Hydraulic excavator pressure cut-off protection and auxiliary excavation control method and system
By triggering the auxiliary digging function with hydraulic main pump pressure and combining it with stepped action priority control, the problem of hydraulic system overflow is solved, the excavator's operating efficiency and system life are improved, and the reliance on the driver's experience is reduced.
Patent Information
- Application Number
- CN202610054392.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-15
- Publication Date
- 2026-02-24
AI Technical Summary
In existing technologies, when excavators are digging hard materials, the hydraulic system is prone to high-pressure overflow, which leads to reduced efficiency, energy waste and component damage. Moreover, operation depends on the driver's experience, and it is difficult for novice drivers to handle.
The auxiliary digging function is triggered by comparing the working pressure of the hydraulic main pump with the preset overflow pressure threshold. Through step-by-step action priority control, including lifting the boom, adjusting the bucket angle and tilting the stick, a closed-loop control is formed to reduce overflow.
It effectively eliminates overflow, reduces fuel consumption, extends the life of the hydraulic system, improves operating efficiency, reduces reliance on driver experience, and adapts to complex working conditions.
Smart Images
Figure CN121556527A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of excavator control technology, and in particular to a hydraulic excavator pressure cut-off protection and auxiliary excavation control method and system. Background Technology
[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.
[0003] As a core piece of equipment in engineering construction, the excavator's digging efficiency and hydraulic system stability directly affect construction progress and operating costs. Under complex conditions such as digging hard materials, the boom and bucket often become unable to dig due to excessive load. In this situation, the hydraulic system pressure rises sharply, triggering overflow. Hydraulic system overflow not only leads to a significant decrease in digging efficiency but also causes a large amount of hydraulic power to be converted into heat energy, resulting in increased system heating and fuel consumption. Prolonged exposure to high-pressure overflow can cause irreversible damage to core components such as hydraulic valve groups and pipelines, shortening the service life of the hydraulic system.
[0004] In existing technologies, the main approach to addressing high-pressure overflow in excavators is a passive protection scheme: when the system pressure reaches the set pressure of the overflow valve, the valve automatically opens to release pressure, draining excess hydraulic oil back into the tank to prevent system overpressure. Other improvements include automatically determining the auxiliary digging mode by detecting changes in the working device's posture; however, this technology focuses on pattern recognition and does not provide coordinated control of the actuators' actions during overflow. Still others use pressure cut-off control to merge or unload hydraulic circuits, primarily aiming to address energy waste, but failing to achieve coordinated action of multiple actuators to actively resolve digging overflow.
[0005] In summary, the existing technology has the following technical problems: when facing high-pressure overflow caused by excavating hard materials, it lacks an active control strategy with the overflow state as the core trigger condition. It cannot automatically release the overflow state through the coordinated action of multiple actuators. It is difficult to avoid damage to the hydraulic system caused by long-term overflow, and it cannot improve the work efficiency by assisting the excavation action. At the same time, it requires a high level of experience from the operators. Novice drivers are prone to problems such as improper operation and work stoppage when dealing with such working conditions. Summary of the Invention
[0006] To address the aforementioned issues, this invention proposes a pressure cut-off protection and auxiliary excavation control method and system for hydraulic excavators. This invention uses pressure overflow as a direct triggering condition and employs a stepped action priority control strategy, sequentially raising the boom, retracting the bucket, and tilting the stick outward, forming a complete "detection-action-re-detection" closed-loop control to ensure effective relief of overflow.
