Control method and control device for working machine, processor and working machine

Abstract

The invention discloses a control method and device for an operation machine, a processor and the operation machine, and belongs to the technical field of operation machines. The method comprises the following steps: acquiring pilot pressure of an operating mechanism, pressure corresponding to each hydraulic pump and engine rotating speed of an engine; determining a target hydraulic pump in the plurality of hydraulic pumps according to the pilot pressure; according to the pilot pressure, the pressure corresponding to each hydraulic pump, the number of the target hydraulic pumps and the rotating speed of the engine, the control current corresponding to the target hydraulic pumps is determined; and controlling a hydraulic pump electromagnetic valve corresponding to the target hydraulic pump to work according to the control current corresponding to the target hydraulic pump so as to control the output power of the target hydraulic pump. The fuel oil utilization rate of the operation machine can be increased, and the energy-saving requirement of the operation machine is met.

Description

Technical Field

[0001] The present application relates to the technical field of working machinery, and specifically to a control method, a control device, a processor and a working machinery for a working machinery. Background Art

[0002] At present, power matching control technology mainly changes the output displacement of the hydraulic pump through the hydraulic pump solenoid valve, thereby adjusting the output power of the hydraulic pump. When the external load changes, the output displacement of the hydraulic pump is changed by adjusting the current value of the hydraulic pump solenoid valve and changing the inclination angle of the pump swash plate, so as to make it suitable for the power demand of the load. However, when the existing power matching control technology is used to control the operating machinery, the hydraulic pump cannot absorb all the output power of the engine during operation, which easily causes a waste of the engine output power, resulting in a low fuel utilization rate of the operating machinery, and it is difficult to meet the energy-saving needs of the operating machinery. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a control method, a control device, a processor and a working machine for a working machine, so as to solve the problem of low fuel utilization rate of existing working machines.

[0004] In order to achieve the above-mentioned purpose, a first aspect of an embodiment of the present application provides a control method for an operating machine, wherein the operating machine includes an operating mechanism, an engine, a plurality of hydraulic pumps, and a hydraulic pump solenoid valve corresponding to each hydraulic pump. The control method includes:

[0005] Obtaining the pilot pressure of the operating mechanism, the pressure corresponding to each hydraulic pump, and the engine speed of the engine;

[0006] determining a target hydraulic pump among a plurality of hydraulic pumps based on a pilot pressure;

[0007] Determine the control current corresponding to the target hydraulic pump according to the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps and the engine speed;

[0008] The hydraulic pump solenoid valve corresponding to the target hydraulic pump is controlled to work according to the control current corresponding to the target hydraulic pump, so as to control the output power of the target hydraulic pump.

[0009] In an embodiment of the present application, the control current corresponding to the target hydraulic pump is determined based on the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps and the engine speed, including: determining the output displacement of the target hydraulic pump based on the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps, the preset total power of the working machinery and the engine speed; determining the control current based on the relationship between the output displacement of the target hydraulic pump and the preset displacement current.

[0010] In an embodiment of the present application, the output displacement of the target hydraulic pump is determined based on the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps, the preset total power of the working machine and the engine speed, including: determining the preset power of the target hydraulic pump based on the ratio of the preset total power to the number of target hydraulic pumps; determining the target power of the target hydraulic pump based on the pilot pressure, the pressure corresponding to each hydraulic pump and the engine speed; determining the smaller value between the preset power and the target power as the output power of the target hydraulic pump; determining the output displacement based on the output power, the engine speed and the pressure corresponding to each hydraulic pump.

[0011] In an embodiment of the present application, a target power of a target hydraulic pump is determined based on a pilot pressure, pressures corresponding to each hydraulic pump, and an engine speed, including: determining an average pressure value of a plurality of hydraulic pumps based on the pressures corresponding to each hydraulic pump; determining a required displacement of the target hydraulic pump based on the pilot pressure; and determining the target power based on the engine speed, the required displacement, and the average pressure value.

[0012] In an embodiment of the present application, determining a target hydraulic pump among multiple hydraulic pumps according to a pilot pressure includes: determining a target action type of the working machine according to the pilot pressure; and determining a target hydraulic pump among multiple hydraulic pumps according to the target action type.

