valve current in the target rotation direction to close the first proportional valve opening degree, and immediately stopping the rotation of the excavator.

[0047] Specifically, for the rotation deceleration stage, after the rotation braking is triggered and the left rotation movement is allowed, the control system gradually reduces the left rotation proportional solenoid valve control current to a set value For example, with 900mA, the opening of the left-hand proportional solenoid valve gradually decreases, reducing the flow rate through the valve and achieving active deceleration during left-hand turns. Simultaneously, when right-hand braking is permitted, the control system gradually increases the braking control current of the right-hand proportional solenoid valve to a set value. For example, at 1400mA, the corresponding right-hand proportional solenoid valve gradually opens, generating a reverse turning torque to achieve passive deceleration for left-hand turns. For the low-speed turning phase, when the conditions for canceling right-hand braking are met, the control system immediately reduces the braking control current of the right-hand proportional solenoid valve to the shut-off current value. The corresponding right-hand proportional solenoid valve immediately closes, the reverse turning torque is immediately canceled, and the passive deceleration for left-hand turns is cancelled. At this point, while allowing left-hand turning, the control current of the left-hand proportional solenoid valve reaches the set value. Since the flow rate remains constant, the opening of the corresponding left-hand proportional solenoid valve also remains constant, ensuring a constant flow rate through the valve. This allows for a constant, low, uniform left-hand rotation at the specified angular velocity boundary value. The rotation is uniform. Regarding the stopping phase, once the conditions for stopping the leftward rotation are met, the control system immediately reduces the control current of the leftward proportional solenoid valve; the current changes from... As the current is reduced to the shut-off value, the corresponding left-hand proportional solenoid valve immediately closes, and the left-hand rotation stops immediately. This is because the left-hand rotation angular velocity was already at a relatively low rotation angular velocity during the low-speed rotation phase. The excavator rotates at a constant speed. Because the angular velocity is sufficiently small, it can stop immediately upon receiving a left-hand slewing stop command during the slewing stop phase, preventing the excavator's working device from exceeding the electronic fence. This embodiment only uses left-hand slewing braking as an example; the principle for right-hand slewing braking is largely the same and will not be elaborated upon here. Furthermore, this embodiment does not specify the set value. and The specific values ​​are limited, and users can set them according to their actual needs.

[0048] In this embodiment, by establishing a slewing braking data table, the timing of slewing braking can be effectively determined, avoiding problems such as untimely or premature slewing braking. A multi-stage slewing braking control strategy is adopted, so that the slewing motion process goes through three processes: rapid deceleration, stable low speed, and timely stopping. This can accurately control the slewing stop inside the wall and effectively ensure safe operation inside the wall.

[0049] The embodiment obtains a required braking angle value of the current slewing according to the current state parameter of the excavator by inquiring a slewing braking data table, compares the obtained current slewing braking angle value with an actual angle value of the working device from the wall, judges whether to trigger slewing braking, adopts a multi-stage slewing braking mode after the slewing braking is triggered, divides the slewing stopping process into a slewing deceleration stage, a low-speed slewing stage and a slewing stopping stage, and ensures safe operation in the electronic wall.

[0050] Embodiment two

[0051] Figure 3 The flowchart of the excavator slewing control method provided for the embodiment two is based on the above-mentioned embodiment, and after the working device is controlled to pass through the slewing deceleration stage, the low-speed slewing stage and the slewing stopping stage based on the angle boundary value and the slewing angular velocity boundary value, to complete braking in the target slewing direction after reaching the electronic wall, the method further includes: obtaining an actual braking position of the excavator and an electronic wall position in the target slewing direction; comparing the actual braking position with the electronic wall position, and generating a slewing braking report according to the comparison result. As shown in Figure 3 , the method includes:

[0052] In step S201, a required braking angle value of the current slewing is obtained by inquiring a slewing braking data table according to the current state parameter of the excavator.

