Electric hydraulic excavator control method, device and equipment and electric hydraulic excavator

Abstract

The embodiment of the invention provides an electric hydraulic excavator control method, device and equipment and an electric hydraulic excavator. The method comprises the steps that firstly, in response to a power-on signal of the electric hydraulic excavator, activation states and operation priority information of different working modes are obtained, and the current working mode with the highest priority is determined based on a priority judgment rule; and then, according to the working mode with the highest priority, an executing mechanism of the electric hydraulic excavator is controlled. Detecting the communication state of the electric hydraulic excavator based on a composite disconnection judgment mechanism; and finally, when a communication abnormal state is detected, adjusting the working mode based on the safety control strategy. Through the mode, the safety risk of operation of the electric hydraulic excavator is reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of electric engineering machinery control, and in particular to a control method, device, equipment, and electric hydraulic excavator for an electric hydraulic excavator. Background Technology

[0002] As a core piece of modern engineering machinery, electric hydraulic excavators are widely used in national defense construction, transportation construction, energy industry construction and production, and urban construction. In complex operating scenarios, operator safety faces significant challenges. Traditional manual operation requires operators to be inside the equipment's cab, directly exposed to sudden risks such as landslides, boulder falls, and gas leaks, potentially leading to serious injuries or fatalities. Furthermore, in mining and tunneling scenarios, equipment operates in harsh environments with high dust concentrations and low visibility, limiting the operator's visual perception and operational precision, further exacerbating operational risks. With the maturity of technologies such as 5G communication and the Internet of Things, remote control technology is gradually becoming the preferred alternative to manual operation. However, existing remote control systems still have significant shortcomings in areas such as operating mode switching, communication stability, and equipment control logic. There is an urgent need for an electric hydraulic excavator control method that can balance safety, reliability, and operational flexibility to meet the stringent requirements for equipment operation in high-risk scenarios.

[0003] In existing technologies, remote control systems for electric hydraulic excavators typically rely on wireless communication networks (such as 5G and WiFi) for remote operation. The system architecture generally includes a remote control unit, an electric hydraulic excavator unit, and a communication module. Operation commands are transmitted to the execution units (such as hydraulic valves and motors) via a data transmission unit, thereby driving the equipment's movement. The display unit provides real-time feedback on the equipment's status.

[0004] However, existing solutions suffer from unclear operational mode priorities and reliance on the stability of communication networks, making it difficult to guarantee operational security. Summary of the Invention

[0005] This application provides an electric hydraulic excavator control method, device, equipment, and electric hydraulic excavator to solve the problems in the prior art where the priority of operation modes is unclear and the operation safety is difficult to guarantee due to dependence on the stability of the communication network.

[0006] In a first aspect, embodiments of this application provide a control method for an electric hydraulic excavator, including:

[0007] In response to the power-on signal of the electric hydraulic excavator, the activation status and operation priority information of different working modes are obtained, and the working mode with the highest priority is determined based on the priority determination rules.

[0008] The actuators of the electric hydraulic excavator are controlled according to the highest priority working mode.

[0009] The communication status of the electric hydraulic excavator is detected based on a composite disconnection judgment mechanism;

[0010] When an abnormal communication state is detected, the operating mode is adjusted based on the security control policy.

[0011] In one possible implementation, the operating modes include at least a local operation mode, a short-range remote control mode, and a long-range remote control mode;

[0012] Each working mode is set independently and mutually exclusive, and only one working mode is allowed to have the highest priority at any given time.

[0013] In one possible implementation, determining the current highest-priority working mode based on priority determination rules includes:

[0014] When multiple working modes are active, the priorities of each working mode are sorted based on the operation priority information, and the working mode with the highest priority is output.

[0015] When only one working mode is active, that working mode is designated as the working mode with the highest priority.

[0016] In one possible implementation, the composite disconnection judgment mechanism includes at least communication heartbeat detection and consistency detection between control commands and the actual response of the electric hydraulic excavator actuator.

[0017] In one possible implementation, adjusting the operating mode based on a security control policy when an abnormal communication state is detected includes:

[0018] A communication anomaly is determined when at least one of the following conditions is detected: abnormal communication heartbeat or inconsistency between control commands and the actual response of the actuator.

