Scraper knife control method and device of construction equipment and construction equipment

Abstract

The invention provides a shovel blade control method and device of construction equipment and the construction equipment. One specific implementation mode of the method comprises the steps that initial voltage applied to an electro-hydraulic proportional valve is determined; the initial voltage represents the corresponding voltage when the scraper knife of the construction equipment is driven by the electro-hydraulic proportional valve to reach the initial speed; determining a reference voltage applied to the electro-hydraulic proportional valve; the reference voltage represents a corresponding voltage when the perching knife is driven by the electro-hydraulic proportional valve to reach a reference speed; on the basis of the linear relation among the initial voltage, the reference voltage, the initial speed and the reference speed, target voltage which needs to be applied to the electro-hydraulic proportional valve and enables the scraper knife to reach the expected speed is determined; and controlling the scraper knife to move according to the target voltage. According to the method, the control accuracy of the scraper knife can be improved.

Description

Technical Field

[0001] The present application relates to the field of equipment control, and in particular, to a method and device for controlling a blade of a construction equipment and the construction equipment. Background Art

[0002] In order to improve construction efficiency, construction equipment is often used for construction. Many construction equipment are equipped with a blade to perform related operations. For example, the blade of a bulldozer is used to perform slope trimming, earthwork transportation, and other operations.

[0003] In the related art, the movement of the shovel blade can be manually observed, and then the movement of the shovel blade can be controlled autonomously. This will increase labor costs and the control accuracy is low. In addition, the shovel blade can also be controlled by a laser system. Specifically, the laser system can convert the optical signal into an electrical signal, and then send a control signal to the electronically controlled hydraulic reversing valve according to the change of the electrical signal to activate the corresponding hydraulic cylinder, thereby controlling the movement of the shovel blade through the hydraulic cylinder. However, given that there are often dust, ash and other debris in the construction scene, and the position of the laser transmitter often needs to be changed, the control accuracy of this method is also low. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method and device for controlling a blade of a construction equipment, and construction equipment, so as to improve the control accuracy of the blade.

[0005] In the first aspect, the embodiment of the present application provides a method for controlling a blade of a construction equipment, the method comprising: determining an initial voltage applied to an electro-hydraulic proportional valve; the initial voltage represents the voltage corresponding to when the blade of the construction equipment is driven by the electro-hydraulic proportional valve to reach an initial speed; determining a reference voltage applied to the electro-hydraulic proportional valve; the reference voltage represents the voltage corresponding to when the blade is driven by the electro-hydraulic proportional valve to reach a reference speed; based on the linear relationship between the initial voltage, the reference voltage, the initial speed, and the reference speed, determining a target voltage applied to the electro-hydraulic proportional valve required to make the blade reach a desired speed; and controlling the movement of the blade according to the target voltage. Here, the blade can be controlled by the electro-hydraulic proportional valve, so that there is no need to manually control the blade, and the influence of factors on the construction site on the control of the blade is reduced, and the control accuracy can be improved to a certain extent. Further, the movement of the blade is controlled by the terminal device, which reduces labor costs and improves construction efficiency, construction quality, and construction safety. Further, the nonlinear result of the nonlinear factor on the blade speed can be replaced by the linear result of the driving voltage of the electro-hydraulic proportional valve on the blade speed, thereby reducing the control complexity and further improving the control accuracy of the blade.

[0006] Optionally, after controlling the movement of the blade according to the target voltage, the method further includes: determining the elevation difference according to the current real-time elevation of the blade and the desired elevation; determining the control duration according to the elevation difference and the desired speed; and controlling the blade to reach the desired elevation according to the control duration and the target voltage. In this way, the blade can be controlled to reach the desired elevation more accurately by combining the control duration and the target voltage.

