Anti-car-building control method and device, control equipment, operation machine and storage medium

Abstract

The embodiment of the invention discloses an anti-car-building control method and device, control equipment, operation machinery and a storage medium, and belongs to the technical field of equipment control. The car building prevention control method comprises the steps that a received operation signal is responded, an engine is driven, a throttling valve is controlled to be opened, pilot oil is conveyed to a main valve through the throttling valve, and the main valve is pushed to be opened; determining a target rotating speed of the engine; according to the target rotating speed of the engine and the real-time rotating speed of the engine, a speed reduction value of the engine is obtained; and under the condition that the speed reduction value of the engine is larger than the preset speed reduction value, the opening area of the throttling valve is reduced so as to adjust the flow of the throttling valve till the speed reduction value of the engine is smaller than or equal to the preset speed reduction value. The pilot pressure is delayed by additionally arranging the throttling valve, the opening area of the throttling valve is adjusted according to the operation environment, then the absorption power of a main pump of the operation machine is delayed, the pilot pressure delay degree of pilot oil can be adjusted, and the operation machine can adapt to high-altitude operation scenes.

Description

Technical Field

[0001] The present application relates to the technical field of equipment control, and in particular to an anti-stalling control method, device, control equipment, operating machinery and storage medium. Background Art

[0002] With the rapid development of equipment manufacturing technology, excavators and other working machines are widely used in a variety of engineering operation scenarios. In the actual operation process, working machines may have engine stalling, which refers to the deterioration of the engine performance of the working machine, resulting in excessive engine speed drop or even engine stalling.

[0003] Engine speed drop usually refers to the phenomenon that the engine speed drops below the target speed, and the engine's responsiveness refers to the ability of the engine to recover to the target speed after speed drop when the load changes. When a fuel-powered operating machine is operating at high altitudes, due to the lower air pressure and thin oxygen in high altitudes, the engine's insufficient air intake reduces the heat generated by the combustion of the oil and gas mixture, and the mechanical energy converted by the engine also decreases, that is, the engine power is reduced. When the engine power is reduced, it is easy for the engine to be unable to match the needs of the main hydraulic pump, and then the engine will be stuck, making it difficult for the operating machine to adapt to high-altitude operating scenarios. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an anti-blocking control method, device, control equipment, working machinery and storage medium. The anti-blocking control method is used to solve the problem in the prior art that working machinery is difficult to adapt to high-altitude working scenarios.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides an anti-blocking control method, which is applied to an operating machine, wherein the operating machine includes a main valve, a throttle valve, and an engine, wherein the throttle valve is connected to a pilot oil port of the main valve, and the anti-blocking control method includes:

[0006] In response to the received operation signal, the engine is driven and the throttle valve is controlled to open, so as to deliver the pilot oil to the main valve through the throttle valve to push the main valve to open;

[0007] Determine the target engine speed;

[0008] According to the target speed of the engine and the real-time speed of the engine, the speed drop value of the engine is obtained;

[0009] When the engine speed drop value is greater than the preset speed drop value, the opening area of ​​the throttle valve is reduced to adjust the flow of the throttle valve until the engine speed drop value is less than or equal to the preset speed drop value.

[0010] In an embodiment of the present application, determining the target speed of the engine includes:

[0011] When the altitude of the current area is higher than the preset altitude, the target speed of the engine corresponding to the current gear of the working machine is determined according to the received gear signal, wherein the area with an altitude higher than the preset altitude is a plateau area.

[0012] In an embodiment of the present application, the anti-car-holding control method further includes:

[0013] When the altitude of the current area is lower than or equal to the preset altitude, the opening area of ​​the throttle valve is adjusted to the maximum value.

[0014] In an embodiment of the present application, when the engine speed drop value is greater than a preset speed drop value, reducing the opening area of ​​the throttle valve includes:

[0015] When the engine speed drop value is greater than a preset speed drop value, the opening area of ​​the throttle valve is reduced based on a preset opening area interval or a preset rate.

[0016] In an embodiment of the present application, the operating machine further includes a speed sensor, and the anti-blocking control method further includes:

[0017] When the engine is in operation, the speed sensor is used to obtain the real-time speed of the engine.

