Motor control method, controller and electric excavator for electric excavator

Abstract

The application discloses a motor control method and controller of an electric excavator and the electric excavator. The method comprises the following steps: acquiring the state of a pilot safety switch when the electric excavator is powered on; acquiring the state of a seat pressure switch when the state of the pilot safety switch is an off state; and sending a corresponding instruction to a motor controller to control the motor to stop or start according to the state of the seat pressure switch. The application can determine the action tendency of the operator by detecting the states of the pilot safety switch and the seat pressure switch, and can stop the motor in time when the operator leaves the cab or temporarily stops the hydraulic work, thereby effectively reducing the overall energy consumption and not affecting the normal operation of other electrical functions of the excavator.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, in particular to a motor control method, a controller and an electric excavator of the electric excavator. BACKGROUND

[0002] In the work, the operator often needs to adjust the engine speed or operation mode according to the work intensity to achieve a balance between work efficiency and fuel economy according to his own experience; and in order to ensure the quick response performance of the excavator and maintain the normal work of various electrical functions (such as air conditioning) of the vehicle, the operator often maintains the engine at a low speed to continue running when he takes a short break or pauses work, and the energy consumption cost in this process cannot be ignored.

[0003] The prior art scheme is mainly aimed at the fuel engine, and develops an automatic idle speed function based on detecting and feeding back the adjustment speed of hydraulic action, which can automatically reduce the speed to idle speed in time when the operator pauses work, thereby reducing energy consumption and not affecting the power supply of other electrical functions of the vehicle, but the energy consumption during engine idle speed operation cannot be avoided, and this method is not applicable to electric excavators. SUMMARY

[0004] The purpose of the embodiment of the present application is to provide a motor control method, a controller and an electric excavator of the electric excavator, so as to solve the problem of high energy consumption and slow response of the electric excavator in the prior art.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a motor control method of an electric excavator, which is applied to a vehicle controller of the electric excavator, and the electric excavator further comprises a motor controller, a pilot safety switch and a seat pressure switch connected with the vehicle controller respectively, and the motor control method comprises:

[0006] In the case that the electric excavator is powered on, the state of the pilot safety switch is acquired;

[0007] In the case that the state of the pilot safety switch is the disconnected state, the state of the seat pressure switch is acquired;

[0008] According to the state of the seat pressure switch, a corresponding instruction is sent to the motor controller to control the motor to stop or start.

[0009] In the embodiment of the present application, in the case that the state of the pilot safety switch is the disconnected state, the state of the seat pressure switch is acquired, which comprises:

[0010] The first preset pressure is acquired;

[0011] In the case that the seat pressure of the seat pressure switch is greater than the first preset pressure, it is determined that the seat pressure switch is in the conductive state;

[0012] In a case where the seat pressure of the seat pressure switch is not greater than the first preset pressure, it is determined that the seat pressure switch is in an open state.

[0013] In the embodiment of the present application, according to the state of the seat pressure switch, a corresponding instruction is sent to the motor controller to control the motor to stop or start, which comprises:

[0014] determining a first duration that the seat pressure switch is in a conductive state;

[0015] determining whether the first duration is greater than a first preset time;

[0016] In a case where it is determined that the first duration is greater than the first preset time, a start instruction is sent to the motor controller to control the motor to start.

[0017] In the embodiment of the present application, according to the state of the seat pressure switch, a corresponding instruction is sent to the motor controller to control the motor to stop or start, which further comprises:

[0018] determining a second duration that the seat pressure switch is in an open state;

[0019] determining whether the second duration is greater than a second preset time;

[0020] In a case where it is determined that the second duration is greater than the second preset time, a stop instruction is sent to the motor controller to control the motor to stop.

[0021] In the embodiment of the present application, the motor control method further comprises:

[0022] In a case where the state of the pilot safety switch is in a conductive state, a stop instruction is sent to the motor controller to control the motor to stop.

[0023] In the embodiment of the present application, the electric excavator further comprises an LS pressure switch connected with the vehicle controller, and in a case where the motor is in a start state, the motor control method further comprises:

[0024] obtaining a first detection pressure of the LS pressure switch;

[0025] determining whether the first detection pressure is greater than a second preset pressure;

[0026] In a case where it is determined that the first detection pressure is greater than the second preset pressure, a first rotating speed instruction is sent to the motor controller to adjust the rotating speed of the motor;

[0027] In a case where it is determined that the first detection pressure is less than the second preset pressure, it is determined whether a duration of the first detection pressure is greater than a third preset time;

[0028] In a case where it is determined that the duration of the first detected pressure is not greater than a third preset time, a first rotation speed instruction is sent to the motor controller to adjust the rotation speed of the motor;

[0029] In a case where it is determined that the duration of the first detected pressure is greater than the third preset time, a second rotation speed instruction is sent to the motor controller to adjust the rotation speed of the motor;

[0030] The first rotation speed instruction is a rotation speed instruction corresponding to a throttle gear, and the second rotation speed instruction is an idle speed instruction.

