Double-section arm control system and control method thereof

Abstract

The present invention discloses a double-section arm control system and a control method thereof, which realizes variable operation by driving a reversing valve group through a switching mode solenoid valve, and realizes convenient operation of controlling different actions through the same pilot switch; invents a virtual-real dual-redundant pilot control strategy based on a human-machine interactive interface and a multi-function operating handle in a multi-fault mode, solves the system's emergency risk avoidance capability, and enhances the reliability of the control system. A rootable differentiated start-stop strategy based on electronic tags is adopted, and different slope control strategies are set for different configurations and actions, which improves the start-stop stability of the double-section arm and makes the operation smoother. The present invention improves the controllability of the electro-hydraulic system, and the intelligent control of the system is more convenient; it realizes virtual-real dual-redundant pilot control, which not only improves the controllability of the system in the emergency mode, but also makes the system configuration more flexible; it realizes precise matching control for different double-section arm start-stop characteristics, reduces system impact, and makes the action smoother.

Description

Technical Field

[0001] The present invention relates to a double-joint arm control system and a control method thereof, belonging to the technical field of electro-hydraulic control of excavators. Background Art

[0002] Currently, in the high-end markets of Europe, America, and Australia, a key customer demand for excavators with multiple functions is a single machine. For multi-functional excavators, configuring multiple tool systems and modifying the tooling configuration can effectively improve the machine's adaptability to various operating conditions. However, this also results in a large number of system control pilot switches, making layout difficult and operation complex. Therefore, improving the convenience and reliability of various pilot operations is a key technology for multi-functional excavators.

[0003] The double-section boom on an excavator features an adjustable arm between the conventional boom and the dipper arm, allowing for a variable working envelope. Adjusting the reach of the adjustable arm cylinders allows for flexible adjustments to the working radius, making it ideal for varying the digging range in specific operating environments and offering simple operation.

[0004] Adjustment arms come in a variety of structural forms, primarily telescopic, inward-swing, and side-to-side swinging. The inward-swing structure is the most widely used. Currently, most mainstream adjustment arms on the market utilize hydraulically controlled pedals, which directly drive a control valve via a hydraulically controlled pilot to control the extension and retraction of the arm's cylinder.

[0005] However, the adjustment arm, as a functional configuration for adjusting the working envelope of the excavator, is used less frequently. Setting up a dedicated control system will increase the complexity of the control system and the cost of the entire machine. In particular, when the machine is configured with a multi-tool operating system, the control will be more cumbersome, which will have a greater impact on the ease of use.

[0006] While the existing hydraulic control method is relatively simple, it lacks a high degree of electro-hydraulic intelligent control and requires an additional hydraulic pilot pedal, which is costly and uneconomical. This further reduces the ease of operation of the system when multiple pilots are required. Furthermore, the system lacks redundancy, making it unable to handle emergency operations in the event of a pilot system failure, resulting in insufficient operational safety. When different adjustment arms are configured on the same machine model, electronic control cannot quickly match them. Summary of the Invention

[0007] Objective: To overcome the deficiencies in the prior art, the present invention provides a double-section arm control system and a control method thereof.

[0008] Technical solution: To solve the above technical problems, the technical solution adopted by the present invention is:

[0009] In a first aspect, a double-joint arm control system includes: a main controller, a first pilot sensor, a second pilot sensor, a mode solenoid valve, a first pilot proportional valve, a second pilot proportional valve, an operation switch, a mode switch, and a main pump proportional valve.

[0010] The first pilot sensor, the second pilot sensor, the mode solenoid valve, the first pilot proportional valve, the second pilot proportional valve, and the main pump proportional valve are electrically connected to the main controller respectively; the operating switch and the mode switch are electrically connected to the main controller, or the operating switch and the mode switch use a bus module and the main controller to realize bus interconnection.

[0011] It also includes: a pilot oil source block, a pilot control valve, a reversing valve, a switching valve group, a first executing oil cylinder and a second executing oil cylinder.

[0012] The pilot pressure is transmitted to the pilot control valve, the mode solenoid valve, the first pilot proportional valve and the second pilot proportional valve respectively through the pilot oil source block.

[0013] The pilot control valve includes a first pilot control valve and a second pilot control valve. A first pilot sensor is provided on the pilot oil circuit of the first pilot control valve, and a second pilot sensor is provided on the pilot oil circuit of the second pilot control valve. Pilot oil pressure signals in the pilot oil circuits of the first pilot control valve and the second pilot control valve are transmitted to a main controller via the first pilot sensor and the second pilot sensor, respectively.

[0014] The operating switch is used to send a control signal to the first pilot proportional valve and / or the second pilot proportional valve through the main controller.

[0015] The switching valve group includes a first switching valve group and a second switching valve group. The pilot pressure generated by the mode solenoid valve controls the first and second switching valve groups, respectively. The first switching valve group has two outlets: one outlet A2 connects to the rodless oil chamber of the first actuator cylinder, and the other outlet connects to the rodless oil chamber of the second actuator cylinder. The second switching valve group has two outlets: one outlet B2 connects to the rod oil chamber of the first actuator cylinder, and the other outlet B1 connects to the rod oil chamber of the second actuator cylinder.

[0016] The generated working oil pressure is connected to the input port of the reversing valve through the main pump proportional valve. The reversing valve has two outlets, one outlet is connected to the input port of the first switching valve group, and the other outlet is connected to the input port of the second switching valve group.

[0017] The mode switch is used to send a control signal to the mode solenoid valve through the main controller.

[0018] The pilot pressures output by the first pilot proportional valve and the second pilot proportional valve are respectively connected to the valve core caps at both ends of the reversing valve to control the conduction and closing of the two outlets of the reversing valve.

[0019] The first executing oil cylinder is used to drive the adjusting arm, and the second executing oil cylinder is used to drive the large arm.

[0020] As a preferred solution, an electronic monitor is further included. The main controller and the electronic monitor are interconnected via a bus. The electronic monitor is used to input a signal to the main controller to control the first pilot proportional valve or the second pilot proportional valve.

[0021] As a preferred solution, the operating switch is a sliding key type two-way switch integrated on the pilot operating handle, or a push button switch or a two-way operating trigger.

[0022] As a preferred solution, the mode switch is a push button switch integrated on the pilot operating handle, or other forms of push button switches distributed in the operating area, including but not limited to an integrated switch panel.

[0023] As a preferred solution, the electronic monitor is an electronic monitor installed on the excavator, and the electronic monitor is a touch screen or non-touch screen; or, the electronic monitor is an equivalent non-vehicle-mounted device that is coupled and controlled through wireless communication, including but not limited to a remote control handle, PAD, or mobile phone.

[0024] As a preferred solution, the main controller matches the target value and change rate of the current of the pilot proportional solenoid valve according to the target value and change rate of the pilot pressure sensor.

[0025] As a preferred solution, the main controller controls the target flow rate and flow rate mutation rate of the main pump proportional valve by controlling the current value of the main pump proportional valve.

[0026] In a second aspect, a method for switching a double-section arm mode of a double-section arm control system includes the following steps:

[0027] Step 1: The main controller detects the state of the mode switch. If the mode switch is long pressed, the main controller determines that it enters the double-section arm mode switching mode.

