Control method, device, storage medium and excavator system

Abstract

The present application provides a control method, device, storage medium and excavator system for an excavator system. The method uses the current return temperature as a judgment reference, and when the current return temperature is less than or equal to a preset temperature threshold, obtains the absolute value of the temperature difference, that is, the absolute value of the difference between the current return temperature and the preset temperature threshold. Finally, the first target opening is determined to be the opening corresponding to the absolute value of the temperature difference, and the opening of the first return oil throttle valve is adjusted to the first target opening, and the second return oil throttle valve is closed. Compared with the existing solution, the return oil can be controlled not to pass through the cooler, thereby improving the heating speed, and thus solving the problem that the two parallel one-way valves in the excavator of the prior art cannot directly control the return oil not to pass through the cooler when the hydraulic oil temperature is low and needs to be heated quickly, resulting in too slow heating.

Description

Technical Field

[0001] The present application relates to the technical field of excavators, and in particular to a control method, device, storage medium and excavator system of an excavator system. Background Art

[0002] The return oil line of a conventional hydraulic main valve only has two check valves connected in parallel, one with a higher back pressure and the other with a lower back pressure. Depending on the return oil flow rate and oil viscosity, both check valves typically open to return oil when the hydraulic oil temperature is low or the return oil flow rate is high. When the hydraulic oil temperature is high or the return oil flow rate is low, only the check valve with the lower back pressure opens to return oil.

[0003] The return oil back pressure of the main valve is a fixed value, that is, the opening pressure of the two one-way valves involved is a fixed value and cannot be adjusted. Therefore, its main disadvantages are: First, when the hydraulic oil temperature is low and needs to be heated quickly, it is impossible to directly control the return oil to not pass through the cooler, resulting in too slow heating; Second, under standby conditions, the hydraulic pump oil must pass through the return oil one-way valve after passing through the main valve before returning to the oil tank. The return oil circuit pressure loss generated at this time is about 5 to 10 bar, which is a waste of energy; Third, when the excavator is in operation, the return oil circuit back pressure cannot meet the requirements of some operating conditions for higher back pressure and some operating conditions for lower back pressure. In summary, the existing technology has problems such as slow hydraulic oil heating, high standby energy consumption, and the inability to flexibly adjust the back pressure during the operation process. Summary of the Invention

[0004] The main purpose of this application is to provide a control method, device, storage medium and excavator system for an excavator system, so as to at least solve the problem that when the hydraulic oil temperature is low and rapid heating is required, the two parallel one-way valves in the excavator of the prior art cannot directly control the return oil to not pass through the cooler, resulting in slow heating.

[0005] To achieve the above objectives, according to one aspect of the present application, a control method for an excavator system is provided, which is applied to a controller of the excavator system. The excavator system further includes a hydraulic main valve, a cooler, an oil return check valve, a first oil return throttle valve, and a second oil return throttle valve. The first oil return throttle valve is installed between a return output end of the hydraulic main valve and the second oil return throttle valve, the second oil return throttle valve is installed between the cooler and the first oil return throttle valve, and the cooler is installed between the first oil return throttle valve and an input end of the hydraulic main valve. The method includes:

[0006] When the excavator system is in a standby mode, obtaining the temperature of the return output end of the hydraulic main valve in real time to obtain a current return temperature;

[0007] When the current reflow temperature is less than or equal to a preset temperature threshold, obtaining an absolute value of a temperature difference, where the absolute value of the temperature difference is an absolute value of a difference between the current reflow temperature and the preset temperature threshold;

[0008] A first target opening is determined to be an opening corresponding to the absolute value of the temperature difference, the opening of the first oil return throttle valve is adjusted to the first target opening, and the second oil return throttle valve is closed to control the return oil not to pass through the cooler.

[0009] Optionally, adjusting the opening of the first return oil throttle valve to the first target opening includes: determining a first control current as a control current corresponding to the first target opening; and using the first control current to adjust the opening of the first return oil throttle valve to adjust the opening of the first return oil throttle valve to the first target opening.

[0010] Optionally, the method also includes: when the current return temperature is greater than the preset temperature threshold, determining the current operating condition of the excavator system, the current operating condition being one of the following: a first operating condition, a second operating condition and a third operating condition, the first operating condition indicating that the excavator system is performing excavation work, the second operating condition indicating that the excavator system is in a state where the bucket is retracted and the shaker bar is retracted, and the third operating condition indicating that the upper body of the excavator system receives a stop command during rotation, and the stop command is used to stop the rotation of the upper body; according to the current operating condition of the excavator system, adjusting the opening of the first return oil throttle valve and the opening of the second return oil throttle valve.

[0011] Optionally, according to the current operating condition of the excavator system, the opening of the first return oil throttle valve and the opening of the second return oil throttle valve are adjusted, including: when the current operating condition of the excavator system is the second operating condition, the opening of the first return oil throttle valve is adjusted to a second target opening, and the opening of the second return oil throttle valve is adjusted to a maximum, and the second target opening is the product of the maximum value of the opening of the first return oil throttle valve and a first preset percentage; when the current operating condition of the excavator system is the third operating condition, the opening of the first return oil throttle valve is adjusted to a third target opening, and the opening of the second return oil throttle valve is adjusted to a maximum, and the third target opening is the product of the maximum value of the opening of the first return oil throttle valve and a second preset percentage, and the second preset percentage is greater than the first preset percentage.

[0012] Optionally, according to the current operating condition of the excavator system, the opening of the first return oil throttle valve and the opening of the second return oil throttle valve are adjusted, including: when the current operating condition of the excavator system is the first operating condition, the opening of the first return oil throttle valve and the opening of the second return oil throttle valve are adjusted to the maximum.

