Hydraulic parameter debugging method, device and system of working machine and working machine

Abstract

The present application relates to the field of working machine, provide a kind of hydraulic parameter debugging method, device and working machine of working machine, method includes: obtaining the positioning information of target mechanism for executing debugging action;Positioning information is obtained by positioning host and positioning slave machine cooperation based on positioning information to determine the measured data of target mechanism;Measured data is compared with standard data, and the hydraulic parameter of hydraulic system in working machine is debugged according to the result of comparison.Through the cooperation of positioning host and positioning slave machine, the positioning information of target mechanism is determined, the measured data of target mechanism is determined based on positioning information, measured data is compared with standard data, and then the hydraulic parameter of hydraulic system in working machine is debugged according to the result of comparison, the whole debugging process can be automatically realized, the efficiency of debugging is significantly improved, and the debugging result is more accurate and reliable, solve the problem that the efficiency of existing debugging mode and the accuracy of result are low.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of working machines, in particular to a hydraulic parameter debugging method and device of a working machine and the working machine. BACKGROUND

[0002] In order to ensure the stability and safety of the working machine, the related parameters of the working machine need to be debugged. The existing debugging methods mainly include two kinds. One is that the debugging personnel debugs the parameters of the working machine according to the real-time operation feedback data through the PC terminal, and then fixes the parameters to the main controller of the working machine. The other is to set the developed parameter adjustment interface on the vehicle display screen, and the debugging personnel can fine-tune the parameters of the working machine on the display screen.

[0003] The above two existing debugging methods need the participation of the debugging personnel, and the debugging process is time-consuming and laborious, and the debugging efficiency is low. At the same time, the accuracy of the debugging results obtained by manual debugging is low. SUMMARY

[0004] The present application provides a hydraulic parameter debugging method and device of a working machine and the working machine, which solves the defects of time-consuming and laborious debugging, low debugging efficiency and result accuracy in the prior art, and realizes efficient and accurate debugging of the hydraulic parameters of the working machine.

[0005] In a first aspect, the present application provides a hydraulic parameter debugging method of a working machine, wherein the working machine is installed with a positioning master, the edge of the debugging area is provided with a positioning slave, and the positioning master is in communication connection with the positioning slave; the method comprises the following steps:

[0006] obtaining positioning information of a target mechanism performing a debugging action, wherein the positioning information is obtained by cooperation of the positioning master and the positioning slave;

[0007] determining measured data of the target mechanism based on the positioning information;

[0008] comparing the measured data with preset standard data, and debugging the hydraulic parameters of the hydraulic system in the working machine according to the comparison result.

[0009] According to the hydraulic parameter debugging method of the working machine provided by the present application, the target mechanism includes the vehicle body of the working machine and / or at least one execution mechanism in the working machine.

[0010] According to the hydraulic parameter debugging method of the working machine provided by the present application, when the target mechanism is an execution mechanism, the determination of the measured data of the target mechanism based on the positioning information comprises the following steps:

[0011] Determine a measured action speed of the execution mechanism based on trajectory data and action duration in the positioning information, and take the measured action speed as the measured data.

[0012] According to the hydraulic parameter debugging method of the work machine provided by the application, the measured data is compared with preset standard data, and the hydraulic parameter of the hydraulic system in the work machine is debugged according to the comparison result, which comprises:

[0013] The measured action speed is compared with a preset standard action speed, and if the deviation value of the measured action speed and the standard action speed exceeds a preset deviation threshold value, the hydraulic parameter is adjusted according to the deviation value;

[0014] The execution mechanism is controlled to perform the debugging action again based on the adjusted hydraulic parameter;

[0015] Until the deviation value of the measured action speed and the standard action speed is lower than the deviation threshold value, the debugging is completed.

[0016] According to the hydraulic parameter debugging method of the work machine provided by the application, when the target mechanism is an execution mechanism, the action speed of the execution mechanism is determined through positioning information, the measured action speed of the execution mechanism is compared with a standard action speed, the hydraulic parameter is adjusted according to the deviation value obtained by comparison, and the debugging is completed when the deviation value is lower than a deviation threshold value, indicating that the measured action speed is close to the standard action speed. Thus, the automatic debugging of the hydraulic parameter is realized during the action of the execution mechanism, and the debugging process does not need too much human intervention, which is more efficient and convenient.