[0013] In an embodiment of the present application, the working machine also includes multiple main control valves, the multiple main control valves include multiple control valve cores, each main control valve corresponds to each hydraulic pump, and a target hydraulic pump among the multiple hydraulic pumps is determined according to a target action type, including: determining a target control valve core among the multiple control valve cores according to the target action type; determining the main control valve including the target control valve core as the target main control valve; and determining the hydraulic pump corresponding to the target main control valve as the target hydraulic pump.

[0014] A second aspect of an embodiment of the present application provides a processor configured to execute the above-mentioned control method for a working machine.

[0015] A third aspect of an embodiment of the present application provides a control device for a working machine, the working machine includes an operating mechanism, an engine, multiple hydraulic pumps and a hydraulic pump solenoid valve corresponding to each hydraulic pump, the control device includes: a data acquisition module, used to acquire the pilot pressure of the operating mechanism, the pressure corresponding to each hydraulic pump and the engine speed of the engine; a target hydraulic pump determination module, used to determine the target hydraulic pump among the multiple hydraulic pumps according to the pilot pressure; a control current determination module, used to determine the control current corresponding to the target hydraulic pump according to the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps and the engine speed; a control module, used to control the hydraulic pump solenoid valve corresponding to the target hydraulic pump according to the control current corresponding to the target hydraulic pump, so as to control the output power of the target hydraulic pump.

[0016] A fourth aspect of an embodiment of the present application provides a working machine, comprising: an operating mechanism; an engine; a plurality of hydraulic pumps; a hydraulic pump solenoid valve corresponding to each hydraulic pump; and a processor or a control device for the working machine.

[0017] A fifth aspect of an embodiment 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 control method for a working machine.

[0018] The above technical solution obtains the pilot pressure of the operating mechanism, the pressure corresponding to each hydraulic pump and the engine speed of the engine, and then determines the target hydraulic pump among the multiple hydraulic pumps according to the pilot pressure. Subsequently, the control current corresponding to the target hydraulic pump is determined according to the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps and the engine speed. Finally, the hydraulic pump solenoid valve corresponding to the target hydraulic pump is controlled to operate according to the control current corresponding to the target hydraulic pump to control the output power of the target hydraulic pump. The present application dynamically distributes power according to the pilot pressure, so that the hydraulic pump can fully absorb the output power of the engine during operation, thereby improving the fuel utilization rate of the operating machinery.

[0019] 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

[0020] 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:

[0021] Figure 1 A schematic diagram of a flow chart of a control method for a working machine according to an embodiment of the present application is schematically shown;

[0022] Figure 2 A schematic diagram schematically shows a relationship between an output displacement and a control current according to an embodiment of the present application;

[0023] Figure 3 A schematic diagram schematically shows the relationship between the pilot pressure and the required displacement during a single action according to an embodiment of the present application;

[0024] Figure 4 A schematic diagram schematically shows the relationship between the pilot pressure and the required displacement during a compound action according to a specific embodiment of the present application;

[0025] Figure 5 A schematic diagram of the structure of a control device for a working machine according to an embodiment of the present application is schematically shown;

[0026] Figure 6 The schematic diagram shows a structural diagram of a working machine according to a specific embodiment of the present application.

[0027] Description of Reference Numerals

[0028] 101 operating mechanism 102 first main control valve

[0029] 103 Second main control valve 104 Third main control valve

[0030] 105 Fourth main control valve 106 Pressure sensor group

[0031] 107 Processor or control device for working machine 108 First main pump

[0033] 109 Second main pump 110 Engine

[0034] 111 First hydraulic pump solenoid valve 112 Second hydraulic pump solenoid valve

[0035] 113 The third hydraulic pump solenoid valve 114 The fourth hydraulic pump solenoid valve DETAILED DESCRIPTION

[0036] 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.

[0037] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] 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.

[0039] Figure 1 The following schematically shows a flow chart of a control method for a working machine according to an embodiment of the present application. Figure 1 As shown, the embodiment of the present application provides a control method for an operating machine, the operating machine includes an operating mechanism, an engine, a plurality of hydraulic pumps, and a hydraulic pump solenoid valve corresponding to each hydraulic pump. The control method is applied to a processor as an example for explanation. The control method may include the following steps:

[0040] Step S101: Acquire the pilot pressure of the operating mechanism, the pressure corresponding to each hydraulic pump, and the engine speed of the engine.

