An excavator control method, device, equipment and storage medium

Abstract

The application provides a kind of excavator control method, device, equipment and storage medium, method includes: in response to the action instruction of excavator, determine the pilot pressure value set of the excavator and the pump pressure value of hydraulic pump, wherein the pilot pressure value set includes part or all of boom lifting pilot pressure value, bucket arm retracting pilot pressure value and bucket retracting pilot pressure value;Based on each pressure value in the pilot pressure value set and the pump pressure value of hydraulic pump, determine whether the excavator needs to carry out large load excavation;If it is determined that the excavator needs to carry out large load excavation, control engine from constant speed control mode to constant torque control mode;Wherein, the constant speed control mode is used to keep the speed of engine unchanged, and the constant torque control mode is used to keep the torque of engine unchanged;The large load excavation of excavator can be predicted in advance, the speed drop of engine is avoided, and the excavation efficiency of excavator is improved.

Description

Technical Field

[0001] This application relates to the field of mechanical control technology, and in particular to an excavator control method, device, equipment and storage medium. Background Technology

[0002] When an excavator is digging, it often encounters situations where it is digging under heavy loads. When an excavator is digging under heavy loads, the engine may lose speed due to insufficient power. The traditional control method is to intervene in fuel injection after the sensor detects the engine speed drop. Fuel injection intervention can provide more energy by increasing the amount of fuel injected, helping the engine overcome the heavy load and thus slowing down the engine speed drop.

[0003] Since the fuel injection interference occurs after the engine speed drops, it causes the engine speed to fluctuate wildly under heavy load conditions, resulting in poor vehicle handling, reduced excavator efficiency, and increased fuel consumption. Summary of the Invention

[0004] This application provides an excavator control method, device, equipment, and storage medium for predicting the high-load digging of the excavator in advance, avoiding engine speed drop, and improving the digging efficiency of the excavator.

[0005] Firstly, this application provides an excavator control method, including:

[0006] In response to the excavator's action command, a set of pilot pressure values ​​for the excavator and the pump pressure value of the hydraulic pump are determined, wherein the set of pilot pressure values ​​includes part or all of the boom lifting pilot pressure value, stick retraction pilot pressure value, and bucket retraction pilot pressure value;

[0007] Based on the pressure values ​​in the pilot pressure value set and the pump pressure value of the hydraulic pump, it is determined whether the excavator needs to perform heavy load excavation.

[0008] If it is determined that the excavator needs to perform heavy-load excavation, the engine is controlled to switch from constant speed control mode to constant torque control mode; wherein, the constant speed control mode is used to keep the engine speed constant, and the constant torque control mode is used to keep the engine torque constant.

[0009] In one or more possible embodiments, determining whether the excavator needs to perform heavy-load digging based on the pressure values ​​in the set of pilot pressure values ​​and the pump pressure of the hydraulic pump includes:

[0010] If it is determined that the pump pressure of the hydraulic pump of the excavator is greater than the set pump pressure threshold and the pressure condition is met, then it is determined that the excavator needs to perform heavy load excavation.

[0011] If it is determined that the pump pressure of the hydraulic pump of the excavator is not greater than the set pump pressure threshold and / or does not meet the pressure condition, then it is determined that the excavator does not need to perform heavy load excavation.

[0012] The pressure conditions include some or all of the following:

[0013] The boom lifting pilot pressure is greater than the first pressure threshold.

[0014] The pilot pressure for the inward retraction of the boom is greater than the second pressure threshold.

[0015] The pilot pressure inside the bucket is greater than the third pressure threshold.

[0016] In one or more possible embodiments, the set pump pressure threshold is less than a first pump pressure value, the first pump pressure value being the minimum pump pressure value reached when the excavator is performing heavy-load digging.