[0007] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a method for pressure cut-off protection and auxiliary excavation control of a hydraulic excavator, comprising the following steps: When the excavator is in the digging operation mode of boom digging and bucket digging, obtain the working pressure of the excavator's hydraulic main pump; Based on the working pressure of the excavator's hydraulic main pump and the preset overflow pressure threshold, it is determined whether to trigger the auxiliary digging function. If the auxiliary digging function is triggered, the displacement of the excavator's hydraulic main pump is reduced to reduce the overflow. After the auxiliary digging function is triggered, the boom is controlled to obtain the working pressure of the excavator's hydraulic main pump again, and a second determination is made as to whether the auxiliary digging function is triggered. If the auxiliary digging function is still triggered, depending on whether the bucket digging operation is detected, the bucket angle adjustment or stick outward action is executed respectively. The determination of whether the auxiliary digging function is triggered is repeated until the auxiliary digging function is no longer triggered.
[0008] As an alternative implementation method, the specific method for determining whether the auxiliary digging function is triggered is as follows: when the working pressure of the excavator's hydraulic main pump reaches the preset overflow pressure threshold and continues for a set time, it is determined that the auxiliary digging function is triggered; if the auxiliary digging function is not triggered, the original digging operation state is maintained.
[0009] As an alternative implementation, if no bucket digging operation is detected, the bucket is retracted, the bucket angle is adjusted, the working pressure of the excavator's hydraulic main pump is obtained again, and it is determined whether the auxiliary digging function is triggered. If the auxiliary digging function is not triggered, the auxiliary digging is deactivated, and the original digging operation state is restored.
[0010] As an alternative implementation, if the bucket angle is adjusted, or if the auxiliary digging function is still triggered after the bucket digging operation is detected, the boom lifting and bucket digging are paused, the stick digging signal is blocked, and the stick outward tilting action is controlled and continued for a set time.
[0011] As an alternative implementation, after controlling the boom to tilt outward for a set time, the boom is raised again, and the working pressure of the excavator's hydraulic main pump is obtained. The auxiliary digging function is repeatedly determined until the working pressure of the excavator's hydraulic main pump no longer reaches the preset overflow pressure threshold when the boom is raised, then the auxiliary digging is completed.
[0012] As an alternative implementation, the preset overflow pressure threshold is less than or equal to the set pressure of the overflow valve.
[0013] Secondly, the present invention provides a hydraulic excavator pressure cut-off protection and auxiliary excavation control system, comprising the following modules: The pressure acquisition module is configured to acquire the working pressure of the excavator's hydraulic main pump when the excavator's digging operation status is stick digging and bucket digging; The auxiliary digging judgment module is configured to: determine whether to trigger the auxiliary digging function based on the working pressure of the excavator's hydraulic main pump and the preset overflow pressure; if the auxiliary digging function is triggered, reduce the displacement of the excavator's hydraulic main pump to reduce the overflow. The loop judgment module is configured to: after the auxiliary digging function is triggered, control the lifting boom to obtain the working pressure of the excavator's hydraulic main pump again, and make a second judgment on whether the auxiliary digging function is triggered. If the auxiliary digging function is still triggered, depending on whether the bucket digging operation is detected, perform bucket angle adjustment or stick outward movement respectively, and loop judgment on whether the auxiliary digging function is triggered until the auxiliary digging function is not triggered.
[0014] Thirdly, the present invention provides an electronic device, including a memory and a processor, and computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, complete the excavator fuel consumption prediction and optimization method based on a cloud platform as described in the first aspect.
[0015] Fourthly, the present invention provides a computer-readable storage medium for storing computer instructions, which, when executed by a processor, complete the excavator fuel consumption prediction and optimization method based on a cloud platform as described in the first aspect.
[0016] Fifthly, the present invention provides a computer program product, including a computer program, which, when executed by a processor, implements the excavator fuel consumption prediction and optimization method based on a cloud platform as described in the first aspect.
[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention uses the comparison between the working pressure of the hydraulic main pump and the preset overflow pressure threshold as the triggering basis. When the system is about to overflow or has just overflowed, it actively activates the auxiliary digging function. At the same time, it directly reduces the overflow flow by reducing the displacement of the main pump, avoiding excessive conversion of hydraulic power into heat energy. This effectively alleviates system heating, reduces oil consumption, reduces damage to hydraulic valve groups, pipelines and other components caused by long-term high-pressure overflow, and extends the service life of the hydraulic system. It solves the problem in the prior art that relying solely on the relief valve for passive pressure relief cannot avoid system damage.
