A control method and system for preventing head tilting during heavy-duty excavation in hydraulic excavators

Abstract

This invention discloses a control method and system for preventing head lifting during heavy-duty excavation in hydraulic excavators. The method includes: acquiring the Y-axis angular acceleration of the entire vehicle displacement; calculating the Y-axis change angle using the Y-axis angular acceleration; comparing the Y-axis change angle with a set allowable lifting angle; if the Y-axis change angle is greater than the set allowable lifting angle, entering an anti-lifting mode; acquiring the boom chamber pressure value; setting a boom chamber pressure judgment value according to a pre-set anti-lifting function activation percentage; when the boom chamber pressure value is higher than the boom chamber pressure judgment value, entering the anti-lifting mode; after entering the anti-lifting mode, controlling the boom raising solenoid valve to lower the excavator tracks. This invention is based on the existing configuration of existing mass-produced fully electronically controlled models, and achieves the anti-lifting function through the control system to implement judgment and execution steps without increasing additional costs.

Description

Technical Field

[0001] This invention relates to a control method and system for preventing the excavator from tilting during heavy-duty excavation in a hydraulic excavator, belonging to the technical field of engineering machinery excavators. Background Technology

[0002] During the use of hydraulic excavators, there is a situation where the boom lifts the excavator while leveling the ground. This process can easily cause the front of the tracks to lift up, creating a danger. Given the increasingly diverse user needs, the market requires an anti-lift function. Existing technology includes an anti-lift technology that involves modifying the hardware so that the relief valve at the boom port can be adjusted secondary. When leveling the ground, the pressure of the relief valve at the boom port is reduced to prevent the boom from lifting the excavator while leveling the ground. The disadvantage of this technology is the increased hardware cost. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a control method and system for preventing the lifting of the excavator's head during heavy-duty excavation. Based on the existing configuration of existing mass-produced fully electric control models, the anti-lifting function is achieved by implementing judgment and execution steps through the control system without increasing additional costs.

[0004] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0005] In a first aspect, the present invention provides a control method for preventing the hydraulic excavator from tilting during heavy-duty excavation, comprising:

[0006] Collect the Y-axis angular acceleration of the vehicle displacement, and use the Y-axis angular acceleration to calculate the Y-axis change angle;

[0007] The Y-direction change angle is compared with the set allowable lifting angle. If the Y-direction change angle is greater than the set allowable lifting angle, the anti-lifting mode is entered.

[0008] After entering the anti-jacking mode, the boom raising solenoid valve is controlled to lower the excavator tracks.

[0009] Furthermore, it also includes: acquiring the boom chamber pressure value, setting the boom chamber pressure judgment value according to the preset anti-lift function activation percentage, and entering the anti-lift mode when the boom chamber pressure value is higher than the boom chamber pressure judgment value.

[0010] Furthermore, before acquiring the Y-axis angular acceleration of the vehicle displacement or obtaining the boom chamber pressure value, the handle signal is acquired. Based on the handle signal, it is determined whether there is a stick retraction or bucket retraction action. If so, the actions of acquiring the Y-axis angular acceleration of the vehicle displacement or obtaining the boom chamber pressure value are then performed.

[0011] Furthermore, the formula for calculating the Y-axis change angle is as follows:

[0012] Angle_calc:=ASIN(LIMIT(-1,Acc_read / 10920,1))*180 / π

[0013] Where Angle_calc is the angle of change in the Y direction, and Acc_read is the angular acceleration in the Y direction.

[0014] Furthermore, controlling the boom raising solenoid valve to lower the excavator tracks includes:

[0015] Given the boom raising solenoid valve current Boomup_set, the loading process of Boomup_set is to apply a ramp load to Boomup_set based on the initial value Boomup_initial. Before loading, Boom_set and the loading ramp are adjusted. At the same time, if there is a boom lowering action, the boom lowering solenoid valve current is set to 0, and the boom raising and lowering solenoid valve currents are output to the solenoid valves through the controller to control the boom raising, so as to realize the excavator track lowering.

[0016] Secondly, the present invention provides a control system for preventing tilting during heavy-duty excavation in a hydraulic excavator, comprising:

[0017] The gyroscope is used to collect the vehicle's displacement angular acceleration in the Y direction.

[0018] The machine controller is used to calculate the Y-axis change angle using Y-axis angular acceleration; compare the Y-axis change angle with the set allowable lifting angle; if the Y-axis change angle is greater than the set allowable lifting angle, enter the anti-lifting mode; and control the boom lifting solenoid valve to realize the excavator track lowering.

[0019] Furthermore, it also includes: a boom chamber pressure acquisition unit, used to acquire the boom chamber pressure value and send it to the whole machine controller, so that the whole machine controller sets the boom chamber pressure judgment value according to the preset anti-lift function activation percentage. When the boom chamber pressure value is higher than the boom chamber pressure judgment value, the anti-lift mode is entered.

