Control method, device, equipment and operating machinery for crushing equipment

Abstract

The present invention relates to the technical field of operating machinery control, and provides a control method, device, equipment, and operating machinery for crushing equipment. The method comprises: obtaining operating parameters of the operating machinery and equipment parameters of the crushing equipment of the operating machinery; determining the output current of the main pump of the operating machinery based on the operating parameters and equipment parameters; determining the current adjustment coefficient of the operating machinery at the current moment, the current adjustment coefficient being obtained based on the posture information of the operating machinery and the crushing working conditions of the operating machinery; adjusting the output current based on the current adjustment coefficient to obtain a target current; and controlling the operation of the crushing equipment based on the target current. The present invention is used to address the defects of the prior art in that crushing equipment has a short service life and the operating stability of the operating machinery is poor, thereby increasing the service life of the crushing equipment and improving the operating stability of the operating machinery.

Description

Technical Field

[0001] The present invention relates to the technical field of operating machine control, and in particular to a control method, device, equipment and operating machine for crushing equipment. Background Art

[0002] In existing technology, crushing equipment is still controlled using the principles of traditional crushing hydraulic systems, with pressure regulation performed via a traditional manual mechanical relief valve. However, in actual crushing operations, the required pressure varies due to varying operating conditions and the different specifications of the crushing equipment installed. This makes it difficult for operators to determine the actual pressure required by the crushing equipment, leading to inconsistencies between the required pressure and the pressure output by the operating machine. This reduces the service life of the crushing equipment and results in poor stability during operation. Summary of the Invention

[0003] The present invention provides a control method, device, equipment and operating machinery for crushing equipment, which are used to solve the defects of the existing technology such as short service life of crushing equipment and poor operating stability of operating machinery, thereby increasing the service life of crushing equipment and the operating stability of operating machinery.

[0004] The present invention provides a method for controlling a crushing device, comprising:

[0005] Acquiring operating parameters of the operating machine and equipment parameters of the crushing equipment of the operating machine;

[0006] determining an output current of a main pump of the operating machine based on the operating parameters and the equipment parameters;

[0007] determining a current adjustment coefficient of the working machine at a current moment, wherein the current adjustment coefficient is obtained based on the posture information of the working machine and the crushing working condition of the working machine;

[0008] Adjusting the output current based on the current adjustment coefficient to obtain a target current;

[0009] The crushing equipment operation is controlled based on the target current.

[0010] According to a control method for crushing equipment provided by the present invention, the operating parameters include: a control voltage of the operating machine, a main pump pressure of the operating machine, and an engine torque of the operating machine;

[0011] The equipment parameters include: equipment limit flow and equipment limit pressure;

[0012] The determining the output current of the main pump of the operating machine based on the operating parameters and the equipment parameters includes:

[0013] determining a displacement of a first main pump corresponding to the control voltage;

[0014] determining a displacement of a second main pump corresponding to the main pump pressure;

[0015] determining a third main pump displacement corresponding to the engine torque;

[0016] determining a displacement of a fourth main pump corresponding to a restricted flow rate of the device;

[0017] determining a displacement of a fifth main pump corresponding to a limit pressure of the equipment;

[0018] determining a minimum main pump displacement from the first main pump displacement, the second main pump displacement, the third main pump displacement, the fourth main pump displacement, and the fifth main pump displacement to obtain a target main pump displacement;

[0019] Based on a preset correspondence between the main pump displacement and the current, the output current corresponding to the target main pump displacement is obtained.

[0020] According to a control method for crushing equipment provided by the present invention, adjusting the output current based on the current adjustment coefficient to obtain a target current includes:

[0021] The product of the output current and the current adjustment coefficient is calculated to obtain a calculation result, and the calculation result is determined as the target current.

