Adaptive control method applicable to excavator, electronic device, excavator and non-transitory storage medium

12241,237

17/957113

September 30, 2022

Disclosed is an adaptive control method applicable to an excavator. The adaptive control method includes: acquiring detection parameters of the excavator, the detection parameters comprising a displacement of an electric control handle of the excavator and angle information of the excavator; identifying a current working condition of the excavator based on the detection parameters; and adjusting control parameters of the excavator based on the current working condition. According to the adaptive control method provided by the present disclosure, the current working condition is identified by using the displacement of the electric control handle and the angle information of the excavator, and then the control parameters of the excavator are adjusted based on the current working condition, so that the control parameters are automatically adjusted with change of the current working condition, which improves control efficiency of the excavator.

SANY HEAVY MACHINERY LIMITED (Kunshan, CN)

SANY HEAVY MACHINERY LIMITED (Kunshan, CN)

1. An adaptive control method, applicable to an excavator, wherein the adaptive control method comprises: acquiring detection parameters of the excavator, wherein the detection parameters comprise a displacement of an electric control handle of the excavator and angle information of the excavator, the excavator comprises a plurality of actuators, the plurality of actuators comprise a plurality of action mechanisms and a swing platform, and the angle information comprises inclination angles of the plurality of action mechanisms and a swing angle of the swing platform; identifying a current working condition of the excavator based on the detection parameters; adjusting control parameters of the excavator based on the current working condition; and controlling the excavator to operate based on the adjusted control parameters, wherein the identifying the current working condition of the excavator based on the detection parameters comprises: acquiring relative positions of the plurality of action mechanisms; determining a lift height of the excavator based on the inclination angles and the relative positions; determining target speeds of the plurality of actuators based on the displacement and a correspondence between speeds of the plurality of actuators and the displacement of the electric control handle; and determining the current working condition based on the angle information, the lift height, and the target speeds; wherein the determining the lift height of the excavator based on the inclination angles and the relative positions comprises: determining a spatial coordinate of a tooth tip of the excavator at each time based on the inclination angles and the relative positions; determining a motion trajectory of the tooth tip based on the spatial coordinate of the tooth tip at each time; and determining a height difference between a crawler of the excavator and a working surface of the excavator based on the motion trajectory of the tooth tip, so as to determine the lift height.

2. The adaptive control method of claim 1 , wherein the determining the current working condition based on the angle information, the lift height, and the target speeds comprises: determining that the excavator is currently in a first mode based on the lift height, the first mode being one of a platform building operation and a ground operation; determining that the excavator is currently in a second mode based on the inclination angles and the target speeds, the second mode being one of a loading operation and a dumping operation; determining that the excavator is currently in a third mode based on the swing angle, the third mode being one of a plurality of swing operations with different swing angles; and determining the current working condition based on the first mode, the second mode and the third mode.

3. The adaptive control method of claim 2 , wherein the determining that the excavator is currently in the first mode based on the lift height comprises: determining whether the lift height exceeds a height threshold; determining that the excavator is in the platform building operation when the lift height does not exceed the height threshold; and determining that the excavator is in the ground operation when the lift height exceeds the height threshold.

4. The adaptive control method of claim 2 , wherein the determining that the excavator is currently in the second mode based on the inclination angles and the target speeds comprises: determining speed of the electric control handle based on the displacement of the electric control handle; determining target accelerations of the plurality of actuators based on the speed of the electric control handle; and determining that the excavator is currently in the second mode based on the inclination angles, the target speeds, and the target accelerations.

5. The adaptive control method of claim 1 , wherein the plurality of action mechanisms comprise a boom, a stick and a bucket.

6. The adaptive control method of claim 1 , wherein the control parameters comprise a pump current and a priority gain, the adjusting control parameters of the excavator based on the current working condition comprises: determining target control parameters based on the current working condition and an optimization target, the optimization target comprising minimum fuel consumption and maximum efficiency; and adjusting the control parameters based on the target control parameters.

