Control method, processor and control device for pumping equipment and pumping equipment

Abstract

The invention discloses a control method, a processor, a control device and a control device.The pumping equipment comprises a first oil cylinder, a second oil cylinder and a piston position detection assembly, and the piston position detection assembly is used for detecting the position of a piston of the first oil cylinder and the position of a piston of the second oil cylinder; the control method comprises the steps that it is determined that the pumping device starts the pumping function; determining that the piston position detection assembly fails; the pumping equipment is controlled to start an emergency reversing mode; the pumping pressure value of the pumping equipment is obtained; under the condition that the pumping pressure value meets the first preset change condition, it is determined that the first oil cylinder or the second oil cylinder is collided; and the first oil cylinder and the second oil cylinder are controlled to execute reversing operation. The control method of the pumping equipment is simple and easy to operate, and continuous pumping can be achieved when the piston position detection assembly breaks down.

Description

Technical Field

[0001] The present application belongs to the technical field of pumping equipment, and specifically relates to a control method, a control device and a control device for pumping equipment. Background Art

[0002] With the development of society, pumping equipment (such as concrete pump trucks, vehicle-mounted pumps, wet spraying machines and other material pumping equipment) has been widely used. The basic principle of pumping equipment is that under the drive of high-pressure hydraulic oil, the main cylinder alternately pushes the piston to reciprocate in the delivery cylinder, thereby delivering the material to the pouring site through the distribution valve. The piston movement in the hydraulic cylinder of the pumping equipment is mainly realized by the position detection device in the cylinder (such as proximity switch, displacement sensor, etc.) to realize the piston position recognition and pumping reversing control. However, the working environment of the pumping equipment is relatively harsh. Internal and external factors such as high temperature, vibration, and frequent collisions can easily cause damage and failure of the position detection device. If the position detection device fails, the entire pumping equipment needs to be shut down for maintenance. This situation will affect the progress of on-site construction. In addition, if the concrete material in the delivery pipe of the pumping equipment cannot be cleaned in time, it will also cause pipe blockage, which is easy to cause significant economic losses to customers. Summary of the invention

[0003] The purpose of the present application is to provide a control method, a control device and a control device for a pumping device, wherein the control method of the pumping device is simple and easy to operate, and can achieve continuous pumping when a piston position detection component fails.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a control method for a pumping device, the pumping device comprising a first oil cylinder, a second oil cylinder and a piston position detection component, the piston position detection component is used to detect the position of the piston of the first oil cylinder and the position of the piston of the second oil cylinder, the control method comprising:

[0005] Make sure the pumping equipment starts pumping function;

[0006] Determining that the piston position sensing assembly is faulty;

[0007] Control the pumping equipment to start the emergency reversing mode;

[0008] Get the pumping pressure value of the pumping equipment;

[0009] When the pumping pressure value satisfies the first preset change condition, it is determined that the first oil cylinder or the second oil cylinder has a cylinder collision situation, wherein the first preset change condition includes a continuous first stage, a second stage and a third stage, the first stage is a stage in which the pumping pressure value continuously decreases, the second stage is a stage in which the pumping pressure value continuously increases, and the third stage is a stage in which the pumping pressure value continuously decreases;

[0010] The first oil cylinder and the second oil cylinder are controlled to perform a switching operation.

[0011] In an embodiment of the present application, determining that a piston position detection component fails includes:

[0012] Obtaining the detection signal frequency of the piston position detection component;

[0013] Determine whether the piston position detection component has failed based on the detection signal frequency.

[0014] In an embodiment of the present application, it is determined that the pumping pressure value satisfies the first preset change condition according to the following circumstances:

[0015] Determine the pumping pressure change rate according to the pumping pressure value;

[0016] When the pumping pressure change rate satisfies the second preset change condition, it is determined that the pumping pressure value satisfies the first preset change condition, wherein the second preset change condition includes a continuous fourth stage, a fifth stage and a sixth stage, the fourth stage is a stage in which the pumping pressure change rate is continuously less than zero, the fifth stage is a stage in which the pumping pressure change rate is continuously greater than or equal to zero, and the sixth stage is a stage in which the pumping pressure change rate is continuously less than zero.

