阅读说明：本技术 挖掘机及其精准操控方法和系统、车载端和存储介质 (Excavator, accurate control method and system thereof, vehicle-mounted terminal and storage medium ) 是由 耿家文 邢泽成 马鑫 王敦坤 刘立祥 牛东东 魏红敏 张斌 蔺相伟 尹学峰 于 2021-07-27 设计创作，主要内容包括：本公开涉及一种挖掘机及其精准操控方法和系统、车载端和存储介质。该挖掘机精准操控方法包括：预先设置挖掘机的多种工作模式、以及每种工作模式对应的动作速率和动作系数；根据手柄输入信号进行工作模式切换。本公开可以通过手柄按钮进行工作模式一键切换,帮助操作手控制整机快速切换到精细控制模式。(The disclosure relates to an excavator, an accurate control method and system thereof, a vehicle-mounted terminal and a storage medium. The excavator accurate control method comprises the following steps: presetting a plurality of working modes of the excavator, and action rates and action coefficients corresponding to each working mode; and switching the working modes according to the handle input signal. This disclosure can carry out the mode one-key switching through the handle button, and help the operation hand control complete machine fast switch to the fine control mode.)

1. An excavator accurate control method is characterized by comprising the following steps:

presetting a plurality of working modes of the excavator, and action rates and action coefficients corresponding to each working mode;

and switching the working modes according to the handle input signal.

2. The excavator accurate control method according to claim 1, wherein the handle input signal is a button command signal of an electric control handle;

the switching of the working mode according to the handle input signal comprises:

judging whether the working mode needs to be switched or not according to a button instruction signal of the electric control handle;

and under the condition that the working mode needs to be switched, switching the working mode, and calling the action rate and the action coefficient corresponding to the switched working mode.

3. The excavator precise manipulation method according to claim 1 or 2, further comprising:

receiving an opening signal of an electric control handle or an electric control pedal;

according to the opening degree signal of the electric control handle or the electric control pedal and the working mode after switching, flow distribution is carried out, and the execution current of each action of the excavator is determined;

according to the current executed by each action of the excavator, the output current drives the electromagnetic valve to act through pressure and action judgment, and the fine action of the excavator is realized.

4. The method for accurately controlling the excavator according to claim 3, wherein the step of distributing the flow according to the opening degree signal of the electric control handle or the electric control pedal, the action rate and the action coefficient corresponding to the working mode after switching, and the step of determining the execution current of each action of the excavator comprises the following steps:

reading the working mode state after switching, and collecting an opening signal of an electric control handle or an electric control pedal;

determining a parameter set in a switched working mode according to an opening signal of an electric control handle or an electric control pedal, wherein the parameter set is a corresponding relation between various opening signals and corresponding currents;

and determining the execution current of each action of the excavator through interpolation operation according to the parameter group in the working mode after switching.

5. The method for accurately controlling the excavator according to claim 3, wherein the electric control handle and the electric control pedal are arranged at a remote control end.

6. The excavator accurate control method according to claim 1, wherein the handle input signal is a button command signal of an electric control handle;

the switching of the working mode according to the handle input signal comprises:

acquiring the current working mode state and carrying out mode initialization;

receiving a button instruction signal of an electric control handle;

judging whether a handle button condition is met, wherein the handle button condition is that the current state of the handle button is that the handle button is pressed down and the upper cycle state of the handle button is that the handle is not pressed down;

and under the condition that the handle button condition is met, switching the working modes.

7. The excavator precision control method as claimed in claim 6, wherein the performing mode initialization comprises:

and setting the current state of the handle button as that the handle is not pressed, and setting the upper period state of the handle button as that the handle is not pressed.

8. The excavator precision control method according to claim 1 or 2, wherein the switching of the working mode comprises:

judging whether the current mode parameter is greater than a preset threshold value, wherein the preset threshold value is greater than or equal to the preset number of working modes;

under the condition that the current mode parameter is larger than a preset threshold value, setting the current mode parameter to be 1, and switching the system to a default mode;

and when the current mode parameter is not larger than the preset threshold value, adding 1 to the current mode parameter, and executing a preset working mode corresponding to the current mode parameter after adding 1 to the current mode parameter by the system.

