Pumping device control method and apparatus, computer device, and storage medium

Abstract

The present application relates to the field of vehicle control, and discloses a pumping device control method and device, computer equipment and a storage medium. The pumping device comprises a hydraulic pump and a pumping cylinder, and the pumping device control method comprises: obtaining a target pumping speed of the pumping device, and obtaining a real-time rotating speed and a real-time displacement of the hydraulic pump; determining a real-time pumping speed of the pumping device according to the real-time rotating speed and the real-time displacement; in the case that the real-time pumping speed is not the target pumping speed, determining an n-th pressure level of the pumping cylinder according to the highest pumping speed of the pumping device corresponding to each pressure level of the pumping cylinder; switching the pressure level of the pumping cylinder to the n-th pressure level; and controlling the real-time rotating speed and the real-time displacement of the hydraulic pump based on the target pumping speed. The application actively switches the pressure level of the pumping cylinder, controls the pumping cylinder to be in a high-pressure state, so that the hydraulic pump can work at a high displacement, thereby improving the pumping efficiency of the pumping device.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more specifically to a pumping equipment control method, apparatus, computer equipment, and storage medium. Background Technology

[0002] In construction engineering, pumping equipment is a type of vehicle used to pump concrete. Typically, pumping equipment consists of a hydraulic pump, a concrete cylinder piston, and two pumping cylinders connected in series. The pumping cylinders drive the concrete cylinder piston to suck or pile up material, thereby conveying the concrete. To adapt to various construction conditions, the pumping cylinders usually have a combination of rodless and rod-shaped chambers. When the working oil enters the rodless chamber, the pumping cylinder is under high pressure, resulting in a higher concrete pumping pressure but a lower output volume. When the working oil enters the rod-shaped chamber, the pumping cylinder is under low pressure, resulting in a lower concrete pumping pressure but a higher output volume.

[0003] When the pumping equipment is operating, the actual pumping speed and pressure are both lower than the maximum pumping speed and pressure, causing the pumping cylinder to default to a low-pressure state. Only when the pumping equipment detects poor concrete conditions and the pressure is too high, preventing effective concrete delivery, will it switch the pumping cylinder to a high-pressure state. However, when the pumping cylinder remains at low pressure, the effective working area of ​​the rod chamber is small, forcing the hydraulic pump to operate at a smaller displacement. This uncontrollable hydraulic pump results in low pumping efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a device that solves the problem of low pumping efficiency in pumping equipment.

[0005] To achieve the above objectives, in a first aspect, this application provides a pumping equipment control method, wherein the pumping equipment includes a hydraulic pump and a pumping cylinder, and the pumping equipment control method includes:

[0006] Obtain the target pumping speed of the pumping equipment, and obtain the real-time speed and real-time displacement of the hydraulic pump;

[0007] The real-time pumping speed of the pumping equipment is determined based on the real-time rotational speed and real-time discharge rate.

[0008] When the real-time pumping speed is not the target pumping speed, the nth pressure level of the pumping cylinder is determined according to the maximum pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder, where n is an integer greater than or equal to 1, the maximum pumping speed of the pumping equipment corresponding to the nth pressure level is greater than or equal to the target pumping speed, and the maximum pumping speed of the pumping equipment corresponding to the (n-1)th pressure level is less than the target pumping speed.

[0009] Switch the pressure level of the pump cylinder to the nth pressure level;

[0010] Based on the target pumping speed, the real-time speed and real-time displacement of the hydraulic pump are controlled.

[0011] In conjunction with the first aspect, in the first possible implementation, switching the pressure level of the pumping cylinder to the nth pressure level includes:

[0012] If the current pressure level of the pumping cylinder is the nmth pressure level, the current pressure level of the pumping cylinder is increased level by level until the pressure level of the pumping cylinder is the nth pressure level, where m is an integer greater than or equal to 1.

[0013] If the current pressure level of the pumping cylinder is the (n+m)th pressure level, switch the pressure level of the pumping cylinder from the (n+m)th pressure level to the nth pressure level.

[0014] In conjunction with the first aspect, in the second possible implementation, the pressure level of the pumping cylinder is switched to the nth pressure level, including:

[0015] When the real-time pumping speed is less than the target pumping speed, the real-time speed of the hydraulic pump is increased to the maximum allowable speed, and the real-time displacement of the hydraulic pump is increased to the maximum allowable displacement.

[0016] Based on the real-time pressure of the hydraulic pump, determine the real-time pumping power of the pumping equipment;

[0017] If the real-time pumping power is less than the preset power, the pressure level of the pumping cylinder will be switched to the nth pressure level.

[0018] In conjunction with the second possible implementation of the first aspect, the third possible implementation of the pumping equipment control method further includes:

[0019] When the real-time pumping power is greater than or equal to the preset power, the pressure level of the pumping cylinder will be maintained at the current pressure level.

[0020] In conjunction with the first aspect, in the fourth possible implementation, the real-time speed and real-time displacement of the hydraulic pump are controlled based on the target pumping speed, including:

[0021] When the real-time pumping speed of the pumping equipment is the target pumping speed, the maximum target displacement and minimum target speed of the hydraulic pump are obtained.

[0022] Control the real-time displacement of the hydraulic pump to the maximum target displacement, and control the real-time speed of the hydraulic pump to the minimum target speed.

