Control method and control device for excavator, processor and excavator

Abstract

The embodiment of the application provides a control method and a control device for a excavator, a processor and the excavator, and belongs to the field of engineering machinery. The excavator comprises a control mechanism, a bucket rod and a bucket rod retracting electromagnetic valve. The control method for the excavator comprises the following steps: acquiring a pilot pressure of the control mechanism and a bucket rod large cavity oil inlet pressure of the bucket rod; determining a target action type of the excavator according to the pilot pressure and the bucket rod large cavity oil inlet pressure, wherein the target action type comprises a far-end grading action and a non-far-end grading action; determining a target control current of the bucket rod retracting electromagnetic valve according to the target action type and the pilot pressure; and controlling the bucket rod retracting electromagnetic valve to work according to the target control current. The embodiment of the application can optimize the grading performance of the excavator.

Description

Technical Field

[0001] This invention relates to the field of construction machinery, and more specifically to a control method and control device, processor and excavator for an excavator. Background Technology

[0002] Excavators prepare for leveling by lowering the boom (hydraulic injection in the small chamber) and swinging the stick outward (hydraulic injection in the small chamber), and then perform the leveling action by raising the boom (hydraulic injection in the large chamber) and retracting the stick inward (hydraulic injection in the large chamber). In existing technology, the speed of stick retraction usually depends on the pilot pressure. During the initial stage of certain leveling operations (such as remote leveling), the high pilot pressure causes the stick to retract too quickly, while the boom raising speed cannot keep up with the stick retraction speed. This can easily lead to the bucket nodding and digging holes, thus affecting the excavator's leveling performance. Summary of the Invention

[0003] The purpose of this invention is to provide a control method, control device, processor, and excavator for an excavator, in order to solve the problem of poor ground leveling performance of excavators in the prior art.

[0004] To achieve the above objectives, a first aspect of the present invention provides a control method for an excavator, the excavator including a control mechanism, a stick, and a stick retraction solenoid valve, the control method comprising:

[0005] Obtain the pilot pressure of the control mechanism and the oil inlet pressure of the stick's large chamber;

[0006] The target action type of the excavator is determined based on the pilot pressure and the oil inlet pressure of the stick large chamber. The target action type includes remote leveling action and non-remote leveling action.

[0007] Determine the target control current of the boom retraction solenoid valve based on the target action type and pilot pressure.

[0008] The solenoid valve for retracting the boom is operated based on the target control current.

[0009] In this embodiment of the invention, determining the target action type of the excavator based on the pilot pressure and the stick large chamber oil inlet pressure includes: determining the action category to which the target action type belongs as a leveling action based on the pilot pressure; determining the working condition category corresponding to the target action type based on the stick large chamber oil inlet pressure, wherein the working condition category includes remote working condition and non-remote working condition; and determining the target action type based on the action category and the working condition category.

[0010] In this embodiment of the invention, the pilot pressure includes the boom lifting pilot pressure, the stick retraction pilot pressure, and the pilot pressures of other actions; determining the action category of the target action type as a flat ground action based on the pilot pressure includes: when both the boom lifting pilot pressure and the stick retraction pilot pressure are greater than a preset pilot pressure threshold, and the pilot pressures of other actions are less than the preset pilot pressure threshold, the action category of the target action type is determined to be a flat ground action.

[0011] In this embodiment of the invention, determining the working condition category corresponding to the target action type based on the boom cylinder oil inlet pressure includes: when the boom cylinder oil inlet pressure is greater than a preset oil inlet pressure threshold, determining the working condition category corresponding to the target action type as a non-remote working condition; when the boom cylinder oil inlet pressure is less than or equal to the preset oil inlet pressure threshold, determining the working condition category corresponding to the target action type as a remote working condition.

[0012] In this embodiment of the invention, the pilot pressure includes the boom retraction pilot pressure; determining the target control current of the boom retraction solenoid valve based on the target action type and the pilot pressure includes: determining the target control current of the boom retraction solenoid valve based on the correspondence between the pre-stored action type, the boom retraction pilot pressure and the control current of the boom retraction solenoid valve, according to the target action type and the boom retraction pilot pressure in the pilot pressure.