[0019] In the event of a communication anomaly, the local operating mode is determined as the current working mode and is also determined as the working mode with the highest priority. At the same time, the priorities of the remote control mode and the local control mode are reduced.

[0020] In one possible implementation, before acquiring the activation status and operation priority information of different working modes, the method further includes:

[0021] Collect environmental information about the current work environment;

[0022] Based on the environmental information, the operation priority information for different working modes is adjusted.

[0023] In one possible implementation, the control method of the actuator of the electro-hydraulic excavator includes both electronic control and hydraulic control.

[0024] The electronic control method and the hydraulic control method are connected in parallel to the actuator and are independent of each other in control logic, so that either control method can control the actuator independently.

[0025] Secondly, embodiments of this application provide an electric hydraulic excavator control device, comprising:

[0026] The determination module is used to respond to the power-on signal of the electric hydraulic excavator, obtain the activation status and operation priority information of different working modes, and determine the working mode with the highest priority based on the priority determination rules.

[0027] The control module is used to control the actuators of the electric hydraulic excavator according to the highest priority working mode.

[0028] The detection module is used to detect the communication status of the electric hydraulic excavator based on a composite disconnection judgment mechanism;

[0029] The adjustment module is used to adjust the working mode based on security control policies when an abnormal communication state is detected.

[0030] In one possible implementation, the operating modes include at least a local operation mode, a short-range remote control mode, and a long-range remote control mode;

[0031] Each working mode is set independently and mutually exclusive, and only one working mode is allowed to have the highest priority at any given time.

[0032] In one possible implementation, the determining module is specifically used for:

[0033] When multiple working modes are active, the priorities of each working mode are sorted based on the operation priority information, and the working mode with the highest priority is output.

[0034] When only one working mode is active, that working mode is designated as the working mode with the highest priority.

[0035] In one possible implementation, the composite disconnection judgment mechanism includes at least communication heartbeat detection and consistency detection between control commands and the actual response of the electric hydraulic excavator actuator.

[0036] In one possible implementation, the adjustment module is specifically used for:

[0037] A communication anomaly is determined when at least one of the following conditions is detected: abnormal communication heartbeat or inconsistency between control commands and the actual response of the actuator.

[0038] In the event of a communication anomaly, the local operating mode is determined as the current working mode and is also determined as the working mode with the highest priority. At the same time, the priorities of the remote control mode and the local control mode are reduced.

[0039] In one possible implementation, before acquiring the activation status and operation priority information of different working modes, the adjustment module is further configured to:

[0040] Collect environmental information about the current work environment;

[0041] Based on the environmental information;

[0042] Based on the environmental information, the operation priority information for different working modes is adjusted.

[0043] In one possible implementation, the control method of the actuator of the electro-hydraulic excavator includes both electronic control and hydraulic control.

[0044] The electronic control method and the hydraulic control method are connected in parallel to the actuator and are independent of each other in control logic, so that either control method can control the actuator independently.

[0045] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0046] The memory stores computer-executed instructions;

[0047] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0048] Fourthly, embodiments of this application provide an electro-hydraulic excavator, which is used to control the actuator as described in the first aspect and / or various possible implementations of the first aspect.