[0023] In conjunction with the first aspect, in the fifth possible implementation, the pumping equipment control method further includes:

[0024] In response to the start signal of the pumping equipment, determine whether the hydraulic pump is starting for the first time;

[0025] When the hydraulic pump is being started for the first time, the pressure level of the pumping cylinder is switched to the first pressure level. The maximum pumping speed of the pumping equipment corresponding to the first pressure level is lower than the maximum pumping speed corresponding to other pressure levels.

[0026] If the hydraulic pump is not starting for the first time, and the target pumping speed is greater than or equal to the historical pumping speed, the real-time speed and real-time displacement of the hydraulic pump are controlled based on the target pumping speed.

[0027] In conjunction with the first aspect, in the sixth possible implementation, the pumping equipment control method further includes:

[0028] When the current pressure level of the pumping cylinder is the nth pressure level, the real-time speed and real-time displacement of the hydraulic pump are controlled based on the target pumping speed.

[0029] Secondly, this application provides a pumping equipment control device, the pumping equipment including a hydraulic pump and a pumping cylinder, the pumping equipment control device including:

[0030] The target pumping speed acquisition module is used to acquire the target pumping speed of the pumping equipment, and to acquire the real-time speed and real-time displacement of the hydraulic pump.

[0031] The real-time pumping speed determination module is used to determine the real-time pumping speed of the pumping equipment based on the real-time rotational speed and real-time discharge rate.

[0032] The nth pressure level determination module is used to determine the nth pressure level of the pumping cylinder based on the highest pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder when the real-time pumping speed is not the target pumping speed. Here, n is an integer greater than or equal to 1, the highest pumping speed of the pumping equipment corresponding to the nth pressure level is greater than or equal to the target pumping speed, and the highest pumping speed of the pumping equipment corresponding to the (n-1)th pressure level is less than the target pumping speed.

[0033] The pressure level switching module is used to switch the pressure level of the pumping cylinder to the nth pressure level;

[0034] The speed and displacement control module is used to control the real-time speed and real-time displacement of the hydraulic pump based on the target pumping speed.

[0035] Thirdly, this application provides a computer device, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the pumping equipment control method of the first aspect.

[0036] Fourthly, this application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the pumping equipment control method of the first aspect.

[0037] This application provides a pumping equipment control method. The pumping equipment includes a hydraulic pump and a pumping cylinder. The pumping equipment control method includes: acquiring the target pumping speed of the pumping equipment and acquiring the real-time rotational speed and real-time displacement of the hydraulic pump; determining the real-time pumping speed of the pumping equipment based on the real-time rotational speed and real-time displacement; when the real-time pumping speed is not the target pumping speed, determining the nth pressure level of the pumping cylinder based on the highest pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder; switching the pressure level of the pumping cylinder to the nth pressure level; and controlling the real-time rotational speed and real-time displacement of the hydraulic pump based on the target pumping speed. This application controls the pumping cylinder to a high-pressure state by actively switching the pressure level of the pumping cylinder, enabling the hydraulic pump to operate at a high displacement, thereby improving the pumping efficiency of the pumping equipment. Simultaneously, when the pumping cylinder is in a high-pressure state, the effective working area of ​​the rod chamber increases, the working pressure of the pumping equipment decreases, and damage to the components of the pumping equipment is avoided. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0039] Figure 1 A flowchart of the pumping equipment control method provided in an embodiment of this application is shown;

[0040] Figure 2 An example graph showing the relationship between real-time displacement and pumping efficiency provided in an embodiment of this application is shown;

[0041] Figure 3 A schematic diagram of the structure of the pumping equipment control device provided in an embodiment of this application is shown;

[0042] Figure 4 A schematic diagram of the structure of the pumping equipment control device provided in an embodiment of this application is shown.

[0043] Explanation of reference numerals in the attached figures

[0044] Control device 300 for pumping equipment; processor 3010, speed control device 3020, power unit 3030, hydraulic pump 3040, hydraulic pump control device 3050, pressure detector 3060, speed sensor 3070, pressure switching device 3080, pumping speed control device 3090, pumping cylinder 3100. Detailed Implementation

[0045] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of the present invention.

[0046] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0047] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0048] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0049] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0050] To improve the pumping efficiency of pumping equipment, existing technologies have improved the structure of the rodless and rod-shaped chambers of pumping cylinders, providing pumping cylinders with more chambers to achieve different pumping pressures. For ease of understanding, taking the publication document CN105626606A as an example, the document provides a hydraulic system for concrete pumping equipment and the concrete pumping equipment itself. Specifically, the hydraulic system includes a first main oil circuit, a second main oil circuit, and two pumping cylinders. Each pumping cylinder includes a cylinder body, a piston rod with a hollow cavity disposed within the cylinder body, and a hollow plunger fitted within the hollow cavity of the piston rod. The hollow plunger is fixedly connected to the cylinder body, and the cavity of the hollow plunger communicates with the hollow cavity. The piston connected to the piston rod divides the cylinder body's cavities into a first cavity and a second cavity. The cavity containing the piston rod is the second cavity, the other cavity is the first cavity, and the hollow cavity within the piston rod is the third cavity.