[0053] Optionally, before the required braking angle value of the current slewing is obtained by inquiring the slewing braking data table according to the current state parameter of the excavator, the method further includes: determining a construction mode of the slewing braking data table, wherein the construction mode includes real excavator experimental test or virtual excavator simulation calculation; obtaining a mapping data subset of braking angular velocity required by different slewing angular velocities of the working device under each arm span based on the construction mode; constructing a mapping data set according to the corresponding mapping data subset under each arm span, wherein the mapping data set includes a left slewing mapping data set and a right slewing mapping data set; and constructing the slewing braking data table according to the left slewing mapping data set and the right slewing mapping data set.

[0054] Optionally, the required braking angle value of the current slewing is obtained by inquiring the slewing braking data table according to the current state parameter of the excavator, including: determining a target mapping data set to be inquired according to the target slewing direction; obtaining a target mapping data subset by inquiring the target mapping data set according to the arm span; and obtaining a current required braking angle value matched with the body slewing angular velocity by inquiring the target mapping data subset according to the body slewing angular velocity.

[0055] In step S202, an actual angle value of the working device from the electronic wall of the excavator is obtained, and a slewing braking triggering state is determined according to the actual angle value and the required braking angle value of the current slewing.

[0056] Optionally, the actual angle value of the working device of the excavator from the electronic fence is obtained, comprising: obtaining a first included angle value between the electronic fence in the target direction and the front of the excavator; measuring a second included angle value between the working device and the front of the excavator when the excavator rotates to the target direction through the rotation angle sensor; and obtaining the actual angle value according to the first included angle value and the second included angle value.

[0057] Optionally, the rotation braking trigger state is determined according to the actual angle value and the current rotation braking angle value, comprising: determining whether the current rotation braking angle value is less than the actual angle value, if yes, determining that the rotation braking trigger state is not triggered, otherwise, determining that the rotation braking trigger state is triggered.

[0058] Step S203, when the rotation braking trigger state is triggered, obtaining a pre-set angle boundary value and a rotation angular velocity boundary value.

[0059] Step S204, controlling the working device to pass through a rotation deceleration stage, a low-speed rotation stage and a rotation stop stage based on the angle boundary value and the rotation angular velocity boundary value, so as to complete braking in the target rotation direction when reaching the electronic fence.

[0060] Optionally, the working device is controlled to pass through the rotation deceleration stage, the low-speed rotation stage and the rotation stop stage based on the angle boundary value and the rotation angular velocity boundary value, so as to complete braking in the target rotation direction when reaching the electronic fence, comprising: when it is determined that the actual angle difference is greater than the angle boundary value and the vehicle body rotation angular velocity is greater than the rotation angular velocity boundary, it is determined to enter the rotation deceleration stage, the rotation proportional valve current in the target rotation direction is gradually reduced to reduce the first proportional valve opening degree, and the second proportional valve opening degree in the target rotation opposite direction is kept open at a specified current, so that the vehicle body rotation angular velocity is gradually reduced; when it is determined that the vehicle body rotation angular velocity is not greater than the rotation angular velocity boundary, it is determined to enter the low-speed rotation stage, the rotation proportional valve current in the target direction is kept unchanged to keep the first proportional valve opening degree unchanged, and the second proportional valve in the target rotation opposite direction is closed, so that the vehicle body rotation angular velocity keeps a fixed value for low-speed uniform rotation; and when it is determined that the actual angle difference is less than the angle boundary value, it is determined to enter the rotation stop stage, the rotation proportional valve current in the target rotation direction is immediately reduced to close the first proportional valve opening degree, and the excavator is immediately stopped.

[0061] Step S205, obtaining the actual braking position of the excavator and the position of the electronic fence in the target rotation direction, comparing the actual braking position with the position of the electronic fence, and generating a rotation braking report according to the comparison result.

[0062] Specifically, after obtaining the actual braking position of the excavator and the electronic fence position in the target rotation direction in the embodiment, the difference between the actual braking position and the electronic fence position in the target rotation direction is detected, and the difference is positive or negative. When it is determined that the difference is within the threshold range and negative, it indicates that the actual braking position is equal to or close to the electronic fence position, and does not exceed the workable area. At this time, it is determined that the rotation braking is successful, otherwise, it is determined that the rotation braking fails, and a rotation braking report is generated according to the comparison result and the braking time, and the rotation braking report is displayed on the human-computer interaction interface.

