An excavator control system, method, and excavator

Abstract

This application discloses an excavator control system, method, and excavator, which can improve the excavator's coordination on level ground. The excavator control system includes: a hydraulic oil tank and a hydraulic pump connected to the hydraulic oil tank via a suction pipe; a multi-position multi-way directional valve, which is connected to the hydraulic pump and the hydraulic oil tank, and is configured to control the flow direction and flow rate of the hydraulic fluid by changing the position of the valve core; wherein, the multi-position multi-way directional valve includes a cylinder floating position, which is configured to keep the stick in a floating state; a stick cylinder, which is connected to the multi-position multi-way directional valve; a pressure sensor, which is mounted on the stick cylinder and is configured to detect the cavity pressure value of the stick cylinder; and a controller, which is communicatively connected to the pressure sensor and electrically connected to the multi-position multi-way directional valve, and is configured to control the position of the valve core of the multi-position multi-way directional valve according to the cavity pressure value to control the flow direction and flow rate of the hydraulic fluid.

Description

Technical Field

[0001] This application relates to the field of excavator technology, specifically to an excavator control system, method, and excavator. Background Technology

[0002] With the rapid development of modern engineering construction, excavators, as important earthmoving machinery, play an indispensable role in various construction projects. Leveling is a common operation for excavators, but daily leveling requires a high degree of coordination between the stick and boom handles. When the stick and boom are not coordinated, and the movement speed is not well matched, "bumps" or "holes" can easily occur if care is not taken. Currently, existing technologies generally use program control to regulate the flow distribution of the stick and boom cylinders to achieve leveling coordination. However, this method is easily affected by system consistency and component differences, resulting in significant variations in leveling performance even under the same control program. Summary of the Invention

[0003] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide an excavator control system, method, and excavator, which can improve the excavator's coordination on level ground.

[0004] According to one aspect of this application, an excavator control system is provided, comprising: a hydraulic oil tank and a hydraulic pump connected to the hydraulic oil tank via a suction pipe; a multi-position multi-way directional valve, wherein a first inlet of the multi-position multi-way directional valve is connected to the output end of the hydraulic pump, and a first outlet of the multi-position multi-way directional valve is connected to the hydraulic oil tank, the multi-position multi-way directional valve being configured to control the flow direction and flow rate of hydraulic fluid by changing the position of the valve core; wherein the multi-position multi-way directional valve includes a cylinder floating position, the cylinder floating position being configured to keep the stick in a floating state; and a stick cylinder, the stick cylinder being... The oil inlet of the cylinder is connected to the second outlet of the multi-position multi-way directional valve via an oil inlet pipe, and the oil return pipe of the boom cylinder is connected to the second inlet of the multi-position multi-way directional valve; a pressure sensor is installed on the boom cylinder and configured to detect the cavity pressure value of the boom cylinder; a controller is communicatively connected to the pressure sensor and electrically connected to the multi-position multi-way directional valve, and the controller is configured to control the position of the valve core of the multi-position multi-way directional valve according to the cavity pressure value to control the flow direction and flow rate of the oil.

[0005] In one embodiment, the controller includes: a signal processor configured to convert the cavity pressure value output by the pressure sensor into an electrical control signal; a first electromagnetic proportional valve and a second electromagnetic proportional valve, the first electromagnetic proportional valve being connected to one end of the multi-position multi-way directional valve, and the second electromagnetic proportional valve being connected to the other end of the multi-position multi-way directional valve, the first electromagnetic proportional valve and the second electromagnetic proportional valve being configured to convert the electrical control signal output by the signal processor into a pressure value to push the valve core to move to different positions.

[0006] In one embodiment, the multi-position multi-way directional valve further includes a one-way throttle valve, which is disposed on the return oil pipe between the floating position of the cylinder and the boom cylinder, and is configured to dampen the oil flowing back from the boom cylinder to the hydraulic oil tank.

[0007] In one embodiment, the multi-position multi-way directional valve further includes: a digging position, the inlet of which is connected to the return port of the boom cylinder, and the outlet of which is connected to the inlet of the boom cylinder; a neutral position, the inlet of which is connected to the return port of the boom cylinder, and the outlet of which is connected to the inlet of the boom cylinder; and an unloading position, the inlet of which is connected to the return port of the boom cylinder, and the outlet of which is connected to the inlet of the boom cylinder.

