Leveling control methods, devices, excavators, and storage media

Abstract

This disclosure provides a leveling control method, apparatus, excavator, and storage medium, relating to the field of control. The leveling control method includes: calculating the rate of change of pilot pressure on the stick handle; determining the leveling mode based on the rate of change of pilot pressure; finding control parameters for the valve core opening of the stick electro-hydraulic valve corresponding to the leveling mode; and controlling the stick electro-hydraulic valve based on the control parameters. This disclosure can meet the leveling control logic of different regions, different users, and different operating habits. Furthermore, this disclosure can also solve the problem of the stick nodding or rising during leveling, optimizing leveling performance.

Description

Technical Field

[0001] This disclosure relates to the field of control, and more particularly to a method, apparatus, excavator, and storage medium for controlling leveling terrain. Background Technology

[0002] When performing leveling operations, operators in different regions have different operating habits. For example, domestic operators are accustomed to simultaneously pulling the boom handle to its maximum stroke when retracting the stick and raising the boom, and then gradually reducing the stroke of the boom handle to achieve the purpose of leveling. However, overseas operators, such as those in Australia and Canada, are accustomed to slowly and linearly controlling the stick and boom handle strokes during leveling operations. Summary of the Invention

[0003] One technical problem this disclosure aims to solve is to provide a leveling control method, device, excavator, and storage medium that can adapt to leveling control logic with different operating habits.

[0004] According to one aspect of this disclosure, a leveling control method is proposed, comprising: calculating the rate of change of pilot pressure of the boom handle; determining the leveling mode based on the rate of change of pilot pressure; finding the control parameters for the valve core opening of the boom solenoid valve corresponding to the leveling mode; and controlling the boom solenoid valve based on the control parameters.

[0005] In some embodiments, determining the leveling method based on the rate of change of the pilot pressure includes: determining the leveling method as a first leveling method when the rate of change of the pilot pressure is greater than a threshold; and determining the leveling method as a second leveling method when the rate of change of the pilot pressure is less than or equal to the threshold.

[0006] In some embodiments, the control parameters corresponding to the first leveling mode include a first percentage of valve spool opening, a first speed, a second percentage, a second speed, and an inverse proportional characteristic function of the valve spools of the boom solenoid valve and the boom hydraulic valve. Controlling the boom solenoid valve according to the control parameters includes: in a first stage, controlling the valve spool opening of the boom solenoid valve to increase from zero to the first percentage at the first speed; in a second stage, controlling the valve spool opening of the boom solenoid valve to increase from the first percentage to the second percentage at the second speed, wherein the second speed is greater than the first speed; and in a third stage, controlling the valve spool opening of the boom solenoid valve to increase from the second percentage to 100% according to the inverse proportional characteristic function.

[0007] In some embodiments, the starting point of the third stage is the retraction starting point of the valve core of the boom hydraulic control valve.

[0008] In some embodiments, the control parameters corresponding to the second leveling mode include a third percentage, a fourth percentage, and a fifth percentage of the valve core opening, a third speed and a fourth speed, a quadratic function parameter of the valve core opening percentage and the valve core opening of the boom hydraulic control valve, and a delay time. Controlling the stick electro-hydraulic valve according to the control parameters includes: in a first stage, calculating the first valve core opening of the stick electro-hydraulic valve at each moment based on the quadratic function parameter, the delay time, and the valve core opening percentage of the boom hydraulic control valve at each moment, and controlling the valve core opening of the stick electro-hydraulic valve to increase from zero to a third percentage according to the first valve core opening at each moment; in a second stage, controlling the valve core opening of the stick electro-hydraulic valve to increase from a third percentage to a fourth percentage according to the third speed; and in a third stage, controlling the valve core opening of the stick electro-hydraulic valve to increase from a fourth percentage to a fifth percentage according to the fourth speed.

[0009] In some embodiments, the control parameters corresponding to the second leveling mode include a third percentage, a fourth percentage, and a fifth percentage of the valve core opening, a third speed and a fourth speed, a quadratic function parameter of the valve core opening percentage and valve core opening of the boom hydraulic control valve, and a delay time. Controlling the stick electro-hydraulic valve according to the control parameters includes: calculating the first valve core opening of the stick electro-hydraulic valve at each moment based on the quadratic function parameter, the delay time, and the valve core opening percentage of the boom hydraulic control valve at each moment; and in a first stage, controlling the valve core opening of the stick electro-hydraulic valve according to the first valve core opening at each moment from... The percentage increases from zero to the third percentage; in the second stage, the second valve core opening of the boom solenoid valve at each moment is calculated according to the third speed, where the maximum value of the second valve core opening is the fourth percentage, and the valve core opening of the boom solenoid valve is controlled according to the minimum value of the first valve core opening and the second valve core opening at each moment; and in the third stage, the third valve core opening of the boom solenoid valve at each moment is calculated according to the fourth speed, where the maximum value of the third valve core opening is the fifth percentage, and the valve core opening of the boom solenoid valve is controlled according to the minimum value of the first valve core opening and the third valve core opening at each moment.

[0010] In some embodiments, calculating the first valve core opening degree of the boom solenoid valve at each moment, based on the quadratic function parameters, the delay time, and the valve core opening percentage of the boom hydraulic control valve at each moment, includes: calculating the first opening degree value corresponding to the valve core opening percentage of the boom hydraulic control valve based on the quadratic function parameters; when the first opening degree value is less than or equal to the delay time value, the first valve core opening degree of the boom solenoid valve is zero; when the first opening degree value is greater than or equal to 1, the first valve core opening degree of the boom solenoid valve is 1; when the first opening degree value is greater than the delay time value and less than 1, the first valve core opening degree of the boom solenoid valve is the ratio of the difference between the first opening degree value and the delay time value to the difference between 1 and the delay time value.