[0018] A second aspect of the present application provides an anti-stalling control device, which is applied to an operating machine, wherein the operating machine includes a main valve, a throttle valve, and an engine, wherein the throttle valve is connected to a pilot oil port of the main valve, and the anti-stalling control device includes:

[0019] A signal response module is configured to drive the engine in response to the received operation signal and control the throttle valve to open, so as to deliver the pilot oil to the main valve through the throttle valve to push the main valve to open;

[0020] a speed determination module configured to determine a target speed of the engine;

[0021] A speed drop value determination module is configured to obtain a speed drop value of the engine according to a target speed of the engine and a real-time speed of the engine;

[0022] The area reduction module is configured to reduce the opening area of ​​the throttle valve to adjust the flow of the throttle valve when the engine speed drop value is greater than a preset speed drop value, until the engine speed drop value is less than or equal to the preset speed drop value.

[0023] A third aspect of the present application provides a control device, including:

[0024] a memory configured to store instructions;

[0025] The processor is configured to call instructions from the memory and implement the above-mentioned anti-car stalling control method when executing the instructions.

[0026] A fourth aspect of the present application provides an operating machine, the operating machine comprising a main valve, a throttle valve group, an engine, an operating device, an engine, a main pump and the above-mentioned control device, the throttle valve group comprising at least one throttle valve;

[0027] Each throttle valve is connected to the working device through the pilot oil port of the main valve, and the engine is connected to the main valve through the main pump;

[0028] a main valve configured to deliver hydraulic oil to the working device to drive the working device;

[0029] a throttle valve configured to deliver pilot oil to the main valve to control the opening of the main valve;

[0030] an engine configured to drive a main pump;

[0031] a main pump configured to deliver hydraulic oil to the working device through the main valve to drive the working device;

[0032] The working device is configured to perform working actions.

[0033] In the embodiment of the present application, the working device includes a working motor and a working cylinder, and the throttle valve includes a first throttle valve, a second throttle valve, a third throttle valve and a fourth throttle valve;

[0034] The first throttle valve is connected to the working motor through the pilot oil inlet of the main valve, and the second throttle valve is connected to the working motor through the pilot oil return port of the main valve;

[0035] The third throttle valve is connected to the working cylinder through the pilot oil inlet of the main valve, and the fourth throttle valve is connected to the working cylinder through the pilot oil return port of the main valve.

[0036] A fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned anti-car stalling control method.

[0037] The present application provides an anti-stalling control method, including: responding to a received operation signal, driving the engine, and controlling the throttle valve to open, so as to deliver the pilot oil to the main valve through the throttle valve, and push the main valve to open; determining the target speed of the engine; obtaining the engine speed drop value according to the target speed of the engine and the real-time speed of the engine; when the engine speed drop value is greater than the preset speed drop value, reducing the opening area of ​​the throttle valve to adjust the flow of the throttle valve until the engine speed drop value is less than or equal to the preset speed drop value. By adding a throttle valve, the pilot pressure of the pilot oil is delayed, and then the absorption power of the main pump of the operating machine is delayed. At the same time, the opening area of ​​the throttle valve can be adjusted according to the operating environment at the actual altitude of the operating machine, and then the delay degree of the pilot pressure of the pilot oil can be adjusted, so that the absorption power of the main pump of the operating machine can be matched with the output power of the engine, avoiding the phenomenon of speed drop and stagnation of the operating machine, so that the operating machine can adapt to high-altitude operating scenes.

[0038] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0040] Figure 1 A schematic diagram of a flow chart of an anti-car holding control method according to an embodiment of the present application is shown;

[0041] Figure 2 A schematic diagram showing an example of a change in pilot pressure according to an embodiment of the present application is shown;

[0042] Figure 3 A diagram schematically shows an example of displacement change of a main pump according to an embodiment of the present application;

[0043] Figure 4 A schematic diagram showing an example of a dominant absorption power change according to an embodiment of the present application is shown;

[0044] Figure 5 The structure diagram of a vehicle blocking prevention control device according to an embodiment of the present application is schematically shown;

[0045] Figure 6 A schematic diagram of the structure of a control device according to an embodiment of the present application is shown;

[0046] Figure 7 The schematic diagram of the structure of the first working machine according to the embodiment of the present application is shown;

[0047] Figure 8 The structural diagram of the second working machine according to the embodiment of the present application is schematically shown.