7. The adaptive control method of claim 1 , wherein the control parameters comprise a speed of an engine of the excavator, the adjusting control parameters of the excavator based on the current working condition comprises: determining, based on the current working condition, an action execution sequence of the excavator in an operation cycle; determining an action duration corresponding to each action of a plurality of actions in the operation cycle; obtaining torque information of each action; determining, based on the torque information and a relationship between a torque and a speed under preset optimal fuel consumption, a target speed, corresponding to each action, of an engine; and controlling, according to the action execution sequence, and the action duration and the target speed that are corresponding to each action, the speed of the engine when the excavator repeats the operation cycle.

8. The adaptive control method of claim 7 , wherein the controlling, according to the action execution sequence, and the action duration and the target speed that are corresponding to each action, a speed of the engine comprises: controlling the engine to run at a target speed corresponding to a current action within an action duration corresponding to the current action.

9. The adaptive control method of claim 7 , wherein the determining the action duration corresponding to each action in the plurality of actions in the operation cycle comprises: monitoring an action current of the electric control handle; and determining, based on the action execution sequence and the action current, the action duration corresponding to each action in the plurality of actions.

10. The adaptive control method of claim 9 , wherein the determining, based on the action execution sequence and the action current, the action duration corresponding to each action in the plurality of actions comprises: sequentially determining, based on the action execution sequence and an amplitude change of the action current, a first action duration corresponding to each action in a same operation cycle; and obtaining the first action durations of each action in a plurality of operation cycles, and calculating an average value of the first action durations corresponding to each action, to obtain the action duration corresponding to each action.

11. The adaptive control method of claim 10 , wherein the sequentially determining, based on the action execution sequence and an amplitude change of the action current, a first action duration corresponding to each action in a same operation cycle comprises: determining a first moment and a second moment of the current action based on the amplitude change of the action current, wherein the first moment is a start moment of an action, and the second moment is an end moment of an action; and calculating, based on the first moment and the second moment, a first action duration corresponding to the current action.

12. The adaptive control method of claim 11 , wherein the determining the first moment and the second moment of the current action based on the amplitude change of the action current comprises: in a case that a period during which an amplitude of the action current is greater than a first threshold exceeds a first period, determining that a moment at which the amplitude of the action current rises to the first threshold is the first moment; and in a case that a period during which an amplitude of the action current is less than a second threshold exceeds a second period, determining that a moment at which the amplitude of the action current drops to the second threshold is the second moment, wherein the first threshold is greater than or equal to the second threshold.

13. The adaptive control method of claim 11 , wherein before the calculating, based on the first moment and the second moment, a first action duration corresponding to the current action, the method further comprises: calculating a time difference between the second moment of the current action and a first moment of a next action; determining whether the time difference is less than a third period; and in a case that the time difference is less than the third period, determining that the next action belongs to the current action, and updating the second moment of the current action to a second moment of the next action.

14. The adaptive control method of claim 7 , further comprising: determining whether the excavator starts an action mode when the excavator starts to run; controlling the engine to run at a first speed in response to the excavator starting the action mode; and controlling the engine to run at a second speed in response to the excavator not starting the action mode, wherein the second speed is less than the first speed.

15. The adaptive control method of claim 14 , further comprising: in a case that it is monitored that the excavator has not started the action mode for a fourth period, controlling the engine to run at a third speed, wherein the third speed is less than the second speed.

16. An electronic device, comprising: a processor; and a memory having program instructions stored thereon and coupled to the processor, wherein when the program instructions are executed by the processor, the processor executes the adaptive control method of claim 1 .

17. An excavator, comprising the electronic device of claim 16 .

18. A non-transitory storage medium having program instructions stored thereon, wherein when the program instructions are executed by a processor, the processor executes the adaptive control method of claim 1 .

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First Office Action issued in counterpart Chinese Patent Application No. 202110546170.X, dated Apr. 22, 2022. cited by applicant
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