[0020] Furthermore, it also includes: a handle signal acquisition unit, used to acquire handle signals, and determine whether there is a stick retraction or bucket retraction action based on the handle signals. If so, it will then acquire the Y-axis angular acceleration of the whole vehicle displacement or acquire the boom chamber pressure value.

[0021] Furthermore, it also includes: an instrument, which is used to select whether to enable the anti-lifting function and to select the percentage of the anti-lifting function that is enabled.

[0022] Furthermore, it also includes an anti-lifting module, which is used to set the boom lifting solenoid valve current Boomup_set. The Boomup_set loading process is to apply a ramp to Boomup_set based on the initial value Boomup_initial. Before loading, Boom_set and the loading ramp are adjusted. At the same time, if there is a boom lowering action, the boom lowering solenoid valve current is set to 0, and the boom lifting and lowering solenoid valve currents are output to the solenoid valve through the controller to control the boom lifting, so as to realize the excavator track lowering.

[0023] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0024] This invention provides a control method and system for preventing tipping during heavy-duty excavation in hydraulic excavators. By using a boom chamber pressure sensor equipped on the entire vehicle and a gyroscope built into the controller, the system measures the vehicle's status based on the boom pressure and the vertical tilt angle of the entire vehicle, and then intervenes to control it. This achieves the anti-tipping function without increasing additional costs, thus having higher practical value. Attached Figure Description

[0025] Figure 1 This is a flowchart of a control method for preventing the hydraulic excavator from tilting during heavy-duty excavation, provided by an embodiment of the present invention. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0027] Example 1

[0028] This embodiment describes a control method for preventing the hydraulic excavator from tilting during heavy-duty excavation, including:

[0029] Collect the Y-axis angular acceleration of the vehicle displacement, and use the Y-axis angular acceleration to calculate the Y-axis change angle;

[0030] The Y-direction change angle is compared with the set allowable lifting angle. If the Y-direction change angle is greater than the set allowable lifting angle, the anti-lifting mode is entered.

[0031] After entering the anti-jacking mode, the boom raising solenoid valve is controlled to lower the excavator tracks.

[0032] It also includes: obtaining the boom chamber pressure value, setting the boom chamber pressure judgment value according to the preset anti-lift function activation percentage, and entering the anti-lift mode when the boom chamber pressure value is higher than the boom chamber pressure judgment value.

[0033] Before collecting the Y-axis angular acceleration of the vehicle displacement or obtaining the boom chamber pressure value, the handle signal is acquired. Based on the handle signal, it is determined whether there is a stick retraction or bucket retraction action. If so, the action of collecting the Y-axis angular acceleration of the vehicle displacement or obtaining the boom chamber pressure value is then performed.

[0034] The formula for calculating the Y-axis change angle is as follows:

[0035] Angle_calc:=ASIN(LIMIT(-1,Acc_read / 10920,1))*180 / π

[0036] Where Angle_calc is the angle of change in the Y direction, and Acc_read is the angular acceleration in the Y direction.

[0037] The control of the boom raising solenoid valve to lower the excavator tracks includes:

[0038] Given the boom raising solenoid valve current Boomup_set, the loading process of Boomup_set is to apply a ramp load to Boomup_set based on the initial value Boomup_initial. Before loading, Boom_set and the loading ramp are adjusted. At the same time, if there is a boom lowering action, the boom lowering solenoid valve current is set to 0, and the boom raising and lowering solenoid valve currents are output to the solenoid valves through the controller to control the boom raising, so as to realize the excavator track lowering.

[0039] like Figure 1 As shown in this embodiment, the control method for preventing the hydraulic excavator from tilting during heavy-duty excavation involves the following steps in its application:

[0040] 1. The instrument panel should be set to anti-lift function, which should be turned off during normal vehicle support operation (S10);

[0041] 2. Instrument selection: Anti-lift function activation percentage: Smooth_percent (related to digging force) (S20);

[0042] 3. By inputting the signal through the handle, determine whether there is a stick retraction or bucket retraction action. If so, intervene to prevent jacking (S30).

[0043] 4. Y-axis angular acceleration Acc_read, read by the controller's internal low-level function, and uses the Y-axis angular acceleration to calculate the Y-axis change angle Angle_calc:=ASIN(LIMIT(-1,Acc_read / 10920,1))*180 / π;(S40);

[0044] 5. Set the allowable lifting angle High_angle and the allowable deviation angle Low_angle. Define the anti-lifting function enable condition Antitopping_enable. When Angle_calc is greater than High_angle but not lower than Low_angle, Antitopping_enable is true, otherwise it is false (S50);

[0045] 6. Boompress pressure in the boom chamber: The boom chamber pressure judgment value High_press is set according to Smooth_percent. When Boompress is higher than High_press, the digging force judgment condition Digging_permit is true, otherwise it is false (S60).

