Debugging method and device for arm support and storage medium
By determining the boom's actions to be adjusted and the current adjustment, and using a closed-loop control system to automatically adjust the current, the problem of balancing boom adjustment speed and accuracy in existing technologies is solved, achieving efficient and precise boom adjustment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHONGKE YUNGU TECH
- Filing Date
- 2023-11-27
- Publication Date
- 2026-06-30
AI Technical Summary
In existing technologies, when booms are adjusted using hydraulic pressure, it is difficult to balance adjustment speed and accuracy, resulting in poor calibration results.
By determining multiple actions of the boom to be debugged, setting an initial debugging current, and adjusting the current according to the difference between the execution time and the target time until the accuracy requirements are met, a closed-loop control system is used to automatically adjust the current to achieve precise debugging.
It effectively overcomes the complex characteristics of proportional solenoid valves, such as nonlinearity, time-varying nature, electromagnetic hysteresis, and temperature drift, improves the accuracy and speed of current adjustment, realizes automated adjustment, and saves labor and time costs.
Smart Images
Figure CN117681190B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of engineering machinery technology, and specifically to a method, device and storage medium for boom adjustment. Background Technology
[0002] In the debugging of mechanical equipment components, the pressure of the hydraulic system is typically measured to determine whether the component's movement speed meets the minimum current requirement of the solenoid valve. If the condition is not met, the opening current is increased by a set step size until the condition is met. However, by the time the hydraulic system pressure is reached, the solenoid valve may have already opened. The actuator controlled by the solenoid valve may not have overcome static friction, resulting in an inaccurate minimum current calibration. Furthermore, setting the step size is difficult; a step size that is too large results in fast calibration speed but poor accuracy, while a step size that is too small results in good accuracy but slow calibration speed, making it difficult to balance efficiency and accuracy. Summary of the Invention
[0003] The purpose of this application is to provide a method for adjusting a boom, in order to solve the technical problem that the adjustment effect is not good when adjusting by the pressure of the hydraulic system in the prior art.
[0004] To achieve the above objectives, the first aspect of this application provides a method for adjusting a boom, the method being applied to the boom and comprising:
[0005] Identify multiple boom movements that need to be adjusted;
[0006] Determine the debugging current for each debugging action in this debugging session;
[0007] For each action to be debugged, execute the action according to the debugging current and obtain the execution time of the action to be debugged;
[0008] For each action to be debugged, if the difference between the execution time of the action to be debugged and the target execution time corresponding to the action to be debugged is greater than a preset threshold, the adjustment value for the debugging current is determined based on the execution time and the target execution time.
[0009] For each action to be debugged, the debugging current for the next debugging is determined based on the adjustment value and the debugging current of this debugging.
[0010] For each action to be debugged, the steps of executing the action according to the debugging current and obtaining the execution time of the action to be debugged are repeated until the difference between the execution time of the action to be debugged and the target execution time corresponding to the action to be debugged is less than or equal to the preset threshold.
[0011] In the embodiments of this application, for each action to be debugged, when the difference between the execution duration of the action to be debugged and the target execution duration corresponding to the action to be debugged is greater than a preset threshold, determining the adjustment value for the debugging current based on the execution duration and the target execution duration includes: obtaining the initial execution duration of each action to be debugged during the first debugging, and the duration value range of each action to be debugged, wherein the target execution duration is within the duration value range; for each action to be debugged, when the initial execution duration is less than the lower limit of the duration value range and the current execution duration is greater than the upper limit of the duration value range, or when the initial execution duration is greater than the lower limit of the duration value range and the current execution duration is less than the upper limit of the duration value range, determining the debugging coefficient for the debugging current as a first value; for each action to be debugged, when the initial execution duration is within the duration value range and the current execution duration is within the upper limit of the duration value range, determining the debugging coefficient for the debugging current as a second value; and determining the adjustment value for the debugging current based on the execution duration, the target execution duration, and the debugging coefficient.
[0012] In the embodiments of this application, the adjustment value is determined according to formula (1):
[0013] y = min{M, max(N, J × |tT|)} × K
[0014] Where y refers to the adjustment value of the debugging current for this debugging, M refers to the maximum debugging current corresponding to the debugging current, N refers to the minimum debugging current corresponding to the debugging current, J refers to the minimum adjustment value corresponding to the adjustment value, t refers to the execution duration for this debugging, T refers to the target execution duration, and K refers to the debugging coefficient.
