Excavator control method, excavator control device, and excavator

Abstract

The present application provides an excavator control method, an excavator control device, and an excavator. The excavator control method includes: obtaining at least one of a boom pilot pressure, a swing priority current, and a pressure difference in a boom rod chamber; calculating a first input current based on a first mapping relationship between a first parameter and a current value and the first parameter; and adjusting the input current of a first proportional flow valve to the first input current, wherein the first parameter is at least one of the boom pilot pressure, the swing priority current, and the pressure difference. This method solves the problem of low hydraulic system efficiency in conventional excavator valve-controlled hydraulic systems, which use a single valve core to simultaneously control inlet and outlet oil circuits.

Description

Technical Field

[0001] The present application relates to the field of excavator control, and in particular to an excavator control method, an excavator control device, and an excavator. Background Art

[0002] Traditional valve-controlled hydraulic systems in construction machinery, agricultural machinery, and industrial machinery all use a single valve core to control both the inlet and outlet oil circuits. This repeated throttling losses make it difficult to achieve optimal energy-saving performance. For example, when the excavator's boom is extended, some of the oil in the boom's rodless chamber is regenerated from the rod chamber, while some is supplied by the pump. As the reversing valve moves, the openings of the boom's regeneration circuit, the boom's oil inlet, and the boom's oil return port simultaneously increase, resulting in oil waste. Alternatively, the openings of these circuits, the boom's oil inlet, and the boom's oil return port simultaneously decrease, causing throttling losses and slowing down the movement. Similarly, in the case of compound movements of the excavator boom, when the boom impedance is extended and the boom exceeds the extension, the oil pressure in the boom rodless cavity is higher than that in the boom rodless cavity. At this time, the hydraulic oil supplied by the pump tends to flow to the boom rodless cavity with lower oil pressure, causing the boom response to lag and low control accuracy of compound movements, which is not conducive to controllability. By reducing the opening of the boom oil inlet and increasing the oil pressure of the boom oil inlet through the boom reversing valve, the boom is given priority to the boom, but at the same time, the opening of the boom oil return port and the boom regeneration oil circuit will also be reduced, resulting in throttling losses and waste of regenerated oil.

[0003] Therefore, there is an urgent need for a method to solve the problem of low hydraulic system efficiency caused by the traditional valve-controlled hydraulic system simultaneously controlling the inlet and outlet oil circuits. Summary of the Invention

[0004] The main purpose of the present application is to provide an excavator control method, an excavator control device and an excavator, so as to at least solve the problem of low efficiency of the hydraulic system caused by the traditional valve-controlled hydraulic system in the prior art, which adopts a valve core to simultaneously control the inlet and outlet oil circuits.

[0005] According to one aspect of the present application, a control method for an excavator is provided, wherein the excavator includes a hydraulic system, a bucket arm, a boom and a rotary system, wherein the hydraulic system includes a first bucket arm valve core, a first boom valve core, a rotary valve core, a first delivery pump and a first proportional flow valve, wherein the first delivery pump, the rotary valve core, the first boom valve core and the first bucket arm valve core are connected in sequence, one end of the first proportional flow valve is connected to the second passage between the first delivery pump and the rotary valve core through a first passage, the other end of the first proportional flow valve is connected to the first bucket arm valve core, the first passage has a first branch and a second branch, one end of the first branch is connected to the rotary valve core, the other end of the first branch is connected to the first passage, one end of the second branch is connected to the first boom valve core, the other end of the second branch is connected to the first passage, the first bucket arm valve core is connected The core is used to control the boom, the first boom valve core is used to control the boom, and the rotary valve core is used to control the rotary system, wherein the method includes: obtaining at least one of the boom pilot pressure, the rotary priority current and the pressure difference of the rod chamber of the boom, wherein the boom pilot pressure is the hydraulic pressure of the boom used to control the hydraulic system, the rotary priority current is the current for realizing the priority control of the rotary system in the rotary system and the boom, and the pressure difference is the difference between the actual pressure of the rod chamber of the boom and the preset pressure of the rod chamber of the boom; according to the first mapping relationship between the first parameter and the current value and the first parameter, the first input current is calculated, and the input current of the first proportional flow valve is adjusted to the first input current, wherein the first parameter is at least one of the boom pilot pressure, the rotary priority current and the pressure difference.

[0006] Optionally, the excavator further includes a bucket, and the hydraulic system further includes a second dipper arm valve core, a second boom valve core, a bucket valve core, a second delivery pump and a second proportional flow valve. The second delivery pump, the second boom valve core, the bucket valve core and the second dipper arm valve core are connected in sequence. One end of the second proportional flow valve is connected to a fourth passage between the second delivery pump and the second boom valve core through a third passage. The other end of the second proportional flow valve is connected to the second dipper arm valve core. The third passage has a third branch and a fourth branch. One end of the third branch is connected to the second boom valve core, the other end of the third branch is connected to the third passage, and one end of the fourth branch is connected to the bucket valve core. The other end of the fourth branch is connected to the third passage, the second boom valve core is used to control the boom, the second arm valve core is used to control the boom, and the bucket valve core is used to control the bucket, wherein the method further includes: calculating the second input current according to the second mapping relationship between the second parameter and the current value and the second parameter, and adjusting the input current of the second proportional flow valve to the second input current, wherein the second parameter is at least one of the boom priority current, the bucket retraction pilot pressure and the pressure difference, the boom priority current is the current for realizing the priority control of the boom in the boom and the boom, and the bucket retraction pilot pressure is the hydraulic pressure of the rotary valve core used to control the bucket.

[0007] Optionally, the first input current is calculated based on the first mapping relationship between the first parameter and the current value and the first parameter, and the input current of the first proportional flow valve is adjusted to the first input current, including one of the following: when the first parameter is the boom pilot pressure, the first input current is calculated based on the first mapping relationship and the boom pilot pressure, and the input current of the first proportional flow valve is increased to the first input current; when the first parameter is the rotation priority current, the first input current is calculated based on the first mapping relationship and the rotation priority current, and the input current of the first proportional flow valve is reduced to the first input current; when the first parameter is the pressure difference, the first input current is calculated based on the first mapping relationship and the pressure difference, and the input current of the first proportional flow valve is reduced to the first input current.

[0008] Optionally, when the first parameter is at least two of the boom pilot pressure, the rotation priority current and the pressure difference, the first input current is calculated according to the first mapping relationship between the first parameter and the current value and the first parameter, including: obtaining a first weight coefficient, a second weight coefficient and a third weight coefficient, and determining the first mapping relationship as I1=w1×a×f1+w2×b×f2+w3×c×f3 based on at least the first weight coefficient, the second weight coefficient and the third weight coefficient, wherein the first weight coefficient w1 is the weight coefficient of the boom pilot pressure, the second weight coefficient w2 is the weight coefficient of the rotation priority current, the third weight coefficient w3 is the weight coefficient of the pressure difference, a is the boom pilot pressure, b is the rotation priority current, c is the pressure difference, f1 is the mapping relationship between the boom pilot pressure and the current value, f2 is the mapping relationship between the rotation priority current and the current value, and f3 is the mapping relationship between the pressure difference and the current value; the first input current is calculated according to the first mapping relationship and the first parameter.

[0009] Optionally, the second input current is calculated based on the second mapping relationship between the second parameter and the current value and the second parameter, and the input current of the second proportional flow valve is adjusted to the second input current, including one of the following: when the second parameter is the boom priority current, the second input current is calculated based on the second mapping relationship and the boom priority current, and the input current of the second proportional flow valve is reduced to the second input current; when the second parameter is the bucket retraction pilot pressure, the second input current is calculated based on the second mapping relationship and the bucket retraction pilot pressure, and the input current of the second proportional flow valve is increased to the second input current; when the second parameter is the pressure difference, the second input current is calculated based on the second mapping relationship and the pressure difference, and the input current of the second proportional flow valve is reduced to the second input current.