[0013] Optionally, before obtaining the temperature of the return output end of the hydraulic main valve in real time and obtaining the current return temperature, the method also includes: after the excavator system is started, determining that the excavator system is in the standby mode; and adjusting the opening of the first return oil throttle valve and the opening of the second return oil throttle valve to the maximum.

[0014] Optionally, after obtaining the temperature of the return output end of the hydraulic main valve in real time and obtaining the current return temperature, the method further includes: obtaining the temperature of the environment in which the excavator system is located; and determining that the preset temperature threshold is a temperature threshold corresponding to the model of the excavator system and the temperature of the environment in which the excavator system is located.

[0015] According to another aspect of the present application, a control device for an excavator system is provided, the device comprising:

[0016] a first acquiring unit, configured to acquire, in real time when the excavator system is in a standby mode, a temperature of a return output end of the hydraulic main valve to obtain a current return temperature;

[0017] a second acquiring unit, configured to acquire an absolute value of a temperature difference when the current reflow temperature is less than or equal to a preset temperature threshold, the absolute value of the temperature difference being an absolute value of a difference between the current reflow temperature and the preset temperature threshold;

[0018] The first processing unit is used to determine a first target opening as an opening corresponding to the absolute value of the temperature difference, adjust the opening of the first return oil throttle valve to the first target opening, and close the second return oil throttle valve to control the return oil not to pass through the cooler.

[0019] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0020] According to another aspect of the present application, an excavator system is provided, which includes: a controller, a hydraulic main valve, a cooler, a return oil one-way valve, a first return oil throttle valve, and a second return oil throttle valve, the first return oil throttle valve being installed between the return output end of the hydraulic main valve and the second return oil throttle valve, the second return oil throttle valve being installed between the cooler and the first return oil throttle valve, the cooler being installed between the first return oil throttle valve and the input end of the hydraulic main valve, the controller communicating with the first return oil throttle valve and the second return oil throttle valve respectively, and the controller being used to execute any one of the methods described.

[0021] By applying the technical solution of the present application, the temperature of the return output end of the hydraulic main valve is obtained in real time when the excavator system is in standby mode to obtain the current return temperature, and the current return temperature is used as a judgment reference. When the current return temperature is less than or equal to the preset temperature threshold, the absolute value of the temperature difference is obtained, that is, the absolute value of the difference between the current return temperature and the preset temperature threshold. Finally, the first target opening is determined to be the opening corresponding to the absolute value of the temperature difference, and the opening of the first return oil throttle valve is adjusted to the first target opening, and the second return oil throttle valve is closed. Compared with the existing solution, the return oil can be controlled not to pass through the cooler, thereby improving the heating speed, thereby solving the problem that the two parallel one-way valves in the excavator of the prior art cannot directly control the return oil not to pass through the cooler when the hydraulic oil temperature is low and needs to be heated quickly, resulting in too slow heating. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0023] Figure 1 A schematic flow chart of a control method for an excavator system according to an embodiment of the present application is shown;

[0024] Figure 2 A schematic diagram of a process for determining a preset temperature threshold according to an embodiment of the present application is shown;

[0025] Figure 3 A schematic flow chart of a control method for an excavator system according to an embodiment of the present application is shown when the current return temperature is greater than a preset temperature threshold;

[0026] Figure 4 A schematic diagram of an excavator system provided according to an embodiment of the present application is shown;

[0027] Figure 5A schematic flow chart of another excavator system control method according to an embodiment of the present application is shown;

[0028] Figure 6 The figure shows a structural block diagram of a control device of an excavator system provided according to an embodiment of the present application.

[0029] The above drawings include the following reference numerals:

[0030] 110. Engine; 120. Hydraulic main valve; 130. Cooler; 140. Oil return check valve; 150. First oil return throttle valve; 160. Second oil return throttle valve; 170. Actuator; 180. Temperature sensor; 210. First hydraulic pump; 220. Second hydraulic pump. DETAILED DESCRIPTION

[0031] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] For ease of description, some nouns or terms involved in the embodiments of the present application are explained below:

[0035] The excavator's stick retraction and bucket retraction are two different functional operations.

[0036] Stick Retraction: The stick retraction mechanism is a component on an excavator that controls the bucket's lift, tilt, and tilt. This mechanism moves the stick toward the excavator, bringing the bucket closer to the machine. This reduces the excavator's operating range and height, increasing machine stability. This mechanism is typically used when working in confined spaces or when increased excavator stability is required.

[0037] Bucket Retraction: The bucket is the working part of an excavator, used for digging and moving materials such as earth, sand, and gravel. Bucket retraction moves the bucket toward the machine body, reducing the bucket opening and making it easier to pick up or load materials. Bucket retraction is often used for precise operations or working in confined spaces, allowing for more flexible control of the excavator's movements.

[0038] As described in the background, the return oil line of the hydraulic main valve of the prior art only has two one-way valves connected in parallel, one of which has a higher back pressure, while the other has a lower back pressure. Depending on the return oil flow rate and oil viscosity, both one-way valves are generally open for oil return when the hydraulic oil temperature is low or the return oil flow rate is high. When the hydraulic oil temperature is high or the return oil flow rate is low, only the one-way valve with the lower back pressure is opened for oil return. To address the problem in prior art excavators where the two parallel one-way valves cannot directly control the return oil from passing through a cooler when the hydraulic oil temperature is low and rapid heating is required, resulting in slow heating, the embodiments of the present application provide a control method, device, storage medium, and excavator system for an excavator system.