[0007] Optionally, determining the target voltage to be applied to the electro-hydraulic proportional valve to enable the blade to reach a desired speed based on a linear relationship among the initial voltage, the reference voltage, the initial speed, and the reference speed comprises: determining the target voltage through a linear relationship; the linear relationship comprises: Among them, U1 represents the initial voltage; U2 represents the reference voltage; U represents the target voltage; V represents the expected speed; V2 represents the reference speed; V1 represents the initial speed. In this way, the target voltage can be determined relatively quickly and accurately through the linear relationship.

[0008] Optionally, the initial voltage includes a critical voltage, so that the determination of the initial voltage applied to the electro-hydraulic proportional valve includes: determining the critical voltage applied to the electro-hydraulic proportional valve; the critical voltage represents the voltage corresponding to when the blade is driven by the electro-hydraulic proportional valve to reach a critical speed at which it is about to move. In this way, since the critical voltage of the blade can just enable the blade to overcome the relevant resistance in the control process, the influence of external factors on the initial speed can be reduced, and the control accuracy can be improved to a certain extent.

[0009] Optionally, the reference speed includes a lifting reference speed and / or a rotation reference speed; wherein the lifting reference speed has a value range of [7, 9.5] cm / s; and the rotation reference speed has a value range of [1, 1.5]° / s. In this way, a suitable reference speed can be selected within the above value range according to actual conditions, so that the reference speed has more reference value.

[0010] Optionally, before determining the target voltage to be applied to the electro-hydraulic proportional valve to enable the blade to reach the desired speed based on the linear relationship among the initial voltage, the reference voltage, the initial speed, and the reference speed, the method further includes: determining the desired speed based on the elevation difference and the current real-time speed of the blade. In this way, the desired speed suitable for the current construction scene can be obtained.

[0011] Optionally, before determining the elevation difference based on the current real-time elevation and the expected elevation of the blade, the method further includes: determining first position information in real time; the first position information represents the position information of the construction equipment obtained from the RTK-GNSS receiver; determining second position information and the attitude information of the blade in real time; the second position information represents the relative position information from the RTK-GNSS receiver to the tip of the blade; and determining the real-time elevation of the blade based on the first position information, the second position information, and the attitude information. In this way, the real-time elevation of the blade can be determined based on the GNSS technology, and the accuracy of the real-time elevation can be improved to a certain extent.

[0012] In the second aspect, the embodiment of the present application provides a blade control device for construction equipment, the device comprising: an initial determination module, used to determine the initial voltage applied to the electro-hydraulic proportional valve; the initial voltage represents the voltage corresponding to the blade of the construction equipment driven by the electro-hydraulic proportional valve to reach the initial speed; a reference determination module, used to determine the reference voltage applied to the electro-hydraulic proportional valve; the reference voltage represents the voltage corresponding to the blade driven by the electro-hydraulic proportional valve to reach the reference speed; a target determination module, used to determine the target voltage applied to the electro-hydraulic proportional valve required to make the blade reach the desired speed based on the linear relationship between the initial voltage, the reference voltage, the initial speed, and the reference speed; a motion control module, used to control the blade movement according to the target voltage. Here, the blade can be controlled by the electro-hydraulic proportional valve, so that there is no need to manually control the blade, and the influence of construction site factors on the blade control is reduced, which can improve the control accuracy to a certain extent. Further, the blade movement is controlled by the terminal device, which reduces labor costs and improves construction efficiency, construction quality and construction safety. Furthermore, through the linear relationship between the driving voltage and speed of the electro-hydraulic proportional valve, the influence of nonlinear factors on the scraper speed can be improved, thereby further improving the control accuracy of the scraper.

[0013] In a third aspect, an embodiment of the present application provides a construction device, comprising a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method provided in the first aspect are performed.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the method provided in the first aspect are performed.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the method described in the first aspect is performed.

[0016] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the embodiments of the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A flowchart of a method for controlling a blade of a construction device provided in an embodiment of the present application;

[0019] Figure 2 A structural block diagram of a blade control device for construction equipment provided in an embodiment of the present application;

[0020] Figure 3 A schematic structural diagram of a construction equipment for executing a blade control method for the construction equipment provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0022] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0023] It should be noted that the embodiments in this application or the technical features in the embodiments may be combined if there is no conflict.