[0041] Step S102: determining a target hydraulic pump among a plurality of hydraulic pumps according to the pilot pressure.

[0042] Step S103: determining the control current corresponding to the target hydraulic pump according to the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps and the engine speed.

[0043] Step S104: controlling the hydraulic pump solenoid valve corresponding to the target hydraulic pump to operate according to the control current corresponding to the target hydraulic pump, so as to control the output power of the target hydraulic pump.

[0044] The operating machine may be an engineering machine, an agricultural machine or an operating robot, etc. The operating machine includes but is not limited to a processor, an operating mechanism, an engine, a plurality of hydraulic pumps and a hydraulic pump solenoid valve corresponding to each hydraulic pump. The operating mechanism is connected to the processor via a controller area network (CAN) bus, and the operating mechanism may include a left handle, a right handle, a left walking pedal, a right walking pedal and other mechanisms, which transmit the pilot pressure to the processor after being operated by the user. The processor may drive the hydraulic pump solenoid valve to control the output displacement of the hydraulic pump.

[0045] In the embodiment of the present application, the operator can manipulate the operating mechanism of the working machine to control the action that the working machine needs to complete. In this way, the processor can receive the pilot pressure transmitted by the operating mechanism. After obtaining the pilot pressure, the processor can determine the target hydraulic pump among the multiple hydraulic pumps according to the relative relationship between the pilot pressure and the preset pilot pressure opening threshold. The target hydraulic pump refers to the working pump when the working machine performs the indicated action. The target hydraulic pump can be one hydraulic pump or multiple hydraulic pumps, which is not limited here. At the same time, the processor can obtain the engine speed of the engine and obtain the pressure corresponding to each hydraulic pump through the pressure sensor corresponding to each hydraulic pump. Subsequently, according to the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps and the engine speed, the processor can determine the control current corresponding to the target hydraulic pump, and then output the control current to the hydraulic pump solenoid valve corresponding to the target hydraulic pump to control the opening of the hydraulic pump solenoid valve corresponding to the target hydraulic pump, and complete the control process of the output power of the target hydraulic pump. It can be understood that if the number of target hydraulic pumps is multiple, then the control current corresponding to each target hydraulic pump can be determined according to the above steps.

[0046] The above technical solution obtains the pilot pressure of the operating mechanism, the pressure corresponding to each hydraulic pump and the engine speed of the engine, and then determines the target hydraulic pump among the multiple hydraulic pumps according to the pilot pressure. Subsequently, the control current corresponding to the target hydraulic pump is determined according to the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps and the engine speed. Finally, the hydraulic pump solenoid valve corresponding to the target hydraulic pump is controlled to operate according to the control current corresponding to the target hydraulic pump to control the output power of the target hydraulic pump. The present application dynamically distributes power according to the pilot pressure, so that the hydraulic pump can fully absorb the output power of the engine during operation, thereby improving the fuel utilization rate of the operating machinery.

[0047] In an embodiment of the present application, determining a target hydraulic pump among multiple hydraulic pumps according to a pilot pressure includes: determining a target action type of the working machine according to the pilot pressure; and determining a target hydraulic pump among multiple hydraulic pumps according to the target action type.

[0048] The processor can determine the target hydraulic pump among the multiple hydraulic pumps according to the pilot pressure. Specifically, taking the working machine as an excavator as an example, the pilot pressure may include boom lifting pilot pressure, boom lowering pilot pressure, arm retraction pilot pressure, arm swing pilot pressure, bucket excavation pilot pressure, bucket unloading pilot pressure, left travel pilot pressure, right travel pilot pressure, rotation pilot pressure and other pilot pressures. The target action type may include single action and compound action. Among them, single action may include boom lifting, boom lowering, arm retraction, rotation and other actions that only need to control one actuator to execute, and compound action may include arm compound walking, boom compound walking, bucket compound walking, arm compound rotation, boom lifting compound rotation and arm swing compound bucket unloading and other actions that need to control multiple actuators to execute.