[0015] In the embodiments of this application, the multiple actions to be debugged include at least one of the following: boom luffing, boom extension and retraction, turntable rotation, platform manual leveling, boom luffing, platform swing, and boom rotation.
[0016] In embodiments of this application, the type of debugging current includes at least one of minimum current, slow current, platform maximum current, and ground maximum current.
[0017] In the embodiments of this application, a solenoid valve for adjusting the debugging current is provided for each action to be debugged. The method further includes: for each action to be debugged, if the difference between the execution duration and the target execution duration is less than or equal to a preset threshold, the debugging current corresponding to the execution duration is determined as the target current of the solenoid valve corresponding to the action to be debugged.
[0018] A second aspect of this application provides a boom adjustment device, comprising:
[0019] The memory is configured to store instructions; and
[0020] The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the aforementioned debugging method for the boom.
[0021] A third aspect of this application provides an engineering machine, comprising:
[0022] boom; and
[0023] The aforementioned adjustment device for the boom.
[0024] In embodiments of this application, the construction machinery further includes: multiple solenoid valves connected to the boom, each solenoid valve being used to adjust the debugging current for the corresponding action to be debugged.
[0025] The above technical solution identifies multiple actions of the boom to be tested; determines the testing current for each action in this test; for each action, executes the action according to the testing current and obtains the execution duration; for each action, if the difference between the execution duration and the target execution duration is greater than a preset threshold, determines an adjustment value for the testing current based on the execution duration and the target execution duration; for each action, determines the testing current for the next test based on the adjustment value and the testing current in this test; for each action, repeats the steps of executing the action according to the testing current and obtaining the execution duration, until the difference between the execution duration and the target execution duration is less than or equal to the preset threshold. This effectively overcomes the complex characteristics of proportional solenoid valves, such as nonlinearity, time-varying nature, electromagnetic hysteresis, temperature drift, and mechanical wear, improving the accuracy and speed of determining the target testing current. Furthermore, the calibration process is fully automated, saving labor and time costs.
[0026] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description
[0027] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:
[0028] Figure 1 The illustration shows a schematic flowchart of a boom commissioning method according to an embodiment of this application;
[0029] Figure 2 The illustration shows a flowchart of a boom commissioning method according to a specific embodiment of this application;
[0030] Figure 3 The diagram schematically illustrates a structural block diagram of a boom adjustment device according to an embodiment of this application;
[0031] Figure 4 A schematic diagram illustrating the structure of an engineering machine according to an embodiment of this application is shown.
[0032] Figure 5 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.
[0033] Explanation of reference numerals in the attached figures
[0034] 300 Debugging device 410 Boom
[0035] 420 Solenoid Valve Detailed Implementation
[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0037] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.
[0038] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.
[0039] Figure 1 The illustration schematically shows a flowchart of a boom commissioning method according to an embodiment of this application. Figure 1As shown in the figure, this application provides a method for adjusting a boom, which may include the following steps.
[0040] S102, determine multiple actions of the boom to be adjusted.
[0041] During the overall commissioning of mechanical equipment, taking aerial work machinery as an example, the current calibration process of the proportional solenoid valve used to control the movement of the boom can be carried out by operating each boom section to perform commissioning actions and collecting the commissioning action data.
[0042] In the embodiments of this application, the multiple actions to be debugged include at least one of the following: boom luffing, boom extension and retraction, turntable rotation, platform manual leveling, boom luffing, platform swing, and boom rotation.
[0043] Specifically, the boom consists of multiple boom sections, including the main boom, turntable, boom jib, and platform. The actions to be tested for each boom section include main boom luffing, main boom extension and retraction, turntable slewing, platform manual leveling, boom luffing, platform swing, and boom slewing.
[0044] S104 determines the debugging current for each debugging action in this debugging session.
[0045] In embodiments of this application, the type of debugging current includes at least one of minimum current, slow current, platform maximum current, and ground maximum current.
[0046] Specifically, the test current refers to the control current of the solenoid valve. The processor can determine the test current for each test action. By operating the remote control, the test current of the proportional solenoid valve on the boom multi-way valve is adjusted to change the opening of the oil port, thereby controlling the speed of the cylinder action and thus adjusting the speed of the boom's test actions.