[0010] Optionally, when the second parameter is the bucket retraction pilot pressure, the second input current is calculated based on the second mapping relationship and the bucket retraction pilot pressure, and the method also includes: obtaining the bucket retraction pilot pressure; when the bucket retraction pilot pressure is greater than a pressure threshold, determining that the excavator is in an excavation condition, and increasing the input current of the second proportional flow valve to the second input current; when the bucket retraction pilot pressure is less than or equal to the pressure threshold, not adjusting the input current of the second proportional flow valve.

[0011] Optionally, when the second parameter is at least two of the boom priority current, the bucket retraction pilot pressure, and the pressure difference, the second input current is calculated according to the second mapping relationship between the second parameter and the current value and the second parameter, including: obtaining a third weight coefficient, a fourth weight coefficient, and a fifth weight coefficient, and determining the second mapping relationship as I2=w3×c×f3+w4×d×f4+w5×e×f5 based on at least the third weight coefficient, the fourth weight coefficient, and the fifth weight coefficient, wherein the third weight coefficient w 3 is the weight coefficient of the pressure difference, the fourth weight coefficient w4 is the weight coefficient of the boom priority current, the fifth weight coefficient w5 is the weight coefficient of the bucket retraction pilot pressure, c is the pressure difference, d is the boom priority current, e is the bucket retraction pilot pressure, f3 is the mapping relationship between the pressure difference and the current value, f4 is the mapping relationship between the boom priority current and the current value, and f5 is the mapping relationship between the bucket retraction pilot pressure and the current value; the second input current is calculated according to the second mapping relationship and the second parameter.

[0012] According to another aspect of the present application, a control device for an excavator is provided, which includes a hydraulic system, a bucket arm, a boom and a slewing system, wherein the hydraulic system includes a first bucket arm valve core, a first boom valve core, a slewing valve core, a first delivery pump and a first proportional flow valve, the first delivery pump, the slewing valve core, the first boom valve core and the first bucket arm valve core are connected in sequence, one end of the first proportional flow valve is connected to the second passage between the first delivery pump and the slewing valve core through a first passage, the other end of the first proportional flow valve is connected to the first bucket arm valve core, the first passage has a first branch and a second branch, one end of the first branch is connected to the slewing valve core, the other end of the first branch is connected to the first passage, one end of the second branch is connected to the first boom valve core, the other end of the second branch is connected to the first passage, and the first bucket arm valve core is used to control the bucket arm. Rod, the first boom valve core is used to control the boom, and the rotary valve core is used to control the rotary system, wherein the device includes: a first acquisition unit, used to obtain at least one of the boom pilot pressure, the rotary priority current and the pressure difference of the rod chamber of the boom, wherein the boom pilot pressure is the hydraulic pressure of the boom used to control the hydraulic system, the rotary priority current is the current for realizing the priority control of the rotary system in the rotary system and the boom, and the pressure difference is the difference between the actual pressure of the rod chamber of the boom and the preset pressure of the rod chamber of the boom; a first calculation unit, used to calculate the first input current according to the first mapping relationship between the first parameter and the current value and the first parameter, and adjust the input current of the first proportional flow valve to the first input current, wherein the first parameter is the boom pilot pressure, the rotary priority current and at least one of the pressure difference.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0014] According to another aspect of the present application, an excavator is provided, comprising a hydraulic system, a boom, a movable arm, a slewing system, and a control device of the excavator, wherein the control device of the excavator executes any one of the methods described.

[0015] Applying the technical solution of the present application, a control method for an excavator is provided, which includes: first, obtaining at least one of the boom pilot pressure, the rotation priority current and the pressure difference of the boom rod chamber, the boom pilot pressure is the hydraulic pressure used by the boom to control the hydraulic system, the rotation priority current is the current for realizing the priority control of the rotation system in the rotation system and the boom, and the pressure difference is the difference between the actual pressure of the boom rod chamber and the preset pressure of the boom rod chamber; according to the first mapping relationship between the first parameter and the current value and the first parameter, the first input current is calculated, and the input current of the first proportional flow valve is adjusted to the first input current, and the first parameter is at least one of the boom pilot pressure, the rotation priority current and the pressure difference. By adding a proportional flow valve at the boom oil inlet, the proportional flow valve can be used for independent oil inlet control. The inlet and outlet openings can determine the corresponding control current based on performance requirements such as pilot pressure, rotation priority current and pressure difference in the boom rod cavity. The valve can be adjusted according to the control current to improve the efficiency of the hydraulic system, realize the decoupling of boom oil inlet, boom oil return and boom regeneration control, and solve the problem of low efficiency of the hydraulic system caused by the traditional valve-controlled hydraulic system, which uses a valve core to control the inlet and outlet oil circuits at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for executing an excavator control method provided in an embodiment of the present application is shown;

[0018] Figure 2 A schematic flow chart of a method for controlling an excavator according to an embodiment of the present application is shown;

[0019] Figure 3 Schematic diagram of the oil circuit from the first delivery pump to the first proportional flow valve provided in accordance with an embodiment of the present application is shown;

[0020] Figure 4 A schematic structural diagram of a proportional flow valve provided in an embodiment of the present application is shown;

[0021] Figure 5 Schematic diagram of the oil circuit from the second delivery pump to the second proportional flow valve provided in accordance with an embodiment of the present application is shown;

[0022] Figure 6 A structural block diagram of a control device for an excavator provided according to an embodiment of the present application is shown.

[0023] The above drawings include the following reference numerals:

[0024] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device; 110. First delivery pump; 111. Rotary valve core; 112. First boom valve core; 113. First dipper arm valve core; 114. First proportional flow valve; 115. Second delivery pump; 116. Second boom valve core; 117. Bucket valve core; 118. Second dipper arm valve core; 119. Second proportional flow valve. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] As introduced in the background technology, traditional valve-controlled hydraulic systems in the prior art all use a valve core to simultaneously control the inlet and outlet oil circuits, resulting in low efficiency of the hydraulic system. To solve the above problem, the embodiments of the present application provide an excavator control method, an excavator control device and an excavator.

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0030] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal for a method for controlling an excavator according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown) a processor 102 (the processor 102 may include but is not limited to a microprocessor MCU or a programmable logic device FPGA and other processing devices) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0031] The memory 104 can be used to store computer programs, such as software programs and modules for application software, such as the computer program corresponding to the excavator control method in the embodiment of the present invention. The processor 102 executes the computer programs stored in the memory 104 to execute various functional applications and data processing, thereby implementing the above-mentioned method. The memory 104 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located from the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The transmission device 106 is used to receive or transmit data via a network. Specific examples of such networks may include a wireless network provided by the mobile terminal's telecommunications provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0032] In this embodiment, a control method for an excavator running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] Figure 2 Flowchart of the control method of the excavator according to the embodiment of the present application. The excavator includes a hydraulic system, a bucket rod, a boom and a rotary system, wherein the hydraulic system includes a first bucket rod valve core, a first boom valve core, a rotary valve core, a first delivery pump and a first proportional flow valve. Figure 3 As shown, the first delivery pump 110, the rotary valve core 111, the first boom valve core 112 and the first dipper arm valve core 113 are connected in sequence, one end of the first proportional flow valve 114 is connected to the second passage between the first delivery pump 110 and the rotary valve core 111 through the first passage, and the other end of the first proportional flow valve 114 is connected to the first dipper arm valve core 113. The first passage has a first branch and a second branch. One end of the first branch is connected to the rotary valve core 111, and the other end of the first branch is connected to the first passage. One end of the second branch is connected to the first boom valve core 112, and the other end of the second branch is connected to the first passage. The first dipper arm valve core 113 is used to control the dipper arm, the first boom valve core 112 is used to control the boom, and the rotary valve core 111 is used to control the rotary system. Figure 2 As shown, the method includes the following steps:

