Excavator control method, main controller, electric swing excavator and electronic equipment

Abstract

The present invention relates to the field of excavator control technology, and provides an excavator control method, a main controller, an electric swing excavator, and an electronic device for an electric swing excavator, wherein the method comprises: receiving an action instruction, and when determining that the action indicated by the action instruction is a first target action, adjusting the set required power of the main pump based on the relationship between a first opening and a first reference opening, and the power allocated to each single action in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, to obtain the actual required power of the main pump, and controlling the electric swing excavator to perform the first target action based on the actual required power and the second opening. The present invention is used to solve the defects in the prior art of still using the power distribution principle of the hydraulic swing excavator to distribute power to the electric swing excavator, resulting in energy waste, and easily causing the operator to feel uncoordinated with the speed of the working device.

Description

Technical Field

[0001] The present invention relates to the technical field of excavator control, and in particular to an excavator control method, a main controller, an electric rotary excavator and electronic equipment. Background Art

[0002] Compared with hydraulic swing excavators driven by hydraulic oil, electric swing excavators driven by a swing motor have a greater improvement in the swing energy efficiency.

[0003] However, since the rotary power source of the electric rotary excavator is decoupled from the power source of the rest of the excavator, the current control method used by the electric rotary excavator is that when the operator operates the excavator to execute an action instruction including a rotary action, the power matching principle of the hydraulic rotary excavator is still used to distribute the flow to the main pump, that is, the flow is still distributed to the main pump according to the power required to execute the rotary action. Therefore, it not only causes energy waste, but also easily causes the speed of the rotary action and other actions to be inconsistent, which in turn makes the operator feel inconsistent with the speed of the working device. Summary of the Invention

[0004] The present invention provides an excavator control method, a main controller, an electric rotary excavator and an electronic device, which are used to solve the defects in the prior art of still using the power distribution principle of a hydraulically driven rotary excavator to distribute power to an electric rotary excavator, resulting in energy waste and easily causing the operator to feel a sense of disharmony with the speed of the working device.

[0005] The present invention provides an excavator control method, which is applied to an electric swing excavator. The main controller of the electric swing excavator controls a swing motor controller and a main pump to realize a swing action based on the swing motor controller controlling the swing motor, and a single action other than the swing action based on the main pump drive. The method includes:

[0006] receiving an action instruction, wherein the action instruction is generated by operating a control component of the electric swing excavator;

[0007] determining whether the action indicated by the action instruction is a first target action, where the first target action is a compound action including the rotation action, and the compound action includes at least two of the single actions executable by the excavator;

[0008] When the action indicated by the action instruction is the first target action, the set required power of the main pump is adjusted based on the relationship between the first opening and the first reference opening, and the power allocated to each of the single actions in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, to obtain the actual required power of the main pump, wherein the first opening is the opening of the control component corresponding to the single action excluding the swing action in the first target action, and the set required power is the power required to individually execute the single action excluding the swing action in the first target action;

[0009] The electric swing excavator is controlled to perform the first target action based on the actual required power and a second opening, where the second opening is the opening of the control component corresponding to the swing action.

[0010] According to the excavator control method of the present invention, adjusting the set required power of the main pump based on the relationship between the first opening and the first reference opening, and the power allocated to each of the single actions in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, includes:

[0011] determining a proportional relationship between the first opening and the first reference opening as a first proportional relationship;

[0012] determining, at the first reference opening, a proportional relationship between the power allocated by the hydraulic swing excavator to the swing action in the first target action and the total power allocated to the first target action as a second proportional relationship;

[0013] Adjusting the second proportional relationship based on the first proportional relationship;

[0014] Based on the adjusted second proportional relationship, the set required power of the main pump of the electric swing excavator is adjusted.

[0015] The excavator control method according to the present invention further includes: a method for determining the set required power;

[0016] The method for determining the set required power includes:

[0017] obtaining a power value required for the electric swing excavator to independently perform the single action in the first target action except the swing action at a second reference opening;

[0018] Based on the relationship between the first opening and the second reference opening, the power value is adjusted to obtain the power required for the electric swing excavator to perform the single action in the first target action except the swing action at the first opening, which is used as the set required power.

[0019] The excavator control method according to the present invention further includes:

[0020] determining whether the action indicated by the action instruction is a second target action, where the second target action is a compound action that does not include a rotation action;

[0021] When the action indicated by the action instruction is the second target action, determining the power allocated by the hydraulic swing excavator to each of the single actions in the second target action at the first opening degree based on the power allocated by the hydraulic swing excavator to each of the single actions in the second target action at the first reference opening degree;

[0022] Power is allocated to the main pump based on the power allocated to each of the single actions of the hydraulic swing excavator at the first opening degree.

[0023] The excavator control method according to the present invention further includes:

[0024] determining whether the action indicated by the action instruction is a third target action, wherein the third target action is a rotary single action;

[0025] When the action indicated by the action instruction is the single swing action, the electric swing excavator is controlled to perform the third target action based on the second opening degree.

[0026] According to the excavator control method of the present invention, controlling the electric swing excavator to perform the first target action based on the actual required power and the second opening degree includes:

[0027] Based on the actual required power, flow distribution is performed for the main pump so that the electric swing excavator performs the single action except the swing action in the first target action;

[0028] determining a control parameter for executing the rotation action based on the second opening;

[0029] The control parameters are sent to a swing motor controller of the electric swing excavator, and the swing brake is released so that the electric swing excavator performs the swing action.

[0030] According to the excavator control method of the present invention, after releasing the slewing brake, the method further includes:

[0031] Determine whether energy recovery conditions are met;

[0032] When the energy recovery condition is met, the rotational braking energy is recovered.

