Control method and device for excavator and excavator system

Abstract

This application provides a control method, device, and system for an excavator. The method includes: determining the power required for the core action and the power required for the auxiliary action when the current action type is a compound action; determining a target auxiliary correction coefficient based on the power required for the core action and the power required for the auxiliary action, and determining the total torque requirement based on the product of the power required for the core action and the target coefficient; determining the required allocated torque for the engine and the required allocated torque for the electric motor based on the total torque requirement, the engine parameters, and the parameters of the excavator's three-electric system (battery, motor, and electronic control system), and controlling the excavator using the required allocated torque for the engine and the required allocated torque for the electric motor. This solves the problem of how to alleviate the frequent speed drop phenomenon of the engine in existing parallel hybrid excavators.

Description

Technical Field

[0001] This application relates to the field of excavator control technology, and more specifically, to an excavator control method, an excavator control device, and an excavator system. Background Technology

[0002] Existing parallel hybrid excavator control strategies typically rely solely on single parameters such as engine speed or torque for power assistance decisions. This fails to effectively integrate real-time operating information during excavation (such as pilot pressure, hydraulic pump pressure and displacement) with the status of the three-electric system (battery SOC, motor temperature, available torque, etc.). Consequently, the identification of excavation action types (single or compound actions) becomes ambiguous, load calculations are coarse, and the timing and intensity of motor assistance are delayed or inaccurate. This makes it impossible to provide timely collaborative power compensation when the load changes drastically, resulting in frequent engine speed drops, which affects work efficiency, increases fuel consumption, and exacerbates wear and tear on the engine and power system. Summary of the Invention

[0003] The main objective of this application is to provide a control method, control device, and system for an excavator, in order to at least solve the problem of how to alleviate the frequent speed drop of the engine in existing parallel hybrid excavators.

[0004] To achieve the above objectives, according to one aspect of this application, a control method for an excavator is provided. The method includes: acquiring the current action type of the excavator, wherein the current action type is a single action or a compound action; if the current action type is a compound action, determining the power required for a core action and the power required for an auxiliary action; determining a target auxiliary correction coefficient based on the power required for the core action and the power required for the auxiliary action, and determining a total torque requirement based on the product of the power required for the core action and the target coefficient, wherein the target product is the product of the target auxiliary correction coefficient and the power required for the auxiliary action; determining the required allocated torque for the engine and the required allocated torque for the motor based on the total torque requirement, the engine parameters of the excavator, and the parameters of the excavator's three-electric system (battery, motor, and electronic control system), and controlling the excavator using the required allocated torque for the engine and the required allocated torque for the motor; wherein the engine parameters include engine speed, intake pressure, and torque, and the three-electric system parameters include battery SOC and available motor torque.

[0005] According to another aspect of this application, a control device for an excavator is provided, applicable to any of the methods described. The control device for the excavator includes: an acquisition unit, configured to acquire the current action type of the excavator, wherein the current action type of the excavator is a single action or a compound action; a first determination unit, configured to determine the power required for a core action and the power required for an auxiliary action when the current action type is the compound action; a second determination unit, configured to determine a target auxiliary correction coefficient based on the power required for the core action and the power required for the auxiliary action, and to determine a total torque requirement based on the product of the power required for the core action and the target, wherein the target product is the product of the target auxiliary correction coefficient and the power required for the auxiliary action; and a third determination unit, configured to determine the required allocated torque for the engine and the required allocated torque for the motor based on the total torque requirement, the engine parameters of the excavator, and the parameters of the excavator's three-electric system, and to control the excavator using the required allocated torque for the engine and the required allocated torque for the motor; wherein the engine parameters include engine speed, intake pressure, and torque, and the three-electric system parameters include battery SOC and available motor torque.

[0006] According to another aspect of this application, an excavator system is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs being used to perform any of the methods described.

[0007] The technical solution of this application firstly accurately identifies compound actions and distinguishes between core and auxiliary loads, breaking through the traditional coarse control mode that relies solely on engine speed feedback. By determining whether the current action is a single action or a compound action, and identifying high-load core actions (such as bucket retraction and stick retraction) and low-load auxiliary actions (such as boom lifting) within compound actions, a refined modeling of the excavation working condition is achieved. This identification mechanism avoids the misjudgment of traditional solutions that equate compound actions with a single high load, laying the foundation for subsequent accurate power allocation. Secondly, an auxiliary correction coefficient is introduced to dynamically quantify the total load of compound actions. Traditional solutions often simply superimpose the power of each action, leading to an overestimation or underestimation of the total load. This application dynamically calculates the target auxiliary correction coefficient α based on the power ratio of core actions and auxiliary actions, thereby generating a target product (α × auxiliary power) that more closely resembles the actual working condition. The resulting total torque demand significantly improves the accuracy of load prediction, avoiding insufficient or excessive motor assistance due to load misjudgment. Thirdly, a multi-parameter fusion-based speed drop risk prediction mechanism is constructed to achieve early intervention rather than post-event remediation. This application no longer relies solely on engine speed drop as a trigger signal. Instead, it comprehensively considers multiple dimensions, including engine speed, intake pressure, instantaneous torque, and the battery SOC and available motor torque in the three-electric system, to determine the required torque allocation for the engine and the motor. Finally, it implements a hierarchical dynamic torque allocation strategy to achieve optimal coordination between the engine and the motor, suppressing frequent engine speed drops. This solves the problem of how to alleviate the frequent engine speed drops in existing parallel hybrid excavators. Attached Figure Description

[0008] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0009] Figure 1 A flowchart illustrating a control method for an excavator according to an embodiment of this application is shown.

[0010] Figure 2 A structural block diagram of a control device for an excavator according to an embodiment of this application is shown. Detailed Implementation

[0011] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0012] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0013] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0014] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0015] Excavator: An excavator is a type of engineering machinery that uses a mechanical structure as its core and a hydraulic / electric control system as its drive to perform earthmoving operations. Its core function is to excavate, load, transport, crush, or level materials such as soil, rock, ore, and construction waste through the coordinated movement of components such as the boom, stick, and bucket. It is widely used in construction, mining, road construction, water conservancy projects, and urban demolition.

[0016] Parallel hybrid: One of the core configurations of hybrid electric vehicles (HEVs), its core feature is that the engine and drive motor (at least one) are connected in parallel to the drive wheels through a mechanical coupling mechanism (such as a clutch or planetary gear set)—the two can drive the vehicle independently or work together to output power, thus balancing fuel economy and power performance. It is one of the most widely used technical routes in current hybrid passenger vehicles and hybrid commercial vehicles.