[0049] The electric hydraulic excavator control method, device, equipment, and electric hydraulic excavator provided in this application embodiment take the power-on of the equipment as the initial trigger condition. After the electric hydraulic excavator is powered on, initialization is performed, and the activation status of each preset working mode and its corresponding operation priority information are acquired synchronously. Each working mode is uniformly determined according to a preset priority determination rule. This accurately determines the working mode with the highest priority when multiple working modes may coexist, avoiding control conflicts caused by simultaneous intervention of multiple control sources. After determining the highest priority working mode, only the control commands corresponding to that working mode are allowed to act on the actuators of the electric hydraulic excavator, concentrating control on the single effective working mode. This achieves orderly and controllable drive of the actuators, ensuring the determinism and uniformity of the electric hydraulic excavator's actions. Consistency; During the operation of the electric hydraulic excavator, a composite disconnection judgment mechanism is used to continuously monitor the communication status. This composite disconnection judgment mechanism judges the consistency between the communication heartbeat status and the control command and the actual response of the actuator, thereby effectively distinguishing between instantaneous communication fluctuations and real communication anomalies, reducing the risk of misjudgment. When the detection result shows that the electric hydraulic excavator is in a communication abnormal state, the control system automatically triggers the safety control strategy, adjusts the current working mode, restricts or closes remote control working modes and increases the control priority of the machine operation mode, so that the electric hydraulic excavator can quickly return to a safe and controllable operating state in the event of a communication abnormality. This significantly improves the operational safety of the electric hydraulic excavator in complex working conditions and abnormal communication environments while ensuring control continuity. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0051] Figure 1 A flowchart illustrating the control method for an electric hydraulic excavator provided in an embodiment of this application;

[0052] Figure 2 This is a schematic diagram of the structure of the electric hydraulic excavator control device provided in the embodiments of this application;

[0053] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0054] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0055] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0056] As a core piece of modern engineering machinery, electric hydraulic excavators are widely used in national defense construction, transportation construction, energy industry construction and production, and urban construction. In complex operating scenarios, operator safety faces significant challenges. Traditional manual operation requires operators to be inside the equipment's cab, directly exposed to sudden risks such as landslides, boulder falls, and gas leaks, potentially leading to serious injuries or fatalities. Furthermore, in mining and tunneling scenarios, equipment operates in harsh environments with high dust concentrations and low visibility, limiting the operator's visual perception and operational precision, further exacerbating operational risks. With the maturity of technologies such as 5G communication and the Internet of Things, remote control technology is gradually becoming the preferred alternative to manual operation. However, existing remote control systems still have significant shortcomings in areas such as operating mode switching, communication stability, and equipment control logic. There is an urgent need for an electric hydraulic excavator control method that can balance safety, reliability, and operational flexibility to meet the stringent requirements for equipment operation in high-risk scenarios.

[0057] In existing technologies, remote control systems for electric hydraulic excavators typically rely on wireless communication networks (such as 5G and WiFi) for remote operation. The system architecture generally includes a remote control unit, an electric hydraulic excavator unit, and a communication module. Operation commands are transmitted to the execution units (such as hydraulic valves and motors) via a data transmission unit, thereby driving the equipment's movement. The display unit provides real-time feedback on the equipment's status.

[0058] However, most existing solutions employ a single remote control mode or only offer switching between "local operation" and "remote control" modes, failing to logically prioritize multiple operation modes (such as local, remote, and near-range). This can lead to operational conflicts or command confusion when multiple modes coexist. Furthermore, existing systems rely on the stability of the communication network but lack emergency handling logic for communication interruptions. When the communication link is suddenly interrupted due to signal interference, base station failure, or environmental obstruction, the device may enter an unresponsive state due to loss of control commands, or cause unexpected actions due to the execution of incomplete commands, potentially leading to safety incidents.

[0059] Based on this, this application proposes a control method for an electric hydraulic excavator. Addressing the problem that existing electric hydraulic excavators, when operating with multiple control modes simultaneously, are prone to control conflicts and safety hazards due to unclear control authority and unstable communication, the inventors, based on the fundamental principles of priority management and safety redundancy control in control systems, devised a method to uniformly perceive and determine the activation status and operational priority of each working mode after the electric hydraulic excavator is powered on. This ensures that only the working mode with the highest priority controls the actuator at any given time, fundamentally avoiding control chaos caused by simultaneous action of multiple commands. Furthermore, a composite disconnection judgment mechanism is introduced, comprehensively considering the communication heartbeat status and the consistency between control commands and the actual response of the actuator. This allows for continuous monitoring and precise identification of the communication status. Upon detecting a communication anomaly, a safety control strategy is automatically triggered, dynamically adjusting the working mode to promptly return control to the safer local operating mode. Through the synergistic implementation of the above technical means, this application not only achieves orderly switching and stable control of the electric hydraulic excavator under multiple control modes but also significantly reduces the safety risks caused by communication anomalies or misoperation, improving the operational reliability and intrinsic safety level of the electric hydraulic excavator in complex working conditions and hazardous operating environments.