[0051] The publicly available document describes a pumping cylinder with three chambers for oil delivery, and a combination of cartridge valves and directional valves for controlling high and low pressure pumping. Compared to a pumping cylinder with only two chambers (rodless and rod), the hydraulic system in the document can control the pumping cylinder to achieve six different pumping pressures, meaning it can provide six pressure levels. If the pumping system defaults to controlling the pumping cylinder at the lowest pumping pressure, the hydraulic system can only operate at a smaller displacement, thus affecting the pumping efficiency of the equipment.

[0052] In pumping equipment where the pumping cylinder can be configured to operate at different pumping pressures, if the selected pumping pressure does not meet the requirements of the actual pumping scenario, the pumping efficiency of the equipment will be low. For pumping equipment where any pumping cylinder can achieve at least two different pumping pressures, the purpose of this invention is to provide a pumping equipment control method, device, computer equipment, and storage medium to solve the problem of low pumping efficiency in pumping equipment.

[0053] Example 1

[0054] Please see Figure 1 , Figure 1 A flowchart illustrating a pumping equipment control method provided in an embodiment of this application is shown. The pumping equipment includes a hydraulic pump and a pumping cylinder. Figure 1 The control methods for pumping equipment in the process include:

[0055] S110, obtain the target pumping speed of the pumping equipment, and obtain the real-time speed and real-time displacement of the hydraulic pump.

[0056] Pumping speed refers to the flow velocity of concrete in the pumping pipeline. The target pumping speed is the pumping speed desired by the operator. Operators typically adjust the target pumping speed using devices such as rotary switches. During operation, the target pumping speed, along with the real-time speed and displacement of the hydraulic pump, are acquired. It's important to understand that since the actual required target pumping speed changes based on specific needs, it's necessary to repeatedly acquire the target pumping speed and the real-time speed and displacement of the hydraulic pump in real-time; this will not be elaborated upon here. It's also important to understand that the type of pumping equipment is determined by requirements and can include pump trucks, trailer pumps, and truck-mounted pumps, etc., without limitation here.

[0057] S120 determines the real-time pumping speed of the pumping equipment based on the real-time rotational speed and real-time displacement.

[0058] With other parameters of the hydraulic pump remaining constant, a higher real-time speed of the hydraulic pump results in a higher real-time pumping speed of the pumping equipment; a higher real-time displacement of the hydraulic pump also results in a higher real-time pumping speed of the pumping equipment. Based on the real-time speed and displacement, the real-time pumping speed of the pumping equipment is determined to verify whether the real-time pumping speed is the target pumping speed.

[0059] S130, when the real-time pumping speed is not the target pumping speed, determine the nth pressure level of the pumping cylinder based on the highest pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder.

[0060] With other parameters of the hydraulic pump remaining constant, the higher the pumping pressure of the pumping cylinder, the higher the real-time pumping speed of the pumping equipment. The pressure levels of the pumping cylinders are determined by decreasing their pumping pressure. Different pumping cylinder structures can provide different pressure levels. The number of pressure levels is set according to actual needs; it can be two or six pressure levels, and is not limited here. For ease of understanding, the pressure levels of the pumping cylinders in this application are level 1, level 2, and level 3, and the pumping pressure of the pumping cylinder changes accordingly with the pressure level. When the pumping cylinder is at level 1, it is in its highest pressure state. When the pumping cylinder is at level 3, it is in its lowest pressure state.

[0061] The hydraulic pump's speed and displacement are controlled to the maximum permissible speed and displacement, respectively, to determine the maximum pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder. If the real-time pumping speed is not the target pumping speed, the nth pressure level of the pumping cylinder is determined based on the maximum pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder.

[0062] n is an integer greater than or equal to 1. The maximum pumping speed of the pumping equipment corresponding to the nth pressure level is greater than or equal to the target pumping speed, and the maximum pumping speed of the pumping equipment corresponding to the (n-1)th pressure level is less than the target pumping speed.

[0063] V(n-1)max<Vm≤Vnmax

[0064] Where n is the nth pressure level, V(n-1)max is the maximum pumping speed of the pumping equipment corresponding to the (n-1)th pressure level, Vm is the target pumping speed, and Vnmax is the maximum pumping speed of the pumping equipment corresponding to the nth pressure level. When n is 1, V(n-1)max takes the value of 0.

[0065] S140, switch the pressure level of the pump cylinder to the nth pressure level.

[0066] If the maximum pumping speed of the pumping equipment corresponding to the nth pressure level is greater than or equal to the target pumping speed, the pressure level of the pumping cylinder is switched to the nth pressure level in order to increase the displacement of the hydraulic pump.

[0067] In the embodiments of this application, switching the pressure level of the pumping cylinder to the nth pressure level includes:

[0068] If the current pressure level of the pumping cylinder is the nmth pressure level, the current pressure level of the pumping cylinder is increased level by level until the pressure level of the pumping cylinder is the nth pressure level, where m is an integer greater than or equal to 1.

[0069] If the current pressure level of the pumping cylinder is the (n+m)th pressure level, switch the pressure level of the pumping cylinder from the (n+m)th pressure level to the nth pressure level.

[0070] When the pumping equipment is operating well, operators may want to increase the pumping speed to further improve pumping efficiency, adjusting the target pumping speed to be higher than the real-time pumping speed. However, if the pressure level of the pumping cylinder is switched abruptly from a high pressure level to a low pressure level, the drastic pressure change can easily lead to a decrease in the thrust of the pumping cylinder, causing the pumping equipment to be unable to pump concrete. This can also cause the pumping equipment to slow down or stall, ultimately affecting its operating efficiency.