[0028] Step 2: After entering the double-section arm mode switching mode, short press the mode switch to enter the adjustable arm mode or the large arm mode.

[0029] Step 3: When entering the regulating arm mode, the main controller will be energized by driving the mode solenoid valve. The hydraulic pilot oil from the pilot oil source block will drive A2 of the first switching valve group through the mode solenoid valve, and B2 of the second switching valve group will be turned on.

[0030] Step 4: Control the first pilot control valve or the second pilot control valve by operating the pilot control handle, and send the pressure signal detected by the first pilot pressure sensor or the second pilot sensor to the main controller. The main controller drives the first pilot proportional valve or the second pilot proportional valve. The first pilot proportional valve or the second pilot proportional valve drives the reversing valve to switch the corresponding outlet. The high-pressure oil enters the first switching valve group or the second switching valve group through the corresponding outlet to realize the extension and retraction of the first actuator cylinder corresponding to the regulating arm.

[0031] Step 5: When entering the boom mode, the main controller will lose power by driving the mode solenoid valve. The hydraulic pilot oil from the pilot oil source block will drive A1 of the first switching valve group through the mode solenoid valve, and B1 of the second switching valve group will be turned on.

[0032] Step 6: Control the first pilot control valve or the second pilot control valve by operating the pilot control handle, and send the pressure signal detected by the first pilot pressure sensor or the second pilot pressure sensor to the main controller. The main controller drives the first pilot proportional valve or the second pilot proportional valve. The first pilot proportional valve or the second pilot proportional valve drives the reversing valve to switch the corresponding outlet. The high-pressure oil enters the first switching valve group or the second switching valve group through the corresponding outlet to realize the extension and retraction of the second execution cylinder corresponding to the boom.

[0033] Step 7: After entering the double-section arm mode switching mode, long press the mode switch to exit the double-section arm mode switching mode.

[0034] As a preferred solution, it also includes: when entering the double-section arm mode switching mode, the electronic monitor receives the status signal of the double-section arm switching mode from the main controller, and the electronic monitor displays a double-section arm virtual action simulation interface on the main interface, which is used to display whether the current pilot control handle controls the upper arm mode or the adjustment arm mode.

[0035] In a third aspect, a virtual dual-redundancy control method for a double-joint boom control system includes the following steps:

[0036] Step 1: The main controller obtains the configuration of the pilot control handle of the construction machinery according to the construction machinery model information.

[0037] Step 2: If the pilot control handle is configured as a conventional handle, if the main controller determines that the first or second pilot sensor is faulty, the boom control system will determine that a unilateral fault has occurred. For example, if the current mode is boom mode, the main controller will energize the mode solenoid valve. Hydraulic pilot oil from the pilot oil source block will flow through the mode solenoid valve to activate A1 of the first switching valve group and B1 of the second switching valve group. The conventional handle operates the first or second pilot control valve (with an intact pilot sensor). The pressure signal detected by the first or second pilot sensor (with an intact pilot sensor) is transmitted to the main controller, which then activates the first or second pilot proportional valve to extend or retract the corresponding second actuator cylinder of the boom. The mode switch signals the main controller to operate the conventional handle instead of the first or second pilot control valve (with the faulty pilot sensor). By operating the conventional handle on the intact side, the conventional handle function is realized in the event of a unilateral fault.

[0038] Step 3: If the pilot control handle is configured as a conventional handle, and the main controller determines that the first or second pilot sensor is faulty, the dual-arm control system will determine a unilateral fault. For example, if the current control arm mode is set, the main controller will energize the mode solenoid valve. Hydraulic pilot oil from the pilot oil source block will flow through the mode solenoid valve to activate A2 of the first switching valve group and B2 of the second switching valve group. The conventional handle operates the first or second pilot control valve (with an intact pilot sensor). The pressure signal detected by the first or second pilot sensor (with an intact pilot sensor) is transmitted to the main controller, which then activates the first or second pilot proportional valve to extend or retract the corresponding first actuator cylinder of the control arm. The mode switch sends a signal to the main controller to operate the conventional handle instead of the first or second pilot control valve (with the faulty pilot sensor). By operating the conventional handle on the intact side, the conventional handle function is realized in the event of a unilateral fault.

[0039] Step 4: If the pilot control handle is configured as a conventional handle and the main controller determines that both the first and second pilot sensors are faulty, the boom control system determines a bilateral fault occurs. The mode switch is used to switch between boom mode and adjustable arm mode. The pilot control interface on the electronic monitor interface controls the first or second pilot proportional valve to extend or retract the second actuator cylinder corresponding to the boom or the first actuator cylinder corresponding to the adjustable arm.

[0040] In a fourth aspect, a virtual dual-redundancy control method for a double-section boom control system includes the following steps:

[0041] Step 1: The main controller obtains the configuration of the pilot control handle of the construction machinery according to the construction machinery model information.

[0042] Step 2: If the pilot control handle is configured as a multi-function handle, if the main controller determines that the first or second pilot sensor is faulty, the boom control system will determine a unilateral failure. For example, if the current mode is boom mode, the main controller will energize the mode solenoid valve. Hydraulic pilot oil from the pilot oil source block will flow through the mode solenoid valve to activate A1 of the first switching valve group and B1 of the second switching valve group. The multi-function handle will operate the first or second pilot control valve with an intact pilot sensor. The pressure signal detected by the first or second pilot sensor is transmitted to the main controller, which then activates the first or second pilot proportional valve to extend or retract the corresponding second actuator cylinder of the boom. The mode switch sends a signal to the main controller to operate the multi-function handle's operating switch instead of the first or second pilot control valve with the faulty pilot sensor. By operating the multi-function handle's operating switch, the multi-function handle functions in the event of a unilateral failure. Or the mode switch sends a signal to the main controller to operate the multi-function handle to replace the first pilot control valve or the second pilot control valve that controls the pilot sensor failure, and the multi-function handle function of the unilateral failure is realized by operating the multi-function handle on the unilateral side that is not faulty.

[0043] Step 3: If the pilot control handle is configured as a multi-function handle, if the main controller determines that the first or second pilot sensor is faulty, the dual-arm control system will determine a unilateral fault. For example, if the current position is in the control arm mode, the main controller will energize the mode solenoid valve. Hydraulic pilot oil from the pilot oil source block will flow through the mode solenoid valve to activate A2 of the first switching valve group and B2 of the second switching valve group. The multi-function handle will operate the first or second pilot control valve with an intact pilot sensor. The pressure signal detected by the first or second pilot sensor is transmitted to the main controller, which then activates the first or second pilot proportional valve to extend or retract the corresponding first actuator cylinder of the control arm. The mode switch sends a signal to the main controller to operate the multi-function handle's operating switch instead of the first or second pilot control valve with the faulty pilot sensor. By operating the multi-function handle's operating switch, the multi-function handle functions in the event of a unilateral fault. Or the mode switch sends a signal to the main controller to operate the multi-function handle to replace the first pilot control valve or the second pilot control valve that controls the pilot sensor failure, and the multi-function handle function of the unilateral failure is realized by operating the multi-function handle on the unilateral side that is not faulty.