[0060] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0061] Figure 1 A flowchart illustrating the control method for an electric hydraulic excavator provided in this application embodiment; as shown Figure 1 As shown, the method includes:

[0062] S101. In response to the power-on signal of the electric hydraulic excavator, obtain the activation status and operation priority information of different working modes, and determine the working mode with the highest priority based on the priority determination rules.

[0063] The operating modes include at least the local operation mode, the short-range remote control mode, and the long-range remote control mode; each operating mode is independent and mutually exclusive, and only one operating mode is allowed to have the highest priority at any given time.

[0064] In one possible approach, when multiple working modes are active, the priorities of each working mode are sorted based on operation priority information, and the working mode with the highest priority is output; when only one working mode is active, that working mode is determined as the working mode with the highest priority.

[0065] It should be understood that, in this embodiment, the control method for the electric hydraulic excavator uses the power-on of the equipment as the initial trigger condition for the control process. The system is initialized and configured in response to the power-on signal of the electric hydraulic excavator. After power-on, the hydraulic controller acquires the activation status and corresponding operation priority information of each preset working mode. In the specific implementation, when multiple working modes are simultaneously active, the hydraulic controller compares and sorts the operation priority information of each working mode based on preset priority determination rules, selecting the working mode with the highest priority as the currently active working mode. When only one working mode is active, that working mode is directly determined as the currently highest priority working mode. Through this method, even with multiple control modes coexisting, the electric hydraulic excavator can clearly identify a single control source at the initial power-on stage, providing a definite control basis for subsequent actuator control.

[0066] It should also be noted that after the system is powered on, the hydraulic controller not only reads the activation status and corresponding operation priority information of the preset working modes, but also collects multi-dimensional status perception information in real time, including environmental conditions (such as the overall tilt angle and obstacle distance), operation intentions (such as the matching degree between the handle input signal and the working condition), and network health (such as communication latency and packet loss rate). Through a built-in intelligent decision-making algorithm, a permission score is dynamically calculated for each active working mode. For example, in remote control mode, if a nearby obstacle is detected (distance < threshold b), the "credibility of operation intention" decreases, and the permission score for remote control mode decreases accordingly; if the operator is detected simultaneously and the handle is in micro-motion standby mode, the permission score for the machine mode increases. Based on the real-time scores of each mode, combined with preset dynamic adjustment conditions (such as forcing machine mode priority in high-risk scenarios), the system ultimately determines the working mode with the highest priority. The hydraulic controller saves the activation status and priority of the working modes through a storage chip and executes the corresponding working logic.

[0067] Furthermore, to ensure operational continuity and reduce redundant configuration, the system features power-off memory and power-on recovery of operating mode status. During normal or emergency power failures, the hydraulic controller automatically saves the current operating mode activation status, operation priority information, and the final determined highest priority operating mode to its internal or external non-volatile memory. When the equipment is powered on again, the controller first reads these saved parameters from memory as the preset basic configuration for this initialization process. This mechanism ensures that the equipment can quickly return to the familiar standby state or the state at the end of the last operation after restarting, improving operational efficiency and user experience.

[0068] It is understandable that by uniformly sensing and prioritizing the working mode during the power-on phase of the electric hydraulic excavator, this embodiment can effectively avoid control conflicts caused by the simultaneous intervention of multiple control methods, ensure the uniqueness and determinism of control allocation, and lay the foundation for the safe and stable operation of the electric hydraulic excavator in complex working conditions and multi-control scenarios.

[0069] S102. Control the actuators of the electric hydraulic excavator according to the highest priority working mode.

[0070] It should be noted that the control methods of the actuators of electric hydraulic excavators include electric control and hydraulic control. The electric control and hydraulic control methods are connected in parallel to the actuators and are independent of each other in terms of control logic, so that either control method can control the actuators independently.