[0018] This invention achieves coordinated control of multiple actuators through a stepped action logic of "lifting the boom - adjusting the bucket angle / stick outwards as needed". It can proactively and quickly resolve the overflow state during excavation, avoid work stoppage caused by "not being able to dig", significantly improve excavation efficiency, and fill the technical gap in existing technologies that cannot resolve overflow through the coordinated action of multiple actuators.
[0019] This invention eliminates the need for operators to manually assess overflow conditions and perform complex action combinations. Through a closed-loop control of "detection-action-re-detection," it simulates the optimal operating logic for manually handling "unable to dig" conditions, reducing reliance on driver experience. Even novice drivers can easily handle complex conditions such as hard material excavation, solving the problem of operators needing to manually handle overflow conditions based on experience under existing technologies.
[0020] This invention employs a secondary pressure detection and cyclic judgment mechanism to continuously perform auxiliary actions only when the overflow state is not resolved. Once the pressure returns to normal, the auxiliary function is terminated and the original operating state is restored. This ensures the effectiveness of overflow resolution while avoiding unnecessary intervention, thus balancing the continuity and stability of excavation operations and improving the overall smoothness of the operation.
[0021] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0022] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.
[0023] Figure 1 The flowchart illustrates a hydraulic excavator pressure cut-off protection and auxiliary excavation control method provided in Embodiment 1 of the present invention. Detailed Implementation
[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0025] It should be noted that the following detailed description is exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.
[0026] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.
[0027] Example 1 like Figure 1 As shown, this embodiment provides a hydraulic excavator pressure cut-off protection and auxiliary excavation control method. Compared with the prior art, the core innovation of this embodiment is that it uses pressure overflow as the direct triggering condition, rather than attitude or position signals, and adopts a stepped action priority control strategy to sequentially raise the boom, retract the bucket, and tilt the stick outward, forming a complete "detection-action-re-detection" closed-loop control to ensure that the overflow is effectively released.
[0028] In this embodiment, after the main pump pressure reaches the system overflow pressure for a certain period of time during excavation, the main pump displacement is first reduced, and then the boom is lifted. If overflow still occurs, it means the boom cannot be lifted. Then the bucket angle is adjusted. If the boom still cannot be lifted, the stick digging, bucket digging, and boom lifting actions are stopped. Instead, the stick is tilted outward for 1 second, and then the boom is lifted. This cycle is repeated until the working device can be lifted. The assisted excavation is then complete. The specific steps include: S1: When the excavator is in the digging operation state of stick digging and bucket digging, obtain the working pressure of the excavator's hydraulic main pump.
[0029] In step S1, because "the boom and bucket often experience hydraulic overflow when the excavator is digging hard materials," boom digging and bucket digging are the most core and commonly used operating modes of excavators, and also the conditions with the greatest load fluctuations and the highest risk of overflow. Compared to non-digging actions such as traveling and slewing, in this operating state, the hydraulic main pump needs to provide continuous power to the boom and bucket actuators, the load acts directly on the digging device, and pressure changes are strongly correlated with the overflow state.
[0030] The working pressure of the hydraulic main pump is the most direct and accurate parameter reflecting the system load and overflow status: when the stick and bucket are obstructed during digging, the sudden increase in load will directly cause the main pump pressure to rise until it reaches the overflow valve's set pressure, triggering overflow. By acquiring the excavator's hydraulic main pump's working pressure in real time, it is possible to directly determine whether "digging is impossible," providing a core basis for subsequently triggering auxiliary digging functions.