[0034] Step S201, obtaining at least one of a boom pilot pressure, a swing priority current, and a pressure difference in a rod chamber of the boom, wherein the boom pilot pressure is the hydraulic pressure of the boom used by the boom to control the hydraulic system, the swing priority current is the current used in the swing system and the boom to achieve priority control of the swing system, and the pressure difference is the difference between the actual pressure in the rod chamber of the boom and a preset pressure in the rod chamber of the boom;

[0035] Specifically, an excavator is a complex machine, primarily composed of a boom, hydraulic system, arm, bucket, and slewing system. The boom and arm, often called boom and forearm, refer to the excavator's working devices, controlling the bucket's digging, loading, and other movements. The arm connected to the frame is longer, commonly known as the boom, and technically referred to as the boom. The arm connected to the bucket is smaller, commonly known as the forearm, and technically referred to as the boom. The hydraulic system primarily provides power and control for the excavator and includes hydraulic cylinders, hydraulic pumps, and controllers. The hydraulic cylinders drive the boom's extension and retraction; the hydraulic pumps provide high-pressure fluid to move the hydraulic cylinders; and the controllers control the cylinders' extension and retraction speed and position. The slewing system drives the boom, arm, and bucket to rotate around the boom's axis and can also rotate 360 ​​degrees to change the bucket's working direction. Since the first proportional flow valve is used to supply oil to the boom valve core, the arm valve core and the rotary valve core, accordingly, the factors affecting the first proportional flow valve include at least the boom pilot pressure, the rotary priority current and the pressure difference of the rod chamber of the above-mentioned boom. The above-mentioned boom pilot pressure, the rotary priority current and the pressure difference of the rod chamber of the above-mentioned boom can be directly obtained through the control device of the above-mentioned excavator.

[0036] Step S202, calculate the first input current based on the first mapping relationship between the first parameter and the current value and the above-mentioned first parameter, and adjust the input current of the above-mentioned first proportional flow valve to the above-mentioned first input current, wherein the above-mentioned first parameter is at least one of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference.

[0037] Specifically, the first parameter can be any one of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference. The first parameter can also be any two of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference. The first parameter can also be the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference. Since the mapping of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference to the current value of the proportional flow valve is different, when the first parameter represents different parameters, the corresponding first mapping relationship is selected to determine the corresponding first input current. The above-mentioned first mapping relationship can be in any form such as a table, a curve, etc. that can represent the mapping relationship between the first parameter and the current value. The specific structure of the above-mentioned first proportional flow valve is as follows. Figure 4As shown in the figure, a proportional flow valve is a device that controls fluid flow. This is achieved by adjusting the opening area of ​​the valve body cavity, maintaining a proportional relationship between flow rate and opening area. That is, the larger the opening area, the greater the outflow. The proportional flow valve body contains a rotatable spherical valve plug with an inward-facing conical flow channel. The spherical valve plug can rotate about an axis, and the angle of rotation determines the opening area of ​​the flow channel. This can be used to adjust the area of ​​the fluid flowing through the spherical flow channel and the outflow rate by rotating the ball against the valve plug.

[0038] Through this embodiment, a control method for an excavator is provided, which includes: first, obtaining at least one of the boom pilot pressure, the rotation priority current and the pressure difference of the boom rod chamber, the boom pilot pressure is the hydraulic pressure used by the boom to control the hydraulic system, the rotation priority current is the current for realizing the priority control of the rotation system in the rotation system and the boom, and the pressure difference is the difference between the actual pressure of the boom rod chamber and the preset pressure of the boom rod chamber; according to the first mapping relationship between the first parameter and the current value and the first parameter, the first input current is calculated, and the input current of the first proportional flow valve is adjusted to the first input current, and the first parameter is at least one of the boom pilot pressure, the rotation priority current and the pressure difference. By adding a proportional flow valve at the boom oil inlet, the proportional flow valve can be used for independent oil inlet control. The inlet and outlet openings can determine the corresponding control current based on performance requirements such as pilot pressure, rotation priority current and pressure difference in the boom rod cavity. The valve can be adjusted according to the control current to improve the efficiency of the hydraulic system, realize the decoupling of boom oil inlet, boom oil return and boom regeneration control, and solve the problem of low efficiency of the hydraulic system caused by the traditional valve-controlled hydraulic system, which uses a valve core to control the inlet and outlet oil circuits at the same time.

[0039] In a specific implementation process, the excavator further includes a bucket, and the hydraulic system further includes a second arm valve core, a second boom valve core, a bucket valve core, a second transport pump, and a second proportional flow valve. Figure 5As shown, the second delivery pump 115, the second boom valve core 116, the bucket valve core 117 and the second dipper arm valve core 118 are connected in sequence, one end of the second proportional flow valve 119 is connected to the fourth passage between the second delivery pump 115 and the second boom valve core 116 through the third passage, the other end of the second proportional flow valve 119 is connected to the second dipper arm valve core 118, the third passage has a third branch and a fourth branch, one end of the third branch is connected to the second boom valve core 116, the other end of the third branch is connected to the third passage, one end of the fourth branch is connected to the bucket valve core 117, and the other end of the fourth branch is connected to the third passage. The second arm valve core 118 is used to control the arm, the second boom valve core 116 is used to control the boom, and the bucket valve core 117 is used to control the bucket. The method further includes: step S103, calculating a second input current based on a second mapping relationship between a second parameter and a current value and the second parameter, and adjusting the input current of the second proportional flow valve 119 to the second input current, wherein the second parameter is at least one of a boom priority current, a bucket retraction pilot pressure, and the pressure differential. The boom priority current is the current used to achieve priority control of the boom in the boom and the arm, and the bucket retraction pilot pressure is the hydraulic pressure used by the swing valve core to control the bucket. This method further adds a second proportional flow valve, which can further determine a corresponding control current based on performance requirements such as the boom priority current, the bucket retraction pilot pressure, and the pressure differential, and adjust the system based on the control current, further improving the efficiency of the hydraulic system.

[0040] Specifically, the second parameter can be any one of the above-mentioned boom priority current, bucket retraction pilot pressure and the above-mentioned pressure difference. The second parameter can also be any two of the above-mentioned boom priority current, bucket retraction pilot pressure and the above-mentioned pressure difference. The second parameter can also be the above-mentioned boom priority current, bucket retraction pilot pressure and the above-mentioned pressure difference. Since the mapping of the above-mentioned boom priority current, bucket retraction pilot pressure and the above-mentioned pressure difference to the current value of the proportional flow valve is different, when the second parameter represents different parameters, the corresponding second mapping relationship is selected to determine the corresponding second input current. The above-mentioned second mapping relationship can be in any form such as a table, a curve, etc. that can represent the mapping relationship between the second parameter and the current value. The specific structure of the above-mentioned second proportional flow valve is as follows. Figure 4 shown.

[0041] To further accurately determine the first input current, step S202 of the present application can be implemented by one of the following steps: step S2021, when the first parameter is the boom pilot pressure, calculating the first input current based on the first mapping relationship and the boom pilot pressure, and increasing the input current of the first proportional flow valve to the first input current; step S2022, when the first parameter is the swing priority current, calculating the first input current based on the first mapping relationship and the swing priority current, and reducing the input current of the first proportional flow valve to the first input current; step S2023, when the first parameter is only the pressure difference, calculating the first input current based on the first mapping relationship and the pressure difference, and reducing the input current of the first proportional flow valve to the first input current. In the case where the first parameter represents different parameters, the method selects the corresponding first mapping parameter to further accurately determine the first input current.

[0042] Specifically, when the boom pilot pressure increases, it indicates that the flow required by the boom of the excavator increases, and the oil supply to the boom needs to be increased. Therefore, the first proportional flow valve can be increased to the first input current. When the rotation priority current increases, it is necessary to increase the rotation speed, realize the priority control of the rotation system, and reduce the oil supply to the boom. Therefore, the first proportional flow valve can be reduced to the first input current. When the above-mentioned pressure difference increases, it means that the actual pressure of the rod cavity of the boom is too high. In this case, the boom retracts under the action of gravity, the rod cavity of the boom is squeezed, and the pressure increases rapidly. At this time, the oil in the rodless cavity of the boom mainly comes from the regeneration of the boom cavity. It is necessary to reduce the flow of the first delivery pump to the boom. Therefore, the first proportional flow valve can be reduced to the first input current.