[0017] In one or more possible embodiments, after the engine control mode switches from constant speed control mode to constant torque control mode, the method further includes:

[0018] It is determined that the pump pressure of the hydraulic pump of the excavator is not greater than the set pump pressure threshold and / or does not meet the pressure condition;

[0019] Control the engine to switch from the constant torque control mode to the constant speed control mode.

[0020] In one or more possible embodiments, the control of the engine to switch from a constant speed control mode to a constant torque control mode includes:

[0021] Increase the fuel injection quantity of the engine while keeping the engine torque constant, so as to control the engine to switch from constant speed control mode to constant torque control mode.

[0022] In one or more possible embodiments, increasing the fuel injection quantity of the engine includes:

[0023] Get the current fuel injection quantity of the engine;

[0024] The increased fuel injection quantity of the engine is determined based on the current fuel injection quantity and the preset fuel injection quantity.

[0025] Secondly, this application also provides an excavator control device, comprising:

[0026] The data acquisition module is used to respond to the excavator's action command to determine the excavator's pilot pressure value set and the hydraulic pump pressure value, wherein the pilot pressure value set includes part or all of the boom lifting pilot pressure value, stick retraction pilot pressure value and bucket retraction pilot pressure value;

[0027] The high load judgment module is used to determine whether the excavator needs to perform high load digging based on each pressure value in the pilot pressure value set and the pump pressure value of the hydraulic pump.

[0028] The constant torque mode switching module is used to control the engine to switch from constant speed control mode to constant torque control mode if it is determined that the excavator needs to perform heavy load excavation; wherein, the constant speed control mode is used to keep the engine speed constant, and the constant torque control mode is used to keep the engine torque constant.

[0029] In one or more possible embodiments, the high load determination module is specifically used for:

[0030] If it is determined that the pump pressure of the hydraulic pump of the excavator is greater than the set pump pressure threshold and the pressure condition is met, then it is determined that the excavator needs to perform heavy load excavation.

[0031] If it is determined that the pump pressure of the hydraulic pump of the excavator is not greater than the set pump pressure threshold and / or does not meet the pressure condition, then it is determined that the excavator does not need to perform heavy load excavation.

[0032] The pressure conditions include some or all of the following:

[0033] The boom lifting pilot pressure is greater than the first pressure threshold.

[0034] The pilot pressure for the inward retraction of the boom is greater than the second pressure threshold.

[0035] The pilot pressure inside the bucket is greater than the third pressure threshold.

[0036] In one or more possible embodiments, the set pump pressure threshold is less than a first pump pressure value, the first pump pressure value being the minimum pump pressure value reached when the excavator is performing heavy-load digging.

[0037] In one or more possible embodiments, after the constant torque mode switching module controls the engine to switch from constant speed control mode to constant torque mode, it further includes a constant speed mode switching module for:

[0038] It is determined that the pump pressure of the hydraulic pump of the excavator is not greater than the set pump pressure threshold and / or does not meet the pressure condition;

[0039] Control the engine to switch from the constant torque control mode to the constant speed control mode.

[0040] In one or more possible embodiments, the constant torque mode switching module is specifically used for:

[0041] Increase the fuel injection quantity of the engine while keeping the engine torque constant, so as to control the engine to switch from constant speed control mode to constant torque control mode.

[0042] In one or more possible embodiments, the constant torque mode switching module increases the fuel injection quantity of the engine, specifically for:

[0043] Get the current fuel injection quantity of the engine;

[0044] The increased fuel injection quantity of the engine is determined based on the current fuel injection quantity and the preset fuel injection quantity.

[0045] Thirdly, this application also provides an excavator control device, the device comprising:

[0046] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in any of the first aspects.

[0047] Fourthly, this application also provides a computer storage medium storing a computer program for causing a computer to perform the method described in any of the first aspects.

