Control method, processor, working machine and storage medium for a working machine

Abstract

The application relates to the field of engineering machinery, in particular to a control method for engineering machinery, a processor, engineering machinery and a storage medium. The engineering machinery comprises an operating device, an input piston, a pressure piston, a pressure oil source, an electromagnetic reversing valve, a variable pressure reducing valve and a hydraulic oil source, a pressure cavity is formed between the input piston and the pressure piston, an oil inlet of the electromagnetic reversing valve is connected with the pressure oil source, and the first end and the second end of the variable pressure reducing valve are respectively connected with the electromagnetic reversing valve and the pressure cavity. The method comprises the following steps: in the case that the operating mode of the engineering machinery is a first mode, the electromagnetic reversing valve is controlled to be opened, so that the hydraulic oil of the pressure oil source flows through the variable pressure reducing valve and is introduced into the pressure cavity; the target operating force of the operating device is acquired; the valve opening degree of the variable pressure reducing valve is adjusted, so that the oil pressure of the hydraulic oil flowing through the variable pressure reducing valve and being introduced into the pressure cavity is adjusted, and the operating force of the operating device is the target operating force. The operating force of the operating device is adjusted, so that the operating device meets different operating conditions.

Description

Control methods, processors, engineering machinery, and storage media for engineering machinery. Technical Field

[0001] This application relates to the field of construction machinery, and more specifically, to a control method, processor, construction machinery, and storage medium for construction machinery. Background Technology

[0002] The control devices of construction machinery generally consist of control handles and foot pedals. The operating force and sensitivity of these devices directly affect the smoothness and comfort of the driver's operation. Currently, the operating force of construction machinery control devices is not adjustable. When operators operate different types of construction machinery, the required operating force may vary, which may not suit the operator's habits. For example, some construction machinery requires too little operating force and is overly sensitive, making it prone to abnormal operation; while other construction machinery requires too much operating force and lacks sensitivity, resulting in lower operating comfort. Summary of the Invention

[0003] The purpose of this application is to provide a control method, processor, engineering machinery, and storage medium for engineering machinery that can adjust the operating force of engineering machinery.

[0004] To achieve the above objectives, this application provides a control method for engineering machinery. The engineering machinery includes an operating device, an input piston, a pressure piston, a pressure oil source, an electromagnetic directional valve, a variable pressure reducing valve, and a hydraulic oil source. A pressure chamber is formed between the input piston and the pressure piston. The oil inlet of the electromagnetic directional valve is connected to the pressure oil source, and the oil outlet of the electromagnetic directional valve is connected to the variable pressure reducing valve. The first end and the second end of the variable pressure reducing valve are respectively connected to the electromagnetic directional valve and the pressure chamber. The control method includes:

[0005] When the operation mode of the construction machinery is in the first mode, the solenoid directional valve is opened so that the hydraulic oil from the pressure oil source flows through the variable pressure reducing valve and is introduced into the pressure chamber.

[0006] Obtain the target operating force of the operating device;

[0007] Adjust the valve opening of the variable pressure reducing valve to adjust the oil pressure of the hydraulic oil flowing through the variable pressure reducing valve into the pressure chamber, so that the operating force of the operating device is the target operating force.

[0008] In this embodiment, the engineering machinery also includes an oil pressure sensor installed in the pressure chamber. Adjusting the valve opening of the variable pressure reducing valve to adjust the oil pressure of the hydraulic oil flowing through the variable pressure reducing valve into the pressure chamber, so that the operating force of the operating device is the target operating force, includes: determining the target oil pressure of the hydraulic oil in the pressure chamber corresponding to the target operating force according to a preset pressure characteristic curve, wherein the preset pressure characteristic curve is determined according to the structural parameters of the engineering machinery; obtaining the real-time oil pressure of the hydraulic oil in the pressure chamber through the oil pressure sensor; adjusting the valve opening of the variable pressure reducing valve to adjust the pressure of the hydraulic oil flowing through the variable pressure reducing valve, so that the real-time oil pressure of the hydraulic oil in the pressure chamber is the target oil pressure.

[0009] In this embodiment of the application, the engineering machinery also includes a pressure sensor connected to the operating device, and the control method further includes: obtaining the real-time oil pressure of the hydraulic oil in the pressure chamber through the oil pressure sensor; determining the real-time operating force of the operating device corresponding to the real-time oil pressure through the pressure sensor; determining the functional relationship between the real-time oil pressure and the corresponding real-time operating force; and verifying the preset pressure characteristic curve according to the functional relationship.