[0017] Excavation operations: This refers to the continuous process of "cutting in, loading, lifting, transferring, and unloading" materials such as soil, rock, ore, and construction waste through the coordinated movements of the boom, stick, and bucket (core operating components), combined with hydraulic drive and operation control. It is the most core and basic function of excavators and is widely used in engineering scenarios such as foundation pit excavation, mine stripping, river dredging, and building demolition. Essentially, it is a standardized operational cycle of "transferring materials from their original position to a target carrier (such as a truck or a pile of waste soil) through the cooperation of mechanical structure and power system."

[0018] Pilot pressure: In a hydraulic control system, this is a low-pressure hydraulic signal used to precisely control the movement of the main valve spool. Its core function is to convert the operator's intention (such as handle travel) into hydraulic energy, which then drives the boom, stick, bucket, and other actuators. Pilot pressure is usually generated by a separate pilot pump and transmitted to the main control valve through a pilot valve assembly, realizing the "small-to-large" operating logic—that is, using a smaller pilot pressure to control the high-pressure hydraulic oil in the main oil circuit, thereby reducing the operator's operating force and improving control accuracy.

[0019] As described in the background section, the control strategies of existing parallel hybrid excavators typically rely solely on single parameters such as engine speed or torque for power assistance judgment. This fails to effectively integrate real-time operating information during excavation (such as pilot pressure, hydraulic pump pressure and displacement) and the status of the three-electric system (battery SOC, motor temperature, available torque, etc.). Consequently, the identification of excavation action types (single action or compound action) becomes ambiguous, load calculation is coarse, and the timing and intensity control of motor assistance are delayed or inaccurate. This results in the inability to provide timely collaborative power compensation when the load changes drastically, causing the engine to frequently experience speed drops. This affects work efficiency, increases fuel consumption, and exacerbates wear on the engine and power system. To address the problem of frequent engine speed drops in existing parallel hybrid excavators, embodiments of this application provide an excavator control method, an excavator control device, and an excavator system.

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0021] This embodiment provides a method for controlling an excavator. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0022] Figure 1 This is a flowchart of a control method for an excavator according to an embodiment of this application. Figure 1 As shown, the method includes the following steps:

[0023] Step S101: Obtain the current action type of the excavator, where the current action type of the excavator is a single action or a compound action.

[0024] Step S102: If the current action type is the aforementioned composite action, determine the power required for the core action and the power required for the auxiliary action.

[0025] Step S103: Determine the target auxiliary correction coefficient based on the power required for the core action and the power required for the auxiliary action, and determine the total torque requirement based on the product of the power required for the core action and the target. The target product is the product of the target auxiliary correction coefficient and the power required for the auxiliary action.

[0026] Step S104: Based on the total torque requirement, the engine parameters of the excavator, and the parameters of the excavator's three-electric system, determine the required torque to be allocated to the engine and the required torque to be allocated to the motor, and use the required torque to be allocated to the engine and the required torque to be allocated to the motor to control the excavator; wherein, the engine parameters include the engine speed, intake pressure, and torque, and the parameters of the three-electric system include the battery SOC and the available torque of the motor.

[0027] In the above steps, firstly, the precise identification of compound actions and the distinction between core and auxiliary loads breaks through the traditional coarse control mode that relies solely on engine speed feedback. By determining whether the current action is a single action or a compound action, and identifying high-load core actions (such as bucket retraction and stick retraction) and low-load auxiliary actions (such as boom lifting) within compound actions, a refined model of the excavation working condition is achieved. This identification mechanism avoids the misjudgment of traditional solutions that equate compound actions with a single high load, laying the foundation for subsequent precise power allocation. Secondly, an auxiliary correction coefficient is introduced to dynamically quantify the total load of compound actions. Traditional solutions often simply superimpose the power of each action, leading to an overestimation or underestimation of the total load. This application dynamically calculates the target auxiliary correction coefficient α based on the power ratio of core actions and auxiliary actions, thereby generating a target product (α × auxiliary power) that is closer to the actual working condition. The resulting total torque demand significantly improves the load prediction accuracy and avoids insufficient or excessive motor assistance due to load misjudgment. Thirdly, a multi-parameter fusion speed drop risk prediction mechanism is constructed to achieve early intervention rather than post-event remediation. This application no longer relies solely on engine speed drop as a trigger signal. Instead, it comprehensively considers multiple dimensions, including engine speed, intake pressure, instantaneous torque, and the battery SOC and available motor torque in the three-electric system, to determine the required torque allocation for the engine and the motor. Finally, it implements a hierarchical dynamic torque allocation strategy to achieve optimal coordination between the engine and the motor, suppressing frequent engine speed drops. This solves the problem of how to alleviate the frequent engine speed drops in existing parallel hybrid excavators.

[0028] In one embodiment of this application, determining a target auxiliary correction coefficient based on the power required for the core action and the power required for the auxiliary action includes: determining the power ratio required for the auxiliary action based on the power required for the core action and the power required for the auxiliary action; and determining the auxiliary correction coefficient corresponding to the power ratio required for the auxiliary action as the target auxiliary correction coefficient.

[0029] By calculating the power proportion of auxiliary actions based on the power required by the core actions and the power required by auxiliary actions, and dynamically matching the corresponding auxiliary correction coefficient, the accuracy and scientific nature of the total load calculation under composite excavation conditions are significantly improved. This method abandons the traditional crude processing method of simple superposition or fixed weights, and can truly reflect the contribution of auxiliary actions to the total power demand of the system. When the power proportion of auxiliary actions is low (e.g., <30%), the correction coefficient is taken as a small value (e.g., 0.3) to avoid overestimating its load impact; when the power of auxiliary actions is close to that of core actions (e.g., >50%), the auxiliary correction coefficient is increased to 0.7 to fully release its superimposed load effect. This dynamic calibration mechanism based on actual energy distribution makes the torque distribution of the engine and motor more in line with the actual working conditions, effectively preventing excessive motor discharge due to overestimation of load or engine speed drop caused by underestimation. Thus, while ensuring the continuity of working power, it optimizes the energy management of the three-electric system and improves the overall control accuracy, system efficiency and operational stability.

[0030] In one embodiment of this application, determining the required torque to be allocated to the engine and the required torque to be allocated to the motor based on the total torque requirement, the engine parameters of the excavator, and the parameters of the excavator's three-electric system includes: determining the risk level based on the engine parameters of the excavator and the parameters of the excavator's three-electric system; and determining the required torque to be allocated to the engine and the required torque to be allocated to the motor according to the risk level, with the total torque requirement as the target.