[0011] According to another aspect of this disclosure, a leveling control device is also proposed, comprising: a rate of change calculation module configured to calculate the rate of change of pilot pressure of the boom handle; a leveling mode determination module configured to determine the leveling mode based on the rate of change of pilot pressure; a parameter lookup module configured to look up control parameters for the valve core opening of the boom solenoid valve corresponding to the leveling mode; and a solenoid valve control module configured to control the boom solenoid valve based on the control parameters.

[0012] In some embodiments, the leveling mode determination module is configured to determine the leveling mode as a first leveling mode when the rate of change of the pilot pressure is greater than a threshold; and to determine the leveling mode as a second leveling mode when the rate of change of the pilot pressure is less than or equal to the threshold.

[0013] In some embodiments, the control parameters corresponding to the first leveling mode include a first percentage of valve spool opening, a first speed, a second percentage, a second speed, and an inverse proportional characteristic function of the valve spools of the boom solenoid valve and the boom hydraulic valve. The solenoid valve control module is configured to: in a first stage, control the valve spool opening of the boom solenoid valve to increase from zero to the first percentage according to the first speed; in a second stage, control the valve spool opening of the boom solenoid valve to increase from the first percentage to the second percentage according to the second speed, wherein the second speed is greater than the first speed; and in a third stage, control the valve spool opening of the boom solenoid valve to increase from the second percentage to 100% according to the inverse proportional characteristic function.

[0014] In some embodiments, the control parameters corresponding to the second leveling mode include a third percentage, a fourth percentage, and a fifth percentage of valve core opening, a third speed and a fourth speed, a quadratic function parameter of the valve core opening percentage and valve core opening of the boom hydraulic control valve, and a delay time. The electro-hydraulic valve control module is configured to: in a first stage, calculate the first valve core opening of the boom electro-hydraulic valve at each moment based on the quadratic function parameter, the delay time, and the valve core opening percentage of the boom hydraulic control valve at each moment; and control the valve core opening of the boom electro-hydraulic valve to increase from zero to the third percentage according to the first valve core opening at each moment; in a second stage, control the valve core opening of the boom electro-hydraulic valve to increase from the third percentage to the fourth percentage according to the third speed; and in a third stage, control the valve core opening of the boom electro-hydraulic valve to increase from the fourth percentage to the fifth percentage according to the fourth speed.

[0015] In some embodiments, the control parameters corresponding to the second leveling mode include a third percentage, a fourth percentage, and a fifth percentage of the valve core opening, a third speed and a fourth speed, a quadratic function parameter of the valve core opening percentage and the valve core opening of the boom hydraulic control valve, and a delay time. The electro-hydraulic valve control module is configured to calculate the first valve core opening of the boom electro-hydraulic valve at each moment based on the quadratic function parameter, the delay time, and the valve core opening percentage of the boom hydraulic control valve at each moment; in the first stage, according to the first valve core opening at each moment, the valve core opening of the boom electro-hydraulic valve is controlled to increase from zero. In the third stage, the second valve core opening of the boom solenoid valve at each moment is calculated according to the third speed, wherein the maximum value of the second valve core opening is the fourth percentage, and the valve core opening of the boom solenoid valve is controlled according to the minimum value of the first valve core opening and the second valve core opening corresponding to each moment; and in the third stage, the third valve core opening of the boom solenoid valve at each moment is calculated according to the fourth speed, wherein the maximum value of the third valve core opening is the fifth percentage, and the valve core opening of the boom solenoid valve is controlled according to the minimum value of the first valve core opening and the third valve core opening corresponding to each moment.

[0016] According to another aspect of this disclosure, a leveling control device is also proposed, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the leveling control method as described above based on instructions stored in the memory.

[0017] According to another aspect of this disclosure, an excavator is also provided, comprising: the aforementioned leveling control device.

[0018] According to another aspect of this disclosure, a computer-readable storage medium is also proposed, on which computer program instructions are stored, which, when executed by a processor, implement the above-described leveling control method.

[0019] In this embodiment, the leveling mode can be determined based on the rate of change of the pilot pressure of the stick handle. Then, the stick control parameters corresponding to the leveling mode can be queried, and the stick electric control valve can be controlled according to the control parameters. This can meet the leveling control logic of different regions, different users and different operating habits.

[0020] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0021] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0022] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0023] Figure 1 This is a schematic flowchart of some embodiments of the flat terrain control method disclosed herein;

[0024] Figure 2 This is a schematic diagram of the opening of the boom electro-hydraulic valve core in some embodiments of this disclosure;

[0025] Figure 3 This is a schematic diagram of the opening of the boom electro-hydraulic valve core in some other embodiments of this disclosure;

[0026] Figure 4 This is a schematic diagram of the structure of some embodiments of the flat ground control device disclosed herein;

[0027] Figure 5 This is a schematic diagram of the structure of some other embodiments of the flat ground control device disclosed herein. Detailed Implementation

[0028] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0029] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0030] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0031] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0032] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0034] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0035] Figure 1 This is a flowchart illustrating some embodiments of the flat terrain control method disclosed herein.