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0040] In this embodiment, a control method for an excavator system is provided, which is applied to a controller of the excavator system. The excavator system also includes a hydraulic main valve, a cooler, a return oil one-way valve, a first return oil throttle valve and a second return oil throttle valve. The first return oil throttle valve is installed between the return output end of the hydraulic main valve and the second return oil throttle valve, the second return oil throttle valve is installed between the cooler and the first return oil throttle valve, and the cooler is installed between the first return oil throttle valve and the input end of the hydraulic main valve. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0041] The return oil line of a conventional hydraulic main valve only has two check valves connected in parallel, one with a higher back pressure and the other with a lower back pressure. Depending on the return oil flow rate and oil viscosity, both check valves open for return oil when the hydraulic oil temperature is low or the return oil flow rate is high. When the hydraulic oil temperature is high or the return oil flow rate is low, only the check valve with the lower back pressure opens for return oil. The return oil back pressure of the main valve is fixed, meaning the opening pressures of the two check valves are fixed and cannot be adjusted. Consequently, this system has the following major drawbacks: First, when the hydraulic oil temperature is low and rapid heating is required, the return oil cannot be directly controlled to bypass the cooler, resulting in slow heating. Second, in standby mode, the hydraulic pump oil must pass through the return oil check valve after passing through the main valve before returning to the tank. This results in a return oil pressure drop of approximately 5 to 10 bar, wasting energy. Third, when the excavator is operating, the return oil back pressure cannot meet the requirements of both high and low back pressures in some operating conditions. In summary, the existing technology has problems such as slow heating of hydraulic oil, high standby energy consumption and inability to flexibly adjust the back pressure during the operation process.

[0042] Figure 1 FIG. 1 is a flow chart of a control method for an excavator system according to an embodiment of the present application. Figure 1 As shown, the method includes the following steps:

[0043] Step S101, when the excavator system is in a standby mode, obtaining the temperature of the return output end of the hydraulic main valve in real time to obtain a current return temperature;

[0044] In one embodiment of the present application, in step S101, that is, obtaining the temperature of the above-mentioned return output end of the above-mentioned hydraulic main valve in real time and before obtaining the current return temperature, the above-mentioned method also includes: after the above-mentioned excavator system is started, determining that the above-mentioned excavator system is in the above-mentioned standby mode; adjusting the opening of the above-mentioned first return oil throttle valve and the opening of the above-mentioned second return oil throttle valve to the maximum.

[0045] In one embodiment of the present application, Figure 2 As shown, in step S101, that is, obtaining the temperature of the return output end of the hydraulic main valve in real time and obtaining the current return temperature, the method further includes the following steps:

[0046] Step S201, obtaining the temperature of the environment in which the excavator system is located;

[0047] Step S202 : determining that the preset temperature threshold is a temperature threshold corresponding to the model of the excavator system and the temperature of the environment in which the excavator system is located.

[0048] The purpose of determining the preset temperature threshold can be achieved by setting a mapping table of the excavator system model, the temperature of the environment in which the excavator system is located, and the temperature threshold.

[0049] Step S102: when the current reflow temperature is less than or equal to a preset temperature threshold, obtaining an absolute value of a temperature difference, where the absolute value of the temperature difference is the absolute value of the difference between the current reflow temperature and the preset temperature threshold;

[0050] Step S103, determining the first target opening as the opening corresponding to the absolute value of the above-mentioned temperature difference, adjusting the opening of the above-mentioned first return oil throttle valve to the above-mentioned first target opening, and closing the above-mentioned second return oil throttle valve to control the return oil to not pass through the above-mentioned cooler.

[0051] A mapping relationship table between the absolute value of the temperature difference and the opening degree may be set to determine the first target opening degree.

[0052] In the above steps, when the excavator system is in standby mode, the temperature of the return output end of the hydraulic main valve is obtained in real time to obtain the current return temperature, and the current return temperature is used as a judgment reference. When the current return temperature is less than or equal to the preset temperature threshold, the absolute value of the temperature difference is obtained, that is, the absolute value of the difference between the current return temperature and the preset temperature threshold. Finally, the first target opening is determined to be the opening corresponding to the absolute value of the temperature difference, and the opening of the first return oil throttle valve is adjusted to the first target opening, and the second return oil throttle valve is closed. Compared with the existing solution, the return oil can be controlled not to pass through the cooler, thereby improving the heating speed, thereby solving the problem that when the hydraulic oil temperature is low and rapid heating is required, the two parallel one-way valves in the excavator of the prior art cannot directly control the return oil not to pass through the cooler, resulting in too slow heating.

[0053] In one embodiment of the present application, the opening of the above-mentioned first return oil throttle valve is adjusted to the above-mentioned first target opening, including: determining the first control current as the control current corresponding to the above-mentioned first target opening; using the above-mentioned first control current to adjust the opening of the above-mentioned first return oil throttle valve, so as to adjust the opening of the above-mentioned first return oil throttle valve to the above-mentioned first target opening.

[0054] To use control current to adjust the opening of an electric proportional flow valve (both the first and second return throttle valves), the current signal must first be converted into a control valve opening signal. This can be achieved using a current signal converter or a PID controller. The controller's output signal is then sent to the electric proportional flow valve to adjust its opening. When adjusting the opening of an electric proportional flow valve, it's necessary to set an appropriate current signal range and control algorithm based on the actual situation. Precise control of the electric proportional flow valve's opening can usually be achieved by adjusting the controller's parameters. Furthermore, regular inspection and calibration of the electric proportional flow valve are required to ensure proper operation and accurate control. In general, using control current to adjust the opening of an electric proportional flow valve requires appropriate control equipment and a reasonable control strategy to achieve precise flow regulation and control. The opening area of ​​the first return throttle valve is directly proportional to the control current.