9. An on-board terminal, comprising:

the working mode setting module is used for presetting a plurality of working modes of the excavator, and action rates and action coefficients corresponding to the working modes;

and the working mode switching module is used for switching the working modes according to the handle input signal.

10. The vehicle-mounted terminal according to claim 9, wherein the vehicle-mounted terminal is configured to perform an operation for implementing the excavator precision manipulation method according to any one of claims 1 to 8.

11. An on-board terminal, comprising:

a memory to store instructions;

a processor configured to execute the instructions to cause the on-board terminal to perform operations to implement the excavator precision maneuvering method of any of claims 1-8.

12. An excavator precision control system comprising the vehicle-mounted terminal according to any one of claims 9 to 11.

13. The excavator precision handling system of claim 12, further comprising:

and the remote control end is used for inputting the operating signal of at least one of the electric control handle and the electric control pedal to the vehicle-mounted end.

14. An excavator comprising the vehicle-mounted terminal of any one of claims 9 to 11.

15. A non-transitory computer readable storage medium storing computer instructions that when executed by a processor implement the excavator precision control method of any one of claims 1-8.

Technical Field

The disclosure relates to the field of excavator control, in particular to an excavator, an accurate control method and system thereof, a vehicle-mounted end and a storage medium.

Background

In the prior art, in a dangerous operation scene, the unmanned remote control excavator has increasingly large effect, the remote operation has the difficult problems that the remote view is not as accurate as the human eye field identification, the remote operation accuracy caused by video delay is not enough, and in the fine construction operation, the construction accuracy is influenced and potential safety hazards are caused due to the instability of an electric control hydraulic system.

Disclosure of Invention

The inventor finds out through research that: the related technology is basically limited to improving the video definition and reducing the time delay for the remote control operation precision. The single control mode of the related art cannot solve the high-precision operation requirement of the fine operation on the micro operation.

In view of at least one of the above technical problems, the present disclosure provides an excavator, a precise control method and system thereof, a vehicle-mounted terminal and a storage medium, wherein the work mode can be switched by one key through a handle button.

According to one aspect of the disclosure, a precision control method for an excavator is provided, which includes:

presetting a plurality of working modes of the excavator, and action rates and action coefficients corresponding to each working mode;

and switching the working modes according to the handle input signal.

In some embodiments of the present disclosure, the handle input signal is a button command signal of an electrically controlled handle.

In some embodiments of the present disclosure, the switching of the operation mode according to the handle input signal includes:

judging whether the working mode needs to be switched or not according to a button instruction signal of the electric control handle;

and under the condition that the working mode needs to be switched, switching the working mode, and calling the action rate and the action coefficient corresponding to the switched working mode.

In some embodiments of the present disclosure, the precision control method of the excavator further includes:

receiving an opening signal of an electric control handle or an electric control pedal;

according to the opening degree signal of the electric control handle or the electric control pedal and the working mode after switching, flow distribution is carried out, and the execution current of each action of the excavator is determined;

according to the current executed by each action of the excavator, the output current drives the electromagnetic valve to act through pressure and action judgment, and the fine action of the excavator is realized.

In some embodiments of the present disclosure, the performing flow distribution according to an opening signal of an electric control handle or an electric control pedal, and an action rate and an action coefficient corresponding to a working mode after switching, and determining each action execution current of the excavator includes:

reading the working mode state after switching, and collecting an opening signal of an electric control handle or an electric control pedal;

determining a parameter set in a switched working mode according to an opening signal of an electric control handle or an electric control pedal, wherein the parameter set is a corresponding relation between various opening signals and corresponding currents;

and determining the execution current of each action of the excavator through interpolation operation according to the parameter group in the working mode after switching.

In some embodiments of the present disclosure, the electrically controlled handle and the electrically controlled foot rest are disposed at a remote control end.

In some embodiments of the present disclosure, the handle input signal is a button command signal of an electrically controlled handle.

In some embodiments of the present disclosure, the switching of the operation mode according to the handle input signal includes:

acquiring the current working mode state and carrying out mode initialization;

receiving a button instruction signal of an electric control handle;

judging whether a handle button condition is met, wherein the handle button condition is that the current state of the handle button is that the handle button is pressed down and the upper cycle state of the handle button is that the handle is not pressed down;

and under the condition that the handle button condition is met, switching the working modes.