[0031] In the embodiment of the application, sending the second rotation speed instruction to the motor controller to adjust the rotation speed of the motor comprises:

[0032] The current gear state of a throttle knob of the electric excavator is obtained;

[0033] In a case where the current gear state of the throttle knob is in a first preset gear and above, the motor is controlled by the motor controller to enter a first idle speed state;

[0034] A second detected pressure of an LS pressure switch is obtained;

[0035] In a case where the second detected pressure is greater than a second preset pressure, the rotation speed of the motor is adjusted by the motor controller to a rotation speed corresponding to the current gear of the throttle knob.

[0036] In the embodiment of the application, sending the second rotation speed instruction to the motor controller to adjust the rotation speed of the motor comprises:

[0037] In a case where the current gear state of the throttle knob is below the first preset gear or the motor is in the first idle speed state, the motor is controlled by the motor controller to enter a second idle speed state;

[0038] A third detected pressure of the LS pressure switch is obtained;

[0039] In a case where the third detected pressure is greater than the second preset pressure, the rotation speed of the motor is adjusted by the motor controller to a rotation speed corresponding to the current gear of the throttle knob.

[0040] In the embodiment of the application, sending the first rotation speed instruction to the motor controller to adjust the rotation speed of the motor comprises:

[0041] In a case where the gear of the throttle knob of the electric excavator is one, the rotation speed of the motor is adjusted by the motor controller to a rotation speed corresponding to the second gear of the throttle knob.

[0042] The second aspect of the application provides a vehicle controller, comprising:

[0043] a memory configured to store instructions; and

[0044] A processor configured to call the instructions from the memory and implement the motor control method of the electric excavator according to the above when executing the instructions.

[0045] The third aspect of the present application provides an electric excavator, comprising:

[0046] The vehicle controller described above; and

[0047] A motor controller connected with the vehicle controller and configured to control the start and stop of the motor and adjust the motor speed according to the instructions sent by the vehicle controller.

[0048] An LS pressure switch connected with the vehicle controller and configured to detect the pressure of the LS port of the hydraulic system.

[0049] A seat pressure switch connected with the vehicle controller and configured to detect the seat pressure.

[0050] A pilot safety switch connected with the vehicle controller and configured to detect the state of the pilot safety handle.

[0051] The fourth aspect of the present application provides a machine readable storage medium, which stores instructions for causing a machine to execute the motor control method of the electric excavator according to the above.

[0052] Through the above technical solution, when the electric excavator is powered on, the state of the pilot safety switch is first acquired, then the state of the seat pressure switch is acquired when the state of the pilot safety switch is in the off state, and finally the corresponding instructions are sent to the motor controller to control the motor to stop or start according to the state of the seat pressure switch. The present application judges the action tendency of the operator by detecting the states of the pilot safety switch and the seat pressure switch, and can stop the motor in time when the operator leaves the cab or temporarily stops the hydraulic work, thereby effectively reducing the overall energy consumption and not affecting the normal operation of other electrical functions of the excavator.

[0053] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0054] The accompanying drawings are included to provide a further understanding of the present application and constitute a part of the specification, and are used together with the following specific embodiments to explain the present application, but do not constitute a limitation on the present application. In the drawings:

[0055] Figure 1 The accompanying drawings are included to provide a further understanding of the present application and constitute a part of the specification, and are used together with the following specific embodiments to explain the present application, but do not constitute a limitation on the present application. In the drawings:

[0056] Figure 2A flow chart of a motor speed control method of an electric excavator is shown schematically according to an embodiment of the present application.

[0057] Figure 3 A speed gear relationship diagram is shown schematically according to an embodiment of the present application.

[0058] Figure 4 A structural block diagram of a vehicle controller is shown schematically according to an embodiment of the present application.

[0059] Figure 5 A low-voltage circuit diagram of an electric excavator is shown schematically according to an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are merely used to explain and illustrate the embodiments of the present application and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort fall within the scope of protection of the present application.

[0061] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are merely used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0062] In addition, if the embodiments of the present application involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are merely for description purposes and should not be understood as indicating or implying the relative importance of the technical features indicated or the number of the technical features indicated. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize the combination, and when the combination of the technical solutions contradicts each other or cannot be realized, it should be considered that the combination of the technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0063] Figure 1 A flow chart of a motor control method of an electric excavator is shown schematically according to an embodiment of the present application. As shown in FIG. 1, the motor control method of the electric excavator includes the following steps. Figure 1As shown, the embodiment of the present application provides a motor control method of an electric excavator, which is applied to a vehicle controller of the electric excavator, the electric excavator comprising a motor controller, a pilot safety switch and a seat pressure switch connected with the vehicle controller respectively, the method can comprise the following steps.