[0013] In this embodiment of the invention, the correspondence includes a first correspondence and a second correspondence. The first correspondence is the pre-stored correspondence between non-far-end leveling action, boom retraction pilot pressure, and boom retraction solenoid valve control current. The second correspondence is the pre-stored correspondence between far-end leveling action, boom retraction pilot pressure, and boom retraction solenoid valve control current. The first correspondence includes the following formula (1):

[0014]

[0015] The second correspondence includes the following formula (2):

[0016]

[0017] Where Cur_Min is the non-zero lower limit of the control current range of the boom retraction solenoid valve, Cur_Max is the upper limit of the control current range of the boom retraction solenoid valve, Pilot_Max is the preset upper limit threshold of the boom retraction pilot pressure, Pilot_Min is the preset lower limit threshold of the boom retraction pilot pressure, Pilot_Press is the boom retraction pilot pressure in the pilot pressure, P is the preset compensation pilot pressure, and Set Cur This is the control current for the solenoid valve inside the boom.

[0018] In this embodiment of the invention, the excavator further includes a main pump; controlling the stick retraction solenoid valve to operate according to the target control current includes: acquiring the main pump pressure of the main pump; and controlling the stick retraction solenoid valve to operate according to the target control current when the main pump pressure reaches a preset main pump pressure threshold.

[0019] A second aspect of the present invention provides a processor configured to execute the control method for an excavator as described above.

[0020] A third aspect of the present invention provides a control device for an excavator, the excavator including a control mechanism, a stick, and a stick retraction solenoid valve, the control device including: a pilot pressure detection device for detecting the pilot pressure of the control mechanism; a stick large chamber oil inlet pressure detection device for detecting the stick large chamber oil inlet pressure; and a processor according to the above.

[0021] A fourth aspect of the present invention provides an excavator, comprising: a control mechanism; a stick; a stick retraction solenoid valve; and a control device for the excavator according to the above.

[0022] The above technical solution obtains the pilot pressure of the control mechanism and the oil inlet pressure of the stick's large chamber, and determines the target action type of the excavator (including remote leveling action and non-remote leveling action) based on the pilot pressure and the oil inlet pressure of the stick's large chamber. Then, it determines the target control current of the stick retraction solenoid valve based on the target action type and the pilot pressure, and controls the stick retraction solenoid valve to work based on the target control current. The above technical solution determines the excavator's target action type as either remote leveling or non-remote leveling based on the pilot pressure of the control mechanism and the oil inlet pressure of the stick's large chamber. This enables accurate identification of remote and non-remote leveling actions. Different current control strategies are adopted for the stick retraction solenoid valve based on different target action types and pilot pressures. Unlike existing technologies that determine the control current of the stick retraction solenoid valve solely based on pilot pressure, this solution addresses the problem of bucket nodding and digging during leveling actions (such as remote leveling) due to excessive stick retraction speed. It reduces the probability of bucket nodding and digging during leveling actions, optimizes the excavator's leveling performance, and ultimately improves the excavator's working efficiency.

[0023] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 The schematic diagram illustrates a flow chart of a control method for an excavator according to an embodiment of the present invention;

[0026] Figure 2 The diagram illustrates the configuration of the control system of an excavator according to one embodiment of the present invention.

[0027] Figure 3 This diagram illustrates the trajectory of the bucket teeth in one embodiment of the present invention.

[0028] Figure 4 The schematic diagram illustrates a flow chart of a control method for an excavator according to another embodiment of the present invention;

[0029] Figure 5 The diagram illustrates the relationship between the boom retraction pilot pressure and the control current of the boom retraction solenoid valve corresponding to a non-remote flat-ground action in one embodiment of the present invention.

[0030] Figure 6 The diagram illustrates the relationship between the pilot pressure for boom retraction and the control current of the boom retraction solenoid valve corresponding to the remote leveling action in one embodiment of the present invention. Detailed Implementation

[0031] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0032] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0033] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0034] Figure 1The diagram illustrates a flow chart of a control method for an excavator according to an embodiment of the present invention. Figure 1 As shown, in this embodiment of the invention, a control method for an excavator is provided. The excavator includes a control mechanism, a stick, and a stick retraction solenoid valve. Taking the application of this control method to a processor as an example, the control method may include the following steps:

[0035] Step S102: Obtain the pilot pressure of the control mechanism and the oil inlet pressure of the large chamber of the stick.

[0036] Step S104: Determine the target action type of the excavator based on the pilot pressure and the oil inlet pressure of the stick large chamber. The target action type includes remote leveling action and non-remote leveling action.

[0037] Step S106: Determine the target control current of the boom retraction solenoid valve based on the target action type and pilot pressure.

[0038] Step S108: Control the boom retraction solenoid valve to operate according to the target control current.