In some embodiments of the present disclosure, the performing mode initialization comprises:

and setting the current state of the handle button as that the handle is not pressed, and setting the upper period state of the handle button as that the handle is not pressed.

In some embodiments of the present disclosure, the performing of the operation mode switching includes:

judging whether the current mode parameter is greater than a preset threshold value, wherein the preset threshold value is greater than or equal to the preset number of working modes;

under the condition that the current mode parameter is larger than a preset threshold value, setting the current mode parameter to be 1, and switching the system to a default mode;

and when the current mode parameter is not larger than the preset threshold value, adding 1 to the current mode parameter, and executing a preset working mode corresponding to the current mode parameter after adding 1 to the current mode parameter by the system.

According to another aspect of the present disclosure, there is provided an in-vehicle terminal including:

the working mode setting module is used for presetting a plurality of working modes of the excavator, and action rates and action coefficients corresponding to the working modes;

and the working mode switching module is used for switching the working modes according to the handle input signal.

In some embodiments of the present disclosure, the vehicle-mounted terminal is configured to perform an operation for implementing the method for accurately controlling the excavator according to any one of the above embodiments.

According to another aspect of the present disclosure, there is provided an in-vehicle terminal including:

a memory to store instructions;

and the processor is used for executing the instruction, so that the vehicle-mounted end executes the operation of realizing the excavator precision control method according to any one of the embodiments.

According to another aspect of the present disclosure, an excavator precise control system is provided, which includes the vehicle-mounted terminal according to any one of the above embodiments.

In some embodiments of the present disclosure, the precision control system of an excavator further comprises:

and the remote control end is used for inputting the operating signal of at least one of the electric control handle and the electric control pedal to the vehicle-mounted end.

According to another aspect of the present disclosure, an excavator is provided, which includes the vehicle-mounted terminal according to any one of the above embodiments.

According to another aspect of the present disclosure, a non-transitory computer readable storage medium is provided, wherein the non-transitory computer readable storage medium stores computer instructions, which when executed by a processor, implement the excavator precision control method according to any one of the above embodiments.

This disclosure can carry out the mode one-key switching through the handle button, and help the operation hand control complete machine fast switch to the fine control mode.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic diagram of a precision control system of an excavator according to some embodiments of the present disclosure.

Fig. 2 is a schematic diagram of another embodiment of a precision control system of an excavator according to the present disclosure.

Fig. 3 is a schematic diagram of some embodiments of a precision control method for an excavator according to the present disclosure.

FIG. 4 is a schematic illustration of a custom mode meter setup interface in some embodiments of the present disclosure.

Fig. 5 is a schematic diagram of another embodiment of a precision control method for an excavator according to the present disclosure.

Fig. 6 is a schematic diagram of a control strategy for rapidly switching operating modes of a handle touch button according to some embodiments of the present disclosure.

Fig. 7 is a schematic diagram of a fine mode based handle signal processing method in some embodiments of the present disclosure.

Fig. 8 is a schematic view of some embodiments of the vehicle end of the present disclosure.

FIG. 9 is a schematic structural diagram of another embodiment of a vehicle-mounted end according to the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Fig. 1 is a schematic diagram of a precision control system of an excavator according to some embodiments of the present disclosure. As shown in fig. 1, the precision control system of the excavator of the present disclosure includes a vehicle-mounted terminal 100 and a remote control terminal 200, wherein:

and a remote control end 200 for inputting a manipulation signal of at least one of the electric control handle and the electric control pedal to the vehicle-mounted end.

The vehicle-mounted terminal 100 is used for presetting a plurality of working modes of the excavator, and action rates and action coefficients corresponding to the working modes; and switching the working modes according to the handle input signal.

Fig. 2 is a schematic diagram of another embodiment of a precision control system of an excavator according to the present disclosure. As shown in fig. 2, the vehicle-mounted terminal 100 may include a meter 10, a main controller 20, a first wireless terminal 30, and an action solenoid valve 40, wherein:

the meter 10 is a system input module, and is configured to start a fine mode function through a setting interface and provide a custom setting interface.