[0049] According to the relative relationship between the pilot pressure and the preset pilot pressure opening threshold, the processor can determine the target hydraulic pump among the multiple hydraulic pumps. The preset pilot pressure opening threshold is determined according to the actual situation, for example, it can be 5bar, 6bar or other values. In other words, if the pilot pressure is greater than or equal to the preset pilot pressure opening threshold, the target action type of the working machine can be determined according to the pilot pressure greater than or equal to the preset pilot pressure opening threshold. For example, if the boom lifting pilot pressure is greater than or equal to the preset pilot pressure opening threshold, and the rotation pilot pressure is greater than or equal to the preset pilot pressure opening threshold, it can be determined that the target action type of the working machine is boom lifting compound rotation. In this way, after determining the target action type, the processor can determine the target hydraulic pump among the multiple hydraulic pumps according to the target action type. Through the above steps, the target hydraulic pump among the multiple hydraulic pumps can be determined according to the pilot pressure, that is, the corresponding working pump under different action types can be determined. In this way, after further power matching based on the specific working pump, the fuel utilization rate can be effectively improved.

[0050] In an embodiment of the present application, the working machine also includes multiple main control valves, the multiple main control valves include multiple control valve cores, each main control valve corresponds to each hydraulic pump, and a target hydraulic pump among the multiple hydraulic pumps is determined according to a target action type, including: determining a target control valve core among the multiple control valve cores according to the target action type; determining the main control valve including the target control valve core as the target main control valve; and determining the hydraulic pump corresponding to the target main control valve as the target hydraulic pump.

[0051] The operating machine also includes a plurality of main control valves, the plurality of main control valves include a plurality of control valve cores, and each main control valve corresponds to each hydraulic pump. Specifically, the processor can determine the target control valve core among the plurality of control valve cores according to the target action type, and then determine the main control valve including the target control valve core as the target main control valve. For example, if the target action type is a compound swing of the bucket arm, then the main control valve including the bucket arm control valve core and / or the swing control valve core among the plurality of main control valves can be determined as the target main control valve. Similarly, the target main control valve can be one main control valve or multiple main control valves, which are not limited here. The hydraulic pump is connected to the main control valve, and the hydraulic pump supplies oil to the main control valve connected thereto. Then, after determining the target main control valve, the processor can determine the hydraulic pump corresponding to the target main control valve as the target hydraulic pump. For example, if the target action type is a bucket arm retraction, then the hydraulic pump corresponding to the main control valve not including the bucket arm valve core (i.e., the non-target main control valve) can be determined as the non-target hydraulic pump, and the hydraulic pump corresponding to the main control valve including the bucket arm valve core (i.e., the target main control valve) can be determined as the target hydraulic pump. In this way, it is convenient to subsequently determine the control current corresponding to the target hydraulic pump, and then control the hydraulic pump solenoid valve corresponding to the target hydraulic pump according to the control current.

[0052] In an embodiment of the present application, the control current corresponding to the target hydraulic pump is determined based on the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps and the engine speed, including: determining the output displacement of the target hydraulic pump based on the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps, the preset total power of the working machinery and the engine speed; determining the control current based on the relationship between the output displacement of the target hydraulic pump and the preset displacement current.

[0053] Figure 2 The following is a schematic diagram showing the relationship between the output displacement and the control current according to an embodiment of the present application. Figure 2 As shown, the processor can determine the control current corresponding to the target hydraulic pump according to the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps and the engine speed. Specifically, first, the processor can determine the output displacement of the target hydraulic pump according to the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps, the preset total power of the working machine and the engine speed, and then determine the control current according to the output displacement of the target hydraulic pump and the preset displacement current relationship. The preset displacement current relationship can satisfy formula (1):

[0054]

[0055] Among them, set_Current is the control current of the hydraulic pump solenoid valve, q_Set is the output displacement of the hydraulic pump, q_Max is the upper displacement threshold of the preset displacement interval, and q_Min is the lower displacement threshold of the preset displacement interval.

[0056] The preset displacement current relationship is pre-stored in the processor, which refers to the corresponding relationship between the output displacement of the hydraulic pump and the control current of the hydraulic pump solenoid valve, which can be determined and adjusted according to the actual test situation, and examples are not given here. In this way, the processor can determine the control current corresponding to the target hydraulic pump, and control the hydraulic pump solenoid valve corresponding to the target hydraulic pump according to the control current, thereby improving the accuracy of controlling the opening of the hydraulic pump solenoid valve corresponding to the target hydraulic pump.