[0048] According to the excavator control method, device, equipment, and storage medium provided in this application, the pilot pressure value set of the excavator and the pump pressure value of the hydraulic pump can be determined according to the excavator's action command. Based on each pressure value in the pilot pressure value set and the pump pressure value of the hydraulic pump, it can be determined whether the excavator needs to perform heavy load digging. It can determine whether the excavator needs to perform heavy load digging before the engine speed drops. If it is determined that the excavator needs to perform heavy load digging, the engine is controlled to switch from constant speed control mode to constant torque mode. This is used to predict the heavy load digging of the excavator in advance, avoid engine speed drop, reduce fuel consumption, and improve the digging efficiency of the excavator. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0050] Figure 1 This is a flowchart of an excavator control method provided according to an embodiment;

[0051] Figure 2 This is a block diagram of an excavator control device according to an embodiment;

[0052] Figure 3 This is a block diagram of an excavator control device according to an embodiment;

[0053] Figure 4 This is a block diagram of a computer storage medium provided according to an embodiment. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0055] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0056] Furthermore, in the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0057] The following is a description of the technical terms used in this application:

[0058] Pilot pressure: This refers to the pressure used in a hydraulic system to control the main circuit check valve or other control valves. Simply put, it's the pressure that controls the opening and closing of critical valves. It's a crucial parameter in the excavator's operation, determining the working state of the hydraulic pump and valves, and directly affecting the overall performance of the hydraulic system. Unstable or excessively low pilot pressure can lead to unstable hydraulic system operation, choppy movements, or even malfunction.

[0059] The pump pressure of a hydraulic pump refers to the pressure of the hydraulic oil output by the pump, which determines its performance and applicable range. The hydraulic pump is a core component of a hydraulic system; its main function is to convert mechanical energy into hydraulic energy and transmit this energy to hydraulic actuators to complete the intended task.

[0060] Constant speed control mode: This is a technology that uses an automatic control system to maintain a constant engine speed. In this mode, the control system automatically adjusts the engine speed according to the engine's operating status and parameters, keeping it within a set range. This improves the excavator's operating efficiency and stability, reduces energy consumption and emissions, and enhances the excavator's performance and reliability.2 In complex working environments, constant speed control mode ensures that the excavator maintains stable output power under various working conditions, thereby improving work efficiency and quality.

[0061] Constant torque control mode: This mode outputs a constant braking torque, ensuring that the output torque remains constant regardless of changes in engine speed during the excavator's operation. Constant torque control mode is crucial for the excavator's performance. By maintaining a constant torque output, the excavator can more precisely control its workload, improving work efficiency and stability. At the same time, constant torque control also helps reduce energy consumption and emissions, improving the overall performance of the excavator.

[0062] When excavators are digging, they often encounter situations where they are digging under heavy loads. When an excavator is digging under heavy loads, the engine may lose speed due to insufficient power. The traditional control method is to intervene in fuel injection after the sensor detects the engine speed drop. Fuel injection intervention can provide more energy by increasing the amount of fuel injected, which can help the engine overcome the heavy load and thus slow down the engine speed drop.

[0063] Since fuel injection interference occurs after engine speed drops, it causes the engine speed to fluctuate wildly under heavy loads, resulting in poor vehicle handling, reduced excavator efficiency, and increased fuel consumption. Therefore, there is an urgent need for a method to improve or avoid engine speed drops, so as to prevent large fluctuations in engine speed, reduce fuel consumption, and improve economy.

[0064] Example 1

[0065] This application provides an excavator control method, such as... Figure 1 As shown, it includes:

[0066] Step 101: In response to the excavator's action command, determine the set of pilot pressure values ​​of the excavator and the pump pressure value of the hydraulic pump, wherein the set of pilot pressure values ​​includes part or all of the boom lifting pilot pressure value, stick retraction pilot pressure value and bucket retraction pilot pressure value.