[0036] In step 110, the rate of change of the pilot pressure of the boom handle is calculated.

[0037] In some embodiments, the rate of change of the pilot pressure on the stick handle can determine whether the handle is pulled all the way down quickly or the handle stroke is controlled slowly. For example, the faster the handle stroke, the faster the pilot pressure is applied. Differentiating the pilot pressure yields the rate of change of the pilot pressure, i.e., the slope of the pilot pressure loading curve, which can be used to determine different operating habits.

[0038] In step 120, the leveling method is determined based on the rate of change of the pilot pressure.

[0039] In some embodiments, if the rate of change of pilot pressure is greater than a threshold, the leveling mode is determined to be the first leveling mode. In this embodiment, the threshold is set according to specific actual conditions. The first leveling mode is when the boom retraction and boom lifting operations are performed, the handle is simultaneously and quickly pulled to its maximum stroke.

[0040] In some embodiments, if the rate of change of pilot pressure is less than or equal to a threshold, the leveling mode is determined to be the second leveling mode. The second leveling mode is a slow, linear control of the stick and boom handle travel.

[0041] In step 130, the control parameters for the valve core opening of the control boom solenoid valve corresponding to the leveling mode are found.

[0042] In some embodiments, for positive flow excavators, an electrically controlled valve is provided for the stick, and the stick's retraction and swing are controlled by the valve spool of the electrically controlled valve. The stick is also provided with a hydraulically controlled valve, and the boom is provided with a hydraulically controlled valve, the valve spool of which opens according to the relationship between secondary pressure and current.

[0043] In some embodiments, the control parameters corresponding to the first leveling mode include a first percentage of valve core opening, a first speed, a second percentage, a second speed, and inverse proportional characteristic functions of the valve cores of the boom solenoid valve and the boom hydraulic valve.

[0044] In some embodiments, the control parameters corresponding to the second leveling mode include the third, fourth, and fifth percentages of the valve core opening, the third and fourth speeds, the quadratic function parameters of the valve core opening percentage and the valve core opening of the boom hydraulic valve, and the delay time.

[0045] The control parameters in the above embodiments are calibration values ​​obtained from testing.

[0046] In step 140, the boom solenoid valve is controlled according to the control parameters.

[0047] In the above embodiments, the leveling mode can be determined based on the rate of change of the pilot pressure of the stick handle, and then the stick control parameters corresponding to the leveling mode can be queried. The stick electric control valve can be controlled according to the control parameters, which can meet the leveling control logic of different regions, different users and different operating habits.

[0048] In some embodiments of this disclosure, if the leveling method is determined to be the first leveling method based on the rate of change of the pilot pressure on the boom handle, then... Figure 2 As shown, in the first stage of the boom solenoid valve control, the valve core opening of the boom solenoid valve is increased from zero to a first percentage R1 according to a first speed; in the second stage of the boom solenoid valve control, the valve core opening of the boom solenoid valve is increased from the first percentage R1 to a second percentage R2 according to a second speed, wherein the second speed is greater than the first speed; and in the third stage of the boom solenoid valve control, the valve core opening of the boom solenoid valve is increased from the second percentage R2 to 100% according to an inverse proportional characteristic function.

[0049] In this embodiment, when the stick and boom handles are quickly pulled to the bottom, the slope of the pilot pressure of the stick's hydraulic control valve spool and the boom's hydraulic control valve spool is at its maximum. In the first stage, slowly controlling the opening of the stick's electro-hydraulic valve spool can prevent the stick from hitting the ground. In the second stage, since the boom's hydraulic control valve spool has not yet returned to its original position, the stick's electro-hydraulic valve spool needs to be loaded to the fixed opening point R2 at a certain slope. The starting point of the third stage is the return starting point of the boom's hydraulic control valve spool. When the boom's hydraulic control valve spool returns to its original position, according to the inverse proportional characteristics of the stick and boom, the opening of the stick's electro-hydraulic valve spool is adaptively adjusted until it is fully open to 100%. This can solve the problem of the stick nodding or rising on flat ground and optimize the flat ground performance.

[0050] In some embodiments of this disclosure, if the leveling method is determined to be the first leveling method based on the rate of change of the pilot pressure on the boom handle, then... Figure 3 As shown.

[0051] In the first stage of boom solenoid valve control, based on the quadratic function parameters, delay time, and the valve core opening percentage of the boom hydraulic valve at each moment, the first valve core opening degree of the boom solenoid valve at each moment is calculated, and the valve core opening degree of the boom solenoid valve is controlled to increase from zero to the third percentage according to the first valve core opening degree at each moment.

[0052] During this stage, the boom and stick move slowly, if according to Figure 2 The valve core of the boom solenoid valve is controlled by a method that avoids the phenomenon of the boom hitting the ground due to gravity. In this embodiment, the valve core opening is controlled by offset and nonlinear methods.

[0053] In some embodiments, according to the quadratic function parameters, the first opening value corresponding to the spool opening percentage of the boom hydraulic control valve is calculated; when the first opening value is less than or equal to the delay time value, the value of the first spool opening of the stick electro-hydraulic valve is zero; when the first opening value is greater than or equal to 1, the value of the first spool opening of the stick electro-hydraulic valve is 1; when the first opening value is greater than the delay time value and less than 1, the value of the first spool opening of the stick electro-hydraulic valve is the ratio of the difference between the first opening value and the delay time value to the difference between 1 and the delay time value.