[0022] According to a control method for crushing equipment provided by the present invention, the current adjustment coefficient includes: a posture coefficient corresponding to the posture information of the working machine, and a working condition coefficient corresponding to the crushing working condition of the working machine;

[0023] The calculating the product of the output current and the current adjustment coefficient to obtain a calculation result includes:

[0024] Calculating the product of the output current and the posture coefficient to obtain a first sub-calculation result;

[0025] A product of the first sub-calculation result and the operating condition coefficient is calculated to obtain a second sub-calculation result, and the second sub-calculation result is determined as the calculation result.

[0026] According to a control method for crushing equipment provided by the present invention, before calculating the product of the output current and the current adjustment coefficient to obtain the calculation result, the method further includes:

[0027] Obtaining current posture information of the working machine;

[0028] Comparing the current posture information with preset standard posture information to obtain a comparison result;

[0029] The pose coefficient is obtained based on the comparison result.

[0030] According to a control method for crushing equipment provided by the present invention, after calculating the product of the output current and the current adjustment coefficient to obtain the calculation result, the method further includes:

[0031] determining an operating pressure corresponding to the operating condition coefficient;

[0032] Determining the magnitude relationship between the operating pressure and the main pump pressure;

[0033] When it is determined that the operating pressure is greater than the main pump pressure, reducing the operating coefficient;

[0034] When it is determined that the operating pressure is less than the main pump pressure, increasing the operating condition coefficient;

[0035] When it is determined that the operating pressure is equal to the main pump pressure, the operating condition coefficient is kept unchanged.

[0036] According to a method for controlling a crushing device provided by the present invention, controlling the crushing device based on the target current includes:

[0037] Obtaining the actual current of the main pump;

[0038] The actual current is adjusted based on the target current, and the operation of the crushing equipment is controlled using the adjusted actual current.

[0039] The present invention also provides a control device for a crushing device, comprising:

[0040] An acquisition module, used to acquire operating parameters of the operating machine and equipment parameters of the crushing equipment of the operating machine;

[0041] a first determining module, configured to determine an output current of a main pump of the operating machine based on the operating parameters and the equipment parameters;

[0042] a second determining module, configured to determine a current adjustment coefficient of the working machine at a current moment, wherein the current adjustment coefficient is obtained based on the posture information of the working machine and the crushing working condition of the working machine;

[0043] an adjustment module, configured to adjust the output current based on the current adjustment coefficient to obtain a target current;

[0044] A control module is used to control the operation of the crushing equipment based on the target current.

[0045] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the control method for the crushing device as described above is implemented.

[0046] The present invention further provides an operating machine, comprising: a control device for a crushing device as described in any one of the above, or a control method for a crushing device as described in any one of the above.

[0047] The control method, device, equipment and operating machinery of the crushing equipment provided by the present invention obtain the operating parameters of the operating machinery and the equipment parameters of the crushing equipment of the operating machinery; based on the operating parameters and equipment parameters, the output current of the main pump of the operating machinery is determined. It can be seen that the present invention combines the actual operating conditions of the operating machinery and the attribute characteristics of the crushing equipment to determine the output current, ensures the accuracy of the output current, and provides an effective data basis for the operation of the crushing equipment; then, the current adjustment coefficient of the operating machinery at the current moment is determined, and the current adjustment coefficient is obtained based on the posture information of the operating machinery and the crushing working condition of the operating machinery; based on the current adjustment coefficient, the output current is adjusted to obtain the target current; based on the target current, the operation of the crushing equipment is controlled. It can be seen that the present invention combines the posture information of the operation and the crushing working condition to adjust the output current, ensures the consistency between the actual pressure required by the crushing equipment and the output pressure, that is, the consistency between the output and the load, ensures the safe use of the crushing equipment, thereby improving the service life of the crushing equipment and improving the operating stability of the operating machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 This is one of the flow charts of the control method of the crushing equipment provided by the present invention;

[0050] Figure 2 This is the second flow chart of the control method of the crushing equipment provided by the present invention;

[0051] Figure 3 It is a structural schematic diagram of the control device of the crushing equipment provided by the present invention;

[0052] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0053] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0054] The following combination Figures 1 to 2 The control method of the crushing equipment of the present invention is described.