[0071] Given that the current pressure level of the pumping cylinder is at pressure level nm, and the real-time speed of the hydraulic pump is determined to be less than the target pumping speed, the current pressure level of the pumping cylinder is increased level by level until the pressure level of the pumping cylinder reaches pressure level n, where m is an integer greater than or equal to 1. By adjusting the pressure level of the pumping cylinder level by level, the operating efficiency of the pumping equipment is avoided from being affected.

[0072] Excessive pumping speed can also affect the operation of pumping equipment. When operators wish to reduce the pumping speed, they should quickly reduce the real-time pumping speed to the target speed. If the current pressure level of the pumping cylinder is at pressure level n+m, and the real-time speed of the hydraulic pump is determined to be greater than the target pumping speed, the pressure level of the pumping cylinder should be switched from pressure level n+m to pressure level n, thereby quickly reducing the real-time pumping speed to the target speed.

[0073] In the embodiments of this application, switching the pressure level of the pumping cylinder to the nth pressure level includes:

[0074] When the real-time pumping speed is less than the target pumping speed, the real-time speed of the hydraulic pump is increased to the maximum allowable speed, and the real-time displacement of the hydraulic pump is increased to the maximum allowable displacement.

[0075] Based on the real-time pressure of the hydraulic pump, determine the real-time pumping power of the pumping equipment;

[0076] If the real-time pumping power is less than the preset power, the pressure level of the pumping cylinder will be switched to the nth pressure level.

[0077] When the real-time pumping speed is less than the target pumping speed, the pressure level of the pumping cylinder needs to be switched step by step. Before switching the pressure level of the pumping cylinder to the nth pressure level, the real-time speed of the hydraulic pump is increased to the maximum allowable speed, and the real-time displacement of the hydraulic pump is increased to the maximum allowable displacement. Based on the real-time pressure of the hydraulic pump, the real-time pumping power of the pumping equipment is determined when the hydraulic pump displacement is at the maximum allowable displacement and the hydraulic pump speed is at the maximum allowable speed. When the real-time pumping power is less than the preset power, switching the pressure level of the pumping cylinder can improve pumping efficiency, and the pressure level of the pumping cylinder is switched to the nth pressure level. In the embodiments of this application, the pressure level of the pumping cylinder is switched to the nth pressure level step by step.

[0078] In the embodiments of this application, the pumping equipment control method further includes:

[0079] When the real-time pumping power is greater than or equal to the preset power, the pressure level of the pumping cylinder will be maintained at the current pressure level.

[0080] If the real-time pumping power is greater than or equal to the preset power, switching the pressure level of the pumping cylinder will not improve the pumping efficiency; therefore, the pressure level of the pumping cylinder will be maintained at the current pressure level. If the target pumping speed does not change, the real-time speed and real-time displacement of the hydraulic pump will not be adjusted further.

[0081] S150 controls the real-time speed and real-time displacement of the hydraulic pump based on the target pumping speed.

[0082] Please see Figure 2 , Figure 2 An example graph showing the relationship between real-time discharge and pumping efficiency provided in an embodiment of this application is shown.

[0083] The vertical axis of the graph represents the pumping efficiency of the pumping equipment, and the horizontal axis represents the real-time displacement of the hydraulic pump. As shown in the graph, the larger the real-time displacement of the hydraulic pump, the higher the overall operating efficiency of the pumping equipment. In existing technologies, the pumping cylinder is typically in a low-pressure state, resulting in a small effective working area of ​​the rod chamber. This forces the hydraulic pump to operate at a smaller displacement, leading to a lower overall operating efficiency of the pumping equipment. Furthermore, when the pumping cylinder is in a low-pressure state, the small effective working area of ​​the rod chamber results in higher operating pressure for the pumping equipment, which can easily damage its components.

[0084] Because changes in the real-time speed and displacement of the hydraulic pump, as well as changes in the pressure level of the pumping cylinder, will cause changes in the real-time pumping speed of the pumping equipment. First, switch the pressure level of the pumping cylinder to the nth pressure level, and then control the real-time speed and displacement of the hydraulic pump. This allows the real-time pumping speed of the pumping equipment to change gradually, avoiding drastic changes in the real-time pumping speed that could affect the operation of the pumping equipment.

[0085] Typically, pumping equipment only switches to a high-pressure state when it detects poor concrete material conditions and is unable to pump the concrete. In this embodiment, the pressure level of the pumping cylinder is switched according to the target pumping speed, thereby controlling the real-time speed and displacement of the hydraulic pump based on the target pumping speed, thus improving the real-time displacement of the hydraulic pump. Compared to keeping the pumping cylinder in a low-pressure state, this application actively switches the pressure level of the pumping cylinder to control it in a high-pressure state, enabling the hydraulic pump to operate at a high displacement, thereby improving the pumping efficiency of the pumping equipment. Simultaneously, when the pumping cylinder is in a high-pressure state, the effective working area of ​​the rod chamber increases, the working pressure of the pumping equipment decreases, and damage to the pumping equipment components is avoided.

[0086] In the embodiments of this application, controlling the real-time speed and real-time displacement of the hydraulic pump based on the target pumping speed includes:

[0087] When the real-time pumping speed of the pumping equipment is the target pumping speed, the maximum target displacement and minimum target speed of the hydraulic pump are obtained.