[0067] In one or more possible embodiments, the excavator's action commands include a boom lifting command, a stick retraction command, and a bucket retraction command. In response to the boom lifting command, stick retraction command, and bucket retraction command, it is determined that the excavator will perform digging. A set of pilot pressure values ​​for the excavator is determined based on the boom lifting command, stick retraction command, and bucket retraction command. This set of pilot pressure values ​​includes boom lifting pilot pressure values, stick retraction pilot pressure values, and bucket retraction pilot pressure values. The hydraulic pump pressure value is also determined. All of these values ​​are acquired from sensors.

[0068] Step 102: Based on the pressure values ​​in the above pilot pressure value set and the pump pressure value of the hydraulic pump, determine whether the excavator needs to perform heavy load excavation.

[0069] In one or more possible embodiments, based on the excavator's action commands, it can be determined that the excavator needs to dig. However, digging does not necessarily mean digging with a heavy load. Digging with a heavy load means that the excavator bears a relatively large load, such as digging large rocks, digging a large amount of soil, or digging heavy construction waste. The heavier the load the excavator digs, the greater the corresponding boom lifting pilot pressure value, stick retraction pilot pressure value, bucket retraction pilot pressure value, and hydraulic pump pressure value will be. Therefore, based on the various pressure values ​​in the above-mentioned pilot pressure value set and the hydraulic pump pressure value, it can be determined whether the excavator needs to dig with a heavy load.

[0070] Step 103: If it is determined that the excavator needs to perform heavy load excavation, the engine is controlled to switch from constant speed control mode to constant torque control mode; wherein, the constant speed control mode is used to keep the engine speed constant, and the constant torque control mode is used to keep the engine torque constant.

[0071] In one or more possible embodiments, when it is determined that the excavator needs to perform heavy-load excavation, the engine will be controlled to switch from constant speed control mode to constant torque control mode to maintain the engine torque constant. The constant speed control mode is a technical mode that maintains the engine speed constant through an automatic control system. It automatically adjusts the engine speed according to the engine's working status and operating parameters to keep the engine speed within a set range. The constant torque control mode is used to output constant braking torque to ensure that the output torque remains constant regardless of changes in engine speed during the excavator's operation. To ensure a smooth switch from constant speed control mode to constant torque control mode, engine fuel injection is generally controlled to maintain the engine torque constant and prevent engine speed drop.

[0072] According to the excavator control method provided in this application, the pilot pressure value set of the excavator and the pump pressure value of the hydraulic pump can be determined according to the excavator's action command. Based on each pressure value in the pilot pressure value set and the pump pressure value of the hydraulic pump, it can be determined whether the excavator needs to perform heavy load digging. It can determine whether the excavator needs to perform heavy load digging before the engine speed drops. If it is determined that the excavator needs to perform heavy load digging, the engine is controlled to switch from constant speed control mode to constant torque mode. This is used to predict the heavy load digging of the excavator in advance, avoid engine speed drop, reduce fuel consumption, and improve the digging efficiency of the excavator.

[0073] In one or more possible embodiments, determining whether the excavator needs to perform heavy-load digging based on each pressure value in the aforementioned set of pilot pressure values ​​and the pump pressure value of the hydraulic pump includes: if it is determined that the pump pressure of the excavator's hydraulic pump is greater than a set pump pressure threshold and meets the pressure condition, then it is determined that the excavator needs to perform heavy-load digging; if it is determined that the pump pressure of the excavator's hydraulic pump is not greater than the set pump pressure threshold and / or does not meet the aforementioned pressure condition, then it is determined that the excavator does not need to perform heavy-load digging.

[0074] The pressure conditions mentioned above include some or all of the following: the boom lifting pilot pressure is greater than the first pressure threshold; the stick retraction pilot pressure is greater than the second pressure threshold; and the bucket retraction pilot pressure is greater than the third pressure threshold.