[0017] According to the hydraulic parameter debugging method of the work machine provided by the application, when the target mechanism is a vehicle body, the measured data of the target mechanism is determined based on the positioning information, which comprises:

[0018] Determine a measured lateral deviation value of the vehicle body in the process of straight-line driving based on current coordinate data and initial coordinate data in the positioning information, and take the measured lateral deviation value as the measured data.

[0019] According to the hydraulic parameter debugging method of the work machine provided by the application, the measured data is compared with preset standard data, and the hydraulic parameter of the hydraulic system in the work machine is debugged according to the comparison result, which comprises:

[0020] The measured lateral deviation value is compared with a preset standard lateral deviation value, and if the measured lateral deviation value exceeds the standard lateral deviation value, the hydraulic parameter is adjusted according to the measured lateral deviation value;

[0021] The current coordinate data is taken as new initial coordinate data;

[0022] Based on the adjusted hydraulic parameter and the new initial coordinate data, the vehicle body is controlled to perform the debugging action again.

[0023] Until it is determined that the measured lateral deviation value is lower than the standard lateral deviation value, the debugging is ended.

[0024] The hydraulic parameter debugging method of the work machine provided by the application, when the target mechanism is a vehicle body, compares the lateral deviation value of the vehicle body in the straight driving process with the standard lateral deviation value, adjusts the hydraulic parameter of the hydraulic system according to the comparison result, and re-determines new initial coordinate data, so that the vehicle body performs the debugging action again based on the adjusted hydraulic parameter and the new initial coordinate data, until the debugging end condition is met, the entire vehicle body walking deviation debugging process does not need specific initial parameters and debugging routes, and the debugging process is more convenient and efficient.

[0025] The hydraulic parameter debugging method of the work machine provided by the application, the hydraulic parameter of the hydraulic system in the work machine is debugged, comprising:

[0026] The output flow of the hydraulic main pump in the hydraulic system is adjusted, and the output flow of the hydraulic main pump in the hydraulic system at the end of the debugging is taken as the debugging result.

[0027] The hydraulic parameter debugging method of the work machine provided by the application, the main debugging object is the output flow of the hydraulic main pump in the hydraulic system, the target mechanism is close to the standard action when performing the debugging action by adjusting the output flow of the hydraulic main pump, so that the output flow of the hydraulic main pump determined at the end of the final debugging is taken as the debugging result, and an automatic hydraulic parameter debugging process is realized.

[0028] In the second aspect, the application further provides a hydraulic parameter debugging device of a work machine, the work machine is provided with a positioning master machine, and the edge of a debugging area is provided with a positioning slave machine, and the positioning master machine is in communication connection with the positioning slave machine; the device comprises:

[0029] A first processing module is used to acquire positioning information of a target mechanism performing a debugging action, wherein the positioning information is obtained by cooperation of the positioning master machine and the positioning slave machine.

[0030] A second processing module is used to determine measured data of the target mechanism based on the positioning information.

[0031] A third processing module is used to compare the measured data with preset standard data, and debug the hydraulic parameter of a hydraulic system in the work machine according to the comparison result.

[0032] In a third aspect, the present application further provides a hydraulic parameter debugging system of a working machine, which comprises a positioning master, a positioning slave, a main controller and a hydraulic system;

[0033] The positioning master is installed on the working machine, the positioning slave is arranged at the edge of a debugging area, the positioning master is in communication connection with the positioning slave, the positioning master is connected with the main controller, and the main controller is connected with the hydraulic system.

[0034] The positioning master is used for determining the positioning information of a target mechanism performing a debugging action in cooperation with the positioning slave.

[0035] The main controller is used for acquiring the positioning information, determining the measured data of the target mechanism based on the positioning information, comparing the measured data with preset standard data, and debugging the hydraulic parameter of the hydraulic system in the working machine according to the comparison result.

[0036] The hydraulic parameter debugging system of the working machine further comprises an on-off controller, which is used for controlling the positioning master on the target mechanism to be powered on and controlling the positioning master on a non-target mechanism to be powered off.

[0037] In the hydraulic parameter debugging system of the working machine, the positioning master on only the target mechanism is powered on through the on-off controller, so that the problem of data loss caused by irrelevant positioning master reading data can be avoided, and the operation reliability and stability of the system are improved.

[0038] In a fourth aspect, the present application further provides a working machine, which uses the hydraulic parameter debugging method of the working machine.