[0054] For example, collect the spool opening percentage Boom_logic of the boom hydraulic control valve at each moment, with a range of 0 to 1. Use the formula Arm_logic1 = a * Boom_logic * Boom_logic + (1 - a) * Boom_logic (0 < a < 1) to obtain the first opening value Arm_logic1, which is the intermediate variable of the spool opening percentage of the stick electro-hydraulic valve. Among them, the parameter a determines the spool opening size of the stick electro-hydraulic valve. a is a positive value, and the larger the a value, the smaller the spool opening percentage of the stick electro-hydraulic valve. Then, according to the formula Arm_logic = (Arm_logic1 - s) * 1 / (1 - s), calculate the first spool opening Arm_logic of the stick electro-hydraulic valve, with a range of 0 to 1. Among them, s is the delay time. The larger s is, the longer the stick delay opening time is, and the smaller s is, the shorter the stick delay opening time is. If Arm_logic1 < s, then Arm_logic = 0; if Arm_logic1 > 1, then Arm_logic = 1.

[0055] In this embodiment, in order to optimize the flat ground nodding phenomenon, the opening of the spool of the stick electro-hydraulic valve is delayed, and the spool of the stick hydraulic control valve opens normally linearly according to the handle. Adjusting the delay time can solve the problems of flat ground nodding or stick lifting.

[0056] In the second stage of the stick electro-hydraulic valve control, according to the third speed k1, control the spool opening of the stick electro-hydraulic valve to increase from the third percentage R3 to the fourth percentage R4. In the third stage of the stick electro-hydraulic valve control, according to the fourth speed k2, control the spool opening of the stick electro-hydraulic valve to increase from the fourth percentage R4 to the fifth percentage R5.

[0057] In the above embodiments, when the stick and boom handles move slowly, it can automatically match the speed of linear opening. By dynamically adjusting the coordination process of the spool loading of the stick electro-hydraulic valve and the spool loading of the boom hydraulic control valve, the problems of flat ground nodding or lifting can be solved, and the flat ground performance can be optimized.

[0058] In some other embodiments of the present disclosure, according to the parameters of the quadratic function, the delay time, and the percentage of the spool opening of the boom hydraulic control valve at each moment, the first spool opening corresponding to the stick electro-hydraulic control valve at each moment is calculated. For example, the percentage of the spool opening of the boom hydraulic control valve Boom_logic at each moment is collected, and the range is 0 to 1. The formula Arm_logic1 = a * Boom_logic * Boom_logic + (1 - a) * Boom_logic (0 < a < 1) is used to obtain the first opening value Arm_logic1, that is, the intermediate variable of the percentage of the spool opening of the stick electro-hydraulic control valve. Among them, the parameter a determines the size of the spool opening of the stick electro-hydraulic control valve. a is a positive value, and the larger the value of a, the smaller the percentage of the spool opening of the stick electro-hydraulic control valve. Then, according to the formula Arm_logic = (Arm_logic1 - s) * 1 / (1 - s), the first spool opening Arm_logic of the stick electro-hydraulic control valve is calculated, and the range is 0 to 1. Among them, s is the delay time. The larger s is, the longer the stick delay opening time is, and the smaller s is, the shorter the stick delay opening time is. If Arm_logic1 < s, then Arm_logic = 0; if Arm_logic1 > 1, then Arm_logic = 1.

[0059] In the first stage, according to the first spool opening corresponding to each moment, the spool opening of the stick electro-hydraulic control valve is controlled to increase from zero to the third percentage.

[0060] In the second stage, calculate the second spool opening of the stick electro-hydraulic control valve at each moment according to the third speed. Among them, the maximum value of the second spool opening is the fourth percentage. According to the minimum value of the first spool opening and the second spool opening corresponding to each moment, the spool opening of the stick electro-hydraulic control valve is controlled. In the third stage, calculate the third spool opening of the stick electro-hydraulic control valve at each moment according to the fourth speed. Among them, the maximum value of the third spool opening is the fifth percentage. According to the minimum value of the first spool opening and the third spool opening corresponding to each moment, the spool opening of the stick electro-hydraulic control valve is controlled. [[ID=B]]

[0061] In the above embodiments, when the stick and boom handles move slowly, the spool of the stick electro-hydraulic control valve directly opens to a certain opening value, and the stick will hit the ground. Therefore, it is necessary to delay the opening of the spool of the stick electro-hydraulic control valve to avoid the stick hitting the ground. In addition, in order to meet the compatibility of the operation mode of the excavator, the electro-hydraulic control valve of the stick is controlled according to the minimum percentage of the spool opening at each moment, so as to achieve the purpose of coordinated flat operation.

[0062] In some embodiments, the vehicle-mounted monitor sets the flatness adaptability operation enable option, which is default to the off state. At this time, it means that the user quickly pulls the handle to the maximum value. At this time, according to Figure 2 the control logic controls the stick. If the flatness adaptability operation enable is turned on, the handle linear control logic is introduced.

[0063] The embodiments disclosed herein require no additional sensors or complex closed-loop control algorithms, resulting in simple control and strong versatility. By dynamically adjusting the coordinated process of the valve core loading of the stick electro-hydraulic valve and the valve core loading of the boom hydraulic valve, adaptive control logic is provided to meet different operating habits, solving the problem of excavators nodding or lifting on flat ground and optimizing their leveling performance.