[0075] In one or more possible embodiments, it is determined that the excavator needs to perform heavy load digging only when the pump pressure of the excavator's hydraulic pump detected by the sensor is greater than a set pump pressure threshold and the pressure condition is met. The set pump pressure threshold is less than a first pump pressure value, which is the minimum pump pressure value reached when the excavator is performing heavy load digging. For example, when the excavator is digging a load of more than 100KG, it will be considered to be performing heavy load digging. The first pump pressure value is the pump pressure value corresponding to the excavator digging a 100KG load, assuming it is 30 MPa. That is, when the pump pressure value corresponding to the excavator reaches 30 MPa, it will be considered to be digging a heavy load. The set pump pressure threshold in this application is less than the first pump pressure value, that is, the set pump pressure threshold is less than 30 MPa. It can be set to 28 MPa or 29 MPa, etc. There is no specific limitation here, as long as the set pump pressure threshold is less than the first pump pressure value.

[0076] In one or more possible embodiments, the pressure conditions include some or all of the following: the boom lifting pilot pressure is greater than a first pressure threshold; the stick retraction pilot pressure is greater than a second pressure threshold; the bucket retraction pilot pressure is greater than a third pressure threshold. Only when the pump pressure of the excavator's hydraulic pump is determined to be greater than a set pump pressure threshold, and the pressure conditions are met, can it be determined that the excavator needs to perform heavy-load digging. That is, only when the pump pressure of the excavator's hydraulic pump is greater than a set pump pressure threshold, the boom lifting pilot pressure is greater than the first pressure threshold, the stick retraction pilot pressure is greater than the second pressure threshold, and the bucket retraction pilot pressure is greater than the third pressure threshold, can it be determined that the excavator needs to perform heavy-load digging. If the boom lifting pilot pressure of the excavator is determined not to be greater than the first pressure threshold, it indicates that the excavator has not met the pressure conditions, and it is determined that the excavator does not need to perform heavy-load digging.

[0077] In one or more possible embodiments, after the above-mentioned control engine switches from constant speed control mode to constant torque control mode, the method further includes: determining that the pump pressure of the excavator's hydraulic pump is not greater than a set pump pressure threshold and / or does not meet the above pressure conditions; controlling the engine to switch from the above-mentioned constant torque control mode to the above-mentioned constant speed control mode; engine speed drop is generally caused by a sudden encounter with a large load, resulting in insufficient engine power. When the excavator has completed digging with a large load, it means that the current working state of the excavator has stabilized and will not encounter a sudden event that causes insufficient engine power and speed drop. That is, when it is detected that the pump pressure of the excavator's hydraulic pump is not greater than the set pump pressure threshold and / or does not meet the above pressure conditions, it means that the working state of the excavator has stabilized. At this time, there is no need to worry about the engine speed drop problem. The engine can be switched from the above-mentioned constant torque control mode to the above-mentioned constant speed control mode to maintain stable engine operation and reduce the amount of fuel injected into the engine.

[0078] In one or more possible embodiments, the above-described control of the engine to switch from a constant speed control mode to a constant torque control mode includes: increasing the fuel injection quantity of the engine while maintaining the engine torque at a constant level, thereby controlling the engine to switch from a constant speed control mode to a constant torque control mode; controlling the engine to switch from a constant speed control mode to a constant torque control mode is achieved by increasing the fuel injection quantity, and increasing the fuel injection quantity can prevent the engine from slowing down; in the prior art, engine fuel injection occurs when the engine has already slowed down, and the amount of fuel injection to be increased can be determined based on the engine's slowdown condition. Furthermore, the engine must maintain constant speed control. For example, if the current engine speed is 1600 rpm, and the engine speed drops to 1400 rpm, then increasing the fuel injection quantity will raise the engine speed from 1400 rpm back to 1600 rpm. In this application, when the excavator needs to dig under heavy load, the engine will increase the fuel injection quantity in advance to maintain the engine speed. That is, fuel injection is carried out before the engine speed drops, switching to constant torque control. Then, when actually entering heavy load digging, due to the increased fuel injection quantity, the engine will not drop speed due to insufficient power.