[0010] In this embodiment, the construction machinery includes an oil pressure sensor and a hydraulic oil tank. The oil pressure sensor is installed inside the pressure chamber, and the drain port of the electromagnetic directional valve is connected to the hydraulic oil tank. The control method further includes: when the operation mode of the construction machinery is switched from the first mode to the second mode, controlling the electromagnetic directional valve to switch so that the hydraulic oil from the pressure oil source enters the variable pressure reducing valve, and causing the hydraulic oil in the pressure chamber to flow through the variable pressure reducing valve and into the hydraulic oil tank through the drain port; acquiring the oil pressure of the hydraulic oil in the pressure chamber in real time through the oil pressure sensor; and adjusting the valve opening of the variable pressure reducing valve so that the oil pressure of the hydraulic oil in the pressure chamber decreases to a preset pressure value at a preset decreasing rate.

[0011] In this embodiment of the application, the control method further includes: acquiring the real-time operating angle of the operating device; and, if the swing frequency of the real-time operating angle within the preset angle range is greater than the preset frequency within a preset time period, controlling the operating angle of the operating device to adjust to the preset operating angle and controlling the construction machinery to stop operating.

[0012] In this embodiment of the application, the control method further includes: when the operation mode of the construction machinery is the third mode, obtaining the real-time operating angle of the operating device; when the swing frequency of the real-time operating angle within the preset angle range is greater than the preset frequency within a preset time period, controlling the construction machinery to maintain the operating state, and determining the target operating force as the maximum operating force of the operating device.

[0013] The second aspect of this application provides a processor configured to execute any of the above-described control methods for engineering machinery.

[0014] A third aspect of this application provides an engineering machinery, which includes:

[0015] Operating device, connected to the input piston;

[0016] The input piston forms a pressure chamber with the pressure piston.

[0017] An electromagnetic directional valve is used to connect or disconnect the flow of hydraulic oil output from a pressure oil source through a variable pressure reducing valve.

[0018] A variable pressure reducing valve is used to adjust the pressure of the hydraulic oil flowing through it.

[0019] A hydraulic oil source, providing hydraulic oil with stable pressure; and the aforementioned processor.

[0020] In this embodiment of the application, the engineering machinery further includes: an oil pressure sensor installed in the pressure chamber for obtaining the oil pressure of the hydraulic oil in the pressure chamber; a pressure sensor connected to the operating device for obtaining the operating force of the operating device; and a hydraulic oil tank for storing hydraulic oil.

[0021] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, cause the processor to be configured to perform any of the above-described control methods for engineering machinery.

[0022] The above technical solution controls the hydraulic oil from the hydraulic pressure source to flow through the variable pressure reducing valve into the pressure chamber by controlling the electromagnetic reversing valve. By adjusting the oil pressure in the pressure chamber, the operating force of the operating device can be adjusted to the target operating force set by the user or processor. This modifies the operating force of the operating device of the construction machinery to meet different operating conditions and improve the operator's comfort and safety.

[0023] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the following detailed description to explain the present application, but do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 schematically illustrates a flow chart of a control method for engineering machinery according to an embodiment of this application;

[0026] Figure 2 schematically illustrates a structural example of an engineering machine according to an embodiment of this application;

[0027] Figure 3 schematically illustrates the response curve of an operating device according to an embodiment of this application;

[0028] Figure 4 schematically illustrates a structural example of an engineering machine according to another embodiment of this application;

[0029] Figure 5 schematically illustrates the internal structure of a computer device according to an embodiment of this application.

[0030] Explanation of reference numerals in the attached figures

[0031] 1. Operating device; 2. Input piston; 3. Pressure piston; 4. Pressure chamber; 5. Solenoid directional valve; 6. Pressure oil source; 7. Variable pressure reducing valve; 8. Oil pressure sensor; 9. Pressure sensor; 10. Hydraulic oil tank; 11. Push rod; 12. First oil port; 13. Second oil port; 14. Third oil port; 15. Fourth oil port; 16. Fifth oil port; 17. Oil injection hole; 18. Spring; 19. Cover plate. Detailed Implementation

[0032] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0033] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0034] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0035] In one embodiment, as shown in FIG1, a schematic flowchart of a control method for construction machinery according to an embodiment of the present application is illustrated. As shown in FIG1, in one embodiment of the present application, a control method for construction machinery is provided, comprising the following steps:

[0036] Step 101: When the operation mode of the construction machinery is the first mode, control the solenoid directional valve to open so that the hydraulic oil from the pressure oil source flows through the variable pressure reducing valve and is introduced into the pressure chamber.