[0071] It should also be noted that, on the one hand, when controlling the actuator of the electric hydraulic excavator, the excavator performs its actions according to the preset pilot pressure-displacement curve and other control logic. That is, the hydraulic controller receives the target action signal from the corresponding operating terminal (such as the machine handle or remote control command) according to the currently determined highest priority working mode (such as local, near or remote mode), and converts the operation signal into precise electrical control commands according to the preset pilot pressure-displacement curve and other related control logic (such as flow regulation, pressure limit, and compound action coordination algorithm) that match the mode.

[0072] On the other hand, after determining the highest priority operating mode, a reminder is also provided via a display screen, which communicates with the hydraulic controller through the vehicle's CAN bus. This establishes a centralized and reliable human-machine interaction and status monitoring channel. Utilizing the high anti-interference and real-time transmission characteristics of the CAN bus, it ensures that operating modes, system status, and safety warning information are stably and with low latency transmitted to the operating interface. This allows operators (whether local drivers or remote operators) to perceive the current effective control authority and the overall machine health status in real time, accurately, and unambiguously. This not only improves the intuitiveness and collaborative efficiency of operation but also, through proactive and clear information notification, reduces the risk of misoperation caused by mode confusion or unclear status from a human factors engineering perspective. It is a crucial information loop link ensuring the safe and reliable operation of the entire multi-level, switchable control system.

[0073] It should be understood that, considering the generally high value of electric hydraulic excavators, this application employs a hybrid electro-hydraulic system for the undercarriage movement to maximize equipment safety for the owner. Both systems coexist, allowing for independent control without interference. Remote control of the undercarriage movement can be achieved via mobile networks such as 5G or wireless local area networks like WiFi. The machine can be operated either via an electric foot pedal through the vehicle's CAN bus or via a hydraulic foot valve. Both the electric foot pedal and remote control systems control the undercarriage movement through a solenoid valve connected in parallel to the travel pilot line. The two systems coexist, connected by a shuttle valve. A pilot pressure sensor collects data to determine if the hydraulic foot pedal is inputting a control signal. When the hydraulic foot pedal inputs a signal, the hydraulic controller activates the remote control mode and stores the priority. The undercarriage movement is controlled by the collected hydraulic foot pedal signal, minimizing the impact of the remote control system on the machine's operation and ensuring the safe use of the electric hydraulic excavator.

[0074] Specifically, let's take the travel mechanism of an electric hydraulic excavator as an example. In the hydraulic system, the hydraulically controlled travel foot valve and the electrically controlled foot pedal (or the electrically controlled command converted from the remote control signal) are connected to the pilot control oil circuit of the travel motor through parallel oil circuits, with a shuttle valve installed at the parallel node. In the machine's operating mode, the operator depresses the hydraulically controlled travel foot valve, and the pilot oil pressure, selected by the shuttle valve, drives the travel motor. If the operator uses the electrically controlled foot pedal simultaneously or alone, the electrical signal drives the electro-hydraulic proportional valve through the hydraulic controller, and its output pilot oil pressure also participates in the control through the shuttle valve. In remote control mode, the remote control command, after being parsed, drives the same set of electro-hydraulic proportional valves to achieve electrically controlled travel. The key is that the electronic and hydraulic control oil circuits are independent, and the shuttle valve automatically selects the higher oil pressure as the output, thus achieving physical coexistence and logical non-interference between the two control methods.

[0075] It is understandable that by setting up both electronic and hydraulic control methods and implementing independent management of control logic, this embodiment can effectively avoid mutual interference between different control methods while ensuring control flexibility. This enables the electric hydraulic excavator to maintain stable and reliable actuator control in different working modes, thereby improving the adaptability and safety of the overall control system.

[0076] S103. Detect the communication status of the electric hydraulic excavator based on the composite disconnection judgment mechanism.

[0077] It should be noted that the composite disconnection judgment mechanism includes at least communication heartbeat detection and consistency detection between control commands and the actual response of the electric hydraulic excavator actuator.

[0078] To monitor communication reliability in remote-controlled operation modes during the operation of an electric hydraulic excavator, this embodiment introduces a composite disconnection detection mechanism to detect the communication status of the excavator. Specifically, a communication heartbeat detection is used to determine whether the data link between the remote control and the electric hydraulic excavator remains connected normally; while the consistency detection between control commands and the actual response of the actuator is used to determine whether the control commands issued by the remote control are correctly executed by the actuator.