[0031] S2: Based on the working pressure of the excavator's hydraulic main pump and the preset overflow pressure threshold, determine whether to trigger the auxiliary digging function. If the auxiliary digging function is triggered, reduce the displacement of the excavator's hydraulic main pump to reduce the overflow. This avoids excessive conversion of hydraulic power into heat energy, effectively alleviates system overheating, reduces oil consumption, reduces damage to hydraulic valve groups, pipelines, and other components caused by long-term high-pressure overflow, and extends the service life of the hydraulic system. This solves the problem in existing technologies where passive pressure relief by the overflow valve cannot prevent system damage.
[0032] In step S2, the specific method for determining whether the auxiliary digging function is triggered is as follows: when the working pressure of the excavator's hydraulic main pump reaches the preset overflow pressure threshold and continues for a set time, it is determined that the auxiliary digging function is triggered; if the auxiliary digging function is not triggered, the original digging operation state is maintained.
[0033] In this embodiment, the preset overflow pressure threshold is less than or equal to the set pressure of the overflow valve. Specifically, the preset overflow pressure threshold is 95% to 100% of the set pressure of the overflow valve, such as 320 bar. Furthermore, the working pressure of the excavator's hydraulic main pump reaches the preset overflow pressure threshold for 3 seconds, and this duration can be adjusted according to actual working conditions. In this embodiment, the displacement of the excavator's hydraulic main pump is reduced by 30%, which can be adjusted according to actual working conditions.
[0034] S3: After triggering the auxiliary digging function, control the lifting boom to obtain the working pressure of the excavator's hydraulic main pump again, and make a second judgment on whether to trigger the auxiliary digging function.
[0035] S4: If the working pressure of the excavator's hydraulic main pump does not reach the preset overflow pressure threshold, the excavation stop event triggered this time will be released, the boom lifting will be canceled, and this auxiliary operation will end. S5: If the auxiliary digging function is still triggered, depending on whether the bucket digging operation is detected, the bucket angle adjustment or the stick outward tilting action is executed respectively, and the auxiliary digging function is repeatedly judged until it is no longer triggered.
[0036] In step S5, if no bucket digging operation is detected based on the boom lifting, the bucket is retracted, the bucket angle is adjusted, the working pressure of the excavator's hydraulic main pump is obtained again, and it is determined whether the auxiliary digging function is triggered. If the auxiliary digging function is not triggered, the auxiliary digging is deactivated, and the original digging operation state is restored.
[0037] In step S5, if the bucket angle is adjusted, or if the auxiliary digging function is still triggered after the bucket digging operation is detected, the boom lifting and bucket digging are paused, the stick digging signal is blocked, and the stick tilting action is controlled to continue for a set time. Then, the stick tilting is stopped, and the process proceeds to step S3. In this embodiment, the duration of the stick tilting action is controlled to be 1 second.
[0038] S6: Repeat steps S3-S5 in this cycle until the working pressure of the excavator's hydraulic main pump no longer reaches the preset overflow pressure threshold when the boom is lifted. This indicates that the material excavated this time can be lifted, and this auxiliary excavation is completed.
[0039] In step S6, after controlling the boom to tilt outward for a set time, the boom is raised again, and the working pressure of the excavator's hydraulic main pump is obtained. The auxiliary digging function is repeatedly checked until the working pressure of the excavator's hydraulic main pump no longer reaches the preset overflow pressure threshold when the boom is raised, then the auxiliary digging is completed.
[0040] When digging is obstructed, the working pressure of the excavator's hydraulic main pump continues to rise. When it reaches the preset overflow pressure threshold, the flow rate overflows directly to the oil tank through the overflow valve. All the hydraulic power is converted into heat energy, increasing the power required for heat dissipation. Prolonged high pressure can also damage the hydraulic system. By reducing the main pump displacement, automatically raising the boom, adjusting the bucket angle, and tilting the bucket stick to simulate manual handling of operations that cannot be dug, overflow can be reduced, and the driver's operation can be simplified. Even novice drivers can easily dig.
