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

Excavator control method and device, excavator and storage medium

QIN HAOXING / ZHAN BANGCHAO / CHENG LI

The invention relates to the technical field of excavator control, and provides an excavator control method and device, an excavator and a storage medium, the method comprises the following steps: S1, generating a stability coefficient according to the current complete machine parameter of the excavator under the current execution action; s2, under the condition that the stability coefficient is smaller than or equal to a preset threshold value, the current execution action is adjusted according to a preset action space range, a target execution action is obtained, and target complete machine parameters of the excavator under the target execution action are obtained; s3, determining the target complete machine parameter as a new current complete machine parameter, and repeatedly executing the steps S1-S2 until the finally determined target stability coefficient is greater than a preset threshold; and S4, controlling the excavator to operate according to the execution action corresponding to the target stability coefficient. According to the method, by judging the stability coefficient, when the excavator is in the unstable state, the preset action space range can be adopted, the current execution action of the excavator can be adjusted in real time, refined operation of the excavator is achieved till the excavator can be in the stable state, and the target action is effectively executed.

本发明涉及挖掘机控制技术领域，提供一种挖掘机控制方法、装置、挖掘机及存储介质，该方法包括：S1、根据挖掘机在当前执行动作下的当前整机参数，生成稳定性系数；S2、在稳定性系数小于等于预设阈值的情况下，根据预设动作空间范围，调整当前执行动作，得到目标执行动作，并获取挖掘机在目标执行动作下的目标整机参数；S3、将目标整机参数确定为新的当前整机参数，并重复执行步骤S1‑S2，直到最终确定的目标稳定性系数大于预设阈值；S4、按照目标稳定性系数对应的执行动作，控制挖掘机运行。该方法通过对稳定性系数的判断，在挖掘机处于不稳定状态时，能够采用预设动作空间范围，实时调整挖掘机的当前执行动作，实现挖掘机的精细化操作，直到该挖掘机能够处于稳定状态，进行有效执行目标动作。

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