[0039] It can be understood that the control mechanism is the mechanism that inputs action commands, such as left and right handles, left and right travel pedals, etc. The pilot pressure of the control mechanism can be detected by a corresponding pilot pressure sensor. Depending on the action, the pilot pressure can specifically include stick retraction pilot pressure, stick outward pilot pressure, boom lifting pilot pressure, boom lowering pilot pressure, bucket retraction pilot pressure, bucket outward pilot pressure, left travel pilot pressure, right travel pilot pressure, and swing pilot pressure, etc. The stick main chamber oil inlet pressure is the oil inlet pressure of the stick main chamber, which can be detected by a pressure sensor installed at the oil inlet of the stick main chamber. The target action type is the desired action type, which can specifically include remote leveling actions and non-remote leveling actions. Remote leveling actions are leveling actions after the excavator's stick has swung out to its furthest position (i.e., swung to its end), while non-remote leveling actions are leveling actions after the excavator's stick has swung out to a position other than its furthest position. The boom retraction solenoid valve is a solenoid valve that controls the speed of boom retraction. The target control current is the desired control current of the boom retraction solenoid valve.

[0040] Specifically, the processor can acquire the pilot pressure of the control mechanism and the stick's large chamber inlet oil pressure. For example, it can acquire the pilot pressure of the control mechanism through a pilot pressure sensor and the stick's large chamber inlet oil pressure through a stick large chamber inlet oil pressure sensor. Based on the pilot pressure and the stick large chamber inlet oil pressure, the processor determines the excavator's target action type. For instance, when both the pilot pressure and the stick large chamber inlet oil pressure meet preset pressure conditions, the excavator's target action type can be determined to be a remote leveling action; otherwise, it is a non-remote leveling action. Furthermore, the processor can determine the target control current of the stick retraction solenoid valve based on the target action type and the pilot pressure. Understandably, different target action types and different pilot pressures correspond to different target control currents for the stick retraction solenoid valve. Specifically, based on a pre-stored table of correspondences between action types, pilot pressures, and the control current of the stick retraction solenoid valve, the processor determines the corresponding target control current of the stick retraction solenoid valve based on the current pilot pressure and the target action type. Thus, the processor can control the stick retraction solenoid valve to operate according to the target control current to achieve the action corresponding to the target action type.

[0041] The above-mentioned control method for excavators obtains the pilot pressure of the control mechanism and the oil inlet pressure of the stick's large chamber, and determines the target action type of the excavator (including remote leveling action and non-remote leveling action) based on the pilot pressure and the oil inlet pressure of the stick's large chamber. Then, it determines the target control current of the stick retraction solenoid valve based on the target action type and the pilot pressure, and controls the stick retraction solenoid valve to work based on the target control current. The above technical solution determines the excavator's target action type as either remote leveling or non-remote leveling based on the pilot pressure of the control mechanism and the oil inlet pressure of the stick's large chamber. This enables accurate identification of remote and non-remote leveling actions. Different current control strategies are adopted for the stick retraction solenoid valve based on different target action types and pilot pressures. Unlike existing technologies that determine the control current of the stick retraction solenoid valve solely based on pilot pressure, this solution addresses the problem of bucket nodding and digging during leveling actions (such as remote leveling) due to excessive stick retraction speed. It reduces the probability of bucket nodding and digging during leveling actions, optimizes the excavator's leveling performance, and ultimately improves the excavator's working efficiency.

[0042] In one embodiment, determining the target action type of the excavator based on the pilot pressure and the stick large chamber oil inlet pressure includes: determining the action category to which the target action type belongs as a leveling action based on the pilot pressure; determining the working condition category corresponding to the target action type based on the stick large chamber oil inlet pressure, wherein the working condition category includes remote working condition and non-remote working condition; and determining the target action type based on the action category and the working condition category.

[0043] Specifically, the processor can determine the action category of the target action type as a leveling action based on the pilot pressure value. For example, when both the boom lifting pilot pressure and the stick retraction pilot pressure are greater than a certain pilot pressure threshold, the target action type can be determined to belong to the leveling action category. Further, the processor can determine the working condition category corresponding to the target action type as a remote working condition or a non-remote working condition based on the stick large chamber oil pressure. For example, when the stick large chamber oil pressure is greater than a certain oil pressure threshold, the working condition category corresponding to the target action type can be determined to be a non-remote working condition; otherwise, it is a remote working condition. After determining the action category and the working condition category corresponding to the target action type, the processor can determine whether the excavator's target action type is a remote leveling action or a non-remote leveling action.

[0044] In this embodiment, the pilot pressure is used to determine whether it is a leveling action, and the oil inlet pressure of the boom large chamber is used to further determine the working condition category corresponding to the leveling action. This can achieve accurate determination of the target action type and further improve the leveling performance of the excavator.