[0041] Furthermore, based on the steps S1-S6 above, operators do not need to manually judge the overflow condition and perform complex action combinations. Through the closed-loop control of "detection-action-re-detection", the optimal operating logic for manually handling the "cannot dig" condition is simulated, reducing the dependence on the driver's operating experience. Even novice drivers can easily handle complex conditions such as hard material excavation, solving the problem that operators need to rely on experience to manually handle overflow conditions under existing technology.
[0042] Example 2 This embodiment provides a hydraulic excavator pressure cut-off protection and auxiliary excavation control system, including the following modules: The pressure acquisition module is configured to acquire the working pressure of the excavator's hydraulic main pump when the excavator's digging operation status is stick digging and bucket digging; The auxiliary digging judgment module is configured to: determine whether to trigger the auxiliary digging function based on the working pressure of the excavator's hydraulic main pump and the preset overflow pressure; if the auxiliary digging function is triggered, reduce the displacement of the excavator's hydraulic main pump to reduce the overflow. The loop judgment module is configured to: after the auxiliary digging function is triggered, control the lifting boom to obtain the working pressure of the excavator's hydraulic main pump again, and make a second judgment on whether the auxiliary digging function is triggered. If the auxiliary digging function is still triggered, depending on whether the bucket digging operation is detected, perform bucket angle adjustment or stick outward movement respectively, and loop judgment on whether the auxiliary digging function is triggered until the auxiliary digging function is not triggered.
[0043] It should be noted that the above modules correspond to the steps in Embodiment 1, and the examples and application scenarios implemented by the above modules and their corresponding steps are the same, but are not limited to the content disclosed in Embodiment 1. It should also be noted that the above modules can be executed in a computer system as part of the system.
[0044] In further embodiments, the following is also provided: An electronic device includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, which, when executed by the processor, perform the method described in Embodiment 1. For brevity, further details are omitted here.
[0045] It should be understood that in this embodiment, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.
[0046] A computer-readable storage medium for storing computer instructions that, when executed by a processor, perform the method of Embodiment 1.
[0047] The method in Example 1 can be directly executed by a hardware processor, or it can be executed by a combination of hardware and software modules within the processor. The software modules can reside in readily available storage media in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, a detailed description is not provided here.
[0048] A computer program product includes a computer program that, when executed by a processor, implements the method in Embodiment 1.
[0049] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer-executable instructions, such as instructions included in program modules, which execute in a device on a target real or virtual processor to perform the processes / methods described above. Typically, program modules include routines, programs, libraries, objects, classes, components, data structures, etc., that perform specific tasks or implement specific abstract data types. In various embodiments, the functionality of program modules can be combined or divided among program modules as needed. The machine-executable instructions for the program modules can execute within a local or distributed device. In a distributed device, the program modules can reside in both local and remote storage media.
[0050] The computer program code used to implement the methods of the present invention may be written in one or more programming languages. This computer program code may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the computer or other programmable data processing device, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a computer, partially on a computer, as a stand-alone software package, partially on a computer and partially on a remote computer, or entirely on a remote computer or server.
[0051] In the context of this invention, computer program code or related data may be carried by any suitable carrier to enable a device, apparatus, or processor to perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, and the like. Examples of signals may include electrical, optical, radio, sound, or other forms of propagation signals, such as carrier waves, infrared signals, etc.
[0052] Those skilled in the art will recognize that the units and algorithm steps described in conjunction with the embodiments herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0053] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.