[0039] The hydraulic parameter debugging method, device and working machine of the working machine can determine the positioning information of a target mechanism performing a debugging action in cooperation with the positioning master and the positioning slave, determine the measured data of the target mechanism based on the positioning information, compare the measured data with standard data, and then debug the hydraulic parameter of the hydraulic system in the working machine according to the comparison result, so that the debugging efficiency is significantly improved, the debugging error caused by human intervention is reduced, and the debugging result is more accurate and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0041] Figure 1 is a flowchart of the hydraulic parameter debugging method of the work machine provided by the present application;

[0042] Figure 2 is a structural layout diagram of the hydraulic parameter debugging system of the work machine in an embodiment of the present application;

[0043] Figure 3 is a structural layout diagram of the hydraulic parameter debugging system of the work machine in an embodiment of the present application;

[0044] Figure 4 is a layout diagram of the positions of various positioning masters on the excavator in an embodiment of the present application;

[0045] Figure 5 is a structural diagram of the hydraulic parameter debugging device of the work machine provided by the present application;

[0046] Figure 6 is a structural diagram of the hydraulic parameter debugging system of the work machine provided by the present application;

[0047] Figure 7 is a structural diagram of the electronic device provided by the present application. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described below in connection with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative work fall within the scope of protection of the present application.

[0049] The embodiments of the present application will be described below in connection with Figures 1 to 7 The hydraulic parameter debugging method, device and system of the work machine provided by the embodiments of the present application and the electronic device built based on the above hydraulic parameter debugging method of the work machine will be described.

[0050] Figure 1 The hydraulic parameter debugging method of the work machine provided by the embodiments of the present application is shown, the work machine is installed with a positioning master, the edge of the debugging area is provided with a positioning slave, and the positioning master and the positioning slave are in communication connection; the method comprises:

[0051] Step 101: obtaining the positioning information of the target mechanism for performing the debugging action, wherein the positioning information is obtained by the positioning master and the positioning slave in cooperation;

[0052] Step 102: determining the measured data of the target mechanism based on the positioning information;

[0053] Step 103: Comparing the measured data with the preset standard data, and debugging the hydraulic parameters of the hydraulic system in the working machine according to the comparison result.

[0054] In the embodiment, the target mechanism can specifically include a vehicle body of the working machine and / or at least one execution mechanism in the working machine.

[0055] In actual application, the arrangement mode of the positioning master 201 and the positioning slave 202 can be specifically seen from the attached Figure 2 The positioning master 201 and the positioning slave 202 can be provided in plurality, wherein the positioning master 201 can be installed on the vehicle body of the working machine and / or at least one execution mechanism in the working machine, and the positioning slave 202 can be deployed at the edge of the debugging area, and can be specifically arranged at the four corners in the debugging workshop, so as to realize the positioning of the target mechanism through the cooperation of the positioning master 201 and the positioning slave 202.

[0056] The above method provided in the embodiment can be applied to the main controller 204 of the working machine, the positioning information obtained by the positioning master 201 is acquired through the main controller 204, and the hydraulic parameters in the hydraulic system 203 are debugged through a series of analysis and processing based on the positioning information, so as to complete the automatic debugging task of the hydraulic parameters.

[0057] In the embodiment, the attached Figure 3 The positioning master 201 and the positioning slave 202 can be respectively a UWB (UltraWide Band, ultra-wideband) master and a UWB slave, four slaves, i.e., a UWB slave 1, a UWB slave 2, a UWB slave 3 and a UWB slave 4, are provided in the embodiment, the UWB master and the UWB slave can communicate through a wireless serial port, the UWB master communicates with the main controller 204 through a CAN bus, different UWB masters are allocated with different bus IDs, the main controller 204 analyzes the positioning information transmitted by the UWB master, compares the processed positioning information with standard data, and then debugs the hydraulic parameters in the hydraulic system 203, so as to realize the automatic debugging target.

[0058] The positioning master 201 can be installed on the vehicle body of the working machine and / or at least one execution mechanism in the working machine, for example, a excavator, the attached Figure 4 The positioning master can be respectively arranged on the bucket, the dipper arm, the swing arm and the vehicle body of the excavator, the bucket, the dipper arm and the swing arm of the excavator can be understood as execution mechanisms, Figure 4The specific installation positions of the bucket positioning master 401, the arm positioning master 402, the boom positioning master 403, and the vehicle body positioning master 404 are shown in FIG. 2. The four positioning slave machines 202 are arranged around the excavator. The excavator realizes the positioning function of the corresponding target mechanism by receiving the data uploaded by the positioning slave machines 202 in real time.

