Adjustable excavator control performance control method, device, equipment and storage medium

Abstract

The present invention discloses an adjustable excavator control performance control method, device, equipment, and storage medium. The method includes: obtaining a first target level of action sensitivity, a second target level of action responsiveness, and target priorities for different operating actions input by a user based on a target working condition; adjusting the deadband size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve based on the first target level, and adjusting the output current of the pilot proportional valve; adjusting the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve based on the second target level, and adjusting the output current of the pilot proportional valve and the output current of the main pump proportional valve; and determining the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action based on the target priorities of different operating actions and the current operating action data obtained for the target excavator. The present invention provides a universal control scheme that can quickly adjust the excavator control performance.

Description

Technical Field

[0001] The present invention relates to the technical field of excavator motion control, and in particular to a method, device, equipment and storage medium for controlling adjustable excavator control performance. Background Art

[0002] The working conditions of excavators in actual engineering applications are complex. Different regions, different working conditions and different users all have different requirements for the operating performance of excavators.

[0003] Currently, control systems for adjusting excavator control performance include hydraulic and electronic control systems. Hydraulic control systems meet varying user needs by replacing valve cores of varying specifications; electronic control systems meet varying user needs by debugging programs or changing control parameters. While these two solutions can meet user needs to a certain extent, they also present the following challenges: First, the cost of adjusting control performance is high. Typically, the control performance and valve core of the excavator are finalized during factory commissioning. If a replacement is required, the valve core must be customized to meet the user's new requirements, which inevitably increases the cost of the excavator. Second, the process is time-consuming. In actual engineering applications, users often replace new machines or change operating conditions in a short period of time, but valve core customization, program debugging, and parameter adjustments require a long time, which cannot quickly meet user needs. Third, program management is difficult. The more customized programs there are, the more difficult program management becomes, and traceability becomes more difficult.

[0004] Therefore, there is an urgent need for a universal control solution that can quickly adjust the overall control performance of the excavator. Summary of the Invention

[0005] The present invention provides an adjustable excavator control performance control method, device, equipment and storage medium, which solves the problem that the existing control system cannot quickly adjust the operating performance of the entire machine after the excavator controllability host is debugged and finalized in the factory.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a method for controlling adjustable excavator maneuverability, the method comprising:

[0008] Obtaining a first target level of motion sensitivity, a second target level of motion responsiveness, and target priorities of different operating actions input by a user based on a target working condition; the levels of motion sensitivity include low speed, normal, and fast; the levels of motion responsiveness include low speed, normal, and fast; and the operating actions include boom raising, boom lowering, arm retracting, arm opening, bucket retracting, bucket opening, swinging, and attachments;

[0009] Adjusting the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve according to the first target level, and adjusting the output current of the pilot proportional valve according to the adjusted dead zone size and the adjusted proportional relationship; different levels of the action sensitivity correspond to different dead zone sizes and proportional relationships;

[0010] adjusting the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve according to the second target level, and adjusting the output current of the pilot proportional valve and the output current of the main pump proportional valve according to the adjusted opening speed of the pilot proportional valve and the adjusted opening speed of the main pump proportional valve; different levels of action responsiveness correspond to different opening speeds of the pilot proportional valve and the opening speeds of the main pump proportional valve;

[0011] According to the target priorities of the different operating actions and the current operating action data of the target excavator obtained, the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action are determined; the current operating action data includes the opening of the pilot handle in different directions at the current moment and the fully open pilot pressure of the valve core corresponding to each operating action.

[0012] In one possible implementation, adjusting the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve according to the first target level, and regulating the output current of the pilot proportional valve according to the adjusted dead zone size and the adjusted proportional relationship, specifically includes:

[0013] Obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment; the proportional relationship is a linear relationship;

[0014] When the first target level is fast and the dead zone size of the pilot handle at the current moment is not the limit dead zone, reducing the dead zone size of the pilot handle at the current moment by a first preset percentage of the full stroke of the pilot handle as the adjusted dead zone size;

[0015] When the adjusted dead zone size is the limit dead zone, the proportional relationship is adjusted according to the adjusted dead zone size and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment to obtain an adjusted proportional relationship, and the output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship;

[0016] When the adjusted dead zone size is not the limit dead zone, the output current of the pilot proportional valve is output according to the proportional relationship between the pilot handle and the pilot proportional valve at the current moment.

[0017] In one possible implementation, after obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the method further includes:

[0018] When the first target level is fast and the dead zone size of the pilot handle at the current moment is the limit dead zone, increasing the starting point of the proportional relationship between the pilot handle and the pilot proportional valve at the current moment by a first preset value to obtain an adjusted proportional relationship;

[0019] The output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship.

[0020] In one possible implementation, after obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the method further includes:

[0021] When the first target level is low speed, the dead zone size of the pilot handle at the current moment is increased by a second preset percentage of the full stroke of the pilot handle as the adjusted dead zone size;

[0022] Adjusting the proportional relationship between the pilot handle and the pilot proportional valve at the current moment according to the adjusted dead zone size to obtain an adjusted proportional relationship;

[0023] The output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship.

[0024] In one possible implementation, after obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the method further includes:

[0025] When the first target level is normal, the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment are maintained, and the output current of the pilot proportional valve corresponding to the proportional relationship is maintained.

[0026] In one possible implementation, the opening speed of the pilot proportional valve is represented by a current rising speed of the pilot proportional valve, and the opening speed of the main pump proportional valve is represented by a current rising speed of the main pump proportional valve; and adjusting the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve according to the second target level specifically includes:

[0027] Obtaining a current rising speed of the pilot proportional valve and a current rising speed of the main pump proportional valve of the target excavator at a current moment;

[0028] When the second target level is fast, the current rising speed of the pilot proportional valve is increased to a first preset speed value, and the current rising speed of the main pump proportional valve is increased to a second preset speed value. At the same time, when the current rising speed of the pilot proportional valve is equal to the first preset speed value, the current rising speed of the main pump proportional valve is increased to a third preset speed value; the first preset speed value is greater than or equal to the current rising speed of the pilot proportional valve at the current moment, the second preset speed value is greater than the current rising speed of the main pump proportional valve at the current moment, and the third preset speed value is greater than the second preset speed value;

[0029] When the second target level is normal, maintaining the current increasing speed of the pilot proportional valve and the current increasing speed of the main pump proportional valve at the current moment;

[0030] When the second target level is low speed, the current rising speed of the pilot proportional valve is reduced to a fourth preset speed value, and the current rising speed of the main pump proportional valve is reduced to a fifth preset speed value; the fourth preset speed value is smaller than the current rising speed of the pilot proportional valve at the current moment, and the fifth preset speed value is smaller than the current rising speed of the main pump proportional valve at the current moment.