[0043] In the case where the first parameter is at least two of the boom pilot pressure, the swing priority current and the pressure difference, the step S202 can also be implemented in other ways, for example: step S2024, obtaining the first weight coefficient, the second weight coefficient and the third weight coefficient, and determining the first mapping relationship based on at least the first weight coefficient, the second weight coefficient and the third weight coefficient: I1 = w1×a×f1+w2×b×f2+w3×c×f3, wherein the first weight coefficient w1 is the boom pilot pressure. The weight coefficient for the pilot pressure is w2, the second weight coefficient w2 is the weight coefficient for the swing priority current, the third weight coefficient w3 is the weight coefficient for the pressure difference, a is the arm pilot pressure, b is the swing priority current, c is the pressure difference, f1 is the mapping relationship between the arm pilot pressure and the current value, f2 is the mapping relationship between the swing priority current and the current value, and f3 is the mapping relationship between the pressure difference and the current value. Step S2025 calculates the first input current based on the first mapping relationship and the first parameter. This method can further accurately determine the first input current when the first parameter is at least two of the arm pilot pressure, the swing priority current, and the pressure difference.

[0044] Specifically, when the first parameter is at least two of the arm pilot pressure, the swing priority current, and the pressure difference, since each of these parameters affects the first input current value, and the effects may be the same or different, the first mapping relationship may also change. In practice, the first, second, and third weight coefficients can be obtained through calibration. When any of the above parameters is not included, the weight coefficient is 0.

[0045] In some embodiments, the above-mentioned step S203 can be specifically implemented by one of the following steps: step S2031, when the above-mentioned second parameter is the above-mentioned boom priority current, the above-mentioned second input current is calculated according to the above-mentioned second mapping relationship and the above-mentioned boom priority current, and the input current of the above-mentioned second proportional flow valve is reduced to the above-mentioned second input current; step S2032, when the above-mentioned second parameter is the above-mentioned bucket retraction pilot pressure, the above-mentioned second input current is calculated according to the above-mentioned second mapping relationship and the above-mentioned bucket retraction pilot pressure, and the input current of the above-mentioned second proportional flow valve is increased to the above-mentioned second input current; step S2033, when the above-mentioned second parameter is the above-mentioned pressure difference, the above-mentioned second input current is calculated according to the above-mentioned second mapping relationship and the above-mentioned pressure difference, and the input current of the above-mentioned second proportional flow valve is reduced to the above-mentioned second input current. In the case where the above-mentioned second parameter represents different parameters, the method selects the corresponding above-mentioned second mapping parameter to further accurately determine the above-mentioned second input current.

[0046] Specifically, when the boom priority current increases, it is necessary to increase the boom speed to achieve priority control of the boom, so it is necessary to limit the oil supply flow of the boom, so the above-mentioned second proportional flow valve can be reduced to the above-mentioned second input current. When the pilot pressure of the bucket retraction increases, it is identified as an excavation condition. In order to ensure the excavation force of the boom, it is necessary to increase the oil supply to the boom, so the above-mentioned second proportional flow valve can be increased to the above-mentioned second input current. When the above-mentioned pressure difference increases, it means that the actual pressure of the boom's rod cavity is too large. In this case, the boom retracts under the action of gravity, the boom's rod cavity is squeezed, and the pressure increases rapidly. At this time, the boom's rodless cavity oil mainly comes from the boom's rod cavity regeneration, and it is necessary to reduce the flow of the second delivery pump to the boom, so the above-mentioned second proportional flow valve can be reduced to the above-mentioned second input current.

[0047] When the second parameter is the bucket retraction pilot pressure, step S203 can be implemented by the following steps: Step S2034, obtaining the bucket retraction pilot pressure; Step S2035, if the bucket retraction pilot pressure is greater than a pressure threshold, determining that the excavator is in an excavation mode and increasing the input current of the second proportional flow valve to the second input current; Step S2036, if the bucket retraction pilot pressure is less than or equal to the pressure threshold, not adjusting the input current of the second proportional flow valve. This method can further determine whether the excavator is in an excavation mode and control the second proportional flow rate based on the mode.

[0048] Specifically, when the bucket retraction pilot pressure is less than or equal to the threshold, it indicates that the driver does not need to retract the bucket. The low pilot pressure cannot open the bucket reversing valve, and the priority current is not processed. When the bucket retraction pilot pressure is greater than the threshold, it indicates that the driver needs to retract the bucket, and the priority current needs to be processed.

[0049] In the case where the second parameter is at least two of the boom priority current, the bucket retraction pilot pressure and the pressure difference, the step S203 can be implemented by the following steps: Step S2037, obtaining a third weight coefficient, a fourth weight coefficient and a fifth weight coefficient, and determining the second mapping relationship as I2=w3×c×f3+w4×d×f4+w5×e×f5 based on at least the third weight coefficient, the fourth weight coefficient and the fifth weight coefficient, wherein the third weight coefficient w3 is the weight coefficient of the pressure difference. The fourth weight coefficient w4 is the weight coefficient for the boom priority current, the fifth weight coefficient w5 is the weight coefficient for the bucket retraction pilot pressure, c is the pressure difference, d is the boom priority current, e is the bucket retraction pilot pressure, f3 is the mapping relationship between the pressure difference and the current value, f4 is the mapping relationship between the boom priority current and the current value, and f5 is the mapping relationship between the bucket retraction pilot pressure and the current value. Step S2038: Calculate the second input current based on the second mapping relationship and the second parameter. This method can further accurately determine the second input current when the second parameter is at least two of the boom priority current, the bucket retraction pilot pressure, and the pressure difference.

[0050] Specifically, when the second parameter is at least two of the boom priority current, the bucket retraction pilot pressure, and the pressure differential, since each of these parameters affects the second input current value, and the effects may be the same or different, the second mapping relationship between the second parameter and the current value may also change. In practice, the third, fourth, and fifth weight coefficients can be obtained through calibration. When any of these parameters is not included, the weight coefficient is 0.

[0051] The embodiment of the present application also provides a control device for an excavator. It should be noted that the control device for an excavator in the embodiment of the present application can be used to execute the control method for an excavator provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the details that have been explained will not be repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0052] The following is an introduction to the control device of the excavator provided in the embodiment of the present application.

[0053] Figure 6Schematic diagram of a control device for an excavator according to an embodiment of the present application. The excavator includes a hydraulic system, a boom, an arm, and a slewing system. The hydraulic system includes a first boom valve core, a first arm valve core, a slewing valve core, a first delivery pump, and a first proportional flow valve. The first delivery pump, the slewing valve core, the first arm valve core, and the first boom valve core are connected in sequence. One end of the first proportional flow valve is connected to a second passage between the first delivery pump and the slewing valve core through a first passage. The other end of the first proportional flow valve is connected to the first boom valve core. The first passage has a first branch and a second branch. One end of the first branch is connected to the slewing valve core, the other end of the first branch is connected to the first passage, one end of the second branch is connected to the first arm valve core, and the other end of the second branch is connected to the first passage. The first boom valve core is used to control the boom, the first arm valve core is used to control the arm, and the slewing valve core is used to control the slewing system. Figure 6 As shown, the device includes:

[0054] a first acquisition unit 10 for acquiring at least one of a boom pilot pressure, a swing priority current, and a pressure difference of a rod cavity of the boom, wherein the boom pilot pressure is a hydraulic pressure of the boom used by the boom to control the hydraulic system, the swing priority current is a current used in the swing system and the boom to achieve priority control of the swing system, and the pressure difference is a difference between an actual pressure of the rod cavity of the boom and a preset pressure of the rod cavity of the boom;

[0055] Specifically, an excavator is a complex machine, primarily composed of a boom, hydraulic system, arm, bucket, and slewing system. The boom and arm, often called boom and forearm, refer to the excavator's working devices, controlling the bucket's digging, loading, and other movements. The arm connected to the frame is longer, commonly known as the boom, and technically referred to as the boom. The arm connected to the bucket is smaller, commonly known as the forearm, and technically referred to as the boom. The hydraulic system primarily provides power and control for the excavator and includes hydraulic cylinders, hydraulic pumps, and controllers. The hydraulic cylinders drive the boom's extension and retraction; the hydraulic pumps provide high-pressure fluid to move the hydraulic cylinders; and the controllers control the cylinders' extension and retraction speed and position. The slewing system drives the boom, arm, and bucket to rotate around the boom's axis and can also rotate 360 ​​degrees to change the bucket's working direction. Since the first proportional flow valve is used to supply oil to the boom valve core, the arm valve core and the rotary valve core, accordingly, the factors affecting the first proportional flow valve include at least the boom pilot pressure, the rotary priority current and the pressure difference of the rod chamber of the above-mentioned boom. The above-mentioned boom pilot pressure, the rotary priority current and the pressure difference of the rod chamber of the above-mentioned boom can be directly obtained through the control device of the above-mentioned excavator.