The main controller 20 is a system core control unit, and is configured to receive instrument setting information, electric control handle information, and pedal information, and implement manipulation signal processing, fine mode switching, motion stability control, and solenoid valve driving through a core operation module.

The first wireless terminal 30 is a communication device, and is configured to perform data transmission between the remote control terminal and the vehicle-mounted terminal.

The operation solenoid valve 40 is an actuator, and is configured to perform PWM (Pulse width modulation) driving by the main controller 20, build a pilot pressure, and drive the main spool to operate.

In some embodiments of the present disclosure, the actuation solenoid valve 40 may be a 12-way actuation solenoid valve.

In some embodiments of the present disclosure, as shown in fig. 2, the remote control end 200 may include an electric control handle, an electric control pedal 50, and a second wireless terminal 60, wherein:

the second wireless terminal 60 is a communication device, and is configured to perform data transmission between the remote control terminal and the vehicle-mounted terminal.

The electric control handle and the electric control pedal 50 are control signal input elements, and are used for sending the handle and pedal stroke through a Controller Area Network (CAN) bus, and performing rapid mode switching through a handle button.

Fig. 3 is a schematic diagram of some embodiments of a precision control method for an excavator according to the present disclosure. Preferably, this embodiment can be executed by this disclosure's precision control system of excavator or this disclosure's on-vehicle end. The method may comprise at least one of steps 31 and 32, wherein:

and step 31, presetting a plurality of working modes of the excavator, and action rates and action coefficients corresponding to the working modes.

FIG. 4 is a schematic illustration of a custom mode meter setup interface in some embodiments of the present disclosure. As shown in fig. 4, different control modes can be selected through the first interface, the second interface is a parameter setting interface of the first user-defined mode and the second user-defined mode, and the operation requirements of different manipulators on the actions of the excavator are met by setting different action coefficients.

In some embodiments of the present disclosure, as shown in fig. 4, the fine mode selectable in interface one includes a default mode, a fine mode one, a fine mode two, a custom mode one, and a custom mode two.

In some embodiments of the present disclosure, as shown in fig. 4, the setting of the custom mode in the second interface includes setting of parameters such as an action rate, a boom-up coefficient, a boom-down coefficient, an arm-in coefficient, an arm-out coefficient, a bucket-in coefficient, a bucket-out coefficient, a left swing coefficient, and a right swing coefficient.

And step 32, switching the working modes according to the handle input signal.

In some embodiments of the present disclosure, the handle input signal may be a button command signal of an electric control handle.

In some embodiments of the present disclosure, step 32 may comprise at least one of step 321 and step 322, wherein:

step 321, judging whether the working mode needs to be switched according to the button instruction signal of the electric control handle.

And 322, switching the working mode and calling the action rate and the action coefficient corresponding to the switched working mode under the condition that the working mode is required to be switched.

In some embodiments of the present disclosure, step 32 may comprise: acquiring the current working mode state and carrying out mode initialization; receiving a button instruction signal of an electric control handle; judging whether a handle button condition is met, wherein the handle button condition is that the current state of the handle button is that the handle button is pressed down and the upper cycle state of the handle button is that the handle is not pressed down; and under the condition that the handle button condition is met, switching the working modes.

In some embodiments of the present disclosure, the performing of the mode initialization may include: and setting the current state of the handle button as that the handle is not pressed, and setting the upper period state of the handle button as that the handle is not pressed.

In some embodiments of the present disclosure, the step of switching the operation mode may include: judging whether the current mode parameter mode _ k is larger than a preset threshold value, wherein the preset threshold value is larger than or equal to the preset number of working modes; under the condition that the current mode parameter is larger than a preset threshold value, setting the current mode parameter to be 1, and switching the system to a default mode; and when the current mode parameter is not larger than the preset threshold value, adding 1 to the current mode parameter, and executing a preset working mode corresponding to the current mode parameter after adding 1 to the current mode parameter by the system.

In some embodiments of the present disclosure, the precision control method of the excavator may further include: receiving an opening signal of an electric control handle or an electric control pedal; according to the opening degree signal of the electric control handle or the electric control pedal and the working mode after switching, flow distribution is carried out, and the execution current of each action of the excavator is determined; according to the current executed by each action of the excavator, the output current drives the electromagnetic valve to act through pressure and action judgment, and the fine action of the excavator is realized.

