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CN-122013827-A - Electro-hydraulic excavator control method, device and equipment and electro-hydraulic excavator

CN122013827ACN 122013827 ACN122013827 ACN 122013827ACN-122013827-A

Abstract

The embodiment of the application provides an electro-hydraulic excavator control method, device and equipment and an electro-hydraulic excavator. The method comprises the steps of firstly responding to a power-on signal of the electro-hydraulic excavator, obtaining the activation states and operation priority information of different working modes, determining the working mode with the highest priority based on a priority judging rule, then controlling an executing mechanism of the electro-hydraulic excavator according to the working mode with the highest priority, then detecting the communication state of the electro-hydraulic excavator based on a composite disconnection judging mechanism, and finally adjusting the working mode based on a safety control strategy when the communication abnormal state is detected. Through the mode, the safety risk of the operation of the electro-hydraulic excavator is reduced, and the operation efficiency is improved.

Inventors

  • CAO JINGYU
  • TONG YING
  • ZHANG BIN

Assignees

  • 三一重机有限公司

Dates

Publication Date
20260512
Application Date
20260312

Claims (10)

  1. 1. An electro-hydraulic shovel control method, comprising: In response to a power-on signal of the electro-hydraulic excavator, acquiring the activation states and operation priority information of different working modes, and determining the working mode with the highest priority currently based on a priority judging rule; controlling an actuating mechanism of the electro-hydraulic excavator according to the working mode of the highest priority; detecting a communication state of the electro-hydraulic excavator based on a composite disconnection judging mechanism; And when the abnormal communication state is detected, the working mode is adjusted based on the safety control strategy.
  2. 2. The method of claim 1, wherein the modes of operation include at least a local mode of operation, a short-range remote control mode, and a long-range remote control mode; The working modes are mutually independent and mutually exclusive, and only one working mode is allowed to have the highest priority at the same time.
  3. 3. The method of claim 1, wherein determining the current operating mode having the highest priority based on the priority decision rule comprises: When a plurality of working modes are in an activated state, sorting the priority of each working mode based on the operation priority information, and outputting the working mode with the highest priority currently; When only one of the operating modes is in the active state, the operating mode is determined to be the currently highest priority operating mode.
  4. 4. The method of claim 1, wherein the composite disconnection determination mechanism includes at least communication heartbeat detection and control command and actual response compliance detection of an electro-hydraulic shovel actuator.
  5. 5. The method of claim 2, wherein the adjusting the operation mode based on the security control policy when the communication abnormal state is detected comprises: When at least one of abnormal communication heartbeat and inconsistent actual response of the control instruction and the executing mechanism is detected, determining that the communication is abnormal; And in the abnormal communication state, determining the local operation mode as a current working mode, and determining the local operation mode as a working mode with the highest priority currently, and simultaneously reducing the priorities of the remote control mode and the short-range remote control mode.
  6. 6. The method of claim 1, wherein prior to the acquiring the activation status and operational priority information for the different modes of operation, the method further comprises: Collecting environment information of a current operation scene; according to the environment information; and adjusting operation priority information of different working modes based on the environment information.
  7. 7. The method of claim 1, wherein the control mode of the actuator of the electro-hydraulic excavator includes an electric control mode and a hydraulic control mode; The electric control mode and the hydraulic control mode are connected in parallel to the executing mechanism and are mutually independent in control logic, so that any control mode can independently control the executing mechanism.
  8. 8. An electro-hydraulic shovel control device, comprising: the determining module is used for responding to the power-on signal of the electro-hydraulic excavator, acquiring the activation states and the operation priority information of different working modes, and determining the working mode with the highest priority currently based on a priority judging rule; The control module is used for controlling an actuating mechanism of the electro-hydraulic excavator according to the working mode with the highest priority; the detection module is used for detecting the communication state of the electric hydraulic excavator based on a composite disconnection judging mechanism; And the adjusting module is used for adjusting the working mode based on the safety control strategy when the communication abnormal state is detected.
  9. 9. An electronic device is characterized by comprising a memory and a processor; The memory stores computer-executable instructions; The processor executing computer-executable instructions stored in the memory, causing the processor to perform the method of any one of claims 1-7.
  10. 10. An electro-hydraulic shovel, wherein the electro-hydraulic shovel is operable to control an implement by a method according to any one of claims 1 to 7.