[0088] Control the real-time displacement of the hydraulic pump to the maximum target displacement, and control the real-time speed of the hydraulic pump to the minimum target speed.

[0089] During pumping operations, the higher the real-time displacement of the hydraulic pump, the higher the real-time pumping efficiency of the pumping equipment; conversely, the higher the real-time speed of the hydraulic pump, the lower the real-time pumping efficiency. The maximum target displacement and minimum target speed of the hydraulic pump are needed to obtain the real-time pumping speed of the pumping equipment as the target pumping speed.

[0090] The goal is to control the real-time displacement of the hydraulic pump to the maximum target displacement and the real-time speed to the minimum target speed, maximizing the real-time displacement and minimizing the real-time speed. Specifically, if the real-time pumping speed of the pumping equipment is less than the target pumping speed, the real-time speed of the hydraulic pump is controlled to the minimum permissible speed, and the real-time displacement is gradually increased until the real-time pumping speed equals the target pumping speed. If, even with the real-time speed controlled to the minimum permissible speed and the real-time displacement controlled to the maximum permissible displacement, the real-time pumping speed is still less than the target pumping speed, the real-time speed is gradually increased until the real-time pumping speed equals the target pumping speed.

[0091] If the real-time pumping speed of the pumping equipment is greater than the target pumping speed, control the real-time displacement of the hydraulic pump to the maximum allowable displacement and gradually reduce the real-time speed of the hydraulic pump until the real-time pumping speed equals the target pumping speed. If the real-time speed of the hydraulic pump is controlled to the minimum allowable speed and the real-time displacement is controlled to the maximum allowable displacement, and the real-time pumping speed is still less than the target pumping speed, then gradually reduce the real-time displacement of the hydraulic pump until the real-time pumping speed equals the target pumping speed.

[0092] In the embodiments of this application, the pumping equipment control method further includes:

[0093] In response to the start signal of the pumping equipment, determine whether the hydraulic pump is starting for the first time;

[0094] When the hydraulic pump is being started for the first time, the pressure level of the pumping cylinder is adjusted to the first pressure level. The maximum pumping speed of the pumping equipment corresponding to the first pressure level is lower than the maximum pumping speed corresponding to other pressure levels.

[0095] If the hydraulic pump is not starting for the first time, and the target pumping speed is greater than or equal to the historical pumping speed, the real-time speed and real-time displacement of the hydraulic pump are controlled based on the target pumping speed.

[0096] When the pumping equipment starts, the system responds to the start signal to determine if the hydraulic pump is starting for the first time. Since the concrete condition is unknown upon first start, directly switching the pressure level of the pumping cylinder if the condition is poor could result in the pumping equipment being unable to pump concrete. Therefore, if the hydraulic pump is starting for the first time, the pressure level of the pumping cylinder is adjusted to level 1. The maximum pumping speed corresponding to level 1 is lower than the maximum pumping speed corresponding to other pressure levels. Adjusting the pumping cylinder to level 1 ensures the pumping cylinder is at its highest pressure, preventing situations where the pumping equipment cannot pump concrete.

[0097] If the pumping equipment's position remains unchanged, when it restarts, the concrete material condition will not change, the pressure level of the pumping cylinder will not be switched, and the pumping equipment will not fail to pump concrete due to insufficient thrust. If the hydraulic pump is not starting for the first time, and the target pumping speed is greater than or equal to the historical pumping speed, then switching the pressure level of the pumping cylinder is unnecessary. Based on the target pumping speed, the real-time speed and displacement of the hydraulic pump are controlled. If the hydraulic pump is not starting for the first time, and the target pumping speed is less than the historical pumping speed, then the step of determining the nth pressure level of the pumping cylinder based on the highest pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder is executed.

[0098] In the embodiments of this application, the pumping equipment control method further includes:

[0099] When the current pressure level of the pumping cylinder is the nth pressure level, the real-time speed and real-time displacement of the hydraulic pump are controlled based on the target pumping speed.

[0100] After determining the nth pressure level of the pumping cylinder, it is further determined whether the current pressure level of the pumping cylinder is the nth pressure level. If the current pressure level of the pumping cylinder is not the nth pressure level, the pressure level of the pumping cylinder is switched to the nth pressure level. If the current pressure level of the pumping cylinder is the nth pressure level, there is no need to switch the pressure level of the pumping cylinder; the real-time speed and real-time displacement of the hydraulic pump are directly controlled based on the target pumping speed.

[0101] This application provides a pumping equipment control method. The pumping equipment includes a hydraulic pump and a pumping cylinder. The pumping equipment control method includes: acquiring the target pumping speed of the pumping equipment and acquiring the real-time rotational speed and real-time displacement of the hydraulic pump; determining the real-time pumping speed of the pumping equipment based on the real-time rotational speed and real-time displacement; when the real-time pumping speed is not the target pumping speed, determining the nth pressure level of the pumping cylinder based on the highest pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder; switching the pressure level of the pumping cylinder to the nth pressure level; and controlling the real-time rotational speed and real-time displacement of the hydraulic pump based on the target pumping speed. This application controls the pumping cylinder to a high-pressure state by actively switching the pressure level of the pumping cylinder, enabling the hydraulic pump to operate at a high displacement, thereby improving the pumping efficiency of the pumping equipment. Simultaneously, when the pumping cylinder is in a high-pressure state, the effective working area of ​​the rod chamber increases, the working pressure of the pumping equipment decreases, and damage to the components of the pumping equipment is avoided.

