Excavator multi-working-condition walking control method and system, and excavator

Abstract

The present application relates to the technical field of excavators, and provides a multi-working-condition walking control method and system of an excavator and the excavator.The method comprises the following steps: detecting the rotating speed of a walking motor of the excavator in real time; when it is determined that the driving mode of the excavator is an automatic mode, determining the currently adapted working condition mode according to the real-time detected rotating speed of the walking motor; and adjusting the displacement of the walking motor and the rotating speed of the engine of the excavator according to the currently adapted working condition mode.The present application determines the working condition mode adapted in the automatic mode according to the real-time detected rotating speed of the walking motor, and automatically adjusts the displacement of the walking motor and the rotating speed of the engine, so as to adapt to different working conditions, and when the working condition changes, the walking speed can be automatically adjusted, and the self-adaptive capability is strong.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to an excavator multi-working condition travel control method, an excavator multi-working condition travel control system, and an excavator. Background Art

[0002] Current excavators are primarily hydraulically driven, with the track wheels driven by a hydraulic travel motor and the hydraulic pump driven by the engine. Typically, excavators have two travel modes: manual and automatic. In manual mode, the driver manually controls travel speed and engine power. In automatic mode, the excavator automatically controls travel speed and engine power. However, the actual operating scenarios of excavators change frequently. When operating conditions change, an excavator in automatic mode cannot adjust travel speed in a timely manner. This is especially true when encountering complex road conditions, such as muddy conditions. The driver is still required to manually adjust travel speed and engine power to adapt to the operating conditions, resulting in poor adaptability. Summary of the Invention

[0003] In order to solve the above technical defects, an embodiment of the present invention provides an excavator multi-working condition walking control method and system.

[0004] An embodiment of the present invention provides a multi-working condition travel control method for an excavator, comprising:

[0005] Real-time detection of the excavator's travel motor speed;

[0006] When it is determined that the driving mode of the excavator is the automatic mode, the currently adapted working mode is determined according to the real-time detected speed of the travel motor;

[0007] The displacement of the excavator's travel motor and the engine speed are adjusted according to the currently adapted working mode.

[0008] In an embodiment of the present invention, detecting the rotation speed of the excavator's travel motor in real time includes: detecting the rotation speed of the excavator's travel motor in real time through a rotation speed sensor or a torque sensor.

[0009] In an embodiment of the present invention, the currently adapted working mode is determined based on the real-time detected speed of the travel motor, including: comparing the real-time detected speed of the travel motor with a preset speed, and determining the currently adapted working mode based on the comparison result.

[0010] In an embodiment of the present invention, the real-time detected speed of the travel motor is compared with a preset speed, and the currently adapted working mode is determined according to the comparison result, including:

[0011] If the speed of the travel motor is less than the first preset speed, it is determined that the current adaptation mode is stair climbing;

[0012] if the rotating speed of the walking motor is greater than or equal to the first preset rotating speed and less than the second preset rotating speed, it is determined that the current adapted mode is a mud mode;

[0013] if the rotating speed of the walking motor is greater than or equal to the second preset rotating speed, it is determined that the current adapted mode is a transfer mode;

[0014] wherein the second preset rotating speed is greater than the first preset rotating speed.

[0015] In the embodiment of the present application, the displacement of the walking motor and the rotating speed of the engine of the excavator are adjusted according to the current adapted working condition mode, comprising:

[0016] when it is determined that the current adapted mode is the climbing stairs mode, the displacement of the walking motor is varied so that the rotating speed of the walking motor is equal to the first preset rotating speed, and the rotating speed of the engine is adjusted to the second target rotating speed;

[0017] when it is determined that the current adapted mode is the mud mode, the displacement of the walking motor is varied so that the rotating speed of the walking motor is equal to the second preset rotating speed, and the rotating speed of the engine is adjusted to the second target rotating speed;

[0018] when it is determined that the current adapted mode is the transfer mode, the displacement of the walking motor is varied so that the rotating speed of the walking motor is equal to the third preset rotating speed, and the rotating speed of the engine is adjusted to the first target rotating speed;

[0019] wherein the third preset rotating speed is greater than the second preset rotating speed, and the second target rotating speed is greater than the first target rotating speed.

[0020] In the embodiment of the present application, the excavator multi-working condition walking control method further comprises: when it is determined that the current adapted mode is the climbing stairs mode, it is detected in real time whether the rotating direction of the walking motor changes; if the rotating direction of the walking motor changes, it is determined that the excavator machine has an unsafe behavior of retreating or sliding during the climbing stairs process, and an alarm signal is triggered.