[0017] In an embodiment of the present application, the fourth stage is a stage in which the pumping pressure change rate of the first preset number is continuously less than zero, the fifth stage is a stage in which the pumping pressure change rate of the second preset number is continuously greater than or equal to zero, and the sixth stage is a stage in which the pumping pressure change rate of the third preset number is continuously less than zero.

[0018] In the embodiment of the present application, the pumping pressure change rate in the fourth stage is greater than the first preset value, and the pumping pressure change rate in the sixth stage is greater than the second preset value.

[0019] In an embodiment of the present application, the control method further includes:

[0020] After the pumping device has undergone a preset number of reversing operations, obtaining the final pumping pressure value obtained in the first stage during each reversing operation;

[0021] determining an average of a plurality of end pumping pressure values;

[0022] When the pumping pressure value reaches the average value, the pumping device is controlled to perform a reversing operation.

[0023] A second aspect of the present application provides a processor, wherein the processor is configured to implement the above-mentioned control method for a pumping device.

[0024] A third aspect of the present application provides a control device, the control device comprising:

[0025] A pressure detector for detecting a pumping pressure value of a pumping device; and

[0026] The processors described above.

[0027] A fourth aspect of the present application provides a pumping device, the pumping device comprising:

[0028] First oil cylinder;

[0029] A second oil cylinder is arranged in parallel with the first oil cylinder;

[0030] A piston position detection assembly, used to detect the position of the piston of the first oil cylinder and the position of the piston of the second oil cylinder; and the above-mentioned control device.

[0031] In an embodiment of the present application, the pumping device further comprises:

[0032] The overflow component is connected to the first oil cylinder and the second oil cylinder and is used to make the first oil cylinder and the second oil cylinder overflow.

[0033] Through the above technical scheme, it can be known that the control method includes determining that the pumping equipment starts the pumping function; determining that the piston position detection component fails; controlling the pumping equipment to start the emergency reversing mode; obtaining the pumping pressure value of the pumping equipment; when the pumping pressure value meets the first preset change condition, determining that the first cylinder or the second cylinder has a cylinder collision; and controlling the first cylinder and the second cylinder to perform a reversing operation. The control method uses the cylinder collision of the first cylinder or the second cylinder as a reversing signal to control the first cylinder and the second cylinder to perform a reversing operation, which can avoid the cylinder blocking situation and realize the continuous pumping of materials without adding additional components, and can quickly identify the cylinder collision situation, so that the first cylinder and the second cylinder can be reversed in time, and there will be no situation where the piston rod does not move in place and the first cylinder and the second cylinder are reversed, further ensuring the continuity of pumping when the piston position detection component fails.

[0034] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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 embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0036] Figure 1 This is a schematic diagram of the main flow of the control method in the embodiment of the present application;

[0037] Figure 2 This is a schematic diagram of the structure of the pumping equipment in the embodiment of the present application;

[0038] Figure 3 This is a schematic diagram of the control device composition in the embodiment of the present application;

[0039] Figure 4 This is a pumping pressure value curve diagram when the first oil cylinder and the second oil cylinder are pumping normally in the embodiment of the present application;

[0040] Figure 5 This is a curve diagram of the pumping pressure value when the first oil cylinder and the second oil cylinder collide with each other in the embodiment of the present application.

[0041] Description of Reference Numerals

[0042] 1-first oil cylinder; 2-second oil cylinder; 3-piston position detection assembly; 301-first piston position detector; 302-second piston position detector; 4-oil pump; 5-first concrete cylinder; 6-second concrete cylinder; 7-processor; 8-pressure detector; 9-control device; 10-first time period; 11-second time period; 12-third time period. DETAILED DESCRIPTION

[0043] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0044] The embodiment of the present application provides a control method for a pumping device, such as Figure 2 As shown, the pumping device includes a first oil cylinder 1, a second oil cylinder 2 and a piston position detection component 3, and the piston position detection component 3 is used to detect the position of the piston of the first oil cylinder 1 and the position of the piston of the second oil cylinder 2. Figure 1 As shown, the control method includes the following steps:

[0045] Step S101: Determine that the pumping device starts the pumping function.