[0102] Example 2

[0103] Please see Figure 3 , Figure 3 A schematic diagram of the pumping equipment control device provided in an embodiment of this application is shown. The pumping equipment includes a hydraulic pump and a pumping cylinder. Figure 3 The medium-sized pumping equipment control device 200 includes:

[0104] The target pumping speed acquisition module 210 is used to acquire the target pumping speed of the pumping equipment and to acquire the real-time speed and real-time displacement of the hydraulic pump.

[0105] The real-time pumping speed determination module 220 is used to determine the real-time pumping speed of the pumping equipment based on the real-time rotational speed and real-time discharge rate.

[0106] The nth pressure level determination module 230 is used to determine the nth pressure level of the pumping cylinder based on the highest pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder when the real-time pumping speed is not the target pumping speed. Here, n is an integer greater than or equal to 1, the highest pumping speed of the pumping equipment corresponding to the nth pressure level is greater than or equal to the target pumping speed, and the highest pumping speed of the pumping equipment corresponding to the (n-1)th pressure level is less than the target pumping speed.

[0107] Pressure level switching module 240 is used to switch the pressure level of the pumping cylinder to the nth pressure level;

[0108] The speed and displacement control module 250 is used to control the real-time speed and real-time displacement of the hydraulic pump based on the target pumping speed.

[0109] In the embodiments of this application, the nth pressure level determination module 230 includes:

[0110] The first pressure level switching submodule is used to increase the current pressure level of the pumping cylinder step by step when the current pressure level of the pumping cylinder is the nm pressure level, until the pressure level of the pumping cylinder is the nth pressure level, where m is an integer greater than or equal to 1.

[0111] The second pressure level switching submodule is used to switch the pressure level of the pumping cylinder from the (n+m)th pressure level to the nth pressure level when the current pressure level of the pumping cylinder is the (n+m)th pressure level.

[0112] In the embodiments of this application, the nth pressure level determination module 230 includes:

[0113] The speed and displacement increase submodule is used to increase the real-time speed of the hydraulic pump to the maximum allowable speed and increase the real-time displacement of the hydraulic pump to the maximum allowable displacement when the real-time pumping speed is less than the target pumping speed.

[0114] The real-time pumping power determination submodule is used to determine the real-time pumping power of the pumping equipment based on the real-time pressure of the hydraulic pump.

[0115] The pressure level switching submodule is used to switch the pressure level of the pumping cylinder to the nth pressure level when the real-time pumping power is less than the preset power.

[0116] In embodiments of this application, the pumping equipment control device 200 further includes:

[0117] The first pressure level holding module is used to maintain the pressure level of the pumping cylinder at the current pressure level when the real-time pumping power is greater than or equal to the preset power.

[0118] In embodiments of this application, the speed and displacement control module 250 includes:

[0119] The displacement and speed acquisition submodule is used to acquire the maximum target displacement and minimum target speed of the hydraulic pump when the real-time pumping speed of the pumping equipment is the target pumping speed.

[0120] The maximum target displacement and minimum target speed control submodule is used to control the real-time displacement of the hydraulic pump to the maximum target displacement and the real-time speed of the hydraulic pump to the minimum target speed.

[0121] In embodiments of this application, the pumping equipment control device 200 further includes:

[0122] The start-up determination module is used to respond to the start-up signal of the pumping equipment and determine whether the hydraulic pump is starting for the first time.

[0123] When the hydraulic pump is being started for the first time, the pressure level of the pumping cylinder is switched to the first pressure level. The maximum pumping speed of the pumping equipment corresponding to the first pressure level is lower than the maximum pumping speed corresponding to other pressure levels.

[0124] If the hydraulic pump is not starting for the first time, and the target pumping speed is greater than or equal to the historical pumping speed, the real-time speed and real-time displacement of the hydraulic pump are controlled based on the target pumping speed.

[0125] In embodiments of this application, the pumping equipment control device 200 further includes:

[0126] The second pressure level holding module is used to control the real-time speed and real-time displacement of the hydraulic pump based on the target pumping speed when the current pressure level of the pumping cylinder is the nth pressure level.

[0127] The pumping equipment control device 200 is used to execute the corresponding steps in the pumping equipment control method described above. The specific implementation of each function will not be described in detail here. In addition, the optional examples in Embodiment 1 are also applicable to the pumping equipment control device 200 in Embodiment 2.

[0128] This application also provides a computer device, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the pumping equipment control method as described in Embodiment 1.

[0129] In this embodiment, the target pumping speed acquisition module 210, real-time pumping speed determination module 220, nth pressure level determination module 230, pressure level switching module 240, and speed and displacement control module 250 are all stored as program units in the memory, and the processor executes the above program units stored in the memory to realize the corresponding functions.

[0130] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured; adjusting kernel parameters can improve the efficiency of pumping operations in pumping equipment.

[0131] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0132] Please see Figure 4 , Figure 4 A schematic diagram of the structure of the pumping equipment control device provided in an embodiment of this application is shown.