[0037] Step 102: Obtain the target operating force of the operating device;

[0038] Step 103: Adjust the valve opening of the variable pressure reducing valve to adjust the oil pressure of the hydraulic oil flowing through the variable pressure reducing valve into the pressure chamber, so that the operating force of the operating device is the target operating force.

[0039] Figure 2 schematically illustrates a structural example of construction machinery. The machinery includes an operating device, an input piston, a pressure piston, a pressure oil source, a solenoid directional valve, a variable pressure reducing valve, and a hydraulic oil source. The operating device is connected to the input piston, allowing the user to apply operating force to the device, which in turn pushes the input piston, thus controlling the machinery. A pressure chamber is formed between the input piston and the pressure piston. The pressure oil source is connected to the inlet of the solenoid directional valve, and the outlet of the solenoid directional valve is connected to the first end of the variable pressure reducing valve. The second end of the variable pressure reducing valve is connected to the pressure chamber formed between the input piston and the pressure piston. In other words, the hydraulic oil output from the pressure oil source can enter the pressure chamber between the input piston and the pressure piston through the solenoid directional valve and the variable pressure reducing valve.

[0040] When the processor determines that the operating mode of the construction machinery is the first mode, where the operating force of the operating device can be changed, the processor can control the opening of the solenoid directional valve to connect the pressure oil source and the variable pressure reducing valve, allowing the hydraulic oil output from the pressure oil source to flow through the variable pressure reducing valve and into the pressure chamber. The processor can obtain the target operating force of the operating device. The operating force refers to the force applied to the actuator to complete a predetermined operation. In the embodiments of this application, the target operating force is the operating force that the user needs to apply to the operating device to control the construction machinery. The target operating force for the operating device can be set by the user according to their operating habits, or it can be determined by the processor based on the operating conditions of the construction machinery. After obtaining the target operating force for the operating device, the processor can adjust the valve opening of the variable pressure reducing valve to adjust the oil pressure of the hydraulic oil flowing through the variable pressure reducing valve and into the pressure chamber, thereby changing the operating force of the operating device to the target operating force.

[0041] In one embodiment, the construction machinery further includes an oil pressure sensor installed in the pressure chamber. Adjusting the valve opening of the variable pressure reducing valve to adjust the oil pressure of the hydraulic oil flowing through the variable pressure reducing valve into the pressure chamber, so that the operating force of the operating device is the target operating force, includes: determining the target oil pressure of the hydraulic oil in the pressure chamber corresponding to the target operating force according to a preset pressure characteristic curve, wherein the preset pressure characteristic curve is determined according to the structural parameters of the construction machinery; obtaining the real-time oil pressure of the hydraulic oil in the pressure chamber through the oil pressure sensor; adjusting the valve opening of the variable pressure reducing valve to adjust the pressure of the hydraulic oil flowing through the variable pressure reducing valve, so that the real-time oil pressure of the hydraulic oil in the pressure chamber is the target oil pressure.

[0042] A hydraulic pressure sensor can be installed in the pressure chamber formed between the input piston and the pressure piston. This sensor detects the hydraulic oil pressure within the chamber. After acquiring the target operating force for the control device, the processor can obtain a preset pressure characteristic curve for the construction machinery. This curve is determined based on the machinery's structural parameters. The processor can then determine the target hydraulic pressure in the pressure chamber corresponding to the target operating force. In other words, to ensure the control device reaches the target operating force, the hydraulic oil pressure in the pressure chamber between the input and pressure pistons must reach the target pressure. The processor can obtain the real-time hydraulic oil pressure in the pressure chamber via the pressure sensor and adjust the opening of the variable pressure reducing valve. This adjusts the pressure of the hydraulic oil flowing through the valve, ensuring the real-time pressure of the hydraulic oil entering the pressure chamber is the target pressure, thus ensuring the control device's operating force is the target operating force.