[0045] In one embodiment, the pilot pressure includes boom lifting pilot pressure, stick retraction pilot pressure, and other action pilot pressures; determining the action category of the target action type as a flat ground action based on the pilot pressure includes: determining the action category of the target action type as a flat ground action when both the boom lifting pilot pressure and the stick retraction pilot pressure are greater than a preset pilot pressure threshold, and the pilot pressures of the other actions are less than a preset pilot pressure threshold.

[0046] It is understood that the pilot pressures for other actions are those other than the boom lifting pilot pressure and the stick retraction pilot pressure. Specifically, these can include the stick swing pilot pressure, boom lowering pilot pressure, bucket retraction pilot pressure, bucket swing pilot pressure, left travel pilot pressure, right travel pilot pressure, and swing pilot pressure, etc. The preset pilot pressure threshold is a pre-set threshold value for the pilot pressure, such as 5 bar or 6 bar.

[0047] Specifically, the processor can compare the pilot pressure with a preset pilot pressure threshold. When it is determined that both the boom lifting pilot pressure and the stick retraction pilot pressure are greater than the preset pilot pressure threshold, and the pilot pressures for all other actions are less than the preset pilot pressure threshold, the processor can determine that the action type of the target action belongs to the level ground action category. Further, in some embodiments, the processor can determine that the action type of the target action belongs to the level ground action category when it is determined that both the boom lifting pilot pressure and the stick retraction pilot pressure are greater than the preset pilot pressure threshold, and the pilot pressures for all other actions are zero.

[0048] In this embodiment of the application, by comparing different pilot pressures with a preset pilot pressure threshold, rapid and accurate identification of flat ground movements can be achieved.

[0049] In one embodiment, determining the operating condition category corresponding to the target action type based on the boom cylinder oil inlet pressure includes: determining the operating condition category corresponding to the target action type as a non-remote operating condition when the boom cylinder oil inlet pressure is greater than a preset oil inlet pressure threshold; and determining the operating condition category corresponding to the target action type as a remote operating condition when the boom cylinder oil inlet pressure is less than or equal to the preset oil inlet pressure threshold.

[0050] It is understandable that the preset inlet pressure threshold is a pre-set threshold for the inlet pressure, such as 5 bar or 4.5 bar.

[0051] Specifically, the processor can compare the inlet pressure of the boom's main chamber with a preset inlet pressure threshold. When the inlet pressure of the boom's main chamber is greater than the preset inlet pressure threshold, the processor can determine that the working condition category corresponding to the target action type is a non-remote working condition. When the inlet pressure of the boom's main chamber is less than or equal to the preset inlet pressure threshold, the processor can determine that the working condition category corresponding to the target action type is a remote working condition.

[0052] In this embodiment of the application, by comparing the oil inlet pressure of the boom large chamber with the preset oil inlet pressure threshold, accurate and rapid identification of remote and non-remote working conditions can be achieved.

[0053] In one embodiment, the pilot pressure includes the stick retraction pilot pressure; determining the target control current of the stick retraction solenoid valve based on the target action type and the pilot pressure includes: determining the target control current of the stick retraction solenoid valve based on the correspondence between the pre-stored action type, the stick retraction pilot pressure and the control current of the stick retraction solenoid valve, according to the target action type and the stick retraction pilot pressure in the pilot pressure.

[0054] It is understandable that there can be a one-to-one correspondence between different action types, the pilot pressure of the stick retraction, and the control current of the stick retraction solenoid valve. This correspondence can be predetermined and stored in advance, and it can be in the form of an algorithm or a relational table.

[0055] Specifically, the processor can determine the target control current of the stick retraction solenoid valve based on the correspondence between the pre-stored action type, the stick retraction pilot pressure, and the control current of the stick retraction solenoid valve, according to the target action type and the stick retraction pilot pressure in the acquired pilot pressure.

[0056] In this embodiment, by pre-storing the correspondence between action type, boom retraction pilot pressure, and boom retraction solenoid valve control current, the target control current of the corresponding boom retraction solenoid valve can be determined after determining the target action type and boom retraction pilot pressure, thereby achieving the purpose of quickly and accurately determining the target control current.

[0057] In one embodiment, the correspondence between action type, boom retraction pilot pressure, and boom retraction solenoid valve control current may include a first correspondence and a second correspondence. The first correspondence is a pre-stored correspondence between non-remote leveling action, boom retraction pilot pressure, and boom retraction solenoid valve control current, and the second correspondence is a pre-stored correspondence between remote leveling action, boom retraction pilot pressure, and boom retraction solenoid valve control current.