[0031] The system is categorized into low, medium, and high risk levels. When it detects that the engine speed is approaching its lower limit, the intake pressure is insufficient, the SOC is low, or the available torque of the electric motor is limited, the system can predict the risk of speed drop more than 0.5 seconds in advance, reserving response time for power coordination and fundamentally suppressing the rapid decline in speed. In low-risk situations, the engine is prioritized to operate in its high-efficiency range, with minimal electric motor assistance, while also considering fuel economy. In medium-risk situations, the engine load is increased in advance and the electric motor pre-response is activated to effectively suppress the downward trend in speed. In high-risk situations, the system automatically activates the extreme assistance strategy to ensure redundant supply of total torque and avoid operational interruptions. This tiered control logic not only significantly reduces the occurrence of engine speed drop but also prevents secondary faults such as battery over-discharge and motor overheating through real-time constraints on the status of the three-electric system (such as SOC, temperature, and available torque), thereby improving the overall safety and durability of the system.

[0032] In one embodiment of this application, obtaining the current action type of the excavator includes: obtaining the pilot pressure of each action, and determining potential excavation-related actions based on the pilot pressure, wherein the pilot pressure is a low-pressure control signal in the hydraulic system used to control the action of the main valve; determining actual excavation-related actions from the potential excavation-related actions based on the associated pump pressure and displacement corresponding to the potential excavation-related actions; and determining the current action type based on the actual excavation-related actions.

[0033] First, while pilot pressure, as a direct reflection of the operator's intent, can quickly capture the initiation signal of an action, its susceptibility to interference from sensor mis-triggers, oil leaks, or human error can lead to false action determinations when used alone. Physical layer verification by correlating pump pressure and displacement effectively filters out non-realistic load conditions, eliminating false judgments of signals without action, and ensuring the system responds only to actions that truly generate hydraulic load, significantly improving the reliability of the control system. Second, this method upgrades action recognition from single-signal judgment to a closed-loop verification of intent-execution-feedback, enabling accurate differentiation between single and compound actions. This provides reliable input for subsequent power distribution, avoiding incorrect timing of motor assistance or insufficient torque supply due to action misjudgments, fundamentally solving the pain points of traditional solutions such as unpredictable engine speed drops and delayed auxiliary power response. This structured recognition process has good engineering feasibility, requiring no additional complex sensors and utilizing only existing hydraulic and electronic control system signals to build high-precision action perception capabilities. It is a key prerequisite for realizing intelligent collaborative control of parallel hybrid excavators.

[0034] In one embodiment of this application, determining the total torque requirement based on the product of the power required for the core action and the target includes: determining the total torque requirement as the sum of the product of the power required for the core action and the target.

[0035] This avoids the overestimation or neglect of load caused by simply superimposing auxiliary actions in traditional methods, thus accurately reflecting the actual power demand. Since auxiliary actions (such as boom lifting) do not independently bear the full load in compound operations, their true contribution is dominated by the core action. After introducing a correction coefficient α, the system can intelligently adjust its weight according to the power ratio β of the auxiliary action (e.g., when β < 30%, α = 0.3; when β > 50%, α = 0.7), making the total torque demand closer to the actual hydraulic load.

[0036] In one embodiment of this application, controlling the excavator using the required allocated torque of the engine and the required allocated torque of the motor includes: driving the excavator's engine using the required allocated torque of the engine; and driving the excavator's motor using the required allocated torque of the motor.

[0037] By precisely controlling the excavator using the required torque allocation for both the engine and the motor, synergistic optimization and dynamic matching of the power sources can be achieved, significantly improving the stability and efficiency of the entire machine's operation. By assigning precise torque targets to both the engine and motor, the crude strategies of traditional control methods, such as a one-size-fits-all approach or relying solely on engine speed feedback, are avoided, ensuring that the power output always matches the actual excavation load requirements.

[0038] In one embodiment of this application, when the current action type is a single action, the method further includes: determining the required torque to be allocated to the engine and the required torque to be allocated to the motor based on the priority of the current action of the excavator, the engine parameters of the excavator, and the three-electric system parameters of the excavator; and controlling the excavator using the required torque to be allocated to the engine and the required torque to be allocated to the motor.

[0039] By using action priority (such as bucket retraction and boom lifting, which are high-load actions) as the primary trigger for torque distribution, and combining this with real-time engine operating status (such as intake pressure, throttle opening, and whether instantaneous torque is near its limit) and the capabilities of the three-electric system (such as battery SOC, motor available torque, and temperature limits), the system can intelligently determine when the engine should output more power and when the motor should compensate in a timely manner. This dynamic distribution mechanism ensures that high-priority digging actions receive sufficient power support under heavy loads, avoiding speed drops due to instantaneous engine overload; while in medium- and low-priority actions, the engine can be prioritized to operate in its high-efficiency range, with the motor actively participating in energy recovery, improving the overall energy efficiency of the system.

[0040] In one embodiment of this application, before determining the power required for the core action and the power required for the auxiliary action, the method further includes: determining the core action and auxiliary action in the actual mining-related actions based on the priority of the core action and the priority of the auxiliary action.

[0041] By establishing a clear priority system with "bucket retraction > stick retraction > boom lifting" as the core and "boom lowering > stick tilting > bucket tilting" as auxiliary, the system can proactively identify the key actions that truly dominate the load and determine the risk of speed drop, rather than simply summing the power of all activated actions. This allows subsequent total power calculations to be based on the core's dominance and auxiliary corrections, significantly improving the physical accuracy and engineering rationality of load assessment.

[0042] Engine parameters include engine speed, intake pressure, engine torque, boost pressure, and intake flow rate. The parameters of the three electric systems mentioned above include battery SOC, motor available torque, battery voltage, and motor speed.

[0043] The specific implementation method of this application is as follows:

[0044] S1: Information Acquisition: Acquire pilot pressure and pump pressure, displacement, engine (intake pressure / speed), and three electric components (battery SOC / motor torque), and couple the engine and motor in parallel to drive the hydraulic pump.

[0045] S2: Action judgment and load calculation: Calibrate action threshold (pilot pressure Pox, pump minimum parameters), risk threshold (engine speed ne1 / ne2, battery SOC range), target auxiliary correction coefficient α;

[0046] The target auxiliary correction coefficient α is a key parameter used to allocate the torque proportions of the engine (core power) and the electric motor (auxiliary power) in the compound action. Its value is mainly determined by the following parameters:

[0047] Hydraulic system operating parameters:

[0048] Pilot pressure Pox: Reflects the driver's operating intention and load intensity. The higher the pilot pressure, the greater the load of the compound action, and α needs to be increased to increase the motor assistance ratio.