[0064] Step 101, acquiring the state of the pilot safety switch when the electric excavator is powered on;

[0065] Step 102, acquiring the state of the seat pressure switch when the state of the pilot safety switch is the off state;

[0066] Step 103, according to the state of the seat pressure switch, sending corresponding instructions to the motor controller to control the motor to stop or start.

[0067] In the prior art, the action tendency of the operator is mainly judged by using a proximity switch, the detection logic is relatively complex, and there is a risk of judgment error, which may cause the engine speed to be adjusted incorrectly, thereby reducing the rapid response performance of the hydraulic action of the excavator. Based on this, the present application proposes a motor control method of an electric excavator, which is applied to a vehicle controller of a motor control system of the electric excavator. The motor control method of the present application can stop the motor in time when the operator takes a short break or leaves the cab to reduce energy consumption, and automatically start the motor when the hydraulic action is about to be restored to maintain the rapid response of the hydraulic action, thereby effectively reducing the energy consumption of the vehicle without affecting the normal operation of the excavator.

[0068] In the embodiment of the present application, the vehicle controller can automatically start and stop the motor according to the states of the pilot safety switch and the seat pressure switch. The pilot safety switch is used to indicate the state of the pilot safety handle. When the pilot safety switch is off, it indicates that the operator is about to perform hydraulic action. When the pilot safety switch is on, it indicates that the operator does not perform hydraulic action. The seat pressure switch is used to detect whether the operator is on the seat of the cab. Whether the seat pressure switch is on or off is used to determine whether the motor needs to be started. Specifically, under the condition that the whole machine is powered on, when the operator turns on the pilot safety switch, it indicates that hydraulic action is about to be performed. At this time, the pilot safety switch is in an off state, the vehicle controller detects a non-low level signal at the port connected to the pilot safety switch, the pilot solenoid valve is powered on, and hydraulic action is allowed. At this time, the vehicle controller sends a start command to the motor controller to control the motor to start at a certain speed, and the state of the seat pressure switch is obtained. When the operator leaves the seat, the seat pressure switch is off, the vehicle controller detects a non-low level signal at the port connected to the seat pressure switch, and when the duration of the non-low level signal is greater than a preset time, the vehicle controller sends a stop command to control the motor to stop. When the operator returns to the seat, the seat pressure switch is on, the vehicle controller detects a low level signal at the port connected to the seat pressure switch, and when the duration of the low level signal is greater than a preset time, the vehicle controller sends a start signal to the motor controller to restart the motor at a certain speed. When the operator turns off the pilot safety switch after finishing the action, the pilot safety switch is on, the vehicle controller detects a low level signal at the port connected to the pilot safety switch, the pilot solenoid valve is powered off, hydraulic action is prohibited, and the ON terminal of the vehicle controller outputs a low level signal to the motor controller, and the motor controller controls the motor to stop. The influence of the pilot safety switch and the seat pressure switch on the port of the vehicle controller, and the automatic start and stop logic of the vehicle are shown in Table 1:

[0069] Table 1

[0070]

[0071] Through the above technical solution, under the condition that the electric excavator is powered on, the state of the pilot safety switch is first obtained, then the state of the seat pressure switch is obtained when the state of the pilot safety switch is off, and finally according to the state of the seat pressure switch, a corresponding command is sent to the motor controller to control the motor to stop or start. By detecting the states of the pilot safety switch and the seat pressure switch, the operator's action tendency is determined, and the motor can be stopped in time when the operator leaves the cab or temporarily stops hydraulic work, which effectively reduces the energy consumption of the whole machine and does not affect the normal operation of other electrical functions of the excavator.

[0072] In the embodiment of the present application, when the state of the pilot safety switch is the off state, obtaining the state of the seat pressure switch can include:

[0073] obtaining a first preset pressure;

[0074] when the seat pressure of the seat pressure switch is greater than the first preset pressure, determining that the seat pressure switch is in the on state;

[0075] when the seat pressure of the seat pressure switch is not greater than the first preset pressure, determining that the seat pressure switch is in the off state.