[0047] S106: For each action to be debugged, execute the action according to the debugging current and obtain the execution duration of the action to be debugged.
[0048] For different actions to be debugged, the processor can control the solenoid valve to adjust the output debugging current to execute the action. After the debugging action is completed, the execution duration of the action is obtained. The execution duration refers to the time from the start of the debugging action to its completion. For example, when executing the boom extension / retraction debugging action, the time from when the solenoid valve outputs the debugging current to control the boom to extend from the initial position until the boom retracts to the initial position is the execution duration.
[0049] S108, for each action to be debugged, if the difference between the execution time of the action to be debugged and the target execution time corresponding to the action to be debugged is greater than a preset threshold, determine the adjustment value for the debugging current based on the execution time and the target execution time.
[0050] Different debugging actions correspond to different target execution durations. The target execution duration refers to the reasonable duration set by technicians based on the operating environment and their technical experience for the action to be debugged. For each action to be debugged, if the difference between the current debugging execution duration and the target execution duration exceeds a preset threshold, meaning the debugging current causes the corresponding boom segment to move too fast or too slow, then the debugging current needs to be adjusted for another debugging attempt. Specifically, the processor can determine the adjustment value for the debugging current based on the execution duration and the target execution duration. The preset threshold refers to the allowable error value between the execution duration and the target execution duration, set by technicians based on experience.
[0051] In the embodiments of this application, for each action to be debugged, when the difference between the execution duration of the action to be debugged and the target execution duration corresponding to the action to be debugged is greater than a preset threshold, determining the adjustment value for the debugging current based on the execution duration and the target execution duration includes: obtaining the initial execution duration of each action to be debugged during the first debugging, and the duration value range of each action to be debugged, wherein the target execution duration is within the duration value range; for each action to be debugged, when the initial execution duration is less than the lower limit of the duration value range and the current execution duration is greater than the upper limit of the duration value range, or when the initial execution duration is greater than the lower limit of the duration value range and the current execution duration is less than the upper limit of the duration value range, determining the debugging coefficient for the debugging current as a first value; for each action to be debugged, when the initial execution duration is within the duration value range and the current execution duration is within the upper limit of the duration value range, determining the debugging coefficient for the debugging current as a second value; and determining the adjustment value for the debugging current based on the execution duration, the target execution duration, and the debugging coefficient.
[0052] Specifically, to determine the adjustment value for the debugging current, the processor can obtain the initial execution duration of each action to be debugged during the first debugging session, as well as the duration range for each action. The duration range refers to the reasonable range of execution durations set by the technicians for different actions to be debugged. The target execution duration must fall within this range. If the initial execution duration is less than the lower limit of the duration range, and the current execution duration is greater than the upper limit, then the debugging current for this debugging session is determined to have been "over-adjusted." Similarly, if the initial execution duration is greater than the lower limit of the duration range, and the current execution duration is less than the upper limit, then the debugging current for this debugging session is also determined to have been "over-adjusted." In cases where the debugging current is "over-adjusted," the processor can determine the first adjustment coefficient for the debugging current. For each action to be debugged, if the initial execution duration is within the specified range, and the current execution duration is at the upper limit of that range, then the debug current for this debugging session can be determined to be "not over-adjusted." In this case, the processor can determine the second value as the debugging coefficient for the debug current. Further, the processor can determine the adjustment value for the debug current based on the execution duration, the target execution duration, and the debugging coefficient. That is, if the debug current for this debugging session is "over-adjusted," the adjustment value for the debug current is determined based on the execution duration, the target execution duration, and the first value. If the debug current for this debugging session is "not over-adjusted," the adjustment value for the debug current is determined based on the execution duration, the target execution duration, and the second value.
[0053] In the embodiments of this application, the adjustment value is determined according to formula (1):
[0054] y = min{M, max(N, J × |tT|)} × K
[0055] Where y refers to the adjustment value of the debugging current for this debugging, M refers to the maximum debugging current corresponding to the debugging current, N refers to the minimum debugging current corresponding to the debugging current, J refers to the minimum adjustment value corresponding to the adjustment value, t refers to the execution duration for this debugging, T refers to the target execution duration, and K refers to the debugging coefficient.