[0049] Hydraulic pump pressure and displacement: Pump pressure and displacement directly determine the power requirements of the hydraulic system. Under high load conditions (such as heavy-duty excavation + rotation), α will increase, allowing the motor to bear more auxiliary torque.

[0050] Engine parameters:

[0051] Engine speed range ne1-ne2: When the engine speed ne is close to the lower limit ne1, α will be increased to avoid speed drop and the speed will be maintained by the motor; if the speed is in the high efficiency range (e.g., ne1 < ne < ne2), α can be appropriately reduced to give priority to engine efficiency.

[0052] Engine torque and power: When the engine approaches its maximum torque Temax or power Pin, α increases, and the electric motor supplements the remaining torque demand.

[0053] Parameters of the three-electric system:

[0054] Battery SOC range: When the SOC is in the high range (e.g., >60%), α can be increased to make full use of battery energy assistance; when the SOC is close to the lower limit (e.g., <30%), α should be decreased to avoid over-discharge of the battery.

[0055] Motor and battery temperature: If the motor or battery temperature approaches the limit, α will be limited to prevent overheating risk.

[0056] Risk level and safety constraints:

[0057] Low / Medium / High Risk Assessment: Under high-risk conditions (such as full engine load and motor overload), α will be dynamically adjusted, and the load will be limited in conjunction with exhaust temperature and motor / battery temperature to ensure system safety.

[0058] Core function: The value of α directly affects the distribution formula of the total torque Ttotal_p of the compound action:

[0059] Ttotal_p = Tcore + α × Taux;

[0060] Tcore represents the engine's core torque, while Taux represents the electric motor's auxiliary torque. By dynamically adjusting α, a parallel hybrid strategy with the engine as the primary motor and the electric motor as the secondary motor is achieved, ensuring operational efficiency while avoiding engine speed drops and excessive battery consumption.

[0061] Judge single / compound actions (core / auxiliary) according to "pilot pressure screen action to pump parameter verification".

[0062] Calculate the torque of a single action or the total torque of a compound action, T_total_p (core power + α × auxiliary power to torque).

[0063] S3: Risk Assessment + Momentum Allocation

[0064] Based on engine NE / Pin and battery SOC, low / medium / high risk is determined.

[0065] Low risk: Engine 0.7-0.8Temax and motor to make up for torque shortfall; Medium risk: Engine 0.8-0.9Temax and motor torque 0.4-0.6Tmmax; High risk: Engine at full load + motor 0.8-1.0Tmmax, total power ≥ Ttotal_p×1.1; If the engine exhaust temperature limit or battery / motor temperature limit is exceeded, the load will be reduced to ensure safety.

[0066] Control unit: Used to receive collected parameters, determine the working conditions of the excavation operation based on the pilot pressure, hydraulic pump pressure and hydraulic pump displacement, and generate engine control commands, motor auxiliary control commands and hydraulic pump displacement adjustment commands by combining engine parameters and three-electric system parameters.

[0067] Execution unit: including engine, motor and hydraulic pump, used to perform corresponding actions according to the instructions generated by the control unit.

[0068] More specifically, the method of this application includes:

[0069] Excavation Operation Status Judgment (Sub-action Judgment): For independent and compound actions of the boom, stick, and bucket during excavation operations, accurate identification of excavation actions is achieved through a hierarchical logic of "sub-action pilot pressure acquisition → threshold matching → pump parameter verification → action type determination → compound action identification". The specific steps are as follows:

[0070] Step S201: Acquisition of pilot pressure and pump parameters for sub-actions:

[0071] The control unit receives the following signals:

[0072] Pilot pressure signal: The pilot control pressure for the corresponding movements of the boom, stick, and bucket is obtained through the HCU.

[0073] Boom lifting pilot pressure: P1a (corresponding to the output pressure of the boom lifting pilot valve);

[0074] Boom lowering pilot pressure: P1b (corresponds to the output pressure of the boom lowering pilot valve; due to gravity assistance, the pressure is usually lower than that of the lifting action).

[0075] Stick retraction pilot pressure: P1c (corresponds to the output pressure of the stick retraction pilot valve, a core action during digging, with large pressure fluctuations);

[0076] Bucket outward tilt pilot pressure: P1d (corresponds to the output pressure of the bucket outward tilt pilot valve, commonly used during no-load or unloading);

[0077] Bucket retraction pilot pressure: P1e (corresponds to the output pressure of the bucket retraction pilot valve, which is the main action during digging and has a high pressure peak).

[0078] Bucket tilting pilot pressure: P1f (corresponds to the output pressure of the bucket tilting pilot valve, which is activated during unloading);

[0079] Hydraulic pump parameter signals: The main hydraulic pump is grouped according to the "action-pump group" correspondence (most excavators use a dual-pump or triple-pump system, each driving different actuators), and the pressure and displacement of the corresponding pump are collected:

[0080] Boom movement associated pumps: pressure P2a, displacement V2a (pump set that drives the boom cylinder, such as main pump 1);

[0081] Stick action associated pumps: pressure P2b, displacement V2b (pump set that drives the stick cylinder, such as main pump 2);

[0082] Bucket action associated pumps: pressure P2c, displacement V2c (pump set that drives the bucket cylinder, which can share the main pump 2 or be an independent pump 3 with the stick).

[0083] Acquisition frequency: All signals are acquired synchronously with a sampling interval of ≤10ms to ensure no delay in action response.

[0084] Step S202: Calibration and determination of pilot pressure threshold for sub-actions:

[0085] The control unit presets the pilot pressure judgment threshold for each action based on the excavator model and the load characteristics of the actuator (calibrated based on industry test data and whole machine debugging results to avoid misjudgment), as shown in Table 1.

[0086] Table 1

[0087]

[0088] The control unit compares the data collected by S1 from P1a to P1f with the corresponding data from Pox to determine the "potential action":

[0089] If P1x≥Pox (x=a to f): the action corresponding to the oil circuit is determined to be a "potential excavation-related action" (subsequent pump parameter verification is required);

[0090] If P1x < Pox: the action is determined to be in an "inactive state" (no corresponding mining action);

[0091] If all P1x < the corresponding Pox: directly determine it as "non-mining operation" and jump to non-mining control mode (original logic remains unchanged).

[0092] Step S203: Hydraulic pump parameter verification (eliminating false action signals): For potential excavation-related actions identified in S202, verify the authenticity of the actions by checking the pressure (P2x) and displacement (V2x) of the associated hydraulic pump (to avoid false signals such as pilot valve mis-triggering and sensor interference).