[0044] Step 4: If the pilot control handle is configured as a multi-function handle, when the main controller determines that both the first pilot sensor and the second pilot sensor are faulty, the double-section boom control system determines that a bilateral fault has occurred, and the mode switch is used to switch between boom mode and adjuster arm mode. By operating the bidirectional adjustment switch on the multi-function handle, the first pilot proportional valve or the second pilot proportional valve is controlled to extend or retract the second actuator cylinder corresponding to the boom or the first actuator cylinder corresponding to the adjuster arm.

[0045] As a preferred solution, step 5 is also included.

[0046] In step 5, if the pilot control handle is configured as a multi-function handle, when the main controller determines that both the first pilot sensor and the second pilot sensor are faulty, the double-section boom control system determines that a bilateral fault has occurred, and the mode switch is used to switch between boom mode and control arm mode. By operating the first operating switch with a unidirectional adjustment function on the multi-function handle, the second operating switch controls the first pilot proportional valve or the second pilot proportional valve to extend or retract the second actuator cylinder corresponding to the boom or the first actuator cylinder corresponding to the control arm.

[0047] As a preferred solution, the method further includes step 6:

[0048] In step 6, if the pilot control handle is configured as a multi-function handle, when the main controller determines that both the first pilot sensor and the second pilot sensor are faulty, the double-section boom control system determines that a bilateral fault has occurred, and the mode switch is used to switch between boom mode and adjustable arm mode. The first pilot proportional valve or the second pilot proportional valve is controlled via the pilot control interface on the electronic monitor interface to extend or retract the second actuator cylinder corresponding to the boom or the first actuator cylinder corresponding to the adjustable arm.

[0049] Beneficial Effects: The present invention provides a dual-section boom control system and control method thereof, which adopts electro-hydraulic coupled pilot control and realizes variable operation by switching mode solenoid valves to drive the reversing valve group, enabling convenient operation of controlling different actions through the same pilot switch. A virtual-real dual-redundant pilot control strategy based on a human-machine interactive interface and a multi-function operating handle in multiple fault modes is invented, which solves the system's emergency risk avoidance capabilities in fault modes such as single-side and double-side faults of the operating pilot, thereby enhancing the reliability of the control system. A rootable differentiated start-stop strategy based on electronic tags is adopted, and different ramp control strategies are set for different configurations and actions, improving the start-stop stability of the dual-section boom and making operation smoother.

[0050] The present invention improves the controllability of the electro-hydraulic system through pilot coupling control, and the intelligent control of the system is more convenient; it adopts configurable pilot control based on multiple fault modes to realize virtual and real dual redundant pilot control, which not only improves the controllability of the system in emergency mode, but also makes the system configuration more flexible; at the same time, in view of the various changes in excavator configurations, differentiated control strategies are adopted to achieve precise matching control for different double-section arm start-stop characteristics, reduce system impact, and make the movement smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a block diagram of the excavator double-section arm control system of the present invention.

[0052] Figure 2 It is the hydraulic principle diagram of the present invention.

[0053] Figure 3 This is the control flow chart for switching the double-section arm mode.

[0054] Figure 4 This is a pilot dual-redundant control flow chart based on multiple failure modes. Implementation Method

[0055] The present invention will be further described below with reference to specific embodiments.

[0056] like Figure 1 As shown, the first embodiment is a double-section arm control system, including: a main controller 1, a first pilot sensor 2, a second pilot sensor 3, a mode solenoid valve 4, a first pilot proportional valve 5, a second pilot proportional valve 6, an electronic monitor 7, a second operating switch 8, a first operating switch 9, a mode switch 10 and a main pump proportional valve 11.

[0057] The main controller 1 and the electronic monitor 7 are interconnected via a bus. The first pilot sensor 2, the second pilot sensor 3, the mode solenoid valve 4, the first pilot proportional valve 5, the second pilot proportional valve 6, and the main pump proportional valve 11 are electrically connected to the main controller 1 respectively; the first operating switch 9, the second operating switch 8, and the mode switch 10 are electrically connected to the main controller. The above three switches can also be interconnected by a bus module and the main controller.

[0058] like Figure 2 As shown, the invention also includes: a pilot oil source block 12 , a pilot control valve 13 , a reversing valve 14 , a switching valve group 15 , a first actuating cylinder 16 and a second actuating cylinder 17 .

[0059] Pilot pump ( Figure 2 The pilot pressure generated by the pilot oil source block 12 is transmitted to the pilot control valve 13, the mode solenoid valve 4, the first pilot proportional valve 5 and the second pilot proportional valve 6 respectively.

[0060] The pilot control valve 13 includes a first pilot control valve 13-1 and a second pilot control valve 13-2. The first pilot control valve 13-1 is provided with a first pilot sensor 2 on its pilot oil circuit, and the second pilot control valve 13-2 is provided with a second pilot sensor 3 on its pilot oil circuit. Figure 2 The first pilot control valve 13-1 and the second pilot control valve 13-2 are respectively controlled to change the pilot oil pressure in the pilot oil circuits of the first pilot control valve 13-1 and the second pilot control valve 13-2, and send the pilot oil pressure to the main controller 1 through the first pilot sensor 2 and the second pilot sensor 3 respectively.

[0061] The first operating switch 9 is used to send a control signal to the first pilot proportional valve 5 and / or the second pilot proportional valve 6 through the main controller 1, and the second operating switch 8 is used to send a control signal to the first pilot proportional valve 5 and / or the second pilot proportional valve 6 through the main controller 1.

[0062] The switching valve group 15 includes a first switching valve group 15-1 and a second switching valve group 15-2. The pilot pressure generated by the mode solenoid valve 4 controls the first and second switching valve groups 15-1 and 15-2, respectively. The first switching valve group 15-1 has two outlets: one outlet A2 communicates with the rodless oil chamber of the first actuator cylinder 16, and the other outlet A1 communicates with the rodless oil chamber of the second actuator cylinder 17. The second switching valve group 15-2 has two outlets: one outlet B2 communicates with the rod oil chamber of the first actuator cylinder 16, and the other outlet B1 communicates with the rod oil chamber of the second actuator cylinder 17.

[0063] Main pump ( Figure 2 The working oil pressure generated by the main pump (not shown) is connected to the input port of the reversing valve 14 through the main pump proportional valve 11. The reversing valve 14 has two outlets, one of which is connected to the input port of the first switching valve group 15-1, and the other is connected to the input port of the second switching valve group 15-2.

[0064] The mode switch 10 is used to send a control signal to the mode solenoid valve 4 through the main controller 1 .

[0065] The pilot pressures output by the first pilot proportional valve 5 and the second pilot proportional valve 6 are respectively connected to the valve core caps at both ends of the reversing valve 14 to control the opening and closing of the two outlets of the reversing valve 14 .

[0066] The first actuating cylinder 16 is used to drive the adjusting arm, and the second actuating cylinder 17 is used to drive the upper arm.

[0067] The electronic monitor 7 is used to input a signal for controlling the first pilot proportional valve 5 or the second pilot proportional valve 6 to the main controller 1 .