[0033] The present invention also provides an excavator main controller, which is applied to an electric swing excavator. The main controller of the electric swing excavator controls a swing motor controller and a main pump to realize a swing action based on the swing motor controller controlling the swing motor, and a single action other than the swing action based on the main pump driving. The main controller includes:

[0034] a receiving module, configured to receive an action instruction, wherein the action instruction is generated by operating a control component of the electric swing excavator;

[0035] a judgment module, configured to determine whether the action indicated by the action instruction is a first target action, wherein the first target action is a compound action including the rotation action, and the compound action includes at least two of the single actions executable by the excavator;

[0036] a processing module configured to, when the action indicated by the action instruction is the first target action, adjust the set required power of the main pump based on a relationship between a first opening and a first reference opening, and the power allocated to each of the single actions in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, to obtain an actual required power of the main pump, wherein the first opening is an opening of the control component corresponding to the single action in the first target action excluding the swing action, and the set required power is the power required to individually execute the single action in the first target action excluding the swing action;

[0037] An execution module is used to control the electric swing excavator to perform the first target action based on the actual required power and a second opening, where the second opening is the opening of the control component corresponding to the swing action.

[0038] The present invention also provides an electric swing excavator including the excavator main controller as described above.

[0039] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the excavator control method as described above is implemented.

[0040] The present invention provides an excavator control method, a main controller, an electric rotary excavator and an electronic device. The method receives an action instruction generated by operating a control component of the electric rotary excavator, and when determining that the target action indicated by the action instruction is a first target action, that is, a compound action including a rotary action, the method adjusts the set required power of the main pump based on the relationship between the first opening and the first reference opening, and the power allocated to each single action in the first target action by a hydraulic rotary excavator of the same tonnage as the electric rotary excavator at the first reference opening, to obtain the actual required power of the main pump when the electric rotary excavator executes the first target action, that is, the power required for the electric rotary excavator to execute other single actions other than the rotary action to execute the first target action, thereby controlling the electric rotary excavator to execute the first target action based on the actual power required by the main pump and the opening of the control component corresponding to the rotary action. On the one hand, the flow rate allocated to the main pump is matched with the power actually required by the main pump to drive and complete the action, thereby avoiding energy waste, that is, improving energy utilization and achieving energy-saving effects. On the other hand, the speed of the rotary action is coordinated with that of other single actions, avoiding the operator's sense of disharmony with the speed of the working device and improving the user experience of the electric rotary excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 1 is a schematic structural diagram of a control system of an electric rotary excavator controlled by the excavator control method provided by an embodiment of the present invention;

[0043] Figure 2 1 is a flow chart of an excavator control method provided by an embodiment of the present invention;

[0044] Figure 3 This is a flow chart of controlling an electric rotary excavator using the excavator control method provided by an embodiment of the present invention;

[0045] Figure 4 This is a structural diagram of an excavator control system provided by an embodiment of the present invention;

[0046] Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0048] Understandably, the most common swing power structure currently used on excavators is as follows: During vehicle swing, hydraulic oil drives the swing hydraulic motor, which in conjunction with a planetary reducer drives the center swing gear. During swing braking, the valve core is closed, reducing the pressure in the oil inlet chamber and increasing the pressure in the oil return chamber to generate braking torque. Furthermore, excavators are typically equipped with a separate solenoid valve to control the swing brake release signal.

[0049] However, due to the low efficiency ratio of each layer from the main pump to the main valve to the rotary motor and reducer, for example: at present, under normal working conditions, the average efficiency of the main hydraulic pump is 80-85%, the average efficiency of the rotary main valve is 85%, the average efficiency of the rotary motor is 85%, and the average efficiency of the rotary reducer is 93%. Therefore, according to the above efficiency calculation, the overall average efficiency from the main pump input to the reducer output is only 54%-57%. In addition, during braking, the rotary braking energy cannot be effectively recovered and utilized, and can basically only be converted into heat, resulting in energy waste.

[0050] Based on this, excavators that are driven by a slewing motor have also appeared. Their slewing power structure is: the slewing motor is driven by an electric drive, and then the slewing reducer is driven. It is known that the current average efficiency of the electric drive is 98%, the average efficiency of the slewing motor is 93%, and the average efficiency of the slewing reducer is 90%. Therefore, according to the above efficiency calculation, the overall average efficiency from the electric drive to the reducer output is 82%, which is roughly estimated to be about 30% higher than the slewing efficiency of the hydraulic structure. The energy of the slewing brake can also be recovered. Therefore, excavators equipped with electric slewing devices have obvious advantages in slewing energy efficiency and slewing brake energy recovery compared with excavators driven by hydraulic oil.

[0051] However, the current control principle for excavators equipped with electric swing devices is to send motion instructions to the main controller and the swing motor controller separately. The main controller then controls the main pump, and the swing motor controller controls the swing motor. The main controller still allocates flow to the main pump based on the power demand of the hydraulic oil-driven swing excavator when executing the motion instruction to complete other actions other than the swing action corresponding to the motion instruction. The swing motor controller controls the swing motor to drive the excavator to complete the swing according to the motion instruction. As can be seen, this control principle means that when the action indicated by the motion instruction includes a swing action, the flow allocated to the main pump is the flow required for the main pump to drive all the single actions indicated by the motion instruction, while the main pump does not need to drive the swing action at this time. Therefore, the main pump generates some useless work, resulting in energy waste. In addition, the main controller and the swing motor controller are connected to the control components separately. This makes it easy for the excavator to perform a complex action including a swing action, and the execution speed of the swing action is inconsistent with the speed of other actions, which in turn makes the operator feel inconsistent with the speed of the working device.

[0052] Based on this, it is necessary to adjust the power matching of the main hydraulic pump that originally drives the rotation action, and to control the rotation motor according to the input conditions.