[0024] In the related art, there is a problem that the movement of the blade of the construction equipment cannot be controlled accurately. In order to solve this problem, the present application provides a method, device and construction equipment for controlling the blade of the construction equipment. Furthermore, the present application constructs a linear relationship between the driving voltage of the electro-hydraulic proportional valve and the blade speed, and controls the electro-hydraulic proportional valve through the linear relationship, thereby achieving the purpose of controlling the movement of the blade. In this way, there is no need to manually control the blade, and the influence of construction site factors on the blade control is reduced, thereby improving the control accuracy.

[0025] In some application scenarios, the above-mentioned construction equipment blade control method can be applied to a terminal device, which can include, for example, a laptop computer, a desktop computer, a tablet computer, etc. In other application scenarios, it can also be applied to a server, which can include, for example, a server, a server cluster, or a cloud platform, etc. The following text of this application takes the application to a terminal device as an example.

[0026] The defects existing in the solutions in the above-mentioned related technologies are the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above-mentioned problems and the solutions proposed in the embodiments of the present invention below for the above-mentioned problems should all be the contributions made by the inventor to the present invention during the process of the present invention.

[0027] In order to facilitate understanding of the technical solution of the present application, the process of controlling the scraper by means of an electro-hydraulic proportional valve is first described here.

[0028] Specifically, an electro-hydraulic proportional valve is a component that can continuously and proportionally control the pressure, flow and other parameters of a hydraulic system according to an input electrical signal. When a voltage is applied to the electro-hydraulic proportional valve, its coil can generate a magnetic field, which acts on a movable iron core to displace the iron core. The displacement of the iron core can change the valve opening in the hydraulic oil circuit, thereby changing the flow of hydraulic oil, and further changing the force that pushes the hydraulic cylinder piston, thereby controlling the blade to move with a corresponding force. That is, the blade movement speed can be controlled by applying a voltage to the electro-hydraulic proportional valve.

[0029] Please refer to Figure 1 , which shows a flow chart of a method for controlling a blade of a construction device provided in an embodiment of the present application. Figure 1 As shown, the blade control method of the construction equipment includes the following steps 101 to 104.

[0030] Step 101, determining an initial voltage applied to the electro-hydraulic proportional valve; the initial voltage represents a voltage corresponding to when a blade of a construction equipment driven by the electro-hydraulic proportional valve reaches an initial speed;

[0031] The initial speed, i.e., the starting speed of the blade compared to the next state, may be, for example, a critical speed for the blade to switch from a static state to a moving state, or a starting speed when switching from a current moving state to a next moving state.

[0032] It should be noted that the blade can perform lifting and lowering motion as well as rotational motion, so the above-mentioned initial speed may include an ascending initial speed, a descending initial speed, a clockwise initial speed, and a counterclockwise initial speed.

[0033] In some application scenarios, the terminal device may first determine an initial speed, which may be, for example, a non-zero speed set by construction personnel based on experience, or the above-mentioned critical speed, which is not limited here.

[0034] In these application scenarios, the terminal device may, for example, gradually increase the voltage applied to the electro-hydraulic proportional valve from zero, and may determine the voltage corresponding to when the blade of the construction equipment reaches the above-mentioned initial speed as the initial voltage.

[0035] It should be noted that the initial speed can be measured, for example, by a speed sensor, and then the speed sensor can transmit the measured speed to the terminal device in real time. Then, when the received speed is the determined initial speed, the terminal device can determine the voltage currently applied to the electro-hydraulic proportional valve as the initial voltage.

[0036] Step 102, determining a reference voltage applied to the electro-hydraulic proportional valve; the reference voltage represents a voltage corresponding to when the blade is driven by the electro-hydraulic proportional valve to reach a reference speed;

[0037] The above-mentioned reference speed can be regarded as a speed used to calibrate the speed of the blade. It can be pre-set according to historical data or set by construction personnel based on experience, which is not limited here. Furthermore, if it is pre-set according to historical data, it can be, for example, the average value of historical speeds in the same construction scene.