[0068] like Figure 3 As shown, the second embodiment of a double-section arm control system double-section arm mode switching method includes the following steps:

[0069] Step 1: The main controller 1 detects the state of the mode switch 10. If the mode switch is long pressed, the main controller determines that the dual-section arm mode switching mode has been entered.

[0070] Step 2: After entering the double-section arm mode switching mode, short press the mode switch to enter the adjustable arm mode or the large arm mode.

[0071] Step 3: After entering the adjustment arm mode, the main controller will be energized by driving the mode solenoid valve 4, and the hydraulic pilot oil from the pilot oil source block 12 will drive A2 of the first switching valve group 15-1 and B2 of the second switching valve group 15-2 through the mode solenoid valve 4.

[0072] Step 4: Control the first pilot control valve or the second pilot control valve by operating the pilot control handle, and send the pressure signal detected by the first pilot pressure sensor 2 or the second pilot pressure sensor 3 to the main controller 1. The main controller 1 drives the first pilot proportional valve 5 or the second pilot proportional valve 6. The first pilot proportional valve 5 or the second pilot proportional valve 6 drives the reversing valve 14 to switch the corresponding outlet. The high-pressure oil enters the first switching valve group 15-1 or the second switching valve group 15-2 through the corresponding outlet to realize the extension and retraction of the first actuator cylinder 16 corresponding to the adjusting arm.

[0073] Step 5: When entering the boom mode, the main controller will de-energize the driving mode solenoid valve 4, and the hydraulic pilot oil from the pilot oil source block 12 will drive A1 of the first switching valve group 15-1 through the mode solenoid valve 4, and B1 of the second switching valve group 15-2 will be turned on.

[0074] Step 6: Control the first pilot control valve or the second pilot control valve by operating the pilot control handle, and send the pressure signal detected by the first pilot pressure sensor 2 or the second pilot pressure sensor 3 to the main controller 1. The main controller 1 drives the first pilot proportional valve 5 or the second pilot proportional valve 6. The first pilot proportional valve 5 or the second pilot proportional valve 6 drives the reversing valve 14 to switch the corresponding outlet. The high-pressure oil enters the first switching valve group 15-1 or the second switching valve group 15-2 through the corresponding outlet to realize the extension and retraction of the second execution cylinder 17 corresponding to the boom.

[0075] Step 7: After entering the double-section arm mode switching mode, long press the mode switch to exit the double-section arm mode switching mode.

[0076] Furthermore, it also includes: after entering the double-section arm mode switching mode, the electronic monitor 7 receives the status signal of the double-section arm switching mode from the main controller 1, and the electronic monitor displays a double-section arm virtual action simulation interface on the main interface, which is used to display whether the current pilot control handle controls the boom mode or the adjustment arm mode, thereby intuitively reminding the operator of the current status.

[0077] like Figure 4 As shown, a third embodiment of a virtual dual-redundancy control method for a double-joint arm control system includes the following steps:

[0078] Step 1: The main controller 1 obtains the configuration of the pilot control handle of the engineering machinery according to the engineering machinery model information.

[0079] Step 2: If the pilot control handle is configured as a conventional handle, if the main controller determines that the first pilot sensor 2 or the second pilot sensor 3 is faulty, the boom control system will determine that a unilateral fault has occurred, and the mode switch will be unable to switch to the boom mode. If the current mode is boom mode, the main controller will energize the mode solenoid valve 4. Hydraulic pilot oil from the pilot oil source block 12 will pass through the mode solenoid valve 4, driving A1 of the first switching valve group 15-1 and B1 of the second switching valve group 15-2. The conventional handle operates the first pilot control valve or the second pilot control valve whose pilot sensor is not faulty. The pressure signal detected by the first pilot sensor 2 or the second pilot sensor 3 is transmitted to the main controller 1, which then actuates the first pilot proportional valve 5 or the second pilot proportional valve 6 to extend or retract the corresponding second actuator cylinder 17 of the boom. The mode switch sends a signal to the main controller to operate the conventional handle instead of the first pilot control valve or the second pilot control valve that controls the pilot sensor failure. By operating the conventional handle on the single side that is not faulty, the conventional handle function of the single side failure is realized.

[0080] Step 3: If the pilot control handle is configured as a conventional handle, if the main controller determines that the first pilot sensor 2 or the second pilot sensor 3 is faulty, the boom control system will determine that a unilateral fault has occurred, and the mode switch will be unable to switch between boom modes. If the current mode is the adjustable arm, the main controller will energize the mode solenoid valve 4. Hydraulic pilot oil from the pilot oil source block 12 will pass through the mode solenoid valve 4, driving A2 of the first switching valve group 15-1 and B2 of the second switching valve group 15-2. The conventional handle operates the first pilot control valve or the second pilot control valve whose pilot sensor is not faulty. The pressure signal detected by the first pilot sensor 2 or the second pilot sensor 3 is transmitted to the main controller 1, which then actuates the first pilot proportional valve 5 or the second pilot proportional valve 6 to extend or retract the corresponding first actuator cylinder 16 of the adjustable arm. The mode switch sends a signal to the main controller to operate the conventional handle instead of the first pilot control valve or the second pilot control valve that controls the pilot sensor failure. By operating the conventional handle on the single side that is not faulty, the conventional handle function of the single side failure is realized.

[0081] Step 4: If the pilot control handle is configured as a conventional handle, and the main controller determines that both the first pilot sensor 2 and the second pilot sensor 3 are faulty, the double-section boom control system determines that a bilateral fault has occurred. The mode switch is used to switch between boom mode and control arm mode. The pilot control interface on the electronic monitor 7 interface controls the first pilot proportional valve 5 or the second pilot proportional valve 6 to achieve extension and retraction of the second actuator cylinder 17 corresponding to the boom or the first actuator cylinder 16 corresponding to the control arm.

[0082] Step 5: If the pilot control handle is configured as a multi-function handle, if the main controller determines that the first pilot sensor 2 or the second pilot sensor 3 is faulty, the boom control system will determine that a unilateral fault has occurred, and the mode switch will be unable to switch between boom modes. If the current mode is boom mode, the main controller will energize the mode solenoid valve 4. Hydraulic pilot oil from the pilot oil source block 12 will pass through the mode solenoid valve 4, driving A1 of the first switching valve group 15-1 and B1 of the second switching valve group 15-2. The multi-function handle operates the first pilot control valve or the second pilot control valve whose pilot sensor is not faulty. The pressure signal detected by the first pilot sensor 2 or the second pilot sensor 3 (if the pilot sensor is not faulty) is transmitted to the main controller 1, which then actuates the first pilot proportional valve 5 or the second pilot proportional valve 6 to extend or retract the corresponding second actuator cylinder 17 of the boom. The mode switch sends a signal to the main controller to operate the operating switch on the multi-function handle to replace the first pilot control valve or the second pilot control valve that controls the pilot sensor failure. By operating the operating switch on the multi-function handle, the multi-function handle function for a single-side failure is realized. Alternatively, the mode switch sends a signal to the main controller to operate the multi-function handle to replace the first pilot control valve or the second pilot control valve that controls the pilot sensor failure. By operating the multi-function handle on the single side that is not faulty, the multi-function handle function for a single side failure is realized.