[0031] In one possible implementation, determining the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each of the operating actions according to the target priorities of the different operating actions and the acquired current operating action data of the target excavator specifically includes:

[0032] Obtaining the current opening of the pilot handle in different directions and the valve core full-opening pilot pressure corresponding to each operation action;

[0033] Determine the traffic allocation ratio of each operation action according to the target priority of different operation actions;

[0034] Determine the total flow required by the pilot handle in different directions at the current moment according to the opening of the pilot handle in different directions and the predetermined correspondence between the opening of the pilot handle and the flow rate;

[0035] Determine the output current of the main pump proportional valve according to the predetermined correspondence between the flow rate and the current of the main pump proportional valve and the total flow rate required by the pilot handle in different directions;

[0036] Determining the maximum opening of the pilot proportional valve corresponding to each of the operating actions according to the fully-opened pilot pressure of the valve core corresponding to each of the operating actions and the flow distribution ratio of each of the operating actions;

[0037] Determining the theoretical opening of the pilot handle corresponding to each of the operating actions according to the opening of the pilot handle corresponding to each of the operating actions at the current moment and the predetermined correspondence between the opening of the pilot handle and the pilot proportional valve;

[0038] determining a target opening of the pilot proportional valve corresponding to each of the operating actions according to the sizes of the theoretical opening and the maximum opening;

[0039] The output current of the pilot proportional valve corresponding to each operation action is determined according to a predetermined correspondence between the pilot proportional valve opening and the pilot proportional valve current and a target opening of the pilot proportional valve corresponding to each operation action.

[0040] In one possible implementation, after determining the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action based on the target priorities of different operating actions and the acquired current operating action data of the target excavator, the method further includes:

[0041] When the operating performance control system of the target excavator is powered off, the operating performance data at the last moment before the power outage is memorized and stored; the operating performance data includes a dead zone size determined according to the first target level, a proportional relationship between the pilot handle and the pilot proportional valve, and an output current of the pilot proportional valve; an opening speed of the pilot proportional valve, an opening speed of the main pump proportional valve, and an output current of the pilot proportional valve and an output current of the main pump proportional valve determined according to the second target level; an output current of the main pump proportional valve and an output current of the pilot proportional valve corresponding to each operating action determined according to target priorities of different operating actions and the acquired current operating action data of the target excavator;

[0042] A corresponding user account is generated based on the operating performance data, combined with the target operating condition and driver information at the last moment before the power outage.

[0043] In one possible implementation, after generating a corresponding user account based on the operating performance data and in combination with the target operating condition and driver information at the last moment before the power outage, the method further includes:

[0044] In response to the login information of the user account, the operation performance data is called to perform control of the operation performance of the target excavator.

[0045] In a second aspect, the present invention provides an adjustable excavator maneuverability control device, the device comprising:

[0046] a data interaction module for obtaining a first target level of motion sensitivity, a second target level of motion responsiveness, and target priorities of different operating actions input by a user based on a target working condition; the levels of motion sensitivity include low speed, normal, and fast; the levels of motion responsiveness include low speed, normal, and fast; and the operating actions include boom raising, boom lowering, arm retracting, arm opening, bucket retracting, bucket opening, swinging, and attachments;

[0047] an action sensitivity adjustment module, configured to adjust the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve according to the first target level, and to adjust the output current of the pilot proportional valve according to the adjusted dead zone size and the adjusted proportional relationship; different action sensitivity levels correspond to different dead zone sizes and proportional relationships;

[0048] an action responsiveness adjustment module, configured to adjust an opening speed of the pilot proportional valve and an opening speed of the main pump proportional valve according to the second target level, and adjust an output current of the pilot proportional valve and an output current of the main pump proportional valve according to the adjusted opening speed of the pilot proportional valve and the adjusted opening speed of the main pump proportional valve; different action responsiveness levels correspond to different opening speeds of the pilot proportional valve and the opening speeds of the main pump proportional valve;

[0049] An action priority adjustment module is used to determine the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each of the operation actions based on the target priorities of the different operation actions and the current operation action data of the target excavator obtained; the current operation action data includes the opening degree of the pilot handle in different directions at the current moment and the fully-open pilot pressure of the valve core corresponding to each of the operation actions.

[0050] In a possible implementation, the motion sensitivity adjustment module is configured to execute:

[0051] Obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment; the proportional relationship is a linear relationship;

[0052] When the first target level is fast and the dead zone size of the pilot handle at the current moment is not the limit dead zone, reducing the dead zone size of the pilot handle at the current moment by a first preset percentage of the full stroke of the pilot handle as the adjusted dead zone size;

[0053] When the adjusted dead zone size is the limit dead zone, the proportional relationship is adjusted according to the adjusted dead zone size and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment to obtain an adjusted proportional relationship, and the output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship;

[0054] When the adjusted dead zone size is not the limit dead zone, the output current of the pilot proportional valve is output according to the proportional relationship between the pilot handle and the pilot proportional valve at the current moment.

[0055] In one possible implementation, after obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the action sensitivity adjustment module is further configured to execute:

[0056] When the first target level is fast and the dead zone size of the pilot handle at the current moment is the limit dead zone, increasing the starting point of the proportional relationship between the pilot handle and the pilot proportional valve at the current moment by a first preset value to obtain an adjusted proportional relationship;

[0057] The output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship.

[0058] In one possible implementation, after obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the action sensitivity adjustment module is further configured to execute:

[0059] When the first target level is low speed, the dead zone size of the pilot handle at the current moment is increased by a second preset percentage of the full stroke of the pilot handle as the adjusted dead zone size;

[0060] Adjusting the proportional relationship between the pilot handle and the pilot proportional valve at the current moment according to the adjusted dead zone size to obtain an adjusted proportional relationship;

[0061] The output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship.

[0062] In one possible implementation, after obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the action sensitivity adjustment module is further configured to execute:

[0063] When the first target level is normal, the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment are maintained, and the output current of the pilot proportional valve corresponding to the proportional relationship is maintained.