[0008] According to another aspect of this application, an excavator control method is provided, applied to the excavator control system described in any of the above embodiments. The excavator control method includes: acquiring the cavity pressure value of the stick cylinder based on a pressure sensor; determining the actual working condition of the excavator based on the cavity pressure value of the stick cylinder and a preset excavator state; when the actual working condition of the excavator is a flat ground state, the controller controls the valve core of the multi-position multi-way directional valve to move to the floating position of the cylinder, so that the stick is in a floating state.

[0009] In one embodiment, the multi-position multi-way directional valve further includes a one-way throttle valve; wherein, when the actual working condition of the excavator is flat ground, the controller controls the valve core of the multi-position multi-way directional valve to move to the cylinder floating position so that the stick is in a floating state, including: when the valve core moves to the cylinder floating position and the oil in the stick cylinder returns from the hydraulic pump to the hydraulic oil tank, controlling the opening of the one-way throttle valve so that the oil flows to the hydraulic oil tank through the one-way throttle valve in the cylinder floating position, generating a damping effect on the floating of the stick in the unloading direction, so that the floating amount in the unloading direction of the stick is less than the floating amount in the digging direction.

[0010] In one embodiment, the controller determines the actual working condition of the excavator based on the cavity pressure value of the boom cylinder and a preset excavator state, including: when the pressure sensor detects that the cavity pressure value of the boom cylinder is within the range corresponding to no-load, the controller determines that the actual working condition of the excavator is no-load; when the pressure sensor detects that the cavity pressure value of the boom cylinder is within the range corresponding to flat ground, the controller determines that the actual working condition of the excavator is flat ground; when the pressure sensor detects that the cavity pressure value of the boom cylinder is within the range corresponding to heavy load, the controller determines that the actual working condition of the excavator is heavy load; wherein, the no-load range is less than the flat ground range, and the flat ground range is less than the heavy load range.

[0011] In one embodiment, the multi-position multi-way directional valve further includes a neutral position; the excavator control method includes: when the pressure sensor detects that the cavity pressure value of the boom cylinder changes from the range corresponding to flat ground to the range corresponding to no-load, the controller controls the valve core to move from the floating position of the cylinder to the neutral position to release the floating state.

[0012] In one embodiment, the multi-position multi-way directional valve further includes a digging position; the excavator control method further includes: when the pressure sensor detects that the cavity pressure value of the boom cylinder changes from the range corresponding to flat ground to the range corresponding to heavy load, the controller controls the valve core to move from the cylinder floating position to the digging position to release the floating state.

[0013] According to another aspect of this application, an excavator is provided, comprising: a stick; and an excavator control system as described in any of the foregoing embodiments, the excavator control system being connected to the stick.

[0014] The excavator control system, method, and excavator provided in this application, by adding a multi-position multi-way directional valve, pressure sensor, and controller, enable the valve core of the multi-position multi-way directional valve to be in a floating position when the machine is on flat ground. This allows the stick to float up and down under specific conditions, and the stick extends freely under the action of gravity along with the boom lifting, thus achieving operation on flat ground. This improves the excavator's coordination on flat ground and reduces the difficulty of operation on flat ground, thereby reducing the possibility of bumps or digging holes. Attached Figure Description

[0015] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1This is a schematic diagram of the structure of an excavator control system provided in an exemplary embodiment of this application.

[0017] Figure 2 This is a schematic diagram of the structure of an excavator control system provided in another exemplary embodiment of this application.

[0018] Figure 3 This is a flowchart illustrating an exemplary embodiment of the excavator control method provided in this application.

[0019] Figure 4 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application.

[0020] Explanation of reference numerals in the attached diagram: 1. Hydraulic oil tank; 2. Hydraulic pump; 3. Multi-position multi-way directional valve; 31. Floating position of cylinder; 32. Digging position; 33. Neutral position; 34. Unloading position; 4. Stick cylinder; 5. Pressure sensor; 6. Controller; 71. First electromagnetic proportional valve; 72. Second electromagnetic proportional valve; 8. One-way throttle valve; 9. Valve core. Detailed Implementation

[0021] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0022] Application Overview

[0023] When the stick and boom are not coordinated, especially when the stick speed is too fast and the boom lifting speed is relatively slow, the bucket at the front of the stick will accumulate soil or material during digging, forming local bulges, or "bumps." This phenomenon leads to an uneven excavated surface, affecting the quality and efficiency of subsequent construction. Conversely, if the boom lifting speed is too fast and the stick speed is relatively slow, or if the stick suddenly decelerates during digging, it may cause depressions in the excavated surface, or "pits." This also disrupts the flatness of the excavated surface, causing inconvenience to subsequent work. Therefore, this application provides an excavator control system, method, and excavator that can enable the stick to float up and down under specific conditions when working on level ground. The stick extends freely under gravity along with the boom lifting, reducing the possibility of bumps or pits.