[0063] It should be noted that when the comparison result in the rotation braking report is failure, an alarm instruction is also generated when the rotation braking report is displayed to prompt the operation and maintenance personnel to timely overhaul the software or hardware device of the excavator to determine the cause of the braking failure and timely repair, thereby improving the efficiency and accuracy of the rotation braking. Moreover, the alarm instruction can be displayed in the form of voice or image, and the specific display form of the alarm instruction is not limited in the embodiment. As long as it can prompt the user, it is within the protection scope of the application.

[0064] The embodiment obtains the required braking angle value of the current rotation by querying the rotation braking data table according to the current state parameter of the excavator, compares the obtained current rotation braking angle value with the actual angle value of the current working device from the fence, and judges whether the rotation braking is triggered. When the rotation braking is triggered, a multi-stage rotation braking mode is adopted, and the rotation stopping process is divided into a rotation deceleration section, a low-speed rotation section and a rotation stopping section to ensure safe operation in the electronic wall.

[0065] Example three

[0066] Figure 4 A structure schematic diagram of an excavator rotation control device provided for the third embodiment of the application is shown in FIG. 3. Figure 4 As shown in the figure, the device comprises a rotation braking data table query module 310, a rotation braking trigger state determination module 320, a boundary value acquisition module 330 and a multi-stage rotation braking module 340.

[0067] The rotation braking data table query module 310 is configured to query the rotation braking data table to obtain the required braking angle value of the current rotation according to the current state parameter of the excavator, wherein the state parameter comprises the body rotation angular velocity, the arm span and the target rotation direction.

[0068] The rotation braking trigger state determination module 320 is configured to obtain the actual angle value of the working device of the excavator from the electronic fence, and determine the rotation braking trigger state according to the actual angle value and the required braking angle value of the current rotation, wherein the rotation braking trigger state comprises triggering or not triggering.

[0069] The boundary value acquisition module 330 is configured to acquire a preset angle boundary value and a rotation angular velocity boundary value when the rotation braking trigger state is triggered.

[0070] The multi-stage rotation braking module 340 is configured to control the working device to pass through a rotation deceleration stage, a low-speed rotation stage and a rotation stop stage based on the angle boundary value and the rotation angular velocity boundary value, so as to complete braking in the target rotation direction when reaching the electronic fence.

[0071] Optionally, the device further comprises a rotation braking data table construction module configured to determine a construction mode of the rotation braking data table, wherein the construction mode comprises real excavator experimental testing or virtual excavator simulation calculation.

[0072] Based on the construction mode, a mapping data subset of braking angular velocities required by different rotation angular velocities of the working device under various arm spans is acquired.

[0073] A mapping data set is constructed according to the corresponding mapping data subsets under different arm spans, wherein the mapping data set comprises a left rotation mapping data set and a right rotation mapping data set.

[0074] The rotation braking data table is constructed according to the left rotation mapping data set and the right rotation mapping data set.

[0075] Optionally, the rotation braking data table query module is configured to determine a target mapping data set to be queried according to the target rotation direction.

[0076] The target mapping data set is queried according to the arm span to acquire a target mapping data subset.

[0077] The target mapping data subset is queried according to the body rotation angular velocity to acquire a braking angle value required by the current rotation matched with the body rotation angular velocity.

[0078] Optionally, the rotation braking trigger state determination module comprises an actual angle value acquisition unit configured to acquire a first included angle value between the electronic fence in the target direction and the front of the excavator.

[0079] A second included angle value between the working device and the front of the excavator when the excavator rotates in the target direction is measured by a rotation angle sensor.

[0080] The actual angle value is acquired according to the first included angle value and the second included angle value.

[0081] Optionally, the rotation braking trigger state determination module comprises a rotation braking trigger state determination unit configured to determine whether the braking angle value required by the current rotation is less than the actual angle value, and if yes, determine that the rotation braking trigger state is not triggered.

[0082] Otherwise, it is determined that the rotation braking trigger state is triggered.

