Walking engineering equipment and control method, device and controller thereof

Abstract

The embodiment of the present invention provides a walking engineering equipment and a control method, device and controller thereof, wherein the control method comprises: obtaining the whole machine direction of the walking engineering equipment; determining the corresponding relationship between the operation signal of the rocker and the control of the solenoid valve according to the whole machine direction; obtaining the operation signal; determining the control current according to the operation signal; determining the solenoid valve corresponding to the operation signal according to the corresponding relationship to obtain the target solenoid valve; and outputting the control current to the target solenoid valve to control the movement of the walking mechanism. The embodiment of the present invention can make the operation correspond to the left and right relationship of the field of vision, reduce the difficulty of operation, make the cylinder movement speed adjustable, and selectively set the switch state of the corresponding relationship adjustment function.

Description

Technical Field

[0001] The present invention relates to the technical field of walking engineering equipment, and in particular to a walking engineering equipment and a control method, device and controller thereof. Background Art

[0002] Walking engineering equipment such as walking excavators are important equipment in engineering construction, and play an extremely important role in the construction of industrial and civil buildings, transportation, disaster relief, etc. The operation of the working device on the walking excavator is the same as that of the hydraulic excavator. The walking mechanism of the walking excavator has many motion mechanisms, and the operator needs to record a lot of operations, which requires skilled operators to operate normally. The walking excavator control device currently on the market uses two electrically controlled operating handles with multiple rockers integrated. The extension and retraction of each oil cylinder of the walking mechanism is controlled by the switch amount in two directions of the rocker. The operator can complete the control of the walking mechanism through the left and right operating handles. The position of the rocker on each operating handle corresponds to the oil cylinder of the walking mechanism in a one-to-one correspondence. However, the rocker and the proportional valve controlling the oil cylinder in the prior art are both switch amounts, the movement speed of each oil cylinder is fixed, and the operating speed of the operating oil cylinder is not adjustable, which leads to the operating speed of the operating walking mechanism being not adjustable. When the platform on the vehicle rotates 180°, the operating relationship is opposite to the left and right relationship of the field of vision. The operator needs to remember more operating relationships, which is difficult to operate. Therefore, it is urgent to propose a technical solution to solve the above technical problems. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a walking engineering equipment and its control method, device and controller, so as to solve the technical problems in the prior art that the movement speed of the walking mechanism of the walking engineering equipment controlled by the joystick is fixed, the operation relationship is opposite to the left and right relationship of the field of vision when the vehicle platform rotates 180°, and the operator needs to remember many operation relationships and the operation is difficult.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present invention provides a control method for walking engineering equipment, the walking engineering equipment includes a rocker, a solenoid valve and a walking mechanism, and the control method includes: obtaining the overall direction of the walking engineering equipment; determining the correspondence between the operation signal of the rocker and the control solenoid valve according to the overall direction; obtaining the operation signal; determining the control current according to the operation signal; determining the solenoid valve corresponding to the operation signal according to the correspondence to obtain the target solenoid valve; and outputting the control current to the target solenoid valve to control the movement of the walking mechanism.

[0005] In an embodiment of the present invention, obtaining the whole machine direction of the walking engineering equipment includes: obtaining the rotation angle of the walking engineering equipment; obtaining the rotation direction of the walking engineering equipment; and determining the whole machine direction according to the rotation angle and the rotation direction.

[0006] In an embodiment of the present invention, obtaining the slewing angle of a walking type construction equipment includes: obtaining the slewing speed of the walking type construction equipment; and determining the slewing angle according to the slewing speed.

[0007] In an embodiment of the present invention, the operation signal includes an analog operation signal, and the solenoid valve includes a proportional solenoid valve.

[0008] In an embodiment of the present invention, the control method further includes: obtaining the switch state of the corresponding relationship adjustment function; determining the corresponding relationship between the operation signal of the rocker and the control solenoid valve according to the whole machine direction, including: when the corresponding relationship adjustment function is in the off state, determining the corresponding relationship as the first corresponding relationship; when the corresponding relationship adjustment function is in the on state, determining the corresponding relationship between the operation signal and the control solenoid valve according to the whole machine direction and the switch state.