[0024] Exemplary System

[0025] Figure 1 This is a schematic diagram of the structure of an excavator control system provided in an exemplary embodiment of this application, as shown below. Figure 1As shown, the excavator control system includes: a hydraulic oil tank 1 and a hydraulic pump 2 connected to the hydraulic oil tank 1 via a suction pipe; a multi-position multi-way directional valve 3, the first inlet of which is connected to the output end of the hydraulic pump 2, and the first outlet of which is connected to the hydraulic oil tank 1; the multi-position multi-way directional valve 3 is configured to control the flow direction and flow rate of the hydraulic fluid by changing the position of the valve core 9; wherein, the multi-position multi-way directional valve 3 includes a cylinder floating position 31, which is configured to keep the stick in a floating state; and a stick cylinder 4. The oil inlet of the boom cylinder 4 is connected to the second outlet of the multi-position multi-way directional valve 3 via an oil inlet pipe, and the return oil pipe of the boom cylinder 4 is connected to the second inlet of the multi-position multi-way directional valve 3; pressure sensor 5 is installed on the boom cylinder 4 and is configured to detect the cavity pressure value of the boom cylinder 4; controller 6 is communicatively connected to pressure sensor 5 and electrically connected to the multi-position multi-way directional valve 3, and is configured to control the position of valve core 9 of the multi-position multi-way directional valve 3 according to the cavity pressure value to control the flow direction and flow rate of the oil.

[0026] The hydraulic oil tank 1 is a container for storing hydraulic fluid in the hydraulic system. Its main functions include storing oil, cooling, allowing impurities to settle, and escaping air from the oil. The hydraulic oil tank 1 delivers oil from its tank to the inlet of the hydraulic pump 2 via a suction pipe, providing the system with the necessary oil. Unused oil (such as oil flowing back after the actuator completes its operation) is returned to the hydraulic oil tank 1 via a return pipe for recycling. The hydraulic oil tank 1 provides the necessary oil to the hydraulic pump 2, which, as a power element, draws in oil from the hydraulic oil tank 1, pressurizes it, and delivers it to various parts of the hydraulic system, thereby driving the boom cylinder 4. The multi-position multi-way directional valve 3 typically consists of a control valve core 9 and a valve body. The valve body includes multiple inlets and outlets, each connected by a channel, forming a complex fluid network. The valve core 9 consists of multiple pistons or other moving parts, used to control the opening and closing of the channels between the inlets and outlets, thereby changing the direction of fluid flow. The switching principle of the multi-position multi-way directional valve 3 is to change the position of the valve core 9 within the valve body to achieve the opening and closing and connection between different inlets and outlets, thereby controlling the flow direction and flow rate of the fluid. For example, the valve core 9 can remain in one or more preset working positions within the valve body. Each position corresponds to a specific combination of fluid channels, i.e., which inlets are connected to which outlets. Through an external control signal (such as an electrical signal), the valve core 9 is driven to move within the valve body, changing the working position of the valve core 9. When the valve core 9 moves to a new position, it will open or close some channels while closing or opening others. This switching of channels allows the fluid to flow along a new path, thereby achieving the switching function. The inlet of the multi-position multi-way directional valve 3 is connected to the output end of the hydraulic pump 2 to receive high-pressure oil. The oil inlet of the boom cylinder 4 is connected to the second outlet of the multi-position multi-way directional valve 3 through the oil inlet pipe. The multi-position multi-way directional valve 3 supplies oil to the boom cylinder 4 according to control needs. The return oil pipe of the boom cylinder 4 is connected to the second inlet of the multi-position multi-way directional valve 3. When the boom cylinder 4 returns oil, it returns oil to the hydraulic oil tank 1 through the multi-position multi-way directional valve 3.