[0056] The first calculation unit 20 is used to calculate the first input current based on the first mapping relationship between the first parameter and the current value and the above-mentioned first parameter, and adjust the input current of the above-mentioned first proportional flow valve to the above-mentioned first input current, wherein the above-mentioned first parameter is at least one of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference.

[0057] Specifically, the first parameter can be any one of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference. The first parameter can also be any two of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference. The first parameter can also be the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference. Since the mapping of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference to the current value of the proportional flow valve is different, when the first parameter represents different parameters, the corresponding first mapping relationship is selected to determine the corresponding first input current. The above-mentioned first mapping relationship can be in any form such as a table, a curve, etc. that can represent the mapping relationship between the first parameter and the current value. The specific structure of the above-mentioned first proportional flow valve is as follows. Figure 4 As shown in the figure, a proportional flow valve is a device that controls fluid flow. This is achieved by adjusting the opening area of ​​the valve body cavity, maintaining a proportional relationship between flow rate and opening area. That is, the larger the opening area, the greater the outflow. The proportional flow valve body contains a rotatable spherical valve plug with an inward-facing conical flow channel. The spherical valve plug can rotate about an axis, and the angle of rotation determines the opening area of ​​the flow channel. This can be used to adjust the area of ​​the fluid flowing through the spherical flow channel and the outflow rate by rotating the ball against the valve plug.

[0058] Through this embodiment, a control device for an excavator is provided, which includes: a first acquisition unit that acquires at least one of the boom pilot pressure, the rotation priority current, and the pressure difference of the boom rod chamber, the boom pilot pressure is the hydraulic pressure used by the boom to control the hydraulic system, the rotation priority current is the current for realizing the priority control of the rotation system in the rotation system and the boom, and the pressure difference is the difference between the actual pressure of the boom rod chamber and the preset pressure of the boom rod chamber; the first calculation unit calculates the first input current based on the first mapping relationship between the first parameter and the current value and the first parameter, and adjusts the input current of the first proportional flow valve to the first input current, and the first parameter is at least one of the boom pilot pressure, the rotation priority current, and the pressure difference. By adding a proportional flow valve at the boom oil inlet, the proportional flow valve can be used for independent oil inlet control. The inlet and outlet openings can determine the corresponding control current based on performance requirements such as pilot pressure, rotation priority current and pressure difference in the boom rod cavity. The valve can be adjusted according to the control current to improve the efficiency of the hydraulic system, realize the decoupling of boom oil inlet, boom oil return and boom regeneration control, and solve the problem of low efficiency of the hydraulic system caused by the traditional valve-controlled hydraulic system, which uses a valve core to control the inlet and outlet oil circuits at the same time.

[0059] As an optional solution, the excavator further includes a bucket, and the hydraulic system further includes a second arm valve core, a second boom valve core, a bucket valve core, a second delivery pump and a second proportional flow valve, such as Figure 5As shown, the second delivery pump, the second boom valve core, the bucket valve core and the second dipper arm valve core are connected in sequence, one end of the second proportional flow valve is connected to the fourth passage between the second delivery pump and the second boom valve core through the third passage, the other end of the second proportional flow valve is connected to the second dipper arm valve core, the third passage has a third branch and a fourth branch, one end of the third branch is connected to the second boom valve core, the other end of the third branch is connected to the third passage, one end of the fourth branch is connected to the bucket valve core, the other end of the fourth branch is connected to the third passage, and the second dipper arm valve core is used to control The boom arm and the second boom valve core are used to control the boom, and the bucket valve core is used to control the bucket. The device further includes: a second calculation unit for calculating a second input current based on a second mapping relationship between a second parameter and a current value and the second parameter, and adjusting the input current of the second proportional flow valve to the second input current, wherein the second parameter is at least one of the boom priority current, the bucket retraction pilot pressure, and the pressure difference. The boom priority current is the current used to achieve priority control of the boom in the boom and the boom arm, and the bucket retraction pilot pressure is the hydraulic pressure used by the rotary valve core to control the bucket. The device further adds a second proportional flow valve, which can further determine the corresponding control current based on performance requirements such as the boom priority current, the bucket retraction pilot pressure, and the pressure difference, and make adjustments based on the control current to further improve the efficiency of the hydraulic system.

[0060] Specifically, the second parameter can be any one of the above-mentioned boom priority current, bucket retraction pilot pressure and the above-mentioned pressure difference. The second parameter can also be any two of the above-mentioned boom priority current, bucket retraction pilot pressure and the above-mentioned pressure difference. The second parameter can also be the above-mentioned boom priority current, bucket retraction pilot pressure and the above-mentioned pressure difference. Since the mapping of the above-mentioned boom priority current, bucket retraction pilot pressure and the above-mentioned pressure difference to the current value of the proportional flow valve is different, when the second parameter represents different parameters, the corresponding second mapping relationship is selected to determine the corresponding second input current. The above-mentioned second mapping relationship can be in any form such as a table, a curve, etc. that can represent the mapping relationship between the second parameter and the current value. The specific structure of the above-mentioned second proportional flow valve is as follows. Figure 4 shown.

[0061] To further accurately determine the first input current, the first calculation unit of the present application includes one of a first calculation module, a second calculation module, and a third calculation module. The first calculation module is configured to, when the first parameter is the boom pilot pressure, calculate the first input current based on the first mapping relationship and the boom pilot pressure, and increase the input current of the first proportional flow valve to the first input current. The second calculation module is configured to, when the first parameter is the swing priority current, calculate the first input current based on the first mapping relationship and the swing priority current, and reduce the input current of the first proportional flow valve to the first input current. The third calculation module is configured to, when the first parameter is only the pressure difference, calculate the first input current based on the first mapping relationship and the pressure difference, and reduce the input current of the first proportional flow valve to the first input current. When the first parameter represents different parameters, the device selects the corresponding first mapping parameter to further accurately determine the first input current.

[0062] Specifically, when the boom pilot pressure increases, it indicates that the flow required by the boom of the excavator increases, and the oil supply to the boom needs to be increased. Therefore, the first proportional flow valve can be increased to the first input current. When the rotation priority current increases, it is necessary to increase the rotation speed, realize the priority control of the rotation system, and reduce the oil supply to the boom. Therefore, the first proportional flow valve can be reduced to the first input current. When the above-mentioned pressure difference increases, it means that the actual pressure of the rod cavity of the boom is too high. In this case, the boom retracts under the action of gravity, the rod cavity of the boom is squeezed, and the pressure increases rapidly. At this time, the oil in the rodless cavity of the boom mainly comes from the regeneration of the boom cavity. It is necessary to reduce the flow of the first delivery pump to the boom. Therefore, the first proportional flow valve can be reduced to the first input current.