[0009] In an embodiment of the present invention, when the corresponding relationship adjustment function is in the on state, determining the corresponding relationship between the operation signal and the control solenoid valve according to the whole machine direction and the switch state includes: when the whole machine direction is in the first preset quadrant, determining the corresponding relationship as the first corresponding relationship; when the whole machine direction is in the second preset quadrant, determining the corresponding relationship as the second corresponding relationship; when the whole machine direction changes from the first preset quadrant to the third preset quadrant, determining the corresponding relationship as the first corresponding relationship; and when the whole machine direction changes from the second preset quadrant to the third preset quadrant, determining the corresponding relationship as the second corresponding relationship.

[0010] In an embodiment of the present invention, the solenoid valve includes 24 solenoid valves, and the rocker includes 6 rockers.

[0011] In an embodiment of the present invention, the angle range of the first preset quadrant is (270° + a, 90° - a), the angle range of the second preset quadrant is (90° + a, 270° - a), the angle ranges of the third preset quadrant are (90° - a, 90° + a) and (270° - a, 270° + a), where 0° < a ≤ 45°, and the whole machine direction corresponding to when the whole vehicle position of the walking type construction equipment is at the due front is 0°.

[0012] A second aspect of the present invention provides a controller configured to execute the control method for the walking type construction equipment in the foregoing embodiments.

[0013] A third aspect of the present invention provides a control device for a walking type construction equipment, including: a rocker configured to provide an operation signal; a slewing speed sensor configured to detect the slewing speed and the slewing direction of the walking type construction equipment; a solenoid valve configured to control the action of the traveling mechanism of the walking type construction equipment; and the controller in the foregoing embodiments.

[0014] In an embodiment of the present invention, the operation signal includes an analog operation signal, and the solenoid valve includes a proportional solenoid valve.

[0015] In an embodiment of the present invention, the control device for walking engineering equipment further includes: a human-computer interaction device configured to set a switch state of the corresponding relationship adjustment function.

[0016] A fourth aspect of the present invention provides a walking engineering equipment, comprising the control device for walking engineering equipment of the aforementioned embodiment.

[0017] In an embodiment of the present invention, the walking engineering equipment includes a walking excavator.

[0018] The aforementioned embodiment of the present invention can adaptively adjust the correspondence between the operating signal of the joystick and the control solenoid valve according to the direction of the whole machine through its technical solution, so that the operation corresponds to the left and right relationship of the field of view, thereby reducing the difficulty of operation. It can also control the opening of the proportional solenoid valve according to the analog operation signal of the joystick, so that the cylinder action speed is adjustable, and the switch state of the corresponding relationship adjustment function can be selectively set through the human-computer interaction device.

[0019] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0021] Figure 1 is a flow chart of a control method 100 for walking engineering equipment according to an embodiment of the present invention;

[0022] Figure 2 is a schematic structural diagram of a control device 200 for walking engineering equipment according to an embodiment of the present invention;

[0023] Figure 3 It is a structural schematic diagram of a control device for walking engineering equipment according to an example of the present invention;

[0024] Figure 4 It is a correspondence table of the proportional solenoid valve and the controlled walking mechanism action according to the example of the present invention;

[0025] Figure 5A Schematic diagram of the operating positions of the three joysticks LA, LB and LC on the left handle of the present invention;

[0026] Figure 5BSchematic diagram of the operating positions of the three joysticks RA, RB and RC on the right handle of the present invention;

[0027] Figure 6 is a table of correspondence between the operating position of the rocker on the handle of the example of the present invention and the proportional solenoid valve;

[0028] Figure 7 is a schematic diagram of the default position of the whole machine according to an example of the present invention; and

[0029] Figure 8 It is a quadrant diagram of the overall machine direction of the example of the present invention. DETAILED DESCRIPTION

[0030] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0031] It should be noted that if the implementation methods of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0032] In addition, if there are descriptions involving "first", "second", etc. in the implementation methods of this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various implementation methods can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0033] like Figure 1 As shown, in an embodiment of the present invention, a control method 100 for walking engineering equipment is provided. The walking engineering equipment includes a rocker, a solenoid valve and a walking mechanism. The control method for walking engineering equipment includes the following steps:

[0034] Step S110: obtaining the whole machine direction of the walking engineering equipment.