[0064] In one possible implementation, the opening speed of the pilot proportional valve is represented by a current rising speed of the pilot proportional valve, and the opening speed of the main pump proportional valve is represented by a current rising speed of the main pump proportional valve. When adjusting the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve according to the second target level, the action responsiveness adjustment module is configured to execute:

[0065] Obtaining a current rising speed of the pilot proportional valve and a current rising speed of the main pump proportional valve of the target excavator at a current moment;

[0066] When the second target level is fast, the current rising speed of the pilot proportional valve is increased to a first preset speed value, and the current rising speed of the main pump proportional valve is increased to a second preset speed value. At the same time, when the current rising speed of the pilot proportional valve is equal to the first preset speed value, the current rising speed of the main pump proportional valve is increased to a third preset speed value; the first preset speed value is greater than or equal to the current rising speed of the pilot proportional valve at the current moment, the second preset speed value is greater than the current rising speed of the main pump proportional valve at the current moment, and the third preset speed value is greater than the second preset speed value;

[0067] When the second target level is normal, maintaining the current increasing speed of the pilot proportional valve and the current increasing speed of the main pump proportional valve at the current moment;

[0068] When the second target level is low speed, the current rising speed of the pilot proportional valve is reduced to a fourth preset speed value, and the current rising speed of the main pump proportional valve is reduced to a fifth preset speed value; the fourth preset speed value is smaller than the current rising speed of the pilot proportional valve at the current moment, and the fifth preset speed value is smaller than the current rising speed of the main pump proportional valve at the current moment.

[0069] In a possible implementation, the action priority adjustment module is configured to execute:

[0070] Obtaining the current opening of the pilot handle in different directions and the valve core full-opening pilot pressure corresponding to each operation action;

[0071] Determine the traffic allocation ratio of each operation action according to the target priority of different operation actions;

[0072] Determine the total flow required by the pilot handle in different directions at the current moment according to the opening of the pilot handle in different directions and the predetermined correspondence between the opening of the pilot handle and the flow rate;

[0073] Determine the output current of the main pump proportional valve according to the predetermined correspondence between the flow rate and the current of the main pump proportional valve and the total flow rate required by the pilot handle in different directions;

[0074] Determining the maximum opening of the pilot proportional valve corresponding to each of the operating actions according to the fully-opened pilot pressure of the valve core corresponding to each of the operating actions and the flow distribution ratio of each of the operating actions;

[0075] Determining the theoretical opening of the pilot handle corresponding to each of the operating actions according to the opening of the pilot handle corresponding to each of the operating actions at the current moment and the predetermined correspondence between the opening of the pilot handle and the pilot proportional valve;

[0076] determining a target opening of the pilot proportional valve corresponding to each of the operating actions according to the sizes of the theoretical opening and the maximum opening;

[0077] The output current of the pilot proportional valve corresponding to each operation action is determined according to a predetermined correspondence between the pilot proportional valve opening and the pilot proportional valve current and a target opening of the pilot proportional valve corresponding to each operation action.

[0078] In one possible implementation, the adjustable excavator maneuverability control device further includes a power-off data storage module; after determining the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action based on the target priorities of different operating actions and the acquired current operating action data of the target excavator, the power-off data storage module is configured to execute:

[0079] When the operating performance control system of the target excavator is powered off, the operating performance data at the last moment before the power outage is memorized and stored; the operating performance data includes a dead zone size determined according to the first target level, a proportional relationship between the pilot handle and the pilot proportional valve, and an output current of the pilot proportional valve; an opening speed of the pilot proportional valve, an opening speed of the main pump proportional valve, and an output current of the pilot proportional valve and an output current of the main pump proportional valve determined according to the second target level; an output current of the main pump proportional valve and an output current of the pilot proportional valve corresponding to each operating action determined according to target priorities of different operating actions and the acquired current operating action data of the target excavator;

[0080] A corresponding user account is generated based on the operating performance data, combined with the target operating condition and driver information at the last moment before the power outage.

[0081] In one possible implementation, the adjustable excavator maneuverability control device further includes an automatic configuration module. After generating a corresponding user account based on the operating performance data and the target operating condition and driver information at the last moment before power failure, the automatic configuration module is configured to execute:

[0082] In response to the login information of the user account, the operation performance data is called to perform control of the operation performance of the target excavator.

[0083] In a third aspect, the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement any one of the above-mentioned adjustable excavator control performance control methods.

[0084] In a fourth aspect, the present invention provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, the at least one program, the code set or instruction set is loaded and executed by a processor to implement any of the above-mentioned adjustable excavator control performance control methods.

[0085] The adjustable excavator control performance control provided by the embodiment of the present invention can obtain the first target level of action sensitivity, the second target level of action responsiveness, and the target priority corresponding to different operating actions that are customized by the user according to the target working condition when it is actually applied, and adjust the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve according to the first target level, and then adjust the output current of the pilot proportional valve to adjust the action sensitivity of the target excavator; adjust the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve according to the second target level, and then adjust the output current of the pilot proportional valve and the output current of the main pump proportional valve to adjust the action sensitivity of the target excavator. Adjust the action responsiveness of the target excavator; according to the target priority of different operating actions and the current operating action data of the target excavator obtained, adjust the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action to meet the driver's requirements for the coordination of the whole machine; the present invention provides a universal control scheme that can quickly adjust the excavator's control performance. The driver can adjust the sensitivity, responsiveness and coordination of the whole machine of the target excavator according to the target working conditions and his own operating habits. The overall adjustment process is fast and convenient, which greatly improves the adaptability of the target excavator and meets the control needs of different working conditions and different drivers. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1A flowchart of a method for controlling the control performance of an adjustable excavator provided by an embodiment of the present invention;

[0087] Figure 2 This is a block diagram of the overall structure of an adjustable excavator maneuverability control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0088] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0089] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "multiple" means two or more. In addition, the use of "based on" or "according to" means openness and inclusiveness, because the process, steps, calculations or other actions "based on" or "according to" one or more of the conditions or values ​​may be based on additional conditions or values ​​beyond the stated in practice.

[0090] In order to solve the problem that the existing control system cannot quickly adjust the operating performance of the entire machine after the excavator controllability host is debugged and finalized in the factory, the embodiments of the present invention provide an adjustable excavator control performance control method, device, equipment and storage medium.

[0091] like Figure 1 As shown, in a first aspect, an embodiment of the present invention provides a method for controlling the control performance of an adjustable excavator, the method comprising:

[0092] Step 101: Obtain a first target level of action sensitivity, a second target level of action responsiveness, and target priorities of different operating actions input by a user according to a target working condition.

[0093] Among them, the levels of motion sensitivity include slow, normal, and fast; the levels of motion responsiveness include slow, normal, and fast.

[0094] Operations include boom raising, boom lowering, arm retracting, arm opening, bucket retracting, bucket opening, rotation and attachments.

[0095] The target priority of each operation action is between 0-10.

[0096] Motion sensitivity refers to the angle of the pilot handle when a certain working device of the target excavator moves, or the speed of the working device when the theoretical dead zone of the pilot handle is minimum.