[0043] In one embodiment, the construction machinery further includes a pressure sensor connected to the operating device, and the control method further includes: acquiring the real-time oil pressure of the hydraulic oil in the pressure chamber through the oil pressure sensor; determining the real-time operating force of the operating device corresponding to the real-time oil pressure through the pressure sensor; determining the functional relationship between the real-time oil pressure and the corresponding real-time operating force; and verifying the preset pressure characteristic curve according to the functional relationship.

[0044] Construction machinery may also include pressure sensors, which can be connected to the operating device to detect the operating force applied by the user. The processor can acquire the real-time hydraulic pressure in the pressure chamber between the input piston and the pressure piston via a hydraulic pressure sensor, and also acquire the real-time operating force of the operating device corresponding to the real-time hydraulic pressure. The processor determines the functional relationship between the acquired real-time hydraulic pressure and the corresponding real-time operating force, and verifies the preset pressure characteristic curve of the construction machinery based on this relationship. This allows the processor to obtain a more accurate target hydraulic pressure when determining the target hydraulic pressure corresponding to the target operating force based on the preset pressure characteristic curve.

[0045] In one embodiment, the construction machinery includes an oil pressure sensor and a hydraulic oil tank. The oil pressure sensor is installed in the pressure chamber, and the drain port of the solenoid directional valve is connected to the hydraulic oil tank. The control method further includes: when the operation mode of the construction machinery is switched from a first mode to a second mode, controlling the solenoid directional valve to switch direction, so as to cut off the hydraulic oil from the pressure oil source from entering the variable pressure reducing valve, and causing the hydraulic oil in the pressure chamber to flow through the variable pressure reducing valve and be introduced into the hydraulic oil tank through the drain port; acquiring the oil pressure of the hydraulic oil in the pressure chamber in real time through the oil pressure sensor; and adjusting the valve opening of the variable pressure reducing valve so that the oil pressure of the hydraulic oil in the pressure chamber decreases to a preset pressure value at a preset decreasing rate.

[0046] The construction machinery includes an oil pressure sensor and a hydraulic oil tank. The oil pressure sensor can be installed in the pressure chamber formed between the input piston and the pressure piston, and the drain port of the solenoid directional valve can be connected to the hydraulic oil tank. When the operation mode of the construction machinery switches from the first mode to the second mode, where the operating force of the operating device cannot be changed via hydraulic oil, the processor can control the solenoid directional valve to switch, thereby cutting off the hydraulic oil output from the pressure oil source from entering the variable pressure reducing valve and connecting the variable pressure reducing valve to the hydraulic oil tank. This allows the hydraulic oil in the pressure chamber to flow through the variable pressure reducing valve and then into the hydraulic oil tank through the drain port of the solenoid directional valve. Simultaneously, the processor can obtain the oil pressure in the pressure chamber in real time through the oil pressure sensor. The processor can adjust the valve opening of the variable pressure reducing valve to reduce the oil pressure in the pressure chamber to a preset pressure value at a preset rate. The processor can set a preset descent speed and a preset pressure value based on the user input data. For example, if the user sets the preset descent speed to 1 Pa per second and the processor sets the preset pressure value to zero, the processor can control and adjust the valve opening of the variable pressure reducing valve to reduce the hydraulic oil pressure in the pressure chamber to zero at the preset descent speed of 1 Pa per second.

[0047] In one embodiment, the control method further includes: acquiring the real-time operating angle of the operating device; and, if the oscillation frequency of the real-time operating angle within a preset angle range is greater than a preset frequency within a preset time period, controlling the operating angle of the operating device to adjust to a preset operating angle and controlling the construction machinery to stop operating.

[0048] The processor can acquire the real-time operating angle of the operating device. If, within a preset time period, the oscillation frequency of the operating device's angle within a preset angle range exceeds a preset frequency, the processor can control the operating device to adjust its angle to the preset operating angle and stop the construction machinery. The processor can set the preset time period, preset angle range, preset frequency, and preset operating angle based on user-input data. For example, assuming the construction machinery is a construction vehicle, and the vehicle encounters bumpy road conditions during operation, causing the operating device to vibrate, and assuming the user-input time period is 2 seconds, the preset angle range is 30°, the preset frequency is once per second, and the preset operating angle is the initial angle of the operating device, meaning that the oscillation frequency of the operating device within the preset angle range of 30° within the preset time period of 1 second exceeds the preset frequency of once per second, the processor determines that the construction vehicle has vibrated, meeting the preset conditions. At this point, the processor can control the operating device to return to its initial angle and stop the construction vehicle.