[0093] The preset threshold values ​​for the sub-action pump parameters (calibrated based on the minimum working requirements of the actuator) are shown in Table 2.

[0094] Table 2

[0095]

[0096] Verification logic:

[0097] If a potential action x satisfies: P2x≥P2x_min and V2x≥V2x_min: the action is determined to be a real mining-related action (the action is valid and enters the type determination);

[0098] If only P2x≥P2x_min or V2x≥V2x_min is satisfied: it is judged as an abnormal operation (such as pump failure or oil circuit blockage), triggering a cab fault warning, and is temporarily not included in the excavation operation judgment;

[0099] If P2x < P2x_min and V2x < V2x_min: the signal is considered a false action (e.g., the pilot valve is accidentally activated but the actuator is not driven), and the action is excluded.

[0100] Step S204: Precise determination of single action type:

[0101] The control unit further subdivides the "real excavation-related actions" that have passed the verification in step S203 according to the action type characteristics (load direction, work scenario) to clarify the specific action type of the excavation operation:

[0102] Boom motion judgment:

[0103] If P1a≥Poa+P2a≥P2a_min+V2a≥V2a_min: it is determined to be a boom lifting operation (lifting materials during excavation, core load action);

[0104] If P1b≥Pob+P2b≥P2b_min+V2b≥V2b_min: it is determined as "boom lowering operation" (the bucket is lowered to the working face during excavation, and the auxiliary load is activated).

[0105] Pole-based motion judgment:

[0106] If P1c≥Poc+P2c≥P2c_min+V2c≥V2c_min: it is determined as "stick retraction excavation operation" (main cutting action, with the largest load fluctuation);

[0107] If P1d≥Pod+P2d≥P2d_min+V2d≥V2d_min: it is determined to be "boom tilting unloading operation" (non-cutting action, low load);

[0108] Bucket-type motion judgment:

[0109] If P1e≥Poe+P2e≥P2e_min+V2e≥V2e_min: it is determined as "bucket inward excavation operation" (clamping material or fine cutting, high load peak);

[0110] If P1f≥Pof+P2f≥P2f_min+V2f≥V2f_min: it is determined as "bucket tipping unloading operation" (unloading material, low load).

[0111] Step S205: Composite Action Recognition (Multi-Action Collaborative Work Judgment):

[0112] Excavation operations often involve multiple coordinated actions (such as combined excavation involving boom lifting, stick retraction, and bucket retraction). The control unit needs to identify these combined actions and prioritize the core load action.

[0113] Logic for determining compound actions:

[0114] If there are two or more real excavation-related actions in step S204, it is determined to be a composite excavation operation.

[0115] Combined actions are prioritized by load (based on the product of pump pressure and displacement associated with the action, i.e., P2x × V2x, where a larger value indicates a higher load):

[0116] High-priority actions (core load): Bucket retraction > Stick retraction > Boom lifting (usually the main excavation action, accounting for 60%-80% of the load);

[0117] Low priority actions (auxiliary loads): boom lowering > stick tilting > bucket tilting (usually auxiliary actions, accounting for 20%-40% of the load).

[0118] Output the judgment result:

[0119] Single-action operation: Output action type + associated pump parameters (e.g., stick retraction excavation operation, P2c=14MPa, V2c=32mL / r), as the basis for subsequent load level judgment;

[0120] Composite operation: Output core action + auxiliary action + core pump parameters (e.g., "core: bucket retraction digging, auxiliary: boom lifting; P2e=15MPa, V2e=35mL / r"). Subsequent load calculations are based on the pump parameters associated with the core action, with auxiliary action parameters used for correction.

[0121] Through steps S201-S205, single actions and compound actions in excavation operations can be accurately distinguished, providing more accurate input basis for subsequent load level judgment (based on core action pump parameter calculation) and engine-motor coordinated control (for matching power to core load), further reducing the risk of power mismatch and engine speed drop caused by action misjudgment.

[0122] This application uses the sub-action mining state judgment (S201-S205) as input, and achieves engine speed drop suppression through a three-level control logic of parameter fusion analysis → speed drop risk prediction → power coordinated output. The overall architecture is divided into a perception layer, a control layer, and an execution layer.

[0123] Perception layer:

[0124] Original motion sensing system (pilot pressure + pump parameters): boom / stick / bucket motion signals (P1x, P2x, V2x).

[0125] Three-electric system signals: battery SOC, voltage Ub, temperature Tb; motor speed nm, torque Tm, temperature Tm; motor controller current Im, efficiency ηm.

[0126] Engine multi-parameter signals: engine intake pressure Pin, engine speed ne, throttle opening θ, fuel injection quantity Qf, exhaust temperature Tex.

[0127] Control layer:

[0128] Action-parameter fusion module: Associates action types with three-electric / engine parameters, and outputs "action-load-state" fusion results.

[0129] Speed ​​drop risk prediction module: Based on engine status and operating load, predict the speed drop risk level (low / medium / high).

[0130] Power coordination control module: dynamically allocates engine torque Te and motor auxiliary torque Tm to meet load requirements.

[0131] Execution layer:

[0132] Engine actuators (throttle, fuel injection): Adjust engine throttle opening and fuel injection quantity to optimize Te output.

[0133] Drive motor: Outputs auxiliary torque Tm according to command, with a response speed of <50ms.

[0134] Battery Management System (BMS): Controls the charging and discharging power of the battery to ensure the auxiliary energy supply to the motor.

[0135] The key parameters of the three-electric system are shown in Table 3.

[0136] Table 3

[0137]

[0138] The engine parameters are shown in Table 4.

[0139] Table 4

[0140]

[0141] In Tables 3 and 4, max represents the maximum value and min represents the minimum value.

[0142] Core control logic (scenario-specific speed reduction suppression strategy):

[0143] Based on the results of the sub-action mining status judgment (single action / compound action + core action type), combined with the parameters of the three-electric system and engine parameters, graded control is performed according to the speed drop risk level (low / medium / high). The core logic is as follows:

[0144] Single-action mining scenario speed reduction suppression strategy:

[0145] For the single actions such as boom lifting / stick retraction / bucket retraction determined in step S204, power coordination is performed according to the priority of action load characteristics → engine status → electric motor parameters:

[0146] High-load single action (boom lifting / bucket retraction):

[0147] Parameter acquisition: motion parameters (P1a / P1e, P2a / P2e, V2a / V2e), engine parameters (Pin, ne, θ, Qf), and three-electric parameters (SOC, Tm, Ub).