[0076] In the embodiment of the present application, when the state of the pilot safety switch is the off state, it indicates that the pilot is about to perform hydraulic action, at this time, the state of the seat pressure switch is further obtained, and whether there is a person on the seat of the cab is determined by the state of the seat pressure switch, so as to determine whether the motor needs to be started. Specifically, the first preset pressure is pre-set in the vehicle controller, and the first preset pressure is the pressure used to determine whether there is a person on the seat. When the seat pressure detected by the seat pressure switch is greater than the first preset pressure, the seat pressure switch is turned on, indicating that there is a person on the seat; when the seat pressure detected by the seat pressure switch is not greater than the first preset pressure, the seat pressure switch is turned off, indicating that there is no person on the seat.

[0077] In the embodiment of the present application, according to the state of the seat pressure switch, the corresponding instruction can be sent to the motor controller to control the motor to stop or start, which can include:

[0078] determining a first duration that the seat pressure switch is in the on state;

[0079] determining whether the first duration is greater than a first preset time;

[0080] when it is determined that the first duration is greater than the first preset time, sending a start instruction to the motor controller to control the motor to start.

[0081] In the embodiment of the present application, the first duration is the on duration of the seat pressure switch, and the first preset time is pre-set and used to determine whether the on duration of the seat pressure switch meets the standard time. Specifically, in order to prevent misjudgment and misoperation, after it is determined that the seat pressure switch is turned on for a certain time, that is, the first duration, that is, after the vehicle controller detects that the low-level signal of the connection port of the seat pressure switch lasts for a certain time, that is, the first preset time, the vehicle controller sends a start instruction to the motor controller to control the motor to start.

[0082] In the embodiment of the present application, according to the state of the seat pressure switch, the corresponding instruction can be sent to the motor controller to control the motor to stop or start, which can also include:

[0083] determining a second duration that the seat pressure switch is in an off state;

[0084] determining whether the second duration is greater than a second preset time;

[0085] in a case where it is determined that the second duration is greater than the second preset time, sending a shutdown instruction to the motor controller to control the motor to stop.

[0086] In the embodiments of the present application, the second duration is the off duration of the seat pressure switch, and the second preset time is a time that is set in advance and used to determine whether the off duration of the seat pressure switch meets a standard. Specifically, in order to prevent misjudgment and misoperation, after it is determined that the seat pressure switch is off for a certain time, that is, the second duration, or after the vehicle controller detects that the non-low-level signal of the seat pressure switch connection port lasts for a certain time, that is, the second preset time, the vehicle controller sends a shutdown instruction to the motor controller to control the motor to stop.

[0087] In the embodiments of the present application, the motor control method can further include:

[0088] in a case where the state of the pilot safety switch is an on state, sending a shutdown instruction to the motor controller to control the motor to stop.

[0089] Specifically, under the condition of whole machine power-on, when the machine hand finishes the action and closes the pilot safety switch, that is, in a case where the pilot safety switch is in an on state, the vehicle controller can detect a low-level signal of the pilot safety switch connection port. At this time, the pilot electromagnetic valve is powered off, hydraulic action is prohibited, the ON end of the vehicle controller outputs a low-level signal to the motor controller, and the motor controller controls the motor to stop.

[0090] Figure 2 a flowchart of a motor speed control method of an electric excavator according to an embodiment of the present application is schematically shown, Figure 3 a speed gear relationship diagram according to an embodiment of the present application is schematically shown. As shown in Figure 2 and Figure 3 In the embodiments of the present application, the electric excavator further includes an LS pressure switch, the LS pressure switch is connected with the vehicle controller, and in a case where the motor is in a starting state, the motor control method can further include:

[0091] obtaining a first detected pressure of the LS pressure switch;

[0092] determining whether the first detected pressure is greater than a second preset pressure;

[0093] in a case where it is determined that the first detected pressure is greater than the second preset pressure, sending a first speed instruction to the motor controller to adjust the motor speed;

[0094] determining whether the duration of the first detected pressure is greater than a third preset time;

[0095] sending a first speed command to the motor controller to adjust the motor speed when the duration of the first detected pressure is not greater than the third preset time;

[0096] sending a second speed command to the motor controller to adjust the motor speed when the duration of the first detected pressure is greater than the third preset time;

[0097] The first speed command is a speed command corresponding to the throttle gear, and the second speed command is an idle speed command.

[0098] In the embodiments of the present application, the first speed command is a speed command corresponding to the throttle gear, and the second speed command is an idle speed command.