[0055] In one embodiment of the present application, Figure 3 As shown, the above method further includes the following steps:

[0056] Step S301: When the current return temperature is greater than the preset temperature threshold, determining a current operating condition of the excavator system, the current operating condition being one of the following: a first operating condition, a second operating condition, and a third operating condition, wherein the first operating condition indicates that the excavator system is performing excavation work, the second operating condition indicates that the excavator system is in a state where the bucket and the shaker lever are retracted, and the third operating condition indicates that the upper body of the excavator system receives a stop command during rotation, wherein the stop command is used to stop the rotation of the upper body;

[0057] Step S302: adjusting the opening of the first oil return throttle valve and the opening of the second oil return throttle valve according to the current operating condition of the excavator system.

[0058] Specifically, when the excavator system is performing excavation work, or when the excavator system is in a state where the bucket is retracted and the shaker lever is retracted, or when the upper body of the excavator system receives a stop command during rotation, different control methods should be used to adjust the opening of the first return oil throttle valve and the opening of the second return oil throttle valve to cope with the influence of the return oil back pressure.

[0059] Step S302, i.e., adjusting the opening of the first oil return throttle valve and the opening of the second oil return throttle valve according to the current operating condition of the excavator system, includes:

[0060] When the current operating condition of the excavator system is the second operating condition, adjusting the opening of the first oil return throttle valve to a second target opening, and adjusting the opening of the second oil return throttle valve to a maximum, the second target opening being the product of the maximum opening of the first oil return throttle valve and a first preset percentage;

[0061] When the current operating condition of the excavator system is the third operating condition, adjusting the opening of the first oil return throttle valve to a third target opening, and adjusting the opening of the second oil return throttle valve to a maximum, the third target opening being the product of the maximum opening of the first oil return throttle valve and a second preset percentage, the second preset percentage being greater than the first preset percentage;

[0062] When the current operating condition of the excavator system is the first operating condition, the opening of the first oil return throttle valve and the opening of the second oil return throttle valve are both adjusted to the maximum.

[0063] Specifically, when the current operating condition of the excavator system is the first operating condition, it is determined that the return oil back pressure needs to be smaller and the digging force needs to be increased, and the openings of the first return oil throttle valve and the second return oil throttle valve are both adjusted to the maximum;

[0064] When the current operating condition of the excavator system is the second operating condition, it is determined that a larger return oil back pressure is required and the operation stability needs to be improved, and the opening of the first return oil throttle valve is adjusted to a second target opening, and the opening of the second return oil throttle valve is adjusted to a maximum. The second target opening is the product of the maximum opening of the first return oil throttle valve and a first preset percentage (which may be 50%).

[0065] When the current operating condition of the excavator system is the third operating condition, it is determined that a higher return oil back pressure is required at this time to ensure that the rotary motor has sufficient oil replenishment and reduce the occurrence of air suction. The opening of the first return oil throttle valve needs to be adjusted to the third target opening, and the opening of the second return oil throttle valve needs to be adjusted to the maximum. The third target opening is the product of the maximum opening of the first return oil throttle valve and the second preset percentage (which can be 75%). The opening of the first return oil throttle valve is adjusted separately to make the control more precise.

[0066] like Figure 4 As shown ( Figure 4The controller is not shown), the excavator system, which includes: a controller, an engine 110, a hydraulic main valve 120 (the input end of the hydraulic main valve exchanges oil with the engine), a cooler 130 (the cooler is used to reduce the oil temperature), a return oil check valve 140, a first return oil throttle valve 150 (the first return oil throttle valve is an electric proportional flow valve, that is, its valve port opening is linearly related to the control signal), a second return oil throttle valve 160, an actuator 170, a temperature sensor 180, a first hydraulic pump 210 and a second hydraulic pump 220 (two hydraulic The first return oil throttle valve 150 is installed between the return output end of the hydraulic main valve 120 and the second return oil throttle valve 160. The second return oil throttle valve 160 is installed between the cooler 130 and the first return oil throttle valve 150. The cooler 130 is installed between the first return oil throttle valve 150 and the input end of the hydraulic main valve 120. The input end of the hydraulic main valve 120 is connected to the output end of the second hydraulic pump 220, and the output end of the first hydraulic pump 210 is connected to the output end of the second hydraulic pump 220. The first hydraulic pump 210 is connected to the input end of the second hydraulic pump 220, the engine 110 is connected to the input end of the first hydraulic pump 210, the return end of the first hydraulic pump 210 is connected to the output end of the cooler 130 and the output end of the return oil check valve 140, the return output end of the hydraulic main valve 120 is connected to the first end of the first return oil throttle valve 150, and the second end of the first return oil throttle valve 150 is connected to the input end of the return oil check valve 140 and the first end of the second return oil throttle valve 160. The second end of the second return oil throttle valve 160 is connected to the input end of the cooler 130, the temperature sensor 180 is installed between the return output end of the hydraulic main valve 120 and the first end of the first return oil throttle valve 150, the controller communicates with the first return oil throttle valve 150, the second return oil throttle valve 160, the temperature sensor 180, the first hydraulic pump 210 and the second hydraulic pump 220 respectively, and the actuator 170 is connected to the distribution output end of the hydraulic main valve 120.

[0067] Alternatively, a pressure sensor can be installed at the same location as the temperature sensor to monitor pressure.

[0068] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the control method of the excavator system of the present application will be described in detail below in combination with specific embodiments.

[0069] The return oil line of a conventional hydraulic main valve only has two check valves connected in parallel, one with a higher back pressure and the other with a lower back pressure. Depending on the return oil flow rate and oil viscosity, both check valves open for return oil when the hydraulic oil temperature is low or the return oil flow rate is high. When the hydraulic oil temperature is high or the return oil flow rate is low, only the check valve with the lower back pressure opens for return oil. The return oil back pressure of the main valve is fixed, meaning the opening pressures of the two check valves are fixed and cannot be adjusted. Consequently, this system has the following major drawbacks: First, when the hydraulic oil temperature is low and rapid heating is required, the return oil cannot be directly controlled to bypass the cooler, resulting in slow heating. Second, in standby mode, the hydraulic pump oil must pass through the return oil check valve after passing through the main valve before returning to the tank. This results in a return oil pressure drop of approximately 5 to 10 bar, wasting energy. Third, when the excavator is operating, the return oil back pressure cannot meet the requirements of both high and low back pressures in some operating conditions. In summary, the existing technology has problems such as slow heating of hydraulic oil, high standby energy consumption and inability to flexibly adjust the back pressure during the operation process.