[0046] 7. When the above conditions are met, the boom raising solenoid valve current Boomup_set is given. The loading process of Boomup_set is to load it from the initial value Boomup_initial to Boomup_set by a ramp. In order to ensure a smooth implementation process, Boom_set and loading ramp need to be adjusted. At the same time, if there is a boom lowering action, the boom lowering solenoid valve current is set to 0, and the boom raising and lowering solenoid valve currents are output to the solenoid valve through the controller (S70).

[0047] 8. Exit and restore normal control mode when Antitopping_enable or Digging_permit is false.

[0048] This technology platform is a fully electronically controlled excavator, currently being validated on the XE200GH. Prerequisites include electronically controlled boom raising and lowering valves, a boom chamber pressure sensor throughout the vehicle, and a built-in gyroscope in the controller. Based on boom pressure and the vehicle's vertical tilt angle, the system assesses the vehicle's status and intervenes with control. This meets the customer's anti-jacking requirements without increasing costs.

[0049] Example 2

[0050] This embodiment provides a control system for preventing the hydraulic excavator from tilting during heavy-duty excavation, including:

[0051] The gyroscope is used to collect the vehicle's displacement angular acceleration in the Y direction.

[0052] The machine controller is used to calculate the Y-axis change angle using Y-axis angular acceleration; compare the Y-axis change angle with the set allowable lifting angle; if the Y-axis change angle is greater than the set allowable lifting angle, enter the anti-lifting mode; and control the boom lifting solenoid valve to realize the excavator track lowering.

[0053] In a further embodiment, it also includes: a boom chamber pressure acquisition unit, used to acquire the boom chamber pressure value and send it to the whole machine controller, so that the whole machine controller sets the boom chamber pressure judgment value according to the preset anti-lift function activation percentage, and enters the anti-lift mode when the boom chamber pressure value is higher than the boom chamber pressure judgment value.

[0054] In a further embodiment, it also includes: a handle signal acquisition unit, used to acquire handle signals, determine whether there is a stick retraction or bucket retraction action based on the handle signals, and if so, to acquire the Y-axis angular acceleration of the whole vehicle displacement or acquire the boom chamber pressure value.

[0055] In a further embodiment, it also includes: an instrument, the instrument being used to select whether to enable the anti-lifting function and to select the percentage of the anti-lifting function that is enabled.

[0056] In a further embodiment, it also includes: an anti-lifting module, which is used to set the boom lifting solenoid valve current Boomup_set. The loading process of Boomup_set is to load it at an incline from the initial value Boomup_initial to Boomup_set. Before loading, Boom_set and loading incline are adjusted. At the same time, if there is a boom lowering action at this time, the boom lowering solenoid valve current is set to 0, and the boom lifting and lowering solenoid valve currents are output to the solenoid valve through the controller to control the boom to rise, so as to realize the excavator tracks to fall back.

[0057] The following description, in conjunction with a preferred embodiment, illustrates the content involved in the above embodiments.

[0058] 1. The instrument panel should be set to anti-lift function, which should be turned off during normal vehicle support operation (S10);

[0059] 2. Instrument selection: Anti-lift function activation percentage: Smooth_percent (related to digging force) (S20);

[0060] 3. By inputting the signal through the handle, determine whether there is a stick retraction or bucket retraction action. If so, intervene to prevent jacking (S30).

[0061] 4. Y-axis angular acceleration Acc_read, read by the controller's internal low-level function, and uses the Y-axis angular acceleration to calculate the Y-axis change angle Angle_calc:=ASIN(LIMIT(-1,Acc_read / 10920,1))*180 / π;(S40);

[0062] 5. Set the allowable lifting angle High_angle and the allowable deviation angle Low_angle. Define the anti-lifting function enable condition Antitopping_enable. When Angle_calc is greater than High_angle but not lower than Low_angle, Antitopping_enable is true, otherwise it is false (S50);

[0063] 6. Boompress pressure in the boom chamber: The boom chamber pressure judgment value High_press is set according to Smooth_percent. When Boompress is higher than High_press, the digging force judgment condition Digging_permit is true, otherwise it is false (S60).

[0064] 7. When the above conditions are met, the boom raising solenoid valve current Boomup_set is given. The loading process of Boomup_set is to load it from the initial value Boomup_initial to Boomup_set by a ramp. In order to ensure a smooth implementation process, Boom_set and loading ramp need to be adjusted. At the same time, if there is a boom lowering action, the boom lowering solenoid valve current is set to 0, and the boom raising and lowering solenoid valve currents are output to the solenoid valve through the controller (S70).