[0053] It should be noted that, in order to facilitate understanding and explanation of the technical solution provided by the present invention, in the technical solution of the present invention, the excavator driven by a rotary motor is called an electric rotary excavator, and the excavator driven by hydraulic oil is called a hydraulic rotary excavator.

[0054] An embodiment of the present invention provides an excavator control method that can reasonably adjust the required power of the main pump when the electric rotary excavator needs to perform a compound action including a rotary action, thereby not only avoiding energy waste but also ensuring the speed coordination of the excavator's execution of the action, thereby improving the operator's user experience.

[0055] The following combination Figures 1 to 3 The present invention describes an excavator control method, which is applied to an electric swing excavator. The method is executed in the main controller of the electric swing excavator. The main controller controls the swing motor controller and the main pump to realize the swing action based on the swing motor controller controlling the swing motor drive, and the single action other than the swing action is driven by the main pump drive, that is, using the following method: Figure 1 The control system architecture shown can enable the main control of the electric rotary excavator to execute the excavator control method provided by the embodiment of the present invention.

[0056] like Figure 2 As shown, the excavator control method mainly includes the following steps:

[0057] 101. Receive an action instruction, where the action instruction is generated by operating a control component of the electric rotary excavator;

[0058] It is understood that the motion control of an electric swing excavator is achieved through the operator's operation of the handles and walking pedals. For example, in an excavator where the right handle controls the bucket and boom, and the left handle controls the dipper arm and swing, turning the right handle to the left controls the bucket, turning the left handle to the right controls the excavator's swing, and operating the walking pedals controls the excavator's movement. Therefore, when the operator operates the handles and / or walking pedals, motion commands are generated.

[0059] It should be noted that the difference between an electric swing excavator and a hydraulic swing excavator is that the swing mechanism is no longer driven by a main pump, but by a swing motor.

[0060] Specifically, the control components include an electric control handle and a walking pedal of the electric swing excavator. When the operator operates the electric control handle and / or the walking pedal, the main controller of the electric swing excavator can receive an action instruction.

[0061] 102. Determine whether the action indicated by the action instruction is a first target action, where the first target action is a compound action including the rotation action, and the compound action includes at least two of the single actions executable by the excavator;

[0062] Specifically, because the electric swing excavator's swing power source is decoupled from the power sources of the rest of the machine, that is, the main pump no longer drives the excavator to swing, the operator can operate the electric swing excavator to perform a variety of single actions, such as swinging, walking, boom lifting, bucket flipping, etc., or can operate the excavator to perform a variety of compound actions, such as boom lifting plus swinging, swinging plus walking, swinging plus boom lifting plus dipper digging, etc. Considering that in the action drive mode of the electric swing excavator, other single actions except the swing action are still driven by the main pump, when the action indicated by the action instruction is a compound action including the swing action, in order to avoid the power required by the main pump to be determined to include the power required to perform the swing action, and the incoordination between the swing action and other actions, the power distribution problem of the main pump needs to be solved. Therefore, the main controller first needs to determine whether the action indicated by the action instruction is a compound action including the swing action.

[0063] 103. When the action indicated by the action instruction is the first target action, the set required power of the main pump is adjusted based on the relationship between the first opening and the first reference opening, and the power allocated to each single action in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, to obtain the actual required power of the main pump. The first opening is the opening of the control component corresponding to the single action in the first target action excluding the swing action, and the set required power is the power required to individually execute the single action in the first target action excluding the swing action.

[0064] It should be noted that, for a hydraulic rotary excavator, the power required by the main pump to perform each single action has a corresponding relationship with the opening of the control component. Therefore, based on the relationship between the first opening and the first reference opening, and the power allocated by the hydraulic rotary excavator of the same tonnage as the electric rotary excavator to perform each single action in the first target action at the first reference opening, the power allocated by the hydraulic rotary excavator to perform each single action in the first target action at the first opening can be determined.

[0065] Specifically, the first reference opening can be the maximum opening, the middle position, the 3 / 4 opening, etc., preferably the maximum opening, so as to facilitate the determination of the current opening of the control component corresponding to the single action other than the rotary action in the first target action, that is, the relationship between the first opening and the first reference opening, so as to facilitate the determination of the power allocated to the hydraulic rotary excavator for executing each single action in the first target action at the first opening.

[0066] More specifically, the power allocated to each single action in the first target action by the hydraulic rotary excavator at the first opening can be conveniently determined by pre-listing the power allocated to each single action when the corresponding control component of the hydraulic rotary excavator is at the first reference opening.

[0067] In a specific embodiment, the power values ​​allocated to each single action in the corresponding compound action corresponding to various compound actions when the handle and / or walking pedal of the hydraulic rotary excavator are at the maximum opening can be listed in the form of a list based on the vehicle action coding. After that, after determining the single actions included in the first target action, the power values ​​of each single action included in the first target action in the list can be adjusted based on the relationship between the first opening and the maximum opening, so as to obtain the power value allocated to each single action in the first target action at the first opening.

[0068] Furthermore, since all individual actions of the hydraulic swing excavator are driven and executed by the main pump, it can be assumed that when the hydraulic swing excavator executes a compound action including a swing action, there is no problem of incoordination between the swing action and the other actions. In other words, it can be assumed that when the hydraulic swing excavator executes the first target action, the power allocated to each individual action in the first target action is matched. Therefore, when the electric swing excavator executes the first target action, by reducing the power allocated by the hydraulic swing excavator to the swing action in the first target action by the power allocated by the electric swing excavator to execute the individual actions in the first target action other than the swing action, it is possible to avoid incoordination between the swing action and the other actions when the electric swing excavator executes the first target action, while also ensuring that the main pump fully utilizes its energy.

[0069] In a specific embodiment, after determining the power allocated by the hydraulic rotary excavator to each single action in the first target action at the first opening degree, the power required for the main pump to perform a single action other than the rotary action in the first target action alone can be adjusted based on the proportion of the power allocated by the hydraulic rotary excavator to the rotary action in the first target action at the first opening degree in the total power allocated to the first target action.