[0133] For ease of understanding, the computer device in the embodiments of this application is a pumping equipment control device 300. The pumping equipment control device 300 includes a processor 3010, a speed control device 3020, a power device 3030, a hydraulic pump 3040, a hydraulic pump control device 3050, a pressure detector 3060, a speed sensor 3070, a pressure switching device 3080, a pumping speed control device 3090, and a pumping cylinder 3100.

[0134] The processor 3010 controls the power unit 3030 via the speed control device 3020, which in turn drives the hydraulic pump 3040, thereby controlling the real-time speed of the hydraulic pump 3040. The type of power unit 3030 is determined by actual needs and can be an engine, electric motor, hydraulic motor, etc., and is not limited here. Simultaneously, the pumping equipment control device 300 also includes other components, such as a transfer case, gearbox, drive shaft, and connectors between the power unit 3030 and the hydraulic pump 3040, and is not limited here.

[0135] The processor 3010 controls the real-time displacement of the hydraulic pump 3040 via the hydraulic pump control device 3050. By controlling parameters such as the real-time displacement of the hydraulic pump 3040, the processor controls the movement of the pumping cylinder 3100. If the hydraulic pump 3040 integrates the hydraulic pump control device 3050, then the hydraulic pump control device 3050 is not required. The processor 3010 can determine the real-time displacement of the hydraulic pump 3040 based on control commands to the hydraulic pump 3040; it can also determine the real-time displacement of the hydraulic pump 3040 based on the received feedback current. Furthermore, the pumping equipment control device 300 may also include a displacement detection device such as a swashplate tilt sensor to obtain a more accurate real-time displacement of the hydraulic pump.

[0136] Pressure detector 3060 is used to acquire the real-time pressure of hydraulic pump 3040. Processor 3010 determines the real-time pumping power of hydraulic pump 3040 based on the real-time pressure acquired by pressure detector 3060. Speed ​​sensor 3070 can be used to acquire the real-time speed of hydraulic pump 3040. Speed ​​sensor 3070 can also be used to acquire the speed of power unit 3030, so as to determine the real-time speed of hydraulic pump 3040 based on the speed of power unit 3030. Pressure switching device 3080 is used to switch the pressure level of pumping cylinder 3100. Pumping speed control device 3090 is used to acquire the target pumping speed desired by the operator, so that processor 3010 controls the real-time displacement and real-time speed of hydraulic pump 3040 according to the target pumping speed.

[0137] This application provides a pumping equipment control method. The pumping equipment includes a hydraulic pump and a pumping cylinder. The pumping equipment control method includes: acquiring the target pumping speed of the pumping equipment and acquiring the real-time rotational speed and real-time displacement of the hydraulic pump; determining the real-time pumping speed of the pumping equipment based on the real-time rotational speed and real-time displacement; when the real-time pumping speed is not the target pumping speed, determining the nth pressure level of the pumping cylinder based on the highest pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder; switching the pressure level of the pumping cylinder to the nth pressure level; and controlling the real-time rotational speed and real-time displacement of the hydraulic pump based on the target pumping speed. This application controls the pumping cylinder to a high-pressure state by actively switching the pressure level of the pumping cylinder, enabling the hydraulic pump to operate at a high displacement, thereby improving the pumping efficiency of the pumping equipment. Simultaneously, when the pumping cylinder is in a high-pressure state, the effective working area of ​​the rod chamber increases, the working pressure of the pumping equipment decreases, and damage to the components of the pumping equipment is avoided.

[0138] For ease of understanding, the computer device in the embodiments of this application is a pumping equipment control device. The pumping equipment control device 300 includes a processor 3010, a speed control device 3020, a power device 3030, a hydraulic pump 3040, a hydraulic pump control device 3050, a pressure detector 3060, a speed sensor 3070, a pressure switching device 3080, a pumping speed control device 3090, and a pumping cylinder 3100.

[0139] The processor 3010 controls the power unit 3030 via the speed control device 3020, which in turn drives the hydraulic pump 3040, thereby controlling the real-time speed of the hydraulic pump 3040. The type of power unit 3030 is determined by actual needs and can be an engine, electric motor, hydraulic motor, etc., and is not limited here. Simultaneously, the pumping equipment control device 300 also includes other components, such as a transfer case, gearbox, drive shaft, and connectors between the power unit 3030 and the hydraulic pump 3040, and is not limited here.

[0140] The processor 3010 controls the real-time displacement of the hydraulic pump 3040 via the hydraulic pump control device 3050. By controlling parameters such as the real-time displacement of the hydraulic pump 3040, the processor controls the movement of the pumping cylinder 3100. If the hydraulic pump 3040 integrates the hydraulic pump control device 3050, then the hydraulic pump control device 3050 is not required. The processor 3010 can determine the real-time displacement of the hydraulic pump 3040 based on control commands to the hydraulic pump 3040; it can also determine the real-time displacement of the hydraulic pump 3040 based on the received feedback current. Furthermore, the pumping equipment control device 300 may also include a displacement detection device such as a swashplate tilt sensor to obtain a more accurate real-time displacement of the hydraulic pump.

[0141] Pressure detector 3060 is used to acquire the real-time pressure of hydraulic pump 3040. Processor 3010 determines the real-time pumping power of hydraulic pump 3040 based on the real-time pressure acquired by pressure detector 3060. Speed ​​sensor 3070 can be used to acquire the real-time speed of hydraulic pump 3040. Speed ​​sensor 3070 can also be used to acquire the speed of power unit 3030, so as to determine the real-time speed of hydraulic pump 3040 based on the speed of power unit 3030. Pressure switching device 3080 is used to switch the pressure level of pumping cylinder 3100. Pumping speed control device 3090 is used to acquire the target pumping speed desired by the operator, so that processor 3010 controls the real-time displacement and real-time speed of hydraulic pump 3040 according to the target pumping speed.