[0083] Step 6: If the pilot control handle is configured as a multi-function handle, if the main controller determines that the first pilot sensor 2 or the second pilot sensor 3 is faulty, the boom control system will determine that a unilateral fault has occurred, and the mode switch will be unable to switch between boom modes. If the current mode is the adjustable arm, the main controller will energize the mode solenoid valve 4. Hydraulic pilot oil from the pilot oil source block 12 will pass through the mode solenoid valve 4, driving A2 of the first switching valve group 15-1 and B2 of the second switching valve group 15-2. The multi-function handle operates the first pilot control valve or the second pilot control valve whose pilot sensor is not faulty. The pressure signal detected by the first pilot sensor 2 or the second pilot sensor 3 is transmitted to the main controller 1, which then actuates the first pilot proportional valve 5 or the second pilot proportional valve 6 to extend or retract the corresponding first actuator cylinder 16 of the adjustable arm. The mode switch sends a signal to the main controller to operate the operating switch on the multi-function handle to replace the first pilot control valve or the second pilot control valve that controls the pilot sensor failure. By operating the operating switch on the multi-function handle, the multi-function handle function for a single-side failure is realized. Alternatively, the mode switch sends a signal to the main controller to operate the multi-function handle to replace the first pilot control valve or the second pilot control valve that controls the pilot sensor failure. By operating the multi-function handle on the single side that is not faulty, the multi-function handle function for a single side failure is realized.

[0084] Step 7: If the pilot control handle is configured as a multi-function handle, when the main controller determines that both the first pilot sensor 2 and the second pilot sensor 3 are faulty, the double-section boom control system determines that a bilateral fault has occurred, and the mode switch is used to switch between boom mode and control arm mode. By operating the bidirectional adjustment switch on the multi-function handle, the first pilot proportional valve 5 or the second pilot proportional valve 6 is controlled to achieve extension and retraction of the second actuator cylinder 17 corresponding to the boom or the first actuator cylinder 16 corresponding to the control arm.

[0085] The present invention further includes step 8: if the pilot control handle is configured as a multi-function handle, when the main controller determines that both the first pilot sensor 2 and the second pilot sensor 3 are faulty, the double-section boom control system determines that a bilateral fault occurs, and the mode switch is used to switch between the boom mode and the regulating arm mode. By operating the first operating switch and the second operating switch on the multi-function handle with a unidirectional adjustment function, the first pilot proportional valve 5 or the second pilot proportional valve 6 is controlled to achieve extension and retraction of the second actuator cylinder 17 corresponding to the boom or the first actuator cylinder 16 corresponding to the regulating arm.

[0086] Furthermore, the process further includes step 9: If the pilot control handle is configured as a multi-function handle, when the main controller determines that both the first pilot sensor 2 and the second pilot sensor 3 are faulty, the double-section boom control system determines that a bilateral fault has occurred, and the mode switch is used to switch between boom mode and adjustable arm mode. The first pilot proportional valve 5 or the second pilot proportional valve 6 is controlled via a pilot control interface on the electronic monitor 7 interface to achieve extension and retraction of the second actuator cylinder 17 corresponding to the boom or the first actuator cylinder 16 corresponding to the adjustable arm. Example

[0087] A double-section arm control system includes a main controller 1, a first pilot sensor 2, a second pilot sensor 3, a mode solenoid valve 4, a first pilot proportional valve 5, a second pilot proportional valve 6, an electronic monitor 7, a second operating switch 8, a first operating switch 9, a mode switch 10, and a main pump proportional valve 11.

[0088] Preferably, the main pump proportional valve can be any proportional valve in the sub-pump system for controlling the required double-section arm flow rate, and can be a direct proportional or inverse proportional electromagnetic proportional valve.

[0089] Preferably, the electronic monitor adopts CAN bus communication, or any other bus communication form.

[0090] Preferably, the first operating switch and the second operating switch may be sliding key type two-way switches integrated on the pilot operating handle, or may be push button switches or two-way operating triggers.

[0091] Preferably, the mode switch may be a push button switch integrated on the pilot operating handle, or may be other forms of push button switches distributed in the operating area, including but not limited to an integrated switch panel, etc.

[0092] Preferably, the electronic monitor can be an electronic monitor installed on the excavator, which can be a touch screen electronic monitor or a non-touch screen electronic monitor. The electronic monitor can also be an equivalent non-vehicle device that is coupled and controlled via wireless communication, including but not limited to mobile devices such as a remote control handle, a PAD, and a mobile phone. Example

[0093] A method for switching a double-section arm mode of a double-section arm control system comprises the following steps:

[0094] When the system is powered on, the main controller 1 detects the status of the mode switch 10. If the mode switch is long pressed, the main controller determines that it has entered the double-section arm mode switching state. At the same time, the electronic monitor 7 receives the double-section arm switching mode status signal from the main controller 1. The electronic monitor will display a double-section arm virtual action simulation interface on the main interface to display whether the current pilot control handle or operating switch controls the boom mode or the adjustment arm mode, thereby intuitively reminding the operator of the current status.

[0095] The main controller 1 will further detect the signal of the mode switch 10. If the mode switch is long pressed, the system will exit the double-section arm switching mode. If it is short pressed, the system will enter the double-section arm switching mode. Each time the mode switch is short pressed, the system will switch control between the boom mode and the adjustable arm mode. If it is long pressed again, the system will exit the double-section arm switching mode.

[0096] After entering the double-section arm switching mode, if it is short pressed for the first time, the main controller will enter the adjusting arm mode, and the main controller will be energized by driving the mode solenoid valve 4. The hydraulic pilot oil from the pilot oil source block 12 will drive the switching valve group 15 through the mode solenoid valve 4 to achieve reversing. At this time, if the operator operates the pilot control valve 13 through the pilot control handle, the first pilot pressure sensor 2 or the second pilot pressure sensor 3 will transmit the detected pressure signal to the main controller 1, and the main controller 1 will drive the first pilot proportional valve 5 or the second pilot proportional valve 6. At this time, the reversing valve 14 will switch to the corresponding working oil circuit, and the high-pressure oil from the system will flow through the reversing valve 14 and the switching valve group 15 and further reach the first actuator cylinder 16. The first actuator cylinder 16 will be used to drive the adjusting arm movement.

[0097] For example, pushing the pilot control handle forward activates the first pilot control valve 13-1, causing the corresponding first pilot pressure sensor to generate a pressure signal. This pressure signal is then sent to the main controller 1, which energizes the first pilot proportional valve 5. This causes the spool in the reversing valve 14 to move, sending the hydraulic pressure to the second switching valve group 15-2. This pressure is then injected into the large chamber of the first actuator cylinder 16 through the outlet B2 of the second switching valve group 15-2, causing the boom to descend. Similarly, pulling the pilot control handle backward causes the hydraulic pressure to be injected into the small chamber of the first actuator cylinder 16 through the outlet A2 of the first switching valve group 15-1, causing the boom to ascend.