[0148] Speed ​​drop risk prediction:

[0149] Low risk: ne≥ne1 (speed drop warning speed) +Pin≥Pin0 +θ≤70°;

[0150] Medium risk: ne1>ne≥ne2 (severe deceleration threshold) +Pin<Pin0 +Qf≤80%Qf_max;

[0151] High risk: ne < ne2 + Pin < 0.8P_in0 + θ ≥ 85% (throttle close to full).

[0152] Power synergy strategy:

[0153] Low risk: Maintain the current Te (0.7-0.8Temax), keep θ stable, Tm=0.2-0.3Tmmax (basic auxiliary). If SOC≥80%, a 5%Tmmax pre-auxiliary can be added (to cope with slight load increase), and allow small current discharge of battery (Im≤50%Immax).

[0154] Medium risk: Increase Te to 0.8-0.9Temax (θ adjusted to 75-85%), Qf increased simultaneously, Tm=0.4-0.6Tmmax (moderate assistance), calculate torque gap ΔT=Tp (pump required torque)-Te, Tm≥ΔT×1.1 (redundancy), if SOC<30%, trigger priority discharge mode (Im≤80%Immax).

[0155] High risk: Te=0.95-1.0Temax (θ=90%, Qf=Qfmax), Tm=0.7-1.0Tmmax (full load assist). If SOC<20%, activate "engine torque protection": Te drops to 0.9Temax, Tm=0.6Tmmax, and the cab alarm prompts a load reduction. The battery is allowed to overcurrent for a short time (Im≤110%Immax, lasting ≤10s) to avoid over-discharge.

[0156] Medium to low load single action (boom lowering / stick tilting):

[0157] Core logic: Prioritize economical engine operation, with electric motor assistance to mitigate speed drop and recover energy.

[0158] If n_e≥ne1+50r / min+SOC<80%: the motor switches to energy recovery mode (Tm=-0.1-0.2Tmmax, negative torque represents power generation) to replenish the battery, without affecting the engine speed;

[0159] If ne < ne1: the motor outputs 0.1-0.2Tmmax auxiliary torque to maintain ne ≥ ne1, avoiding accidental speed drop under low load (such as sudden resistance when the boom is lowering).

[0160] Strategies to suppress speed drops in complex action mining scenarios:

[0161] Prerequisites for compound actions: Action recognition and parameter readiness:

[0162] The core of a compound action is one core action plus one or two auxiliary actions (such as bucket retraction (core) + boom lifting (auxiliary), stick retraction (core) + bucket retraction (auxiliary)). The following prerequisites must be met to ensure that subsequent control has a clear basis:

[0163] Action recognition results (derived from action judgments in segments S201-S205):

[0164] Core actions: High-load actions verified by S203 pump parameters (P2x≥P2x_min and V2x≥V2x_min), priority order is bucket retraction > stick retraction > boom lifting (load ratio 60%-80%, the main cause of speed drop);

[0165] Auxiliary actions: Low-to-medium load actions that have been verified within the same cycle, with the priority order being boom lowering > stick tilting > bucket tilting (load share of 20%-40%, only affecting the total load);

[0166] Output format: Clearly define "core action type + associated pump parameters (core action power requirements Pcore, Vcore, npcore) + auxiliary action type + associated pump parameters (Paux, Vaux, npaux)" (e.g., core - bucket retraction, Pcore=16MPa, Vcore=36mL / r; auxiliary - boom lifting, Paux=14MPa, Vaux=33mL / r).

[0167] Parameters are ready (sourced from the perception layer):

[0168] Engine parameters: real-time speed ne, intake pressure Pin, throttle opening θ, maximum torque Temax;

[0169] Three key parameters: battery SOC, maximum motor torque Tmmax, and current motor temperature Tm;

[0170] Hydraulic parameters: the speed np of the core / auxiliary action associated pump (converted from the transmission ratio of the power coupling mechanism and matched with the engine / motor speed), and the hydraulic system efficiency ηh (fixed calibration of 0.85-0.9).

[0171] Accurate calculation of total load demand: Corrected formula and coefficient calibration:

[0172] The total load of a complex action must simultaneously consider the dominant role of the core action and the cumulative effect of auxiliary actions to avoid power mismatch caused by calculating the load of a single action. The core principle is to calculate the "power load" first and then convert it to "torque demand," correcting the confusion in torque calculation in the original logic.

[0173] Derivation of basic formulas (hydraulic power → torque requirement).

[0174] The load of a hydraulic system is essentially a "power demand." The power required for the core / auxiliary actions must first be calculated, and then converted into drive torque (related to pump speed).

[0175] Single-action hydraulic power formula:

[0176] Px=(P2x×Vx×np) / (60×106×ηh);

[0177] Px: Power requirement per action, in kW; P2x: Pump pressure, in Pa; Vx: Pump displacement, in mL / r; np: Pump speed, in r / min; ηh: Hydraulic efficiency.

[0178] Single-action torque demand formula:

[0179] Tx = Px × 9550 / np;

[0180] Tx: Torque requirement for a single action, in Nm; 9550: Power-torque conversion constant;

[0181] Total load demand calculation (introducing α):

[0182] Step 1: Calculate the power ratio of core / auxiliary actions (determine α);

[0183] The auxiliary action power ratio β = Paux / (Pcore + Paux), and a correction factor α is determined based on β (α increases as β increases to ensure that the auxiliary load is not underestimated):

[0184] Table 5

[0185]

[0186] Step 2: Calculate the total power requirement: Ptotal = Pcore + α × Paux;

[0187] α corrects the actual load contribution of auxiliary actions to avoid excessive superposition.

[0188] Step 3: Calculate the total torque requirement: Ttotal_p = Ptotal × 9550 / np;

[0189] Total torque demand is the core basis for subsequent power distribution.

[0190] Speed ​​drop risk classification prediction: Combining engine and three-electric parameters:

[0191] Based on the "total torque demand Ttotal_p" and real-time collected engine and three-electric parameters, the risk of speed drop is predicted in three levels to avoid misjudgments caused by relying solely on the operating load:

[0192] Risk assessment indicators and thresholds are shown in Table 6.

[0193] Table 6

[0194]

[0195] Pin0 is the intake pressure threshold.

[0196] Risk level determination rules:

[0197] Low risk: Meeting two low-risk criteria for engine status + two low-risk criteria for electric drive status → sufficient engine power and strong electric drive auxiliary capabilities;

[0198] Medium risk: Meeting the medium risk criteria for engine status 1-2 or the medium risk criteria for electric drive status 1 → Instantaneous insufficient engine power or limited electric drive assistance;

[0199] High risk: Meeting two high-risk conditions for engine status or one high-risk condition for the three electric components plus one medium-risk condition for engine status → engine has lost speed, or the three electric components cannot provide effective assistance.