[0046] The pumping equipment in this embodiment may be selected as a concrete pump truck and includes an oil source, an oil pump 4, a first oil cylinder 1, a second oil cylinder 2, a first concrete cylinder 5, and a second concrete cylinder 6. The first oil cylinder 1 is drivingly connected to the first concrete cylinder 5, and the second oil cylinder 2 is distributed in parallel with the first oil cylinder 1 and drivingly connected to the second concrete cylinder 6. The oil pump 4 in the embodiment may be selected as a bidirectional oil pump 4, the input end of the oil pump 4 is connected to the oil source, the first output end of the oil pump 4 is connected to the first oil cylinder 1, and the second output end of the oil pump 4 is connected to the second oil cylinder 2. The piston position detection component 3 includes a first piston position detector 301 and a second piston position detector 302 respectively arranged in the first oil cylinder 1 and the second oil cylinder 2 (in this embodiment, the first piston position detector 301 and the second piston position detector 302 may be selected as proximity switches or displacement sensors), the first piston position detector 301 is used to detect the position of the piston of the first oil cylinder 1, and the second piston position detector 302 is used to detect the position of the piston of the second oil cylinder 2. After the pumping equipment starts the pumping function, the oil pump 4 pumps the hydraulic oil in the oil source alternately to the first oil cylinder 1 and the second oil cylinder 2, and the first oil cylinder 1 and the second oil cylinder 2 are alternately extended and retracted. Correspondingly, the first concrete cylinder 5 and the second concrete cylinder 6 alternately inhale or output materials (such as concrete), that is, when the first concrete cylinder 5 inhales materials, the second concrete cylinder 6 outputs materials; when the second concrete cylinder 6 inhales materials, the first concrete cylinder 5 outputs materials.

[0047] Furthermore, the pumping device also includes a processor 7 and an operating device (such as a touch screen or an operating lever). The operating device, the oil pump 4, the first piston position detector 301, and the second piston position detector 302 are communicatively connected with the processor 7. The operator can send a control instruction to start the pumping function to the processor 7 through the operating device. After receiving the above control instruction, the processor 7 can determine that the pumping device starts the pumping function.

[0048] Step S102: Determine whether the piston position detection component 3 fails.

[0049] In one embodiment of the present application, determining in step S102 that the piston position detection component 3 fails further includes steps S201 and S202, wherein:

[0050] Step S201: obtaining the detection signal frequency of the piston position detection component 3;

[0051] Step S202: determining whether the piston position detection component 3 fails according to the detection signal frequency.

[0052] Specifically, the first piston position detector 301 and the second piston position detector 302 send the detection results to the processor 7 after each detection. The processor 7 records the frequency of receiving the detection results while receiving the above detection results. The frequency of receiving the detection results of the first piston position detector 301 is the detection signal frequency of the first piston position detector 301. Similarly, the frequency of receiving the detection results of the second piston position detector 302 is the detection signal frequency of the second piston position detector 302. The processor 7 compares the detection signal frequencies corresponding to the first piston position detector 301 and the second piston position detector 302 with the preset detection signal frequencies. If the detection signal frequency is inconsistent with the preset detection signal frequency, it means that the first piston position detector 301 and / or the second piston position detector 302 has a detection failure, that is, the piston position detection component 3 has a failure.

[0053] In another embodiment of the present application, a position detection fault button is provided on the operating device. Since the pumping equipment is difficult to accurately reverse after the first piston position detector 301 cover and / or the second piston position detector 302 fails, the rate or frequency of the first concrete cylinder 5 and / or the second concrete cylinder 6 sucking in and outputting concrete will change. After observing the above changes, the operator can determine that the piston position detection component 3 has failed. Thereafter, the operator can send a fault signal to the processor 7 by pressing the position detection fault button on the operating device. After receiving the above fault signal, the processor 7 can determine that the piston position detection component 3 has failed.

[0054] Step S103: Control the pumping equipment to start the emergency reversing mode.