In some embodiments of the present disclosure, the step of performing flow distribution according to an opening signal of the electric control handle or the electric control pedal, and an action rate and an action coefficient corresponding to the switched working mode, and determining each action execution current of the excavator may include: reading the working mode state after switching, and collecting an opening signal of an electric control handle or an electric control pedal; determining a parameter set in a switched working mode according to an opening signal of an electric control handle or an electric control pedal, wherein the parameter set is a corresponding relation between various opening signals and corresponding currents; and determining the execution current of each action of the excavator through interpolation operation according to the parameter group in the working mode after switching.

In some embodiments of the present disclosure, the electrically controlled handle and the electrically controlled foot rest are disposed at a remote control end.

According to the embodiment of the disclosure, a control strategy for self-defining mode parameters through an instrument is developed, a working mode with more comfort and wider applicability is provided for an operator, and through setting of action rate and each action coefficient, an internal program carries out flow automatic matching on composite actions, so that the operator can meet the requirements of different operation working conditions, and the operation accuracy and efficiency are improved.

Fig. 5 is a schematic diagram of another embodiment of a precision control method for an excavator according to the present disclosure. Preferably, this embodiment can be executed by this disclosure's precision control system of excavator or this disclosure's on-vehicle end. The method may comprise at least one of steps S101-S107, wherein:

in step S101, the main controller 20 receives the instruction of the meter 10, determines whether there is a parameter update instruction, and if there is a new instruction, the process proceeds to step S102, and if not, the process proceeds to step S103.

In step S102, the main controller 20 receives the action rate and each action coefficient sent by the meter 10, stores the action rate and each action coefficient in a storage area, and enters step S103 after the fine mode control system is called.

Step S103, the main controller 20 receives a button instruction signal of the electric control handle 50 through the wireless terminal 30, and judges whether to switch the mode; in step S103, a control strategy for rapidly switching the operation mode by touching the key with the handle is provided.

And step S104, switching the working mode and calling the storage area type parameters.

Step S105, the main controller 20 receives the opening degree signals of the electric control handle and the pedals 50 through the wireless terminal 30 and processes the operation signals; in step S105, an operation signal processing method based on the fine mode is provided.

In step S106, the main controller 20 performs flow rate distribution according to the operation mode, and in step S106, a flow rate distribution control method is provided.

And step S107, the current driving module takes each action execution current as input, and outputs current to drive the electromagnetic valve 40 to act through pressure and action judgment, so that fine action of the excavator is realized.

Fig. 6 is a schematic diagram of a control strategy for rapidly switching operating modes of a handle touch button according to some embodiments of the present disclosure. As shown in fig. 6, the control method for rapidly switching the operating mode by touching the button with the handle (e.g., step S103 in the embodiment of fig. 5) may at least include at least one of step S201 to step S207, where:

in step S201, the main controller 20 runs the program, reads the current mode state of the storage area, initializes the current mode parameter mode _ k of the working mode, the current state of the handle button _ cur ═ false, and the on-handle cycle state button _ pre ═ false.

In step S202, the main controller 20 receives the button signal from the electric control handle 50, and determines that the button _ cur is true when the button press is received.

In step S203, it is determined that button _ cur is greater than tune and button _ pre is less than false, and if true, the process proceeds to step S204, and if false, the process proceeds to step S207.

In step S204, it is determined whether mode _ k > n, where n is greater than or equal to 5. If not, go to step S205; if yes, the process proceeds to step S206.

In step S205, mode _ k is counted to +1, and mode _ k is determined to be 1 by mode _ k, and the mode is the default mode.

mode _ k is 2 and fine mode one is entered.

mode _ k is 3 and fine mode two is entered.

And (4) entering a user-defined mode one.

And (5) entering a custom mode two.

…

In step S206, set mode _ k to 1, and the system returns to the default mode.

In step S207, the mode _ k current mode is executed.

According to the embodiment of the disclosure, the working mode state can be circularly switched by switching and judging the state of the handle button in the program, so that the one-key quick switching of the working mode is realized.