[0059] In the example embodiment, when the target mechanism is an execution mechanism, the measured data of the target mechanism is determined based on the positioning information, and specifically can include:

[0060] The measured action speed of the execution mechanism is determined based on the trajectory data and the action duration in the positioning information, and the measured action speed is taken as the measured data.

[0061] In the example embodiment, the measured data is compared with the preset standard data, and the hydraulic parameters of the hydraulic system in the working machine are debugged according to the comparison result, and specifically can include:

[0062] The measured action speed is compared with the preset standard action speed. If the deviation value between the measured action speed and the standard action speed exceeds the preset deviation threshold value, the hydraulic parameters are adjusted according to the deviation value;

[0063] The execution mechanism is controlled to perform the debugging action again based on the adjusted hydraulic parameters;

[0064] Until the deviation value between the measured action speed and the standard action speed is lower than the deviation threshold value, the debugging is ended.

[0065] Taking the bucket action debugging process of the excavator as an example, first, the bucket UWB master is installed at the fixed position of the bucket, and the UWB slave is arranged at the edge of the debugging area. Within the UWB base station range delineated by the multiple UWB slaves, the excavator automatically performs the standard bucket action multiple times. The bucket UWB master obtains the bucket coordinate parameters. The trajectory data of the bucket can be obtained according to the multiple coordinate parameters. The UWB master communicates with the main controller on the excavator through the CAN bus, and transmits the trajectory data containing the coordinate parameters of the bucket into the main controller of the excavator. The main controller internally stores the trajectory data of the standard bucket action and the standard time of performing the bucket action, i.e., the standard action duration, and then the standard action speed can be obtained.

[0066] In the actual debugging process, the duration of moving the bucket to the predetermined coordinate, i.e., the action duration, can be compared with the standard duration of performing the bucket action, to indirectly judge the difference between the current measured action speed and the standard action speed, or the coordinates of the starting point and the ending point in the trajectory data and the action duration are used to determine the measured action speed, to directly judge the difference between the measured action speed and the standard action speed.

[0067] If the current action speed is faster than the standard action speed, the hydraulic parameters in the hydraulic system can be adjusted by the main controller, specifically, the output flow of the hydraulic main pump can be adjusted, the supply of the hydraulic main pump to the bucket flow is reduced, and then the current action execution speed is reduced; if the current action speed is slower than the standard action speed, the hydraulic parameters in the hydraulic system can be adjusted by the main controller, specifically, the output flow of the hydraulic main pump can be adjusted, the supply of the hydraulic main pump to the bucket flow is increased, and the execution speed of the current action is accelerated.

[0068] After the adjustment is performed multiple times, the measured action speed approaches the standard action speed, and satisfies the error range, that is, the deviation value of the two is lower than the deviation threshold value, then the final hydraulic parameter can be stored in the main controller as a debugging result, and the bucket action debugging process is automatically ended. In actual application, the boom action debugging and the stick action debugging principles of the excavator are basically the same as the above bucket action debugging principle.

[0069] In an example embodiment, when the target mechanism is a vehicle body, based on the positioning information, the measured data of the target mechanism is determined, which can specifically include:

[0070] Based on the current coordinate data and the initial coordinate data in the positioning information, a measured lateral deviation value of the vehicle body in the straight driving process is determined, and the measured lateral deviation value is taken as the measured data.

[0071] In an example embodiment, the measured data is compared with the preset standard data, and based on the comparison result, the hydraulic parameters of the hydraulic system in the working machine are debugged, which can specifically include:

[0072] The measured lateral deviation value is compared with the preset standard lateral deviation value, and if the measured lateral deviation value exceeds the standard lateral deviation value, the hydraulic parameters are adjusted according to the measured lateral deviation value;

[0073] The current coordinate data is taken as new initial coordinate data;

[0074] Based on the adjusted hydraulic parameters and the new initial coordinate data, the vehicle body is controlled to perform the debugging action again;

[0075] Until it is determined that the measured lateral deviation value is lower than the standard lateral deviation value, the debugging is ended.

[0076] In this embodiment, the debugging corresponding to the vehicle body is mainly the walking deviation test. Taking the excavator as an example, since there are manufacturing and assembly cumulative errors in each part of the excavator, there are a large number of walking deviation machines in the excavator production line, and therefore, the walking deviation test needs to be performed.