[0048] Description of Reference Numerals

[0049] 300-control equipment, 400-operating machinery; 310-memory, 320-processor, 410-main valve, 420-throttle valve group, 430-engine, 440-operating device, 450-main pump, 460-proportional solenoid valve, 470-pressure sensor, 480-control mechanism; 421-first throttle valve, 422-second throttle valve, 423-third throttle valve, 424-fourth throttle valve, 441-working cylinder, 442-working motor. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0051] It should be noted that if the embodiments of the present application involve directional indications (such as front and back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0052] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0053] Example 1

[0054] Figure 1 The flowchart of a method for preventing vehicle stalling according to an embodiment of the present application is schematically shown. Figure 1As shown, an embodiment of the present application provides an anti-blocking control method, which is applied to an operating machine, wherein the operating machine includes a main valve, a throttle valve, and an engine, wherein the throttle valve is connected to a pilot oil port of the main valve, and the anti-blocking control method includes:

[0055] S110, in response to the received operation signal, the engine is driven and the throttle valve is controlled to open, so as to deliver the pilot oil to the main valve through the throttle valve, thereby pushing the main valve to open.

[0056] The type of operating device is set according to actual needs and is not limited here. For ease of understanding, the operating device in the embodiment of the present application includes a working cylinder and a working motor. When the user needs to control the operating machine to perform engineering operations, the operating machine responds to the received operating signal, drives the engine, and controls the throttle valve to open. The pilot oil is delivered to the end of the valve core of the main valve through the throttle valve, and then pushes the main valve to open, so that the hydraulic oil passes through the main valve to the working cylinder and / or working motor to perform engineering operations.

[0057] In the embodiment of the present application, the operating machine further includes a control mechanism, a pilot valve, and a pilot pump, and the pilot pump is connected to the main valve via the pilot valve and the throttle valve in sequence;

[0058] In response to the received operation signal, the throttle valve is controlled to open, so as to deliver the pilot oil to the main valve through the throttle valve, and push the main valve to open, including:

[0059] In response to the operating signal received from the control mechanism, the pilot valve and the throttle valve are controlled to open, so as to control the pilot pump to deliver the pilot oil to the main valve through the pilot valve and the throttle valve in sequence, thereby pushing the main valve to open.

[0060] In the embodiment of the present application, the operating machine also includes a control mechanism, a pilot valve and a pilot pump. The type of the control mechanism is set according to actual needs and is not limited here. For ease of understanding, the control mechanism in the embodiment of the present application includes an operating handle and a foot valve. When the user operates the control mechanism, the control mechanism will generate an operating signal. The operating machine receives the operating signal of the control mechanism in response to the received operation signal, and controls the pilot valve and the throttle valve to open.

[0061] The operating machine controls the pilot pump to deliver the pilot oil to the main valve through the pilot valve and the throttle valve in sequence to push the main valve to open. It should be understood that when the throttle valve is controlled to open, the throttle opening area of ​​the throttle valve can be directly adjusted to the preset opening area. The value of the preset opening area is set according to actual needs and can be the maximum opening area, which is not limited here. After the pilot oil pushes the main valve to open, the hydraulic oil of the main pump passes through the main valve to the operating device, thereby driving the operating device to perform engineering operations.

[0062] In an embodiment of the present application, the operating machine further comprises a main pump, and the main pump is connected to the operating device via a main valve;

[0063] The anti-car-holding control method also includes:

[0064] According to the control percentage of the control mechanism, the opening of the main valve is controlled, and the flow of the main pump is controlled to control the main pump to transport the hydraulic oil to the working device through the main valve to drive the working device.

[0065] According to the control percentage of the control mechanism, the opening of the main valve is controlled. At the same time, according to the opening of the main valve, the main pump is controlled to deliver hydraulic oil to the working device through the main valve to drive the working device when the main valve opening matches the flow of the main pump. The relationship between the absorption power of the main pump is P=p*Q, where P is the absorption power of the main pump, p is the workload of the working machine, and Q is the flow of the main pump. According to the relationship between the absorption power, when the workload of the working machine remains unchanged, as the flow of the main pump increases, the absorption power of the main pump increases accordingly. After the pilot valve is opened, the pilot pressure increases rapidly and the flow of the main pump increases rapidly.

[0066] S120, in response to the received high altitude operation request, determining a target engine speed.

[0067] In the embodiment of the present application, the operating machine further includes a main pump and a proportional solenoid valve, and the main pump is used to pump the hydraulic oil to the operating device through the main valve to drive the operating device to perform engineering operations. In actual operating scenarios of the operating machine, the opening area of ​​the main valve needs to be reasonably matched with the flow rate of the main pump, that is, if the opening area of ​​the valve core of the main valve increases, the main pump needs to increase the hydraulic oil output flow rate accordingly; if the opening area of ​​the valve core of the main valve decreases, the main pump needs to reduce the hydraulic oil output flow rate accordingly.