[0057] In an embodiment of the present application, the output displacement of the target hydraulic pump is determined based on the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps, the preset total power of the working machine and the engine speed, including: determining the preset power of the target hydraulic pump based on the ratio of the preset total power to the number of target hydraulic pumps; determining the target power of the target hydraulic pump based on the pilot pressure, the pressure corresponding to each hydraulic pump and the engine speed; determining the smaller value between the preset power and the target power as the output power of the target hydraulic pump; determining the output displacement based on the output power, the engine speed and the pressure corresponding to each hydraulic pump.

[0058] The processor can determine the output displacement of the target hydraulic pump. Specifically, the processor can obtain the preset total power Power_Total of the working machine. The preset total power is the total power of the hydraulic system of the working machine that is preset. Subsequently, according to the ratio of the preset total power Power_Total and the number Num of target hydraulic pumps, the processor can determine the preset power of the target hydraulic pump, the preset power P_Set_Power = Ppwer_Total / Num, where Power_Total is the preset total power and Num is the number of target hydraulic pumps. It can be understood that if it is a non-target hydraulic pump, the preset power of the non-target hydraulic pump is zero. In addition, the processor can determine the target power Power_Pilot of the target hydraulic pump based on the pilot pressure, the pressure corresponding to each hydraulic pump, and the engine speed. Further, the processor can compare the preset power P_Set_Power and the target power Power_Pilot, and determine the smaller value of the preset power P_Set_Power and the target power Power_Pilot as the output power Power_Set of the target hydraulic pump. In this way, the processor can determine the average pressure of multiple hydraulic pumps Pump_Aver_Press according to the pressure corresponding to each hydraulic pump, that is, determine the sum of the pressures corresponding to the multiple hydraulic pumps, and divide the sum of the pressures by the total number of hydraulic pumps to obtain the average pressure of the multiple hydraulic pumps Pump_Aver_Press. Then, the processor can determine the output displacement q_Set in combination with the output power, engine speed and average pressure of the hydraulic pump, so that the processor can subsequently determine the control current corresponding to the target hydraulic pump based on the output displacement. The output displacement q_Set can satisfy formula (2):

[0059]

[0060] Among them, q_Set is the output displacement, Power_Set is the output power, n is the engine speed, and Pump_Aver_Presss is the average pressure of multiple hydraulic pumps.

[0061] It should be noted that the above formula is an example of determining the output displacement of the target hydraulic pump based on the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps, the preset total power of the operating machinery, and the engine speed. In actual applications, the calculation formula can also be adjusted as needed, and examples are not given here one by one.

[0062] In an embodiment of the present application, a target power of a target hydraulic pump is determined based on a pilot pressure, pressures corresponding to each hydraulic pump, and an engine speed, including: determining an average pressure value of a plurality of hydraulic pumps based on the pressures corresponding to each hydraulic pump; determining a required displacement of the target hydraulic pump based on the pilot pressure; and determining the target power based on the engine speed, the required displacement, and the average pressure value.

[0063] The processor can determine the target power Power_Piloc of the target hydraulic pump according to the pilot pressure, the pressure corresponding to each hydraulic pump, and the engine speed. Specifically, the processor can determine the sum of the pressures corresponding to the multiple hydraulic pumps, and divide the sum of the pressures by the total number of hydraulic pumps to obtain the average pressure of the multiple hydraulic pumps πump_Aver_Press. And, Figure 3 The schematic diagram schematically shows the relationship between the pilot pressure and the required displacement during a single action according to an embodiment of the present application. Figure 3 As shown, when the target action type is single action, if the pilot pressure of the operating mechanism is less than the preset pilot pressure opening threshold Pilot_Min of the corresponding control valve core, the required displacement of the hydraulic pump is set to 0%; if the pilot pressure is greater than the preset pilot pressure full opening threshold Pilot_Max of the corresponding control valve core, the required displacement of the hydraulic pump is set to 100%; if the pilot pressure is between the preset pilot pressure opening threshold Pilot_Min and the preset pilot pressure full opening threshold Pilot_Max, the processor can determine the required displacement q of the target hydraulic pump through linear calculation.