[0077] In the walking deviation test, first, the body UWB host is installed at a fixed position of the vehicle body, and the body of the excavator is controlled to perform a straight walking action within the range of the UWB base station. First, the main controller of the excavator reads the initial coordinate data of the body UWB host as the initial coordinate data of this debugging, and then reads the coordinate data of the body UWB host again at a fixed time interval as the current coordinate data. The difference between the initial coordinate data and the current coordinate data of the body UWB host in the lateral coordinate direction of the vehicle body is obtained, and the measured lateral deviation value is obtained. The measured lateral deviation value is compared with the preset standard lateral deviation value to determine whether the excavator deviates during straight walking. If there is a deviation, the hydraulic parameters of the hydraulic system are adjusted by the main controller. Specifically, the output flow of the hydraulic main pump can be adjusted.

[0078] Specifically, for example, if the measured lateral deviation value is negative, it indicates that the vehicle body deviates to the left, and at this time, the output flow of the hydraulic main pump for walking to the left should be reduced, and the output flow of the hydraulic main pump for walking to the right should be increased, so that the vehicle body tends to be in a straight walking state.

[0079] After the main controller completes the adjustment process of the hydraulic parameters once, the initial coordinate data of the body UWB host in the main controller is replaced by the current coordinate data of the body UWB host, and the walking deviation debugging is continued until the initial coordinate data of the body UWB host and the current coordinate data of the body UWB host are within the error range in multiple debugging periods, that is, the measured lateral deviation value is lower than the standard lateral deviation value. The final hydraulic parameters are stored in the main controller as the debugging result, and the walking deviation debugging is automatically ended.

[0080] It can be found that the above walking deviation debugging scheme provided by the embodiment does not need to set specific initial coordinates and walking trajectories, and can start at any position. By replacing the current coordinates with the initial coordinates in a debugging period, the influence of the walking initial position on the deviation is reduced, and the walking deviation debugging process is more efficient and reliable.

[0081] In an example embodiment, the hydraulic parameters of the hydraulic system of the working machine are debugged, which can specifically include:

[0082] Adjusting the output flow of the hydraulic main pump in the hydraulic system, and taking the output flow of the hydraulic main pump in the hydraulic system at the end of the debugging as the debugging result.

[0083] The hydraulic parameters in the embodiment mainly refer to the output flow of the hydraulic main pump in the hydraulic system. The main controller can control the hydraulic main pump through the electromagnetic valve, and the output flow of the hydraulic main pump is debugged during the execution of the target action to obtain the final debugging result.

[0084] In addition, the embodiment can also realize composite action debugging. First, a standard composite debugging action is set, such as coordinate data of each actuator in loading action and flat ground action and a standard action duration, and the standard composite action parameters are stored in the main controller of the excavator. The output flow of the hydraulic main pump is distributed by priority among actions in the main controller of the excavator.

[0085] Then, the main controller of the excavator reads coordinate data of the positioning master on corresponding actuators and action duration when the composite action is performed, obtains measured action data, compares the measured action data of each actuator with corresponding standard action data respectively, adjusts the output flow of the hydraulic main pump based on the comparison result, until the deviation values of the measured action data of each actuator and the standard action data are all lower than a deviation threshold, stores the final output flow of the hydraulic main pump as a debugging result in the main controller, and ends the composite action debugging.

[0086] Therefore, the hydraulic parameter debugging method of the working machine provided in the embodiment can automatically debug the hydraulic parameters of the hydraulic system based on positioning information obtained by the positioning master and the positioning slave after analysis and comparison, the debugging process does not need too much human intervention, is more convenient and efficient, and is more accurate and reliable in the debugging process, and can better meet actual debugging requirements.

[0087] The hydraulic parameter debugging device of the working machine provided in the embodiment is described below, and the hydraulic parameter debugging device of the working machine described below can be correspondingly referred to the hydraulic parameter debugging method of the working machine described above.

[0088] Figure 5 The hydraulic parameter debugging device of the working machine provided in the embodiment is shown, the working machine is installed with a positioning master, the edge of the debugging area is provided with a positioning slave, and the positioning master and the positioning slave are in communication connection; the device comprises:

[0089] The first processing module 501 is used to obtain positioning information of a target mechanism performing a debugging action, wherein the positioning information is obtained by the positioning master and the positioning slave in cooperation;

[0090] The second processing module 502 is used to determine measured data of the target mechanism based on the positioning information;

[0091] The third processing module 503 is used to compare the measured data with preset standard data, and debug the hydraulic parameters of the hydraulic system in the working machine according to the comparison result.

[0092] In the embodiment, the positioning master can be specifically installed on the vehicle body of the working machine and / or at least one actuator in the working machine.

[0093] Correspondingly, the target mechanism in the embodiment can specifically include a vehicle body of the working machine and / or at least one executing mechanism in the working machine.