[0097] The dead zone of the pilot handle refers to the angle of the pilot handle when the working device of the target excavator is not moving. The smaller the angle of the pilot handle when the working device is just moving, or the faster the movement speed of the same pilot handle dead zone angle, the more sensitive the working device is. Therefore, sensitivity mainly refers to the speed characteristics of the same pilot handle angle.

[0098] Action responsiveness refers to the acceleration speed of the working device at the same pilot handle angle. Therefore, responsiveness mainly refers to the acceleration characteristics of the working device.

[0099] Action priority refers to the mutual priority relationship between multiple operation actions when multiple operation actions occur simultaneously.

[0100] Specifically, the adjustment of the control performance of the target excavator includes the adjustment of action sensitivity, the adjustment of action responsiveness, and the adjustment of action priority.

[0101] Step 102: Adjust the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve according to the first target level, and adjust the output current of the pilot proportional valve according to the adjusted dead zone size and the adjusted proportional relationship.

[0102] Among them, different levels of motion sensitivity correspond to different dead zone sizes and proportional relationships.

[0103] Since the action sensitivity is the speed characteristic of the pilot handle angle, when adjusting the action sensitivity, it is essentially necessary to adjust the dead zone size and dead zone angle action speed of the pilot handle. The dead zone angle action speed can be determined based on the proportional relationship between the pilot handle and the pilot proportional valve, and the dead zone size and dead zone angle action speed of the pilot handle can determine the output current of the pilot proportional valve.

[0104] Step 103: Adjust the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve according to the second target level, and adjust the output current of the pilot proportional valve and the output current of the main pump proportional valve according to the adjusted opening speed of the pilot proportional valve and the adjusted opening speed of the main pump proportional valve.

[0105] Among them, different levels of action responsiveness correspond to different opening speeds of the pilot proportional valve and the opening speeds of the main pump proportional valve.

[0106] Since the action responsiveness is the acceleration characteristic of the working device, when adjusting the action responsiveness, it is essentially necessary to adjust the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve. Since the opening speed of the pilot proportional valve can determine the output current of the pilot proportional valve, the opening speed of the main pump proportional valve can determine the output current of the main pump proportional valve.

[0107] Step 104 : Determine the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action according to the target priorities of different operating actions and the acquired current operating action data of the target excavator.

[0108] The current operation action data includes the opening of the pilot handle in different directions at the current moment and the fully-opened pilot pressure of the valve core corresponding to each operation action.

[0109] When the adjustable excavator control performance control provided by the embodiment of the present invention is used in actual applications, it can obtain the first target level of action sensitivity, the second target level of action responsiveness, and the target priority corresponding to different operating actions that are customized by the user according to the target working condition, and adjust the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve according to the first target level, and then adjust the output current of the pilot proportional valve to adjust the action sensitivity of the target excavator; adjust the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve according to the second target level, and then adjust the output current of the pilot proportional valve and the output current of the main pump proportional valve to adjust the action responsiveness of the target excavator; adjust the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action according to the target priority of different operating actions and the current operating action data of the target excavator obtained to meet the driver's requirements for the coordination of the entire machine.

[0110] The present invention provides a universal control scheme that can quickly adjust the control performance of an excavator. The driver can adjust the sensitivity, responsiveness and coordination of the target excavator according to the target working conditions and his own operating habits. The overall adjustment process is fast and convenient, which greatly improves the adaptability of the target excavator and meets the control needs of different working conditions and different drivers.

[0111] Furthermore, the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve are adjusted according to the first target level, and the output current of the pilot proportional valve is adjusted according to the adjusted dead zone size and the adjusted proportional relationship, specifically including:

[0112] Obtain the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment.

[0113] The proportional relationship is a linear relationship. The proportional relationship between the pilot handle and the pilot proportional valve refers to the corresponding relationship between the rotation angle of the pilot handle and the output current of the pilot proportional valve.

[0114] The dead zone of the pilot handle refers to the situation where the working device does not move with the movement of the pilot handle when the pilot handle is rotated within a certain angle.

[0115] The extreme dead zone refers to when the pilot handle is in the middle position. The theoretical middle position is 0°, but due to product manufacturing errors and power supply voltage deviations, the actual middle position fluctuates by approximately ±0.5°.

[0116] When the first target level is fast and the dead zone size of the pilot handle at the current moment is not the limit dead zone, the dead zone size of the pilot handle at the current moment is reduced by a first preset percentage of the full stroke of the pilot handle as the adjusted dead zone size.

[0117] In this embodiment, the first preset percentage is 10%.

[0118] That is, when the first target level is fast and the dead band of the pilot handle at the current moment has not reached the limit dead band, the dead band of the pilot handle at the current moment is reduced by 10% of the full stroke of the pilot handle.

[0119] When the adjusted dead zone size is the limit dead zone, the proportional relationship is adjusted according to the adjusted dead zone size and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment to obtain the adjusted proportional relationship, and the output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship.

[0120] That is to say, if the dead zone is reduced by 10% of the full stroke of the pilot handle, the dead zone of the adjusted pilot handle becomes the extreme dead zone, then the linear relationship between the pilot handle and the pilot proportional valve is readjusted, and the output current of the pilot proportional valve is recalculated based on the adjusted linear relationship.

[0121] When the dead zone size after adjustment is not the limit dead zone, the output current of the pilot proportional valve is output according to the proportional relationship between the pilot handle and the pilot proportional valve at the current moment.

[0122] That is to say, when the adjusted dead zone size is not the limit dead zone, the output current of the pilot proportional valve can be calculated according to the proportional relationship between the pilot handle and the pilot proportional valve at the current moment.

[0123] Furthermore, after obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the method further includes:

[0124] When the first target level is fast and the dead zone size of the pilot handle at the current moment is the limit dead zone, the starting point of the proportional relationship between the pilot handle and the pilot proportional valve at the current moment is increased by a first preset value to obtain an adjusted proportional relationship;

[0125] The output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship.

[0126] The first preset value is 20mA.

[0127] That is to say, when the first target level is fast and the dead zone size of the pilot handle at the current moment is just the limit dead zone, the dead zone size of the pilot handle does not need to be adjusted anymore. It is necessary to increase the starting point of the original proportional relationship between the pilot handle and the pilot proportional valve by 20mA, and redetermine the proportional relationship between the pilot handle and the pilot proportional valve based on the adjusted starting point, and recalculate the output current of the pilot proportional valve.

[0128] Furthermore, after obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the method further includes:

[0129] When the first target level is low speed, the dead zone size of the pilot handle at the current moment is increased by a second preset percentage of the full stroke of the pilot handle as the adjusted dead zone size.

[0130] The proportional relationship between the pilot handle and the pilot proportional valve at the current moment is adjusted according to the adjusted dead zone size to obtain the adjusted proportional relationship.