[0098] After entering the double-section arm switching mode, if you short press it again after the first short press, the main controller will enter the boom mode, the main controller will stop the drive mode solenoid valve 4 is energized, and the switching valve group 15 remains in the initial position. At this time, if the operator operates the pilot control valve 13 through the pilot control handle, the first pilot pressure sensor 2 or the second pilot pressure sensor 3 will transmit the detected pressure signal to the main controller 1, and the main controller 1 will drive the first pilot proportional valve 5 or the second pilot proportional valve 6. At this time, the reversing valve 14 will switch to the corresponding working oil circuit, and the high-pressure oil from the system will flow through the reversing valve 14 and the switching valve group 15 and further reach the second actuator cylinder 17. The second actuator cylinder 17 will be used to drive the boom movement.

[0099] For example, pushing the pilot control handle forward activates the first pilot control valve 13-1, causing the corresponding first pilot pressure sensor to generate a pressure signal. This pressure signal is then sent to the main controller 1, which energizes the first pilot proportional valve 5. This causes the spool in the reversing valve 14 to move, sending the operating oil pressure to the second switching valve group 15-2. This oil pressure is then injected into the large chamber of the second actuator cylinder 17 through the outlet B1 of the second switching valve group 15-2, causing the adjustment arm to descend. Similarly, pulling the pilot control handle backward causes the operating oil pressure to be injected into the small chamber of the second actuator cylinder 17 through the outlet A1 of the first switching valve group 15-1, causing the adjustment arm to ascend.

[0100] In summary, through the setting of the mode switch, the function of a pilot control handle to control the boom and the adjustment arm at the same time is realized. Example

[0101] A virtual dual-redundancy control method for a double-section boom control system comprises the following steps:

[0102] A virtual-real dual-redundant pilot control strategy based on a human-machine interaction interface and a multi-function operating handle in multiple fault modes was invented, which solved the system's emergency risk avoidance capability under fault modes such as unilateral fault and bilateral fault of the operating pilot control handle, and enhanced the reliability of the control system.

[0103] First, after the system is powered on, the main controller 1 determines the machine model information, and then determines the configuration of the machine's pilot control handle. The pilot control handle can be configured with a conventional hydraulic handle (without multi-tool operation buttons, two-way sliding keys, and two-way triggers), a multi-function hydraulic handle 1 (with push button switches), or a multi-function hydraulic handle 2 (with a two-way sliding key or a two-way trigger, linear output). The system will perform redundant control based on the handle mode.

[0104] The main controller determines whether the first pilot pressure sensor 2 and the second pilot pressure sensor 3 are faulty. If only one pilot pressure sensor is faulty, the system will determine it as a unilateral fault. In this case, the pilot control handle can only perform one function, namely, push forward or pull backward. In other words, it can only raise or lower the boom or adjusting arm. If both pilot pressure sensors are faulty, the system will determine it as a bilateral fault. In this case, the boom or adjusting arm cannot be controlled by pushing or pulling the pilot control handle forward or backward.

[0105] If the handle is in the normal handle state, the mode switch will disable its dual-section boom switching function. At this time, the electronic monitor will pop up a corresponding frame on the main interface to dynamically prompt the output status of the pilot control handle (i.e., pilot control valve) and the boom and adjusting arm, thereby guiding the operator to correctly use the dual-section boom machine in an emergency. For example, the system will enter the boom adjustment mode. At this time, the pilot control handle operates the pilot control valve 13. The side with a normal pilot pressure sensor will be used to control its designated action first. For example, if the pilot control handle is pushed forward, the first pilot control valve can work, and the boom will descend. The side with an abnormal sensor will not be controlled normally. The mode switch is now configured as a boom action switching switch, used to switch the boom action. That is, the operation of pushing the pilot control handle forward is used as the operation of pulling the pilot control handle backward. At this time, the normal side of the pilot handle can achieve single-side dual-function operation according to the switching state of the mode switch. That is, pushing the pilot control handle forward corresponds to the operation of the first pilot control valve. The main controller controls the second pilot proportional valve 6 to be energized, and the working oil pressure is injected into the small chamber of the first actuator cylinder 16 through the outlet A2 of the first switching valve group 15-1, causing the boom to rise. This solves the problem of unilateral failure of the pilot control valve. Similarly, it is also applicable to the regulating arm mode of the system.

[0106] The pop-up interface sets a quick link for the boom or adjusting arm mode. Click this link to enter the boom or adjusting arm virtual operation pilot control interface. Emergency operation of the boom or adjusting arm can be achieved through instrument virtual operation. If the pilot pressure sensor is in a bilateral fault state, the system will support direct entry into the virtual pilot operation state on the electronic monitor. The virtual operation will support two-way action of the boom and adjusting arm.

[0107] If the pilot control handle is in multi-function mode, in either unilateral or multilateral fault mode, the system will prompt the operator through the electronic monitor to allow the multi-function handle to be configured as a slider (or trigger) operation. For example, if the forward push function of the multi-function handle fails, the push function can be replaced as a normal handle, or a single-way adjustable operating switch can be used to replace the push and pull functions. If both the forward and backward push and pull functions of the multi-function handle fail, a single bidirectional adjustable operating switch can be used to replace the forward and backward functions, or two single-way adjustable operating switches can be used to replace the forward and backward functions. If allowed, the electronic monitor will instruct the operator to configure the bidirectional slider on the pilot handle as a double-arm operation switch. In this case, the bidirectional slider switch will temporarily replace its original assigned function with the newly assigned double-arm operation switch. This function will be reset after the system power is turned off. The electronic monitor also supports virtual pilot operation mode. During virtual operation, the slider switch on the multi-function handle will not be temporarily reassigned and will retain its original assigned function. Example

[0108] Conventional handles include: single-side failure or double-side failure.

[0109] When a unilateral fault occurs, the pilot control handle can be used in one direction + mode switching to simultaneously control both sides of the pilot control handle.

[0110] For example: the pilot control handle is pushed and pulled forward and backward to control the rise and fall of the boom respectively. After the sensor on the side controlling the rise is broken, the pilot control handle used to control the descent is pushed forward and switched to control the rise of the boom through the mode button.

[0111] After the pilot control handle fails in both directions, it can no longer control the movement of the double-section arm. Therefore, the virtual switch displayed on the instrument is used to control the corresponding action. For example, two sets of virtual buttons are designed on the instrument interface to control the rise and fall of the boom and the adjusting arm.

[0112] The multi-function handle includes: single-side fault or double-side fault. Because of the multi-function button, the two-way sliding key on the pilot control handle can be used to control other actions to compensate for the shortcomings of the pilot pressure sensor failure. Through the instrument's intuitive operation guidance, the user can select the sliding key on the instrument interface to operate the boom and adjustment arm.

[0113] Alternatively, you can use virtual buttons on the instrument interface, following the same principle as the control method for a double-sided fault in a conventional handle. For a single-sided fault, the multi-function handle has a sliding key, so the conventional single-sided fault control method is no longer used to improve safety. Example

[0114] A control method for a double-jointed arm of an excavator includes a rootable differentiated start-stop control method based on an electronic tag:

[0115] After the system is powered on, the main controller will determine the model information. At the same time, the main controller will determine the target value and change rate of the pilot pressure sensor. The main controller will match different pilot proportional solenoid valve current target values and change rates based on the system configuration information, thereby flexibly controlling the linear output of the hydraulic pilot and the start-stop current change slope.