[0055] The embodiment of the present invention provides a control method for crushing equipment. The method can be applied to smart terminals, such as mobile phones, computers, tablets, etc., can also be applied to servers, and can also be applied to controllers of operating machinery. Below, the method is described using the controller of an operating machinery as an example, but it should be noted that it is only an example and is not used to limit the scope of protection of the present invention. Some other descriptions in the embodiments of the present invention are also examples and are not used to limit the scope of protection of the present invention. They will not be described one by one later. Figure 1 As shown, the method includes:

[0056] Step 101: Acquire the operating parameters of the operating machine and the equipment parameters of the crushing equipment of the operating machine.

[0057] Among them, the crushing equipment includes a crushing hammer.

[0058] Among them, the operating parameters include: the control voltage of the operating machine, the main pump pressure of the operating machine and the engine torque of the operating machine; the equipment parameters include: the equipment limit flow and the equipment limit pressure.

[0059] Among them, there is a mapping relationship between the control voltage and the stroke of the sliding key of the operating machine, that is, the larger the stroke, the larger the corresponding control voltage; the main pump pressure is the pressure of the main pump of the operating machine collected at the current moment; the engine torque is the real-time torque of the engine of the operating machine collected at the current moment.

[0060] The equipment flow limit and pressure limit are related to the specifications and models of the crushing equipment. Different specifications and models of crushing equipment have different flow limits and pressure limits. The equipment flow limit is the maximum flow rate that the crushing equipment can withstand, and the equipment pressure limit is the maximum pressure that the crushing equipment can withstand. The equipment flow limit is less than or equal to the equipment flow limit, and the equipment pressure limit is less than or equal to the equipment pressure limit.

[0061] The equipment limit flow rate and the equipment limit pressure are obtained through manual input by an operator. The operator can input the equipment limit flow rate and the equipment limit pressure on a display screen of the operating machine.

[0062] The present invention, when obtaining the device limit flow and device limit pressure input by the operator, determines whether the input device limit flow is less than or equal to the device limit flow, and determines whether the device limit pressure is less than or equal to the device limit pressure; when it is determined that the device limit flow is less than or equal to the device limit flow, the device limit flow is obtained; when it is determined that the device limit pressure is less than or equal to the device limit pressure, the device limit pressure is obtained; otherwise, it is prompted that the device limit flow input does not meet the requirements, and / or it is prompted that the device limit pressure does not meet the requirements.

[0063] Specifically, the present invention has already obtained the specifications and models of the crushing equipment in advance, and thus the equipment limit flow and equipment limit pressure of the crushing equipment are known.

[0064] The present invention determines the output current according to the device limit flow and device limit pressure of the crushing equipment with different specification signals, so that the crushing equipment can operate under a safe flow and pressure environment, ensuring the service life of the crushing equipment.

[0065] Step 102: Determine the output current of the main pump of the operating machine based on the operating parameters and the equipment parameters.

[0066] In a specific embodiment, the specific implementation method of determining the output current is: determining the first main pump displacement corresponding to the control voltage; determining the second main pump displacement corresponding to the main pump pressure; determining the third main pump displacement corresponding to the engine torque; determining the fourth main pump displacement corresponding to the device limited flow; determining the fifth main pump displacement corresponding to the device limited pressure; determining the minimum main pump displacement from the first main pump displacement, the second main pump displacement, the third main pump displacement, the fourth main pump displacement and the fifth main pump displacement to obtain the target main pump displacement; based on the preset correspondence between the main pump displacement and the current, obtaining the output current corresponding to the target main pump displacement.

[0067] Specifically, determining the displacement of the first main pump corresponding to the control voltage is specifically implemented as follows:

[0068] Based on a preset first matching relationship between the voltage and the main pump displacement, a first main pump displacement corresponding to the control voltage is obtained.

[0069] Specifically, determining the displacement of the second main pump corresponding to the main pump pressure is specifically implemented as follows:

[0070] Based on a preset second matching relationship between the main pump pressure and the main pump displacement, a second main pump displacement corresponding to the main pump pressure is obtained.