[0131] The output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship.

[0132] The second preset percentage is 10%.

[0133] That is to say, when the first target level is low speed, it is necessary to increase the dead zone size of the pilot handle at the current moment by 10% of the full stroke of the pilot handle, and determine the adjusted proportional relationship based on the adjusted dead zone size and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, and recalculate the output current of the pilot proportional valve based on the adjusted proportional relationship.

[0134] Furthermore, after obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the method further includes:

[0135] When the first target level is normal, the dead zone size of the current pilot handle and the proportional relationship between the current pilot handle and the pilot proportional valve are maintained, and the output current of the pilot proportional valve corresponding to the proportional relationship is maintained.

[0136] That is, when the first target level is normal, there is no need to adjust the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, and the current status quo can be maintained.

[0137] Furthermore, the opening speed of the pilot proportional valve is represented by the current rising speed of the pilot proportional valve, and the opening speed of the main pump proportional valve is represented by the current rising speed of the main pump proportional valve.

[0138] Adjust the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve according to the second target level, specifically including:

[0139] The current rising speed of the pilot proportional valve and the current rising speed of the main pump proportional valve of the target excavator at the current moment are obtained.

[0140] When the second target level is fast, the current rising speed of the pilot proportional valve is increased to the first preset speed value, and the current rising speed of the main pump proportional valve is increased to the second preset speed value. At the same time, when the current rising speed of the pilot proportional valve is equal to the first preset speed value, the current rising speed of the main pump proportional valve is increased to the third preset speed value.

[0141] Among them, the first preset speed value is greater than or equal to the current rising speed of the pilot proportional valve at the current moment, the second preset speed value is greater than the current rising speed of the main pump proportional valve at the current moment, and the third preset speed value is greater than the second preset speed value.

[0142] In this embodiment, the first preset speed value is 20 mA / ms, the second preset speed value is 2 mA / ms, and the third preset speed value is 4 mA / ms.

[0143] When the second target level is fast, the current rising speed of the pilot proportional valve is increased to 20mA / ms, and the current rising speed of the main pump proportional valve is increased to 4mA / ms; if the current rising speed of the pilot proportional valve has reached 20mA / ms, the current rising speed of the main pump proportional valve is increased to 4mA / ms again.

[0144] When the second target level is normal, the current increasing speed of the pilot proportional valve and the current increasing speed of the main pump proportional valve are maintained at the current moment.

[0145] That is, when the second target level is normal, there is no need to adjust the current increase speed of the pilot proportional valve and the current increase speed of the main pump proportional valve.

[0146] When the second target level is low speed, the current rising speed of the pilot proportional valve is reduced to a fourth preset speed value, and the current rising speed of the main pump proportional valve is reduced to a fifth preset speed value.

[0147] The fourth preset speed value is smaller than the current rising speed of the pilot proportional valve at the current moment, and the fifth preset speed value is smaller than the current rising speed of the main pump proportional valve at the current moment.

[0148] In this embodiment, the fourth preset speed value is 0.5mA / ms, and the fifth preset speed value is 1mA / ms. That is to say, when the second target level is low speed, the current rising speed of the pilot proportional valve needs to be reduced to 0.5mA / ms, and the current rising speed of the main pump proportional valve needs to be reduced to 1mA / ms.

[0149] Furthermore, according to the target priorities of different operating actions and the acquired current operating action data of the target excavator, the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action are determined, specifically including:

[0150] Obtain the current opening of the pilot handle in different directions and the fully open pilot pressure of the valve core corresponding to each operation action.

[0151] The opening degree of the pilot handle in different directions and the fully-opened pilot pressure of the valve core corresponding to different operating actions can be directly obtained through the corresponding sensor. The current action of the target excavator can be determined based on the above current operating action data.

[0152] The traffic allocation ratio for each operation action is determined based on the target priority of different operation actions.

[0153] Among them, users can set the target priority of different operation actions through the human-computer interaction interface.

[0154] Specifically, the target priority of the boom raising operation is set to X1, the priority of the boom lowering operation is set to X2, the priority of the arm retraction operation is set to X3, the priority of the arm opening operation is set to X4, the priority of the bucket retraction operation is set to X4, the priority of the bucket opening operation is set to X6, the priority of the rotation operation is set to X7, and the priority of the attachment operation is set to X8.

[0155] In this embodiment, the various operating actions include a boom raising operation, an arm retracting operation, and a swinging operation.

[0156] The flow rate distribution includes: boom raising operation flow rate, arm retracting operation flow rate and swing operation flow rate.

[0157] Among them, the boom lifting operation flow is: X1 / (X1+X3+X7).

[0158] The boom recovery operation flow is: X3 / (X1+X3+X7).

[0159] The rotary operation flow rate is: X3 / (X1+X3+X7).

[0160] According to the opening of the pilot handle in different directions and the predetermined correspondence between the opening of the pilot handle and the flow rate, the total flow rate required by the pilot handle in different directions at the current moment is determined.

[0161] Among them, the corresponding relationship between the opening of the pilot handle and the flow rate is a linear relationship.

[0162] The maximum value of the flow required in each direction of the pilot handle at the current moment is selected as the total flow required for the current working condition.

[0163] The output current of the main pump proportional valve is determined based on the correspondence between the predetermined flow rate and the main pump proportional valve current, as well as the total flow rate required by the pilot handle in different directions.

[0164] The maximum opening of the pilot proportional valve corresponding to each operating action is determined according to the fully-opened pilot pressure of the valve core corresponding to each operating action and the flow distribution ratio of each operating action.

[0165] In this embodiment, the pilot proportional valves corresponding to the various operating actions include a boom lifting pilot proportional valve, an arm retraction pilot proportional valve, and a swing pilot proportional valve.

[0166] The maximum opening of the boom lifting pilot proportional valve is: Y1*X1 / (X1+X3+X7).

[0167] The maximum opening of the boom recovery pilot proportional valve is: Y2*X2 / (X1+X3+X7).

[0168] The maximum opening of the rotary pilot proportional valve is: Y3*X7 / (X1+X3+X7).

[0169] The theoretical opening of the pilot handle corresponding to each operating action is determined based on the opening of the pilot handle corresponding to each operating action at the current moment and the predetermined correspondence between the opening of the pilot handle and the pilot proportional valve.

[0170] In this embodiment, the openings of the pilot handles corresponding to the respective operating actions are the boom raising handle opening, the arm retracting handle opening, and the swing handle opening.

[0171] According to the predetermined correspondence between the opening of each pilot handle and the pilot proportional valve corresponding to the gas, the theoretical opening of the boom lifting pilot proportional valve, the theoretical opening of the boom recovery pilot proportional valve, and the theoretical opening of the rotary pilot proportional valve are calculated.