[0027] Therefore, the connection relationship between the hydraulic oil tank 1, the boom cylinder 4, and the multi-position multi-way directional valve 3 can be summarized as follows: the hydraulic oil tank 1 is connected to the hydraulic pump 2 and the boom cylinder 4 through the suction pipe and the return pipe, providing oil to the system and recovering oil that is no longer needed; the boom cylinder 4 is connected to the multi-position multi-way directional valve 3 through the inlet pipe and the return pipe, realizing the control of the oil inlet and outlet and the movement; the multi-position multi-way directional valve 3, as a control element, controls the flow direction and flow rate of the oil by changing the position of the valve core 9, thereby realizing precise control of the boom cylinder 4. These three components work closely together to form a complete hydraulic system.

[0028] Pressure sensor 5 is installed on boom cylinder 4 or on the pipeline connecting boom cylinder 4 and multi-position multi-way reversing valve 3 to detect the cavity pressure value in the boom cylinder 4 and feed the cavity pressure value back to controller 6. Controller 6 determines whether the current working condition is in the actual leveling process based on the cavity pressure value. If it is in the leveling process, valve core 9 is positioned at the cylinder floating position 31. At this time, the boom is in a floating state, and leveling operation (boom lifting + boom digging combination) is performed in the floating state. The boom extends freely under the action of gravity along with the boom lifting, realizing leveling operation. Since the boom is in a free extension state under gravity during this operation, it can effectively avoid the bulging or digging phenomenon caused by improper coordination between the boom and the boom, improving leveling performance. At the same time, the boom cylinder 4 does not need to supply oil to the main pump in this state, which can save oil.

[0029] Figure 2 This is a schematic diagram of the structure of an excavator control system provided in another exemplary embodiment of this application, as shown below. Figure 2 As shown, the controller 6 includes: a signal processor configured to convert the cavity pressure value output by the pressure sensor 5 into an electrical control signal; a first electromagnetic proportional valve 71 and a second electromagnetic proportional valve 72, the first electromagnetic proportional valve 71 being connected to one end of the multi-position multi-way directional valve 3, and the second electromagnetic proportional valve 72 being connected to the other end of the multi-position multi-way directional valve 3. The first electromagnetic proportional valve 71 and the second electromagnetic proportional valve 72 are configured to convert the electrical control signal output by the signal processor into a pressure value to push the valve core 9 to move to different positions.

[0030] An electromagnetic proportional valve is a device that uses an electromagnetic drive mechanism to control fluid flow. The first electromagnetic proportional valve 71 and the second electromagnetic proportional valve 72 generate corresponding magnetic fields based on the input current signal, which are converted into different pressures. These different pressures overcome the spring's position, thus pushing the valve core 9 to the corresponding position, allowing the multi-position multi-way directional valve 3 to output the corresponding oil flow rate. Since the first electromagnetic proportional valve 71 and the second electromagnetic proportional valve 72 receive electrical control signals, they need to convert the chamber pressure value into an electrical control signal to control the electromagnetic proportional valves. For example, the first electromagnetic proportional valve 71 is an SAK electromagnetic proportional valve, and the second electromagnetic proportional valve 72 is an SBK electromagnetic proportional valve. If the system is determined to be in a level state, the controller 6 outputs a signal to the SAK end electro-hydraulic proportional valve, and the pilot pressure pushes the valve core 9 to switch to the cylinder floating position 31.

[0031] In one embodiment, such as Figure 2 As shown, the multi-position multi-way directional valve 3 may further include: a one-way throttle valve 8, which is disposed on the return oil pipe between the oil cylinder floating position 31 and the boom cylinder 4. The one-way throttle valve 8 is configured to dampen the oil flowing back from the boom cylinder 4 to the hydraulic oil tank 1.

[0032] The one-way throttle valve 8 is a combination valve consisting of a throttle valve and a one-way valve connected in parallel. It is used to control the flow rate of fluid in a specific direction. The flow rate is adjusted by changing the throttle cross-section or throttle length. It also has an internal one-way valve device to control the flow direction of the fluid. The one-way throttle valve 8 is installed at one end of the cylinder floating position 31 leading to the cavity of the boom cylinder 4. It provides a certain damping effect on the "floating" of the boom in the unloading direction, making the floating amount in the unloading direction less than the floating amount in the digging direction. That is, the oil flow controlled by the one-way throttle valve 8 flows back from the boom cylinder 4 to the hydraulic pump 2. When the oil in the boom cylinder 4 needs to return to the hydraulic oil tank 1, it can only flow through the one-way throttle valve 8. The one-way throttle valve 8 forms damping in the middle, allowing the oil to slowly return to the hydraulic oil tank 1, ensuring that the boom does not tilt when encountering hard soil or rocks.