[0058] The first correspondence can include the following formula (1):

[0059]

[0060] The second correspondence can include the following formula (2):

[0061]

[0062] Where Cur_Min is the non-zero lower limit of the control current range of the stick retraction solenoid valve, Cur_Max is the upper limit of the control current range of the stick retraction solenoid valve, Pilot_Max is the preset upper limit threshold of the stick retraction pilot pressure, Pilot_Min is the preset lower limit threshold of the stick retraction pilot pressure, Pilot_Press is the stick retraction pilot pressure in the pilot pressure, P is the preset compensation pilot pressure, and the preset compensation pilot pressure is a predetermined compensation value for the pilot pressure corresponding to the excavator. Cur This is the control current for the solenoid valve inside the boom.

[0063] Specifically, the non-zero lower limit of the control current range of the boom retraction solenoid valve can be, for example, 230mA to 270mA, and the upper limit of the control current range can be, for example, 780mA to 820mA. The preset lower threshold of the boom retraction pilot pressure can be, for example, 0.6bar to 0.8bar, the preset upper threshold of the boom retraction pilot pressure can be, for example, 38bar to 42bar, and the preset compensation pilot pressure can be, for example, 0.5bar to 10bar.

[0064] Understandably, when the target action type is a non-far-end flat-ground action, if the pilot pressure of the stick retraction pilot is less than the preset lower threshold value Pilot_Min, the target control current of the stick retraction solenoid valve can be determined to be 0; if the pilot pressure of the stick retraction pilot is greater than or equal to the preset upper threshold value Pilot_Max, the target control current of the stick retraction solenoid valve can be determined to be the upper limit value Cur_Max of the control current range of the stick retraction solenoid valve; if the pilot pressure of the stick retraction pilot is greater than or equal to the preset lower threshold value Pilot_Min and less than the preset upper threshold value Pilot_Max, the target control current of the stick retraction solenoid valve can be determined to be 0. The target control current of the valve is the sum of the non-zero lower limit of the control current range of the boom retraction solenoid valve (Cur_Min) and the linear increase of the control current of the boom retraction solenoid valve. The linear increase of the control current of the boom retraction solenoid valve can be determined based on a first linear function relationship between the current and the pilot pressure. Specifically, this first linear function relationship can be determined based on the preset upper limit threshold (Pilot_Max) of the boom retraction pilot pressure, the preset lower limit threshold (Pilot_Min) of the boom retraction pilot pressure, the upper limit of the control current range of the boom retraction solenoid valve (Cur_Max), the non-zero lower limit of the control current range of the boom retraction solenoid valve (Cur_Min), and the boom retraction pilot pressure (Pilot_Press) in the pilot pressure.

[0065] When the target action type is a remote flat-ground action, a preset compensation pilot pressure P value is introduced. If the pilot pressure of the stick retraction is less than the preset lower limit threshold Pilot_Min, the target control current of the stick retraction solenoid valve can be determined to be 0. If the pilot pressure of the stick retraction is greater than or equal to the sum of the preset upper limit threshold Pilot_Max and the preset compensation pilot pressure P value, the target control current of the stick retraction solenoid valve can be determined to be the upper limit value Cur_Max of the control current range of the stick retraction solenoid valve. If the pilot pressure of the stick retraction is greater than or equal to the preset lower limit threshold Pilot_Min and less than the sum of the preset upper limit threshold Pilot_Max and the preset compensation pilot pressure P value, the target control current of the stick retraction solenoid valve can be determined to be the upper limit value Cur_Max of the control current range of the stick retraction solenoid valve. The target control current of the boom retraction solenoid valve can be determined as the sum of the non-zero lower limit of the control current range of the boom retraction solenoid valve, Cur_Min, and the linear increase of the control current of the boom retraction solenoid valve. The linear increase of the control current of the boom retraction solenoid valve can be determined based on a second linear function relationship between the current and the pilot pressure. Specifically, this second linear function relationship can be determined based on the sum of the preset upper limit threshold of the boom retraction pilot pressure, Pilot_Max, and the preset compensation pilot pressure, Pilot_Min; the preset lower limit threshold of the boom retraction pilot pressure, Pilot_Min; the upper limit of the control current range of the boom retraction solenoid valve, Cur_Max; the non-zero lower limit of the control current range, Cur_Min; and the boom retraction pilot pressure, Pilot_Press. Understandably, since the second correspondence introduces a preset compensation pilot pressure P value, if the boom retraction pilot pressure range is within an appropriate pressure range, under the same boom retraction pilot pressure, the control current of the boom retraction solenoid valve corresponding to the remote leveling action is less than the control current of the boom retraction solenoid valve corresponding to the non-remote leveling action. This reduces the boom retraction speed during remote leveling action, reduces the probability of bucket nodding and digging during leveling action, and improves the excavator's performance.