[0035] Step S130: Determine the correspondence between the operation signal of the rocker and the control electromagnetic valve according to the direction of the whole machine. The electromagnetic valve is used to control the movement of the walking mechanism, for example.

[0036] Step S150: Acquire an operation signal.

[0037] Step S170: determining the control current according to the operation signal.

[0038] Step S180: Determine the solenoid valve corresponding to the operation signal according to the corresponding relationship to obtain the target solenoid valve.

[0039] Step S190: outputting the control current to the target solenoid valve to control the movement of the walking mechanism.

[0040] Specifically, the correspondence between the operating signal of the rocker arm and the control solenoid valve includes the correspondence between the operating position of the rocker arm and the control solenoid valve. Accordingly, the correspondence between the operating signal of the rocker arm and the control solenoid valve is determined according to the direction of the whole machine. For example, the proportional solenoid valve corresponding to the operating position of the rocker arm, that is, the target proportional solenoid valve, is determined based on the operating position information of the rocker arm included in the operating signal and the correspondence between the operating position of the rocker arm and the proportional solenoid valve.

[0041] Specifically, obtaining the whole machine direction of the walking engineering equipment, that is, step S110, for example, includes the following sub-steps:

[0042] (a1) Obtain the rotation angle of the walking engineering equipment.

[0043] (a2) Obtaining the rotation direction of the walking engineering equipment.

[0044] (a3) Determine the direction of the whole machine based on the rotation angle and rotation direction.

[0045] Specifically, obtaining the rotation angle of the walking engineering equipment, that is, (a1), for example includes:

[0046] (a11) Obtaining the rotation speed of the walking engineering equipment. And

[0047] (a12) The rotation angle is determined according to the rotation speed.

[0048] Specifically, the operation signal includes, for example, an analog operation signal, and the solenoid valve includes, for example, a proportional solenoid valve. The opening of the proportional solenoid valve can be controlled according to the numerical value of the analog operation signal of the rocker, thereby adjusting the movement speed of the walking mechanism.

[0049] Furthermore, the control method 100 for walking engineering equipment further includes, for example, the step of obtaining the on / off state of the corresponding relationship adjustment function. The user can set the on / off state of the corresponding relationship adjustment function through a human-machine interaction device such as a display.

[0050] Accordingly, the corresponding relationship between the operation signal of the rocker and the control solenoid valve is determined according to the direction of the whole machine, that is, step S130, for example, includes the following sub-steps:

[0051] (b1) When the correspondence adjustment function is in the off state, determine that the correspondence is the first correspondence. And

[0052] (b2) When the correspondence adjustment function is in the on state, determine the correspondence between the operation signal and the control solenoid valve according to the whole machine direction and the switch state.

[0053] Specifically, when the correspondence adjustment function is in the on state, determining the correspondence between the operation signal and the control solenoid valve according to the whole machine direction and the switch state, that is, (b2) includes:

[0054] (b21) When the whole machine direction is in the first preset quadrant, determine that the correspondence is the first correspondence.

[0055] (b22) When the whole machine direction is in the second preset quadrant, determine that the correspondence is the second correspondence.

[0056] (b23) When the whole machine direction changes from the first preset quadrant to the third preset quadrant, determine that the correspondence is the first correspondence. And

[0057] (b24) When the whole machine direction changes from the second preset quadrant to the third preset quadrant, determine that the correspondence is the second correspondence.

[0058] Specifically, the solenoid valve includes, for example, 24 solenoid valves, the operation handle includes, for example, left and right operation handles, each operation handle is provided with, for example, 3 rockers, and the operation directions of each rocker include four directions: up, down, left, and right.

[0059] Specifically, the angle range of the first preset quadrant is, for example, (270° + a, 90° - a), the angle range of the second preset quadrant is, for example, (90° + a, 270° - a), and the angle ranges of the third preset quadrant are, for example, (90° - a, 90° + a) and (270° - a, 270° + a), where 0° < a ≤ 45°, and the whole machine direction corresponding to the front position of the walking engineering equipment is 0°. Specifically, a takes the value of 45° for example.