[0056] Specifically, if the debugging current is not over-adjusted during this debugging process, K = 1. If the debugging current is over-adjusted during this debugging process, K = 0.5. M refers to the maximum debugging current corresponding to the debugging current, which can be set to 150mA. N refers to the minimum debugging current corresponding to the debugging current, which can be set to 30mA. T refers to the target execution time, T = (T min +T max ) / 2. T min T refers to the lower limit of the duration range. maxThis refers to the upper limit of the duration range. In calibration projects where the action to be debugged is the boom luffing and the type of debugging current is the maximum ground current, the duration range can be 38s to 42s, with a target execution time of 40s. The constants M, N, J, and K can be adjusted according to actual working conditions to achieve the best debugging effect.
[0057] S110: For each action to be debugged, determine the debugging current of the action to be debugged in the next debugging based on the adjustment value and the debugging current of this debugging.
[0058] Specifically, for each debugging action, if the difference between the execution time of this debugging and the target execution time is greater than a preset threshold, the debugging current of this debugging can be adjusted. After determining the adjustment value of the debugging current based on the above scheme, the debugging current for the nth current debugging is calculated according to the following formula (2):
[0059] c n =c n-1 +y n-1 (2)
[0060] Among them, c n This refers to the current during the nth debugging cycle, c n-1 This refers to the debugging current during the (n-1)th iteration, y n-1 This refers to the adjustment value of the debugging current for the (n-1)th test.
[0061] S112, for each action to be debugged, execute the step of executing the action to be debugged according to the debugging current and obtaining the execution time of the action to be debugged again, until the difference between the execution time of the action to be debugged and the target execution time corresponding to the action to be debugged is less than or equal to the preset threshold.
[0062] In the embodiments of this application, a solenoid valve for adjusting the debugging current is provided for each action to be debugged. The method further includes: for each action to be debugged, if the difference between the execution duration and the target execution duration is less than or equal to a preset threshold, the debugging current corresponding to the execution duration is determined as the target current of the solenoid valve corresponding to the action to be debugged.
[0063] refer to Figure 2 , Figure 2The schematic diagram illustrates a flowchart of a boom debugging method according to a specific embodiment of this application. For different debugging actions, the target execution time and initial debugging current of the debugging action are first set. The debugging current for the nth debugging is calculated according to formulas (1) and (2) above, and after outputting the debugging current, the proportional solenoid valve controls the movement of the hydraulic cylinder, which drives the debugging action of the boom of the construction machinery. After the position sensor installed on the boom detects that the boom has completed the debugging action and returned to its initial position, the execution time of this debugging is output. If the difference between the execution time of this debugging and the target execution time is greater than a preset threshold, then the debugging current of this debugging is adjusted according to formula (1), and the debugging current for the next debugging is obtained by combining formula (2), and debugging is performed again until the difference between the execution time and the target execution time is less than or equal to the preset threshold. Then, the debugging current corresponding to the execution time is determined as the target current of the solenoid valve corresponding to the debugging action. After the calibration current debugging of this debugging action is completed, the next debugging action can be debugged until all debugging actions are completed.
[0064] The above technical solution identifies multiple actions of the boom to be tested; determines the testing current for each action in this test; for each action to be tested, executes the action according to the testing current and obtains the execution duration; for each action to be tested, if the difference between the execution duration and the target execution duration is greater than a preset threshold, determines an adjustment value for the testing current based on the execution duration and the target execution duration; for each action to be tested, determines the testing current for the next test based on the adjustment value and the testing current in this test; for each action to be tested, repeats the steps of executing the action according to the testing current and obtaining the execution duration, until the difference between the execution duration and the target execution duration is less than or equal to the preset threshold. This effectively overcomes the complex characteristics of proportional solenoid valves, such as nonlinearity, time-varying nature, electromagnetic hysteresis, temperature drift, and mechanical wear, and the calibration process is fully automated, saving labor and time costs.
[0065] Figure 3 The diagram schematically illustrates a structural block diagram of a boom adjustment device according to an embodiment of this application. Figure 3 As shown in the figure, this application embodiment provides an adjustment device 300 for a boom, which may include:
[0066] Memory 310 is configured to store instructions; and
[0067] The processor 320 is configured to retrieve instructions from the memory 310 and, when executing the instructions, to implement the aforementioned method for controlling the boom.