[0049] In one embodiment, when the operator changes the operating angle of the operating device, the processor can output a response current corresponding to the operating angle. The operator can select different response modes based on usage habits or the working environment. For example, as shown in Figure 3, the operating device response curve, where the x-axis represents the operating device angle and the y-axis represents the response current corresponding to that angle, allows for a linear relationship between the operating angle and the response current. This mode is beneficial for improving work efficiency. When the operator selects mode b, as shown in Figure 3, the operating device response curve can be y = 1 / (1 + e^-x). Compared to mode a, mode b has a smaller slope at the initial and extreme angles of the operating device, resulting in a smoother response. This avoids abnormal movements of the machinery due to excessive sensitivity, thus ensuring smooth operation and operator safety.

[0050] In one embodiment, the control method further includes: when the operation mode of the construction machinery is the third mode, acquiring the real-time operating angle of the operating device; when the swing frequency of the real-time operating angle within the preset angle range is greater than the preset frequency within a preset time period, controlling the construction machinery to maintain the operating state, and determining the target operating force as the maximum operating force of the operating device.

[0051] When the construction machinery is operating in the third mode, which can be a protection mode, the processor can acquire the real-time operating angle of the operating device. If, within a preset time period, the oscillation frequency of the operating device's angle within a preset angle range exceeds a preset frequency, the processor can control the construction machinery to maintain operation and determine the target operating force of the operating device as its maximum operating force. The processor can set the preset time period, preset angle range, preset frequency, and preset operating angle based on user input data. In other words, assuming the construction machinery is a construction vehicle, and the vehicle encounters bumpy road conditions during operation, causing the operating device to vibrate (i.e., the oscillation frequency of the operating device within the preset angle range exceeds the preset frequency within the preset time period), the processor can choose not to stop the vehicle. Instead, it can maintain the vehicle's operation while determining the target operating force of the vehicle's operating device as its maximum operating force. Since the force required to complete the predetermined operation is large, the bumps and impacts encountered by the vehicle will not cause vibration to the operating device, ensuring the vehicle's stability and safety. Furthermore, while determining the target operating force of the operating device as the maximum operating force of the operating device, the processor can reduce the response sensitivity between the operating angle and the operating response current of the operating device, making the response of the operating device smoother, thereby further ensuring the stability and operational safety of the engineering vehicle.

[0052] In one embodiment, as shown in Figure 4, a schematic structural diagram of the construction machinery is illustrated. The construction machinery includes an operating device 1 connected to an input piston 2, with a pressure chamber 4 formed between the input piston 2 and a pressure piston 3; an electromagnetic directional valve 5 for connecting or disconnecting the flow of hydraulic oil output from the pressure oil source 6 through a variable pressure reducing valve 7; the variable pressure reducing valve 7 for adjusting the pressure of the hydraulic oil flowing through the variable pressure reducing valve 7; a hydraulic oil source 6 for providing hydraulic oil with stable pressure; and a processor (not shown in the figure) for executing any of the above-mentioned control methods for the construction machinery.

[0053] In one embodiment, as shown in FIG4, the engineering machinery further includes: an oil pressure sensor 8, installed in the pressure chamber 4, for obtaining the oil pressure of the hydraulic oil in the pressure chamber 4; a pressure sensor 9, connected to the operating device 1, for obtaining the operating force of the operating device 1; and a hydraulic oil tank 10 for storing hydraulic oil.

[0054] As shown in Figure 4, the operating device 1 is connected to the pressure sensor 9, which can acquire the real-time operating force of the operating device 1. The operating device 1 is connected to the input piston 2 via the push rod 11. By operating the operating device 1, the operator can push the combination of the input piston 2 and the pressure piston 3 along the seat cavity to move the pressure sensor 9 through the push rod 11. The first port 12 of the electromagnetic directional valve 5 is connected to the pressure oil source 6, the second port 13 of the electromagnetic directional valve 5 is connected to the third port 14 of the variable pressure reducing valve 7, the fourth port 15 of the electromagnetic directional valve 5 is connected to the hydraulic oil tank 10, the third port 14 of the variable pressure reducing valve 7 is connected to the second port 13 of the electromagnetic directional valve 5, and the fifth port 16 of the variable pressure reducing valve 7 is connected to the pressure chamber 4 via the oil injection hole 17.