[0079] Understandably, by adopting a composite disconnection judgment mechanism that combines communication heartbeat detection and execution consistency detection, the false switching rate caused by instantaneous network jitter is significantly reduced, unnecessary frequent switching of control modes is avoided, and the continuity of operation and operating experience are improved, thereby enhancing the stability and anti-interference capability of the electric hydraulic excavator during remote operation.

[0080] S104. When an abnormal communication state is detected, the working mode is adjusted based on the security control policy.

[0081] In one possible approach, a communication anomaly state is first determined when at least one of the following conditions is detected: a communication heartbeat anomaly or a mismatch between the control command and the actual response of the actuator. Then, in the communication anomaly state, the local operating mode is determined as the current working mode and is designated as the working mode with the highest priority, while the priorities of the remote control mode and the local control mode are reduced.

[0082] It should be understood that, in the specific implementation process, the remote control terminal and the vehicle controller exchange heartbeat data packets at a fixed period (e.g., 10 times per second). The system continuously compares the control commands issued by the remote control terminal (e.g., handle opening) with the actual responses of the actuators fed back by sensors (e.g., cylinder displacement speed, motor speed). The judgment logic is divided into multiple levels: if the heartbeat is normal and the command and response are consistent, the communication is determined to be normal; if the heartbeat is lost but the command and response remain consistent for a short period of time, it may be a momentary interference, and the system enters an observation period without immediately switching; if the heartbeat is normal but the command and response are inconsistent, the command may not be effective or may have been tampered with, triggering a suspicious interruption warning; and if the heartbeat is lost and the command and response are inconsistent, it is immediately determined to be a complete communication interruption.

[0083] Furthermore, when the composite disconnection judgment mechanism determines a communication anomaly, a multi-layered safety control strategy can be executed. The core strategy is to immediately force a switch to the local operating mode and set it as the highest and only available mode, while remote and local control modes are forcibly disabled. To ensure safety, the switching action is accompanied by the following operations: first, the highest-level visual and audible alarms are sent to the display screen; if the electro-hydraulic excavator is in remote-controlled operation, it will smoothly brake or maintain the current state according to a preset safety curve, rather than stopping abruptly; then, the "lock local" state is activated, and even if communication is restored, the operator must explicitly confirm locally to re-enable the remote control mode. In addition, the strategy is also linked to the dynamic priority system: communication interruption itself is a strong negative factor, directly causing the remote control mode permission score to drop to the lowest level. After communication is restored, the system does not automatically revert but maintains the local mode until the operator manually reselects and confirms the mode through the interface, thereby returning control to the on-site personnel.

[0084] It should be understood that by automatically performing working mode adjustment and priority reset when communication anomalies are detected, this embodiment can quickly cut off the remote control path in the event of communication failure or anomalies, preventing safety accidents caused by loss, delay or abnormal execution of control commands, thereby significantly improving the operational safety and reliability of electric hydraulic excavators in complex environments and abnormal working conditions.

[0085] The electric hydraulic excavator control method provided in this application takes the power-on of the equipment as the initial trigger condition. After the electric hydraulic excavator is powered on, it initializes and simultaneously acquires the activation status of each preset working mode and its corresponding operation priority information. It then uniformly determines each working mode according to preset priority determination rules. This accurately identifies the working mode with the highest priority when multiple working modes may coexist, avoiding control conflicts caused by simultaneous intervention of multiple control sources. After determining the highest priority working mode, only the control commands corresponding to that working mode are allowed to act on the actuators of the electric hydraulic excavator, concentrating control on the single effective working mode. This achieves orderly and controllable drive of the actuators, ensuring the determinism and consistency of the electric hydraulic excavator's actions. During the operation of the electric hydraulic excavator, a composite disconnection judgment mechanism is used to continuously monitor the communication status. This mechanism combines the communication heartbeat status with the consistency between control commands and the actual response of the actuator to make a judgment, thereby effectively distinguishing between instantaneous communication fluctuations and real communication anomalies, reducing the risk of misjudgment. When the detection result indicates that the electric hydraulic excavator is in a communication abnormality state, the control system automatically triggers a safety control strategy to adjust the current working mode. By restricting or closing remote control working modes and increasing the control priority of the machine's operating mode, the electric hydraulic excavator can quickly return to a safe and controllable operating state in the event of a communication abnormality. This significantly improves the operational safety of the electric hydraulic excavator in complex working conditions and abnormal communication environments while ensuring control continuity.