Fig. 7 is a schematic diagram of a fine mode based handle signal processing method in some embodiments of the present disclosure. As shown in fig. 7, the fine mode-based handle signal processing method (e.g., step S105 of the embodiment of fig. 5) may include at least one of step S301 to step S303, wherein:

step S301, reading the current working mode state, and collecting an electric control handle pedaling action signal per _ X.

Step S302, confirming the current working mode state and calling the corresponding mode parameter group.

For example: mode _ k ═ 1, which is the default mode, joystick opening percentage [ per _ S1, per _ a 1.. per _ F1], current array; [ cur _ S2, cur _ A2.. cur _ F2 ].

mode _ k ═ 2, enter fine mode one, joystick opening percentage [ per _ S2, per _ a 2.. per _ F2], current array; [ cur _ S2, cur _ A2.. cur _ F2 ].

mode _ k is 3, enter fine mode two, joystick opening percentage [ per _ S3, per _ A3.. per _ F3], current array; [ cur _ S3, cur _ A3.. cur _ F3 ].

mode _ k ═ 4, enter custom mode one, joystick opening percentage [ per _ S4, per _ a 4.. per _ F4], current array; [ cur _ S4, cur _ A4.. cur _ F4 ].

mode _ k is 5, enter custom mode two, joystick opening percentage [ per _ S5, per _ a 5.. per _ F5], current array; [ cur _ S5, cur _ A5.. cur _ F5 ].

In step S303, the solenoid valve driving current cur _ X is calculated by interpolation operation.

Based on the excavator accurate control method provided by the embodiment of the disclosure, the technical method for switching the control mode by one key through the handle button is provided, the operation hand is helped to control the complete machine to be quickly switched to the accurate control mode, and the accurate control of micro-operation can be realized. The above embodiments of the present disclosure can reduce the operation error and jitter by a control manner of processing the remote operation handle signal and amplifying the output. The above embodiments of the present disclosure provide a control method capable of performing action rate customization through an instrument, and store user-defined parameters. Meanwhile, the embodiment of the disclosure provides a control mode capable of switching modes by one key through a handle, so that a user can switch the modes quickly.

The excavator precision control method provided by the embodiment of the disclosure comprises a user-defined action rate control method and one-key switching.

Fig. 8 is a schematic view of some embodiments of the vehicle end of the present disclosure. As shown in fig. 8, the vehicle-mounted terminal of the present disclosure may include an operation mode setting module 81 and an operation mode switching module 82, where:

and the working mode setting module 81 is used for presetting a plurality of working modes of the excavator, and action rates and action coefficients corresponding to the working modes.

And the working mode switching module 82 is used for switching the working modes according to the handle input signal.

In some embodiments of the present disclosure, the handle input signal may be a button command signal of an electric control handle.

In some embodiments of the present disclosure, the working mode switching module 82 may be configured to determine whether to switch the working mode according to a button instruction signal of the electric control handle; and under the condition that the working mode needs to be switched, switching the working mode, and calling the action rate and the action coefficient corresponding to the switched working mode.

In some embodiments of the present disclosure, the working mode switching module 82 may be configured to obtain a current working mode state, and perform mode initialization; receiving a button instruction signal of an electric control handle; judging whether a handle button condition is met, wherein the handle button condition is that the current state of the handle button is that the handle button is pressed down and the upper cycle state of the handle button is that the handle is not pressed down; and under the condition that the handle button condition is met, switching the working modes.

In some embodiments of the present disclosure, the operation mode switching module 82 may be configured to set the current status of the handle button to be that the handle is not pressed and set the last cycle status of the handle button to be that the handle is not pressed when performing the mode initialization.

In some embodiments of the present disclosure, the working mode switching module 82 may be configured to determine whether the current mode parameter is greater than a predetermined threshold value when the working mode is switched, where the predetermined threshold value is greater than or equal to a preset number of working modes; under the condition that the current mode parameter is larger than a preset threshold value, setting the current mode parameter to be 1, and switching the system to a default mode; and when the current mode parameter is not larger than the preset threshold value, adding 1 to the current mode parameter, and executing a preset working mode corresponding to the current mode parameter after adding 1 to the current mode parameter by the system.