[0068] Usually the flow of the main pump is affected by both the engine speed and the main pump displacement. The engine speed is usually fixed at a specific gear, and the main pump displacement is adjusted by a proportional solenoid valve. Specifically, the pilot pressure corresponding to the pilot oil delivered to the end of the main valve is detected, and the pilot pressure is mapped to the main pump displacement, that is, the main pump displacement changes with the change of the pilot pressure.

[0069] In an embodiment of the present application, in response to a received high altitude operation request, determining a target speed of the engine includes:

[0070] When the altitude of the current area is higher than the preset altitude, the target speed of the engine corresponding to the current gear of the working machine is determined according to the received gear signal, wherein the area with an altitude higher than the preset altitude is a plateau area.

[0071] During the operation of the operating machine, the altitude of the current area is detected in real time, and it is determined whether the altitude of the current area is higher than the preset altitude. When the altitude of the current area is higher than the preset altitude, the gear signal is determined according to the user's gear shifting operation. According to the received gear signal, the target speed of the engine corresponding to the current gear of the operating machine is determined. The target speed of the engine is a fixed value for each gear, and the value of the target speed of the engine corresponding to the gear is set according to actual needs and is not limited here.

[0072] It should be understood that when the altitude of the current area is lower than or equal to the preset altitude, the engine performance deterioration caused by the slowdown and stagnation phenomenon usually does not occur, so that the target speed of the engine can be uncertain in low-altitude operation scenarios.

[0073] S130, obtaining the engine speed drop value according to the target engine speed and the real-time engine speed.

[0074] When the operating machine is performing engineering work in high-altitude areas such as plateaus, due to the deterioration of the engine power performance, if the increase rate of the main pump's absorbed power is not reduced, the engine will be unable to respond to the main pump's demand, resulting in the engine slowing down and stalling. The operating machine responds to the received high-altitude operation request and obtains the engine speed drop value based on the engine's target speed and the engine's real-time speed.

[0075] S140, when the engine speed drop value is greater than the preset speed drop value, reducing the opening area of ​​the throttle valve to adjust the flow of the throttle valve until the engine speed drop value is less than or equal to the preset speed drop value.

[0076] In this embodiment, a throttle valve is installed between the pilot valve and the main valve. The relationship between the flow rate and the opening area of ​​the throttle valve is:

[0077]

[0078] Among them, Q is the throttle port flow rate of the throttle valve, α is the flow coefficient, the value of the flow coefficient is related to the throttle port shape of the throttle valve, A is the opening area of ​​the throttle valve, that is, the throttle port area, Δp is the pressure difference before and after the throttle port of the throttle valve, and ρ is the liquid density of the pilot oil.

[0079] According to the relationship between the flow rate and the opening area of ​​the throttle valve, it can be known that pressure loss will occur after the pilot oil passes through the throttle port of the throttle valve. When the valve core of the main valve is pushed to the end, that is, when the pilot oil no longer flows, the pressure difference before and after the throttle port of the throttle valve gradually decreases until it is equal to the normal value of the pressure difference. The type of throttle valve is set according to actual needs and is not limited here. Since the installed throttle valve is a standard hydraulic component, the type of throttle valve can be flexibly selected. The throttle valve can be used as an optional accessory for specific models and expanded on specific models, that is, only throttle valves are installed on operating machinery that needs to operate in high-altitude areas, which can effectively simplify the operating machinery model spectrum and reduce R&D costs.

[0080] When the operating machine is performing engineering work in a high altitude area such as a plateau, the throttle valve opening area is adjusted according to the actual engine speed drop, thereby delaying the absorption power loading of the main pump, and then controlling the engine speed drop within an ideal range. Specifically, when the engine speed drop value is greater than the preset speed drop value, the throttle valve opening area is reduced, and the steps of obtaining the engine speed drop value according to the target engine speed and the real-time engine speed are repeatedly performed until the engine speed drop value is less than or equal to the preset speed drop value.

[0081] It should be understood that the preset speed drop value is set according to actual needs and can be any value such as 200 rpm and 250 rpm, and is not limited here.

[0082] Figure 2 An example diagram of a change in pilot pressure according to an embodiment of the present application is schematically shown.