[0055] After the emergency reversing mode is turned on, the pumping equipment can continue to pump continuously when the piston position detection component 3 fails, avoiding stopping the pumping function, avoiding affecting the progress of on-site construction, and avoiding blockage caused by the failure to clean up the materials in the conveying pipes of the first concrete cylinder 5 and / or the second concrete cylinder 6 in time, thereby avoiding causing major economic losses.

[0056] Step S104: Acquire the pumping pressure value of the pumping equipment.

[0057] Specifically, the pumping equipment also includes a pressure detector 8 (such as a pressure sensor), which is arranged on the oil pump 4 and is communicatively connected to the processor 7, and is used to detect the pumping pressure value of the pumping equipment (that is, the pressure value when the oil pump 4 performs a pumping operation). The pressure detector 8 performs a pressure detection function in real time and sends the real-time detected pumping pressure value to the processor 7.

[0058] Step S105: When the pumping pressure value satisfies the first preset change condition, it is determined that a cylinder collision occurs in the first cylinder 1 or the second cylinder 2, wherein the first preset change condition includes a continuous first stage, a second stage and a third stage, the first stage is a stage in which the pumping pressure value continues to decrease, the second stage is a stage in which the pumping pressure value continues to increase, and the third stage is a stage in which the pumping pressure value continues to decrease.

[0059] In one embodiment of the present application, it is determined that the pumping pressure value satisfies the first preset change condition according to the following circumstances:

[0060] Step S301: determining a pumping pressure change rate according to a pumping pressure value;

[0061] Step S302: When the pumping pressure change rate satisfies the second preset change condition, determine that the pumping pressure value satisfies the first preset change condition, wherein the second preset change condition includes a continuous fourth stage, a fifth stage and a sixth stage, the fourth stage is a stage in which the pumping pressure change rate is continuously less than zero, the fifth stage is a stage in which the pumping pressure change rate is continuously greater than or equal to zero, and the sixth stage is a stage in which the pumping pressure change rate is continuously less than zero.

[0062] Specifically, the time period corresponding to the first stage overlaps with the time period corresponding to the fourth stage, and the overlapping time period is called the first time period 10; the time period corresponding to the second stage overlaps with the time period corresponding to the fifth stage, and the overlapping time period is called the second time period 11; the time period corresponding to the third stage overlaps with the time period corresponding to the sixth stage, and the overlapping time period is called the third time period 12.

[0063] The processor 7 calculates the pumping pressure change rate based on two received and adjacent pumping pressure values. For example, the processor 7 can calculate the pumping pressure change rate based on formula (1).

[0064]

[0065] Where P′ is the pumping pressure change rate, T i is the i-th moment, T i+1 For the i+1th moment, P i is the pumping pressure value corresponding to the i-th moment, P i+1 is the pumping pressure value corresponding to the i+1th moment.

[0066] In one embodiment of the present application, the fourth stage is a stage in which the pumping pressure change rate of the first preset number is continuously less than zero, the fifth stage is a stage in which the pumping pressure change rate of the second preset number is continuously greater than or equal to zero, and the sixth stage is a stage in which the pumping pressure change rate of the third preset number is continuously less than zero.

[0067] Specifically, in this embodiment, the first preset number is not less than 15 (such as 20), the second preset number is not less than 5 (such as 6), and the third preset number is not less than 10 (such as 12). After the processor 7 calculates the pumping pressure change rate based on formula (1), it judges the pumping pressure change rate. If 20 consecutive pumping pressure change rates are less than 0, it is considered that the pumping pressure change rate has entered a stage where the pumping pressure change rate is continuously less than zero, that is, the pumping pressure value continues to decrease. If 6 consecutive pumping pressure change rates are greater than or equal to 0, it is considered that the pumping pressure change rate has entered a stage where the pumping pressure change rate is continuously greater than or equal to zero, that is, the pumping pressure value continues to decrease. After the previous stage is completed, if 12 consecutive pumping pressure change rates are less than 0, it is considered that the pumping pressure change rate has entered a stage where the pumping pressure change rate is continuously less than zero again, that is, the pumping pressure value continues to decrease again.