[0099] In the prior art, the idle speed adjustment logic and gear speed setting are mainly for fuel engines and are not applicable to electric excavators, and cannot achieve more effective energy consumption control for electric excavators. The electric excavator of the embodiments of the present application, the pressure switch P1 is installed at the hydraulic system LS port for detecting the pressure state. When the operator pushes the operating handle, the hydraulic system will generate pressure, and the LS port will have a pressure value greater than zero. Therefore, when the motor is in a starting state, the first detected pressure of the LS pressure switch is obtained first, and it is determined whether the first detected pressure is greater than a second preset pressure. The second preset pressure can be set according to the actual situation, and is preferably 8 bar. When it is determined that the first detected pressure is greater than the second preset pressure, that is, the pressure of the LS port is greater than 8 bar, the pressure switch P1 is disconnected, the vehicle controller receives a non-low level signal from the pressure switch P1, and sends a first speed command to the motor controller, that is, a speed control command corresponding to the speed of the current throttle gear. When it is determined that the first detected pressure is less than the second preset pressure, that is, the pressure of the LS port is less than 8 bar, the pressure switch P1 is turned on, and the vehicle controller receives a low level signal from the pressure switch P1. When the low level signal maintains for more than a specified value, that is, the duration of the first detected pressure is greater than a third preset time, the vehicle controller sends a second speed command to the motor controller, that is, an idle speed command. It should be noted that the first gear speed in the embodiments of the present application is the idle speed, and the pressure switch can be replaced by a pressure sensor. Using a pressure sensor can more accurately detect the pressure of the LS port, and by adjusting the controller parameters, the idle speed condition of the vehicle can be dynamically adjusted.

[0100] In the embodiments of the present application, sending a second speed command to the motor controller to adjust the motor speed can include:

[0101] obtaining a current gear state of a throttle knob of the electric excavator;

[0102] in a case where the current gear state of the throttle knob is at or above a first preset gear, controlling the motor to enter a first idle state by a motor controller;

[0103] obtaining a second detection pressure of the LS pressure switch;

[0104] in a case where the second detection pressure is greater than a second preset pressure, adjusting the motor speed to a speed corresponding to the current gear state of the throttle knob by the motor controller.

[0105] In the embodiment of the present application, when the pressure switch P1 is turned on, the vehicle controller receives a low-level signal from the pressure switch P1, and the low-level signal maintains for more than a specified value, that is, the duration of the first detection pressure is greater than a third preset time, the vehicle controller obtains the current gear state of the throttle knob of the electric excavator, and in a case where the current gear state of the throttle knob is at or above a first preset gear, the vehicle controller sends an idle command to the motor controller to control the motor to enter a first idle state. When the motor is in the first idle state, the second detection pressure of the LS pressure switch is obtained again, and in a case where the second detection pressure is greater than a second preset pressure, the motor speed is adjusted to a speed corresponding to the current gear state of the throttle knob by the motor controller. In one example, in a case where the throttle knob is at or above the fourth gear, when the detection pressure of the LS pressure switch is less than 8 bar and the duration is more than 5 seconds, the motor enters the first idle state, that is, the speed and current are reduced to the set value of the third gear. In the first idle state, if the detection pressure of the LS pressure switch is greater than 8 bar, the speed and current of the motor are restored to the speed and current corresponding to the current gear.

[0106] In the embodiment of the present application, sending a second speed command to the motor controller to adjust the motor speed can include:

[0107] in a case where the current gear state of the throttle knob is below the first preset gear or the motor is in the first idle state, controlling the motor to enter a second idle state by the motor controller;

[0108] obtaining a third detection pressure of the LS pressure switch;

[0109] in a case where the third detection pressure is greater than a second preset pressure, adjusting the motor speed to a speed corresponding to the current gear state of the throttle knob by the motor controller.

[0110] In the embodiment of the present application, in the case that the current gear state of the throttle knob is below the first preset gear or the motor is in the first idle state, the motor enters the second idle state. Then the third detection pressure of the LS pressure switch is obtained, and in the case that the third detection pressure is greater than the second preset pressure, the motor speed is adjusted to the speed corresponding to the current gear of the throttle knob through the motor controller. In one example, when the motor is in the first idle state or the throttle gear is in the three gears and below, when the detection pressure of the LS pressure switch is less than 8bar and the duration is more than 5S, the motor enters the second idle state, that is, the speed and current are reduced to the set value of the first gear. In the second idle state, if the detection pressure of the LS pressure switch is greater than 8bar, the speed and current of the motor return to the speed and current corresponding to the current gear.

[0111] In the embodiment of the present application, sending the first speed instruction to the motor controller to adjust the motor speed can include:

[0112] In the case that the gear of the throttle knob of the electric excavator is one gear, the motor speed is adjusted to the speed corresponding to the two gears of the throttle knob through the motor controller.

[0113] In the embodiment of the present application, when the vehicle controller determines that the hydraulic system is in action, the speed instruction corresponding to the current gear can be sent to the motor controller to make the motor speed corresponding to the current gear of the throttle. In particular, when the current gear of the throttle knob is one gear, if the LS pressure switch senses a pressure value greater than the second preset pressure, the motor can automatically increase the speed to the speed corresponding to the two gears.