[0033] In one embodiment, such as Figure 2 As shown, the multi-position multi-way directional valve 3 may further include: a digging position 32, the inlet of which is connected to the return port of the boom cylinder 4, and the outlet of which is connected to the inlet of the boom cylinder 4; a neutral position 33, the inlet of which is connected to the return port of the boom cylinder 4, and the outlet of which is connected to the inlet of the boom cylinder 4; and an unloading position 34, the inlet of which is connected to the return port of the boom cylinder 4, and the outlet of which is connected to the inlet of the boom cylinder 4.

[0034] The multi-position multi-way directional valve 3 includes four positions: a floating position 31, a digging position 32, a neutral position 33, and an unloading position 34. Therefore, the multi-position multi-way directional valve 3 can be configured as a four-position six-way directional valve. When the excavator is determined to be in a level ground state, the valve core 9 is positioned in the floating position 31, causing the stick to float and extend under gravity. When the leveling operation ends, the "floating" state is released, and the excavator returns to its normal state (e.g., digging position 32). If the excavator is not in a level ground state (unloaded or heavily loaded), the valve core 9 is positioned in the neutral position 33 or the digging position 32. When the excavator is in an unloading state, the valve core 9 is positioned in the unloading position 34. The excavator's state can be determined not only by the chamber pressure value but also by combining the boom lifting and stick digging actions to further increase the accuracy of the determination. For example, when the stick is perpendicular to the ground, the pressure in the large chamber of the stick decreases, indicating that the leveling operation of the excavator has ended.

[0035] It is understandable that in a multi-position multi-way directional valve, "multi-position" refers to the valve core having multiple different working positions. For example, a four-position valve means that the valve core has four different working positions. "Multi-way" refers to the valve body having multiple non-connected ports that can be connected to different pipelines in the system. For example, a six-way valve means that the valve body has six non-connected ports that can be connected to different pipelines in the system. The four-position six-way directional valve in the above example can also be other multi-position multi-way directional valves. The number of working positions of the valve core can be adjusted and designed according to actual needs.

[0036] Exemplary methods

[0037] Figure 3 This is a flowchart illustrating an exemplary embodiment of the excavator control method provided in this application, as shown below. Figure 3 As shown, the excavator control method is applied to the excavator control system of any of the above embodiments, and the excavator control method includes:

[0038] S100: Based on a pressure sensor, obtain the chamber pressure value of the boom cylinder.

[0039] by Figure 2 For example, pressure sensor 5 is installed on the boom cylinder 4, or on the pipeline connecting boom cylinder 4 and multi-position directional valve 3, to detect the cavity pressure value in the boom cylinder 4. Based on the cavity pressure value in the boom cylinder 4, the load status of the excavator can be determined, thereby determining the working condition of the excavator.

[0040] S200: Based on the chamber pressure value of the boom cylinder and the preset excavator status, the controller determines the actual working condition of the excavator.

[0041] by Figure 2 For example, pressure sensor 5 feeds back the chamber pressure value to controller 6. Controller 6 compares the chamber pressure value with the preset excavator state value (the preset excavator state includes no-load state, flat ground state and heavy-load state. The preset excavator state value can be divided into three state ranges according to the pressure value of the state: no-load corresponding value range, flat ground corresponding value range, and heavy-load corresponding value range), and determines whether the current state is actually operating on flat ground.

[0042] S300: When the excavator is actually operating on flat ground, the controller moves the valve core of the multi-position multi-way directional valve to the floating position of the cylinder so that the stick is in a floating state.

[0043] by Figure 2 For example, when the excavator is on level ground, the controller 6 outputs a signal to the first electromagnetic proportional valve 71 of the valve core 9. The pilot pressure pushes the valve core 9 to switch to the cylinder floating position 31, and the stick cylinder 4 enters the floating state. In this state, leveling operations (boom lifting + stick digging combination) are performed. The stick automatically extends under the action of gravity along with the boom lifting, thus achieving leveling operations. Since the stick is in a free extension state under gravity in this state, it can effectively avoid bulging or digging caused by improper coordination between the stick and the boom, thereby improving the leveling performance. Furthermore, in this state, the stick cylinder 4 does not need to be supplied with oil by the main pump; the oil output by the main pump only needs to meet the needs of the boom, thus achieving fuel saving.