[0038] Furthermore, the reference speed may also include an ascending reference speed, a descending reference speed, a clockwise reference speed, and a counterclockwise reference speed.

[0039] In some application scenarios, since the blade operation is more dependent on the lifting elevation, the clockwise reference speed and the counterclockwise reference speed can be set lower than the lifting reference speed.

[0040] In some optional implementations, the reference speed includes a lifting reference speed and / or a rotation reference speed; wherein the value range of the lifting reference speed includes [7, 9.5] cm / s; the value range of the rotation reference speed includes [1, 1.5]° / s.

[0041] In this implementation, a suitable reference speed may be selected within the above value range according to actual conditions, thereby making the reference speed more valuable for reference.

[0042] Furthermore, the terminal device may also control the voltage applied to the electro-hydraulic proportional valve, and may determine the voltage corresponding to when the blade of the construction equipment reaches the above-mentioned reference speed as the reference voltage.

[0043] In some application scenarios, the reference speed can also be measured by a speed sensor, for example, and then the speed sensor can transmit the measured speed to the terminal device in real time. Then, when the received speed is the reference speed, the terminal device can determine the voltage currently applied to the electro-hydraulic proportional valve as the reference voltage.

[0044] In some application scenarios, the terminal device can also determine the reference voltage by itself. Specifically, the terminal device can record the distance and time taken by the blade when the blade reaches the reference speed from the initial speed, so that the distance can be divided by the time to obtain the corresponding speed. When the speed is equal to the reference speed, the voltage currently applied to the electro-hydraulic proportional valve can be determined as the reference voltage.

[0045] Step 103, determining a target voltage to be applied to the electro-hydraulic proportional valve so that the blade reaches a desired speed based on a linear relationship among the initial voltage, the reference voltage, the initial speed, and the reference speed;

[0046] The above-mentioned expected speed is the speed that the shovel blade is expected to reach. It can be determined, for example, according to the construction conditions. For example, when digging hard soil, the shovel blade needs to use greater force to cut into the bottom surface. In this case, the expected speed can be set to be larger. When digging soft soil, the expected speed can be set to be smaller. In addition, it can also be set according to the experience of the construction personnel, and this implementation method does not limit this.

[0047] It should be noted that the blade speed can be controlled by the voltage applied to the electro-hydraulic proportional valve. Therefore, there is a relationship between the applied voltage and the corresponding speed. Since the initial voltage can make the blade reach the corresponding initial speed, the reference voltage can also make the blade reach the corresponding reference speed, and then the target voltage can also make the blade reach the corresponding desired speed. Therefore, a linear relationship between the voltage and the blade speed can be constructed to determine the target voltage corresponding to the desired speed of the blade.

[0048] Step 104 : Control the movement of the scraper according to the target voltage so that the scraper can move at a desired speed.

[0049] In this implementation, the blade can be controlled by an electro-hydraulic proportional valve, so that there is no need for manual control of the blade, and the influence of factors on the construction site on the blade control is reduced, which can improve the control accuracy to a certain extent. Furthermore, the blade movement is controlled by the terminal device, which reduces labor costs and improves construction efficiency, construction quality and construction safety.