[0021] In the embodiment of the present application, the excavator multi-working condition walking control method further comprises: judging whether the driving mode of the excavator is an automatic mode or a manual mode; when it is determined that the driving mode is the manual mode, the rotating speed of the walking motor and the rotating speed of the engine are manually adjusted by the driver.

[0022] In another aspect, the embodiment of the present application provides an excavator multi-working condition walking control system, comprising:

[0023] a detection module, configured to detect the rotating speed of the walking motor of the excavator in real time;

[0024] The control module is used to determine the current adapted working mode according to the speed of the travel motor detected in real time by the detection module when determining that the driving mode of the excavator is the automatic mode, and adjust the displacement of the travel motor and the speed of the engine of the excavator according to the current adapted working mode.

[0025] In an embodiment of the present invention, the control module compares the real-time detected speed of the travel motor with a preset speed, and determines the currently adapted working mode according to the comparison result;

[0026] If the speed of the travel motor is less than the first preset speed, it is determined that the current adaptation mode is stair climbing;

[0027] If the speed of the travel motor is greater than or equal to the first preset speed and less than the second preset speed, it is determined that the current mud mode is adapted;

[0028] If the speed of the travel motor is greater than or equal to the second preset speed, determining the current adaptive transition mode;

[0029] The second preset speed is greater than the first preset speed.

[0030] In an embodiment of the present invention, the control module adjusts the displacement of the excavator's travel motor and the engine speed according to the currently adapted working mode, including:

[0031] When determining the current adaptive stair climbing mode, the displacement of the travel motor is varied so that the speed of the travel motor is equal to the first preset speed, and the engine speed is adjusted to the second target speed;

[0032] When determining the current mud mode, the displacement of the travel motor is varied so that the speed of the travel motor is equal to a second preset speed, and the engine speed is adjusted to a second target speed.

[0033] When determining the current adaptive transition mode, the displacement of the travel motor is varied so that the speed of the travel motor is equal to the third preset speed, and the engine speed is adjusted to the first target speed;

[0034] The third preset speed is greater than the second preset speed, and the second target speed is greater than the first target speed.

[0035] In an embodiment of the present invention, the control module is also used to detect in real time whether the speed direction of the travel motor has changed when determining the current adapted stair climbing mode; if the speed direction of the travel motor has changed, it is determined that the excavator has performed unsafe behavior of retreating or sliding during the stair climbing process, and an alarm signal is triggered.

[0036] An embodiment of the present invention further provides an excavator, comprising a travel motor and an engine, and also comprising the above-mentioned excavator multi-working condition travel control system.

[0037] The application determines the working condition mode suitable for the automatic mode according to the real-time detected rotating speed of the walking motor, and automatically adjusts the displacement of the walking motor and the rotating speed of the engine to adapt to different working conditions, so that the walking speed can be automatically adjusted when the working condition changes, and the self-adaptive ability is strong. BRIEF DESCRIPTION OF DRAWINGS

[0038] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0039] Figure 1 A flow chart of the excavator multi-working condition walking control method provided by the embodiment of the application is shown in the figure.

[0040] Figure 2 A flow chart of the excavator multi-working condition walking control method provided by the preferred embodiment of the application is shown in the figure.

[0041] Figure 3 A block diagram of the excavator multi-working condition walking control system provided by the embodiment of the application is shown in the figure. DETAILED DESCRIPTION

[0042] In order to make the technical solutions and advantages of the embodiments of the application clearer, the exemplary embodiments of the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0043] In the description of the application, it should be noted that the terms “first”, “second”, “third” and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0044] As introduced in the background, the actual working scene of the excavator changes frequently, and when the working condition changes, the excavator in the automatic mode cannot adjust the walking speed in time, especially when encountering complex road conditions, for example, in the mud working condition, the driver still needs to manually adjust the walking speed and engine power to adapt to the working condition, and the self-adaptive ability is poor.

[0045] To solve the above problems, the embodiment of the present application provides a walking control method for excavators in multiple working conditions, comprising: detecting the rotating speed of the walking motor of the excavator in real time; determining the currently adapted working condition mode according to the rotating speed of the walking motor detected in real time when it is determined that the driving mode of the excavator is the automatic mode; and adjusting the displacement of the walking motor and the rotating speed of the engine of the excavator according to the currently adapted working condition mode. The rotating speed of the walking motor detected in real time is used to determine the working condition mode adapted in the automatic mode, and the displacement of the walking motor and the rotating speed of the engine are automatically adjusted to adapt to different working conditions, so that the walking speed can be automatically adjusted when the working condition changes, and the self-adaptive ability is strong. The above technical solution is described in detail as follows.