[0116] The system will also achieve the target flow of the system under different configurations by changing the current value of the main pump proportional valve 11. At the same time, the main controller will also change the flow mutation rate according to different configuration information to achieve accurate matching of different starting characteristics and reduce the start-stop impact.

[0117] The system will also determine the double-section arm mode, and control the current values of the pilot proportional valve and the main pump proportional valve for the large arm mode and the regulating arm mode respectively to achieve precise matching.

[0118] If the system determines that it is currently in virtual operation mode under fault mode, the main controller will limit the operating speed of the double-section arm and achieve a certain degree of speed reduction, thereby solving the problem of safe operation under virtual operation and improving operational safety.

[0119] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A double-section arm control system, characterized by: include: A main controller, a first pilot pressure sensor, a second pilot pressure sensor, a mode solenoid valve, a first pilot proportional valve, a second pilot proportional valve, an operation switch, a mode switch, and a main pump proportional valve; The first pilot pressure sensor, the second pilot pressure sensor, the mode solenoid valve, the first pilot proportional valve, the second pilot proportional valve, and the main pump proportional valve are electrically connected to the main controller respectively; the operation switch and the mode switch are electrically connected to the main controller, or the operation switch and the mode switch are interconnected by a bus module and the main controller; It also includes: a pilot oil source block, a pilot control valve, a reversing valve, a switching valve group, a first actuator cylinder and a second actuator cylinder; The pilot pressure is transmitted to the pilot control valve, mode solenoid valve, first pilot proportional valve and second pilot proportional valve respectively through the pilot oil source block; The pilot control valve includes a first pilot control valve and a second pilot control valve. A first pilot pressure sensor is provided on the pilot oil circuit of the first pilot control valve, and a second pilot pressure sensor is provided on the pilot oil circuit of the second pilot control valve. Pilot oil pressure signals in the pilot oil circuits of the first pilot control valve and the second pilot control valve are respectively sent to a main controller via the first pilot pressure sensor and the second pilot pressure sensor. The operating switch is used to send a control signal to the first pilot proportional valve and / or the second pilot proportional valve through the main controller; The switching valve group includes a first switching valve group and a second switching valve group. The pilot pressure generated by the mode solenoid valve controls the first switching valve group and the second switching valve group respectively. The first switching valve group has two outlets, one outlet A2 is connected to the rodless oil chamber of the first actuator cylinder, and the other outlet A1 is connected to the rodless oil chamber of the second actuator cylinder. The second switching valve group has two outlets, one outlet B2 is connected to the rod oil chamber of the first actuator cylinder, and the other outlet B1 is connected to the rod oil chamber of the second actuator cylinder. The generated working oil pressure is connected to the input port of the reversing valve through the main pump proportional valve. The reversing valve has two outlets, one outlet is connected to the input port of the first switching valve group, and the other outlet is connected to the input port of the second switching valve group. The mode switch is used to send a control signal to the mode solenoid valve through the main controller; The pilot pressures output by the first pilot proportional valve and the second pilot proportional valve are respectively connected to the valve core caps at both ends of the reversing valve to control the opening and closing of the two outlets of the reversing valve; The first executing oil cylinder is used to drive the adjusting arm, and the second executing oil cylinder is used to drive the large arm.

2. A double-section arm control system according to claim 1, characterized in that: It also includes an electronic monitor. The main controller and the electronic monitor are interconnected via a bus. The electronic monitor is used to input a signal to the main controller to control the first pilot proportional valve or the second pilot proportional valve.

3. The double-section arm control system according to claim 1, characterized in that: The operating switch is a sliding key type two-way switch integrated on the pilot operating handle, or a push button switch or a two-way operating trigger.

4. The double-joint arm control system according to claim 1, characterized in that: The mode switch is a push button switch integrated on the pilot operating handle, or other forms of push button switches distributed in the operating area.

5. The double-joint arm control system according to claim 2, characterized in that: The electronic monitor is an electronic monitor installed on the excavator, and the electronic monitor is a touch screen or a non-touch screen; or, the electronic monitor is an equivalent non-vehicle-mounted device that realizes coupling control through wireless communication.

6. The double-joint arm control system according to claim 1, characterized in that: The main controller matches the current target value and change rate of the pilot proportional solenoid valve according to the target value and change rate of the pilot pressure sensor.

7. The double-joint arm control system according to claim 1, characterized in that: The main controller controls the target flow rate and flow rate mutation rate of the main pump proportional valve by controlling the current value of the main pump proportional valve.

8. A method for switching double-section arm modes of a double-section arm control system, characterized by: The steps include: Step 1: The main controller detects the state of the mode switch. If the mode switch is long pressed, the main controller determines that it enters the double-section arm mode switching mode; Step 2: After entering the double-section arm mode switching mode, short press the mode switch to enter the adjustable arm mode or the large arm mode; Step 3: When entering the regulating arm mode, the main controller will be energized by driving the mode solenoid valve. The hydraulic pilot oil from the pilot oil source block will drive the outlet A2 of the first switching valve group through the mode solenoid valve, and the outlet B2 of the second switching valve group will be turned on. Step 4: Control the first pilot control valve or the second pilot control valve by operating the pilot control handle, and send the pressure signal detected by the first pilot pressure sensor or the second pilot pressure sensor to the main controller. The main controller drives the first pilot proportional valve or the second pilot proportional valve, and the first pilot proportional valve or the second pilot proportional valve drives the reversing valve to switch the corresponding outlet. The high-pressure oil enters the first switching valve group or the second switching valve group through the corresponding outlet to realize the extension and retraction of the first actuator cylinder corresponding to the regulating arm; Step 5: When entering the boom mode, the main controller will de-energize the drive mode solenoid valve, and the hydraulic pilot oil from the pilot oil source block will drive the outlet A1 of the first switching valve group through the mode solenoid valve, and the outlet B1 of the second switching valve group will be turned on; Step 6: Control the first pilot control valve or the second pilot control valve by operating the pilot control handle, and send the pressure signal detected by the first pilot pressure sensor or the second pilot pressure sensor to the main controller. The main controller drives the first pilot proportional valve or the second pilot proportional valve, and the first pilot proportional valve or the second pilot proportional valve drives the reversing valve to switch the corresponding outlet. The high-pressure oil enters the first switching valve group or the second switching valve group through the corresponding outlet to realize the extension and retraction of the second actuator cylinder corresponding to the boom; Step 7: After entering the double-section arm mode switching mode, long press the mode switch to exit the double-section arm mode switching mode.

9. The dual-section arm mode switching method according to claim 8, characterized in that: Also includes: When entering the double-section arm mode switching mode, the electronic monitor receives the double-section arm switching mode status signal from the main controller, and the electronic monitor displays a double-section arm virtual action simulation interface on the main interface to display whether the current pilot control handle controls the boom mode or the adjustment arm mode.