[0064] Figure 4 The schematic diagram schematically shows the relationship between the pilot pressure and the required displacement during a compound action according to a specific embodiment of the present application. Figure 4 As shown, when the target action type is a compound action, the processor can decompose the compound action into multiple single actions (for example, decomposed into left walking, boom lifting, boom lowering, bucket digging, bucket unloading, dipper arm retraction and dipper arm swing), and determine the multiple single action required displacements according to the required displacement determination method when the target action type is a single action, and then calculate the required displacement q of the target hydraulic pump when the target action type is a compound action according to the preset function f(x). The preset function f(x) can be determined according to actual conditions, or it can be set to take the maximum value of multiple single action required displacements as the required displacement q of the target hydraulic pump when the target action type is a compound action.

[0065] After determining the required displacement of the target hydraulic pump, the processor can determine the target power according to the engine speed, required displacement and average pressure. The target power satisfies formula (3):

[0066]

[0067] Among them, Power_Pilot is the target power, n is the engine speed, q is the required displacement, and Pump_Aver_Press is the average pressure of multiple hydraulic pumps.

[0068] It should be noted that the above formula is an example of determining the target power of the target hydraulic pump based on the pilot pressure, the pressure corresponding to each hydraulic pump and the engine speed. In actual application, the calculation formula can also be adjusted as needed, and examples are not given here one by one.

[0069] In this way, after determining the target power of the target hydraulic pump, the processor can determine the output displacement of the target hydraulic pump through the aforementioned steps, and then determine the control current corresponding to the target hydraulic pump, so as to control the operation of the hydraulic pump solenoid valve corresponding to the target hydraulic pump according to the control current, thereby completing the process of dynamically allocating the output power of multiple hydraulic pumps and improving the fuel utilization rate of the operating machinery.

[0070] An embodiment of the present application also provides a processor configured to execute the above-mentioned control method for a working machine.

[0071] Figure 5 The structure diagram of a control device for a working machine according to an embodiment of the present application is schematically shown. Figure 5 As shown, the embodiment of the present application further provides a control device 500 for an operating machine, the operating machine includes an operating mechanism, an engine, a plurality of hydraulic pumps and a hydraulic pump solenoid valve corresponding to each hydraulic pump, and the control device 500 includes:

[0072] The data acquisition module 510 is used to acquire the pilot pressure of the operating mechanism, the pressure corresponding to each hydraulic pump and the engine speed of the engine.

[0073] The target hydraulic pump determination module 520 is configured to determine a target hydraulic pump among a plurality of hydraulic pumps according to the pilot pressure.

[0074] The control current determination module 530 is used to determine the control current corresponding to the target hydraulic pump according to the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps and the engine speed.

[0075] The control module 540 is used to control the hydraulic pump solenoid valve corresponding to the target hydraulic pump to operate according to the control current corresponding to the target hydraulic pump, so as to control the output power of the target hydraulic pump.

[0076] The above technical solution obtains the pilot pressure of the operating mechanism, the pressure corresponding to each hydraulic pump and the engine speed of the engine, and then determines the target hydraulic pump among the multiple hydraulic pumps according to the pilot pressure. Subsequently, the control current corresponding to the target hydraulic pump is determined according to the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps and the engine speed. Finally, the hydraulic pump solenoid valve corresponding to the target hydraulic pump is controlled to operate according to the control current corresponding to the target hydraulic pump to control the output power of the target hydraulic pump. The present application dynamically distributes power according to the pilot pressure, so that the hydraulic pump can fully absorb the output power of the engine during operation, thereby improving the fuel utilization rate of the operating machinery.

[0077] In one embodiment, the control current determination module 530 is also used to: determine the output displacement of the target hydraulic pump based on the pilot pressure, the pressure corresponding to each hydraulic pump, the number of target hydraulic pumps, the preset total power of the working machinery and the engine speed; determine the control current based on the relationship between the output displacement of the target hydraulic pump and the preset displacement current.

[0078] In one embodiment, the control current determination module 530 is also used to: determine the preset power of the target hydraulic pump based on the ratio of the preset total power and the number of target hydraulic pumps; determine the target power of the target hydraulic pump based on the pilot pressure, the pressure corresponding to each hydraulic pump and the engine speed; determine the smaller value between the preset power and the target power as the output power of the target hydraulic pump; determine the output displacement based on the output power, the engine speed and the pressure corresponding to each hydraulic pump.