[0064] Figure 4 The diagram below shows some embodiments of the leveling control device disclosed herein, which includes a rate of change calculation module 410, a leveling mode determination module 420, a parameter lookup module 430, and an electric valve control module 440.

[0065] The rate of change calculation module 410 is configured to calculate the rate of change of the pilot pressure on the boom handle.

[0066] In some embodiments, the rate of change of the pilot pressure on the stick handle can determine whether the handle should be pulled to the bottom quickly or the handle stroke should be controlled slowly.

[0067] The leveling mode determination module 420 is configured to determine the leveling mode based on the rate of change of the pilot pressure.

[0068] In some embodiments, the leveling mode determination module is configured to determine a first leveling mode when the rate of change of pilot pressure is greater than a threshold, and to determine a second leveling mode when the rate of change of pilot pressure is less than or equal to the threshold. The first leveling mode involves simultaneously and rapidly pulling the handle to its maximum stroke during stick retraction and boom lifting operations. The second leveling mode involves slowly and linearly controlling the stick and boom handle strokes.

[0069] The parameter lookup module 430 is configured to look up the control parameters for the valve core opening of the control boom solenoid valve corresponding to the leveling mode.

[0070] In some embodiments, the control parameters corresponding to the first leveling mode include a first percentage of valve core opening, a first speed, a second percentage, a second speed, and inverse proportional characteristic functions of the valve cores of the boom solenoid valve and the boom hydraulic valve.

[0071] In some embodiments, the control parameters corresponding to the second leveling mode include the third, fourth, and fifth percentages of the valve core opening, the third and fourth speeds, the quadratic function parameters of the valve core opening percentage and the valve core opening of the boom hydraulic valve, and the delay time.

[0072] The electric valve control module 440 is configured to control the boom electric valve according to control parameters.

[0073] In some embodiments, in the first level ground mode, the electro-hydraulic valve control module is configured to: in a first stage, control the valve core opening of the boom electro-hydraulic valve to increase from zero to a first percentage at a first speed; in a second stage, control the valve core opening of the boom electro-hydraulic valve to increase from the first percentage to a second percentage at a second speed, wherein the second speed is greater than the first speed; and in a third stage, control the valve core opening of the boom electro-hydraulic valve to increase from the second percentage to 100% according to an inverse proportional characteristic function.

[0074] In some embodiments, under the second flat-ground mode, the electro-hydraulic valve control module is configured to: in a first stage, calculate the first valve opening degree of the boom electro-hydraulic valve at each moment based on quadratic function parameters, delay time, and the valve spool opening percentage of the boom hydraulic valve at each moment; and control the valve spool opening degree of the boom electro-hydraulic valve to increase from zero to a third percentage according to the first valve spool opening degree at each moment; in a second stage, control the valve spool opening degree of the boom electro-hydraulic valve to increase from the third percentage to a fourth percentage according to a third speed; and in a third stage, control the valve spool opening degree of the boom electro-hydraulic valve to increase from the fourth percentage to a fifth percentage according to a fourth speed. The starting point of the third stage is the return start point of the boom hydraulic valve valve spool.

[0075] In some embodiments, in the second flat-ground mode, the electro-hydraulic valve control module is configured to calculate the first valve core opening of the boom electro-hydraulic valve at each moment based on quadratic function parameters, delay time, and the valve core opening percentage of the boom hydraulic valve at each moment; in a first stage, according to the first valve core opening at each moment, control the valve core opening of the boom electro-hydraulic valve to increase from zero to a third percentage; in a second stage, calculate the second valve core opening of the boom electro-hydraulic valve at each moment according to a third speed, wherein the maximum value of the second valve core opening is a fourth percentage, and control the valve core opening of the boom electro-hydraulic valve according to the minimum value of the first and second valve core openings at each moment; and in a third stage, calculate the third valve core opening of the boom electro-hydraulic valve at each moment according to a fourth speed, wherein the maximum value of the third valve core opening is a fifth percentage, and control the valve core opening of the boom electro-hydraulic valve according to the minimum value of the first and third valve core openings at each moment.

[0076] When calculating the valve core opening of the boom solenoid valve using a quadratic function, for example, based on the quadratic function parameters, the first opening value corresponding to the valve core opening percentage of the boom hydraulic control valve is calculated; if the first opening value is less than or equal to the delay time value, the first valve core opening value of the boom solenoid valve is zero; if the first opening value is greater than or equal to 1, the first valve core opening value of the boom solenoid valve is 1; if the first opening value is greater than the delay time value but less than 1, the first valve core opening value of the boom solenoid valve is the ratio of the difference between the first opening value and the delay time value to the difference between 1 and the delay time value.

[0077] In the above embodiments, no additional sensors or complex closed-loop control algorithms are required. Instead, the leveling mode is determined based on the rate of change of the pilot pressure of the stick handle. Then, the stick control parameters corresponding to the leveling mode are queried, and the stick electro-hydraulic valve is controlled according to the control parameters. This can meet the leveling control logic of different regions, different users and different operating habits.

[0078] Figure 5 The diagram below illustrates the structure of some other embodiments of the leveling control device disclosed herein. The leveling control device 500 includes a memory 510 and a processor 520. The memory 510 can be a disk, flash memory, or any other non-volatile storage medium. The memory 510 is used to store instructions from the embodiments described above. The processor 520 is coupled to the memory 510 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 520 is used to execute the instructions stored in the memory.

[0079] In some embodiments, the processor 520 is coupled to the memory 510 via a BUS bus 530. The leveling control device 500 can also be connected to an external storage device 550 via a storage interface 540 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 560, which will not be described in detail here.