[0094] In the example embodiment, when the target mechanism is an executing mechanism, the second processing module 502 can be specifically configured to:

[0095] determine a measured action speed of the executing mechanism based on the trajectory data and the action duration in the positioning information, and take the measured action speed as measured data.

[0096] Further, the third processing module 503 can be specifically configured to:

[0097] compare the measured action speed with a preset standard action speed, and adjust the hydraulic parameter according to a deviation value between the measured action speed and the standard action speed if the deviation value exceeds a preset deviation threshold value.

[0098] control the executing mechanism to perform the debugging action again based on the adjusted hydraulic parameter.

[0099] until the deviation value between the measured action speed and the standard action speed is lower than the deviation threshold value, the debugging is ended.

[0100] In the example embodiment, when the target mechanism is a vehicle body, the second processing module 502 can be specifically configured to:

[0101] determine a measured lateral deviation value of the vehicle body in the straight driving process based on the current coordinate data and the initial coordinate data in the positioning information, and take the measured lateral deviation value as measured data.

[0102] Further, the third processing module 503 can be specifically configured to:

[0103] compare the measured lateral deviation value with a preset standard lateral deviation value, and adjust the hydraulic parameter according to the measured lateral deviation value if the measured lateral deviation value exceeds the standard lateral deviation value.

[0104] take the current coordinate data as new initial coordinate data.

[0105] control the vehicle body to perform the debugging action again based on the adjusted hydraulic parameter and the new initial coordinate data.

[0106] until it is determined that the measured lateral deviation value is lower than the standard lateral deviation value, the debugging is ended.

[0107] In the example embodiment, the third processing module 503 can specifically adjust the hydraulic parameter of the hydraulic system in the working machine in the following manner:

[0108] Adjust the output flow of the hydraulic master pump in the hydraulic system, and take the output flow of the hydraulic master pump in the hydraulic system at the end of the debugging as the debugging result.

[0109] Therefore, the hydraulic parameter debugging device of the working machine provided by the embodiment of the present application can obtain the positioning information determined by the positioning master and the positioning slave through the first processing module, can determine the measured data of the target mechanism based on the positioning information through the second processing module, and finally can compare the measured data with the standard data through the third processing module, and then can debug the hydraulic parameters of the hydraulic system in the working machine according to the comparison result. The whole debugging system has a higher degree of automation, so that the debugging efficiency is significantly improved, and the debugging error caused by manual intervention is reduced, and the debugging result is more accurate and reliable.

[0110] Figure 6 The hydraulic parameter debugging system of the working machine provided by the embodiment of the present application is shown, and the system comprises a positioning master 201, a positioning slave 202, a main controller 204 and a hydraulic system 203.

[0111] The positioning master 201 is installed on the working machine, the positioning slave 202 is arranged at the edge of the debugging area, the positioning master 201 is in communication connection with the positioning slave 202, the positioning master 201 is connected with the main controller 204, and the main controller 204 is connected with the hydraulic system 203.

[0112] The positioning master 201 is used for determining the positioning information of the target mechanism performing the debugging action in cooperation with the positioning slave 202.

[0113] The main controller 204 is used for acquiring the positioning information, determining the measured data of the target mechanism based on the positioning information, comparing the measured data with the preset standard data, and debugging the hydraulic parameters of the hydraulic system 203 in the working machine according to the comparison result.

[0114] In the embodiment, the positioning master 201 can be installed on the vehicle body of the working machine and / or at least one executing mechanism in the working machine, and correspondingly, the target mechanism can specifically include the vehicle body of the working machine and / or at least one executing mechanism in the working machine.

[0115] The specific structure architecture of the hydraulic parameter debugging system of the working machine in the embodiment can be referred to the above-mentioned Figure 2 and the above-mentioned Figure 3The positioning slave 202 can be deployed in the debugging workshop, a plurality of positioning slaves 202 can build a small three-dimensional positioning base station, the positioning master 201 can receive the signals emitted by each positioning slave 202, thereby obtaining the coordinate data of the corresponding mechanism, realizing the real-time positioning function of the target mechanism, and the data processing and control functions in the entire debugging process are completed in the main controller 204. The main controller 204 can analyze and process the data obtained by the positioning master 201, and after comparison with the standard data, the hydraulic parameters in the hydraulic system 203 can be further debugged. Specifically, the electromagnetic valve or main valve in the hydraulic system can be controlled to act to control the output flow of the hydraulic main pump, thereby realizing the automatic debugging process.