[0046] Figure 1 The flow chart of the walking control method for excavators in multiple working conditions provided by the embodiment of the present application is shown in FIG. 1. Figure 1 As shown in FIG. 1, the embodiment provides a walking control method for excavators in multiple working conditions, comprising the following steps:

[0047] S101, detecting the rotating speed of the walking motor of the excavator in real time.

[0048] Specifically, the rotating speed of the walking motor of the excavator can be detected in real time by a rotating speed sensor, a torque sensor or a power sensor.

[0049] S102, determining the currently adapted working condition mode according to the rotating speed of the walking motor detected in real time when it is determined that the driving mode of the excavator is the automatic mode.

[0050] Specifically, the rotating speed of the walking motor detected in real time is compared with a preset rotating speed, and the currently adapted working condition mode is determined according to the comparison result.

[0051] In the automatic mode, corresponding walking modes are preset for different working conditions, mainly including the following three walking modes: the mode for transferring between fields, the mode for walking in mud and the mode for climbing stairs. The mode for transferring between fields is mainly for the working condition of the excavator when it is transferring between fields in a small range. In the mode for transferring between fields, the walking motor needs to provide a high walking speed to quickly reach another working site, but the engine power requirement is not high, so the high-speed, medium-power mode is set. The engine throttle is automatically adjusted to the medium gear to meet the normal high-speed movement of the excavator. The mode for walking in mud is mainly for the working condition of the excavator when it is walking in mud. In the mode for walking in mud, the excavator is prone to sinking in mud, which causes walking difficulty, so it is necessary to timely adjust to the low-speed, high-torque and high-power mode to walk in mud to avoid the difficulty of waiting for rescue when the excavator sinks in mud. The mode for climbing stairs is mainly for the working condition of the micro-excavator when it is climbing stairs. In order to ensure the operability and safety, the low-speed, high-power mode needs to be selected to ensure that the excavator climbs the stairs.

[0052] The rotation speed of the walking motor detected in real time is defined as V, the first preset rotation speed is V1, representing low speed; the second preset rotation speed is V2, representing medium-low speed; the third preset rotation speed is V3, representing high speed. The third preset rotation speed V3 is greater than the second preset rotation speed V2, and the second preset rotation speed V2 is greater than the first preset rotation speed V1, i.e. V1 < V2 < V3. If the rotation speed V of the walking motor is less than the first preset rotation speed V1 (V < V1), it is determined that the current adapted mode is the climbing mode; if the rotation speed V of the walking motor is greater than or equal to the first preset rotation speed V1 and less than the second preset rotation speed V2 (V1 ≤ V < V2), it is determined that the current adapted mode is the mud mode; if the rotation speed V of the walking motor is greater than or equal to the second preset rotation speed V2 (V ≥ V2), it is determined that the current adapted mode is the turning mode.

[0053] In S103, the displacement of the walking motor and the rotation speed of the engine of the excavator are adjusted according to the current adapted working condition mode.

[0054] The target rotation speed of the engine in different working condition modes is defined as the first target rotation speed U1 and the second target rotation speed U2, the second target rotation speed U2 is greater than the first target rotation speed U1, the first target rotation speed U1 corresponds to medium power, and the second target rotation speed U2 corresponds to high power.

[0055] When it is determined that the current adapted mode is the climbing mode, the displacement of the walking motor is varied so that the rotation speed V of the walking motor is equal to the first preset rotation speed V1, and the engine throttle is controlled, the rotation speed of the engine is adjusted to the second target rotation speed U2, and the engine outputs high power.

[0056] When it is determined that the current adapted mode is the mud mode, the displacement of the walking motor is varied so that the rotation speed V of the walking motor is equal to the second preset rotation speed V2, and the engine throttle is controlled, the rotation speed of the engine is adjusted to the second target rotation speed U2, and the engine outputs high power.

[0057] When it is determined that the current adapted mode is the turning mode, the displacement of the walking motor is varied so that the rotation speed V of the walking motor is equal to the third preset rotation speed V3, and the engine throttle is controlled, the rotation speed of the engine is adjusted to the first target rotation speed U1, and the engine outputs medium power.

[0058] In an embodiment, the excavator multi-working condition walking control method further comprises the following steps: when it is determined that the current adapted mode is the climbing mode, the rotation speed direction of the walking motor is detected in real time; if the rotation speed direction of the walking motor changes, it is determined that the excavator machine has an unsafe behavior of retreating or sliding during the climbing process, an alarm signal is triggered, and a buzzer alarm is performed.

[0059] In an embodiment, before step S102, it is judged whether the travel mode of the excavator is an automatic mode or a manual mode, and when it is determined that the travel mode is the manual mode, the rotation speed of the travel motor and the rotation speed of the engine are manually adjusted by the driver.