[0079] In one embodiment, the control current determination module 530 is also used to: determine the average pressure of multiple hydraulic pumps based on the pressure corresponding to each hydraulic pump; determine the required displacement of the target hydraulic pump based on the pilot pressure; determine the target power based on the engine speed, required displacement and average pressure.

[0080] In one embodiment, the target hydraulic pump determination module 520 is further configured to: determine a target action type of the working machine according to the pilot pressure; and determine a target hydraulic pump among the plurality of hydraulic pumps according to the target action type.

[0081] In one embodiment, the target hydraulic pump determination module 520 is also used to: determine a target control valve core among multiple control valve cores according to a target action type; determine a main control valve including the target control valve core as a target main control valve; and determine a hydraulic pump corresponding to the target main control valve as a target hydraulic pump.

[0082] An embodiment of the present application also provides a working machine, including: an operating mechanism; an engine; a plurality of hydraulic pumps; a hydraulic pump solenoid valve corresponding to each hydraulic pump; and a processor or a control device for the working machine.

[0083] Figure 6The structure diagram of a working machine according to a specific embodiment of the present application is schematically shown. Figure 6 As shown, in a specific embodiment of the present application, the working machine includes an operating mechanism 101, a first main control valve 102, a second main control valve 103, a third main control valve 104, a fourth main control valve 105, a pressure sensor group 106, a processor or a control device for the working machine 107, a first main pump 108 (including a first hydraulic pump P1 and a second hydraulic pump P2), a second main pump 109 (including a third hydraulic pump P3 and a fourth hydraulic pump P4), an engine 110, a first hydraulic pump solenoid valve 111, a second hydraulic pump solenoid valve 112, a third hydraulic pump solenoid valve 113, and a fourth hydraulic pump solenoid valve 114.

[0084] The operating mechanism 101 may include a left handle, a right handle, a left walking pedal and a right walking pedal. The left handle and the right handle are electric handles, which are connected to a processor or a control device 107 for an operating machine through a CAN bus, and supply oil to a first main pump 108, a second main pump 109, a first main control valve 102, a second main control valve 103, a third main control valve 104 and a fourth main control valve 105. The first main control valve 102 may include a boom valve core 3, a dipper valve core 3 and a rotary valve core 1. The second main control valve 103 may include a boom valve core 1, a dipper valve core 1, a bucket valve core 1 and a left walking valve core. The third main control valve 104 may include a boom valve core 4, a dipper valve core 4 and a rotary valve core 2. The fourth main control valve 105 may include a boom valve core 2, a dipper valve core 2, a bucket valve core 2 and a right walking valve core. The first hydraulic pump P1, the second hydraulic pump P2, the third hydraulic pump P3 and the fourth hydraulic pump P4 supply oil to the corresponding main control valves respectively. The pressure sensor group 106 may include a pressure sensor corresponding to the first hydraulic pump P1, a pressure sensor corresponding to the second hydraulic pump P2, a pressure sensor corresponding to the third hydraulic pump P3, and a pressure sensor corresponding to the fourth hydraulic pump P4. It is understandable that the operating mechanism 101, the first main control valve 102, the second main control valve 103, the third main control valve 104, the fourth main control valve 105, the pressure sensor group 106, the first main pump 108, the second main pump 109, and the hydraulic pump solenoid valve can be adjusted according to the type of the operating machine and the operating requirements.

[0085] The processor or the control device 107 for the working machine can control the output displacement of the corresponding hydraulic pump by respectively driving the first hydraulic pump solenoid valve 111, the second hydraulic pump solenoid valve 112, the third hydraulic pump solenoid valve 113 and the fourth hydraulic pump solenoid valve 114. In addition, by respectively driving the first main control valve 102, the second main control valve 103, the third main control valve 104 and the fourth main control valve 105, the output flow of the hydraulic pump corresponding to the main control valve can be distributed, thereby realizing the distribution of the power of the hydraulic pump.

[0086] 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 control method for a working machine.

[0087] 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 in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0088] 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.

[0089] 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 including 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.

[0090] 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 A step that specifies a function in one or more boxes.

[0091] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0092] 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.

[0093] 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 tape 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.

[0094] 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.