[0172] According to the size of the theoretical opening and the maximum opening, the target opening of the pilot proportional valve corresponding to each operating action is determined.

[0173] In this embodiment, when the theoretical opening of each operating action is smaller than the corresponding maximum opening, the theoretical opening of each operating action is used as the target opening of the operating action; when the theoretical opening of each operating action is greater than or equal to the corresponding maximum opening, the maximum opening of each operating action is used as the target opening of the operating action.

[0174] The output current of the pilot proportional valve corresponding to each operation action is determined based on the predetermined correspondence between the pilot proportional valve opening and the pilot proportional valve current and the target opening of the pilot proportional valve corresponding to each operation action.

[0175] Furthermore, after determining the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action based on the target priorities of different operating actions and the acquired current operating action data of the target excavator, the method further includes:

[0176] When the operating performance control system of the target excavator is powered off, the operating performance data at the last moment before the power outage is stored in a power-off memory.

[0177] The operational performance data includes the deadband size, the proportional relationship between the pilot handle and the pilot proportional valve, and the output current of the pilot proportional valve, determined according to the first target level; the opening speed of the pilot proportional valve, the opening speed of the main pump proportional valve, and the output current of the pilot proportional valve and the output current of the main pump proportional valve, determined according to the second target level; the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operational action, determined according to the target priority of different operational actions and the acquired current operational action data of the target excavator;

[0178] A corresponding user account is generated based on the operating performance data, combined with the target operating conditions and driver information at the last moment before the power outage.

[0179] That is to say, when the operating performance control system of the target excavator is powered off, the current operating performance data is saved, so that the user can directly use the set operating performance data next time, reducing the time for the user to re-set the operating performance and improving the user's experience.

[0180] When saving the operating performance data, the operating performance data is marked according to the current working conditions and driver information, so that the user can find and call the operating performance previously set the next time the user applies it.

[0181] Furthermore, after generating a corresponding user account based on the operating performance data in combination with the target operating condition and driver information at the last moment before the power outage, the method further includes:

[0182] In response to the login information of the user account, the operation performance data is called to control the operation performance of the target excavator.

[0183] That is to say, after receiving the user account login information, the operating performance control of the target excavator can automatically call the pre-stored operating performance data to facilitate the driver's operation after the second time on the machine.

[0184] In the same operating performance control system, there can be multiple user accounts, which makes it convenient for different drivers to directly select the operating performance data that suits them according to their own operating habits and working conditions.

[0185] like Figure 2 As shown, in a second aspect, an embodiment of the present invention provides an adjustable excavator maneuverability control device, the device comprising:

[0186] The data interaction module 201 is used to obtain a first target level of motion sensitivity, a second target level of motion responsiveness, and target priorities of different operating actions input by the user based on a target working condition; the levels of motion sensitivity include low speed, normal, and fast; the levels of motion responsiveness include low speed, normal, and fast; and the operating actions include boom raising, boom lowering, arm retracting, arm opening, bucket retracting, bucket opening, swinging, and attachments;

[0187] The action sensitivity adjustment module 202 is used to adjust the dead band size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve according to the first target level, and adjust the output current of the pilot proportional valve according to the adjusted dead band size and the adjusted proportional relationship; different action sensitivity levels correspond to different dead band sizes and proportional relationships;

[0188] an action responsiveness adjustment module 203 for adjusting the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve according to the second target level, and adjusting the output current of the pilot proportional valve and the output current of the main pump proportional valve according to the adjusted opening speed of the pilot proportional valve and the adjusted opening speed of the main pump proportional valve; different action responsiveness levels correspond to different opening speeds of the pilot proportional valve and the opening speed of the main pump proportional valve;

[0189] The action priority adjustment module 204 is used to determine the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operation action based on the target priority of different operation actions and the current operation action data of the target excavator obtained; the current operation action data includes the opening degree of the pilot handle in different directions at the current moment and the fully open pilot pressure of the valve core corresponding to each operation action.

[0190] Furthermore, the motion sensitivity adjustment module 202 is configured to execute:

[0191] Obtain the target excavator's extreme dead zone, the current dead zone size of the pilot handle, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment; the proportional relationship is a linear relationship;

[0192] When the first target level is fast and the dead zone size of the pilot handle at the current moment is not the limit dead zone, the dead zone size of the pilot handle at the current moment is reduced by a first preset percentage of the full stroke of the pilot handle as the adjusted dead zone size;

[0193] When the adjusted dead zone size is the limit dead zone, the proportional relationship is adjusted according to the adjusted dead zone size and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment to obtain the adjusted proportional relationship, and the output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship;

[0194] When the dead zone size after adjustment is not the limit dead zone, the output current of the pilot proportional valve is output according to the proportional relationship between the pilot handle and the pilot proportional valve at the current moment.

[0195] Furthermore, after obtaining the target excavator's extreme dead zone, the current dead zone size of the pilot handle, and the current proportional relationship between the pilot handle and the pilot proportional valve, the action sensitivity adjustment module 202 is further configured to execute:

[0196] When the first target level is fast and the dead zone size of the pilot handle at the current moment is the limit dead zone, the starting point of the proportional relationship between the pilot handle and the pilot proportional valve at the current moment is increased by a first preset value to obtain an adjusted proportional relationship;

[0197] The output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship.

[0198] Furthermore, after obtaining the target excavator's extreme dead zone, the current dead zone size of the pilot handle, and the current proportional relationship between the pilot handle and the pilot proportional valve, the action sensitivity adjustment module 202 is further configured to execute:

[0199] When the first target level is low speed, the dead zone size of the pilot handle at the current moment is increased by a second preset percentage of the full stroke of the pilot handle as the adjusted dead zone size;

[0200] The proportional relationship between the pilot handle and the pilot proportional valve at the current moment is adjusted according to the adjusted dead zone size to obtain the adjusted proportional relationship;

[0201] The output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship.

[0202] Furthermore, after obtaining the target excavator's extreme dead zone, the current dead zone size of the pilot handle, and the current proportional relationship between the pilot handle and the pilot proportional valve, the action sensitivity adjustment module 202 is further configured to execute:

[0203] When the first target level is normal, the dead zone size of the current pilot handle and the proportional relationship between the current pilot handle and the pilot proportional valve are maintained, and the output current of the pilot proportional valve corresponding to the proportional relationship is maintained.