[0050] In addition, there are many nonlinear factors in the relevant technology, which will affect the control accuracy of the scraper. For example: (1) Nonlinear factors in the electro-hydraulic proportional valve itself. For example, the electromagnet in the electro-hydraulic proportional valve may not have a linear relationship between its output force and input current due to magnetic saturation, which leads to a decrease in the control accuracy of the electro-hydraulic proportional valve. Or, the valve port shoulder of the electro-hydraulic proportional valve is processed asymmetrically, and the processing error of the valve port may cause the flow area and area gradient of the valve port to be inconsistent, thereby affecting the control accuracy of the flow. (2) Nonlinear factors in the hydraulic system. For example, the piston rod side (rodless chamber) and the piston side (rod chamber) of an asymmetric hydraulic cylinder (such as a single-rod hydraulic cylinder) have different effective areas, which may cause the flow and pressure changes of the two chambers to be inconsistent under the same pressure, thereby affecting the speed and thrust of the hydraulic cylinder. Or, the compressibility of the hydraulic oil and the internal and external leakage of the hydraulic cylinder may affect the dynamic characteristics of the hydraulic system, thereby affecting the control accuracy. (3) Nonlinear factors in the hydraulic pump itself. For example, the input speed of the hydraulic pump will affect its swash plate resistance (i.e., the load torque of the hydraulic cylinder), thereby affecting the response time of the hydraulic cylinder controlled by the electro-hydraulic proportional valve, thereby reducing the control accuracy.

[0051] In this implementation, the nonlinear effect of the above-mentioned nonlinear factors on the blade speed can be replaced by the linear effect of the driving voltage of the electro-hydraulic proportional valve on the blade speed, thereby reducing the control complexity and further improving the control accuracy of the blade.

[0052] In some optional implementations, the initial voltage includes a critical voltage. Thus, the determination of the initial voltage applied to the electro-hydraulic proportional valve in the above step 101 includes: determining the critical voltage applied to the electro-hydraulic proportional valve; the critical voltage represents the voltage corresponding to when the blade is driven by the electro-hydraulic proportional valve to reach a critical speed at which it is about to move.

[0053] In some application scenarios, due to the friction in the movement of the valve core of the electro-hydraulic proportional valve, the driving voltage applied by the terminal device to the electro-hydraulic proportional valve needs to exceed a certain threshold before the hydraulic cylinder can move to push the blade to move. Therefore, in these application scenarios, the critical speed (for example, 0) at which the blade is about to move can be determined, and then the corresponding driving voltage can be determined as the critical voltage.

[0054] In some application scenarios, for example, a sensor can be used to monitor whether the blade is moving, and when the blade is detected to be moving, the current driving voltage is determined as the critical voltage. Furthermore, when a change in the blade's elevation or tilt angle is detected, the blade can be considered to be moving.

[0055] In this implementation, since the critical voltage of the blade is just enough to enable the blade to overcome the relevant resistance movement during the control process, the influence of external factors on the initial speed can be reduced, thereby improving the control accuracy to a certain extent.

[0056] In some optional implementations, the step 103 described above, based on the linear relationship among the initial voltage, the reference voltage, the initial speed, and the reference speed, determining the target voltage to be applied to the electro-hydraulic proportional valve to enable the blade to reach the desired speed, includes: determining the target voltage through a linear relationship; the linear relationship includes: Among them, U1 represents the initial voltage; U2 represents the reference voltage; U represents the target voltage; V represents the expected speed; V2 represents the reference speed; V1 represents the initial speed.

[0057] Furthermore, the above linear relationship can be transformed to obtain the relationship: This allows the target voltage to be calculated more intuitively.

[0058] In this implementation, the target voltage can be determined relatively quickly and accurately through a linear relationship.

[0059] In some optional implementations, after controlling the movement of the blade according to the target voltage in step 104, the method further includes:

[0060] Step 105, determining the elevation difference according to the current real-time elevation of the blade and the expected elevation;

[0061] In some optional implementations, the above real-time elevation may be determined, for example, by the following sub-steps:

[0062] Sub-step 1051, determining first position information in real time; the first position information represents position information of the construction equipment obtained from the RTK-GNSS receiver;

[0063] Among them, the RTK-GNSS receiver can receive signals from satellites (based on the location information obtained by the satellite) and can use the differential data sent by the GNSS base station to correct the satellite signals, thereby obtaining the precise location information of the construction equipment, which may include, for example, the latitude and longitude information of the construction equipment and the elevation of the construction equipment.