[0060] In an embodiment of the present invention, a controller is provided, which is configured to execute, for example, the control method 100 for a walking engineering equipment according to any one of the foregoing embodiments. Among them, the specific functions and details of the control method 100 for a walking engineering equipment can refer to the relevant descriptions of the foregoing embodiments, and will not be elaborated here.

[0061] Specifically, the controller can be, for example, a control device such as an industrial computer, an embedded system, a microprocessor, a programmable logic device, etc.

[0062] Such as Figure 2 As shown, in an embodiment of the present invention, a control device 200 for walking engineering equipment is provided, including: a rocker 210, a rotation speed sensor 230, a solenoid valve 250 and a controller 270.

[0063] The joystick 210 is, for example, configured to provide an operation signal.

[0064] The rotation speed sensor 230 is configured to detect the rotation speed and the rotation direction of the walking engineering equipment, for example. The rotation speed sensor 230 includes a rotation speed sensor of model DSM 1-10, for example.

[0065] The solenoid valve 250 is configured to control the movement of a walking mechanism of a walking engineering device, for example.

[0066] The controller 270 is, for example, a controller according to any of the aforementioned embodiments. The specific functions and details of the controller can be referred to the relevant description of the aforementioned embodiments, which will not be repeated here. The controller 270 includes, for example, a controller of model RC28-14 / 30.

[0067] The rocker 210 , the rotation speed sensor 230 , and the solenoid valve 250 are respectively connected to the controller 270 , for example, and specifically, they can be connected to the controller 270 in a wired manner or a wireless manner.

[0068] Specifically, the rocker 210 includes, for example, a continuously controlled rocker, which can provide, for example, a continuously changing analog operation signal, and correspondingly, the solenoid valve includes, for example, a proportional solenoid valve. More specifically, the signal output by the rocker during the continuous operation of the four directions of up, down, left, and right is a continuously changing analog signal instead of a switch signal that is either 1 or 0, so that the speed of the walking mechanism can be adjusted by adjusting the operating position of the rocker. The rocker 210 can be connected to the controller 270, for example, via a CAN bus.

[0069] Furthermore, the control device 200 for walking engineering equipment, for example, also includes: a human-machine interaction device. The human-machine interaction device is, for example, configured to set the switch state of the corresponding relationship adjustment function. The human-machine interaction device is, for example, a display, and the display can be connected to the controller 270 via a CAN bus. Of course, the embodiment of the present invention is not limited to this, for example, the setting of the switch state of the corresponding relationship adjustment function can also be completed by a mechanical switch. Of course, the embodiment of the present invention is not limited to this, and the switch state of the built-in corresponding relationship adjustment function can also be used, or the switch state of the corresponding relationship adjustment function can be set by other software methods or hardware devices.

[0070] In an embodiment of the present invention, a walking engineering device is provided, including a control device for the walking engineering device. The control device for the walking engineering device is, for example, a control device 200 for the walking engineering device according to any of the aforementioned embodiments. The specific functions and details of the control device 200 for the walking engineering device can be referred to the relevant description of the aforementioned embodiments, and will not be repeated here.

[0071] Specifically, the walking engineering equipment includes, for example, a walking excavator.

[0072] The structure and working process of the control device for walking engineering equipment according to an embodiment of the present invention are explained below with reference to specific examples.

[0073] like Figure 3 As shown, it is a specific example of a control device for walking engineering equipment. Specifically, the walking engineering equipment is a walking excavator, and its control device mainly includes a controller and a proportional solenoid valve ax connected to the controller, a left handle, a right handle, a rotation speed sensor (Speed ​​Sensor) and a display.

[0074] The Speed ​​Sensor outputs the current rotation speed and direction of the whole machine to the controller in real time.

[0075] The display is used to complete the human-computer interaction function to set the switch state of the corresponding relationship adjustment function.

[0076] The left handle and the right handle are respectively provided with three joysticks, which are controlled by the operator to output operation signals, namely the operation signals of the joysticks, to the controller.

[0077] The controller determines the direction of the whole machine, that is, the direction of the whole machine, based on the rotation speed and the rotation direction.