[0071] The second matching relationship is a pre-calibrated relationship curve between the main pump pressure and the main pump displacement.

[0072] Specifically, determining the displacement of the third main pump corresponding to the engine torque is specifically implemented as follows:

[0073] The engine speed of the operating machine at the current moment is obtained; the engine speed, engine torque and main pump pressure are input into the first calculation formula to obtain the third main pump displacement.

[0074] The first calculation formula is shown in formula (1):

[0075] Q3=n*v / p (1)

[0076] Wherein, Q3 represents the displacement of the third main pump, n represents the engine torque, p represents the main pump pressure, and v represents the engine speed.

[0077] Specifically, the specific implementation of determining the displacement of the fourth main pump corresponding to the equipment limited flow is:

[0078] The engine speed and equipment limit flow are input into the second calculation formula to obtain the displacement of the fourth main pump.

[0079] The second calculation formula is shown in formula (2):

[0080] Q4=s / v (2)

[0081] Among them, Q4 represents the displacement of the fourth main pump, and s represents the equipment limit flow.

[0082] Specifically, the specific implementation of determining the displacement of the fifth main pump corresponding to the equipment limit pressure is as follows:

[0083] Obtain the operating gear of the operating machine at the current moment, and obtain the third matching relationship corresponding to the operating gear, wherein the third matching relationship is the matching relationship between the overflow pressure and the main pump displacement; based on the third matching relationship, obtain the fifth main pump displacement corresponding to the equipment limit pressure.

[0084] The present invention determines the target main pump displacement according to the operating parameters of the operating machinery and the equipment parameters of the crushing equipment, and selects the minimum main pump displacement from multiple main pump displacements to ensure the safe use of the crushing equipment and increase the service life of the crushing equipment.

[0085] Step 103: Determine the current adjustment coefficient of the operating machine at the current moment.

[0086] The current adjustment coefficient is obtained based on the posture information of the operating machine and the crushing working condition of the operating machine.

[0087] The current adjustment coefficient includes: a posture coefficient corresponding to the posture information of the operating machine, and a working condition coefficient corresponding to the crushing working condition of the operating machine.

[0088] The present invention obtains a current adjustment coefficient through posture information and crushing working conditions, so that the final output current is more in line with the crushing working conditions of the operating machinery, thereby ensuring the working stability of the operating machinery.

[0089] Step 104 : Adjust the output current based on the current adjustment coefficient to obtain a target current.

[0090] In a specific embodiment, the target current is obtained by calculating the product of the output current and the current adjustment coefficient to obtain a calculation result, and determining the calculation result as the target current.

[0091] Specifically, the output current and the current adjustment coefficient are input into the third calculation formula to obtain the target current.

[0092] The third calculation formula is shown in formula (3):

[0093] Im=Io*k (3)

[0094] Wherein, Im represents the target current, Io represents the output current, and k represents the current adjustment coefficient.

[0095] In a specific embodiment, the product of the output current and the posture coefficient is calculated to obtain a first sub-calculation result; the product of the first sub-calculation result and the operating condition coefficient is calculated to obtain a second sub-calculation result, and the second sub-calculation result is determined as the calculation result.

[0096] Specifically, the output current, posture coefficient and working condition coefficient are calculated as in the fourth formula to obtain the target current.

[0097] The fourth calculation formula is shown in formula (4):

[0098] Im=Io*k1*k2 (4)

[0099] Among them, k1 represents the posture coefficient and k2 represents the working condition coefficient.

[0100] The present invention obtains a current adjustment coefficient through posture information and crushing working conditions, so that the final output current is more in line with the crushing working conditions of the operating machinery, thereby ensuring the working stability of the operating machinery.

[0101] In a specific embodiment, before calculating the product of the output current and the current adjustment coefficient to obtain the calculation result, the current posture information of the operating machine is obtained; the current posture information is compared with the preset standard posture information to obtain a comparison result; and the posture coefficient is obtained based on the comparison result.