[0055] When the processor determines that the operating mode of the construction machinery is the first mode, which is an operating force changing mode, the operating force of the operating device can be changed according to the target operating force set by the user or the processor. The processor can control the opening of the solenoid directional valve 5 to connect the first oil port 12 and the second oil port 13, so that the hydraulic oil output from the pressure oil source 6 can enter the variable pressure reducing valve 7 through the first oil port 12 and the second oil port 13 of the solenoid directional valve 5, and after flowing through the variable pressure reducing valve 7, it is introduced into the pressure chamber 4 through the oil injection hole 17. The processor can obtain the target operating force of the operating device 1. The operating force refers to the force applied to the actuator to complete the predetermined operation. In the embodiments of this application, the target operating force is the operating force that the user needs to apply to the operating device 1 in order to control the construction machinery. The target operating force for the operating device 1 can be set by the user according to their own operating habits, or it can be determined by the processor according to the operating status of the construction machinery. After acquiring the target operating force for the operating device 1, the processor can also acquire the preset pressure characteristic curve of the construction machinery. This preset pressure characteristic curve is determined based on the structural parameters of the construction machinery. The processor can then determine the target oil pressure in the pressure chamber 4 corresponding to the target operating force based on the preset pressure characteristic curve. In other words, to ensure that the operating force of the operating device 1 reaches the target operating force, the oil pressure of the hydraulic oil in the pressure chamber 4 between the input piston 2 and the pressure piston 3 needs to reach the target oil pressure. The processor can acquire the real-time oil pressure of the hydraulic oil in the pressure chamber 4 through the oil pressure sensor 8, and adjust the valve opening of the variable pressure reducing valve 7, thereby adjusting the pressure of the hydraulic oil flowing through the variable pressure reducing valve 7. This ensures that the real-time oil pressure of the hydraulic oil flowing through the variable pressure reducing valve 7 and into the pressure chamber 4 is the target oil pressure, thus making the operating force of the operating device 1 the target operating force.

[0056] The processor can also acquire the real-time operating force applied by the user to the operating device via pressure sensor 9, and the real-time hydraulic pressure in pressure chamber 4 via oil pressure sensor 8. Based on the acquired real-time oil pressure and the corresponding real-time operating force, a functional relationship is determined between them, and the preset pressure characteristic curve of the engineering machinery is verified according to this relationship. This allows the processor to obtain a more accurate target oil pressure when determining the target oil pressure corresponding to the target operating force based on the preset pressure characteristic curve.

[0057] When the operating mode of the construction machinery is switched from the first mode to the second mode, the second mode can be a normal operating mode that does not change the operating force through hydraulic oil. When the solenoid directional valve 5 is switched, the first working oil port 12 and the second working oil port 13 are disconnected, the pressure oil source 6 is cut off from outputting hydraulic oil to the pressure chamber 4, and the second working oil port 13 and the fourth oil port 15 are connected, so that the hydraulic oil in the pressure chamber 4 can flow through the variable pressure reducing valve 7 and be introduced into the hydraulic oil tank 10 through the solenoid directional valve 5. That is, the hydraulic oil in the pressure chamber 4 is emptied. At the same time, the processor can monitor the oil pressure in the pressure chamber 4 in real time through the oil pressure sensor 8, so that the oil pressure in the pressure chamber 4 drops to the preset pressure value at a preset rate. As shown in Figure 4, the construction machinery also includes a spring 18 and a cover plate 19. In the second mode, the operating device 1 pushes the input piston 2 through the push rod 11, which causes the pressure piston 3 to push the spring 18. The operating force of the operating device 1 is obtained through the reaction force of the spring 18. If the operator wants to change the operating force of the operating device 1 in the second mode, he / she needs to open the cover plate 19 to replace the spring 18 and change the specifications of the spring 18 to change the operating force of the construction machinery.

[0058] The above technical solution controls the flow of hydraulic oil from the hydraulic pressure source through a variable pressure reducing valve to the pressure chamber via an electromagnetic directional valve. By adjusting the hydraulic oil pressure in the pressure chamber, the operating force of the control device is adjusted to meet the target operating conditions of the construction machinery, or the target operating force set by the user or processor. This modifies the operating force of the construction machinery's control device to suit the operating conditions and operator habits, improving operational comfort and safety. Furthermore, in special situations, such as encountering bumpy roads, the operating force of the control device can be automatically adjusted to prevent overly sensitive operation that could lead to abnormal operation.