[0063] In the case where the above-mentioned first parameter is at least two of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference, the above-mentioned first calculation unit includes a first acquisition module and a fourth calculation module, wherein the first acquisition module is used to obtain a first weight coefficient, a second weight coefficient and a third weight coefficient, and determine the above-mentioned first mapping relationship as I1=w1×a×f1+w2×b×f2+w3×c×f3 at least based on the above-mentioned first weight coefficient, the above-mentioned second weight coefficient and the above-mentioned third weight coefficient, wherein the above-mentioned first weight coefficient w1 is the weight coefficient of the above-mentioned boom pilot pressure, the above-mentioned second weight coefficient w2 is the weight coefficient of the above-mentioned rotation priority current, the above-mentioned third weight coefficient w3 is the weight coefficient of the above-mentioned pressure difference, a is the above-mentioned boom pilot pressure, b is the above-mentioned rotation priority current, c is the above-mentioned pressure difference, f1 is the mapping relationship between the above-mentioned boom pilot pressure and the above-mentioned current value, f2 is the mapping relationship between the above-mentioned rotation priority current and the above-mentioned current value, and f3 is the mapping relationship between the above-mentioned pressure difference and the above-mentioned current value; the fourth calculation module is used to calculate the above-mentioned first input current according to the above-mentioned first mapping relationship and the above-mentioned first parameter. The device can further accurately determine the first input current when the first parameter is at least two of the boom pilot pressure, the swing priority current and the pressure difference.

[0064] Specifically, when the first parameter is at least two of the arm pilot pressure, the swing priority current, and the pressure difference, since each of these parameters affects the first input current value, and the effects may be the same or different, the first mapping relationship may also change. In practice, the first, second, and third weight coefficients can be obtained through calibration. When any of the above parameters is not included, the weight coefficient is 0.

[0065] In some embodiments, the second calculation unit includes one of a fifth calculation module, a sixth calculation module, and a seventh calculation module. The fifth calculation module is configured to calculate the second input current based on the second mapping relationship and the boom priority current when the second parameter is the boom priority current, and reduce the input current of the second proportional flow valve to the second input current. The sixth calculation module is configured to calculate the second input current based on the second mapping relationship and the bucket retraction pilot pressure when the second parameter is the bucket retraction pilot pressure, and increase the input current of the second proportional flow valve to the second input current. The seventh calculation module is configured to calculate the second input current based on the second mapping relationship and the pressure difference when the second parameter is the pressure difference, and reduce the input current of the second proportional flow valve to the second input current. When the second parameter represents different parameters, the device selects the corresponding second mapping parameter to further accurately determine the second input current.

[0066] Specifically, when the boom priority current increases, it is necessary to increase the boom speed to achieve priority control of the boom, so it is necessary to limit the oil supply flow of the boom, so the above-mentioned second proportional flow valve can be reduced to the above-mentioned second input current. When the pilot pressure of the bucket retraction increases, it is identified as an excavation condition. In order to ensure the excavation force of the boom, it is necessary to increase the oil supply to the boom, so the above-mentioned second proportional flow valve can be increased to the above-mentioned second input current. When the above-mentioned pressure difference increases, it means that the actual pressure of the boom's rod cavity is too large. In this case, the boom retracts under the action of gravity, the boom's rod cavity is squeezed, and the pressure increases rapidly. At this time, the boom's rodless cavity oil mainly comes from the boom's rod cavity regeneration, and it is necessary to reduce the flow of the second delivery pump to the boom, so the above-mentioned second proportional flow valve can be reduced to the above-mentioned second input current.

[0067] When the second parameter is the bucket retraction pilot pressure, the second calculation unit includes a second acquisition module, a determination module, and a processing module. The second acquisition module is configured to acquire the bucket retraction pilot pressure. The determination module is configured to determine that the excavator is in an excavation condition and increase the input current of the second proportional flow valve to the second input current if the bucket retraction pilot pressure is greater than a pressure threshold. The processing module is configured to not adjust the input current of the second proportional flow valve if the bucket retraction pilot pressure is less than or equal to the pressure threshold. This device can further determine whether the excavator is in an excavation condition and control the second proportional flow rate based on the condition.

[0068] Specifically, when the bucket retraction pilot pressure is less than or equal to the threshold, it indicates that the driver does not need to retract the bucket. The low pilot pressure cannot open the bucket reversing valve, and the priority current is not processed. When the bucket retraction pilot pressure is greater than the threshold, it indicates that the driver needs to retract the bucket, and the priority current needs to be processed.

[0069] In the case where the second parameter is at least two of the boom priority current, the bucket retraction pilot pressure, and the pressure difference, the second calculation unit includes a third acquisition module and an eighth calculation module, wherein the third acquisition module is used to obtain a third weight coefficient, a fourth weight coefficient, and a fifth weight coefficient, and determine the second mapping relationship as I2=w3×c×f3+w4×d×f4+w5×e×f5 based on at least the third weight coefficient, the fourth weight coefficient, and the fifth weight coefficient, wherein the third weight coefficient w3 is the pressure difference The fourth weight coefficient w4 is the weight coefficient of the boom priority current, the fifth weight coefficient w5 is the weight coefficient of the bucket retraction pilot pressure, c is the pressure difference, d is the boom priority current, e is the bucket retraction pilot pressure, f3 is the mapping relationship between the pressure difference and the current value, f4 is the mapping relationship between the boom priority current and the current value, and f5 is the mapping relationship between the bucket retraction pilot pressure and the current value; the eighth calculation module is used to calculate the second input current based on the second mapping relationship and the second parameter. The device can further accurately determine the second input current when the second parameter is at least two of the boom priority current, the bucket retraction pilot pressure, and the pressure difference.

[0070] Specifically, when the second parameter is at least two of the boom priority current, the bucket retraction pilot pressure, and the pressure differential, since each of these parameters affects the second input current value, and the effects may be the same or different, the second mapping relationship between the second parameter and the current value may also change. In practice, the third, fourth, and fifth weight coefficients can be obtained through calibration. When any of these parameters is not included, the weight coefficient is 0.

[0071] The excavator control device includes a processor and a memory. The first acquisition unit and the first calculation unit are stored in the memory as program units. The processor executes the program units stored in the memory to implement the corresponding functions. The modules are all located in the same processor; alternatively, the modules can be located in different processors in any combination.

[0072] The processor contains a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the excavator is controlled by adjusting the kernel parameters.

[0073] The memory may include non-permanent memory in a computer-readable medium, 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.

[0074] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program. When the program is executed, the device where the computer-readable storage medium is located is controlled to execute the excavator control method.

[0075] Specifically, the control method of the excavator includes:

[0076] Step S201, obtaining at least one of a boom pilot pressure, a swing priority current, and a pressure difference in a rod chamber of the boom, wherein the boom pilot pressure is the hydraulic pressure of the boom used by the boom to control the hydraulic system, the swing priority current is the current used in the swing system and the boom to achieve priority control of the swing system, and the pressure difference is the difference between the actual pressure in the rod chamber of the boom and a preset pressure in the rod chamber of the boom;

[0077] Specifically, an excavator is a complex machine, primarily composed of a boom, hydraulic system, arm, bucket, and slewing system. The boom and arm, often called boom and forearm, refer to the excavator's working devices, controlling the bucket's digging, loading, and other movements. The arm connected to the frame is longer, commonly known as the boom, and technically referred to as the boom. The arm connected to the bucket is smaller, commonly known as the forearm, and technically referred to as the boom. The hydraulic system primarily provides power and control for the excavator and includes hydraulic cylinders, hydraulic pumps, and controllers. The hydraulic cylinders drive the boom's extension and retraction; the hydraulic pumps provide high-pressure fluid to move the hydraulic cylinders; and the controllers control the cylinders' extension and retraction speed and position. The slewing system drives the boom, arm, and bucket to rotate around the boom's axis and can also rotate 360 ​​degrees to change the bucket's working direction. Since the first proportional flow valve is used to supply oil to the boom valve core, the arm valve core and the rotary valve core, accordingly, the factors affecting the first proportional flow valve include at least the boom pilot pressure, the rotary priority current and the pressure difference of the rod chamber of the above-mentioned boom. The above-mentioned boom pilot pressure, the rotary priority current and the pressure difference of the rod chamber of the above-mentioned boom can be directly obtained through the control device of the above-mentioned excavator.