[0102] Specifically, the posture coefficient is obtained based on the difference between the actual posture information (current posture information) of the working machine and the standard posture information. The comparison result is the difference between the current posture information and the standard posture information.

[0103] Specifically, the actual posture information and the standard posture information are input into the fifth calculation formula to obtain the posture coefficient.

[0104] The fifth calculation formula is shown in formula (5):

[0105]

[0106] Among them, k1 represents the posture coefficient, X 标 Indicates standard pose information, X 实 Indicates the actual pose information.

[0107] For example, when the working machine is an excavator, the posture information includes: arm posture, boom posture and vehicle posture.

[0108] In a specific embodiment, after calculating the product of the output current and the current adjustment coefficient and obtaining the calculation result, the operating pressure corresponding to the operating condition coefficient is determined; the relationship between the operating pressure and the main pump pressure is judged; when it is determined that the operating pressure is greater than the main pump pressure, the operating condition coefficient is reduced; when it is determined that the operating pressure is less than the main pump pressure, the operating condition coefficient is increased; when it is determined that the operating pressure is equal to the main pump pressure, the operating condition coefficient is kept unchanged.

[0109] Specifically, the operating condition coefficient includes an initial operating condition coefficient and a target operating condition coefficient. The initial operating condition coefficient is pre-acquired, and the current adjustment coefficient is determined based on the initial operating condition coefficient and the posture coefficient. The initial operating condition coefficient is input by the operator, who manually determines the initial operating condition coefficient based on the current environment. For example, it is divided into three categories: soft, normal, and hard.

[0110] After obtaining the initial operating condition coefficient, the current adjustment coefficient is obtained, and the target current is obtained. The crushing equipment is controlled based on the target current. At this time, the main pump pressure generated during the actual operation of the crushing equipment is obtained, and the main pump pressure at this time is compared with the operating pressure corresponding to the operating condition coefficient. The operating condition coefficient is adjusted based on the comparison result, that is, the initial operating condition coefficient is adjusted to obtain the target operating condition coefficient.

[0111] Among them, the adjustment of the initial operating condition coefficient is not limited to the above three categories. The adjustment categories at this time will be more numerous, detailed, and more accurate.

[0112] Among them, different operating coefficients correspond to different operating pressures.

[0113] During actual operation, the present invention adjusts the operating condition coefficient according to the crushing operating conditions to obtain a target current that is more in line with the crushing operating conditions, thereby achieving the purpose of safe, stable and efficient control of the crushing equipment and effectively improving the crushing efficiency.

[0114] Step 105: Control the operation of the crushing equipment based on the target current.

[0115] In one specific embodiment, a PID control method is used to control the crushing equipment operation based on the target current. The specific implementation is: obtaining the actual current of the main pump; adjusting the actual current based on the target current, and using the adjusted actual current to control the crushing equipment operation.

[0116] The present invention adjusts the circuit of the main pump according to the real-time load pressure and the real-time torque of the engine, absorbs the engine power to the maximum extent, and ensures the smooth movement of the entire vehicle.

[0117] Next, through Figure 2 The control method of the crushing equipment of the present invention is described in detail:

[0118] Step 201 : Obtain the stroke of the sliding key, the main pump pressure, the engine torque, the equipment limit flow, and the equipment limit pressure.

[0119] Step 202: Obtain a first main pump displacement corresponding to the stroke of the sliding key, a second main pump displacement corresponding to the main pump pressure, a third main pump displacement corresponding to the engine torque, a fourth main pump displacement corresponding to the device limited flow, and a fifth main pump displacement corresponding to the device limited pressure.

[0120] Step 203 : determining the minimum main pump displacement from the first main pump displacement, the second main pump displacement, the third main pump displacement, the fourth main pump displacement, and the fifth main pump displacement to obtain a target main pump displacement.

[0121] Step 204 : Based on the preset correspondence between the main pump displacement and the current, obtain the output current corresponding to the target main pump displacement.

[0122] Step 205: Adjust the output current based on the operating condition coefficient and the posture coefficient to obtain the target current.