[0200] Hierarchical power coordination control strategy: precise coordination between engine and electric motor:

[0201] With the total torque demand Ttotal_p as the target, the engine torque Te and the electric motor auxiliary torque Tm are allocated according to the risk level, while the three-electric parameters are constrained to ensure power matching and system safety.

[0202] Core control principles: Total power must meet: Te + Tm ≥ Ttotal_p × 1.1 (10% redundancy to cope with load fluctuations); Engine priority: Prioritize the use of the engine's economic torque (a value between 0.7 and 0.9 × Te_max), with the motor supplementing the torque gap; Three-electric constraints: Motor torque must not exceed Tm_available, and battery discharge current must not exceed 110% Im_max (to avoid overload).

[0203] Risk level control steps:

[0204] Low risk: Engine control (execution level: throttle + fuel injection): Output torque Te = 0.8Te_max; Throttle opening θ = 70%-75%; Fuel injection quantity Qf = 0.8Qf_max;

[0205] Motor-assisted control (execution layer: drive motor):

[0206] Calculate the torque gap ΔT = Ttotal_p × 1.1 - Te; output Tm = ΔT, not exceeding 0.5Tm_max;

[0207] Battery protection (execution layer: BMS): Discharge current Im = 80%I_m_max (avoiding large current loss); monitor Tb, and start heat dissipation if it is >50℃.

[0208] Control objectives: Sufficient total power, no speed drop, and good fuel economy.

[0209] Medium risk: Engine control (actuator level: throttle + fuel injector):

[0210] Increase Te to 0.9Te_max, θ=80%-85%, Qf=0.9Qf_max; if Te>Tex_max, limit Te to 0.85Te_max.

[0211] Motor-assisted control (execution layer: drive motor):

[0212] ΔT = Ttotal_p × 1.1 - Te (Engine has already covered the demand, and instantaneous fluctuations need to be supplemented); Output Tm = 0.4Tm_max, superimposed with the pre-response of sudden load increase (added to 0.6Tm_max when ΔP2x / Δt > 5MPa / s), where Δt is the change time.

[0213] Battery protection (execution layer: BMS): trigger priority discharge, Im=Im_max; when SOC<30%, the cab will display "moderate load".

[0214] Control objective: Quickly compensate for the engine's instantaneous response lag and prevent speed drop.

[0215] High risk: Engine control (execution layer: throttle + fuel injection): Te = Te_max, θ = 90%, Qf = Qf_max (full load output); if Te > 650℃, force Te = 0.9Te_max.

[0216] Motor-assisted control (execution layer: drive motor): ΔT=Ttotal_p×1.1-Te (the engine is still insufficient, and the motor needs to provide full assistance); output Tm=min(0.9Tm_max,Tm_available), if Tm>130℃, then decrease by 10% / s.

[0217] Battery protection (execution layer: BMS): Allows short-term overcurrent (Im=110%Im_max, duration≤10s); forces a reduction in Ttotal_p when SOC<15% (limiting displacement via hydraulic system).

[0218] Control objective: Emergency replenishment of torque deficit and restoration of engine speed.

[0219] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0220] This application also provides a control device for an excavator. It should be noted that the excavator control device of this application can be used to execute the control method for an excavator provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0221] The control device for the excavator provided in the embodiments of this application will be described below.

[0222] Figure 2 This is a schematic diagram of the control device of an excavator according to an embodiment of this application. Figure 2 As shown, the device includes: an acquisition unit 21, used to acquire the current action type of the excavator, wherein the current action type of the excavator is a single action or a compound action; a first determination unit 22, used to determine the power required for the core action and the power required for the auxiliary action when the current action type is the compound action; a second determination unit 23, used to determine a target auxiliary correction coefficient based on the power required for the core action and the power required for the auxiliary action, and to determine the total torque requirement based on the product of the power required for the core action and the target, wherein the target product is the product of the target auxiliary correction coefficient and the power required for the auxiliary action; and a third determination unit 24, used to determine the required allocated torque for the engine and the required allocated torque for the motor based on the total torque requirement, the engine parameters of the excavator and the parameters of the excavator's three-electric system, and to control the excavator using the required allocated torque for the engine and the required allocated torque for the motor; wherein the engine parameters include engine speed, intake pressure and torque, and the three-electric system parameters include battery SOC and motor available torque.

[0223] In one embodiment of this application, the second determining unit includes: a first determining module for determining the power ratio required for the auxiliary action based on the power required for the core action and the power required for the auxiliary action; and a second determining module for determining the auxiliary correction coefficient corresponding to the power ratio required for the auxiliary action as the target auxiliary correction coefficient.

[0224] In one embodiment of this application, the third determining unit includes: a third determining module for determining the risk level based on the engine parameters and the three-electric system parameters of the excavator; and a fourth determining module for determining the required torque allocated to the engine and the required torque allocated to the motor according to the risk level, with the total torque requirement as the target.

[0225] In one embodiment of this application, the acquisition unit includes: an acquisition module for acquiring the pilot pressure of each action and determining potential excavation-related actions based on the pilot pressure, wherein the pilot pressure is a low-pressure control signal in the hydraulic system used to control the action of the main valve; a fifth determination module for determining actual excavation-related actions from the potential excavation-related actions based on the associated pump pressure and displacement corresponding to the potential excavation-related actions; and a sixth determination module for determining the current action type based on the actual excavation-related actions.

[0226] In one embodiment of this application, the second determining unit includes: a seventh determining module for determining the total torque requirement as the sum of the product of the power required for the core action and the target.

[0227] In one embodiment of this application, the third determining unit includes: a first processing module for driving the engine of the excavator with the torque required to be allocated to the engine; and a second processing module for driving the motor of the excavator with the torque required to be allocated to the motor.

[0228] In one embodiment of this application, the device further includes: a fourth determining unit configured to determine the required torque to be allocated to the engine and the required torque to be allocated to the motor based on the priority of the current action of the excavator, the engine parameters of the excavator, and the three-electric system parameters of the excavator when the current action type is a single action; and a first processing unit configured to control the excavator using the required torque to be allocated to the engine and the required torque to be allocated to the motor.

[0229] In one embodiment of this application, the above-mentioned apparatus further includes: a second processing unit configured to determine the core action and auxiliary action in the actual mining-related actions based on the core action priority and the auxiliary action priority before determining the power required for the core action and the power required for the auxiliary action.