[0078] Step S202, calculate the first input current based on the first mapping relationship between the first parameter and the current value and the above-mentioned first parameter, and adjust the input current of the above-mentioned first proportional flow valve to the above-mentioned first input current, wherein the above-mentioned first parameter is at least one of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference.

[0079] Specifically, the first parameter can be any one of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference. The first parameter can also be any two of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference. The first parameter can also be the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference. Since the mapping of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference to the current value of the proportional flow valve is different, when the first parameter represents different parameters, the corresponding first mapping relationship is selected to determine the corresponding first input current. The above-mentioned first mapping relationship can be in any form such as a table, a curve, etc. that can represent the mapping relationship between the first parameter and the current value. The specific structure of the above-mentioned first proportional flow valve is as follows. Figure 4 As shown in the figure, a proportional flow valve is a device that controls fluid flow. This is achieved by adjusting the opening area of ​​the valve body cavity, maintaining a proportional relationship between flow rate and opening area. That is, the larger the opening area, the greater the outflow. The proportional flow valve body contains a rotatable spherical valve plug with an inward-facing conical flow channel. The spherical valve plug can rotate about an axis, and the angle of rotation determines the opening area of ​​the flow channel. This can be used to adjust the area of ​​the fluid flowing through the spherical flow channel and the outflow rate by rotating the ball against the valve plug.

[0080] An embodiment of the present invention provides a processor, which is used to run a program, wherein the control method of the excavator is executed when the program is run.

[0081] Specifically, the control method of the excavator includes:

[0082] Step S201, obtaining at least one of a boom pilot pressure, a swing priority current, and a pressure difference in a rod chamber of the boom, wherein the boom pilot pressure is the hydraulic pressure of the boom used by the boom to control the hydraulic system, the swing priority current is the current used in the swing system and the boom to achieve priority control of the swing system, and the pressure difference is the difference between the actual pressure in the rod chamber of the boom and a preset pressure in the rod chamber of the boom;

[0083] Step S202, calculate the first input current based on the first mapping relationship between the first parameter and the current value and the above-mentioned first parameter, and adjust the input current of the above-mentioned first proportional flow valve to the above-mentioned first input current, wherein the above-mentioned first parameter is at least one of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference.

[0084] An embodiment of the present invention provides a device, comprising a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, at least the following steps are performed:

[0085] Step S201, obtaining at least one of a boom pilot pressure, a swing priority current, and a pressure difference in a rod chamber of the boom, wherein the boom pilot pressure is the hydraulic pressure of the boom used by the boom to control the hydraulic system, the swing priority current is the current used in the swing system and the boom to achieve priority control of the swing system, and the pressure difference is the difference between the actual pressure in the rod chamber of the boom and a preset pressure in the rod chamber of the boom;

[0086] Step S202, calculate the first input current based on the first mapping relationship between the first parameter and the current value and the above-mentioned first parameter, and adjust the input current of the above-mentioned first proportional flow valve to the above-mentioned first input current, wherein the above-mentioned first parameter is at least one of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference.

[0087] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0088] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program for initializing at least the following method steps:

[0089] Step S201, obtaining at least one of a boom pilot pressure, a swing priority current, and a pressure difference in a rod chamber of the boom, wherein the boom pilot pressure is the hydraulic pressure of the boom used by the boom to control the hydraulic system, the swing priority current is the current used in the swing system and the boom to achieve priority control of the swing system, and the pressure difference is the difference between the actual pressure in the rod chamber of the boom and a preset pressure in the rod chamber of the boom;

[0090] Step S202, calculate the first input current based on the first mapping relationship between the first parameter and the current value and the above-mentioned first parameter, and adjust the input current of the above-mentioned first proportional flow valve to the above-mentioned first input current, wherein the above-mentioned first parameter is at least one of the above-mentioned boom pilot pressure, the above-mentioned rotation priority current and the above-mentioned pressure difference.

[0091] Obviously, those skilled in the art will appreciate that the various modules or steps of the present invention described above can be implemented using a general-purpose computing device, can be centralized on a single computing device, or can be distributed across a network of multiple computing devices. They can be implemented using program code executable by the computing device, and thus, can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described herein can be performed in a different order than that shown, or can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0092] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0093] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0096] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0097] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0098] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules 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 technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0099] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0100] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0101] 1) The control method of the excavator of the present application first obtains at least one of the boom pilot pressure, the rotation priority current and the pressure difference of the boom rod chamber, the boom pilot pressure is the hydraulic pressure used by the boom to control the hydraulic system, the rotation priority current is the current for realizing the priority control of the rotation system in the rotation system and the boom, and the pressure difference is the difference between the actual pressure of the boom rod chamber and the preset pressure of the boom rod chamber; according to the first mapping relationship between the first parameter and the current value and the first parameter, the first input current is calculated, and the input current of the first proportional flow valve is adjusted to the first input current, and the first parameter is at least one of the boom pilot pressure, the rotation priority current and the pressure difference. By adding a proportional flow valve at the boom oil inlet, the proportional flow valve can be used for independent oil inlet control. The inlet and outlet openings can determine the corresponding control current based on performance requirements such as pilot pressure, rotation priority current and pressure difference in the boom rod cavity. The valve can be adjusted according to the control current to improve the efficiency of the hydraulic system, realize the decoupling of boom oil inlet, boom oil return and boom regeneration control, and solve the problem of low efficiency of the hydraulic system caused by the traditional valve-controlled hydraulic system, which uses a valve core to control the inlet and outlet oil circuits at the same time.

[0102] 2) The control device of the excavator of the present application, the first acquisition unit acquires at least one of the boom pilot pressure, the rotation priority current and the pressure difference of the boom rod chamber, the boom pilot pressure is the hydraulic pressure used by the boom to control the hydraulic system, the rotation priority current is the current for realizing the priority control of the rotation system in the rotation system and the boom, and the pressure difference is the difference between the actual pressure of the boom rod chamber and the preset pressure of the boom rod chamber; the first calculation unit calculates the first input current according to the first mapping relationship between the first parameter and the current value and the first parameter, and adjusts the input current of the first proportional flow valve to the first input current, and the first parameter is at least one of the boom pilot pressure, the rotation priority current and the pressure difference. By adding a proportional flow valve at the boom oil inlet, the proportional flow valve can be used for independent oil inlet control. The inlet and outlet openings can determine the corresponding control current based on performance requirements such as pilot pressure, rotation priority current and pressure difference in the boom rod cavity. The valve can be adjusted according to the control current to improve the efficiency of the hydraulic system, realize the decoupling of boom oil inlet, boom oil return and boom regeneration control, and solve the problem of low efficiency of the hydraulic system caused by the traditional valve-controlled hydraulic system, which uses a valve core to control the inlet and outlet oil circuits at the same time.