[0066] In the embodiments of this application, the control current of the boom retraction solenoid valve can be accurately determined through a clear and accurate first correspondence and a clear second correspondence.

[0067] In one embodiment, the excavator further includes a main pump; controlling the stick retraction solenoid valve to operate according to a target control current includes: acquiring the main pump pressure of the main pump; and controlling the stick retraction solenoid valve to operate according to the target control current when the main pump pressure reaches a preset main pump pressure threshold.

[0068] It is understandable that the preset main pump pressure threshold is a pre-set main pump pressure threshold, such as 5 bar or 7 bar.

[0069] Specifically, when the processor controls the boom retraction solenoid valve to operate according to the target control current, it can obtain the main pump pressure of the main pump. For example, the main pump pressure can be detected by a main pump pressure detection device, and the main pump pressure can be compared with a preset main pump pressure threshold. When the main pump pressure reaches the preset main pump pressure threshold, the processor can control the boom retraction solenoid valve to operate according to the target control current.

[0070] A specific embodiment of the present invention provides a control method for an excavator, such as... Figures 2 to 6 As shown, Figure 2 This diagram schematically illustrates the configuration of an excavator control system according to an embodiment of the present invention. Figure 3 This diagram schematically illustrates the trajectory of the bucket teeth tip in one embodiment of the present invention. Figure 4 This schematic diagram illustrates a flow chart of a control method for an excavator according to another embodiment of the present invention. Figure 5 The diagram illustrates the correspondence between the boom retraction pilot pressure and the control current of the boom retraction solenoid valve corresponding to a non-remote leveling action in one embodiment of the present invention. Figure 6 The diagram illustrates the relationship between the pilot pressure for boom retraction and the control current of the boom retraction solenoid valve corresponding to the remote leveling action in one embodiment of the present invention.

[0071] like Figure 2 As shown, the excavator's control system may include a left handle 101, a left travel pedal 102, a right travel pedal 103, a right handle 104, and a pilot pressure sensor group 200 (where 200-1 is a stick retraction pilot pressure sensor, 200-2 is a stick outward swing pilot pressure sensor, 200-3 is a swing pilot pressure sensor, 200-4 is a left travel pilot pressure sensor, 200-5 is a right travel pilot pressure sensor, 200-6 is a boom lifting pilot pressure sensor, 200-7 is a boom lowering pilot pressure sensor, and 200-8 is a bucket retraction pilot pressure sensor). 200-9 is the bucket outward swing pilot pressure sensor), main pump 1 pressure sensor 201, main pump 2 pressure sensor 202, main pump 1 solenoid valve 203, main pump 2 solenoid valve 204, main pump 1-205, main pump 2-206, boom cylinder 301, stick cylinder 302, stick 2 valve core 303, stick 1 valve core 304, boom 1 valve core 305, boom 2 valve core 306, stick large chamber oil inlet pressure sensor 308, display 401, controller 402, engine controller 403, engine 404, stick retraction solenoid valve 501, stick retraction solenoid valve 502.

[0072] In existing technology, controllability is ensured by controlling the opening of the electronically controlled valve core during level ground maneuvers. A slow opening of the boom's electronically controlled valve core leads to poor responsiveness, causing the teeth to leave the ground directly, resulting in uncoordinated level ground maneuvers and reduced efficiency. Conversely, a fast opening of the boom's electronically controlled valve core results in a rapid response, but may also cause... Figure 3 The initial stage of bucket nodding and digging pits. To avoid this phenomenon, such as... Figure 2 As shown, this invention adds a boom inlet oil pressure sensor 308. During leveling operations, the boom inlet oil pressure can be used to determine whether the terrain is far from the surface. Different control parameters can be set for different working conditions, satisfying the boom speed requirements under various conditions while optimizing leveling performance. The control method for excavators according to an embodiment of this invention will be described below. Figure 4 As shown, action recognition is performed first:

[0073] I. Judging Movements on Flat Ground

[0074] The operator achieves leveling maneuvers by simultaneously raising the boom and retracting the stick, such as... Figure 4 As shown, when the boom retraction pilot pressure is higher than the preset pilot pressure threshold (e.g., 5 bar), the boom lifting pilot pressure is higher than the preset pilot pressure threshold (e.g., 5 bar), and the other 7 pilot pressures are all lower than the preset pilot pressure threshold (e.g., 5 bar), the controller will determine the current state as a flat ground operation.