[0086] It should also be noted that before obtaining the activation status and operation priority information of different working modes, the operation priority information needs to be adjusted appropriately according to the current work scenario:

[0087] First, collect environmental information about the current work scenario; then, adjust the operation priority information for different work modes based on the environmental information.

[0088] It should be understood that, due to the varying risk levels and control requirements faced by electric hydraulic excavators in different operating scenarios, introducing an operating scenario perception mechanism before priority determination allows the control system to pre-configure the control permissions for each operating mode, thereby improving the safety and adaptability of the overall control strategy. In specific implementation, the hydraulic controller first collects environmental information corresponding to the current operating scenario. This information may include the degree of spatial constraint in the operating area, the hazard level, the distribution of surrounding obstacles, the proximity of personnel, or other environmental parameters that reflect operational risks. Subsequently, based on the collected environmental information, the hydraulic controller adjusts the operating priority information corresponding to the machine's operating mode, short-range remote control mode, and long-range remote control mode. For example, in high-risk or space-constrained operating scenarios, the operating priority of the machine's operating mode is increased while the initial priority of remote control operating modes is decreased. In low-risk scenarios suitable for remote operation, the operating priority of remote control operating modes is increased accordingly. The adjusted operating priority information serves as the basic input for subsequent acquisition of operating mode activation status and priority determination, participating in the process of determining the currently highest-priority operating mode.

[0089] It is understandable that by introducing a work scenario perception and priority pre-adjustment mechanism before determining the work mode priority, this embodiment can match the control strategy of the electric hydraulic excavator with the actual working environment, avoid mistakenly granting excessive control authority to remote control-type work modes in high-risk scenarios, thereby reducing safety hazards; at the same time, in scenarios suitable for remote control operation, it can give full play to the advantages of remote control, improve operational flexibility and efficiency, and enable the electric hydraulic excavator to achieve an effective balance between safety and operational efficiency in different work scenarios.

[0090] Figure 2 This is a schematic diagram of the structure of the electric hydraulic excavator control device provided in the embodiments of this application; as shown below. Figure 2 As shown, the device includes:

[0091] The determination module 201 is used to respond to the power-on signal of the electric hydraulic excavator, acquire the activation status and operation priority information of different working modes, and determine the working mode with the highest priority based on the priority determination rules.

[0092] The control module 202 is used to control the actuators of the electric hydraulic excavator according to the highest priority working mode.

[0093] The detection module 203 is used to detect the communication status of the electric hydraulic excavator based on the composite disconnection judgment mechanism;

[0094] The adjustment module 204 is used to adjust the working mode based on the security control strategy when an abnormal communication state is detected.

[0095] In one possible implementation, the operating modes include at least a local operation mode, a short-range remote control mode, and a long-range remote control mode.

[0096] Each working mode is set independently and mutually exclusive, and only one working mode is allowed to have the highest priority at any given time.

[0097] In one possible implementation, the determining module 201 is specifically used for:

[0098] When multiple working modes are active, the priority of each working mode is sorted based on the operation priority information, and the working mode with the highest priority is output.

[0099] When only one working mode is active, that working mode is designated as the working mode with the highest priority.

[0100] In one possible implementation, the composite disconnection judgment mechanism includes at least communication heartbeat detection and consistency detection between control commands and the actual response of the electric hydraulic excavator actuator.

[0101] In one possible implementation, the adjustment module 204 is specifically used for:

[0102] A communication anomaly is determined when at least one of the following conditions is detected: abnormal communication heartbeat or inconsistency between control commands and the actual response of the actuator.