[0080] In this embodiment, by storing data instructions in a memory and then processing the instructions by a processor, the flatland control logic can meet the different operating habits of different users in different regions.

[0081] In other embodiments of this disclosure, an excavator is also protected, which includes the leveling control device described in the above embodiments.

[0082] In other embodiments, a computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the steps of the methods described above. Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0084] 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.

[0085] 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.

[0086] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0087] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0088] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A method for controlling flat terrain, comprising: Calculate the rate of change of pilot pressure on the boom handle; If the rate of change of the pilot pressure is greater than a threshold, the leveling method is determined to be the first leveling method; if the rate of change of the pilot pressure is less than or equal to the threshold, the leveling method is determined to be the second leveling method. Find the control parameters for the valve spool opening of the control boom solenoid valve corresponding to the first leveling mode. The control parameters corresponding to the first leveling mode include a first percentage, a first speed, a second percentage, a second speed of the valve spool opening, and an inverse proportional characteristic function of the valve spools of the boom solenoid valve and the boom hydraulic valve; and According to the control parameters, the boom solenoid valve is controlled. In the case of a first leveling mode, in the first stage, the valve core opening of the boom solenoid valve is increased from zero to a first percentage at a first speed; in the second stage, the valve core opening of the boom solenoid valve is increased from the first percentage to a second percentage at a second speed, wherein the second speed is greater than the first speed; in the third stage, the valve core opening of the boom solenoid valve is increased from the second percentage to 100% according to the inverse proportional characteristic function.

2. The method for controlling flat land according to claim 1, wherein, The starting point of the third stage is the return start point of the valve core of the boom hydraulic control valve.

3. The method for controlling flat land according to claim 1, wherein, The control parameters corresponding to the second leveling mode include the third, fourth, and fifth percentages of the valve core opening, the third and fourth speeds, the quadratic function parameter of the valve core opening percentage of the boom hydraulic valve relative to the valve core opening, and the delay time. Furthermore, controlling the boom solenoid valve according to these control parameters also includes: When the leveling mode is the second leveling mode, in the first stage, based on the quadratic function parameters, the delay time, and the valve core opening percentage of the boom hydraulic control valve at each moment, the first valve core opening degree of the stick electric control valve at each moment is calculated, and according to the first valve core opening degree at each moment, the valve core opening degree of the stick electric control valve is controlled to increase from zero to the third percentage. In the second stage, according to the third speed, the valve opening of the boom electro-hydraulic valve is increased from the third percentage to the fourth percentage; and In the third stage, according to the fourth speed, the valve core opening of the boom electro-hydraulic valve is increased from the fourth percentage to the fifth percentage.

4. The method for controlling flat land according to claim 1, wherein, The control parameters corresponding to the second leveling mode include the third, fourth, and fifth percentages of the valve core opening, the third and fourth speeds, the quadratic function parameter of the valve core opening percentage of the boom hydraulic valve relative to the valve core opening, and the delay time. Furthermore, controlling the boom solenoid valve according to these control parameters also includes: When the leveling mode is the second leveling mode, the first valve core opening degree of the boom hydraulic control valve at each moment is calculated based on the quadratic function parameters, the delay time, and the valve core opening percentage of the boom hydraulic control valve at each moment. In the first stage, according to the first valve core opening corresponding to each moment, the valve core opening of the boom solenoid valve is controlled to increase from zero to the third percentage. In the second stage, the second valve core opening of the boom solenoid valve at each moment is calculated according to the third speed, wherein the maximum value of the second valve core opening is the fourth percentage. Based on the minimum value between the first valve core opening and the second valve core opening at each moment, the valve core opening of the boom solenoid valve is controlled; and In the third stage, the third valve core opening of the boom solenoid valve at each moment is calculated according to the fourth speed, wherein the maximum value of the third valve core opening is the fifth percentage. The valve core opening of the boom solenoid valve is controlled according to the minimum value of the first valve core opening and the third valve core opening at each moment.

5. The method for controlling flat land according to claim 3 or 4, wherein, Based on the quadratic function parameters, the delay time, and the valve core opening percentage of the boom hydraulic control valve at each moment, the first valve core opening degree of the stick electro-hydraulic control valve at each moment is calculated as follows: Based on the quadratic function parameters, calculate the first opening value corresponding to the valve core opening percentage of the boom hydraulic valve; When the first opening value is less than or equal to the delay time value, the first valve core opening of the boom solenoid valve is zero; When the first opening value is greater than or equal to 1, the first valve core opening value of the boom solenoid valve is 1. When the first opening value is greater than the delay time value and less than 1, the first valve core opening value of the boom solenoid valve is the ratio of the difference between the first opening value and the delay time value to the difference between 1 and the delay time value.