Description

Electro-hydraulic excavator control method, device and equipment and electro-hydraulic excavator Technical Field The application relates to the field of control of electric engineering machinery, in particular to a control method, a device and equipment of an electric hydraulic excavator and the electric hydraulic excavator. Background The electric hydraulic excavator is used as core equipment of modern engineering machinery and is widely applied to the fields of national defense construction engineering, traffic transportation construction, energy industry construction and production, city construction and the like. In a complex working scenario, operator safety is very challenging. The traditional manual driving operation mode requires that an operator is required to be located in an equipment cockpit and is directly exposed to sudden risks such as collapse, boulder sliding, gas leakage and the like, so that serious casualties are likely to be caused. In addition, in the scenes such as mining, tunneling and the like, equipment needs to run in a severe environment with high dust concentration and low visibility, and visual perception and operation accuracy of operators are limited, so that operation risks are further aggravated. With the maturity of technologies such as 5G communication, thing networking, etc., remote control technology gradually becomes the preferred scheme of replacing manual operation, but current remote control system still has apparent shortcoming in aspects such as operation mode switching, communication stability, equipment control logic, etc., and what is needed is an electric hydraulic excavator control method that can compromise security, reliability and operation flexibility to satisfy the harsh demand of controlling equipment under the high-risk scene. In the prior art, the remote control system of the electro-hydraulic excavator is usually remotely controlled based on a wireless communication network (such as 5G, wiFi). The system architecture generally comprises a remote control end, an electro-hydraulic excavator end and a communication module, wherein an operation instruction is transmitted to an execution unit (such as a hydraulic valve, a motor and the like) through a data transmission unit, so that equipment is driven to act, and the state of the equipment is fed back in real time through a display unit. However, the scheme in the prior art has the problems that the priority of the operation mode is not clear, and the operation security is difficult to guarantee depending on the stability of the communication network. Disclosure of Invention The embodiment of the application provides an electro-hydraulic excavator control method, an electro-hydraulic excavator control device, electro-hydraulic excavator control equipment and an electro-hydraulic excavator, which are used for solving the problems that in the prior art, the priority of an operation mode is not clear, the stability of a communication network is relied on, and the operation safety is difficult to guarantee. In a first aspect, an embodiment of the present application provides a control method of an electro-hydraulic excavator, including: In response to a power-on signal of the electro-hydraulic excavator, acquiring the activation states and operation priority information of different working modes, and determining the working mode with the highest priority currently based on a priority judging rule; controlling an actuating mechanism of the electro-hydraulic excavator according to the working mode of the highest priority; detecting a communication state of the electro-hydraulic excavator based on a composite disconnection judging mechanism; And when the abnormal communication state is detected, the working mode is adjusted based on the safety control strategy. In one possible embodiment, the operation modes include at least a local operation mode, a short-range remote control mode, and a long-range remote control mode; The working modes are mutually independent and mutually exclusive, and only one working mode is allowed to have the highest priority at the same time. In a possible implementation manner, the determining, based on the priority determining rule, the current operation mode with the highest priority includes: When a plurality of working modes are in an activated state, sorting the priority of each working mode based on the operation priority information, and outputting the working mode with the highest priority currently; When only one of the operating modes is in the active state, the operating mode is determined to be the currently highest priority operating mode. In one possible implementation, the composite disconnection determination mechanism at least includes communication heartbeat detection and detection of consistency of actual response of the control command and the electro-hydraulic excavator actuator. In one possible implementation manner, when the abnormal communication state is dete