[0044] In one embodiment, the multi-position multi-way directional valve may further include a one-way throttle valve; wherein, S300 (when the actual working condition of the excavator is flat ground, the controller controls the valve core of the multi-position multi-way directional valve to move to the cylinder floating position so that the stick is in a floating state) may include: when the valve core moves to the cylinder floating position and the oil in the stick cylinder returns from the multi-position multi-way directional valve to the hydraulic oil tank, controlling the opening of the one-way throttle valve so that the oil flows to the hydraulic oil tank through the one-way throttle valve in the cylinder floating position, thereby generating a damping effect on the floating of the stick in the unloading direction, so that the floating amount in the unloading direction of the stick is less than the floating amount in the digging direction.

[0045] Considering that the bucket rod may lift up when encountering hard soil or rocks during the leveling process, affecting the leveling effect, Figure 2 For example, a one-way throttle valve 8 is installed in the floating position 31 of the hydraulic cylinder. The one-way throttle valve 8 is installed at one end of the floating position 31 of the hydraulic cylinder leading to the cavity of the boom cylinder 4. It generates a certain damping effect on the "floating" of the boom in the unloading direction, so that the floating amount in the unloading direction is less than the floating amount in the digging direction. That is, the oil flow controlled by the one-way throttle valve 8 flows back from the boom cylinder 4 to the hydraulic pump 2. When the oil in the boom cylinder 4 needs to return to the hydraulic oil tank 1, it can only go through the one-way throttle valve 8. The one-way throttle valve 8 forms damping in the middle, so that the oil slowly returns to the hydraulic oil tank 1, ensuring that the boom does not tilt when encountering hard soil or rocks.

[0046] In one embodiment, S200 (the controller determines the actual working condition of the excavator based on the cavity pressure value of the boom cylinder and a preset excavator state) may include: when the pressure sensor detects that the cavity pressure value of the boom cylinder is within the range corresponding to no-load, the controller determines that the actual working condition of the excavator is no-load; when the pressure sensor detects that the cavity pressure value of the boom cylinder is within the range corresponding to flat ground, the controller determines that the actual working condition of the excavator is flat ground; when the pressure sensor detects that the cavity pressure value of the boom cylinder is within the range corresponding to heavy load, the controller determines that the actual working condition of the excavator is heavy load; wherein, the no-load range is less than the flat ground range, and the flat ground range is less than the heavy load range.

[0047] The boom lifting and stick digging combined action corresponds to three states: unloaded, level ground, and heavy load. However, the stick pressure value differs in each state. Combining preset ranges for unloaded, heavy load, and level ground, the controller compares the collected pressure signals with these preset values ​​to determine the excavator's actual state. The stick pressure in the heavy load state is greater than that in the level ground state, and the stick pressure in the level ground state is greater than that in the unloaded state.

[0048] In one embodiment, the multi-position multi-way directional valve may further include: a neutral position; the excavator control method may include: when the pressure sensor detects that the cavity pressure value of the boom cylinder changes from the range corresponding to flat ground to the range corresponding to no-load, the controller controls the valve core to move from the floating position of the cylinder to the neutral position to release the floating state.

[0049] by Figure 2 For example, when the excavator finishes its digging action and the value changes to the range corresponding to no-load operation, the controller 6 controls the valve core 9 to move from the floating position 31 to the neutral position 33, releasing the floating state. In the neutral position 33, there is no current in the electromagnetic proportional valves on both sides, and no pressure is applied to the valve core 9.

[0050] In one embodiment, the multi-position multi-way directional valve may further include a digging position; the excavator control method may further include: when the pressure sensor detects that the cavity pressure value of the boom cylinder changes from the range corresponding to flat ground to the range corresponding to heavy load, the controller controls the valve core to move from the floating position of the cylinder to the digging position to release the floating state.