6. A method for controlling flat terrain, comprising: Calculate the rate of change of pilot pressure on the boom handle; If the rate of change of the pilot pressure is greater than a threshold, the leveling method is determined to be the first leveling method; if the rate of change of the pilot pressure is less than or equal to the threshold, the leveling method is determined to be the second leveling method. Find the control parameters of the valve core opening of the control boom solenoid valve corresponding to the leveling mode. The control parameters corresponding to the second leveling mode include the third, fourth and fifth percentages of the valve core opening, the third speed and the fourth speed, the quadratic function parameters of the valve core opening percentage of the boom hydraulic valve and the valve core opening, and the delay time. According to the control parameters, the boom solenoid valve is controlled. Specifically, in the second leveling mode, in the first stage, based on the quadratic function parameters, the delay time, and the valve core opening percentage of the boom hydraulic valve at each moment, the first valve core opening degree of the boom solenoid valve at each moment is calculated. Then, according to the first valve core opening degree at each moment, the valve core opening degree of the boom solenoid valve is controlled to increase from zero to the third percentage. In the second stage, according to the third speed, the valve core opening degree of the boom solenoid valve is controlled to increase from the third percentage to the fourth percentage. In the third stage, according to the fourth speed, the valve core opening degree of the boom solenoid valve is controlled to increase from the fourth percentage to the fifth percentage.

7. The method for controlling flat land according to claim 6, wherein, Based on the quadratic function parameters, the delay time, and the valve core opening percentage of the boom hydraulic control valve at each moment, the first valve core opening degree of the stick electro-hydraulic control valve at each moment is calculated as follows: Based on the quadratic function parameters, calculate the first opening value corresponding to the valve core opening percentage of the boom hydraulic valve; When the first opening value is less than or equal to the delay time value, the first valve core opening of the boom solenoid valve is zero; When the first opening value is greater than or equal to 1, the first valve core opening value of the boom solenoid valve is 1. When the first opening value is greater than the delay time value and less than 1, the first valve core opening value of the boom solenoid valve is the ratio of the difference between the first opening value and the delay time value to the difference between 1 and the delay time value.

8. A method for controlling flat terrain, comprising: Calculate the rate of change of pilot pressure on the boom handle; If the rate of change of the pilot pressure is greater than a threshold, the leveling method is determined to be the first leveling method; if the rate of change of the pilot pressure is less than or equal to the threshold, the leveling method is determined to be the second leveling method. Find the control parameters of the valve core opening of the control boom solenoid valve corresponding to the leveling mode. The control parameters corresponding to the second leveling mode include the third, fourth and fifth percentages of the valve core opening, the third speed and the fourth speed, the quadratic function parameters of the valve core opening percentage of the boom hydraulic valve and the valve core opening, and the delay time. According to the control parameters, the boom solenoid valve is controlled. Specifically, in the second leveling mode, based on the quadratic function parameters, the delay time, and the valve core opening percentage of the boom hydraulic valve at each moment, the first valve core opening of the boom solenoid valve at each moment is calculated. In the first stage, according to the first valve core opening at each moment, the valve core opening of the boom solenoid valve is controlled to increase from zero to the third percentage. In the second stage, according to the third speed, the second valve core opening of the boom solenoid valve at each moment is calculated, where the maximum value of the second valve core opening is the fourth percentage. Based on the minimum value between the first and second valve core openings at each moment, the valve core opening of the boom solenoid valve is controlled. In the third stage, according to the fourth speed, the third valve core opening of the boom solenoid valve at each moment is calculated, where the maximum value of the third valve core opening is the fifth percentage. Based on the minimum value between the first and third valve core openings at each moment, the valve core opening of the boom solenoid valve is controlled.

9. The method for controlling flat land according to claim 8, wherein, Based on the quadratic function parameters, the delay time, and the valve core opening percentage of the boom hydraulic control valve at each moment, the first valve core opening degree of the stick electro-hydraulic control valve at each moment is calculated as follows: Based on the quadratic function parameters, calculate the first opening value corresponding to the valve core opening percentage of the boom hydraulic valve; When the first opening value is less than or equal to the delay time value, the first valve core opening of the boom solenoid valve is zero; When the first opening value is greater than or equal to 1, the first valve core opening value of the boom solenoid valve is 1. When the first opening value is greater than the delay time value and less than 1, the first valve core opening value of the boom solenoid valve is the ratio of the difference between the first opening value and the delay time value to the difference between 1 and the delay time value.

10. A leveling control device, comprising: The rate of change calculation module is configured to calculate the rate of change of the pilot pressure on the boom handle; The leveling mode determination module is configured to determine the leveling mode as a first leveling mode when the rate of change of the pilot pressure is greater than a threshold, and to determine the leveling mode as a second leveling mode when the rate of change of the pilot pressure is less than or equal to the threshold. The parameter lookup module is configured to look up control parameters for the valve spool opening of the control boom solenoid valve corresponding to the first leveling mode. The control parameters corresponding to the first leveling mode include a first percentage, a first speed, a second percentage, a second speed of the valve spool opening, and an inverse proportional characteristic function of the valve spools of the boom solenoid valve and the boom hydraulic valve. The electric control valve module is configured to control the boom electric control valve according to the control parameters. Specifically, when the leveling mode is a first leveling mode, in a first stage, the valve core opening of the boom electric control valve is controlled to increase from zero to a first percentage at a first speed; in a second stage, the valve core opening of the boom electric control valve is controlled to increase from the first percentage to a second percentage at a second speed, wherein the second speed is greater than the first speed; and in a third stage, the valve core opening of the boom electric control valve is controlled to increase from the second percentage to 100% according to the inverse proportional characteristic function.