[0079] In one or more possible embodiments, increasing the fuel injection quantity of the engine includes: obtaining the current fuel injection quantity of the engine; determining the increased fuel injection quantity of the engine based on the current fuel injection quantity and a preset fuel injection quantity; for example, if the current fuel injection quantity of the engine is a ml / min and the preset fuel injection quantity is b ml / min, then the increased fuel injection quantity of the engine is determined to be a+b ml / min. It should be noted that the preset fuel injection quantity is not a fixed value and can be modified according to the actual on-site environment, the state of the excavator, etc.

[0080] According to the excavator control method provided in this application, the pilot pressure value set of the excavator and the pump pressure value of the hydraulic pump can be determined according to the excavator's action command. Based on each pressure value in the pilot pressure value set and the pump pressure value of the hydraulic pump, it can be determined whether the excavator needs to perform heavy load digging. It can determine whether the excavator needs to perform heavy load digging before the engine speed drops. If it is determined that the excavator needs to perform heavy load digging, the engine is controlled to switch from constant speed control mode to constant torque mode. This is used to predict the heavy load digging of the excavator in advance, avoid engine speed drop, reduce fuel consumption, and improve the digging efficiency of the excavator.

[0081] Example 2

[0082] This application also provides an excavator control device, such as... Figure 2 As shown, it includes:

[0083] The data acquisition module 201 is used to respond to the excavator's action command and determine the set of pilot pressure values ​​of the excavator and the pump pressure value of the hydraulic pump, wherein the set of pilot pressure values ​​includes part or all of the boom lifting pilot pressure value, stick retraction pilot pressure value and bucket retraction pilot pressure value.

[0084] The high load judgment module 202 is used to determine whether the excavator needs to perform high load excavation based on the pressure values ​​in the above pilot pressure value set and the pump pressure value of the hydraulic pump.

[0085] The constant torque mode switching module 203 is used to control the engine to switch from constant speed control mode to constant torque control mode if it is determined that the excavator needs to perform heavy load excavation; wherein, the constant speed control mode is used to keep the engine speed constant, and the constant torque control mode is used to keep the engine torque constant.

[0086] In one or more possible embodiments, the above-mentioned high load determination module 202 is specifically used for:

[0087] If it is determined that the pump pressure of the hydraulic pump of the above excavator is greater than the set pump pressure threshold and the pressure condition is met, then it is determined that the above excavator needs to perform heavy load excavation.

[0088] If it is determined that the pump pressure of the hydraulic pump of the above excavator is not greater than the set pump pressure threshold and / or does not meet the above pressure conditions, then it is determined that the above excavator does not need to perform heavy load excavation.

[0089] The aforementioned pressure conditions include some or all of the following:

[0090] The aforementioned boom lifting pilot pressure is greater than the first pressure threshold;

[0091] The aforementioned pilot pressure for the boom retraction is greater than the second pressure threshold.

[0092] The aforementioned pilot pressure inside the bucket is greater than the third pressure threshold.

[0093] In one or more possible embodiments, the aforementioned set pump pressure threshold is less than a first pump pressure value, the first pump pressure value being the minimum pump pressure value reached when the excavator is performing heavy-load excavation.

[0094] In one or more possible embodiments, after the constant torque mode switching module 203 controls the engine to switch from constant speed control mode to constant torque mode, it further includes a constant speed mode switching module 204, used for:

[0095] It is determined that the pump pressure of the hydraulic pump of the excavator is not greater than the set pump pressure threshold and / or does not meet the above pressure conditions.

[0096] Control the engine to switch from the constant torque control mode to the constant speed control mode.

[0097] In one or more possible embodiments, the constant torque mode switching module 203 is specifically used for:

[0098] Increase the fuel injection quantity of the engine while keeping the engine torque constant to control the engine to switch from constant speed control mode to constant torque control mode.