[0068] Specifically, in this embodiment of the application, the processor 320 can be configured to:
[0069] Identify multiple boom movements that need to be adjusted;
[0070] Determine the debugging current for each debugging action in this debugging session;
[0071] For each action to be debugged, execute the action according to the debugging current and obtain the execution time of the action to be debugged;
[0072] For each action to be debugged, if the difference between the execution time of the action to be debugged and the target execution time corresponding to the action to be debugged is greater than a preset threshold, the adjustment value for the debugging current is determined based on the execution time and the target execution time.
[0073] For each action to be debugged, the debugging current for the next debugging is determined based on the adjustment value and the debugging current of this debugging.
[0074] For each action to be debugged, the steps of executing the action according to the debugging current and obtaining the execution time of the action to be debugged are repeated until the difference between the execution time of the action to be debugged and the target execution time corresponding to the action to be debugged is less than or equal to the preset threshold.
[0075] In embodiments of this application, the processor 320 may also be configured to:
[0076] For each action to be debugged, if the difference between the execution duration of the action to be debugged and the target execution duration corresponding to the action to be debugged is greater than a preset threshold, the adjustment value for the debugging current is determined based on the execution duration and the target execution duration. This includes: obtaining the initial execution duration of each action to be debugged during the first debugging, and the duration value range of each action to be debugged, wherein the target execution duration is within the duration value range; for each action to be debugged, if the initial execution duration is less than the lower limit of the duration value range and the current execution duration is greater than the upper limit of the duration value range, or if the initial execution duration is greater than the lower limit of the duration value range and the current execution duration is less than the upper limit of the duration value range, the debugging coefficient for the debugging current is determined as a first value; for each action to be debugged, if the initial execution duration is within the duration value range and the current execution duration is within the upper limit of the duration value range, the debugging coefficient for the debugging current is determined as a second value; the adjustment value for the debugging current is determined based on the execution duration, the target execution duration, and the debugging coefficient.
[0077] In embodiments of this application, the processor 320 may also be configured to:
[0078] Determine the adjustment value according to formula (1):
[0079] y = min{M, max(N, J × |tT|)} × K
[0080] Where y refers to the adjustment value of the debugging current for this debugging, M refers to the maximum debugging current corresponding to the debugging current, N refers to the minimum debugging current corresponding to the debugging current, J refers to the minimum adjustment value corresponding to the adjustment value, t refers to the execution duration for this debugging, T refers to the target execution duration, and K refers to the debugging coefficient.
[0081] In embodiments of this application, the processor 320 may also be configured to:
[0082] The multiple actions to be debugged include at least one of the following: boom luffing, boom extension and retraction, turntable rotation, platform manual leveling, boom luffing, platform oscillation, and boom rotation.
[0083] In embodiments of this application, the processor 320 may also be configured to:
[0084] The types of commissioning current include at least one of the following: minimum current, slow current, platform maximum current, and ground maximum current.
[0085] In embodiments of this application, the processor 320 may also be configured to:
[0086] For each action to be debugged, a solenoid valve is provided to adjust the debugging current. The method further includes: for each action to be debugged, if the difference between the execution time and the target execution time is less than or equal to a preset threshold, the debugging current corresponding to the execution time is determined as the target current of the solenoid valve corresponding to the action to be debugged.
[0087] Based on the electro-hydraulic proportional control system of the entire construction machinery, the above technical solution involves operating each boom section to perform debugging actions and collecting execution time data. This execution time is then compared with the target execution time. If a deviation exists, the debugging current of the proportional solenoid valve on the boom multi-way valve is adjusted via remote control to change the opening of the oil port, thereby adjusting the boom extension and retraction speed to ensure the boom's debugging execution time meets the target execution time requirement. The input of the closed-loop control system is the debugging current of the proportional solenoid valve, and the output is the boom's execution time. The design uses an empirical formula for current debugging, requiring only a few attempts to achieve the calibration current meeting the set time requirement, balancing efficiency and accuracy, and offering advantages in economy and versatility. It effectively overcomes the complex characteristics of proportional solenoid valves, such as nonlinearity, time-varying behavior, electromagnetic hysteresis, temperature drift, and mechanical wear, improving the accuracy and speed of determining the target debugging current. Furthermore, the calibration process is fully automated, saving labor and time costs.