[0075] (1) Non-far-end flat land

[0076] like Figure 4 As shown, the controller first determines whether the boom large chamber pressure (i.e., the boom large chamber inlet oil pressure) is greater than the preset inlet oil pressure threshold (e.g., 5 bar). If it is greater than the preset inlet oil pressure threshold (e.g., 5 bar), the controller determines it to be a non-remote leveling action. The current control strategy of the boom retraction solenoid valve is as follows: Figure 5 As shown.

[0077] (2) Distant flat land

[0078] like Figure 4 As shown, the controller first determines whether the boom large chamber pressure (i.e., the boom large chamber inlet oil pressure) is greater than the preset inlet oil pressure threshold (e.g., 5 bar). If it is less than or equal to the preset inlet oil pressure threshold (e.g., 5 bar), the controller determines it to be a remote leveling action. The current control strategy of the boom retraction solenoid valve is as follows: Figure 6 As shown.

[0079] II. Current control strategies for the boom retraction solenoid valves for leveling operations under different working conditions

[0080] (1) Non-far-end flat land

[0081] The relationship between the boom retraction pilot pressure and the control current of the boom retraction solenoid valve is as follows: Figure 5 As shown. When the boom retraction pilot pressure is less than Pilot_Min, the current of the boom retraction solenoid valve is 0; when the boom retraction pilot pressure equals Pilot_Min, the current step is Cur_Min, which can also be called the starting current of 250mA; when the boom retraction pilot pressure reaches Pilot_Max, the current is Cur_Max, i.e., 800mA. Correspondingly, the time for the current of the boom retraction solenoid valve to rise from Cur_Min to Cur_Max from the boom retraction pilot pressure is (T2-T1), and the rate of change of current relative to time is (Cur_Max-Cur_Min) / (T2-T1). Specifically, the calculation process of the control current of the boom retraction solenoid valve can be as follows:

[0082]

[0083] Where Cur_Min is the non-zero lower limit of the control current range of the boom retraction solenoid valve, Cur_Max is the upper limit of the control current range of the boom retraction solenoid valve, Pilot_Max is the preset upper limit threshold of the boom retraction pilot pressure, Pilot_Min is the preset lower limit threshold of the boom retraction pilot pressure, and Pilot_Press is the boom retraction pilot pressure in the pilot pressure. Cur This is the control current for the solenoid valve inside the boom.

[0084] (2) Distant flat land

[0085] The relationship between the boom retraction pilot pressure and the control current of the boom retraction solenoid valve is as follows: Figure 6 As shown, the current loading method is similar to that for non-far-end flat terrain. When the boom retraction pilot pressure rises from Pilot_Min to Pilot_Max, the corresponding time for the current in the boom retraction solenoid valve to rise from Cur_Min to Cur_Max is (T3-T1), where T3 is greater than T2. ​​The rate of change of current relative to time is (Cur_Max-Cur_Min) / (T3-T1). Specifically, the calculation process for the control current of the boom retraction solenoid valve can be as follows:

[0086]

[0087] Where Cur_Min is the non-zero lower limit of the control current range of the boom retraction solenoid valve, Cur_Max is the upper limit of the control current range of the boom retraction solenoid valve, Pilot_Max is the preset upper limit threshold of the boom retraction pilot pressure, Pilot_Min is the preset lower limit threshold of the boom retraction pilot pressure, Pilot_Press is the boom retraction pilot pressure in the pilot pressure, P is the preset compensation pilot pressure, and SetCur This is the control current for the solenoid valve inside the boom.

[0088] Based on the two different flat-ground operating conditions mentioned above, a suitable preset compensation pilot pressure P value can be pre-calibrated to match the remote flat-ground action. Different current control strategies are adopted for different flat-ground operating conditions to optimize the excavator's flat-ground performance. Furthermore, the current control strategy for non-flat-ground actions differs from the current control strategy for flat-ground actions, which will not be elaborated on here.

[0089] In summary, the technical solution provided by this invention, in order to avoid the excessively fast start speed of the stick retraction during remote leveling operations, which could lead to the bucket digging a hole during leveling operations, adds a pressure sensor at the oil inlet of the stick's large chamber. The controller detects the pilot pressure of the compound action and the oil inlet pressure of the stick's large chamber to determine whether the stick has reached its maximum outward swing state before starting the leveling operation. That is, it determines whether the excavator's target action type is a remote leveling operation or a non-remote leveling operation. For different target action types, different current control strategies are adopted to control the current of the stick retraction solenoid valve, thereby optimizing the excavator's leveling performance.

[0090] This invention also provides a processor configured to execute the control method for an excavator according to the above embodiments.