[0070] Furthermore, by adjusting the power required for the main pump to perform a single action other than the rotation action in the first target action alone, the actual required power of the main pump when the electric rotary excavator performs the first target action can be obtained, that is, the power that matches the single action other than the rotation action in the first target action. Therefore, when the flow is distributed to the main pump based on the obtained actual required power, it not only avoids the main pump from doing useless work and improves energy utilization, but also avoids the problem of mismatch between the speed of performing the rotation action and the speed of performing other actions.

[0071] In a specific embodiment, taking the action indicated by the action instruction as a composite action A of boom lifting and rotating as an example, assuming that the first reference opening in the corresponding relationship is the maximum opening, and based on the power values ​​allocated to the boom lifting action and the rotating action in the composite action A by a hydraulic rotary excavator of the same tonnage as the electric rotary excavator at the maximum opening, it can be determined that the power value allocated by the hydraulic rotary excavator to the rotating action in the composite action A accounts for 30% of the total power allocated to the composite action A. Then, when the handle opening corresponding to the boom is the largest, that is, when the first opening is at the maximum, it can be determined that the actual required power of the main pump is the power after the power required for the main pump to perform the boom lifting action alone is reduced by 30%. When the handle opening corresponding to the boom is in the middle position, that is, when the first opening is in the middle position, it can be determined that the actual required power of the main pump is the power after the power required for the main pump to perform the boom lifting action alone is reduced by 15% (0.5*30%=15%).

[0072] In another specific embodiment, when the action indicated by the action instruction is a compound action B of rotation and walking, it is still assumed that the first reference opening in the corresponding relationship is the maximum opening. Based on the power values ​​allocated to the walking action and the rotating action in the compound action B by the hydraulic rotary excavator of the same tonnage as the electric rotary excavator at the maximum opening, it can be determined that the power value allocated by the hydraulic rotary excavator to the rotating action in the compound action B accounts for 50% of the total power allocated to the compound action B. Then, when the opening of the walking pedal corresponding to walking is the largest, that is, when the first opening is at the maximum, it can be determined that the actual required power of the main pump is the power after the power required for the main pump to perform the walking action alone is reduced by 50%. When the opening of the walking pedal corresponding to walking is in the middle position, that is, when the first opening is in the middle position, it can be determined that the actual required power of the main pump is the power after the power required for the main pump to perform the walking action alone is reduced by 25%.

[0073] 104. Control the electric swing excavator to perform the first target action based on the actual required power and a second opening, where the second opening is the opening of the control component corresponding to the swing action.

[0074] Specifically, after determining the actual required power and obtaining the opening of the control component indicating the rotation action (i.e., the electric control handle used by the electric rotary excavator to control the rotation), the main controller can distribute the flow to the main pump based on the actual required power, and control the rotary motor controller based on the second opening, so that the electric rotary excavator performs the first target action.

[0075] In the excavator control method provided in an embodiment of the present invention, when the action indicated by the action instruction generated by the operator operating the control component of the electric swing excavator is a composite action including a swing action, the main controller of the electric swing excavator first adjusts the set required power of the main pump based on the relationship between the first opening and the first reference opening, and the power allocated to each single action in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening. That is, the power required for the electric swing excavator to perform the single actions other than the swing action in the first target action alone is adjusted to a power suitable for performing the first target action including the swing action. Therefore, when the electric swing excavator is controlled to perform the first target action based on the power and the opening of the control component corresponding to the swing action, the speed of executing the swing action is coordinated with the speed of executing the other single actions, thereby overcoming the operator's sense of disharmony with the speed of the working device after the swing is decoupled from other devices of the vehicle, while avoiding the main pump from doing useless work, improving energy utilization, and achieving energy saving effects.

[0076] Based on the contents of the above embodiment, the set required power of the main pump is adjusted based on the relationship between the first opening and the first reference opening, and the power allocated to each of the single actions in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, including:

[0077] determining a proportional relationship between the first opening and the first reference opening as a first proportional relationship;

[0078] determining, at the first reference opening, a proportional relationship between the power allocated by the hydraulic swing excavator to the swing action in the first target action and the total power allocated to the first target action as a second proportional relationship;

[0079] Adjusting the second proportional relationship based on the first proportional relationship;

[0080] Based on the adjusted second proportional relationship, the set required power of the main pump of the electric swing excavator is adjusted.

[0081] It can be understood that there is a corresponding relationship between the power allocated by the hydraulic rotary excavator to each single action and the opening of the control component corresponding to each single action. Therefore, after knowing the power allocated by the hydraulic rotary excavator to each single action corresponding to the control component when the control component is at a certain opening, the power allocated by the hydraulic excavator to each single action corresponding to the control component at the current opening can be obtained based on the current opening of the control component.

[0082] Specifically, after obtaining the power allocated to the electric rotary excavator for performing a single action other than the rotary action in the first target action at the first reference opening, the power allocated to the electric rotary excavator for performing a single action other than the rotary action in the first target action at the first opening can be determined through the proportional relationship between the first opening and the first reference opening.

[0083] It can be understood that when executing the first target action, the power required by the main pump of the hydraulic rotary excavator includes the power required to execute the rotary action in the first target action and the power required for other single actions. For an electric rotary excavator of the same tonnage, the power required by the main pump is the power required by the main pump of the hydraulic rotary excavator to execute the single action except the rotary action in the first target action. Therefore, by determining the proportion of the power allocated by the hydraulic rotary excavator for the rotary action in the first target action in the total power allocated for the first target action under the first reference opening, the proportion can be used to adjust the power consumption of the electric rotary excavator of the same tonnage. The power allocated to the rotary excavator for performing a single action other than the rotary action in the first target action alone is used to obtain the power required for the main pump drive of the electric rotary excavator to perform a single action other than the rotary action in the first target action at the first reference opening. Then, based on the proportional relationship between the first reference opening and the first opening, the power required for the main pump drive of the electric rotary excavator to perform a single action other than the rotary action in the first target action at the first reference opening can be adjusted to the power required for the main pump drive of the electric rotary excavator to perform a single action other than the rotary action in the first target action at the first opening.