[0070] This embodiment relates to a specific control method of an excavator system, such as Figure 5 As shown, the following steps are included:

[0071] Step S1: After the excavator system is started, it is determined that the excavator system is in a standby mode; and the openings of the first oil return throttle valve and the second oil return throttle valve are both adjusted to the maximum.

[0072] Step S2: When the excavator system is in standby mode, the temperature of the return output end of the hydraulic main valve is obtained in real time to obtain the current return temperature;

[0073] Step S3: obtaining the temperature of the environment in which the excavator system is located; determining that the preset temperature threshold is a temperature threshold corresponding to the model of the excavator system and the temperature of the environment in which the excavator system is located;

[0074] Step S4: when the current reflow temperature is less than or equal to the preset temperature threshold, obtaining the absolute value of the temperature difference, where the absolute value of the temperature difference is the absolute value of the difference between the current reflow temperature and the preset temperature threshold;

[0075] Step S5: determining a first target opening as an opening corresponding to the absolute value of the temperature difference, adjusting the opening of the first oil return throttle valve to the first target opening, and closing the second oil return throttle valve to control the return oil from passing through the cooler;

[0076] Step S6: When the current return temperature is greater than the preset temperature threshold, determine the current operating condition of the excavator system, and the current operating condition is one of the following: the first operating condition, the second operating condition and the third operating condition. The first operating condition indicates that the excavator system is performing excavation work, the second operating condition indicates that the excavator system is in a state where the bucket is retracted and the shaker bar is retracted, and the third operating condition indicates that the upper body of the excavator system receives a stop command during the rotation process, and the stop command is used to stop the rotation of the upper body; according to the current operating condition of the excavator system, adjust the opening of the first return oil throttle valve and the opening of the second return oil throttle valve.

[0077] Specifically, when the current operating condition of the excavator system is the second operating condition, the opening of the first return oil throttle valve is adjusted to the second target opening, and the opening of the second return oil throttle valve is adjusted to the maximum, and the second target opening is the product of the maximum value of the opening of the first return oil throttle valve and the first preset percentage; when the current operating condition of the excavator system is the third operating condition, the opening of the first return oil throttle valve is adjusted to the third target opening, and the opening of the second return oil throttle valve is adjusted to the maximum, and the third target opening is the product of the maximum value of the opening of the first return oil throttle valve and the second preset percentage, and the second preset percentage is greater than the first preset percentage; when the current operating condition of the excavator system is the first operating condition, the opening of the first return oil throttle valve and the opening of the second return oil throttle valve are both adjusted to the maximum.

[0078] By obtaining the temperature of the return output end of the hydraulic main valve in real time when the excavator system is in standby mode, the current return temperature is obtained, and the current return temperature is used as a judgment reference. When the current return temperature is less than or equal to the preset temperature threshold, the absolute value of the temperature difference is obtained, that is, the absolute value of the difference between the current return temperature and the preset temperature threshold. Finally, the first target opening is determined to be the opening corresponding to the absolute value of the temperature difference, and the opening of the first return oil throttle valve is adjusted to the first target opening, and the second return oil throttle valve is closed. Compared with the existing solution, the return oil can be controlled not to pass through the cooler, thereby improving the heating speed, thereby solving the problem that the two parallel one-way valves in the excavator of the prior art cannot directly control the return oil not to pass through the cooler when the hydraulic oil temperature is low and needs to be heated quickly, resulting in too slow heating.

[0079] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0080] The embodiment of the present application also provides a control device for an excavator system. It should be noted that the control device for the excavator system of the embodiment of the present application can be used to execute the control method for the excavator system provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the details that have been explained will not be repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0081] The following introduces the control device of the excavator system provided in the embodiment of the present application.

[0082] Figure 6 FIG. 1 is a structural block diagram of a control device for an excavator system according to an embodiment of the present application. Figure 6 As shown, the device includes:

[0083] The first acquisition unit 61 is configured to acquire the temperature of the return output end of the hydraulic main valve in real time when the excavator system is in the standby mode, so as to obtain the current return temperature;

[0084] A second acquiring unit 62 is configured to acquire an absolute value of a temperature difference when the current reflow temperature is less than or equal to a preset temperature threshold, the absolute value of the temperature difference being the absolute value of the difference between the current reflow temperature and the preset temperature threshold;

[0085] The first processing unit 63 is used to determine a first target opening as an opening corresponding to the absolute value of the above-mentioned temperature difference, adjust the opening of the first return oil throttle valve to the above-mentioned first target opening, and close the second return oil throttle valve to control the return oil to not pass through the cooler.

[0086] In the above-mentioned device, when the above-mentioned excavator system is in standby mode, the temperature of the above-mentioned return output end of the above-mentioned hydraulic main valve is obtained in real time to obtain the current return temperature, and the current return temperature is used as a judgment reference. When the above-mentioned current return temperature is less than or equal to the preset temperature threshold, the absolute value of the temperature difference is obtained, that is, the absolute value of the difference between the above-mentioned current return temperature and the above-mentioned preset temperature threshold. Finally, the first target opening is determined to be the opening corresponding to the above-mentioned absolute value of the temperature difference, and the opening of the above-mentioned first return oil throttle valve is adjusted to the above-mentioned first target opening, and the above-mentioned second return oil throttle valve is closed. Compared with the existing solution, the return oil can be controlled not to pass through the above-mentioned cooler, thereby improving the heating speed, thereby solving the problem that the two parallel one-way valves in the excavator of the prior art cannot directly control the return oil to not pass through the cooler when the hydraulic oil temperature is low and needs to be heated quickly, resulting in too slow heating.