[0083] like Figure 2 As shown in the figure, PiloPress_Max is the maximum pilot pressure of the pilot oil, T1 is the time when the pilot pressure of the pilot oil reaches the maximum value when the throttle is not installed, and T2 is the time when the pilot pressure of the pilot oil reaches the maximum value after the throttle is installed. Installing a throttle valve between the main valves of the operating machine delays the pilot pressure of the pilot oil.

[0084] Figure 3 An example diagram of displacement change of a main pump according to an embodiment of the present application is schematically shown.

[0085] like Figure 3 As shown in the figure, q_Max is the maximum displacement of the main pump, T1 is the time when the displacement of the main pump reaches the maximum displacement when throttling is not installed, and T2 is the time when the displacement of the main pump reaches the maximum displacement after throttling is installed. The pilot pressure of the pilot oil is delayed, so that the displacement of the main pump is delayed accordingly.

[0086] Figure 4 An example diagram of a dominant absorption power change according to an embodiment of the present application is schematically shown.

[0087] like Figure 4 As shown, Power_Max is the maximum value of the dominant absorption power, T1 is the time when the dominant absorption power reaches the maximum value when the throttling is not installed, and T2 is the time when the dominant absorption power reaches the maximum value after the throttling is installed. By installing a throttle valve, the pilot pressure of the pilot oil is delayed, so that the displacement of the main pump is delayed accordingly, and then the absorption power of the main pump of the operating machinery is delayed. The opening area of ​​the throttle valve is adjusted according to the operating environment at the actual altitude of the operating machinery, and then the degree of delay of the pilot pressure of the pilot oil can be adjusted, so that the absorption power of the main pump of the operating machinery can be matched with the output power of the engine, avoiding the phenomenon of speed loss and stalling of the operating machinery, so that the operating machinery can adapt to high-altitude operating scenarios.

[0088] In an embodiment of the present application, the anti-car-holding control method further includes:

[0089] When the altitude of the current area is lower than or equal to the preset altitude, the opening area of ​​the throttle valve is adjusted to the maximum value.

[0090] When the altitude of the current area is lower than or equal to the preset altitude, the opening area of ​​the throttle valve is directly adjusted to the maximum value. In low-altitude operation scenarios of operating machinery, there is usually no phenomenon of engine performance degradation and slowing down, and there is no need to delay the pilot pressure through the throttle valve, so the opening area of ​​the throttle valve can be adjusted to the maximum value.

[0091] In an embodiment of the present application, when the engine speed drop value is greater than a preset speed drop value, reducing the opening area of ​​the throttle valve includes:

[0092] When the engine speed drop value is greater than a preset speed drop value, the opening area of ​​the throttle valve is reduced based on a preset opening area interval or a preset rate.

[0093] Since the degree of decline in engine power performance at different altitudes varies, a control program for high-altitude operations is preset on the operating machinery. The control program can adjust the absorption power of the main pump and the loading rate of the absorption power according to the currently determined altitude range to suppress the engine speed drop in high altitude areas.

[0094] However, at the same altitude, due to different working environments, different vegetation coverage in different environments will cause different oxygen content, which in turn leads to differences in engine power performance. The control program adjusts the main pump's absorption power and the absorption power loading rate, which cannot be applied to different working environments at the same altitude, which still easily leads to the phenomenon of engine stalling.

[0095] The present application can reduce the opening area of ​​the throttle valve based on a preset opening area interval or a preset rate when the engine speed drop value is greater than a preset speed drop value. The opening area of ​​the throttle valve is adjusted according to the working environment at the actual altitude of the working machine, so as to match the main pump absorption power of the working machine with the engine output power, avoid the speed drop and stalling phenomenon of the working machine, and enable the working machine to adapt to high-altitude working scenes.

[0096] Specifically, when the throttle valve opening area is adjusted based on a preset opening area interval, the opening area of ​​the throttle valve is reduced each time to be equal to the preset opening area interval, and the engine speed drop value after reducing the opening area of ​​the throttle valve is determined. When the throttle valve opening area is adjusted based on a preset rate, the opening area of ​​the throttle valve is continuously reduced based on the preset rate, and the engine speed drop value in the process of reducing the opening area of ​​the throttle valve is determined. When the engine speed drop value is less than or equal to the preset speed drop value, the throttle valve opening area adjustment is stopped.