[0084] The excavator control method provided by the embodiment of the present invention realizes the determination of specific power adjustment conditions according to the combination of different boarding actions and required rotation speeds. It can be based on the known power value allocated to each single action at the first reference opening, and then proportionally adjust the power value corresponding to the first reference opening according to the opening of the handle and / or walking pedal. In this way, when the electric rotary excavator performs a compound action including a rotary action, the speed of the rotary action is matched with the speed of other actions, and useless work of the main pump is avoided, thereby maximizing energy utilization.

[0085] Based on the content of the above embodiment, the excavator control method further includes:

[0086] A method for determining the set required power;

[0087] The method for determining the set required power includes:

[0088] obtaining a power value required for the electric swing excavator to independently perform the single action in the first target action except the swing action at a second reference opening;

[0089] Based on the relationship between the first opening and the second reference opening, the power value is adjusted to obtain the power required for the electric swing excavator to perform the single action in the first target action except the swing action at the first opening, which is used as the set required power.

[0090] Specifically, through the relationship between the first opening and the second reference opening, the power value required for the electric rotary excavator to perform a single action other than the rotary action in the first target action at the second reference opening is adjusted, and the power required for the electric rotary excavator to perform a single action other than the rotary action in the first target action at the first opening can be obtained.

[0091] Based on the content of the above embodiment, the excavator control method further includes:

[0092] determining whether the action indicated by the action instruction is a second target action, where the second target action is a compound action that does not include a rotation action;

[0093] When the action indicated by the action instruction is the second target action, determining the power allocated by the hydraulic swing excavator to each of the single actions in the second target action at the first opening degree based on the power allocated by the hydraulic swing excavator to each of the single actions in the second target action at the first reference opening degree;

[0094] Power is allocated to the main pump based on the power allocated to each of the single actions of the hydraulic swing excavator at the first opening degree.

[0095] Specifically, because the second target action is a compound action that does not include a rotary action, the power allocated by the electric rotary excavator to each single action of the second target action is the power required for the main pump to drive and execute each single action. Therefore, the power allocated by the hydraulic rotary excavator to each single action in the second target action at the first reference opening, and the power allocated by the hydraulic rotary excavator to each single action in the second target action at the first opening, can be directly used as the power required for the main pump of the electric rotary excavator to drive and execute the second target action at the first opening, that is, power is allocated to the main pump of the electric rotary excavator based on the power allocated by the hydraulic rotary excavator to each single action at the first opening.

[0096] Based on the content of the above embodiment, the excavator control method further includes:

[0097] determining whether the action indicated by the action instruction is a third target action, wherein the third target action is a rotary single action;

[0098] When the action indicated by the action instruction is the single swing action, the electric swing excavator is controlled to perform the third target action based on the second opening degree.

[0099] Specifically, because the third target action is a single rotation action, and the single rotation action of the electric rotary excavator is driven and executed by the rotary motor, the electric rotary excavator does not need to allocate power to the main pump when executing the third target action. Therefore, the electric rotary excavator can be directly controlled to execute the third target action based on the second opening.

[0100] Based on the content of the above embodiment, controlling the electric swing excavator to perform the first target action based on the actual required power and the second opening degree includes:

[0101] Based on the actual required power, flow distribution is performed for the main pump so that the electric swing excavator performs the single action except the swing action in the first target action;

[0102] determining a control parameter for executing the rotation action based on the second opening;

[0103] The control parameters are sent to a swing motor controller of the electric swing excavator, and the swing brake is released so that the electric swing excavator performs the swing action.

[0104] Specifically, for an electric swing excavator, the second opening is the opening value of the electric control handle. By processing the opening value of the electric control handle, the control parameter for executing the swing action, that is, the target value for controlling the swing motor, can be obtained.

[0105] It can be seen that the control parameters can be target speed, target torque, etc. The specific type is related to the type of rotary motor used in the electric rotary excavator and the control mode of the rotary motor controller matched with it. For example, the type of rotary motor can include synchronous motor and asynchronous motor, as well as constant speed motor and speed regulation motor, etc.; the control mode can include speed control, torque control, etc.

[0106] More specifically, by sending control parameters to the slewing motor controller of the electric slewing excavator and controlling the release of the slewing brake so that the electric slewing excavator performs a slewing action, the relevant control of the slewing brake of the hydraulic slewing excavator is retained on the electric slewing excavator. On the one hand, the safety of the use of the electric slewing excavator is improved, and on the other hand, the original operating habits of the operator can be taken into account, thereby improving the operating comfort of the operator.

[0107] Based on the content of the above embodiment, after releasing the slewing brake, the method further includes:

[0108] Determine whether energy recovery conditions are met;

[0109] When the energy recovery condition is met, the rotational braking energy is recovered.

[0110] It is understandable that the rotary braking energy can be recovered in a variety of ways, for example, by charging the battery, recovering the energy through an accumulator, etc.

[0111] Specifically, different energy recovery methods require different energy recovery conditions. Therefore, corresponding energy recovery conditions can be preset according to the energy recovery method of the electric swing excavator used, so that after the swing brake is released, the main controller can judge whether the electric swing excavator meets the corresponding energy recovery conditions, and recover the swing braking energy when it is determined that the corresponding energy recovery conditions are met.