[0078] The controller adjusts the switch status of the function and the direction of the whole machine according to the corresponding relationship between the operation signal and the display setting, outputs the control current to the proportional solenoid valve, and finally controls the cylinder action of the walking mechanism to complete the movement of the walking mechanism.

[0079] like Figure 4 As shown, it is the corresponding relationship between the proportional solenoid valve and the controlled walking mechanism action.

[0080] Figure 5A and Figure 5B The diagrams show the operation positions of the three joysticks LA, LB and LC on the left handle and the three joysticks RA, RB and RC on the right handle. For example, when the current operation position of the joystick LA on the left handle is at the original position ( Figure 5AWhen the current operating position of the joystick LA on the left handle is on a straight line above the original position, its operating position is defined as LA1; when the current operating position of the joystick LA on the left handle is on a straight line to the left of the original position, its operating position is defined as LA2; when the current operating position of the joystick LA on the left handle is on a straight line below the original position, its operating position is defined as LA3; when the current operating position of the joystick LA on the left handle is on a straight line to the right of the original position, its operating position is defined as LA4. Similar principles are used to define LB1, LB2, LB3, LB4, LC1, LC2, LC3, LC4 and RA1, RA2, RA3, RA4, RB1, RB2, RB3, RB4, RC1, RC2, RC3, RC4, and they will not be repeated here.

[0081] Figure 6 The table shows the correspondence between the operating position of the rocker on the handle and the proportional solenoid valve.

[0082] The user can choose whether to turn on the corresponding relationship adjustment function through the display. If the corresponding relationship adjustment function is not turned on, the corresponding relationship between the operating position of the joystick on the handle and the proportional solenoid valve defaults to corresponding relationship I. If the corresponding relationship adjustment function is turned on, execute the following procedure.

[0083] The controller collects the rotation speed signal and the rotation direction signal, calculates the rotation angle according to the rotation speed and the rotation direction, and then determines the current direction of the vehicle according to the rotation angle.

[0084] The controller detects the operation signals of the joysticks on the left and right handles, determines the operation positions of the joysticks according to the operation signals, and calculates the corresponding control current.

[0085] The controller adjusts the switch state of the function and the current direction of the whole machine according to the corresponding relationship selected by the user through the display, and determines the corresponding relationship between the operating position of the joystick on the handle and the proportional solenoid valve.

[0086] The controller determines the proportional solenoid valve corresponding to the operating position of the rocker, that is, the target proportional solenoid valve, according to the corresponding relationship between the operating position of the rocker and the operating position of the rocker on the handle and the proportional solenoid valve, and then outputs the control current to the target proportional solenoid valve to complete the corresponding control action.

[0087] like Figure 7 The figure shows the default position of the whole machine. The direction indicated by the arrow is defined as the front of the whole machine, that is, the direction of the large wheel is the front and the direction of the small wheel is the rear.

[0088] like Figure 8It is a quadrant diagram of the whole machine direction. When the whole vehicle is in the due front position, the controller records the current position as the 0° position, that is, the whole machine direction is 0°. During the rotary motion of the whole machine, the controller reads the rotary speed signal and the rotary direction signal of the rotary speed sensor. Based on the current whole machine direction, if the angle is between (270° + a, 90° - a), it is defined as Quadrant I; if the angle is between (90° + a, 270° - a), it is defined as Quadrant II; if the angle is neither in Quadrant I nor in Quadrant II, that is, between (90° - a, 90° + a) or between (270° - a, 270° + a), it is defined as Quadrant III, where 0° < a ≤ 45°. Specifically, a can take a value of 45° for example.

[0089] As Figure 4 shown, it is the corresponding relationship between 24 proportional solenoid valves and the actions of the traveling mechanisms they control.

[0090] The controller adjusts the on / off state of the function according to the corresponding relationship selected by the user through the display. If the corresponding relationship adjustment function is off, then the corresponding relationship is I. If the corresponding relationship adjustment function is on, the controller further judges according to the whole machine direction. When the whole machine direction is in Quadrant I, the corresponding relationship is I; when the whole machine direction is in the area changing from Quadrant I to Quadrant III, the corresponding relationship is I; conversely, when it is in Quadrant II, the corresponding relationship is II; when the whole machine direction is in the area changing from Quadrant II to Quadrant III, the corresponding relationship is II.

