Excavator control method and device, excavator and storage medium: Fid-Bau Portal

Excavator control method and device, excavator and storage medium

ZHANG YUE / SUI SHAOLONG

The invention provides an excavator control method and device, an excavator and a storage medium. The method comprises the following steps: obtaining the extension amount of a telescopic rod of a hydraulic cylinder of each moving part of the excavator; determining the current posture of the excavator according to the extension amount of the telescopic rod and a preset excavator parameter model; calculating an expected route of linear motion of the excavator from the current posture to a preset target posture; and controlling the excavator to work according to an expected route by adjusting the extension amount of the telescopic rod of each hydraulic cylinder. An excavator bucket of the full-automatic excavator can do linear motion, and therefore the excavator can be remotely controlled to do actions such as land leveling and slope repairing which are extremely dependent on the operation experience of a driver.

本申请提出一种挖掘机控制方法、装置、挖掘机及存储介质，该方法包括：获取挖掘机各运动部件的液压缸的伸缩杆伸长量；根据伸缩杆伸长量和预设的挖掘机参数模型确定挖掘机的当前位姿；计算挖掘机从当前位姿到预设的目标位姿做直线运动的期望路线；通过调节各液压缸的伸缩杆伸长量，控制挖掘机使其按照期望路线进行作业。本申请能够使全自动挖掘机的挖斗做直线运动，从而可以远程操纵挖掘机进行平地、修斜坡等极为依赖驾驶员操作经验的动作。

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