[0112] In a specific embodiment, assuming that the energy recovery method adopted by the electric swing excavator is to charge the battery, considering the impact of the ambient temperature and the remaining battery power on the battery charging, the ambient temperature can be set to meet the preset temperature range, and the remaining battery power can be less than the preset power as energy recovery conditions.

[0113] In another specific embodiment, assuming that the electric swing excavator uses energy recovery through an accumulator, considering the impact of pressure on the state of the accumulator, the swing brake pressure can be set higher than a set value as an energy recovery condition.

[0114] In summary, we can include Figure 1 The main controller of the electric rotary excavator with the control system architecture shown in FIG. 1 realizes the control of the electric rotary excavator by using the excavator control method provided by the embodiment of the present invention, wherein the specific control process of the main controller is as follows: Figure 3 As shown, the following steps are included:

[0115] 301. Receive an action instruction from a control component;

[0116] 302. Determine whether a rotation action is included; if not, execute step 3031; if included, execute step 3032;

[0117] 3031. Based on the power allocated to the hydraulic swing excavator for executing the action indicated by the action instruction at the first opening, flow distribution is performed for the main pump, and after the swing brake is maintained, the process returns to step 301.

[0118] 3032. Determine whether only the rotation action is included; if so, execute step 3041; if not, execute step 3042;

[0119] 3041. After determining the control parameters based on the opening of the electric control handle, execute step 305;

[0120] 3042. Based on the determined actual power demand, flow is distributed to the main pump, and after the control parameters are determined based on the opening of the electric control handle, step 305 is executed;

[0121] 305. Release the slewing brake and send control parameters to the slewing motor controller;

[0122] 306. Determine whether the energy recovery condition is met; if so, execute step 3071; if not, execute step 3072;

[0123] 3071. After performing rotary braking energy recovery, return to step 301.

[0124] 3072. After consuming the rotary braking energy through a valve or other means, return to step 301.

[0125] It can be seen that the use of the excavator control method provided by the embodiment of the present invention to control an electric swing excavator can, on the one hand, enable the main controller of the electric swing excavator to process action instructions indicating different actions separately, that is, for action instructions indicating no swing action, the flow rate of the main pump is distributed according to the power distribution of the hydraulic swing excavator of the same tonnage. For action instructions indicating only a swing action, the flow rate is separately processed by controlling the swing motor controller. For action instructions indicating a swing action and other actions, the power required by the main pump is adjusted accordingly based on the opening of the handle and / or the walking pedal, and the relationship between the power allocated by the hydraulic swing excavator to execute the swing action in the action instruction and the total power required to execute the action instruction. Then, the flow rate of the main pump is distributed based on the adjusted power. In this way, the power adjustment of the electric swing excavator not only takes into account the swing action alone, but also combines the adjustment with the other single actions of the entire vehicle, thereby effectively avoiding the main pump from doing useless work, improving energy utilization, and achieving energy saving effects. At the same time, it also overcomes the operator's sense of disharmony with the speed of the working device after the swing is decoupled from other devices of the vehicle. On the other hand, by retaining the existing excavator's slewing brake safety measures, the operator's original operating habits are taken into account, thereby improving operating comfort.

[0126] An excavator main controller provided by the present invention is described below. The excavator main controller described below and the excavator control method described above can be referenced to each other.

[0127] The excavator main controller provided by an embodiment of the present invention is applied to an electric rotary excavator. The main controller of the electric rotary excavator controls the rotary motor controller and the main pump to realize the execution of the rotary action based on the rotary motor controller controlling the rotary motor drive, and the execution of a single action other than the rotary action based on the main pump drive.

[0128] like Figure 4 As shown, the main controller of the excavator provided by the embodiment of the present invention includes: a receiving module 410, a judging module 420, a processing module 430 and an executing module 440; wherein,

[0129] The receiving module 410 is used to receive an action instruction, wherein the action instruction is generated by operating a control component of the electric swing excavator;

[0130] The judgment module 420 is used to determine whether the action indicated by the action instruction is a first target action, where the first target action is a compound action including the rotation action, and the compound action includes at least two of the single actions executable by the excavator;

[0131] The processing module 430 is configured to adjust the set required power of the main pump to obtain the actual required power of the main pump when the action indicated by the action instruction is the first target action, based on the relationship between the first opening and the first reference opening, and the power allocated to each of the single actions in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, when the action indicated by the action instruction is the first target action. The first opening is the opening of the control component corresponding to the single action in the first target action excluding the swing action, and the set required power is the power required to individually execute the single action in the first target action excluding the swing action.

[0132] The execution module 440 is used to control the electric swing excavator to perform the first target action based on the actual required power and a second opening, where the second opening is the opening of the control component corresponding to the swing action.

[0133] The excavator main controller provided by an embodiment of the present invention receives an action command generated by operating a control component of an electric swing excavator. When the target action indicated by the action command is determined to be a first target action, i.e., a composite action including a swing action, the controller adjusts the set required power of the main pump based on the relationship between the first opening and the first reference opening, as well as the power allocated to each single action in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening. The controller obtains the actual required power of the main pump when the electric swing excavator executes the first target action, i.e., the power required for the electric swing excavator to execute the other single actions of the first target action, excluding the swing action. The controller thus controls the electric swing excavator to execute the first target action based on the actual power required by the main pump and the opening of the control component corresponding to the swing action. This ensures that the flow rate allocated to the main pump matches the power required to drive the single action, thereby avoiding energy waste, i.e., improving energy utilization and achieving energy saving. Furthermore, the speed of the swing action is coordinated with the speed of the other single actions, avoiding any sense of disharmony between the operator and the speed of the working device, and improving the user experience of the electric swing excavator.