[0051] by Figure 2 For example, when the leveling operation ends (when the stick is perpendicular to the ground, the pressure in the stick's large chamber decreases), the controller 6 monitors the change in the output signal of the pressure sensor 5 and outputs a signal to the first electromagnetic proportional valve 71 of the valve core 9 to release the floating state and restore the normal state (digging position 32). Alternatively, when it is necessary to move to the digging position 32, the operator will push the control handle towards the digging position 32, generating an electrical control signal to the controller 6. The controller 6 outputs a signal to the first electromagnetic proportional valve 71, generating current and pressure to push the valve core 9 inward, thus moving it to the digging position 32. When the valve core 9 moves to the digging position 32, hydraulic fluid is transferred from the suction pipe of the hydraulic oil tank 1 to the hydraulic pump 2. The hydraulic pump 2 inputs hydraulic fluid to the digging position 32 through the inlet of the digging position 32, and the hydraulic fluid is input into the cavity of the stick cylinder 4 through the outlet of the digging position 32 and the inlet of the stick cylinder 4.

[0052] Exemplary excavator

[0053] According to another aspect of this application, an excavator is provided, including: a stick; and an excavator control system as provided in the above embodiments, the excavator control system being connected to the stick.

[0054] The excavator provided in this application, by adding a multi-position multi-way directional valve, pressure sensor, and controller, allows the valve core of the multi-position multi-way directional valve to be in a floating position when the machine is on level ground. This enables the stick to float up and down under specific conditions. The stick extends freely under gravity along with the boom, achieving level ground operation, improving the excavator's leveling coordination, reducing the difficulty of leveling, and decreasing the possibility of bumps or potholes. Furthermore, this system simplifies leveling operation, reduces the difficulty of leveling, and achieves fuel savings when in the floating state.

[0055] Exemplary electronic devices

[0056] An electronic device includes: a processor; a memory for storing processor-executable instructions; and a processor for executing the excavator control method described in the embodiments provided in this application.

[0057] Below, for reference Figure 4 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0058] Figure 4 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0059] like Figure 4 As shown, the electronic device 400 includes one or more processors 410 and memory 420.

[0060] The processor 410 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.

[0061] The memory 420 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 410 may execute the program instructions to implement the excavator control methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0062] In one example, the electronic device 400 may also include an input device 430 and an output device 440, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0063] When the electronic device is a standalone device, the input device 430 can be a communication network connector for receiving the acquired input signals from the first device and the second device.

[0064] In addition, the input device 430 may also include, for example, a keyboard, a mouse, etc.

[0065] The output device 440 can output various information to the outside, including determined distance information, direction information, etc. The output device 440 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0066] Of course, for the sake of simplicity, Figure 4 Only some of the components of the electronic device 400 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 400 may include any other suitable components depending on the specific application.

[0067] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0068] A computer-readable storage medium stores a computer program for executing the excavator control method described in the embodiments provided in this application.

[0069] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0070] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. An excavator control system, characterized in that, include: Hydraulic oil tank (1) and hydraulic pump (2) connected to the suction pipe of said hydraulic oil tank (1); A multi-position multi-way directional valve (3) is provided, wherein the first inlet of the multi-position multi-way directional valve (3) is connected to the output end of the hydraulic pump (2), and the first outlet of the multi-position multi-way directional valve (3) is connected to the hydraulic oil tank (1). The multi-position multi-way directional valve (3) is configured to control the flow direction and flow rate of the oil by changing the position of the valve core (9). The multi-position multi-way directional valve (3) includes a cylinder floating position (31), which is configured to keep the boom in a floating state. The boom cylinder (4) has its oil inlet connected to the second outlet of the multi-position multi-way reversing valve (3) via an oil inlet pipe, and its return oil pipe is connected to the second inlet of the multi-position multi-way reversing valve (3). Pressure sensor (5), the pressure sensor (5) is mounted on the boom cylinder (4), the pressure sensor (5) is configured to detect the cavity pressure value of the boom cylinder (4); The controller (6) is communicatively connected to the pressure sensor (5) and electrically connected to the multi-position multi-way reversing valve (3). The controller (6) is configured to control the position of the valve core (9) of the multi-position multi-way reversing valve (3) according to the cavity pressure value in order to control the flow direction and flow rate of the oil. The controller (6) includes: A signal processor configured to convert the cavity pressure value output by the pressure sensor (5) into an electronic control signal; A first electromagnetic proportional valve (71) and a second electromagnetic proportional valve (72), wherein the first electromagnetic proportional valve (71) is connected to one end of the multi-position multi-way directional valve (3), and the second electromagnetic proportional valve (72) is connected to the other end of the multi-position multi-way directional valve (3). The first electromagnetic proportional valve (71) and the second electromagnetic proportional valve (72) are configured to convert the electrical control signal output by the signal processor into a pressure value to push the valve core (9) to move to different positions. The multi-position multi-way directional valve (3) also includes: One-way throttle valve (8) is provided on the return oil pipe between the oil cylinder floating position (31) and the boom cylinder (4). The one-way throttle valve (8) is configured to dampen the oil flowing back from the boom cylinder (4) to the hydraulic oil tank (1). The multi-position multi-way directional valve (3) also includes: The digging position (32) has an inlet connected to the return port of the boom cylinder (4) and an outlet connected to the inlet of the boom cylinder (4). The middle position (33) has its inlet connected to the return port of the boom cylinder (4) and its outlet connected to the inlet of the boom cylinder (4). The unloading position (34) has an inlet connected to the return port of the boom cylinder (4) and an outlet connected to the inlet of the boom cylinder (4).