[0091] This invention also provides a control device for an excavator, the excavator including a control mechanism, a stick, and a stick retraction solenoid valve. The control device may include: a pilot pressure detection device for detecting the pilot pressure of the control mechanism; a stick large chamber oil inlet pressure detection device for detecting the stick large chamber oil inlet pressure; and a processor according to the above embodiments.

[0092] This invention also provides an excavator, including: a control mechanism; a stick; a stick retraction solenoid valve; and a control device for the excavator according to the above embodiments.

[0093] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0094] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can 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, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0095] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0096] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0097] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0098] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0099] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0100] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0101] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for an excavator, characterized in that, The excavator includes a control mechanism, a stick, and a stick retraction solenoid valve; the control method includes: Obtain the pilot pressure of the control mechanism and the oil inlet pressure of the large chamber of the stick; The target action type of the excavator is determined based on the pilot pressure and the oil inlet pressure of the stick large chamber, wherein the target action type includes remote leveling action and non-remote leveling action; The target control current of the boom retraction solenoid valve is determined based on the target action type and the pilot pressure. The solenoid valve for retracting the boom is controlled to operate according to the target control current. The pilot pressure includes the stick retraction pilot pressure; the step of determining the target control current of the stick retraction solenoid valve based on the target action type and the pilot pressure includes: determining the target control current of the stick retraction solenoid valve based on the correspondence between the pre-stored action type, the stick retraction pilot pressure and the control current of the stick retraction solenoid valve, according to the target action type and the stick retraction pilot pressure in the pilot pressure; The correspondence includes a first correspondence and a second correspondence. The first correspondence is the correspondence between the pre-stored non-remote leveling action, the boom retraction pilot pressure, and the control current of the boom retraction solenoid valve. The second correspondence is the correspondence between the pre-stored remote leveling action, the boom retraction pilot pressure, and the control current of the boom retraction solenoid valve. The first correspondence includes the following formula (1): （1） The second correspondence includes the following formula (2): （2） in, The lower limit of the range of control current values ​​for the boom retraction solenoid valve is [value missing]. This is the upper limit of the range of control current values ​​for the boom retraction solenoid valve. The preset upper limit threshold for the pilot pressure of the boom retraction is... The preset lower threshold value for the pilot pressure of the boom retraction is... The pilot pressure is the boom retraction pilot pressure. To pre-set compensation pilot pressure, This refers to the control current of the solenoid valve that retracts into the boom.

2. The control method according to claim 1, characterized in that, The process of determining the target action type of the excavator based on the pilot pressure and the oil inlet pressure of the stick large chamber includes: Based on the pilot pressure, the target motion type is determined to belong to the flat ground motion category; The working condition category corresponding to the target action type is determined based on the oil inlet pressure of the boom large chamber, wherein the working condition category includes remote working condition and non-remote working condition; The target action type is determined based on the action category and the working condition category.

3. The control method according to claim 2, characterized in that, The pilot pressure includes boom lifting pilot pressure, stick retraction pilot pressure, and other action pilot pressures; determining the action category of the target action type as a flat ground action based on the pilot pressure includes: If the boom lifting pilot pressure and the stick retraction pilot pressure are both greater than a preset pilot pressure threshold, and the pilot pressures of the other actions are all less than the preset pilot pressure threshold, then the action category to which the target action type belongs is determined to be a flat ground action.

4. The control method according to claim 2, characterized in that, The step of determining the working condition category corresponding to the target action type based on the oil inlet pressure of the boom's large chamber includes: When the oil inlet pressure of the boom large chamber is greater than the preset oil inlet pressure threshold, the working condition category corresponding to the target action type is determined to be a non-remote working condition. If the oil inlet pressure of the boom large chamber is less than or equal to the preset oil inlet pressure threshold, the working condition category corresponding to the target action type is determined to be a remote working condition.

5. The control method according to claim 1, characterized in that, The excavator also includes a main pump; the step of controlling the boom retraction solenoid valve according to the target control current includes: Obtain the main pump pressure of the main pump; When the main pump pressure reaches the preset main pump pressure threshold, the boom retraction solenoid valve is operated according to the target control current.

6. A processor, characterized in that, It is configured to perform the control method for an excavator according to any one of claims 1 to 5.

7. A control device for an excavator, characterized in that, The excavator includes a control mechanism, a stick, and a stick retraction solenoid valve; the control device includes: A pilot pressure detection device is used to detect the pilot pressure of the control mechanism; A boom inlet pressure testing device is used to test the boom inlet pressure. The processor according to claim 6.

8. An excavator, characterized in that, include: Operating mechanism; pole; Solenoid valve for boom retraction; as well as The control device for an excavator according to claim 7.

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