[0068] If the piston position detection component 3 does not fail, the first oil cylinder 1 and the second oil cylinder 2 will switch normally. In this case, no cylinder collision will occur. The change of the pumping pressure value is as follows: Figure 4 As shown, after the first oil cylinder 1 and the second oil cylinder 2 are normally switched, the pumping pressure value changes from a stable state to a continuously decreasing state. After the continuous decreasing state is completed, it enters the next cycle and changes to a continuously increasing state. After the continuous decreasing state is completed, it changes to a stable state again, and the cycle repeats in sequence.

[0069] If a cylinder collision occurs, the pumping pressure value changes as follows Figure 5 As shown, when a cylinder collision occurs, the piston rod and cylinder barrel of the oil cylinder will have a short impact. Therefore, based on the characteristics of the hydraulic system, when the above short impact occurs, the pumping pressure of the oil pump 4 will rise accordingly. In this case, the piston rod of the oil cylinder where the cylinder collision occurs retreats to the bottom of the cylinder barrel, and the piston rod of the other oil cylinder is at the top of the cylinder barrel and is in the critical position of reversing. At this time, the oil pump 4 has no hydraulic oil injected, so the pumping pressure value will continue to decrease in the third time period 12. Further, the processor 7 can determine that the first oil cylinder 1 or the second oil cylinder 2 has a cylinder collision based on the change trend that the pumping pressure value first continuously decreases, then continuously increases, and then continuously decreases.

[0070] In one embodiment of the present application, the pumping pressure change rate in the fourth stage is greater than the first preset value, and the pumping pressure change rate in the sixth stage is greater than the second preset value. Specifically, the first preset value ranges from 30Mpa / s to 60Mpa / s, and the second preset value ranges from 3Mpa / s to 20Mpa / s. The above setting can improve the accuracy of the processor 7 in identifying the second preset change condition, thereby helping to improve the control accuracy of the control method in this embodiment.

[0071] Step S106: Control the first oil cylinder 1 and the second oil cylinder 2 to perform a switching operation.

[0072] Specifically, a cylinder collision situation of the first cylinder 1 or the second cylinder 2 is used as a reversing signal to control the first cylinder 1 and the second cylinder 2 to perform a reversing operation, which can avoid a cylinder blocking situation and achieve continuous pumping of materials. The control method in this embodiment does not require the addition of additional components, and can quickly identify a cylinder collision situation, so that the first cylinder 1 and the second cylinder 2 can be reversed in time, and there will be no situation in which the first cylinder 1 and the second cylinder 2 are reversed when the piston rod does not move into place, further ensuring the continuity of pumping when the piston position detection component 3 fails.

[0073] Furthermore, the control method further comprises the following steps:

[0074] Step S501: Determine that the piston position detection component 3 has no fault;

[0075] Step S502: Determine whether the piston rod of the first oil cylinder 1 or the piston rod of the second oil cylinder 2 reaches a preset reversing position;

[0076] Step S503: controlling the first oil cylinder 1 and the second oil cylinder 2 to perform a switching operation.

[0077] Specifically, when the first piston position detector 301 and the second piston position detector 302 can work normally, the first piston position detector 301 and the second piston position detector 302 can detect the piston rod position of the first oil cylinder 1 or the piston rod of the second oil cylinder 2, and can send the detected actual position of the piston rod (or proximity signal) to the processor 7 after the detection is completed. The processor 7 compares the above-mentioned actual position of the piston rod with the preset reversing position. If the actual position of the piston rod reaches the preset reversing position, it means that the piston rod of the oil cylinder corresponding to the actual position of the piston rod has reached the preset reversing position (the processor 7 receives the proximity signal, which also means that the piston rod of the oil cylinder corresponding to the proximity signal has reached the preset reversing position). At this time, the first oil cylinder 1 and the second oil cylinder 2 can be controlled to perform the reversing operation to avoid the cylinder collision situation.

[0078] In an embodiment of the present application, the control method further includes the following steps:

[0079] Step S601: After the pumping device has undergone a preset number of reversing operations, the final pumping pressure value obtained in the first stage during each reversing operation is obtained;

[0080] Step S602: determining an average value of a plurality of termination pumping pressure values;

[0081] Step S603: When the pumping pressure value continues to decrease and reaches the average value, the pumping device is controlled to perform a reversing operation.