In some embodiments of the present disclosure, as shown in fig. 8, the vehicle-mounted end of the present disclosure may include a fine mode control module 83, wherein:

the fine mode control module 83 is used for receiving an opening signal of an electric control handle or an electric control pedal; according to the opening degree signal of the electric control handle or the electric control pedal and the working mode after switching, flow distribution is carried out, and the execution current of each action of the excavator is determined; according to the current executed by each action of the excavator, the output current drives the electromagnetic valve to act through pressure and action judgment, and the fine action of the excavator is realized.

In some embodiments of the present disclosure, the fine mode control module 83 is configured to read the state of the switched working mode, and collect an opening signal of the electrically controlled handle or the electrically controlled pedal; determining a parameter set in a switched working mode according to an opening signal of an electric control handle or an electric control pedal, wherein the parameter set is a corresponding relation between various opening signals and corresponding currents; and determining the execution current of each action of the excavator through interpolation operation according to the parameter group in the working mode after switching.

In some embodiments of the present disclosure, the electrically controlled handle and the electrically controlled foot rest are disposed at a remote control end.

In some embodiments of the present disclosure, the handle input signal is a button command signal of an electrically controlled handle.

In some embodiments of the present disclosure, the vehicle-mounted terminal may be configured to perform operations for implementing the method for accurately controlling the excavator according to any of the embodiments (e.g., any of fig. 3 to 7).

According to the embodiment of the disclosure, the working mode state can be circularly switched by switching and judging the state of the handle button in the program, so that the one-key quick switching of the working mode is realized.

FIG. 9 is a schematic structural diagram of another embodiment of a vehicle-mounted end according to the present disclosure. As shown in fig. 9, the vehicle-mounted terminal includes a memory 91 and a processor 92.

The memory 91 is used for storing instructions, the processor 92 is coupled to the memory 91, and the processor 92 is configured to execute the excavator precision manipulation method according to the above-mentioned embodiment (for example, any one of fig. 3 to 7) based on the instructions stored in the memory.

As shown in fig. 9, the vehicle-mounted terminal further includes a communication interface 93 for information interaction with other devices. Meanwhile, the vehicle-mounted terminal further includes a bus 94, and the processor 92, the communication interface 93 and the memory 91 complete mutual communication through the bus 94.

The memory 91 may comprise a high-speed RAM memory, and may further comprise a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 91 may also be a memory array. The storage 91 may also be partitioned and the blocks may be combined into virtual volumes according to certain rules.

Further, the processor 92 may be a central processing unit CPU, or may be an application specific integrated circuit ASIC, or one or more integrated circuits configured to implement embodiments of the present disclosure.

According to the embodiment of the disclosure, a control strategy for self-defining mode parameters through an instrument is developed, a working mode with more comfort and wider applicability is provided for an operator, and through setting of action rate and each action coefficient, an internal program carries out flow automatic matching on composite actions, so that the operator can meet the requirements of different operation working conditions, and the operation accuracy and efficiency are improved.

According to the embodiment of the disclosure, the operation signals are subjected to signal processing according to different working modes, so that the operation fineness can be distinguished in different modes, the operation signals can be amplified and reduced, and the operation sensitivity and the stability are improved.

According to another aspect of the present disclosure, an excavator is provided, which includes the vehicle-mounted end according to any one of the embodiments (for example, the embodiment of fig. 8 or 9).

According to another aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores computer instructions, and the instructions when executed by a processor implement the method for precise control of an excavator according to any of the above embodiments (for example, any of fig. 3-7).

Based on the non-transitory computer readable storage medium provided by the above-mentioned embodiment of the present disclosure, a user-definable fine mode control manner capable of fast and flexibly switching is provided, which helps an operator to reduce the influence of a view when performing fine actions, and more finely controls the excavator to execute micro actions, and meanwhile, a user-defined control mode is provided, and by setting different action rates and coefficients, the control accuracy and the wider applicability are realized, and the efficiency during fine operation is improved.

As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may 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, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The on-board end described above may be implemented as a general purpose processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof, for performing the functions described herein.

Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware to implement the above embodiments, where the program may be stored in a non-transitory computer readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic or optical disk, and the like.

The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.