[0116] In the example embodiment, the hydraulic parameter debugging system of the working machine can further include an on-off controller, which is configured to control the power-on of the positioning master 201 on the target mechanism and the power-off of the positioning master 201 on the non-target mechanism.

[0117] Since the positioning master and the positioning slave can communicate through a wireless serial port, when too many positioning masters 201 are involved, data loss may occur, affecting the stability of the debugging operation. Therefore, the on-off controller is provided to automatically control the power-on of the positioning master 201 related to the current debugging action and the power-off of other positioning masters 201, thereby reducing the probability of data loss when multiple positioning masters read information and ensuring the stability and reliability of the debugging process.

[0118] In actual application, an electric control switch can be provided on the working line where each positioning master 201 is located, and the power-on and power-off are controlled by opening and closing the electric control switch. Each electric control switch is connected to the on-off controller, so that the on-off controller controls the on-off state of each electric control switch to control the power-on and power-off of the corresponding positioning master 201, thereby reducing signal interference.

[0119] In addition, the positioning master 201 and the positioning slave 202 in the embodiment can be implemented by UWB technology or GPS technology, and the specific implementation can be reasonably selected and configured according to the actual test scene.

[0120] As can be seen, the hydraulic parameter debugging system of the working machine provided by the embodiment can realize the automatic debugging function of the hydraulic parameters in the hydraulic system by cooperation of the positioning master, the positioning slave, the main controller and the hydraulic system, and has higher automation, and the debugging efficiency and accuracy are effectively improved.

[0121] In addition, the embodiment of the present application also provides a working machine using the hydraulic parameter debugging method of the working machine.

[0122] It should be noted that the working machine in the embodiment can be an excavator, specifically an electrically controlled excavator, or other working machines configured with a hydraulic system.

[0123] Figure 7 An example of an electronic device entity structure diagram is shown in Figure 7 As shown, the electronic device can include a processor 701, a communications interface 702, a memory 703, and a communications bus 704, wherein the processor 701, the communications interface 702, and the memory 703 communicate with each other through the communications bus 704. The processor 701 can call the logical instructions in the memory 703 to execute the hydraulic parameter debugging method of the working machine, which includes: obtaining positioning information of a target mechanism performing a debugging action, wherein the positioning information is obtained by a positioning master cooperating with a positioning slave; determining measured data of the target mechanism based on the positioning information; comparing the measured data with preset standard data, and adjusting the hydraulic parameter of the hydraulic system in the working machine according to the comparison result.

[0124] In addition, the logical instructions in the memory 703 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or parts of the present application that make essential contributions to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0125] In another aspect, the present application also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, enable the computer to perform the method for debugging hydraulic parameters of a working machine provided by any of the above embodiments, the method comprising: obtaining positioning information of a target mechanism performing a debugging action, wherein the positioning information is obtained by a positioning master cooperating with a positioning slave; determining measured data of the target mechanism based on the positioning information; comparing the measured data with preset standard data, and debugging hydraulic parameters of a hydraulic system in the working machine according to a comparison result.

[0126] In another aspect, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method for debugging hydraulic parameters of a working machine provided by any of the above embodiments, the method comprising: obtaining positioning information of a target mechanism performing a debugging action, wherein the positioning information is obtained by a positioning master cooperating with a positioning slave; determining measured data of the target mechanism based on the positioning information; comparing the measured data with preset standard data, and debugging hydraulic parameters of a hydraulic system in the working machine according to a comparison result.

[0127] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0128] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0129] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for adjusting the hydraulic parameters of a work machinery, characterized in that, The operating machinery is equipped with a positioning master unit, and a positioning slave unit is located at the edge of the debugging area. The positioning master unit and the positioning slave unit are communicatively connected. The method includes: The positioning information of the target mechanism performing the debugging action is obtained, wherein the positioning information is obtained by the positioning host and the positioning slave in cooperation; Based on the positioning information, the measured data of the target mechanism are determined; The measured data are compared with the preset standard data, and the hydraulic parameters of the hydraulic system in the working machinery are adjusted according to the comparison results. When the target mechanism is a vehicle body, determining the measured data of the target mechanism based on the positioning information includes: Based on the current coordinate data and initial coordinate data in the positioning information, the measured lateral deviation value of the vehicle body during straight driving is determined, and the measured lateral deviation value is used as the measured data. The step of comparing the measured data with preset standard data and adjusting the hydraulic parameters of the hydraulic system in the operating machinery based on the comparison results includes: The measured lateral deviation value is compared with the preset standard lateral deviation value. If the measured lateral deviation value exceeds the standard lateral deviation value, the hydraulic parameters are adjusted according to the measured lateral deviation value. Use the current coordinate data as the new initial coordinate data; Based on the adjusted hydraulic parameters and the new initial coordinate data, the vehicle body is controlled to perform the debugging action again. The debugging process ends when the measured lateral deviation value is determined to be lower than the standard lateral deviation value.