2. An excavator control method, applied to the excavator control system described in claim 1, characterized in that, The excavator control method includes: Based on the pressure sensor (5), the cavity pressure value of the boom cylinder (4) is obtained; Based on the cavity pressure value of the boom cylinder (4) and the preset excavator status, the controller (6) determines the actual working condition of the excavator; When the excavator is in a flat state, the controller (6) controls the valve core (9) of the multi-position multi-way directional valve (3) to move to the cylinder floating position (31) so that the stick is in a floating state.

3. The excavator control method according to claim 2, characterized in that, The multi-position multi-way directional valve (3) further includes: a one-way throttle valve (8); wherein, when the actual working condition of the excavator is flat ground, the controller (6) controls the valve core (9) of the multi-position multi-way directional valve (3) to move to the cylinder floating position (31) so that the stick is in a floating state, including: When the valve core (9) moves to the cylinder floating position (31) and the oil in the boom cylinder (4) returns from the hydraulic pump (2) to the hydraulic oil tank (1), the opening of the one-way throttle valve (8) is controlled so that the oil flows to the hydraulic oil tank (1) through the one-way throttle valve (8) in the cylinder floating position (31), which generates a damping effect on the floating in the unloading direction of the boom, so that the floating amount in the unloading direction of the boom is less than the floating amount in the digging direction.

4. The excavator control method according to claim 2, characterized in that, Based on the cavity pressure value of the boom cylinder (4) and the preset excavator state, the controller (6) determines the actual working condition of the excavator, including: When the pressure sensor (5) detects that the cavity pressure value of the boom cylinder (4) is within the range corresponding to no-load, the controller (6) determines that the actual working condition of the excavator is no-load. When the pressure sensor (5) detects that the cavity pressure value of the boom cylinder (4) is within the range corresponding to flat ground, the controller (6) determines that the actual working condition of the excavator is flat ground. When the pressure sensor (5) detects that the cavity pressure value of the boom cylinder (4) is within the range corresponding to heavy load, the controller (6) determines that the actual working condition of the excavator is heavy load. Wherein, the range value corresponding to the no-load condition is smaller than the range value corresponding to the flat ground condition, and the range value corresponding to the flat ground condition is smaller than the range value corresponding to the heavy-load condition.

5. The excavator control method according to claim 4, characterized in that, The multi-position multi-way directional valve (3) further includes: a neutral position (33); the excavator control method includes: When the pressure sensor (5) detects that the cavity pressure value of the boom cylinder (4) changes from the range corresponding to flat ground to the range corresponding to no load, the controller (6) controls the valve core (9) to move from the floating position (31) of the cylinder to the middle position (33) to release the floating state.

6. The excavator control method according to claim 4, characterized in that, The multi-position multi-way directional valve (3) further includes: a digging position (32); the excavator control method further includes: When the pressure sensor (5) detects that the cavity pressure value of the boom cylinder (4) changes from the range corresponding to flat ground to the range corresponding to heavy load, the controller (6) controls the valve core (9) to move from the floating position (31) of the cylinder to the digging position (32) to release the floating state.

7. An excavator, characterized in that, include: pole; The excavator control system as described in claim 1 is connected to the boom.

Images