[0114] The embodiment of the present application optimizes the speed gear corresponding relationship of the excavator according to the characteristics of the electric excavator. Combined with the pressure demand analysis of the hydraulic system of the excavator, the power demand of the hydraulic system to the engine in the no-load state is actually less than the idle state power of the traditional diesel engine. In the embodiment of the present application, the one gear of the electric excavator as the idle speed can be set lower according to the demand of the hydraulic system, and the speed gear relationship is as shown in Figure 3 The one gear speed is obviously lower than the two gear speed, and by reducing the idle speed of the motor, the idle energy consumption of the electric excavator is effectively reduced without affecting the hydraulic action performance. The one gear speed only needs to maintain the pilot system pressure greater than 3.5Mpa to ensure that the handle and foot pedal operation can be quickly identified and responded. After the pressure switch detects the machine operation, the motor automatically increases the speed to the two gear speed, thereby ensuring the quick response of the hydraulic action.

[0115] Figure 4 The structure block diagram of a vehicle controller according to the embodiment of the present application is schematically shown. As shown in Figure 4 The vehicle controller provided by the embodiment of the present application can include:

[0116] a memory 410 configured to store instructions; and

[0117] a processor 420 configured to invoke the instructions from the memory 410 and implement the above-mentioned motor control method of the electric excavator when executing the instructions.

[0118] Specifically, in the embodiments of the present application, the processor 420 can be configured to:

[0119] acquire a state of a pilot safety switch when the electric excavator is powered on;

[0120] acquire a state of the seat pressure switch when the state of the pilot safety switch is an off state;

[0121] send a corresponding instruction to the motor controller to control the motor to stop or start according to the state of the seat pressure switch.

[0122] Further, the processor 420 can also be configured to:

[0123] acquire a first preset pressure;

[0124] determine that the seat pressure switch is in a conductive state when the seat pressure of the seat pressure switch is greater than the first preset pressure;

[0125] determine that the seat pressure switch is in an off state when the seat pressure of the seat pressure switch is not greater than the first preset pressure.

[0126] Further, the processor 420 can also be configured to:

[0127] determine a first duration that the seat pressure switch is in a conductive state;

[0128] determine whether the first duration is greater than a first preset time;

[0129] send a start instruction to the motor controller to control the motor to start when it is determined that the first duration is greater than the first preset time.

[0130] Further, the processor 420 can also be configured to:

[0131] determine a second duration that the seat pressure switch is in an off state;

[0132] determine whether the second duration is greater than a second preset time;

[0133] send a stop instruction to the motor controller to control the motor to stop when it is determined that the second duration is greater than the second preset time.

[0134] Further, the processor 420 can also be configured to:

[0135] In a case where the state of the pilot safety switch is the on state, a stop command is sent to the motor controller to control the motor to stop.

[0136] Further, the processor 420 can be further configured to:

[0137] acquire a first detection pressure of the LS pressure switch;

[0138] determine whether the first detection pressure is greater than a second preset pressure;

[0139] in a case where it is determined that the first detection pressure is greater than the second preset pressure, send a first speed command to the motor controller to adjust the motor speed;

[0140] in a case where it is determined that the first detection pressure is less than the second preset pressure, determine whether a duration of the first detection pressure is greater than a third preset time;

[0141] in a case where it is determined that the duration of the first detection pressure is not greater than the third preset time, send the first speed command to the motor controller to adjust the motor speed;

[0142] in a case where it is determined that the duration of the first detection pressure is greater than the third preset time, send a second speed command to the motor controller to adjust the motor speed;

[0143] wherein the first speed command is a speed command corresponding to the throttle gear position, and the second speed command is an idle speed command.

[0144] Further, the processor 420 can be further configured to:

[0145] acquire a current gear state of a throttle knob of the electric excavator;

[0146] in a case where the current gear state of the throttle knob is in a first preset gear position and above, control the motor to enter a first idle state by the motor controller;

[0147] acquire a second detection pressure of the LS pressure switch;

[0148] in a case where the second detection pressure is greater than the second preset pressure, adjust the motor speed to a speed corresponding to the current gear of the throttle knob by the motor controller.

[0149] Further, the processor 420 can be further configured to:

[0150] in a case where the current gear state of the throttle knob is below the first preset gear position or the motor is in the first idle state, control the motor to enter a second idle state by the motor controller;

[0151] acquire a third detection pressure of the LS pressure switch;

[0152] In a case where the third detection pressure is greater than the second preset pressure, adjust the motor speed to a speed corresponding to the current gear of the throttle knob through the motor controller.