[0142] This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the pumping equipment control method as described in Embodiment 1.

[0143] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0144] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0145] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0146] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0147] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0148] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0149] Computer-readable storage media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0150] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0151] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling a pumping device, the pumping device comprising a hydraulic pump and a pumping cylinder, characterized in that, The pumping equipment control method includes: The target pumping speed of the pumping equipment is obtained, and the real-time speed and real-time displacement of the hydraulic pump are obtained. The real-time pumping speed of the pumping equipment is determined based on the real-time rotational speed and the real-time displacement. When the real-time pumping speed is not the target pumping speed, the nth pressure level of the pumping cylinder is determined according to the highest pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder, where n is an integer greater than or equal to 1, the highest pumping speed of the pumping equipment corresponding to the nth pressure level is greater than or equal to the target pumping speed, and the highest pumping speed of the pumping equipment corresponding to the (n-1)th pressure level is less than the target pumping speed. Switch the pressure level of the pumping cylinder to the nth pressure level; Based on the target pumping speed, the real-time rotational speed and real-time displacement of the hydraulic pump are controlled.

2. The pumping equipment control method according to claim 1, characterized in that, Switching the pressure level of the pumping cylinder to the nth pressure level includes: When the current pressure level of the pumping cylinder is the nm pressure level, the current pressure level of the pumping cylinder is increased level by level until the pressure level of the pumping cylinder is the nth pressure level, where m is an integer greater than or equal to 1. If the current pressure level of the pumping cylinder is the (n+m)th pressure level, the pressure level of the pumping cylinder is switched from the (n+m)th pressure level to the nth pressure level.

3. The pumping equipment control method according to claim 1, characterized in that, Switching the pressure level of the pumping cylinder to the nth pressure level includes: If the real-time pumping speed is less than the target pumping speed, the real-time rotational speed of the hydraulic pump is increased to the maximum permissible rotational speed, and the real-time displacement of the hydraulic pump is increased to the maximum permissible displacement. Based on the real-time pressure of the hydraulic pump, the real-time pumping power of the pumping equipment is determined. If the real-time pumping power is less than the preset power, the pressure level of the pumping cylinder is switched to the nth pressure level.

4. The pumping equipment control method according to claim 3, characterized in that, The pumping equipment control method further includes: When the real-time pumping power is greater than or equal to the preset power, the pressure level of the pumping cylinder is maintained at the current pressure level.

5. The pumping equipment control method according to claim 1, characterized in that, The step of controlling the real-time speed and real-time displacement of the hydraulic pump based on the target pumping speed includes: When the real-time pumping speed of the pumping equipment is obtained as the target pumping speed, the maximum target displacement and minimum target rotational speed of the hydraulic pump are determined. The real-time displacement of the hydraulic pump is controlled to the maximum target displacement, and the real-time speed of the hydraulic pump is controlled to the minimum target speed.

6. The pumping equipment control method according to claim 1, characterized in that, The pumping equipment control method further includes: In response to the start signal of the pumping equipment, determine whether the hydraulic pump is starting for the first time; When the hydraulic pump is being started for the first time, the pressure level of the pumping cylinder is switched to the first pressure level, wherein the maximum pumping speed of the pumping equipment corresponding to the first pressure level is lower than the maximum pumping speed corresponding to other pressure levels. If the hydraulic pump is not starting for the first time, and the target pumping speed is greater than or equal to the historical pumping speed, the real-time speed and real-time displacement of the hydraulic pump are controlled based on the target pumping speed.

7. The pumping equipment control method according to claim 1, characterized in that, The pumping equipment control method further includes: When the current pressure level of the pumping cylinder is the nth pressure level, the real-time speed and real-time displacement of the hydraulic pump are controlled based on the target pumping speed.

8. A control device for a pumping equipment, the pumping equipment comprising a hydraulic pump and a pumping cylinder, characterized in that, The pumping equipment control device includes: The target pumping speed acquisition module is used to acquire the target pumping speed of the pumping equipment and the real-time rotational speed and real-time displacement of the hydraulic pump. A real-time pumping speed determination module is used to determine the real-time pumping speed of the pumping equipment based on the real-time rotational speed and the real-time discharge rate. The nth pressure level determination module is used to determine the nth pressure level of the pumping cylinder based on the highest pumping speed of the pumping equipment corresponding to each pressure level of the pumping cylinder when the real-time pumping speed is not the target pumping speed. Here, n is an integer greater than or equal to 1, the highest pumping speed of the pumping equipment corresponding to the nth pressure level is greater than or equal to the target pumping speed, and the highest pumping speed of the pumping equipment corresponding to the (n-1)th pressure level is less than the target pumping speed. A pressure level switching module is used to switch the pressure level of the pumping cylinder to the nth pressure level. The speed and displacement control module is used to control the real-time speed and real-time displacement of the hydraulic pump based on the target pumping speed.

9. A computer device, characterized in that, The computer device includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements the pumping equipment control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the pumping equipment control method as described in any one of claims 1 to 7.

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