[0097] In an embodiment of the present application, the operating machine further includes a speed sensor, and the anti-blocking control method further includes:

[0098] When the engine is in operation, the speed sensor is used to obtain the real-time speed of the engine.

[0099] Generally, a speed sensor is a sensor used to measure the speed of a rotating object, and can monitor the rotation speed of the engine in real time. In this embodiment, the operating machine also includes a speed sensor, and the type of the speed sensor is set according to actual needs, and can be a magnetoelectric sensor, a Hall effect sensor, a photoelectric sensor, etc., which is not limited here.

[0100] When the engine is in operation, a speed sensor is used to obtain the real-time speed of the engine, so as to obtain the engine speed drop value according to the target speed of the engine and the real-time speed of the engine, and then detect whether the engine speed drop value is too high.

[0101] The present application provides an anti-stalling control method, including: responding to a received operation signal, driving the engine, and controlling the throttle valve to open, so as to deliver the pilot oil to the main valve through the throttle valve, and push the main valve to open; determining the target speed of the engine; obtaining the engine speed drop value according to the target speed of the engine and the real-time speed of the engine; when the engine speed drop value is greater than the preset speed drop value, reducing the opening area of ​​the throttle valve to adjust the flow of the throttle valve until the engine speed drop value is less than or equal to the preset speed drop value. By adding a throttle valve, the pilot pressure of the pilot oil is delayed, and then the absorption power of the main pump of the operating machine is delayed. At the same time, the opening area of ​​the throttle valve can be adjusted according to the operating environment at the actual altitude of the operating machine, and then the delay degree of the pilot pressure of the pilot oil can be adjusted, so that the absorption power of the main pump of the operating machine can be matched with the output power of the engine, avoiding the phenomenon of speed drop and stagnation of the operating machine, so that the operating machine can adapt to high-altitude operating scenes.

[0102] Example 2

[0103] Figure 5 The structure diagram of a vehicle blocking prevention control device according to an embodiment of the present application is schematically shown. Figure 5 As shown, the embodiment of the present application provides an anti-blocking control device 200, which is applied to an operating machine, the operating machine includes a main valve, a throttle valve, and an engine, the throttle valve is connected to the pilot oil port of the main valve, and the anti-blocking control device 200 includes:

[0104] The signal response module 210 is configured to drive the engine in response to the received operation signal and control the throttle valve to open, so as to deliver the pilot oil to the main valve through the throttle valve to push the main valve to open;

[0105] A speed determination module 220 configured to determine a target speed of the engine;

[0106] The speed drop value determination module 230 is configured to obtain the speed drop value of the engine according to the target speed of the engine and the real-time speed of the engine;

[0107] The area reduction module 240 is configured to reduce the opening area of ​​the throttle valve to adjust the flow of the throttle valve when the engine speed drop value is greater than the preset speed drop value, until the engine speed drop value is less than or equal to the preset speed drop value.

[0108] In an embodiment of the present application, the speed determination module 220 is also configured to determine the target speed of the engine corresponding to the current gear of the working machine based on the received gear signal when the altitude of the current area is higher than the preset altitude, wherein the area with an altitude higher than the preset altitude is a plateau area.

[0109] In the embodiment of the present application, the anti-car-blocking control device 200 further includes:

[0110] The maximum value adjustment module is used to adjust the opening area of ​​the throttle valve to a maximum value when the altitude of the current area is lower than or equal to a preset altitude.

[0111] In an embodiment of the present application, the area reduction module 240 includes:

[0112] The opening area reduction submodule is used to reduce the opening area of ​​the throttle valve based on a preset opening area interval or a preset rate when the engine speed drop value is greater than a preset speed drop value.

[0113] In the embodiment of the present application, the operating machine further includes a speed sensor, and the anti-blocking control device 200 further includes:

[0114] The speed acquisition module is used to obtain the real-time speed of the engine using a speed sensor when the engine is in a running state.

[0115] Figure 6 The structure diagram of a control device according to an embodiment of the present application is schematically shown. Figure 6 The third aspect of the present application provides a control device 300, including:

[0116] Memory 310, configured to store instructions;

[0117] The processor 320 is configured to call instructions from the memory and implement the above-mentioned anti-car stalling control method when executing the instructions.

[0118] The processor 320 includes a kernel, which retrieves the corresponding program unit from the memory 310. One or more kernels can be provided, and the problem that the working machine 400 is difficult to adapt to high-altitude working scenes in the prior art can be solved by adjusting kernel parameters.