2. The method for adjusting the hydraulic parameters of the operating machinery according to claim 1, characterized in that, The target mechanism includes the body of the working machine and / or at least one actuator in the working machine.

3. The method for adjusting the hydraulic parameters of the operating machinery according to claim 2, characterized in that, When the target mechanism is an actuator, determining the measured data of the target mechanism based on the positioning information includes: Based on the trajectory data and action duration in the positioning information, the measured action speed of the actuator is determined, and the measured action speed is used as the measured data.

4. The method for adjusting the hydraulic parameters of the operating machinery according to claim 3, characterized in that, The step of comparing the measured data with preset standard data and adjusting the hydraulic parameters of the hydraulic system in the operating machinery based on the comparison results includes: The measured action speed is compared with the preset standard action speed. If the deviation between the measured action speed and the standard action speed exceeds the preset deviation threshold, the hydraulic parameters are adjusted according to the deviation value. Based on the adjusted hydraulic parameters, the actuator is controlled to perform the debugging action again; The debugging process ends when the deviation between the measured action speed and the standard action speed is lower than the deviation threshold.

5. The method for adjusting the hydraulic parameters of the operating machinery according to any one of claims 1 to 4, characterized in that, The adjustment of the hydraulic parameters of the hydraulic system in the operating machinery includes: Adjust the output flow rate of the hydraulic main pump in the hydraulic system, and take the output flow rate of the hydraulic main pump in the hydraulic system at the end of the commissioning as the commissioning result.

6. A hydraulic parameter adjustment device for a working machine, characterized in that, The operating machinery is equipped with a positioning master unit, and a positioning slave unit is located at the edge of the debugging area. The positioning master unit and the positioning slave unit are communicatively connected. The device includes: The first processing module is used to acquire the positioning information of the target mechanism performing the debugging action, wherein the positioning information is obtained by the positioning host and the positioning slave in cooperation; The second processing module is used to determine the measured data of the target mechanism based on the positioning information; The third processing module is used to compare the measured data with preset standard data, and adjust the hydraulic parameters of the hydraulic system in the working machinery according to the comparison results. When the target mechanism is the vehicle body, the second processing module is specifically used for: Based on the current coordinate data and initial coordinate data in the positioning information, the measured lateral deviation value of the vehicle body during straight driving is determined, and the measured lateral deviation value is used as the measured data. The third processing module is specifically used for: The measured lateral deviation value is compared with the preset standard lateral deviation value. If the measured lateral deviation value exceeds the standard lateral deviation value, the hydraulic parameters are adjusted according to the measured lateral deviation value. Use the current coordinate data as the new initial coordinate data; Based on the adjusted hydraulic parameters and the new initial coordinate data, the vehicle body is controlled to perform the debugging action again. The debugging process ends when the measured lateral deviation value is determined to be lower than the standard lateral deviation value.

7. A hydraulic parameter adjustment system for a working machine, characterized in that, The hydraulic parameter adjustment method for the working machinery as described in claim 1, wherein the system comprises: a positioning master unit, a positioning slave unit, a main controller, and a hydraulic system; The positioning host is installed on the working machinery, the positioning slave is located at the edge of the debugging area, the positioning host and the positioning slave are communicatively connected, the positioning host is connected to the main controller, and the main controller is connected to the hydraulic system; The positioning host is used in conjunction with the positioning slave to determine the positioning information of the target mechanism performing the debugging action; The main controller is used to acquire the positioning information, determine the measured data of the target mechanism based on the positioning information, compare the measured data with preset standard data, and adjust the hydraulic parameters of the hydraulic system in the working machinery according to the comparison result.

8. The hydraulic parameter adjustment system for the operating machinery according to claim 7, characterized in that, It also includes an on / off controller, which is used to control the positioning host on the target mechanism to be powered on and to control the positioning host on the non-target mechanism to be powered off.

9. A type of operating machinery, characterized in that, The operating machinery uses the hydraulic parameter adjustment method for operating machinery as described in any one of 1 to 5.

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