[0099] In one or more possible embodiments, the constant torque mode switching module 203 increases the fuel injection quantity of the engine, specifically for:

[0100] Get the current fuel injection quantity of the engine;

[0101] The increased fuel injection quantity of the engine is determined based on the current fuel injection quantity and the preset fuel injection quantity.

[0102] Example 3

[0103] This application also provides an excavator control device, including at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the excavator control method described above.

[0104] like Figure 3 As shown, the device includes a processor 301, a memory 302, a communication interface 303, and a bus 304. The processor 301, memory 302, and communication interface 303 are interconnected via the bus 304.

[0105] Processor 301 is configured to read instructions from memory 302 and execute them, such that at least one processor is capable of performing any of the following methods:

[0106] In response to the excavator's action command, the set of pilot pressure values ​​of the excavator and the pump pressure value of the hydraulic pump are determined, wherein the set of pilot pressure values ​​includes part or all of the boom lifting pilot pressure value, stick retraction pilot pressure value and bucket retraction pilot pressure value;

[0107] Based on the pressure values ​​in the above pilot pressure value set and the pump pressure value of the hydraulic pump, determine whether the above excavator needs to perform heavy load excavation.

[0108] If it is determined that the excavator needs to perform heavy load excavation, the engine is switched from constant speed control mode to constant torque control mode; wherein, the constant speed control mode is used to keep the engine speed constant, and the constant torque control mode is used to keep the engine torque constant.

[0109] In one or more possible embodiments, determining whether the excavator needs to perform heavy-load digging based on the pressure values ​​in the aforementioned pilot pressure value set and the pump pressure value of the hydraulic pump includes:

[0110] If it is determined that the pump pressure of the hydraulic pump of the above excavator is greater than the set pump pressure threshold and the pressure condition is met, then it is determined that the above excavator needs to perform heavy load excavation.

[0111] If it is determined that the pump pressure of the hydraulic pump of the above excavator is not greater than the set pump pressure threshold and / or does not meet the above pressure conditions, then it is determined that the above excavator does not need to perform heavy load excavation.

[0112] The aforementioned pressure conditions include some or all of the following:

[0113] The aforementioned boom lifting pilot pressure is greater than the first pressure threshold;

[0114] The aforementioned pilot pressure for the boom retraction is greater than the second pressure threshold.

[0115] The aforementioned pilot pressure inside the bucket is greater than the third pressure threshold.

[0116] In one or more possible embodiments, the aforementioned set pump pressure threshold is less than a first pump pressure value, the first pump pressure value being the minimum pump pressure value reached when the excavator is performing heavy-load excavation.

[0117] In one or more possible embodiments, after the engine switches from constant speed control mode to constant torque control mode, the method further includes:

[0118] It is determined that the pump pressure of the hydraulic pump of the excavator is not greater than the set pump pressure threshold and / or does not meet the above pressure conditions.

[0119] Control the engine to switch from the constant torque control mode to the constant speed control mode.

[0120] In one or more possible embodiments, the above-described control of the engine to switch from a constant speed control mode to a constant torque control mode includes:

[0121] Increase the fuel injection quantity of the engine while keeping the engine torque constant to control the engine to switch from constant speed control mode to constant torque control mode.

[0122] In one or more possible embodiments, the above-mentioned increase in the fuel injection quantity of the engine includes:

[0123] Get the current fuel injection quantity of the engine;

[0124] The increased fuel injection quantity of the engine is determined based on the current fuel injection quantity and the preset fuel injection quantity.

[0125] The memory 302 is used to store various instructions and programs of the excavator control method provided in the above embodiments.

[0126] Bus 304 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0127] Processor 301 can be a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), or any combination of CPU, NP, and GPU. It can also be a hardware chip. The aforementioned hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0128] Example 4

[0129] In addition, this application also provides a computer-readable storage medium, such as Figure 4 As shown, the computer storage medium stores a computer program that is used to cause the computer to perform any of the methods described in the above embodiments.

[0130] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) 401 and / or cache memory 402, and may further include read-only memory (ROM) 403.