Claims
1. A method for pressure cut-off protection and auxiliary excavation control of a hydraulic excavator, characterized in that, Includes the following steps: When the excavator is in the digging operation mode of boom digging and bucket digging, obtain the working pressure of the excavator's hydraulic main pump; Based on the working pressure of the excavator's hydraulic main pump and the preset overflow pressure threshold, it is determined whether to trigger the auxiliary digging function. If the auxiliary digging function is triggered, the displacement of the excavator's hydraulic main pump is reduced to reduce the overflow. After the auxiliary digging function is triggered, the boom is controlled to obtain the working pressure of the excavator's hydraulic main pump again, and a second determination is made as to whether the auxiliary digging function is triggered. If the auxiliary digging function is still triggered, depending on whether the bucket digging operation is detected, the bucket angle adjustment or stick outward action is executed respectively. The determination of whether the auxiliary digging function is triggered is repeated until the auxiliary digging function is no longer triggered.
2. The hydraulic excavator pressure cut-off protection and auxiliary excavation control method as described in claim 1, characterized in that, The specific method for determining whether the auxiliary digging function has been triggered is as follows: when the working pressure of the excavator's hydraulic main pump reaches the preset overflow pressure threshold and continues for a set time, it is determined that the auxiliary digging function has been triggered; if the auxiliary digging function has not been triggered, the original digging operation state is maintained.
3. The hydraulic excavator pressure cut-off protection and auxiliary excavation control method as described in claim 1, characterized in that, If no bucket digging operation is detected, the bucket is retracted, the bucket angle is adjusted, the working pressure of the excavator's hydraulic main pump is obtained again, and it is determined whether the auxiliary digging function is triggered. If the auxiliary digging function is not triggered, the auxiliary digging is deactivated, and the original digging operation state is restored.
4. The hydraulic excavator pressure cut-off protection and auxiliary excavation control method as described in claim 3, characterized in that, If the bucket angle is adjusted, or if the auxiliary digging function is still triggered after the bucket digging operation is detected, the boom lifting and bucket digging will be paused, the stick digging signal will be blocked, and the stick tilting action will be controlled to continue for a set time.
5. A hydraulic excavator pressure cut-off protection and auxiliary excavation control method as described in claim 4, characterized in that, After controlling the boom to tilt outward for a set time, the boom is raised again, and the working pressure of the excavator's hydraulic main pump is obtained. The auxiliary digging function is repeatedly checked to determine whether it is triggered. The auxiliary digging is completed when the working pressure of the excavator's hydraulic main pump no longer reaches the preset overflow pressure threshold when the boom is raised.
6. The hydraulic excavator pressure cut-off protection and auxiliary excavation control method as described in claim 1, characterized in that, The preset overflow pressure threshold is less than or equal to the set pressure of the overflow valve.
7. A hydraulic excavator pressure cut-off protection and auxiliary excavation control system, characterized in that, include: The pressure acquisition module is configured to acquire the working pressure of the excavator's hydraulic main pump when the excavator's digging operation status is stick digging and bucket digging; The auxiliary digging judgment module is configured to: determine whether to trigger the auxiliary digging function based on the working pressure of the excavator's hydraulic main pump and the preset overflow pressure; if the auxiliary digging function is triggered, reduce the displacement of the excavator's hydraulic main pump to reduce the overflow. The loop judgment module is configured to: after the auxiliary digging function is triggered, control the lifting boom to obtain the working pressure of the excavator's hydraulic main pump again, and make a second judgment on whether the auxiliary digging function is triggered. If the auxiliary digging function is still triggered, depending on whether the bucket digging operation is detected, perform bucket angle adjustment or stick outward movement respectively, and loop judgment on whether the auxiliary digging function is triggered until the auxiliary digging function is not triggered.
8. An electronic device, characterized in that, It includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, which, when executed by the processor, perform the hydraulic excavator pressure cut-off protection and auxiliary excavation control method according to any one of claims 1-6.
9. A computer-readable storage medium, characterized in that, Used to store computer instructions, which, when executed by a processor, complete the hydraulic excavator pressure cut-off protection and auxiliary excavation control method according to any one of claims 1-6.
10. A computer program product, characterized in that, The method includes a computer program that, when executed by a processor, implements the hydraulic excavator pressure cut-off protection and auxiliary excavation control method according to any one of claims 1-6.