[0103] In the event of a communication failure, the local operating mode is set as the current working mode and is designated as the working mode with the highest priority. At the same time, the priority of the remote control mode and the local control mode is reduced.

[0104] In one possible implementation, before acquiring the activation status and operation priority information of different working modes, the adjustment module 204 is further configured to:

[0105] Collect environmental information about the current work environment;

[0106] Based on environmental information;

[0107] Adjusting operational priority information for different working modes based on environmental information.

[0108] In one possible implementation, the control method of the actuator of the electro-hydraulic excavator includes both electronic control and hydraulic control.

[0109] The electric control method and the hydraulic control method are connected in parallel to the actuator and are independent of each other in terms of control logic, so that either control method can control the actuator independently.

[0110] The electric hydraulic excavator control device provided in this application embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0111] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 3 As shown, the electronic device 30 provided in this embodiment includes at least one processor 301 and a memory 302. Optionally, the device 30 further includes a communication component 303. The processor 301, memory 302, and communication component 303 are connected via a bus 304.

[0112] In a specific implementation, at least one processor 301 executes computer execution instructions stored in memory 302, causing at least one processor 301 to perform the above-described method.

[0113] The specific implementation process of processor 301 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0114] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0115] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0116] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0117] This application also provides an electro-hydraulic excavator that performs the above-described method.

[0118] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0119] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0120] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0123] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0125] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A control method for an electric hydraulic excavator, characterized in that, include: In response to the power-on signal of the electric hydraulic excavator, the activation status and operation priority information of different working modes are obtained, and the working mode with the highest priority is determined based on the priority determination rules. The actuators of the electric hydraulic excavator are controlled according to the highest priority working mode. The communication status of the electric hydraulic excavator is detected based on a composite disconnection judgment mechanism; When an abnormal communication state is detected, the operating mode is adjusted based on the security control policy.

2. The method according to claim 1, characterized in that, The operating modes include at least the local operation mode, the short-range remote control mode, and the long-range remote control mode; Each working mode is set independently and mutually exclusive, and only one working mode is allowed to have the highest priority at any given time.

3. The method according to claim 1, characterized in that, The determination of the highest priority working mode based on priority determination rules includes: When multiple working modes are active, the priorities of each working mode are sorted based on the operation priority information, and the working mode with the highest priority is output. When only one working mode is active, that working mode is designated as the working mode with the highest priority.

4. The method according to claim 1, characterized in that, The composite disconnection judgment mechanism includes at least communication heartbeat detection and consistency detection between control commands and the actual response of the electric hydraulic excavator actuator.

5. The method according to claim 2, characterized in that, The adjustment of the operating mode based on the security control strategy when an abnormal communication state is detected includes: A communication anomaly is determined when at least one of the following conditions is detected: abnormal communication heartbeat or inconsistency between control commands and the actual response of the actuator. In the event of a communication anomaly, the local operating mode is determined as the current working mode and is also determined as the working mode with the highest priority. At the same time, the priorities of the remote control mode and the local control mode are reduced.

6. The method according to claim 1, characterized in that, Before obtaining the activation status and operation priority information of different working modes, the method further includes: Collect environmental information about the current work environment; Based on the environmental information; Based on the environmental information, the operation priority information for different working modes is adjusted.

7. The method according to claim 1, characterized in that, The control methods for the actuators of the electric hydraulic excavator include electronic control and hydraulic control. The electronic control method and the hydraulic control method are connected in parallel to the actuator and are independent of each other in control logic, so that either control method can control the actuator independently.

8. A control device for an electric hydraulic excavator, characterized in that, include: The determination module is used to respond to the power-on signal of the electric hydraulic excavator, obtain the activation status and operation priority information of different working modes, and determine the working mode with the highest priority based on the priority determination rules. The control module is used to control the actuators of the electric hydraulic excavator according to the highest priority working mode. The detection module is used to detect the communication status of the electric hydraulic excavator based on a composite disconnection judgment mechanism; The adjustment module is used to adjust the working mode based on security control policies when an abnormal communication state is detected.

9. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-7.

10. An electric hydraulic excavator, characterized in that, The electro-hydraulic excavator can control its actuators using the method described in any one of claims 1-7.

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