[0123] Step 206: Using a PID control method, the crushing equipment operation is controlled based on the target current.

[0124] This invention controls the main pump current output based on the equipment flow and pressure limits set for different breaker models, ensuring the breaker operates at a safe flow and pressure, thus extending the breaker's service life. Closed-loop torque control adjusts the main pump current output based on real-time load pressure and engine torque, maximizing engine power absorption and ensuring smooth operation of the vehicle. The main pump current output is appropriately adjusted based on the real-time position and crushing conditions, improving crushing efficiency.

[0125] The control method of the crushing equipment provided by the present invention obtains the operating parameters of the operating machinery and the equipment parameters of the crushing equipment of the operating machinery; based on the operating parameters and the equipment parameters, the output current of the main pump of the operating machinery is determined. It can be seen that the present invention combines the actual operating conditions of the operating machinery and the attribute characteristics of the crushing equipment to determine the output current, ensures the accuracy of the output current, and provides an effective data basis for the operation of the crushing equipment; then, the current adjustment coefficient of the operating machinery at the current moment is determined, and the current adjustment coefficient is obtained based on the posture information of the operating machinery and the crushing working condition of the operating machinery; based on the current adjustment coefficient, the output current is adjusted to obtain the target current; based on the target current, the operation of the crushing equipment is controlled. It can be seen that the present invention combines the posture information of the operation and the crushing working condition to adjust the output current, ensures the consistency between the actual pressure required by the crushing equipment and the output pressure, that is, the consistency between the output and the load, ensures the safe use of the crushing equipment, thereby improving the service life of the crushing equipment and improving the operating stability of the operating machinery.

[0126] The control device of the crushing equipment provided by the present invention is described below. The control device of the crushing equipment described below and the control method of the crushing equipment described above can be referred to each other, and the repeated parts will not be repeated. Figure 3 As shown, the device includes:

[0127] An acquisition module 301 is used to acquire the operating parameters of the operating machine and the equipment parameters of the crushing equipment of the operating machine;

[0128] A first determination module 302 is configured to determine an output current of a main pump of an operating machine based on operating parameters and equipment parameters;

[0129] The second determining module 303 is used to determine the current adjustment coefficient of the working machine at the current moment, where the current adjustment coefficient is obtained based on the posture information of the working machine and the crushing working condition of the working machine;

[0130] An adjustment module 304 is configured to adjust the output current based on the current adjustment coefficient to obtain a target current;

[0131] The control module 305 is used to control the operation of the crushing equipment based on the target current.

[0132] In a specific embodiment, the operating parameters include: the control voltage of the operating machine, the main pump pressure of the operating machine and the engine torque of the operating machine; the equipment parameters include: the equipment limit flow and the equipment limit pressure; the first determination module 302 is specifically used to determine the first main pump displacement corresponding to the control voltage; determine the second main pump displacement corresponding to the main pump pressure; determine the third main pump displacement corresponding to the engine torque; determine the fourth main pump displacement corresponding to the equipment limit flow; determine the fifth main pump displacement corresponding to the equipment limit pressure; determine the minimum main pump displacement from the first main pump displacement, the second main pump displacement, the third main pump displacement, the fourth main pump displacement and the fifth main pump displacement to obtain the target main pump displacement; based on the preset correspondence between the main pump displacement and the current, obtain the output current corresponding to the target main pump displacement.

[0133] In a specific embodiment, the adjustment module 304 is specifically configured to calculate the product of the output current and the current adjustment coefficient to obtain a calculation result, and determine the calculation result as the target current.

[0134] In a specific embodiment, the current adjustment coefficient includes: a posture coefficient corresponding to the posture information of the operating machine, and a working condition coefficient corresponding to the crushing working condition of the operating machine; the adjustment module 304 is specifically used to calculate the product of the output current and the posture coefficient to obtain a first sub-calculation result; calculate the product of the first sub-calculation result and the working condition coefficient to obtain a second sub-calculation result, and determine the second sub-calculation result as the calculation result.