[0083] Optionally, the multi-stage swing braking module is configured to determine to enter a swing deceleration stage when it is determined that the actual angle difference is greater than the angle boundary value and the body swing angular velocity is greater than the swing angular velocity boundary, gradually reduce the swing proportional valve current in the target swing direction to reduce the first proportional valve opening degree, and keep the second proportional valve in the target swing reverse direction open at a specified current to gradually reduce the body swing angular velocity;

[0084] Optionally, the multi-stage swing braking module is configured to determine to enter a low-speed swing stage when it is determined that the body swing angular velocity is not greater than the swing angular velocity boundary, keep the swing proportional valve current in the target direction unchanged to keep the first proportional valve opening degree unchanged, and close the second proportional valve in the target swing reverse direction to keep the body swing angular velocity at a fixed value for low-speed uniform swing.

[0085] Optionally, the multi-stage swing braking module is configured to enter a swing stop stage when it is determined that the actual angle difference is less than the angle boundary value, immediately reduce the swing proportional valve current in the target swing direction to close the first proportional valve opening degree, and immediately stop the swing of the excavator.

[0086] Optionally, the device further comprises a report generation module configured to obtain an actual braking position of the excavator and an electronic fence position in the target swing direction.

[0087] The actual braking position is compared with the electronic fence position, and a swing braking report is generated according to the comparison result.

[0088] The excavator swing control device provided in the embodiment of the present application can execute the excavator swing control method provided in any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0089] Embodiment Four

[0090] Figure 5 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the applications described and / or claimed in this document.

[0091] The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the applications described and / or claimed in this document.

[0092] As Figure 5As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0093] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, a speaker, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0094] The processor 11 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the excavator swing control method.

[0095] In some embodiments, the excavator swing control method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the excavator swing control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the excavator swing control method by any other appropriate means, such as by means of firmware.

[0096] The various embodiments of the apparatus and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a special-purpose standard product (ASSP), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable computing device including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0097] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a general purpose computer, special purpose computer, or other programmable computing apparatus to produce a machine, such that the computer program, when executed, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a machine or entirely on a remote machine or server.

[0098] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store the computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0099] To provide for interaction with a user, the devices and techniques described here can be implemented on a device having a display (e.g., a touch screen) for displaying information to the user and a keyboard, a mouse, or a control for receiving input from the user. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0100] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the spirit and scope of the present disclosure. For example, the various steps of the methods described herein can be performed in parallel, in series, or in different orders, as long as the desired results of the claimed techniques are achieved. This is not intended to be limiting.

[0101] The specific embodiments described above have been shown by way of example, and any modifications, combinations, sub-combinations and alternatives are meant to be within the scope of the application. Other modifications, equivalents, and alternatives are also within the scope of the application. The specific embodiments described above have been shown by way of example, and any modifications, combinations, sub-combinations and alternatives are meant to be within the scope of the application. Other modifications, equivalents, and alternatives are also within the scope of the application.

Claims

1. A method for controlling the slewing rotation of an excavator, characterized in that, include: The required braking angle for the current swing is obtained by querying the swing braking data table based on the current status parameters of the excavator. The status parameters include the swing angular velocity of the excavator body, the boom span, and the target swing direction. The actual angle value between the excavator's working device and the electronic fence is obtained, and the swing brake trigger state is determined based on the actual angle value and the current required braking angle value for swing. The swing brake trigger state includes triggering or not triggering. When the slewing brake trigger state is triggered, the preset angle boundary value and slewing angular velocity boundary value are obtained; Based on the angular boundary value and the rotational angular velocity boundary value, the working device is controlled to go through a rotational deceleration stage, a low-speed rotation stage, and a rotational stop stage, so as to complete the braking in the target rotational direction when reaching the electronic fence.

2. The method according to claim 1, characterized in that, Before querying the slewing brake data table based on the excavator's current status parameters to obtain the required braking angle value for the current slewing, the process also includes: Determine the construction mode of the swing brake data table, wherein the construction mode includes real excavator experimental testing or virtual excavator simulation calculation; Based on the aforementioned construction pattern, a subset of mapping data of braking angular velocities required for different slewing angular velocities of the working device at various boom spans is obtained; A mapping dataset is constructed based on the corresponding subsets of mapping data for different arm spans, wherein the mapping dataset includes a left turn mapping dataset and a right turn mapping dataset; The slewing braking data table is constructed based on the left slewing mapping dataset and the right slewing mapping dataset.