[0131] The memory may also include a program / utility 405 having a set (at least one) of program modules 404, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0132] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0133] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0134] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0135] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0136] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for controlling an excavator, characterized in that, include: In response to the excavator's action command, a set of pilot pressure values ​​for the excavator and the pump pressure value of the hydraulic pump are determined, wherein the set of pilot pressure values ​​includes part or all of the boom lifting pilot pressure value, stick retraction pilot pressure value, and bucket retraction pilot pressure value; If it is determined that the pump pressure of the excavator's hydraulic pump is greater than a set pump pressure threshold and meets the pressure conditions, then it is determined that the excavator needs to perform heavy-load digging; if it is determined that the pump pressure of the excavator's hydraulic pump is not greater than the set pump pressure threshold and / or does not meet the pressure conditions, then it is determined that the excavator does not need to perform heavy-load digging; wherein, the set pump pressure threshold is less than a first pump pressure value, and the first pump pressure value is the minimum pump pressure value reached when the excavator performs heavy-load digging; the pressure conditions include some or all of the following: the boom lifting pilot pressure is greater than a first pressure threshold; the stick retraction pilot pressure is greater than a second pressure threshold; the bucket retraction pilot pressure is greater than a third pressure threshold; If it is determined that the excavator needs to perform heavy-load excavation, the engine is controlled to switch from constant speed control mode to constant torque control mode; wherein, the constant speed control mode is used to keep the engine speed constant, and the constant torque control mode is used to keep the engine torque constant.

2. The method according to claim 1, characterized in that, After the engine is switched from constant speed control mode to constant torque control mode, the following is also included: It is determined that the pump pressure of the hydraulic pump of the excavator is not greater than the set pump pressure threshold and / or does not meet the pressure condition; Control the engine to switch from the constant torque control mode to the constant speed control mode.

3. The method according to any one of claims 1 to 2, characterized in that, The control of the engine to switch from constant speed control mode to constant torque control mode includes: Increase the fuel injection quantity of the engine while keeping the engine torque constant, so as to control the engine to switch from constant speed control mode to constant torque control mode.

4. The method according to claim 3, characterized in that, The increase in the fuel injection quantity of the engine includes: Get the current fuel injection quantity of the engine; The increased fuel injection quantity of the engine is determined based on the current fuel injection quantity and the preset fuel injection quantity.

5. An excavator control device, characterized in that, include: The data acquisition module is used to respond to the excavator's action command to determine the excavator's pilot pressure value set and the hydraulic pump pressure value, wherein the pilot pressure value set includes part or all of the boom lifting pilot pressure value, stick retraction pilot pressure value and bucket retraction pilot pressure value; A high-load judgment module is used to determine that the excavator needs to perform high-load digging if it is determined that the pump pressure of the excavator's hydraulic pump is greater than a set pump pressure threshold and the pressure condition is met; and to determine that the excavator does not need to perform high-load digging if it is determined that the pump pressure of the excavator's hydraulic pump is not greater than the set pump pressure threshold and / or the pressure condition is not met. The set pump pressure threshold is less than a first pump pressure value, where the first pump pressure value is the minimum pump pressure value reached when the excavator performs high-load digging. The pressure condition includes some or all of the following: the boom lifting pilot pressure is greater than a first pressure threshold; the stick retraction pilot pressure is greater than a second pressure threshold; and the bucket retraction pilot pressure is greater than a third pressure threshold. The constant torque mode switching module is used to control the engine to switch from constant speed control mode to constant torque control mode if it is determined that the excavator needs to perform heavy load excavation; wherein, the constant speed control mode is used to keep the engine speed constant, and the constant torque control mode is used to keep the engine torque constant.

6. An excavator control device, characterized in that, The device includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described in any one of claims 1-4.

7. A computer storage medium, characterized in that, The computer storage medium stores a computer program that enables the computer to perform the method as described in any one of claims 1-4.

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