[0103] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A control method for an excavator, characterized in that: The excavator includes a hydraulic system, a bucket arm, a boom, and a slewing system, wherein the hydraulic system includes a first bucket arm valve core, a first boom valve core, a slewing valve core, a first delivery pump, and a first proportional flow valve. The first delivery pump, the slewing valve core, the first boom valve core, and the first bucket arm valve core are connected in sequence. One end of the first proportional flow valve is connected to a second passage between the first delivery pump and the slewing valve core through a first passage. The other end of the first proportional flow valve is connected to the first bucket arm valve core. The first passage has a first branch and a second branch. One end of the first branch is connected to the slewing valve core, and the other end of the first branch is connected to the first passage. One end of the second branch is connected to the first boom valve core, and the other end of the second branch is connected to the first passage. The first bucket arm valve core is used to control the bucket arm, the first boom valve core is used to control the boom, and the slewing valve core is used to control the slewing system. The method includes: Obtaining at least two of a boom pilot pressure, a swing priority current, and a pressure difference in a rod cavity of the boom, wherein the boom pilot pressure is a hydraulic pressure used by the boom to control the hydraulic system, the swing priority current is a current used in the swing system and the boom to achieve priority control of the swing system, and the pressure difference is a difference between an actual pressure in the rod cavity of the boom and a preset pressure in the rod cavity of the boom; Calculate a first input current based on a first mapping relationship between a first parameter and a current value and the first parameter, and adjust the input current of the first proportional flow valve to the first input current, wherein the first parameter is at least two of the boom pilot pressure, the swing priority current, and the pressure difference; Calculating a first input current according to a first mapping relationship between a first parameter and a current value and the first parameter includes: Obtaining a first weight coefficient, a second weight coefficient, and a third weight coefficient, and determining, based at least on the first weight coefficient, the first mapping relationship as I1=w1×a×f1+w2×b×f2+w3×c×f3, wherein the first weight coefficient w1 is a weight coefficient of the bucket arm pilot pressure, the second weight coefficient w2 is a weight coefficient of the swing priority current, the third weight coefficient w3 is a weight coefficient of the pressure difference, a is the bucket arm pilot pressure, b is the swing priority current, c is the pressure difference, f1 is a mapping relationship between the bucket arm pilot pressure and the current value, f2 is a mapping relationship between the swing priority current and the current value, and f3 is a mapping relationship between the pressure difference and the current value; The first input current is calculated according to the first mapping relationship and the first parameter.

2. The method according to claim 1, characterized in that The excavator also includes a bucket, and the hydraulic system also includes a second arm valve core, a second boom valve core, a bucket valve core, a second delivery pump and a second proportional flow valve. The second delivery pump, the second boom valve core, the bucket valve core and the second arm valve core are connected in sequence. One end of the second proportional flow valve is connected to a fourth passage between the second delivery pump and the second boom valve core through a third passage. The other end of the second proportional flow valve is connected to the second arm valve core. The third passage has a third branch and a fourth branch. One end of the third branch is connected to the second boom valve core, and the other end of the third branch is connected to the third passage. One end of the fourth branch is connected to the bucket valve core, and the other end of the fourth branch is connected to the third passage. The second arm valve core is used to control the arm, the second boom valve core is used to control the boom, and the bucket valve core is used to control the bucket. The method further includes: According to the second mapping relationship between the second parameter and the current value and the second parameter, the second input current is calculated, and the input current of the second proportional flow valve is adjusted to the second input current, wherein the second parameter is at least one of the boom priority current, the bucket retraction pilot pressure and the pressure difference, the boom priority current is the current for realizing the priority control of the boom in the boom and the dipper arm, and the bucket retraction pilot pressure is the hydraulic pressure of the rotary valve core used to control the bucket.

3. The method according to claim 2, characterized in that Calculating a second input current according to a second mapping relationship between a second parameter and a current value and the second parameter, and adjusting the input current of the second proportional flow valve to the second input current, includes one of the following: When the second parameter is the boom priority current, the second input current is calculated according to the second mapping relationship and the boom priority current, and the input current of the second proportional flow valve is reduced to the second input current; When the second parameter is the bucket retraction pilot pressure, the second input current is calculated according to the second mapping relationship and the bucket retraction pilot pressure, and the input current of the second proportional flow valve is increased to the second input current; In a case where the second parameter is the pressure difference, the second input current is calculated according to the second mapping relationship and the pressure difference, and the input current of the second proportional flow valve is reduced to the second input current.

4. The method according to claim 3, characterized in that When the second parameter is the bucket retraction pilot pressure, the second input current is calculated according to the second mapping relationship and the bucket retraction pilot pressure, and the method further includes: obtaining the bucket retraction pilot pressure; When the bucket retraction pilot pressure is greater than a pressure threshold, determining that the excavator is in an excavation working state, and increasing the input current of the second proportional flow valve to the second input current; When the bucket retraction pilot pressure is less than or equal to the pressure threshold, the input current of the second proportional flow valve is not adjusted.

5. The method according to claim 2, characterized in that When the second parameter is at least two of the boom priority current, the bucket retraction pilot pressure, and the pressure difference, calculating the second input current according to a second mapping relationship between the second parameter and the current value and the second parameter includes: Obtaining a third weight coefficient, a fourth weight coefficient, and a fifth weight coefficient, and determining, based at least on the third weight coefficient, the fourth weight coefficient, and the fifth weight coefficient, that the second mapping relationship is I2=w3×c×f3+w4×d×f4+w5×e×f5, wherein the third weight coefficient w3 is a weight coefficient of the pressure difference, the fourth weight coefficient w4 is a weight coefficient of the boom priority current, the fifth weight coefficient w5 is a weight coefficient of the bucket retraction pilot pressure, c is the pressure difference, d is the boom priority current, e is the bucket retraction pilot pressure, f3 is a mapping relationship between the pressure difference and the current value, f4 is a mapping relationship between the boom priority current and the current value, and f5 is a mapping relationship between the bucket retraction pilot pressure and the current value; The second input current is calculated according to the second mapping relationship and the second parameter.

6. A control device for an excavator, characterized in that: The excavator includes a hydraulic system, a bucket arm, a boom and a slewing system, wherein the hydraulic system includes a first bucket arm valve core, a first boom valve core, a slewing valve core, a first delivery pump and a first proportional flow valve, wherein the first delivery pump, the slewing valve core, the first boom valve core and the first bucket arm valve core are connected in sequence, one end of the first proportional flow valve is connected to a second passage between the first delivery pump and the slewing valve core through a first passage, and the other end of the first proportional flow valve is connected to the first bucket arm valve core, the first passage has a first branch and a second branch, one end of the first branch is connected to the slewing valve core, the other end of the first branch is connected to the first passage, one end of the second branch is connected to the first boom valve core, and the other end of the second branch is connected to the first passage, the first bucket arm valve core is used to control the bucket arm, the first boom valve core is used to control the boom, and the slewing valve core is used to control the slewing system, wherein the device includes: a first acquisition unit, configured to acquire at least two of a boom pilot pressure, a swing priority current, and a pressure difference of a rod cavity of the boom, wherein the boom pilot pressure is a hydraulic pressure of the boom used by the boom to control the hydraulic system, the swing priority current is a current used in the swing system and the boom to achieve priority control of the swing system, and the pressure difference is a difference between an actual pressure of the rod cavity of the boom and a preset pressure of the rod cavity of the boom; a first calculation unit, configured to calculate a first input current based on a first mapping relationship between a first parameter and a current value and the first parameter, and adjust the input current of the first proportional flow valve to the first input current, wherein the first parameter is at least two of the boom pilot pressure, the swing priority current, and the pressure difference; The first calculation unit includes a first acquisition module and a fourth calculation module, wherein the first acquisition module is used to obtain a first weight coefficient, a second weight coefficient and a third weight coefficient, and determine the first mapping relationship as I1=w1×a×f1+w2×b×f2+w3×c×f3 based on at least the first weight coefficient, the second weight coefficient and the third weight coefficient, wherein the first weight coefficient w1 is the weight coefficient of the boom pilot pressure, the second weight coefficient w2 is the weight coefficient of the rotation priority current, the third weight coefficient w3 is the weight coefficient of the pressure difference, a is the boom pilot pressure, b is the rotation priority current, c is the pressure difference, f1 is the mapping relationship between the boom pilot pressure and the current value, f2 is the mapping relationship between the rotation priority current and the current value, and f3 is the mapping relationship between the pressure difference and the current value; the fourth calculation module is used to calculate the first input current based on the first mapping relationship and the first parameter.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 5.

8. An excavator, characterized in that: The excavator comprises a hydraulic system, a bucket arm, a boom, a slewing system and a control device of the excavator, and the control device of the excavator executes the method according to any one of claims 1 to 5.

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