[0064] Sub-step 1052, determining second position information and attitude information of the blade in real time; the second position information represents the relative position information from the RTK-GNSS receiver to the tip of the blade;

[0065] In some application scenarios, the second position information and posture information can be obtained by real-time measurement of corresponding sensors, for example, wherein the second position information can be measured by a linear displacement sensor, and the posture information can be measured by an inertial sensor.

[0066] Sub-step 1053, determining the real-time elevation of the blade according to the first position information, the second position information, and the posture information.

[0067] In some application scenarios, the first position information, the second position information and the posture information may be fused to obtain the real-time elevation of the blade. Here, for example, the fusion may be performed using a Kalman filter algorithm.

[0068] In this implementation, the real-time elevation of the blade can be determined based on the GNSS technology, which can improve the accuracy of the real-time elevation to a certain extent.

[0069] The above-mentioned expected elevation is also the elevation that the blade is expected to reach. Therefore, the expected elevation of the blade can be subtracted from the real-time elevation to obtain the elevation difference between the two.

[0070] Step 106, determining a control duration according to the elevation difference and the expected speed;

[0071] In some application scenarios, the elevation difference can be divided by the expected speed to obtain the control time.

[0072] Step 107: Control the blade to reach the desired elevation according to the control duration and the target voltage.

[0073] That is, the terminal device can continuously apply the target voltage to the electro-hydraulic proportional valve within the control time so that the blade can reach the desired elevation.

[0074] In this implementation, the control duration and the target voltage can be combined to more accurately control the blade to reach the desired elevation.

[0075] In some optional implementations, before determining the target voltage required to be applied to the electro-hydraulic proportional valve to make the blade reach the desired speed based on the linear relationship among the initial voltage, the reference voltage, the initial speed, and the reference speed as described in the above step 103, the method further includes: determining the desired speed based on the elevation difference and the current real-time speed of the blade.

[0076] The above real-time speed can be measured by a speed sensor, for example.

[0077] In some application scenarios, for example, the expected speed of the shovel blade can be determined based on the hysteresis control principle. Specifically, the preset elevation difference threshold can be compared with the elevation difference. If the elevation difference is less than the elevation difference threshold, the current real-time speed of the shovel blade can be determined as the expected speed. If the elevation difference is greater than the elevation difference threshold, the expected speed can be obtained by increasing the preset acceleration on the basis of the current real-time speed. Furthermore, the direction in which the shovel blade moves at the expected speed can be determined based on the elevation difference. For example, if the elevation difference obtained by subtracting the real-time elevation from the target elevation is a positive value, an upward movement can be made. If not, a downward movement can be made.

[0078] In other application scenarios, for example, the desired speed can also be determined by a PID (proportional-integral-differential) control algorithm. It should be noted that the elevation difference and the real-time speed of the blade can be substituted into the PID control algorithm formula to obtain the desired speed, which will not be described in detail here.

[0079] In this implementation, the expected speed suitable for the current construction scene can be obtained through the elevation difference and the real-time speed.

[0080] Those skilled in the art will appreciate that, in the above method of a specific embodiment, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0081] Please refer to Figure 2 , which shows a structural block diagram of a blade control device for construction equipment provided in an embodiment of the present application. The blade control device for construction equipment may be a module, program segment or code on the construction equipment. It should be understood that the device is similar to the above Figure 1 The method embodiment corresponds to and can be executed Figure 1 The method embodiment involves various steps.

[0082] Optionally, the above-mentioned blade control device of the construction equipment includes an initial determination module 201, a reference determination module 202, a target determination module 203 and a motion control module 203. Among them, the initial determination module 201 is used to determine the initial voltage applied to the electro-hydraulic proportional valve; the initial voltage represents the voltage corresponding to when the blade of the construction equipment is driven by the electro-hydraulic proportional valve to reach the initial speed; the reference determination module 202 is used to determine the reference voltage applied to the electro-hydraulic proportional valve; the reference voltage represents the voltage corresponding to when the blade is driven by the electro-hydraulic proportional valve to reach the reference speed; the target determination module 203 is used to determine the target voltage applied to the electro-hydraulic proportional valve required to make the blade reach the desired speed based on the linear relationship between the initial voltage, the reference voltage, the initial speed and the reference speed; the motion control module 203 is used to control the movement of the blade according to the target voltage.