10. A virtual dual-redundancy control method for a double-section boom control system, characterized by: The steps include: Step 1: The main controller obtains the configuration of the pilot control handle of the construction machinery according to the construction machinery model information; Step 2: If the configuration of the pilot control handle is a conventional handle, when the main controller determines that the first pilot pressure sensor or the second pilot pressure sensor is faulty, the double-section arm control system determines that it is a unilateral fault. If the current mode is the boom mode, the main controller will be energized by driving the mode solenoid valve, and the hydraulic pilot oil from the pilot oil source block will drive the outlet A1 of the first switching valve group through the mode solenoid valve, and the outlet B1 of the second switching valve group will be turned on; the conventional handle operates the first pilot control valve or the second pilot control valve whose pilot sensor is not faulty, and the pressure signal detected by the first pilot pressure sensor or the second pilot pressure sensor whose pilot sensor is not faulty is sent to the main controller, and the main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the second actuator cylinder corresponding to the boom; the mode switch sends a signal to the main controller to operate the conventional handle instead of controlling the first pilot control valve or the second pilot control valve whose pilot sensor is faulty. By operating the conventional handle on one side that is not faulty, the conventional handle function of the unilateral fault is realized; Step 3: If the configuration of the pilot control handle is a conventional handle, when the main controller determines that the first pilot pressure sensor or the second pilot pressure sensor is faulty, the double-section arm control system determines that it is a unilateral fault. If the current mode is the regulating arm mode, the main controller will be energized by driving the mode solenoid valve, and the hydraulic pilot oil from the pilot oil source block will drive the outlet A2 of the first switching valve group through the mode solenoid valve, and the outlet B2 of the second switching valve group will be turned on; the conventional handle operates the first pilot control valve or the second pilot control valve whose pilot sensor is not faulty, and the pressure signal detected by the first pilot pressure sensor or the second pilot pressure sensor whose pilot sensor is not faulty is sent to the main controller, and the main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the first actuator cylinder corresponding to the regulating arm; the mode switch sends a signal to the main controller to operate the conventional handle instead of controlling the first pilot control valve or the second pilot control valve whose pilot sensor is faulty. By operating the conventional handle on one side that is not faulty, the conventional handle function of the unilateral fault is realized; Step 4: If the configuration of the pilot control handle is a conventional handle, when the main controller determines that both the first pilot pressure sensor and the second pilot pressure sensor are faulty, the double-section arm control system determines that it is a bilateral fault, and the mode switch is used to switch between the boom mode or the adjusting arm mode; the first pilot proportional valve or the second pilot proportional valve is controlled through the pilot control interface on the electronic monitor interface to realize the extension and retraction of the second actuator cylinder corresponding to the boom or the first actuator cylinder corresponding to the adjusting arm.

11. A virtual dual-redundancy control method for a double-section boom control system, characterized by: The steps include: Step 1: The main controller obtains the configuration of the pilot control handle of the construction machinery according to the construction machinery model information; Step 2: If the configuration of the pilot control handle is a multi-function handle, when the main controller determines that the first pilot pressure sensor or the second pilot pressure sensor is faulty, the double-section arm control system determines that it is a unilateral fault. If the current mode is the boom mode, the main controller will be energized by driving the mode solenoid valve, and the hydraulic pilot oil from the pilot oil source block will drive the outlet A1 of the first switching valve group through the mode solenoid valve, and the outlet B1 of the second switching valve group will be turned on; the multi-function handle operates the first pilot control valve or the second pilot control valve whose pilot sensor is not faulty, and the pressure signal detected by the first pilot pressure sensor or the second pilot pressure sensor whose pilot sensor is not faulty is sent to The main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the second actuator cylinder corresponding to the boom; the mode switch sends a signal to the main controller to operate the operating switch on the multi-function handle to replace the first pilot control valve or the second pilot control valve that controls the pilot sensor failure, and the multi-function handle function of a unilateral failure is realized by operating the operating switch on the multi-function handle; or the mode switch sends a signal to the main controller to operate the multi-function handle to replace the first pilot control valve or the second pilot control valve that controls the pilot sensor failure, and the multi-function handle function of a unilateral failure is realized by operating the multi-function handle on the unilateral side that is not faulty; Step 3: If the configuration of the pilot control handle is a multi-function handle, when the main controller determines that the first pilot pressure sensor or the second pilot pressure sensor is faulty, the double-section arm control system determines that it is a unilateral fault. If the current mode is the adjustment arm mode, the main controller will be energized by driving the mode solenoid valve, and the hydraulic pilot oil from the pilot oil source block will drive the outlet A2 of the first switching valve group through the mode solenoid valve, and the outlet B2 of the second switching valve group will be turned on; the multi-function handle operates the first pilot control valve or the second pilot control valve whose pilot sensor is not faulty, and the pressure signal detected by the first pilot pressure sensor or the second pilot pressure sensor whose pilot sensor is not faulty is sent to The main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the first actuator cylinder corresponding to the regulating arm; the mode switch sends a signal to the main controller to operate the operating switch on the multi-function handle to replace the first pilot control valve or the second pilot control valve that controls the pilot sensor failure, and the multi-function handle function of a single-side failure is realized by operating the operating switch on the multi-function handle; or the mode switch sends a signal to the main controller to operate the multi-function handle to replace the first pilot control valve or the second pilot control valve that controls the pilot sensor failure, and the multi-function handle function of a single-side failure is realized by operating the multi-function handle on the single side that is not faulty; Step 4: If the configuration of the pilot control handle is a multi-function handle, when the main controller determines that both the first pilot pressure sensor and the second pilot pressure sensor are faulty, the double-section arm control system determines that it is a bilateral fault, and the mode switch is used to switch between the boom mode or the adjusting arm mode; by operating the operating switch with a bidirectional adjustment function on the multi-function handle, the first pilot proportional valve or the second pilot proportional valve is controlled to realize the extension and retraction of the second actuator cylinder corresponding to the boom or the first actuator cylinder corresponding to the adjusting arm.

12. The virtual dual-redundancy control method according to claim 11, characterized in that: Also includes: Step 5; Step 5: If the configuration of the pilot control handle is a multi-function handle, when the main controller determines that both the first pilot pressure sensor and the second pilot pressure sensor are faulty, the double-section arm control system determines that it is a bilateral fault, and the mode switch is used to switch between the boom mode or the adjusting arm mode; by operating the first operating switch with a one-way adjustment function on the multi-function handle, the second operating switch is used to control the first pilot proportional valve or the second pilot proportional valve, so as to realize the extension and retraction of the second execution cylinder corresponding to the boom or the first execution cylinder corresponding to the adjusting arm.

13. The virtual dual-redundancy control method according to claim 11, characterized in that: Also included, step 6: Step 6: If the configuration of the pilot control handle is a multi-function handle, when the main controller determines that both the first pilot pressure sensor and the second pilot pressure sensor are faulty, the double-section arm control system determines that it is a bilateral fault, and the mode switch is used to switch between the boom mode or the adjusting arm mode; the first pilot proportional valve or the second pilot proportional valve is controlled through the pilot control interface on the electronic monitor interface to realize the extension and retraction of the second execution cylinder corresponding to the boom or the first execution cylinder corresponding to the adjusting arm.

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