[0230] The control device of the excavator includes a processor and a memory. The acquisition unit, the first determination unit, the second determination unit, and the third determination unit are all stored as program units in the memory. The processor executes the program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0231] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can help alleviate the frequent speed drops in the engines of existing parallel hybrid excavators.

[0232] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0233] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the excavator control method.

[0234] This invention provides a processor for running a program, wherein the program executes the excavator control method during operation.

[0235] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps: obtaining the current action type of the excavator, where the current action type is either a single action or a compound action; if the current action type is a compound action, determining the power required for the core action and the power required for the auxiliary action; determining a target auxiliary correction coefficient based on the power required for the core action and the power required for the auxiliary action, and determining the total torque requirement based on the product of the power required for the core action and the target coefficient, where the target product is the product of the target auxiliary correction coefficient and the power required for the auxiliary action; determining the required allocated torque for the engine and the required allocated torque for the motor based on the total torque requirement, the engine parameters of the excavator, and the parameters of the excavator's three-electric system (battery, motor, and electronic control system), and controlling the excavator using the required allocated torque for the engine and the required allocated torque for the motor; wherein the engine parameters include engine speed, intake pressure, and torque, and the three-electric system parameters include battery SOC and available motor torque. The device described herein can be a server, PC, PAD, mobile phone, etc.

[0236] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps: obtaining the current action type of the excavator, wherein the current action type of the excavator is a single action or a compound action; if the current action type is a compound action, determining the power required for the core action and the power required for the auxiliary action; determining a target auxiliary correction coefficient based on the power required for the core action and the power required for the auxiliary action, and determining the total torque requirement based on the product of the power required for the core action and the target, wherein the target product is the product of the target auxiliary correction coefficient and the power required for the auxiliary action; determining the required allocated torque for the engine and the required allocated torque for the motor based on the total torque requirement, the engine parameters of the excavator, and the parameters of the excavator's three-electric system, and controlling the excavator using the required allocated torque for the engine and the required allocated torque for the motor; wherein the engine parameters include engine speed, intake pressure, and torque, and the three-electric system parameters include battery SOC and available motor torque.

[0237] This application provides an excavator system, including: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are used to perform any of the methods described above.

[0238] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0239] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0240] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0241] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0242] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0243] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0244] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0245] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0246] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0247] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0248] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for an excavator, characterized in that, include: Obtain the current action type of the excavator, wherein the current action type of the excavator is a single action or a compound action; When the current action type is the composite action, determine the power required for the core action and the power required for the auxiliary action; Based on the power required for the core action and the power required for the auxiliary action, a target auxiliary correction coefficient is determined, and based on the product of the power required for the core action and the target, the total torque requirement is determined, wherein the target product is the product of the target auxiliary correction coefficient and the power required for the auxiliary action. Based on the total torque requirement, the engine parameters of the excavator, and the parameters of the excavator's three-electric system, the required torque to be allocated to the engine and the required torque to be allocated to the motor are determined, and the excavator is controlled using the required torque to be allocated to the engine and the required torque to be allocated to the motor; wherein, the engine parameters include the engine speed, intake pressure, and torque, and the parameters of the three-electric system include the battery SOC and the available torque of the motor.

2. The method according to claim 1, characterized in that, Based on the power required for the core action and the power required for the auxiliary action, a target auxiliary correction coefficient is determined, including: The power ratio required for the auxiliary action is determined based on the power required for the core action and the power required for the auxiliary action. The auxiliary correction coefficient corresponding to the power ratio required for the auxiliary action is determined as the target auxiliary correction coefficient.

3. The method according to claim 1, characterized in that, Based on the total torque requirement, the excavator's engine parameters, and the excavator's three-electric system parameters, determine the required torque allocation for the engine and the required torque allocation for the electric motor, including: The risk level is determined based on the engine parameters and the three-electric system parameters of the excavator. Based on the total torque requirement, the required torque allocation for the engine and the required torque allocation for the electric motor are determined according to the risk level.

4. The method according to claim 1, characterized in that, Get the current action type of the excavator, including: The pilot pressure of each action is obtained, and the potential digging-related actions are determined based on the pilot pressure, wherein the pilot pressure is a low-pressure control signal used in the hydraulic system to control the action of the main valve. Based on the associated pump pressure and displacement corresponding to the potential excavation-related actions, the actual excavation-related actions are determined from the potential excavation-related actions; The current action type is determined based on the actual mining-related actions.

5. The method according to claim 1, characterized in that, Based on the power required for the core action and the target product, the total torque requirement is determined, including: The total torque requirement is determined to be the sum of the product of the power required for the core action and the target.

6. The method according to claim 1, characterized in that, Controlling the excavator using the required torque distribution from the engine and the required torque distribution from the electric motor includes: The engine of the excavator is driven by the required torque distribution from the engine. The motor of the excavator is driven by the required torque allocated to the motor.

7. The method according to claim 1, characterized in that, When the current action type is a single action, the method further includes: Based on the current action priority of the excavator, the engine parameters of the excavator, and the parameters of the excavator's three-electric system, determine the required torque to be allocated to the engine and the required torque to be allocated to the motor. The excavator is controlled using the required torque distribution from the engine and the required torque distribution from the electric motor.

8. The method according to claim 1, characterized in that, Before determining the power required for the core action and the power required for the auxiliary action, the method further includes: The core and auxiliary actions in the actual mining process are determined based on the priority of core actions and the priority of auxiliary actions.

9. A control device for an excavator, applied to the method according to any one of claims 1 to 8, characterized in that, The control device for the excavator includes: The acquisition unit is used to acquire the current action type of the excavator, wherein the current action type of the excavator is a single action or a compound action; The first determining unit is configured to determine the power required for the core action and the power required for the auxiliary action when the current action type is the composite action. The second determining unit is used to determine a target auxiliary correction coefficient based on the power required for the core action and the power required for the auxiliary action, and to determine the total torque requirement based on the product of the power required for the core action and the target, wherein the target product is the product of the target auxiliary correction coefficient and the power required for the auxiliary action. The third determining unit is used to determine the required allocated torque of the engine and the required allocated torque of the motor based on the total torque demand, the engine parameters of the excavator and the parameters of the excavator's three-electric system, and to control the excavator using the required allocated torque of the engine and the required allocated torque of the motor; wherein, the engine parameters include the engine speed, intake pressure and torque, and the three-electric system parameters include the battery SOC and the available torque of the motor.

10. An excavator system, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs being used to perform the method of any one of claims 1 to 7.

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