[0153] Further, the processor 420 can be further configured to:

[0154] In a case where the gear of the throttle knob of the electric excavator is in the first gear, adjust the motor speed to a speed corresponding to the second gear of the throttle knob through the motor controller.

[0155] Through the above technical solution, in a case where the electric excavator is powered on, first acquire the state of the pilot safety switch, then acquire the state of the seat pressure switch in a case where the state of the pilot safety switch is in the off state, and finally send a corresponding instruction to the motor controller according to the state of the seat pressure switch to control the motor to stop or start. The application can stop the motor in time when the operator leaves the cab or temporarily stops the hydraulic work by detecting the states of the pilot safety switch and the seat pressure switch to judge the action tendency of the operator, which effectively reduces the energy consumption of the whole machine and does not affect the normal operation of other electrical functions of the excavator.

[0156] Figure 5 A low-voltage circuit diagram of an electric excavator according to an embodiment of the application is schematically shown. As shown in the figure, Figure 5 The embodiment of the application further provides an electric excavator, which can include:

[0157] the whole vehicle controller described above; and

[0158] a motor controller connected with the whole vehicle controller and configured to control the motor to start and stop and adjust the motor speed according to the instruction sent by the whole vehicle controller;

[0159] an LS pressure switch connected with the whole vehicle controller and configured to detect the pressure of the LS port of the hydraulic system;

[0160] a seat pressure switch connected with the whole vehicle controller and configured to detect the seat pressure;

[0161] a pilot safety switch connected with the whole vehicle controller and configured to detect the state of the pilot safety handle.

[0162] In the embodiment of the present application, the detector and the controller and the CAN communication line form a control loop, thereby realizing feedback control of the motor speed and start-stop. Specifically, the motor control system of the electric excavator in the embodiment of the present application can include a vehicle controller, a motor controller, an LS pressure switch, a seat pressure switch, a pilot safety switch, a storage battery, and a key ignition switch. Specifically, the vehicle controller is configured to perform vehicle state detection and analysis processing and control output. The motor controller is configured to control the motor to work and receive CAN data from the vehicle controller to adjust the motor speed and start-stop. The pilot safety switch is configured to feed back the pilot safety handle state to the vehicle controller by switching on and off. The LS pressure switch is configured to detect the hydraulic system action state. When the hydraulic system is not in action, the pressure switch is switched on to feed back a low-level signal to the vehicle controller. When the hydraulic system pressure value is greater than a preset pressure, the pressure switch is switched off to feed back a non-low-level signal to the vehicle controller. The seat pressure switch is configured to detect the driver seat pressure to determine whether the operator leaves the seat. When the operator leaves the seat, the pressure switch is switched on to feed back a low-level signal to the vehicle controller. When the operator is on the seat, the pressure switch is switched off to feed back a non-low-level signal to the vehicle controller. Preferably, the storage battery is a 12V storage battery configured to supply power to the system low-voltage circuit, and the key ignition switch is configured to manually control the vehicle power-on and start-stop.

[0163] The embodiment of the present application also provides a machine readable storage medium, which stores instructions for causing a machine to execute the motor control method of the electric excavator.

[0164] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt a computer program product in the form of being implemented on one or more computer usable storage media containing computer usable program code (including but not limited to disk storage, CD-ROM, optical storage, etc.).

[0165] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce the functions described in the flowcharts and / or block diagrams. Figure 1 one flow or multiple flows and / or blocks Figure 1an apparatus to perform one or more of the functions specified in a block or blocks.

[0166] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flow Figure 1 one or more of the flow or flows and / or blocks Figure 1 an apparatus to perform one or more of the functions specified in a block or blocks.

[0167] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 one or more of the flow or flows and / or blocks Figure 1 an apparatus to perform one or more of the functions specified in a block or blocks.

[0168] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0169] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory. The memory can also include non-volatile memory, such as read-only memory (ROM), electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other non-volatile memory. Memory is an example of computer-readable media.

[0170] Computer-readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as 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 programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile discs (DVDs) or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to computing devices. According to the definition herein, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

[0171] It should also be noted that the terms "comprising", "comprises" or other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0172] The above embodiments are only used to illustrate the present application, but not to limit it. Instead of the above, various modifications and changes can be made to the application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall fall into the scope of the claims of the application.