[0087] In one embodiment of the present application, the first processing unit includes a first processing module and a second processing module, the first processing module is used to determine that the first control current is a control current corresponding to the above-mentioned first target opening; the second processing module is used to use the above-mentioned first control current to adjust the opening of the above-mentioned first return oil throttle valve to adjust the opening of the above-mentioned first return oil throttle valve to the above-mentioned first target opening.

[0088] In one embodiment of the present application, the above-mentioned device also includes a second processing unit and a third processing unit. The second processing unit is used to determine the current operating condition of the above-mentioned excavator system when the above-mentioned current return temperature is greater than the above-mentioned preset temperature threshold. The above-mentioned current operating condition is one of the following: a first operating condition, a second operating condition and a third operating condition. The above-mentioned first operating condition indicates that the above-mentioned excavator system is performing excavation work, the above-mentioned second operating condition indicates that the above-mentioned excavator system is in a state where the bucket is retracted and the shaker rod is retracted, and the above-mentioned third operating condition indicates that the upper body of the above-mentioned excavator system receives a stop command during the rotation process, and the above-mentioned stop command is used to stop the rotation of the above-mentioned upper body; the third processing unit is used to adjust the opening of the above-mentioned first return oil throttle valve and the opening of the above-mentioned second return oil throttle valve according to the above-mentioned current operating condition of the above-mentioned excavator system.

[0089] In one embodiment of the present application, the third processing unit includes a third processing module and a fourth processing module. The third processing module is used to adjust the opening of the first return oil throttle valve to a second target opening and adjust the opening of the second return oil throttle valve to a maximum when the current operating condition of the excavator system is the second operating condition. The second target opening is the product of the maximum value of the opening of the first return oil throttle valve and a first preset percentage; the fourth processing module is used to adjust the opening of the first return oil throttle valve to a third target opening and adjust the opening of the second return oil throttle valve to a maximum when the current operating condition of the excavator system is the third operating condition. The third target opening is the product of the maximum value of the opening of the first return oil throttle valve and a second preset percentage. The second preset percentage is greater than the first preset percentage.

[0090] In one embodiment of the present application, the third processing unit includes a fifth processing module, which is used to adjust the opening of the first return oil throttle valve and the opening of the second return oil throttle valve to the maximum when the current operating condition of the excavator system is the first operating condition.

[0091] In one embodiment of the present application, the above-mentioned device also includes a fourth processing unit and a fifth processing unit. Before obtaining the temperature of the return output end of the above-mentioned hydraulic main valve in real time and obtaining the current return temperature, the fourth processing unit is used to determine that the above-mentioned excavator system is in the above-mentioned standby mode after the above-mentioned excavator system is started; the fifth processing unit is used to adjust the opening of the above-mentioned first return oil throttle valve and the opening of the above-mentioned second return oil throttle valve to the maximum.

[0092] In one embodiment of the present application, the above-mentioned device also includes a third acquisition unit and a sixth processing unit. After acquiring the temperature of the return output end of the above-mentioned hydraulic main valve in real time and obtaining the current return temperature, the third acquisition unit is used to obtain the temperature of the environment in which the above-mentioned excavator system is located; the sixth processing unit is used to determine that the above-mentioned preset temperature threshold is a temperature threshold corresponding to the model of the above-mentioned excavator system and the temperature of the environment in which the above-mentioned excavator system is located.

[0093] The control device of the excavator system includes a processor and a memory. The first acquisition unit, the second acquisition unit, and the first processing unit are all stored as program units in the memory. The processor executes the program units stored in the memory to implement the corresponding functions. The modules are all located in the same processor; alternatively, the modules can be located in different processors in any combination.

[0094] The processor includes a core, which retrieves the corresponding program unit from memory. One or more cores can be configured. By adjusting core parameters, this solves the problem in prior art excavators where, when the hydraulic oil temperature is low and rapid heating is required, two parallel check valves cannot directly control the return oil without passing through the cooler, resulting in slow heating.

[0095] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0096] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program. When the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method of the excavator system.

[0097] An embodiment of the present invention provides a processor, which is used to run a program, wherein the control method of the excavator system is executed when the program is run.

[0098] An embodiment of the present invention provides a device comprising a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, at least the following steps are implemented: when the excavator system is in standby mode, the temperature of the return output end of the hydraulic main valve is obtained in real time to obtain the current return temperature; when the current return temperature is less than or equal to a preset temperature threshold, the absolute value of the temperature difference is obtained, where the absolute value of the temperature difference is the absolute value of the difference between the current return temperature and the preset temperature threshold; a first target opening is determined to be the opening corresponding to the absolute value of the temperature difference, the opening of the first return oil throttle valve is adjusted to the first target opening, and the second return oil throttle valve is closed to prevent the return oil from passing through the cooler. The device herein may be a server, a PC, a PAD, a mobile phone, or the like.

[0099] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with at least the following method steps: when the above-mentioned excavator system is in standby mode, obtaining the temperature of the above-mentioned return output end of the above-mentioned hydraulic main valve in real time to obtain the current return temperature; when the above-mentioned current return temperature is less than or equal to the preset temperature threshold, obtaining the absolute value of the temperature difference, and the above-mentioned absolute value of the temperature difference is the absolute value of the difference between the above-mentioned current return temperature and the above-mentioned preset temperature threshold; determining the first target opening as the opening corresponding to the above-mentioned absolute value of the temperature difference, and adjusting the opening of the above-mentioned first return oil throttle valve to the above-mentioned first target opening, and closing the above-mentioned second return oil throttle valve to control the return oil to not pass through the above-mentioned cooler.