[0134] Optionally, the processing module 430 is specifically configured to:

[0135] determining a proportional relationship between the first opening and the first reference opening as a first proportional relationship;

[0136] determining, at the first reference opening, a proportional relationship between the power allocated by the hydraulic swing excavator to the swing action in the first target action and the total power allocated to the first target action as a second proportional relationship;

[0137] Adjusting the second proportional relationship based on the first proportional relationship;

[0138] Based on the adjusted second proportional relationship, the set required power of the main pump of the electric swing excavator is adjusted.

[0139] Optionally, the processing module 430 is further specifically configured to:

[0140] obtaining a power value required for the electric swing excavator to independently perform the single action in the first target action except the swing action at a second reference opening;

[0141] Based on the relationship between the first opening and the second reference opening, the power value is adjusted to obtain the power required for the electric swing excavator to perform the single action in the first target action except the swing action at the first opening, which is used as the set required power.

[0142] Optionally, the judgment module 420 is further configured to: determine whether the action indicated by the action instruction is a second target action, where the second target action is a compound action that does not include a rotation action;

[0143] The processing module 430 is further configured to: when the action indicated by the action instruction is the second target action, determine the power allocated by the hydraulic swing excavator to each of the single actions in the second target action at the first opening degree based on the power allocated by the hydraulic swing excavator to each of the single actions in the second target action at the first reference opening degree;

[0144] The execution module 440 is further configured to allocate power to the main pump based on the power allocated to each single action of the hydraulic rotary excavator at the first opening degree.

[0145] Optionally, the judgment module 420 is further configured to: determine whether the action indicated by the action instruction is a third target action, and the third target action is a rotary single action;

[0146] The execution module 440 is further configured to: when the action indicated by the action instruction is the single swing action, control the electric swing excavator to execute the third target action based on the second opening.

[0147] Optionally, the execution module 440 is further specifically configured to:

[0148] Based on the actual required power, flow distribution is performed for the main pump so that the electric swing excavator performs the single action except the swing action in the first target action;

[0149] determining a control parameter for executing the rotation action based on the second opening;

[0150] The control parameters are sent to a swing motor controller of the electric swing excavator, and the swing brake is released so that the electric swing excavator performs the swing action.

[0151] Optionally, the execution module 440 is further configured to:

[0152] Determine whether energy recovery conditions are met;

[0153] When the energy recovery condition is met, the rotational braking energy is recovered.

[0154] An embodiment of the present invention further provides an electric rotary excavator including the excavator main controller as described in any of the above embodiments.

[0155] It can be understood that the electric rotary excavator including the excavator main controller as described in any of the above embodiments has all the advantages and technical effects of the excavator main controller provided by any of the above embodiments, which will not be repeated here.

[0156] Figure 5 An example of a physical structure diagram of an electronic device is shown below. Figure 5As shown, the electronic device may include: a processor 510 and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other via the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute an excavator control method, which is applied to an electric swing excavator. The main controller of the electric swing excavator controls the swing motor controller and the main pump to realize the swing action based on the swing motor controller to control the swing motor drive, and to execute a single action other than the swing action based on the main pump drive. The method includes: receiving an action instruction, which is generated by operating the control component of the electric swing excavator; determining whether the action indicated by the action instruction is a first target action, the first target action being a composite action including the swing action, and the composite action including at least two of the single actions executable by the excavator; when the action indicated by the action instruction is the first target action During operation, based on the relationship between the first opening and the first reference opening, and the power allocated by the hydraulic swing excavator of the same tonnage as the electric swing excavator to each of the single actions in the first target action at the first reference opening, the set required power of the main pump is adjusted to obtain the actual required power of the main pump, the first opening is the opening of the control component corresponding to the single action other than the swing action in the first target action, and the set required power is the power required to execute the single action other than the swing action in the first target action alone; based on the actual required power and the second opening, the electric swing excavator is controlled to execute the first target action, and the second opening is the opening of the control component corresponding to the swing action.

[0157] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0158] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by the computer, the computer can execute the excavator control method provided by the above methods, which is applied to an electric rotary excavator. The main controller of the electric rotary excavator controls the rotary motor controller and the main pump to realize the rotary action based on the rotary motor controller controlling the rotary motor drive to perform the rotary action, and the main pump drive to perform a single action other than the rotary action. The method includes: receiving an action instruction, which is generated by operating the control component of the electric rotary excavator; determining whether the action indicated by the action instruction is a first target action, the first target action is a composite action including the rotary action, and the composite action at least includes The invention relates to a method for controlling the electric rotary excavator to operate the hydraulic pump in a manner that is consistent with the embodiment of the present invention. The method comprises the following steps: first, a first opening, a second opening, and a second opening. The method comprises the following steps: first, a first opening, a second opening, and a second opening. The method comprises the following steps: first, a first opening, a second opening, and a second opening. The method comprises the following steps: first, a first opening, a second opening, and a second opening. The method comprises the following steps:

[0159] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which implements an excavator control method when executed by a processor, and is applied to an electric rotary excavator, wherein the main controller of the electric rotary excavator controls the rotary motor controller and the main pump to realize the execution of a rotary action based on the rotary motor controller controlling the rotary motor drive, and the execution of a single action other than the rotary action based on the main pump drive, the method comprising: receiving an action instruction, the action instruction being generated by operating the control component of the electric rotary excavator; determining whether the action indicated by the action instruction is a first target action, the first target action being a composite action including the rotary action, the composite action including at least two of the single actions executable by the excavator; in the action instruction When the indicated action is the first target action, based on the relationship between the first opening and the first reference opening, and the power allocated to each of the single actions in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, the set required power of the main pump is adjusted to obtain the actual required power of the main pump. The first opening is the opening of the control component corresponding to the single action other than the swing action in the first target action, and the set required power is the power required to execute the single action other than the swing action in the first target action alone. Based on the actual required power and the second opening, the electric swing excavator is controlled to execute the first target action. The second opening is the opening of the control component corresponding to the swing action.