11. The leveling control device according to claim 10, wherein, The control parameters corresponding to the second leveling mode include the third, fourth, and fifth percentages of the valve core opening, the third and fourth speeds, the quadratic function parameter of the valve core opening percentage of the boom hydraulic valve relative to the valve core opening, and the delay time. The electro-hydraulic valve control module is configured to, in the case of the second leveling mode, in the first stage, calculate the first valve opening degree of the boom electro-hydraulic valve at each moment based on the quadratic function parameters, the delay time, and the valve core opening percentage of the boom hydraulic valve at each moment, and control the valve core opening degree of the boom electro-hydraulic valve to increase from zero to the third percentage according to the first valve core opening degree at each moment; in the second stage, control the valve core opening degree of the boom electro-hydraulic valve to increase from the third percentage to the fourth percentage according to the third speed; and in the third stage, control the valve core opening degree of the boom electro-hydraulic valve to increase from the fourth percentage to the fifth percentage according to the fourth speed.

12. The leveling control device according to claim 10, wherein, The control parameters corresponding to the second leveling mode include the third, fourth, and fifth percentages of the valve core opening, the third and fourth speeds, the quadratic function parameter of the valve core opening percentage of the boom hydraulic valve relative to the valve core opening, and the delay time. The electro-hydraulic valve control module is configured to, when the leveling mode is the second leveling mode, calculate the first valve core opening of the boom electro-hydraulic valve at each moment based on the quadratic function parameters, the delay time, and the valve core opening percentage of the boom hydraulic valve at each moment; in a first stage, control the valve core opening of the boom electro-hydraulic valve to increase from zero to the third percentage according to the first valve core opening at each moment; in a second stage, calculate the second valve core opening of the boom electro-hydraulic valve at each moment according to the third speed, wherein the maximum value of the second valve core opening is the fourth percentage, and control the valve core opening of the boom electro-hydraulic valve according to the minimum value of the first valve core opening and the second valve core opening at each moment; and in a third stage, calculate the third valve core opening of the boom electro-hydraulic valve at each moment according to the fourth speed, wherein the maximum value of the third valve core opening is the fifth percentage, and control the valve core opening of the boom electro-hydraulic valve according to the minimum value of the first valve core opening and the third valve core opening at each moment.

13. A leveling control device, comprising: The rate of change calculation module is configured to calculate the rate of change of the pilot pressure on the boom handle; The leveling mode determination module is configured to determine the leveling mode as a first leveling mode when the rate of change of the pilot pressure is greater than a threshold, and to determine the leveling mode as a second leveling mode when the rate of change of the pilot pressure is less than or equal to the threshold. The parameter lookup module is configured to look up the control parameters of the valve core opening of the control boom solenoid valve corresponding to the leveling mode. The control parameters corresponding to the second leveling mode include the third, fourth and fifth percentages of the valve core opening, the third and fourth speeds, the quadratic function parameter of the valve core opening percentage of the boom hydraulic valve and the valve core opening, and the delay time. The electro-hydraulic valve control module is configured to control the boom electro-hydraulic valve according to the control parameters. Specifically, in the second leveling mode, in the first stage, based on the quadratic function parameters, the delay time, and the valve core opening percentage of the boom hydraulic valve at each moment, the module calculates the first valve core opening degree of the boom electro-hydraulic valve at each moment, and controls the valve core opening degree of the boom electro-hydraulic valve to increase from zero to the third percentage according to the first valve core opening degree at each moment. In the second stage, according to the third speed, the module controls the valve core opening degree of the boom electro-hydraulic valve to increase from the third percentage to the fourth percentage. In the third stage, according to the fourth speed, the module controls the valve core opening degree of the boom electro-hydraulic valve to increase from the fourth percentage to the fifth percentage.

14. A leveling control device, comprising: The rate of change calculation module is configured to calculate the rate of change of the pilot pressure on the boom handle; The leveling mode determination module is configured to determine the leveling mode as a first leveling mode when the rate of change of the pilot pressure is greater than a threshold, and to determine the leveling mode as a second leveling mode when the rate of change of the pilot pressure is less than or equal to the threshold. The parameter lookup module is configured to look up the control parameters of the valve core opening of the control boom solenoid valve corresponding to the leveling mode. The control parameters corresponding to the second leveling mode include the third, fourth and fifth percentages of the valve core opening, the third and fourth speeds, the quadratic function parameter of the valve core opening percentage of the boom hydraulic valve and the valve core opening, and the delay time. The electro-hydraulic valve control module is configured to control the boom electro-hydraulic valve according to the control parameters. Specifically, when the leveling mode is the second leveling mode, the module calculates the first valve opening degree of the boom electro-hydraulic valve at each moment based on the quadratic function parameters, the delay time, and the valve spool opening percentage of the boom hydraulic valve at each moment. In the first stage, the module controls the valve spool opening degree of the boom electro-hydraulic valve to increase from zero to the third percentage according to the first valve spool opening degree at each moment. In the second stage, the module calculates the valve spool opening degree of the boom electro-hydraulic valve at each third speed. The second valve core opening at each moment is given, wherein the maximum value of the second valve core opening is the fourth percentage. The valve core opening of the boom solenoid valve is controlled based on the minimum value of the first valve core opening and the second valve core opening at each moment. In the third stage, the third valve core opening of the boom solenoid valve at each moment is calculated according to the fourth speed, wherein the maximum value of the third valve core opening is the fifth percentage. The valve core opening of the boom solenoid valve is controlled based on the minimum value of the first valve core opening and the third valve core opening at each moment.

15. A leveling control device, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the flat ground control method as described in any one of claims 1 to 9 based on instructions stored in the memory.

16. An excavator, comprising: The leveling control device according to any one of claims 10 to 15.

17. A computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the leveling control method according to any one of claims 1 to 9.

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