[0083] Optionally, the device also includes an elevation control module, which is used to: after controlling the movement of the blade according to the target voltage, determine the elevation difference according to the current real-time elevation of the blade and the expected elevation; determine the control time according to the elevation difference and the expected speed; and control the blade to reach the expected elevation according to the control time and the target voltage.

[0084] Optionally, the target determination module 203 is further configured to: determine the target voltage by a linear relationship; the linear relationship includes: Among them, U1 represents the initial voltage; U2 represents the reference voltage; U represents the target voltage; V represents the expected speed; V2 represents the reference speed; V1 represents the initial speed.

[0085] Optionally, the initial voltage includes a critical voltage, so that the initial determination module 201 is used to: determine the critical voltage applied to the electro-hydraulic proportional valve; the critical voltage represents the voltage corresponding to when the blade is driven by the electro-hydraulic proportional valve to reach a critical speed for the blade to move.

[0086] Optionally, the reference speed includes a lifting reference speed and / or a rotation reference speed; wherein the value range of the lifting reference speed includes [7, 9.5] cm / s; the value range of the rotation reference speed includes [1, 1.5]° / s.

[0087] Optionally, the device also includes an expected speed determination module, which is used to determine the expected speed based on the elevation difference and the current real-time speed of the blade before determining the target voltage to be applied to the electro-hydraulic proportional valve to make the blade reach the expected speed based on the linear relationship among the initial voltage, the reference voltage, the initial speed and the reference speed.

[0088] Optionally, the device also includes a real-time elevation determination module, which is used to: determine the first position information in real time; the first position information represents the position information of the construction equipment obtained from the RTK-GNSS receiver; determine the second position information and the posture information of the blade in real time; the second position information represents the relative position information from the RTK-GNSS receiver to the tip of the blade; determine the real-time elevation of the blade based on the first position information, the second position information and the posture information.

[0089] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system or device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0090] Please refer to Figure 3 , Figure 3 A structural schematic diagram of a construction equipment for executing a blade control method for construction equipment provided in an embodiment of the present application, the construction equipment may include: at least one processor 301, such as a CPU, at least one communication interface 302, at least one memory 303 and at least one communication bus 304. Among them, the communication bus 304 is used to realize direct connection and communication between these components. Among them, the communication interface 302 of the device in the embodiment of the present application is used to communicate signals or data with other node devices. The memory 303 can be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk storage. The memory 303 can optionally be at least one storage device located away from the aforementioned processor. Computer-readable instructions are stored in the memory 303. When the computer-readable instructions are executed by the processor 301, the construction equipment can execute the above-mentioned Figure 1 The method process is shown.

[0091] Understandably, Figure 3 The structure shown is for illustration only. The construction equipment may also include Figure 3 More or fewer components as shown, or with Figure 3 Different configurations shown. Figure 3 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0092] The present application embodiment provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the following can be performed: Figure 1 Any implementation method in the method embodiment shown.

[0093] An embodiment of the present application provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the methods provided by the above-mentioned method embodiments. For example, the method may include: determining an initial voltage applied to an electro-hydraulic proportional valve; the initial voltage represents a voltage corresponding to when a blade of a construction equipment is driven by the electro-hydraulic proportional valve to reach an initial speed; determining a reference voltage applied to the electro-hydraulic proportional valve; the reference voltage represents a voltage corresponding to when the blade is driven by the electro-hydraulic proportional valve to reach a reference speed; based on the linear relationship among the initial voltage, the reference voltage, the initial speed, and the reference speed, determining a target voltage applied to the electro-hydraulic proportional valve required to make the blade reach a desired speed; and controlling the movement of the blade according to the target voltage.