[0065] 8. Exit and restore normal control mode when Antitopping_enable or Digging_permit is false.

[0066] In this embodiment, the instrument can be set to enable or disable the anti-jacking function and the activation level; the controller calculates the jacking angle based on the gyroscope information, and the boom chamber pressure sensor collects the boom chamber pressure; under the condition that the set conditions are met, the boom raising solenoid valve is controlled to realize the excavator track lowering, which has higher practical value than the existing technology.

[0067] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for preventing head tilting during heavy-duty excavation in a hydraulic excavator, characterized in that, include: Collect the Y-axis angular acceleration of the vehicle displacement, and use the Y-axis angular acceleration to calculate the Y-axis change angle; The Y-direction change angle is compared with the set allowable lifting angle. If the Y-direction change angle is greater than the set allowable lifting angle, the anti-lifting mode is entered. After entering the anti-lift mode, the boom lifting solenoid valve is controlled to lower the excavator tracks. The formula for calculating the Y-axis change angle is as follows: Angle_calc:=ASIN(LIMIT(-1,Acc_read / 10920,1))*180 / π Where Angle_calc is the angle of change in the Y direction, and Acc_read is the angular acceleration in the Y direction; The control of the boom raising solenoid valve to lower the excavator tracks includes: Given the boom raising solenoid valve current Boomup_set, the loading process of Boomup_set is to apply a ramp to Boomup_set based on the initial value Boomup_initial. Before loading, Boom_set and the loading ramp are adjusted. At the same time, if there is a boom lowering action, the boom lowering solenoid valve current is set to 0, and the boom raising and lowering solenoid valve currents are output to the solenoid valves through the controller to control the boom raising, so as to realize the excavator track lowering.

2. The control method for preventing head tilting during heavy-duty excavation of a hydraulic excavator according to claim 1, characterized in that, Also includes: Obtain the boom chamber pressure value, set the boom chamber pressure judgment value according to the preset anti-lift function activation percentage, and enter the anti-lift mode when the boom chamber pressure value is higher than the boom chamber pressure judgment value.

3. The control method for preventing head tilting during heavy-duty excavation of a hydraulic excavator according to claim 2, characterized in that, Before collecting the Y-axis angular acceleration of the vehicle displacement or obtaining the boom chamber pressure value, the handle signal is acquired. Based on the handle signal, it is determined whether there is a stick retraction or bucket retraction action. If so, the action of collecting the Y-axis angular acceleration of the vehicle displacement or obtaining the boom chamber pressure value is then performed.

4. A control system for preventing head tilting during heavy-duty excavation in a hydraulic excavator, used to implement the control method for preventing head tilting during heavy-duty excavation in a hydraulic excavator as described in claim 1, characterized in that, include: The gyroscope is used to collect the vehicle's displacement angular acceleration in the Y direction. The machine controller is used to calculate the Y-axis change angle using Y-axis angular acceleration; compare the Y-axis change angle with the set allowable lifting angle; if the Y-axis change angle is greater than the set allowable lifting angle, enter the anti-lifting mode; and control the boom lifting solenoid valve to realize the excavator track lowering.

5. The control system for preventing head tilting during heavy-duty excavation of a hydraulic excavator according to claim 4, characterized in that, Also includes: The boom chamber pressure acquisition unit is used to acquire the boom chamber pressure value and send it to the machine controller. The machine controller then sets the boom chamber pressure judgment value according to the preset anti-lift function activation percentage. When the boom chamber pressure value is higher than the boom chamber pressure judgment value, the anti-lift mode is entered.

6. The control system for preventing head tilting during heavy-duty excavation of a hydraulic excavator according to claim 5, characterized in that, Also includes: The handle signal acquisition unit is used to acquire handle signals and determine whether there is a stick retraction or bucket retraction action based on the handle signals. If so, it will then acquire the Y-axis angular acceleration of the whole vehicle displacement or acquire the pressure value of the boom chamber.

7. The control system for preventing head tilting during heavy-duty excavation of a hydraulic excavator according to claim 4, characterized in that, Also includes: The instrument is used to select whether to enable the anti-lift function and to select the percentage of the anti-lift function that is enabled.

8. The control system for preventing head tilting during heavy-duty excavation of a hydraulic excavator according to claim 4, characterized in that, Also includes: The anti-lift module is used to set the boom raising solenoid valve current Boomup_set. The Boomup_set loading process is to apply a ramp to Boomup_set based on the initial value Boomup_initial. Before loading, Boom_set and the loading ramp are adjusted. At the same time, if there is a boom lowering action, the boom lowering solenoid valve current is set to 0, and the boom raising and lowering solenoid valve currents are output to the solenoid valves through the controller to control the boom to rise, so as to realize the excavator tracks to fall back.

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