[0059] In one embodiment, a processor is provided, which is configured to perform any of the above-described control methods for engineering machinery.

[0060] In one embodiment, a machine-readable storage medium is provided that stores instructions that, when executed by a processor, configure the processor to perform the control method for engineering machinery described above.

[0061] The memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0062] In one embodiment, a computer device, which may be a server, is provided, and its internal structure is shown in Figure 5. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores relevant data detected by sensors and relevant data input by operators. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for engineering machinery.

[0063] Figure 1 is a flowchart illustrating a control method for engineering machinery in one embodiment. It should be understood that although the steps in the flowchart of Figure 1 are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Furthermore, at least some of the steps in Figure 1 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0064] This application provides an apparatus including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the following steps of a control method for construction machinery: when the operation mode of the construction machinery is in a first mode, it controls the opening of a solenoid directional valve to allow hydraulic oil from a pressure oil source to flow through a variable pressure reducing valve and be introduced into a pressure chamber; it obtains the target operating force of the operating device; and it adjusts the valve opening of the variable pressure reducing valve to adjust the oil pressure of the hydraulic oil flowing through the variable pressure reducing valve and introduced into the pressure chamber, so that the operating force of the operating device is the target operating force.

[0065] In one embodiment, the target oil pressure corresponding to the target operating force of the hydraulic oil in the pressure chamber is determined according to a preset pressure characteristic curve, wherein the preset pressure characteristic curve is determined based on the structural parameters of the engineering machinery; the real-time oil pressure of the hydraulic oil in the pressure chamber is obtained through an oil pressure sensor; the valve opening of the variable pressure reducing valve is adjusted to adjust the pressure of the hydraulic oil flowing through the variable pressure reducing valve, so that the real-time oil pressure of the hydraulic oil in the pressure chamber is the target oil pressure.

[0066] In one embodiment, the control method further includes: acquiring the real-time oil pressure of the hydraulic oil in the pressure chamber through an oil pressure sensor; determining the real-time operating force of the operating device corresponding to the real-time oil pressure through a pressure sensor; determining the functional relationship between the real-time oil pressure and the corresponding real-time operating force; and verifying the preset pressure characteristic curve based on the functional relationship.

[0067] In one embodiment, the control method further includes: when the operating mode of the construction machinery is switched from the first mode to the second mode, controlling the solenoid directional valve to switch so as to cut off the hydraulic oil from the pressure oil source from entering the variable pressure reducing valve, and causing the hydraulic oil in the pressure chamber to flow through the variable pressure reducing valve and be introduced into the hydraulic oil tank through the drain port; acquiring the oil pressure of the hydraulic oil in the pressure chamber in real time through the oil pressure sensor; and adjusting the valve opening of the variable pressure reducing valve so that the oil pressure of the hydraulic oil in the pressure chamber decreases to a preset pressure value at a preset decreasing rate.

[0068] In one embodiment, the control method further includes: acquiring the real-time operating angle of the operating device; and, if the oscillation frequency of the real-time operating angle within a preset angle range is greater than a preset frequency within a preset time period, controlling the operating angle of the operating device to adjust to a preset operating angle and controlling the construction machinery to stop operating.

[0069] In one embodiment, the control method further includes: when the operation mode of the construction machinery is the third mode, acquiring the real-time operating angle of the operating device; when the swing frequency of the real-time operating angle within the preset angle range is greater than the preset frequency within a preset time period, controlling the construction machinery to maintain the operating state, and determining the target operating force as the maximum operating force of the operating device.