[0135] In a specific embodiment, the adjustment module 304 is further configured to obtain current posture information of the working machine; compare the current posture information with preset standard posture information to obtain a comparison result; and obtain a posture coefficient based on the comparison result.

[0136] In a specific embodiment, the adjustment module 304 is also used to determine the operating pressure corresponding to the operating condition coefficient; judge the relationship between the operating pressure and the main pump pressure; when it is determined that the operating pressure is greater than the main pump pressure, reduce the operating condition coefficient; when it is determined that the operating pressure is less than the main pump pressure, increase the operating condition coefficient; when it is determined that the operating pressure is equal to the main pump pressure, keep the operating condition coefficient unchanged.

[0137] In a specific embodiment, the control module 305 is specifically configured to obtain the actual current of the main pump; adjust the actual current based on the target current, and use the adjusted actual current to control the operation of the crushing equipment.

[0138] Figure 4 An example of a physical structure diagram of an electronic device is shown below. Figure 4As shown, the electronic device may include: a processor 401, a communications interface 402, a memory 403, and a communications bus 404, wherein the processor 401, the communications interface 402, and the memory 403 communicate with each other via the communications bus 404. The processor 401 may call logic instructions in the memory 403 to execute a method for controlling a crushing device, the method comprising: obtaining operating parameters of the operating machine and equipment parameters of the crushing device of the operating machine; determining the output current of the main pump of the operating machine based on the operating parameters and the equipment parameters; determining a current adjustment coefficient of the operating machine at the current moment, the current adjustment coefficient being obtained based on the posture information of the operating machine and the crushing working condition of the operating machine; adjusting the output current based on the current adjustment coefficient to obtain a target current; and controlling the operation of the crushing device based on the target current.

[0139] In addition, the logic instructions in the above-mentioned memory 403 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0140] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the control method of the crushing equipment provided by the above-mentioned embodiments, the method including: obtaining the operating parameters of the operating machinery and the equipment parameters of the crushing equipment of the operating machinery; determining the output current of the main pump of the operating machinery based on the operating parameters and the equipment parameters; determining the current adjustment coefficient of the operating machinery at the current moment, the current adjustment coefficient is obtained based on the posture information of the operating machinery and the crushing working condition of the operating machinery; adjusting the output current based on the current adjustment coefficient to obtain the target current; and controlling the operation of the crushing equipment based on the target current.

[0141] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the control method of the crushing equipment provided by the above-mentioned embodiments is implemented, the method including: obtaining the operating parameters of the operating machinery and the equipment parameters of the crushing equipment of the operating machinery; determining the output current of the main pump of the operating machinery based on the operating parameters and the equipment parameters; determining the current adjustment coefficient of the operating machinery at the current moment, the current adjustment coefficient being obtained based on the posture information of the operating machinery and the crushing working condition of the operating machinery; adjusting the output current based on the current adjustment coefficient to obtain the target current; and controlling the operation of the crushing equipment based on the target current.

[0142] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0143] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for controlling a crushing device, characterized in that: include: Acquiring operating parameters of the operating machine and equipment parameters of the crushing equipment of the operating machine; The operating parameters include: the control voltage of the operating machine, the main pump pressure of the operating machine, and the engine torque of the operating machine; the equipment parameters include: equipment limit flow and equipment limit pressure; determining an output current of a main pump of the operating machine based on the operating parameters and the equipment parameters; determining a current adjustment coefficient of the working machine at a current moment, wherein the current adjustment coefficient is obtained based on the posture information of the working machine and the crushing working condition of the working machine; Adjusting the output current based on the current adjustment coefficient to obtain a target current; controlling the operation of the crushing equipment based on the target current; The determining the output current of the main pump of the operating machine based on the operating parameters and the equipment parameters includes: determining a displacement of a first main pump corresponding to the control voltage; determining a displacement of a second main pump corresponding to the main pump pressure; determining a third main pump displacement corresponding to the engine torque; determining a displacement of a fourth main pump corresponding to a restricted flow rate of the device; determining a displacement of a fifth main pump corresponding to a limit pressure of the equipment; determining a minimum main pump displacement from the first main pump displacement, the second main pump displacement, the third main pump displacement, the fourth main pump displacement, and the fifth main pump displacement to obtain a target main pump displacement; Based on a preset correspondence between the main pump displacement and the current, obtaining the output current corresponding to the target main pump displacement; The step of adjusting the output current based on the current adjustment coefficient to obtain a target current includes: The product of the output current and the current adjustment coefficient is calculated to obtain a calculation result, and the calculation result is determined as the target current.