[0100] The present application also provides an excavator system, which includes: a controller, an engine, a hydraulic main valve, a cooler, a return oil one-way valve, a first return oil throttle valve, a second return oil throttle valve, an actuator, a temperature sensor, a first hydraulic pump and a second hydraulic pump, the first return oil throttle valve being installed between the return output end of the hydraulic main valve and the second return oil throttle valve, the second return oil throttle valve being installed between the cooler and the first return oil throttle valve, the cooler being installed between the first return oil throttle valve and the input end of the hydraulic main valve, the input end of the hydraulic main valve being connected to the output end of the second hydraulic pump, the output end of the first hydraulic pump being connected to the input end of the second hydraulic pump, the engine being connected to the input end of the first hydraulic pump, and the return end of the first hydraulic pump being connected to the return end of the first hydraulic pump. The ends are respectively connected to the output end of the above-mentioned cooler and the output end of the above-mentioned return oil one-way valve, the return output end of the above-mentioned hydraulic main valve is connected to the first end of the above-mentioned first return oil throttle valve, the second end of the above-mentioned first return oil throttle valve is respectively connected to the input end of the above-mentioned return oil one-way valve and the first end of the above-mentioned second return oil throttle valve, the second end of the above-mentioned second return oil throttle valve is connected to the input end of the above-mentioned cooler, the above-mentioned temperature sensor is installed between the return output end of the above-mentioned hydraulic main valve and the first end of the above-mentioned first return oil throttle valve, the above-mentioned controller communicates with the above-mentioned first return oil throttle valve, the above-mentioned second return oil throttle valve, the above-mentioned temperature sensor, the above-mentioned first hydraulic pump and the above-mentioned second hydraulic pump respectively, the actuator is connected to the distribution output end of the hydraulic main valve, and the above-mentioned controller is used to execute any one of the above-mentioned methods. By obtaining the temperature of the return output end of the hydraulic main valve in real time when the excavator system is in standby mode, the current return temperature is obtained, and the current return temperature is used as a judgment reference. When the current return temperature is less than or equal to the preset temperature threshold, the absolute value of the temperature difference is obtained, that is, the absolute value of the difference between the current return temperature and the preset temperature threshold. Finally, the first target opening is determined to be the opening corresponding to the absolute value of the temperature difference, and the opening of the first return oil throttle valve is adjusted to the first target opening, and the second return oil throttle valve is closed. Compared with the existing solution, the return oil can be controlled not to pass through the cooler, thereby improving the heating speed, thereby solving the problem that the two parallel one-way valves in the excavator of the prior art cannot directly control the return oil not to pass through the cooler when the hydraulic oil temperature is low and needs to be heated quickly, resulting in too slow heating.

[0101] Obviously, those skilled in the art will appreciate that the various modules or steps of the present invention described above can be implemented using a general-purpose computing device, can be centralized on a single computing device, or can be distributed across a network of multiple computing devices. They can be implemented using program code executable by the computing device, and thus, can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described herein can be performed in a different order than that shown, or can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0102] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0103] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0104] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0105] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0106] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0107] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0108] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0109] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0110] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0111] 1) The control method of the excavator system of the present application obtains the temperature of the return output end of the hydraulic main valve in real time when the excavator system is in standby mode to obtain the current return temperature, and uses the current return temperature as a judgment reference. When the current return temperature is less than or equal to a preset temperature threshold, the absolute value of the temperature difference is obtained, that is, the absolute value of the difference between the current return temperature and the preset temperature threshold. Finally, a first target opening is determined to be the opening corresponding to the absolute value of the temperature difference, and the opening of the first return oil throttle valve is adjusted to the first target opening, and the second return oil throttle valve is closed. Compared with the existing solution, the return oil can be controlled not to pass through the cooler, thereby improving the heating speed, thereby solving the problem that the two parallel one-way valves in the excavator of the prior art cannot directly control the return oil not to pass through the cooler when the hydraulic oil temperature is low and rapid heating is required, resulting in too slow heating.

[0112] 2) The control device of the excavator system of the present application obtains the temperature of the return output end of the hydraulic main valve in real time when the excavator system is in standby mode to obtain the current return temperature, and uses the current return temperature as a judgment reference. When the current return temperature is less than or equal to the preset temperature threshold, the control device obtains the absolute value of the temperature difference, that is, the absolute value of the difference between the current return temperature and the preset temperature threshold. Finally, the first target opening is determined to be the opening corresponding to the absolute value of the temperature difference, and the opening of the first return oil throttle valve is adjusted to the first target opening, and the second return oil throttle valve is closed. Compared with the existing solution, the return oil can be controlled not to pass through the cooler, thereby improving the heating speed, thereby solving the problem that the two parallel one-way valves in the excavator of the prior art cannot directly control the return oil to not pass through the cooler when the hydraulic oil temperature is low and needs to be heated quickly, resulting in too slow heating.