[0119] The memory 310 may include non-permanent memory 310 in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory 310 (ROM) or flash RAM, and the memory 310 includes at least one memory chip.

[0120] In this embodiment, the signal response module 210, the rotation speed determination module 220, the speed drop value determination module 230 and the area reduction module 240 are all stored in the memory as program units, and the processor executes the above program units stored in the memory to implement corresponding functions.

[0121] Figure 7 The structure diagram of the first working machine according to the embodiment of the present application is schematically shown. Figure 7As shown, the embodiment of the present application further provides a working machine 400, including a main valve 410, a throttle valve group 420, an engine 430, a working device 440, the engine 430, a main pump 450 and the above-mentioned control device 300, the throttle valve group 420 includes at least one throttle valve;

[0122] Each throttle valve is connected to the working device 440 through the pilot oil port of the main valve 410, and the engine 430 is connected to the main valve 410 through the main pump 450;

[0123] The main valve 410 is configured to deliver hydraulic oil to the working device 440 to drive the working device;

[0124] a throttle valve configured to deliver pilot oil to the main valve 410 to control the opening of the main valve;

[0125] An engine 430 configured to drive a main pump 450;

[0126] A main pump 450 is configured to deliver hydraulic oil to the working device 440 through the main valve 410 to drive the working device;

[0127] The working device 440 is configured to perform working actions.

[0128] Figure 8 The structural diagram of the second working machine according to the embodiment of the present application is schematically shown.

[0129] For ease of understanding, the control device 300 is no longer shown in the figure. In this embodiment, the operating machine 400 also includes other devices, which are based on actual needs and are not limited here. For ease of understanding, in the embodiment of the present application, other devices include a proportional solenoid valve 460, a pilot pump, a pilot valve, a pressure sensor 470 and a control mechanism 480. The control mechanism is connected to the main valve 410 through the throttle valve and the pressure sensor 470 in turn. When the user operates the control mechanism 480, the pilot pump delivers the pilot oil to the main valve 410 through the pilot valve and the throttle valve in turn to push the main valve 410 to open. The pressure sensor 470 collects the pilot pressure of the pilot oil passing through, and then maps the pilot pressure into the displacement of the main pump 450.

[0130] In the embodiment of the present application, the working device 440 includes a working motor 442 and a working cylinder 441 , and the throttle valve includes a first throttle valve 421 , a second throttle valve 422 , a third throttle valve 423 and a fourth throttle valve 424 ;

[0131] The first throttle valve 421 is connected to the working motor 442 through the pilot oil inlet of the main valve 410, and the second throttle valve 422 is connected to the working motor 442 through the pilot oil return port of the main valve 410;

[0132] The third throttle valve 423 is connected to the working cylinder 441 through the pilot oil inlet of the main valve 410 , and the fourth throttle valve 424 is connected to the working cylinder 441 through the pilot oil return port of the main valve 410 .

[0133] After the main valve 410 is opened, the main pump 450 pumps the hydraulic oil through the main valve 410 to the working device 440 for engineering operations. Usually, the flow of the main pump 450 is affected by both the speed of the engine 430 and the displacement of the main pump. The speed of the engine 430 is usually fixed at a specific gear, and the displacement of the main pump 450 is adjusted by the proportional solenoid valve 460.

[0134] The opening area of ​​the main valve 410 and the flow rate of the main pump 450 need to be reasonably matched, that is, if the valve core opening area of ​​the main valve 410 increases, the main pump 450 needs to increase the hydraulic oil output flow rate accordingly; if the valve core opening area of ​​the main valve 410 decreases, the main pump 450 needs to reduce the hydraulic oil output flow rate accordingly. When the workload of the operating machine 400 remains unchanged, as the flow rate of the main pump 450 increases, the absorption power of the main pump 450 increases accordingly. After the pilot valve is opened, the pilot pressure increases rapidly, and the flow rate of the main pump 450 increases rapidly.

[0135] The first throttle valve 421 is connected to the working motor 442 through the pilot oil inlet of the main valve 410, and the second throttle valve 422 is connected to the working motor 442 through the pilot oil return port of the main valve 410. The third throttle valve 423 is connected to the working cylinder 441 through the pilot oil inlet of the main valve 410, and the fourth throttle valve 424 is connected to the working cylinder 441 through the pilot oil return port of the main valve 410. By reducing the opening area of ​​the throttle valve and controlling the opening area of ​​the main valve 410, the pilot pressure delay degree of the pilot oil can be adjusted, so that the absorption power of the main pump 450 of the working machine 400 can be matched with the output power of the engine 430, and the working machine 400 can be prevented from slowing down and stalling, so that the working machine 400 can adapt to high-altitude working scenes.