[0160] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0161] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0162] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An excavator control method, applied to an electric swing excavator, characterized in that: The main controller of the electric swing excavator controls the swing motor controller and the main pump to realize the swing action based on the swing motor controller controlling the swing motor drive, and the execution of a single action other than the swing action based on the main pump drive. The method includes: receiving an action instruction, wherein the action instruction is generated by operating a control component of the electric swing excavator; determining whether the action indicated by the action instruction is a first target action, where the first target action is a compound action including the rotation action, and the compound action includes at least two of the single actions executable by the excavator; When the action indicated by the action instruction is the first target action, based on the relationship between the first opening and the first reference opening, and the power allocated to each of the single actions in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, the set required power of the main pump is adjusted to obtain the actual required power of the main pump. The first opening is the opening of the control component corresponding to the single action excluding the swing action in the first target action. The set required power is the power required to individually execute the single action excluding the swing action in the first target action. The first reference opening can be any one of the following: maximum opening, middle position, and 3 / 4 opening, with maximum opening having the highest priority. The adjusting of the set required power of the main pump based on the relationship between the first opening and the first reference opening, and the power allocated to each of the single actions in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, includes: determining a proportional relationship between the first opening and the first reference opening as a first proportional relationship; determining, at the first reference opening, a proportional relationship between the power allocated by the hydraulic swing excavator to the swing action in the first target action and the total power allocated to the first target action as a second proportional relationship; Adjusting the second proportional relationship based on the first proportional relationship; adjusting the set required power of the main pump of the electric swing excavator based on the adjusted second proportional relationship; The method for determining the set required power includes: obtaining a power value required for the electric swing excavator to independently perform the single action in the first target action except the swing action at a second reference opening, the second reference opening being a reference opening for calculating and setting the required power; Based on the relationship between the first opening and the second reference opening, the power value required for the electric swing excavator to perform a single action in the first target action excluding the swing action at the second reference opening is adjusted to obtain the power required for the electric swing excavator to perform the single action in the first target action excluding the swing action at the first opening as the set required power; The electric swing excavator is controlled to perform the first target action based on the actual required power and a second opening, where the second opening is the opening of the control component corresponding to the swing action.

2. The excavator control method according to claim 1, characterized in that: Also includes: determining whether the action indicated by the action instruction is a second target action, where the second target action is a compound action that does not include a rotation action; When the action indicated by the action instruction is the second target action, determining the power allocated by the hydraulic swing excavator to each of the single actions in the second target action at the first opening degree based on the power allocated by the hydraulic swing excavator to each of the single actions in the second target action at the first reference opening degree; Power is allocated to the main pump based on the power allocated to each of the single actions of the hydraulic swing excavator at the first opening degree.

3. The excavator control method according to claim 2, characterized in that: Also includes: determining whether the action indicated by the action instruction is a third target action, wherein the third target action is a rotary single action; When the action indicated by the action instruction is the single swing action, the electric swing excavator is controlled to perform the third target action based on the second opening degree.

4. The excavator control method according to claim 1, characterized in that: The controlling the electric swing excavator to perform the first target action based on the actual required power and the second opening degree includes: Based on the actual required power, flow distribution is performed for the main pump so that the electric swing excavator performs the single action except the swing action in the first target action; determining a control parameter for executing the rotation action based on the second opening; The control parameters are sent to a swing motor controller of the electric swing excavator, and the swing brake is released so that the electric swing excavator performs the swing action.

5. The excavator control method according to claim 4, characterized in that: After releasing the slewing brake, the method further comprises: Determine whether energy recovery conditions are met; When the energy recovery condition is met, the rotational braking energy is recovered.

6. An excavator main controller, applied to an electric swing excavator, characterized in that: The main controller of the electric swing excavator controls the swing motor controller and the main pump to realize the swing action based on the swing motor controller controlling the swing motor drive and the single action other than the swing action based on the main pump drive. The main controller includes: a receiving module, configured to receive an action instruction, wherein the action instruction is generated by operating a control component of the electric swing excavator; a judgment module, configured to determine whether the action indicated by the action instruction is a first target action, wherein the first target action is a compound action including the rotation action, and the compound action includes at least two of the single actions executable by the excavator; A processing module, for, when the action indicated by the action instruction is the first target action, adjusting the set required power of the main pump based on the relationship between the first opening and the first reference opening, and the power allocated to each of the single actions in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, to obtain the actual required power of the main pump, the first opening being the opening of the control component corresponding to the single action other than the swing action in the first target action, and the set required power being the power required to separately execute the single action other than the swing action in the first target action; the adjusting the set required power of the main pump based on the relationship between the first opening and the first reference opening, and the power allocated to each of the single actions in the first target action by a hydraulic swing excavator of the same tonnage as the electric swing excavator at the first reference opening, comprises: determining the relationship between the first opening and the required power. The proportional relationship of the first reference opening is used as a first proportional relationship; determining, under the first reference opening, a proportional relationship between the power allocated by the hydraulic swing excavator to the swing action in the first target action and the total power allocated to the first target action as a second proportional relationship; adjusting the second proportional relationship based on the first proportional relationship; adjusting the set required power of the main pump of the electric swing excavator based on the adjusted second proportional relationship; the method for determining the set required power comprises: obtaining a power value required for the electric swing excavator to independently perform the single action other than the swing action in the first target action under the second reference opening; adjusting the power value based on the relationship between the first opening and the second reference opening to obtain, under the first opening, the power required for the electric swing excavator to independently perform the single action other than the swing action in the first target action as the set required power; An execution module is used to control the electric swing excavator to perform the first target action based on the actual required power and a second opening, where the second opening is the opening of the control component corresponding to the swing action.

7. An electric rotary excavator, characterized in that: It includes the excavator main controller as claimed in claim 6.

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

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