[0113] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A control method for an excavator system, applied to a controller of the excavator system, wherein the excavator system further comprises a hydraulic main valve, a cooler, a return oil check valve, a first return oil throttle valve, and a second return oil throttle valve, wherein the first return oil throttle valve is installed between the return output end of the hydraulic main valve and the second return oil throttle valve, the second return oil throttle valve is installed between the cooler and the first return oil throttle valve, and the cooler is installed between the first return oil throttle valve and the input end of the hydraulic main valve, characterized in that: The method comprises: When the excavator system is in a standby mode, obtaining the temperature of the return output end of the hydraulic main valve in real time to obtain a current return temperature; When the current reflow temperature is less than or equal to a preset temperature threshold, obtaining an absolute value of a temperature difference, where the absolute value of the temperature difference is an absolute value of a difference between the current reflow temperature and the preset temperature threshold; determining a first target opening as an opening corresponding to the absolute value of the temperature difference, adjusting the opening of the first oil return throttle valve to the first target opening, and closing the second oil return throttle valve to control the return oil from passing through the cooler; The method further includes: determining, when the current return temperature is greater than the preset temperature threshold, a current operating condition of the excavator system, the current operating condition being one of the following: a first operating condition, a second operating condition, and a third operating condition, the first operating condition indicating that the excavator system is performing excavation work, the second operating condition indicating that the excavator system is in a state where the bucket is retracted and the shaker lever is retracted, and the third operating condition indicating that the upper body of the excavator system receives a stop command during rotation, the stop command being used to stop the rotation of the upper body; and adjusting an opening of the first return oil throttle valve and an opening of the second return oil throttle valve according to the current operating condition of the excavator system; According to the current operating condition of the excavator system, the opening of the first return oil throttle valve and the opening of the second return oil throttle valve are adjusted, including: when the current operating condition of the excavator system is the second operating condition, the opening of the first return oil throttle valve is adjusted to a second target opening, and the opening of the second return oil throttle valve is adjusted to a maximum, and the second target opening is the product of the maximum value of the opening of the first return oil throttle valve and a first preset percentage; when the current operating condition of the excavator system is the third operating condition, the opening of the first return oil throttle valve is adjusted to a third target opening, and the opening of the second return oil throttle valve is adjusted to a maximum, and the third target opening is the product of the maximum value of the opening of the first return oil throttle valve and a second preset percentage, and the second preset percentage is greater than the first preset percentage.

2. The method according to claim 1, characterized in that Adjusting the opening of the first oil return throttle valve to the first target opening includes: determining a first control current as a control current corresponding to the first target opening; The first control current is used to adjust the opening of the first oil return throttle valve, so as to adjust the opening of the first oil return throttle valve to the first target opening.

3. The method according to claim 1, characterized in that Adjusting the opening of the first oil return throttle valve and the opening of the second oil return throttle valve according to the current operating condition of the excavator system includes: When the current operating condition of the excavator system is the first operating condition, the openings of the first oil return throttle valve and the second oil return throttle valve are both adjusted to the maximum.

4. The method according to claim 1, wherein Before obtaining the temperature of the return output end of the hydraulic main valve in real time to obtain the current return temperature, the method further includes: After the excavator system is started, determining that the excavator system is in the standby mode; The openings of the first oil return throttle valve and the second oil return throttle valve are both adjusted to the maximum.

5. The method according to any one of claims 1 to 4, characterized in that After acquiring the temperature of the return output end of the hydraulic main valve in real time to obtain the current return temperature, the method further includes: Acquiring the temperature of the environment in which the excavator system is located; The preset temperature threshold is determined to be a temperature threshold corresponding to the model of the excavator system and the temperature of the environment in which the excavator system is located.

6. A control device for an excavator system, characterized in that: include: a first acquiring unit, configured to acquire, in real time when the excavator system is in a standby mode, a temperature of a return output end of the hydraulic main valve to obtain a current return temperature; a second acquiring unit, configured to acquire an absolute value of a temperature difference when the current reflow temperature is less than or equal to a preset temperature threshold, the absolute value of the temperature difference being an absolute value of a difference between the current reflow temperature and the preset temperature threshold; a first processing unit, configured to determine a first target opening as an opening corresponding to the absolute value of the temperature difference, adjust the opening of the first oil return throttle valve to the first target opening, and close the second oil return throttle valve to control the return oil from passing through the cooler; The control device of the excavator system further includes a second processing unit and a third processing unit. The second processing unit is configured to determine, when the current reflow temperature is greater than the preset temperature threshold, a current operating condition of the excavator system, wherein the current operating condition is one of the following: a first operating condition, a second operating condition, and a third operating condition. The first operating condition indicates that the excavator system is performing excavation work. The second operating condition indicates that the excavator system is in a state where the bucket is retracted and the shaker lever is retracted. The third operating condition indicates that the upper body of the excavator system receives a stop command during rotation, wherein the stop command is used to stop the rotation of the upper body. The third processing unit is configured to adjust the opening of the first oil return throttle valve and the opening of the second oil return throttle valve according to the current operating condition of the excavator system. The third processing unit includes a third processing module and a fourth processing module. The third processing module is configured to adjust the opening of the first oil return throttle valve to a second target opening and adjust the opening of the second oil return throttle valve to a maximum when the current operating condition of the excavator system is the second operating condition. The second target opening is the product of the maximum opening of the first oil return throttle valve and a first preset percentage. The fourth processing module is used to adjust the opening of the first return oil throttle valve to a third target opening and adjust the opening of the second return oil throttle valve to a maximum when the current operating condition of the excavator system is the third operating condition. The third target opening is the product of the maximum value of the opening of the first return oil throttle valve and a second preset percentage, and the second preset percentage is greater than the first preset percentage.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 5.

8. An excavator system, characterized in that: include: A controller, a hydraulic main valve, a cooler, a return oil one-way valve, a first return oil throttle valve and a second return oil throttle valve, the first return oil throttle valve is installed between the return output end of the hydraulic main valve and the second return oil throttle valve, the second return oil throttle valve is installed between the cooler and the first return oil throttle valve, the cooler is installed between the first return oil throttle valve and the input end of the hydraulic main valve, the controller communicates with the first return oil throttle valve and the second return oil throttle valve respectively, and the controller is used to execute the method described in any one of claims 1 to 5.

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