[0070] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0071] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0072] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0073] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0074] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0075] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0076] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0077] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0078] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for engineering machinery, characterized in that, The construction machinery includes an operating device, an input piston, a pressure piston, a pressure oil source, an electromagnetic directional valve, a variable pressure reducing valve, an oil pressure sensor, a hydraulic oil tank, and a hydraulic oil source. The drain port of the electromagnetic directional valve is connected to the hydraulic oil tank. A pressure chamber is formed between the input piston and the pressure piston. The oil pressure sensor is installed in the pressure chamber. The inlet of the electromagnetic directional valve is connected to the pressure oil source. The outlet of the electromagnetic directional valve is connected to the variable pressure reducing valve. The first and second ends of the variable pressure reducing valve are respectively connected to the electromagnetic directional valve and the pressure chamber. The control method includes: when the operation mode of the construction machinery is in the first mode, controlling the electromagnetic directional valve to open so that the hydraulic oil from the pressure oil source flows through the variable pressure reducing valve into the pressure chamber; obtaining the target operating force of the operating device; and adjusting the variable pressure reducing valve. The valve opening is adjusted to regulate the hydraulic oil pressure flowing through the variable pressure reducing valve into the pressure chamber, so that the operating force of the operating device is the target operating force. When the operating mode of the engineering machinery is switched from the first mode to the second mode, the electromagnetic reversing valve is controlled to switch, so as to cut off the hydraulic oil from the pressure oil source from entering the variable pressure reducing valve, and to allow the hydraulic oil in the pressure chamber to flow through the variable pressure reducing valve and into the hydraulic oil tank through the drain port. The hydraulic oil pressure in the pressure chamber is acquired in real time by the oil pressure sensor. The valve opening of the variable pressure reducing valve is adjusted so that the hydraulic oil pressure in the pressure chamber decreases to a preset pressure value at a preset decreasing rate. The first mode is a mode in which the operating force of the operating device is changed, and the second mode is a mode in which the operating force of the operating device cannot be changed through hydraulic oil.

2. The control method for engineering machinery according to claim 1, characterized in that, The engineering machinery also includes an oil pressure sensor installed in the pressure chamber. Adjusting the valve opening of the variable pressure reducing valve to adjust the oil pressure of the hydraulic oil flowing through the variable pressure reducing valve into the pressure chamber, so that the operating force of the operating device is the target operating force, includes: determining the target oil pressure of the hydraulic oil in the pressure chamber corresponding to the target operating force according to a preset pressure characteristic curve, wherein the preset pressure characteristic curve is determined based on the structural parameters of the engineering machinery; acquiring the real-time oil pressure of the hydraulic oil in the pressure chamber through the oil pressure sensor; and adjusting the valve opening of the variable pressure reducing valve to adjust the pressure of the hydraulic oil flowing through the variable pressure reducing valve, so that the real-time oil pressure of the hydraulic oil in the pressure chamber is the target oil pressure.

3. The control method for engineering machinery according to claim 2, characterized in that, The engineering machinery also includes a pressure sensor connected to the operating device, and the control method further includes: obtaining the real-time oil pressure of the hydraulic oil in the pressure chamber through the oil pressure sensor; determining the real-time operating force of the operating device corresponding to the real-time oil pressure through the pressure sensor; determining the functional relationship between the real-time oil pressure and the corresponding real-time operating force; and verifying the preset pressure characteristic curve according to the functional relationship.

4. The control method for engineering machinery according to claim 1, characterized in that, The control method further includes: acquiring the real-time operating angle of the operating device; and, within a preset time period, if the oscillation frequency of the real-time operating angle within a preset angle range is greater than a preset frequency, controlling the operating angle of the operating device to adjust to a preset operating angle and controlling the construction machinery to stop operating.

5. The control method for engineering machinery according to claim 4, characterized in that, The control method further includes: when the operation mode of the construction machinery is the third mode, acquiring the real-time operating angle of the operating device; when the swing frequency of the real-time operating angle within the preset angle range is greater than the preset frequency within a preset time period, controlling the construction machinery to maintain the operating state, and determining the target operating force as the maximum operating force of the operating device.

6. A processor, characterized in that, It is configured to perform the control method for engineering machinery according to any one of claims 1 to 5.

7. An engineering machinery, characterized in that, The engineering machinery includes: an operating device connected to an input piston; the input piston forming a pressure chamber with a pressure piston; an electromagnetic directional valve for connecting or disconnecting the flow of hydraulic oil from a pressure oil source through a variable pressure reducing valve; the variable pressure reducing valve for adjusting the pressure of the hydraulic oil flowing through the variable pressure reducing valve; a hydraulic oil source for providing hydraulic oil with stable pressure; and a processor according to claim 6.

8. The engineering machinery according to claim 7, characterized in that, The engineering machinery also includes: an oil pressure sensor installed in the pressure chamber for obtaining the oil pressure of the hydraulic oil in the pressure chamber; a pressure sensor connected to the operating device for obtaining the operating force of the operating device; and a hydraulic oil tank for storing hydraulic oil.

9. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to perform the control method for engineering machinery according to any one of claims 1 to 5.

Images