[0088] Figure 4 A schematic diagram illustrating the structure of an engineering machine according to an embodiment of this application is provided. Figure 4 As shown in the illustration, this application provides an engineering machinery that may include:
[0089] boom 410; and
[0090] The aforementioned adjustment device 300 for the boom.
[0091] Specifically, the boom consists of multiple boom sections, including the main boom, turntable, boom jib, and platform. The actions to be tested for each boom section include main boom luffing, main boom extension and retraction, turntable slewing, platform manual leveling, boom luffing, platform swing, and boom slewing.
[0092] In embodiments of this application, the construction machinery further includes: a plurality of solenoid valves 420, and a boom 410 current, each solenoid valve being used to adjust the adjustment current for the corresponding action to be adjusted.
[0093] Solenoid valves can be proportional solenoid valves. Proportional solenoid valves have the characteristic that the control current is proportional to the flow rate of the hydraulic system, achieving stepless speed regulation for the controlled object. Therefore, they are widely used in engineering machinery such as aerial work platforms. Before being put into normal use, it is usually necessary to calibrate the minimum current required to open the proportional solenoid valve. Then, based on a set fixed current curve, the opening degree of the solenoid valve is controlled to proportionally adjust the system flow rate, achieving the purpose of proportional speed regulation.
[0094] Specifically, construction machinery may also include components such as hydraulic cylinders and position sensors to perform the aforementioned adjustment methods for the boom.
[0095] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described boom adjustment method.
[0096] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5As shown. The computer device includes a processor A01, a network interface A02, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores debugging data for the boom. The network interface A02 communicates with external terminals via a network connection. When the processor A01 executes the computer program B02, it implements a debugging method for the boom.
[0097] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0098] This application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps:
[0099] Identify multiple boom movements that need to be adjusted;
[0100] Determine the debugging current for each debugging action in this debugging session;
[0101] For each action to be debugged, execute the action according to the debugging current and obtain the execution time of the action to be debugged;
[0102] For each action to be debugged, if the difference between the execution time of the action to be debugged and the target execution time corresponding to the action to be debugged is greater than a preset threshold, the adjustment value for the debugging current is determined based on the execution time and the target execution time.
[0103] For each action to be debugged, the debugging current for the next debugging is determined based on the adjustment value and the debugging current of this debugging.
[0104] For each action to be debugged, the steps of executing the action according to the debugging current and obtaining the execution time of the action to be debugged are repeated until the difference between the execution time of the action to be debugged and the target execution time corresponding to the action to be debugged is less than or equal to the preset threshold.
[0105] In the embodiments of this application, for each action to be debugged, when the difference between the execution duration of the action to be debugged and the target execution duration corresponding to the action to be debugged is greater than a preset threshold, determining the adjustment value for the debugging current based on the execution duration and the target execution duration includes: obtaining the initial execution duration of each action to be debugged during the first debugging, and the duration value range of each action to be debugged, wherein the target execution duration is within the duration value range; for each action to be debugged, when the initial execution duration is less than the lower limit of the duration value range and the current execution duration is greater than the upper limit of the duration value range, or when the initial execution duration is greater than the lower limit of the duration value range and the current execution duration is less than the upper limit of the duration value range, determining the debugging coefficient for the debugging current as a first value; for each action to be debugged, when the initial execution duration is within the duration value range and the current execution duration is within the upper limit of the duration value range, determining the debugging coefficient for the debugging current as a second value; and determining the adjustment value for the debugging current based on the execution duration, the target execution duration, and the debugging coefficient.
[0106] In the embodiments of this application, the adjustment value is determined according to formula (1):
[0107] y = min{M, max(N, J × |tT|)} × K
[0108] Where y refers to the adjustment value of the debugging current for this debugging, M refers to the maximum debugging current corresponding to the debugging current, N refers to the minimum debugging current corresponding to the debugging current, J refers to the minimum adjustment value corresponding to the adjustment value, t refers to the execution duration for this debugging, T refers to the target execution duration, and K refers to the debugging coefficient.
[0109] In the embodiments of this application, the multiple actions to be debugged include at least one of the following: boom luffing, boom extension and retraction, turntable rotation, platform manual leveling, boom luffing, platform swing, and boom rotation.
[0110] In embodiments of this application, the type of debugging current includes at least one of minimum current, slow current, platform maximum current, and ground maximum current.