Claims

1. A method of controlling a motor of an electric shovel, characterized by, The application relates to a motor control method applied to a whole vehicle controller of an electric excavator, wherein the electric excavator further comprises a motor controller, a pilot safety switch and a seat pressure switch connected with the whole vehicle controller respectively, and the motor control method comprises the following steps: acquiring the state of the pilot safety switch when the electric excavator is powered on; acquiring the state of the seat pressure switch when the state of the pilot safety switch is an off state; sending a corresponding instruction to the motor controller to control the motor to stop or start according to the state of the seat pressure switch; the electric excavator further comprises an LS pressure switch connected with the whole vehicle controller, and the motor control method further comprises the following steps when the motor is in a starting state: acquiring a first detection pressure of the LS pressure switch; judging whether the first detection pressure is greater than a second preset pressure; sending a first rotating speed instruction to the motor controller to adjust the rotating speed of the motor when it is judged that the first detection pressure is greater than the second preset pressure; the step of sending the first rotating speed instruction to the motor controller to adjust the rotating speed of the motor comprises the following steps: adjusting the rotating speed of the motor to the rotating speed corresponding to the second gear of the accelerator knob when the gear of the accelerator knob of the electric excavator is the first gear through the motor controller.

2. The motor control method according to claim 1, characterized by, the step of acquiring the state of the seat pressure switch when the state of the pilot safety switch is the off state comprises the following steps: acquiring a first preset pressure; judging that the seat pressure switch is in a conductive state when the seat pressure of the seat pressure switch is greater than the first preset pressure; judging that the seat pressure switch is in an off state when the seat pressure of the seat pressure switch is not greater than the first preset pressure.

3. The motor control method according to claim 2, characterized by, the step of sending a corresponding instruction to the motor controller to control the motor to stop or start according to the state of the seat pressure switch comprises the following steps: determining a first duration when the seat pressure switch is in the conductive state; judging whether the first duration is greater than a first preset time; sending a starting instruction to the motor controller to control the motor to start when it is judged that the first duration is greater than the first preset time.

4. The motor control method according to claim 2, characterized by, the step of sending a corresponding instruction to the motor controller to control the motor to stop or start according to the state of the seat pressure switch further comprises the following steps: determining a second duration when the seat pressure switch is in the off state; judging whether the second duration is greater than a second preset time; sending a stopping instruction to the motor controller to control the motor to stop when it is judged that the second duration is greater than the second preset time.

5. The motor control method of claim 1, wherein the motor control method further comprises the following step: sending a stopping instruction to the motor controller to control the motor to stop when the state of the pilot safety switch is in a conductive state.

6. The motor control method of claim 1, wherein the method further comprises the following steps: judging whether the duration of the first detection pressure is greater than a third preset time when it is judged that the first detection pressure is less than the second preset pressure; sending a first rotating speed instruction to the motor controller to adjust the rotating speed of the motor when it is judged that the duration of the first detection pressure is not greater than the third preset time; In a case where the duration of the first detected pressure is greater than a third preset time, a second speed command is sent to the motor controller to adjust the motor speed; The first speed command is a speed command corresponding to a throttle gear position, and the second speed command is an idle speed command.

7. The motor control method according to claim 6, characterized by, The sending of the second speed command to the motor controller to adjust the motor speed includes: Obtaining a current gear state of a throttle knob of the electric excavator; In a case where the current gear state of the throttle knob is in a first preset gear position and above, the motor is controlled by the motor controller to enter a first idle state; Obtaining a second detected pressure of the LS pressure switch; In a case where the second detected pressure is greater than the second preset pressure, the motor speed is adjusted by the motor controller to a speed corresponding to the current gear of the throttle knob.

8. The motor control method of claim 6, wherein, The sending of the second speed command to the motor controller to adjust the motor speed includes: In a case where the current gear state of the throttle knob is below the first preset gear position or the motor is in the first idle state, the motor is controlled by the motor controller to enter a second idle state; Obtaining a third detected pressure of the LS pressure switch; In a case where the third detected pressure is greater than the second preset pressure, the motor speed is adjusted by the motor controller to a speed corresponding to the current gear of the throttle knob.

9. A vehicle control unit, characterized by, Comprise: a memory configured to store instructions; and a processor configured to call the instructions from the memory and enable the motor control method of the electric excavator according to any one of claims 1 to 8 when the instructions are executed.

10. An electrically powered excavator characterised in that, Comprise: the vehicle controller according to claim 9; and a motor controller connected with the vehicle controller and configured to control the start and stop of the motor and adjust the motor speed according to the instructions sent by the vehicle controller; an LS pressure switch connected with the vehicle controller and configured to detect the pressure of the hydraulic system LS port; a seat pressure switch connected with the vehicle controller and configured to detect the seat pressure; a pilot safety switch connected with the vehicle controller and configured to detect the state of the pilot safety handle.

11. A machine-readable storage medium, characterized in that, The machine-readable storage medium has instructions stored thereon for causing a machine to perform the motor control method of the electric excavator according to any one of claims 1 to 8.

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