[0060] Figure 2 A flowchart of the excavator multi-working-condition travel control method provided for a preferred embodiment of the present application is shown in Fig. 1. Figure 2 In a preferred embodiment, the rotation speed of the travel motor is detected in real time by a rotation speed sensor, and the detected analog quantity is transmitted to the controller of the excavator. The controller converts the analog quantity into a digital rotation speed value V and performs the following program judgment: first, the controller judges the travel mode, and if the travel mode L is the manual mode a, it is manually operated by the driver; if the travel mode is the automatic mode b, the rotation speed value V is judged. If the real-time detected rotation speed value V < V1, the climb mode is entered, at which time the displacement of the travel motor is varied, the rotation speed of the travel motor is adjusted to the low speed V1, the engine throttle is controlled, and the rotation speed of the engine is adjusted to the high speed U2. In addition, the rotation speed sensor detects the rotation speed direction of the travel motor in real time, and if the rotation speed direction of the travel motor changes, it is determined that the machine appears to retreat or other unsafe behavior during the process of climbing stairs, at which time the buzzer alarm is sounded. If the real-time detected rotation speed value V ≥ V1, it is compared with V2; if the real-time detected rotation speed value V ≥ V2, the transfer field mode is entered, at which time the displacement of the travel motor is varied, the rotation speed of the travel motor is adjusted to the high speed V3, the engine throttle is controlled, and the rotation speed of the engine is adjusted to the medium speed U1; if the real-time detected rotation speed value V < V2, i.e., V1 ≤ V < V2, the mud field mode is entered, at which time the displacement of the travel motor is varied, the rotation speed of the travel motor is adjusted to the medium-low speed V2, the engine throttle is controlled, and the rotation speed of the engine is adjusted to the high speed U2, and the engine is full-power output to adapt to the mud working condition and avoid the excavator from being trapped in the mud.

[0061] The excavator multi-working-condition travel control method provided by the embodiment of the present application determines the working condition mode adapted in the automatic mode according to the real-time detected rotation speed of the travel motor, intelligently adjusts the travel speed and travel torque of the excavator in various working conditions, and adapts to different working conditions, and when the working condition changes, the travel speed can be self-adaptively adjusted, especially in the mud working condition, the large-torque full-power mode can be timely started to avoid the excavator from being trapped in the mud and waiting for rescue.

[0062] Figure 3 A block diagram of the excavator multi-working-condition travel control system provided by the embodiment of the present application is shown in Fig. 2. Figure 3As shown, the embodiment provides a walking control system for excavator in multiple working conditions, comprising: a detection module and a control module. The detection module is used to detect the rotating speed of the walking motor of the excavator in real time, and the detection module is for example a rotating speed sensor, a torque sensor or a power sensor. The control module is used to determine whether the driving mode of the excavator is an automatic mode or a manual mode, and when it is determined that the driving mode is the automatic mode, the current adaptive working condition mode is determined according to the rotating speed of the walking motor detected in real time by the detection module, and the displacement of the walking motor and the rotating speed of the engine of the excavator are adjusted according to the current adaptive working condition mode. The detection module can be a controller of the excavator, and the related control method or control program is set in the controller.

[0063] The control module compares the rotating speed of the walking motor detected in real time with a preset rotating speed, and determines the current adaptive working condition mode according to the comparison result. If the rotating speed V of the walking motor is less than the first preset rotating speed V1 (V

[0064] When the control module determines that the current adaptive working condition mode is the climbing stairs mode, the rotating speed direction of the walking motor is detected in real time, and if the rotating speed direction of the walking motor changes, it is determined that the excavator has the unsafe behavior of retreating or sliding during the process of climbing stairs, an alarm signal is triggered, and a buzzer alarm is performed.

[0065] The excavator walking control system in multiple working conditions and the excavator walking control method in multiple working conditions have the same advantages as the prior art, and will not be described here.

[0066] The embodiment of the application also provides an excavator comprising a walking motor and an engine, and further comprising the excavator walking control system in multiple working conditions provided by the above embodiment.

[0067] The embodiment of the present application further provides a machine readable storage medium, which stores computer program instructions, and the computer program instructions are executed by a processor to realize the excavator multi-working-condition walking control method.

[0068] Those skilled in the art will understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0069] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the functions specified in the flowchart block or blocks.

[0070] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction means, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the functions specified in the flowchart block or blocks.

[0071] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a process for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the functions specified in the flowchart block or blocks.