[0204] Furthermore, the opening speed of the pilot proportional valve is represented by the current rising speed of the pilot proportional valve, and the opening speed of the main pump proportional valve is represented by the current rising speed of the main pump proportional valve. When adjusting the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve according to the second target level, the action responsiveness adjustment module 203 is configured to execute:

[0205] Obtain the current rising speed of the pilot proportional valve and the current rising speed of the main pump proportional valve of the target excavator at the current moment;

[0206] When the second target level is fast, the current rising speed of the pilot proportional valve is increased to a first preset speed value, and the current rising speed of the main pump proportional valve is increased to a second preset speed value. At the same time, when the current rising speed of the pilot proportional valve is equal to the first preset speed value, the current rising speed of the main pump proportional valve is increased to a third preset speed value; the first preset speed value is greater than or equal to the current rising speed of the pilot proportional valve at the current moment, the second preset speed value is greater than the current rising speed of the main pump proportional valve at the current moment, and the third preset speed value is greater than the second preset speed value;

[0207] When the second target level is normal, the current increasing speed of the pilot proportional valve and the current increasing speed of the main pump proportional valve are maintained at the current moment;

[0208] When the second target level is low speed, the current rising speed of the pilot proportional valve is reduced to the fourth preset speed value, and the current rising speed of the main pump proportional valve is reduced to the fifth preset speed value; the fourth preset speed value is less than the current rising speed of the pilot proportional valve at the current moment, and the fifth preset speed value is less than the current rising speed of the main pump proportional valve at the current moment.

[0209] Furthermore, the action priority adjustment module 204 is configured to execute:

[0210] Obtain the current opening of the pilot handle in different directions and the fully open pilot pressure of the valve core corresponding to each operation action;

[0211] Determine the traffic allocation ratio for each operation according to the target priority of different operation actions;

[0212] According to the opening of the pilot handle in different directions and the predetermined correspondence between the opening of the pilot handle and the flow rate, the total flow rate required by the pilot handle in different directions at the current moment is determined;

[0213] Determine the output current of the main pump proportional valve based on the predetermined relationship between the flow rate and the current of the main pump proportional valve, as well as the total flow rate required by the pilot handle in different directions;

[0214] Determine the maximum opening of the pilot proportional valve corresponding to each operating action based on the fully opened pilot pressure of the valve core corresponding to each operating action and the flow distribution ratio of each operating action;

[0215] Determine the theoretical opening of the pilot handle corresponding to each operating action based on the opening of the pilot handle corresponding to each operating action at the current moment and the predetermined correspondence between the opening of the pilot handle and the pilot proportional valve;

[0216] According to the size of the theoretical opening and the maximum opening, determine the target opening of the pilot proportional valve corresponding to each operating action;

[0217] The output current of the pilot proportional valve corresponding to each operation action is determined based on the predetermined correspondence between the pilot proportional valve opening and the pilot proportional valve current and the target opening of the pilot proportional valve corresponding to each operation action.

[0218] Furthermore, the adjustable excavator control performance control device further includes a power-off data storage module; after determining the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action based on the target priorities of different operating actions and the acquired current operating action data of the target excavator, the power-off data storage module is configured to execute:

[0219] When the operating performance control system of the target excavator is powered off, the operating performance data at the last moment before the power outage is memorized and stored; the operating performance data includes the dead zone size, the proportional relationship between the pilot handle and the pilot proportional valve, and the output current of the pilot proportional valve determined according to the first target level; the opening speed of the pilot proportional valve, the opening speed of the main pump proportional valve, and the output current of the pilot proportional valve and the output current of the main pump proportional valve determined according to the second target level; the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action determined according to the target priority of different operating actions and the acquired current operating action data of the target excavator;

[0220] A corresponding user account is generated based on the operating performance data, combined with the target operating conditions and driver information at the last moment before the power outage.

[0221] Furthermore, the adjustable excavator control performance control device further includes an automatic configuration module. After generating a corresponding user account based on the operating performance data, the target operating condition at the last moment before the power outage, and the driver information, the automatic configuration module is configured to execute:

[0222] In response to the login information of the user account, the operation performance data is called to control the operation performance of the target excavator.

[0223] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0224] In a third aspect, an embodiment of the present invention further provides an electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the adjustable excavator control performance control method in an embodiment of the present invention.

[0225] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the adjustable excavator control performance control method in an embodiment of the present invention.

[0226] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0227] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention shall be covered by the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A method for controlling the control performance of an adjustable excavator, characterized in that: The method includes: Obtaining a first target level of motion sensitivity, a second target level of motion responsiveness, and target priorities of different operating actions input by a user based on a target working condition; the levels of motion sensitivity include low speed, normal, and fast; the levels of motion responsiveness include low speed, normal, and fast; and the operating actions include boom raising, boom lowering, arm retracting, arm opening, bucket retracting, bucket opening, swinging, and attachments; Adjusting the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve according to the first target level, and adjusting the output current of the pilot proportional valve according to the adjusted dead zone size and the adjusted proportional relationship; different levels of the action sensitivity correspond to different dead zone sizes and proportional relationships; adjusting the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve according to the second target level, and adjusting the output current of the pilot proportional valve and the output current of the main pump proportional valve according to the adjusted opening speed of the pilot proportional valve and the adjusted opening speed of the main pump proportional valve; different levels of action responsiveness correspond to different opening speeds of the pilot proportional valve and the opening speeds of the main pump proportional valve; According to the target priorities of the different operating actions and the current operating action data of the target excavator obtained, the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action are determined; the current operating action data includes the opening of the pilot handle in different directions at the current moment and the fully open pilot pressure of the valve core corresponding to each operating action.

2. The adjustable excavator maneuverability control method according to claim 1, characterized in that: The step of adjusting the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve according to the first target level, and adjusting the output current of the pilot proportional valve according to the adjusted dead zone size and the adjusted proportional relationship, specifically includes: Obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment; the proportional relationship is a linear relationship; When the first target level is fast and the dead zone size of the pilot handle at the current moment is not the limit dead zone, reducing the dead zone size of the pilot handle at the current moment by a first preset percentage of the full stroke of the pilot handle as the adjusted dead zone size; When the adjusted dead zone size is the limit dead zone, the proportional relationship is adjusted according to the adjusted dead zone size and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment to obtain an adjusted proportional relationship, and the output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship; When the adjusted dead zone size is not the limit dead zone, the output current of the pilot proportional valve is output according to the proportional relationship between the pilot handle and the pilot proportional valve at the current moment.

3. The adjustable excavator maneuverability control method according to claim 2, characterized in that: After obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the method further includes: When the first target level is fast and the dead zone size of the pilot handle at the current moment is the limit dead zone, increasing the starting point of the proportional relationship between the pilot handle and the pilot proportional valve at the current moment by a first preset value to obtain an adjusted proportional relationship; The output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship.