3. The method according to claim 2, characterized in that, The step of querying the swing brake data table based on the excavator's current status parameters to obtain the required braking angle value for the current swing includes: The target mapping dataset to be queried is determined based on the target's turning direction. Based on the arm span, query the target mapping dataset to obtain a subset of target mapping data; Based on the vehicle body turning angular velocity, query the target mapping data subset to obtain the braking angle value required for the current turn that matches the vehicle body turning angular velocity.

4. The method according to claim 1, characterized in that, The method of obtaining the actual angle value between the excavator's working device and the electronic fence includes: Obtain the first angle value between the electronic fence in the target direction and the front of the excavation; The second angle between the working device and the front of the excavator is measured by the slewing angle sensor when the excavator rotates in the target direction. The actual angle value is obtained based on the first included angle value and the second included angle value.

5. The method according to claim 1, characterized in that, The step of determining the slewing braking trigger state based on the actual angle value and the braking angle value required for the current slewing includes: Determine whether the required braking angle value for the current turn is less than the actual angle value. If so, determine that the turn braking trigger state is not triggered. Otherwise, the slewing brake trigger state is determined to be triggered.

6. The method according to claim 1, characterized in that, The method of controlling the working device to pass through a rotation deceleration phase, a low-speed rotation phase, and a rotation stop phase based on the angular boundary value and the rotation angular velocity boundary value, so as to complete braking in the target rotation direction upon reaching the electronic fence, includes: When it is determined that the actual angle difference is greater than the angle boundary value and the vehicle body turning angular velocity is greater than the turning angular velocity boundary, it is determined to enter the turning deceleration stage. The turning proportional valve current in the target turning direction is gradually reduced to reduce the opening of the first proportional valve, while the second proportional valve opening in the opposite direction of the target turning direction is continuously opened with a specified current so that the vehicle body turning angular velocity gradually decreases. When it is determined that the vehicle body turning angular velocity is not greater than the turning angular velocity boundary, it is determined to enter the low-speed turning stage. The current of the turning proportional valve in the target direction is kept unchanged so that the opening of the first proportional valve remains unchanged. At the same time, the second proportional valve in the opposite direction of the target turning is closed so that the vehicle body turning angular velocity is kept at a fixed value for low-speed uniform turning. When the actual angle difference is determined to be less than the angle boundary value, the excavator enters the slewing stop stage, immediately reduces the slewing proportional valve current in the target slewing direction to close the opening of the first proportional valve, and the excavator immediately stops slewing.

7. The method according to claim 6, characterized in that, The method of controlling the working device through a rotation deceleration phase, a low-speed rotation phase, and a rotation stop phase based on the angular boundary value and the rotation angular velocity boundary value, so as to complete braking in the target rotation direction upon reaching the electronic fence, further includes: Obtain the actual braking position of the excavator and the position of the electronic fence in the target rotation direction; The actual braking position is compared with the electronic fence position, and a turning braking report is generated based on the comparison results.

8. A slewing control device for an excavator, characterized in that, include: The slewing brake data table query module is used to query the slewing brake data table based on the current status parameters of the excavator to obtain the braking angle value required for the current slewing. The status parameters include the vehicle body slewing angular velocity, boom span, and target slewing direction. The slewing brake trigger state determination module is used to obtain the actual angle value between the working device of the excavator and the electronic fence, and determine the slewing brake trigger state according to the actual angle value and the braking angle value required for the current slewing, wherein the slewing brake trigger state includes triggering or not triggering; The boundary value acquisition module is used to acquire preset angle boundary values ​​and slewing angular velocity boundary values ​​when the slewing braking trigger state is triggered; A multi-stage slewing braking module is used to control the working device to pass through a slewing deceleration stage, a low-speed slewing stage, and a slewing stop stage based on the angular boundary value and the slewing angular velocity boundary value, so as to complete braking in the target slewing direction when reaching the electronic fence.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1-7.

10. A storage medium for computer-executable instructions, wherein a computer program is stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-7.

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