[0072] While the preferred embodiments of the application have been described, additional variations and modifications can be made to these embodiments by those skilled in the art once they have the benefit of the present disclosure without departing from the spirit and scope of the application. Accordingly, it is intended that the appended claims include all such modifications and variations as fall within the scope of the present application.

[0073] It is apparent that those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. It is therefore intended that the present application cover all such changes and modifications that are within its scope.

Claims

1. A multi-working condition walking control method for an excavator, characterized in that: include: Real-time detection of the excavator's travel motor speed; When it is determined that the driving mode of the excavator is the automatic mode, the currently adapted working mode is determined according to the real-time detected speed of the travel motor, including: comparing the real-time detected speed of the travel motor with a preset speed; if the speed of the travel motor is less than a first preset speed, determining that the currently adapted working mode is the stair climbing mode; if the speed of the travel motor is greater than or equal to the first preset speed and less than a second preset speed, determining that the currently adapted working mode is the muddy ground mode; if the speed of the travel motor is greater than or equal to the second preset speed, determining that the currently adapted working mode is the transition mode; wherein the second preset speed is greater than the first preset speed; The displacement of the excavator's travel motor and the engine speed are adjusted according to the currently adapted working mode, including: when determining the current adapted climbing mode, the displacement of the travel motor is variable so that the speed of the travel motor is equal to the first preset speed, and the engine speed is adjusted to the second target speed; when determining the current adapted mud mode, the displacement of the travel motor is variable so that the speed of the travel motor is equal to the second preset speed, and the engine speed is adjusted to the second target speed; when determining the current adapted transition mode, the displacement of the travel motor is variable so that the speed of the travel motor is equal to the third preset speed, and the engine speed is adjusted to the first target speed; wherein the third preset speed is greater than the second preset speed, and the second target speed is greater than the first target speed.

2. The excavator multi-operating condition travel control method according to claim 1, characterized in that: Real-time detection of the excavator's travel motor speed, including: The speed sensor or torque sensor is used to detect the speed of the excavator's travel motor in real time.

3. The excavator multi-operating condition travel control method according to claim 1, characterized in that: Also includes: When determining the current adaptive climbing mode, detect in real time whether the speed direction of the walking motor changes; If the direction of the travel motor's rotation speed changes, it is determined that the excavator has engaged in an unsafe behavior of moving backward or sliding while climbing stairs, and an alarm signal is triggered.

4. The excavator multi-operating condition travel control method according to claim 1, characterized in that: Also includes: Determine whether the excavator's driving mode is automatic or manual; When the driving mode is determined to be the manual mode, the speed of the travel motor and the speed of the engine are manually adjusted by the driver.

5. An excavator multi-working condition travel control system, characterized in that: include: Detection module, used to detect the speed of the excavator's travel motor in real time; a control module for, when determining that the excavator's driving mode is the automatic mode, determining a currently adapted working mode based on the speed of the travel motor detected in real time by the detection module, and adjusting the displacement of the travel motor and the speed of the engine of the excavator based on the currently adapted working mode; The control module compares the real-time detected speed of the travel motor with a preset speed, and determines the current adapted working mode based on the comparison result; if the speed of the travel motor is less than a first preset speed, the current adapted working mode is determined to be stair climbing mode; if the speed of the travel motor is greater than or equal to the first preset speed and less than a second preset speed, the current adapted working mode is determined to be muddy ground mode; If the speed of the travel motor is greater than or equal to the second preset speed, determining the current adaptive transition mode; wherein the second preset speed is greater than the first preset speed; The control module adjusts the displacement of the excavator's travel motor and the engine speed according to the currently adapted working mode, including: when determining the current adapted climbing mode, the displacement of the travel motor is variable so that the speed of the travel motor is equal to the first preset speed, and the engine speed is adjusted to the second target speed; when determining the current adapted mud mode, the displacement of the travel motor is variable so that the speed of the travel motor is equal to the second preset speed, and the engine speed is adjusted to the second target speed; when determining the current adapted transfer mode, the displacement of the travel motor is variable so that the speed of the travel motor is equal to the third preset speed, and the engine speed is adjusted to the first target speed; wherein, the third preset speed is greater than the second preset speed, and the second target speed is greater than the first target speed.

6. The excavator multi-operating condition travel control system according to claim 5, characterized in that: The control module is further configured to detect in real time whether the rotational speed direction of the travel motor changes when determining the current adapted stair climbing mode; If the direction of the travel motor's rotation speed changes, it is determined that the excavator has engaged in unsafe behavior of moving backward or sliding while climbing stairs, and an alarm signal is triggered.

7. An excavator comprising a travel motor and an engine, characterized in that: Also includes: The excavator multi-working mode travel control system as described in claim 5 or 6.

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