[0094] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0095] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0097] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0098] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a blade of a construction equipment, It is characterized in that include: Determine an initial voltage applied to the electro-hydraulic proportional valve; the initial voltage represents the voltage corresponding to when the blade of the construction equipment driven by the electro-hydraulic proportional valve reaches an initial speed; Determining a reference voltage applied to the electro-hydraulic proportional valve; the reference voltage represents a voltage corresponding to when the blade is driven by the electro-hydraulic proportional valve to reach a reference speed; Determine a target voltage applied to the electro-hydraulic proportional valve to enable the blade to reach a desired speed based on a linear relationship among the initial voltage, the reference voltage, the initial speed, and the reference speed; The movement of the blade is controlled according to the target voltage.

2. The method according to claim 1, It is characterized in that After controlling the movement of the blade according to the target voltage, the method further includes: Determining an elevation difference according to the current real-time elevation of the blade and the expected elevation; Determining a control duration according to the elevation difference and the expected speed; The blade is controlled to reach the desired elevation according to the control time and the target voltage.

3. The method according to any one of claims 1 to 2, It is characterized in that The step of determining the target voltage applied to the electro-hydraulic proportional valve to enable the blade to reach a desired speed based on the linear relationship among the initial voltage, the reference voltage, the initial speed, and the reference speed includes: The target voltage is determined by a linear relationship; the linear relationship includes: Among them, U 1 Characterizes the initial voltage; U 2 represents the reference voltage; U represents the target voltage; V represents the expected speed; V 2 Characterizes the reference speed; V 1 Characterize the initial velocity.

4. The method according to any one of claims 1 to 2, It is characterized in that The initial voltage includes a critical voltage, and The step of determining an initial voltage applied to the electro-hydraulic proportional valve comprises: Determine a critical voltage applied to the electro-hydraulic proportional valve; the critical voltage represents a voltage corresponding to when the blade is driven by the electro-hydraulic proportional valve to reach a critical speed at which it is about to move.

5. The method according to any one of claims 1 to 2, It is characterized in that The reference speed includes a lifting reference speed and / or a rotation reference speed; wherein, the value range of the lifting reference speed includes [7, 9.5] cm / s; the value range of the rotation reference speed includes [1, 1.5]° / s.

6. The method according to claim 2, It is characterized in that Before determining the target voltage to be applied to the electro-hydraulic proportional valve to enable the blade to reach a desired speed based on the linear relationship among the initial voltage, the reference voltage, the initial speed, and the reference speed, the method further includes: The expected speed is determined according to the elevation difference and the current real-time speed of the blade.

7. The method according to claim 2, It is characterized in that Before determining the elevation difference according to the current real-time elevation and the expected elevation of the blade, the method further includes: Determine first position information in real time; the first position information represents position information of the construction equipment obtained from the RTK-GNSS receiver; Determine in real time second position information and attitude information of the blade; the second position information represents the relative position information from the RTK-GNSS receiver to the tip of the blade; The real-time elevation of the blade is determined according to the first position information, the second position information, and the posture information.

8. A blade control device for construction equipment, It is characterized in that include: An initial determination module, used to determine an initial voltage applied to the electro-hydraulic proportional valve; The initial voltage represents the voltage corresponding to when the blade of the construction equipment is driven by the electro-hydraulic proportional valve to reach the initial speed; A reference determination module, used to determine a reference voltage applied to the electro-hydraulic proportional valve; the reference voltage represents a voltage corresponding to when the blade is driven by the electro-hydraulic proportional valve to reach a reference speed; a target determination module, for determining a target voltage to be applied to the electro-hydraulic proportional valve to enable the blade to reach a desired speed based on a linear relationship among the initial voltage, the reference voltage, the initial speed, and the reference speed; A motion control module is used to control the motion of the blade according to the target voltage.

9. A construction equipment, It is characterized in that The method comprises a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is executed.

10. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is performed.

11. A computer program product comprising a computer program or instructions, It is characterized in that When the computer program or instruction is executed by a processor, the method according to any one of claims 1 to 7 is performed.

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