[0136] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned anti-car stalling control method.

[0137] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0138] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0139] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0141] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0142] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0143] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0144] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0145] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for preventing vehicle stalling, characterized in that: Applied to an operating machine, the operating machine includes a main valve, a throttle valve, and an engine, the throttle valve is connected to a pilot oil port of the main valve, and the anti-stalling control method includes: In response to the received operation signal, the engine is driven, and the throttle valve is controlled to open, so as to deliver the pilot oil to the main valve through the throttle valve, and push the main valve to open; determining a target speed of the engine; Obtaining a speed drop value of the engine according to a target speed of the engine and a real-time speed of the engine; When the engine speed drop value is greater than a preset speed drop value, the opening area of ​​the throttle valve is reduced to adjust the flow of the throttle valve until the engine speed drop value is less than or equal to the preset speed drop value.

2. The anti-car-holding control method according to claim 1, characterized in that: Determining the target speed of the engine includes: When the altitude of the current area is higher than the preset altitude, the target speed of the engine corresponding to the current gear of the working machine is determined according to the received gear signal, wherein the area with an altitude higher than the preset altitude is a plateau area.

3. The anti-car-holding control method according to claim 2, characterized in that: The anti-car-blocking control method further includes: When the altitude of the current area is lower than or equal to the preset altitude, the opening area of ​​the throttle valve is adjusted to a maximum value.

4. The anti-car-holding control method according to claim 1, characterized in that: When the engine speed drop value is greater than a preset speed drop value, reducing the opening area of ​​the throttle valve includes: When the engine speed drop value is greater than a preset speed drop value, the opening area of ​​the throttle valve is reduced based on a preset opening area interval or a preset rate.

5. The anti-car-holding control method according to claim 1, characterized in that: The working machine further includes a rotation speed sensor, and the anti-blocking control method further includes: When the engine is in operation, a speed sensor is used to obtain the real-time speed of the engine.

6. A vehicle holding control device, characterized in that: Applied to an operating machine, the operating machine includes a main valve, a throttle valve, and an engine, the throttle valve is connected to a pilot oil port of the main valve, and the anti-blocking control device includes: A signal response module is configured to drive the engine in response to a received operation signal, and control the throttle valve to open, so as to deliver pilot oil to the main valve through the throttle valve, and push the main valve to open; a speed determination module configured to determine a target speed of the engine; A speed drop value determination module is configured to obtain a speed drop value of the engine according to a target speed of the engine and a real-time speed of the engine; The area reduction module is configured to reduce the opening area of ​​the throttle valve when the engine speed drop value is greater than a preset speed drop value to adjust the flow of the throttle valve until the engine speed drop value is less than or equal to the preset speed drop value.

7. A control device, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instruction from the memory and implement the anti-car holding control method according to any one of claims 1 to 5 when executing the instruction.

8. A working machine, characterized in that: The working machine comprises a main valve, a throttle valve group, an engine, a working device, an engine, a main pump and a control device according to claim 7, wherein the throttle valve group comprises at least one throttle valve; Each of the throttle valves is connected to the working device via the pilot oil port of the main valve, and the engine is connected to the main valve via the main pump; a main valve configured to deliver hydraulic oil to the working device to drive the working device; a throttle valve configured to deliver pilot oil to the main valve to control the opening of the main valve; an engine configured to drive the main pump; The main pump is configured to deliver hydraulic oil to the working device through the main valve to drive the working device; The working device is configured to perform working actions.

9. The working machine according to claim 8, characterized in that: The working device includes a working motor and a working cylinder, and the throttle valve includes a first throttle valve, a second throttle valve, a third throttle valve and a fourth throttle valve; The first throttle valve is connected to the working motor through the pilot oil inlet of the main valve, and the second throttle valve is connected to the working motor through the pilot oil return port of the main valve; The third throttle valve is connected to the working cylinder via the pilot oil inlet of the main valve, and the fourth throttle valve is connected to the working cylinder via the pilot oil return port of the main valve.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable the machine to execute the anti-car-blocking control method according to any one of claims 1 to 5.

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