2. The method for controlling a crushing device according to claim 1, characterized in that: The current adjustment coefficient includes: a posture coefficient corresponding to the posture information of the working machine, and a working condition coefficient corresponding to the crushing working condition of the working machine; The calculating the product of the output current and the current adjustment coefficient to obtain a calculation result includes: Calculating the product of the output current and the posture coefficient to obtain a first sub-calculation result; A product of the first sub-calculation result and the operating condition coefficient is calculated to obtain a second sub-calculation result, and the second sub-calculation result is determined as the calculation result.

3. The method for controlling a crushing device according to claim 2, characterized in that: Before calculating the product of the output current and the current adjustment coefficient to obtain the calculation result, the method further includes: Obtaining current posture information of the working machine; Comparing the current posture information with preset standard posture information to obtain a comparison result; The pose coefficient is obtained based on the comparison result.

4. The method for controlling a crushing device according to claim 2, wherein: After calculating the product of the output current and the current adjustment coefficient to obtain a calculation result, the method further includes: determining an operating pressure corresponding to the operating condition coefficient; Determining the magnitude relationship between the operating pressure and the main pump pressure; When it is determined that the operating pressure is greater than the main pump pressure, reducing the operating coefficient; When it is determined that the operating pressure is less than the main pump pressure, increasing the operating condition coefficient; When it is determined that the operating pressure is equal to the main pump pressure, the operating condition coefficient is kept unchanged.

5. The method for controlling a crushing device according to any one of claims 1 to 4, characterized in that: The controlling the crushing device based on the target current includes: Obtaining the actual current of the main pump; The actual current is adjusted based on the target current, and the operation of the crushing equipment is controlled using the adjusted actual current.

6. A control device for crushing equipment, characterized in that: include: An acquisition module, used to acquire operating parameters of the operating machine and equipment parameters of the crushing equipment of the operating machine; The operating parameters include: the control voltage of the operating machine, the main pump pressure of the operating machine, and the engine torque of the operating machine; the equipment parameters include: equipment limit flow and equipment limit pressure; a first determining module, configured to determine an output current of a main pump of the operating machine based on the operating parameters and the equipment parameters; a second determining module, configured to determine a current adjustment coefficient of the working machine at a current moment, wherein the current adjustment coefficient is obtained based on the posture information of the working machine and the crushing working condition of the working machine; an adjustment module, configured to adjust the output current based on the current adjustment coefficient to obtain a target current; a control module, configured to control the operation of the crushing equipment based on the target current; The first determination module is specifically configured to determine a first main pump displacement corresponding to the control voltage; determine a second main pump displacement corresponding to the main pump pressure; determine a third main pump displacement corresponding to the engine torque; determine a fourth main pump displacement corresponding to the device limit flow; determine a fifth main pump displacement corresponding to the device limit pressure; determine a minimum main pump displacement from the first main pump displacement, the second main pump displacement, the third main pump displacement, the fourth main pump displacement, and the fifth main pump displacement to obtain a target main pump displacement; and obtain the output current corresponding to the target main pump displacement based on a preset correspondence between the main pump displacement and the current; The adjustment module is specifically configured to calculate the product of the output current and the current adjustment coefficient to obtain a calculation result, and determine the calculation result as the target current.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for controlling the crushing equipment according to any one of claims 1 to 5 is implemented.

8. A working machine, characterized in that: include: The control device of the crushing equipment according to claim 6, or the control method of the crushing equipment according to any one of claims 1 to 5.

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