[0095] 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 control method for a working machine, characterized in that: The working machine includes an operating mechanism, an engine, a plurality of hydraulic pumps, and a hydraulic pump solenoid valve corresponding to each hydraulic pump, and the control method includes: Acquiring the pilot pressure of the operating mechanism, the pressure corresponding to each of the hydraulic pumps, and the engine speed of the engine; determining a target hydraulic pump among the plurality of hydraulic pumps according to the pilot pressure; determining a control current corresponding to the target hydraulic pump according to the pilot pressure, the pressure corresponding to each of the hydraulic pumps, the number of the target hydraulic pumps and the engine speed; The hydraulic pump solenoid valve corresponding to the target hydraulic pump is controlled to operate according to the control current corresponding to the target hydraulic pump, so as to control the output power of the target hydraulic pump.

2. The control method according to claim 1, characterized in that: The determining the control current corresponding to the target hydraulic pump according to the pilot pressure, the pressure corresponding to each of the hydraulic pumps, the number of the target hydraulic pumps and the engine speed includes: determining the output displacement of the target hydraulic pump according to the pilot pressure, the pressure corresponding to each of the hydraulic pumps, the number of the target hydraulic pumps, the preset total power of the working machine, and the engine speed; The control current is determined according to the relationship between the output displacement of the target hydraulic pump and a preset displacement current.

3. The control method according to claim 2, characterized in that: Determining the output displacement of the target hydraulic pump according to the pilot pressure, the pressure corresponding to each of the hydraulic pumps, the number of the target hydraulic pumps, the preset total power of the working machine, and the engine speed includes: Determining a preset power of the target hydraulic pump according to a ratio of the preset total power to the number of the target hydraulic pumps; determining a target power of the target hydraulic pump according to the pilot pressure, the pressure corresponding to each of the hydraulic pumps, and the engine speed; determining a smaller value between the preset power and the target power as the output power of the target hydraulic pump; The output displacement is determined according to the output power, the engine speed and the pressure corresponding to each of the hydraulic pumps.

4. The control method according to claim 3, characterized in that: The step of determining the target power of the target hydraulic pump according to the pilot pressure, the pressure corresponding to each of the hydraulic pumps, and the engine speed includes: Determining an average pressure of the plurality of hydraulic pumps according to the pressure corresponding to each of the hydraulic pumps; determining a required displacement of the target hydraulic pump according to the pilot pressure; The target power is determined according to the engine speed, the required displacement and the pressure average value.

5. The control method according to claim 1, characterized in that: The step of determining a target hydraulic pump among the plurality of hydraulic pumps according to the pilot pressure comprises: determining a target action type of the working machine according to the pilot pressure; A target hydraulic pump among the plurality of hydraulic pumps is determined according to the target action type.

6. The control method according to claim 5, characterized in that: The working machine further includes a plurality of main control valves, each of the main control valves includes a plurality of control valve cores, each of the main control valves corresponds to each of the hydraulic pumps, and the determining of a target hydraulic pump among the plurality of hydraulic pumps according to the target action type includes: Determining a target control valve core among the plurality of control valve cores according to the target action type; Determine a main control valve including the target control valve core as a target main control valve; The hydraulic pump corresponding to the target main control valve is determined as the target hydraulic pump.

7. A processor, characterized in that: The method is configured to execute the control method for a working machine according to any one of claims 1 to 6.

8. A control device for a working machine, characterized in that: The working machine includes an operating mechanism, an engine, a plurality of hydraulic pumps and a hydraulic pump solenoid valve corresponding to each hydraulic pump, and the control device includes: A data acquisition module, used for acquiring the pilot pressure of the operating mechanism, the pressure corresponding to each of the hydraulic pumps and the engine speed of the engine; a target hydraulic pump determination module, configured to determine a target hydraulic pump among the plurality of hydraulic pumps according to the pilot pressure; a control current determination module, configured to determine a control current corresponding to the target hydraulic pump according to the pilot pressure, the pressure corresponding to each of the hydraulic pumps, the number of the target hydraulic pumps and the engine speed; The control module is used to control the operation of the hydraulic pump solenoid valve corresponding to the target hydraulic pump according to the control current corresponding to the target hydraulic pump, so as to control the output power of the target hydraulic pump.

9. A working machine, characterized in that: include: Operating mechanism; engine; Multiple hydraulic pumps; A hydraulic pump solenoid valve corresponding to each hydraulic pump; as well as The processor according to claim 7 or the control device for a working machine according to claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the control method for a working machine according to any one of claims 1 to 6.

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