[0091] In summary, through its technical solutions, the foregoing embodiments of the present invention can adaptively adjust the correspondence between the operation signals of the joystick and the control of the solenoid valves according to the whole machine direction, making the operation correspond to the left-right relationship of the field of vision, reducing the operation difficulty. It can also control the opening degree of the proportional solenoid valve according to the analog operation signal of the joystick, making the action speed of the oil cylinder adjustable. Moreover, it can selectively set the on / off state of the corresponding relationship adjustment function through the human-computer interaction device.

[0092] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented 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.

[0093] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0096] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0097] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0098] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0099] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0100] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A control method for walking engineering equipment, characterized in that: The walking engineering equipment includes a rocker, a solenoid valve, and a traveling mechanism. The control method includes: Obtaining the overall direction of the walking engineering equipment; Determining the correspondence between the operation signal of the rocker and the control of the solenoid valve according to the overall direction; Obtaining the operation signal; Determining the control current according to the operation signal; Determining the solenoid valve corresponding to the operation signal according to the correspondence to obtain the target solenoid valve; and Outputting the control current to the target solenoid valve to control the action of the traveling mechanism; The obtaining of the overall direction of the walking engineering equipment includes: Obtaining the slewing angle of the walking engineering equipment; Obtaining the slewing direction of the walking engineering equipment; and Determining the overall direction according to the slewing angle and the slewing direction; The control method further includes: Obtaining the switch state of the correspondence adjustment function; The determining of the correspondence between the operation signal of the rocker and the control of the solenoid valve according to the overall direction includes: When the correspondence adjustment function is in the off state, determining the correspondence as the first correspondence; When the correspondence adjustment function is in the on state, determining the correspondence between the operation signal and the control of the solenoid valve according to the overall direction and the switch state; The determining of the correspondence between the operation signal and the control of the solenoid valve according to the overall direction and the switch state when the correspondence adjustment function is in the on state includes: When the overall direction is in the first preset quadrant, determining the correspondence as the first correspondence; When the overall direction is in the second preset quadrant, determining the correspondence as the second correspondence; When the overall direction changes from the first preset quadrant to the third preset quadrant, determining the correspondence as the first correspondence; and When the overall direction changes from the second preset quadrant to the third preset quadrant, determining the correspondence as the second correspondence.

2. The control method according to claim 1, characterized in that: The obtaining of the slewing angle of the walking engineering equipment includes: Obtaining the slewing speed of the walking engineering equipment; and Determining the slewing angle according to the slewing speed.

3. The control method according to claim 1, characterized in that: The operation signal includes an analog operation signal, and the solenoid valve includes a proportional solenoid valve.

4. The control method according to claim 1, characterized in that: The solenoid valve includes 24 solenoid valves, and the rocker includes 6 rockers.

5. The control method according to claim 1, characterized in that: The angle range of the first preset quadrant is (270° + a, 90° - a), the angle range of the second preset quadrant is (90° + a, 270° - a), and the angle ranges of the third preset quadrant are (90° - a, 90° + a) and (270° - a, 270° + a), where 0° < a ≤ 45°, and the overall direction corresponding to the vehicle position of the walking engineering equipment being directly in front is 0°.

6. A controller, characterized in that: Configured to execute the control method for a walking engineering equipment according to any one of claims 1 to 5.

7. A control device for walking engineering equipment, characterized in that: Including: A rocker configured to provide an operation signal; A rotation speed sensor configured to detect the rotation speed of the walking engineering equipment and the rotation direction of the walking engineering equipment; A solenoid valve configured to control the movement of the walking mechanism of the walking engineering equipment; and A controller according to claim 6.

8. The control device according to claim 7, characterized in that: Also includes: The human-computer interaction device is configured to set the switch state of the corresponding relationship adjustment function.

9. A walking engineering equipment, characterized in that: It comprises a control device for walking engineering equipment according to any one of claims 7 to 8.

10. The walking engineering equipment according to claim 9, characterized in that: The walking engineering equipment includes a walking excavator.

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