4. The adjustable excavator maneuverability control method according to claim 3, characterized in that: After obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the method further includes: When the first target level is low speed, the dead zone size of the pilot handle at the current moment is increased by a second preset percentage of the full stroke of the pilot handle as the adjusted dead zone size; Adjusting the proportional relationship between the pilot handle and the pilot proportional valve at the current moment according to the adjusted dead zone size to obtain an adjusted proportional relationship; The output current of the pilot proportional valve is adjusted according to the adjusted proportional relationship.

5. The adjustable excavator maneuverability control method according to claim 4, characterized in that: After obtaining the extreme dead zone of the target excavator, the dead zone size of the pilot handle at the current moment, and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment, the method further includes: When the first target level is normal, the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve at the current moment are maintained, and the output current of the pilot proportional valve corresponding to the proportional relationship is maintained.

6. The adjustable excavator maneuverability control method according to claim 1, characterized in that: The opening speed of the pilot proportional valve is represented by the current rising speed of the pilot proportional valve, and the opening speed of the main pump proportional valve is represented by the current rising speed of the main pump proportional valve; and adjusting the opening speed of the pilot proportional valve and the opening speed of the main pump proportional valve according to the second target level specifically includes: Obtaining a current rising speed of the pilot proportional valve and a current rising speed of the main pump proportional valve of the target excavator at a current moment; When the second target level is fast, the current rising speed of the pilot proportional valve is increased to a first preset speed value, and the current rising speed of the main pump proportional valve is increased to a second preset speed value. At the same time, when the current rising speed of the pilot proportional valve is equal to the first preset speed value, the current rising speed of the main pump proportional valve is increased to a third preset speed value; the first preset speed value is greater than or equal to the current rising speed of the pilot proportional valve at the current moment, the second preset speed value is greater than the current rising speed of the main pump proportional valve at the current moment, and the third preset speed value is greater than the second preset speed value; When the second target level is normal, maintaining the current increasing speed of the pilot proportional valve and the current increasing speed of the main pump proportional valve at the current moment; When the second target level is low speed, the current rising speed of the pilot proportional valve is reduced to a fourth preset speed value, and the current rising speed of the main pump proportional valve is reduced to a fifth preset speed value; the fourth preset speed value is smaller than the current rising speed of the pilot proportional valve at the current moment, and the fifth preset speed value is smaller than the current rising speed of the main pump proportional valve at the current moment.

7. The adjustable excavator maneuverability control method according to claim 1, characterized in that: The determining, based on the target priorities of the different operating actions and the acquired current operating action data of the target excavator, the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each operating action specifically includes: Obtaining the current opening of the pilot handle in different directions and the valve core full-opening pilot pressure corresponding to each operation action; Determine the traffic allocation ratio of each operation action according to the target priority of different operation actions; Determine the total flow required by the pilot handle in different directions at the current moment according to the opening of the pilot handle in different directions and the predetermined correspondence between the opening of the pilot handle and the flow rate; Determine the output current of the main pump proportional valve according to the predetermined correspondence between the flow rate and the current of the main pump proportional valve and the total flow rate required by the pilot handle in different directions; Determining the maximum opening of the pilot proportional valve corresponding to each of the operating actions according to the fully-opened pilot pressure of the valve core corresponding to each of the operating actions and the flow distribution ratio of each of the operating actions; Determining the theoretical opening of the pilot handle corresponding to each of the operating actions according to the opening of the pilot handle corresponding to each of the operating actions at the current moment and the predetermined correspondence between the opening of the pilot handle and the pilot proportional valve; determining a target opening of the pilot proportional valve corresponding to each of the operating actions according to the sizes of the theoretical opening and the maximum opening; The output current of the pilot proportional valve corresponding to each operation action is determined according to a predetermined correspondence between the pilot proportional valve opening and the pilot proportional valve current and a target opening of the pilot proportional valve corresponding to each operation action.

8. The adjustable excavator maneuverability control method according to claim 1, characterized in that: After determining the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each of the operating actions according to the target priorities of the different operating actions and the acquired current operating action data of the target excavator, the method further includes: When the operating performance control system of the target excavator is powered off, the operating performance data at the last moment before the power outage is memorized and stored; the operating performance data includes a dead zone size determined according to the first target level, a proportional relationship between the pilot handle and the pilot proportional valve, and an output current of the pilot proportional valve; an opening speed of the pilot proportional valve, an opening speed of the main pump proportional valve, and an output current of the pilot proportional valve and an output current of the main pump proportional valve determined according to the second target level; an output current of the main pump proportional valve and an output current of the pilot proportional valve corresponding to each operating action determined according to target priorities of different operating actions and the acquired current operating action data of the target excavator; A corresponding user account is generated based on the operating performance data, combined with the target operating condition and driver information at the last moment before the power outage.

9. The adjustable excavator maneuverability control method according to claim 8, characterized in that: After generating a corresponding user account based on the operating performance data and in combination with the target operating condition and driver information at the last moment before the power outage, the method further includes: In response to the login information of the user account, the operation performance data is called to perform control of the operation performance of the target excavator.

10. An adjustable excavator control performance control device, characterized in that: The device includes: a data interaction module for obtaining a first target level of motion sensitivity, a second target level of motion responsiveness, and target priorities of different operating actions input by a user based on a target working condition; the levels of motion sensitivity include low speed, normal, and fast; the levels of motion responsiveness include low speed, normal, and fast; and the operating actions include boom raising, boom lowering, arm retracting, arm opening, bucket retracting, bucket opening, swinging, and attachments; an action sensitivity adjustment module, configured to adjust the dead zone size of the pilot handle and the proportional relationship between the pilot handle and the pilot proportional valve according to the first target level, and to adjust the output current of the pilot proportional valve according to the adjusted dead zone size and the adjusted proportional relationship; different action sensitivity levels correspond to different dead zone sizes and proportional relationships; an action responsiveness adjustment module, configured to adjust an opening speed of the pilot proportional valve and an opening speed of the main pump proportional valve according to the second target level, and adjust an output current of the pilot proportional valve and an output current of the main pump proportional valve according to the adjusted opening speed of the pilot proportional valve and the adjusted opening speed of the main pump proportional valve; different action responsiveness levels correspond to different opening speeds of the pilot proportional valve and the opening speeds of the main pump proportional valve; An action priority adjustment module is used to determine the output current of the main pump proportional valve and the output current of the pilot proportional valve corresponding to each of the operation actions based on the target priorities of the different operation actions and the current operation action data of the target excavator obtained; the current operation action data includes the opening degree of the pilot handle in different directions at the current moment and the fully-open pilot pressure of the valve core corresponding to each of the operation actions.

11. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the adjustable excavator control performance control method as described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the adjustable excavator control performance control method as described in any one of claims 1-9.

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