[0111] In the embodiments of this application, a solenoid valve for adjusting the debugging current is provided for each action to be debugged. The method further includes: for each action to be debugged, if the difference between the execution duration and the target execution duration is less than or equal to a preset threshold, the debugging current corresponding to the execution duration is determined as the target current of the solenoid valve corresponding to the action to be debugged.
[0112] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0113] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0114] 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.
[0115] 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.
[0116] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0117] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.
[0118] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.
[0119] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0120] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
Claims
1. A method for adjusting a boom, characterized in that, The debugging method is applied to the boom, and the debugging method includes: Identify multiple actions of the boom to be adjusted; Determine the debugging current for each debugging action in this debugging session; For each action to be debugged, the action to be debugged is executed according to the debugging current, and the execution time of the action to be debugged is obtained; For each action to be debugged, if the difference between the execution time of the action to be debugged and the target execution time corresponding to the action to be debugged is greater than a preset threshold, an adjustment value for the debugging current is determined based on the execution time and the target execution time. For each action to be debugged, the debugging current for the action to be debugged in the next debugging is determined based on the adjustment value and the debugging current of this debugging. For each action to be debugged, the steps of executing the action to be debugged according to the debugging current and obtaining the execution time of the action to be debugged are executed again until the difference between the execution time of the action to be debugged and the target execution time corresponding to the action to be debugged is less than or equal to the preset threshold. For different actions to be debugged, the target execution time and initial debugging current of the action to be debugged are first set; the debugging current of the nth debugging is calculated and the debugging current is output. Then, the proportional solenoid valve controls the action of the hydraulic cylinder, and the hydraulic cylinder drives the debugging action of the boom of the construction machinery. The formula for determining the adjustment value is as follows: Where y refers to the adjustment value of the debugging current for this debugging, M refers to the maximum debugging current corresponding to the debugging current, and N refers to the minimum debugging current corresponding to the debugging current. This refers to the minimum adjustment value corresponding to the aforementioned adjustment value. This refers to the execution time for this debugging, where T refers to the target execution time and K refers to the debugging coefficient.
2. The method for adjusting a boom according to claim 1, characterized in that, For each action to be debugged, if the difference between the execution duration of the action to be debugged and the target execution duration corresponding to the action to be debugged is greater than a preset threshold, determining the adjustment value for the debugging current based on the execution duration and the target execution duration includes: Obtain the initial execution duration of each action to be debugged during the first debugging, and the duration value range of each action to be debugged, wherein the target execution duration is within the duration value range; For each action to be debugged, if the initial execution time is less than the lower limit of the time range and the current execution time is greater than the upper limit of the time range, or if the initial execution time is greater than the lower limit of the time range and the current execution time is less than the upper limit of the time range, the debugging coefficient for the debugging current is determined to be the first value. For each action to be debugged, if the initial execution duration is within the duration range and the current execution duration is at the upper limit of the duration range, the debugging coefficient for the debugging current is determined to be the second value. The adjustment value for the debugging current is determined based on the execution duration, the target execution duration, and the debugging coefficient.
3. The method according to claim 1, characterized in that, The plurality of actions to be debugged include at least one of the following: boom luffing, boom extension and retraction, turntable rotation, platform manual leveling, boom luffing, platform swing, and boom rotation.
4. The method for adjusting a boom according to claim 1, characterized in that, The type of debugging current includes at least one of minimum current, slow current, platform maximum current, and ground maximum current.
5. The method for adjusting a boom according to claim 1, characterized in that, The method further includes a solenoid valve for adjusting the adjustment current for each action to be adjusted, and the solenoid valve for adjusting the adjustment current for each action to be adjusted. For each action to be debugged, if the difference between the execution duration and the target execution duration is less than or equal to the preset threshold, the debugging current corresponding to the execution duration is determined as the target current of the solenoid valve corresponding to the action to be debugged.
6. A device for adjusting a boom, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the boom debugging method according to any one of claims 1 to 5.
7. An engineering machinery, characterized in that, include: boom; as well as The boom adjustment device as described in claim 6.
8. The engineering machinery according to claim 7, characterized in that, Also includes: Multiple solenoid valves are connected to the boom, and each solenoid valve is used to adjust the debugging current for the corresponding action to be debugged.
9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method for boom commissioning according to any one of claims 1 to 5.