[0082] Specifically, in this embodiment, the preset number of times is not less than 10 times (such as 15 times), and the processor 7 records the cumulative number of times the first oil cylinder 1 and the second oil cylinder 2 perform the reversing operation after the piston position detection component 3 fails, as well as the final terminal pumping pressure value obtained in the first stage during each reversing operation. After obtaining 15 terminal pumping pressure values, the processor 7 calculates the average value of the above 15 terminal pumping pressure values. Before the 16th reversing operation is performed, the processor 7 calculates the pumping pressure change rate based on the continuously received pumping pressure values, and determines whether it is in the stage of continuous decrease of the pumping pressure value based on the pumping pressure change rate. In the case of continuous decrease of the pumping pressure value, the processor 7 further compares the received pumping pressure value with the average value. If the pumping pressure value reaches the average value, the pumping device is controlled to perform the reversing operation. The above control method enables the pumping equipment to avoid having to perform switching operations based on a cylinder collision situation for a long time when the piston position detection component 3 fails. This is beneficial for preventing the first cylinder 1 and / or the second cylinder 2 from being damaged due to multiple cylinder collisions, and enables the first cylinder 1 and the second cylinder 2 to perform switching operations in a timely manner.

[0083] Another embodiment of the present application provides a processor, and the processor 7 is configured to execute the above-mentioned control method for a pumping device.

[0084] Another embodiment of the present application provides a control device, the control device 9 comprising:

[0085] A pressure detector 8, used to obtain a pumping pressure value of the pumping device; and

[0086] The processor 7 in the above embodiment.

[0087] Another embodiment of the present application provides a pumping device, the pumping device comprising:

[0088] First oil cylinder 1;

[0089] The second oil cylinder 2 is arranged in parallel with the first oil cylinder 1;

[0090] The piston position detection assembly 3 is used to detect the position of the piston of the first oil cylinder 1 and the position of the piston of the second oil cylinder 2; and the control device 9 in the above embodiment.

[0091] Specifically, the pumping equipment in the present embodiment may be selected as a concrete pump truck and includes an oil source, an oil pump 4, a first oil cylinder 1, a second oil cylinder 2, a first concrete cylinder 5, and a second concrete cylinder 6. The first oil cylinder 1 is drivingly connected to the first concrete cylinder 5, and the second oil cylinder 2 is distributed in parallel with the first oil cylinder 1 and drivingly connected to the second concrete cylinder 6. The oil pump 4 in the embodiment may be selected as a bidirectional oil pump 4, the input end of the oil pump 4 is connected to the oil source, the first output end of the oil pump 4 is connected to the first oil cylinder 1, and the second output end of the oil pump 4 is connected to the second oil cylinder 2. The piston position detection component 3 includes a first piston position detector 301 and a second piston position detector 302 respectively arranged in the first oil cylinder 1 and the second oil cylinder 2 (in the present embodiment, the first piston position detector 301 and the second piston position detector 302 may be selected as proximity switches or displacement sensors), the first piston position detector 301 is used to detect the position of the piston of the first oil cylinder 1, and the second piston position detector 302 is used to detect the position of the piston of the second oil cylinder 2. After the pumping equipment starts the pumping function, the oil pump 4 pumps the hydraulic oil in the oil source alternately to the first oil cylinder 1 and the second oil cylinder 2, and the first oil cylinder 1 and the second oil cylinder 2 are alternately extended and retracted. Correspondingly, the first concrete cylinder 5 and the second concrete cylinder 6 alternately inhale or output materials (such as concrete), that is, when the first concrete cylinder 5 inhales materials, the second concrete cylinder 6 outputs materials; when the second concrete cylinder 6 inhales materials, the first concrete cylinder 5 outputs materials.

[0092] Furthermore, the pumping device in the present embodiment further comprises a pressure detector 8 (such as a pressure sensor), which is arranged on the oil pump 4 and is in communication connection with the processor 7, and is used to detect the pumping pressure value of the pumping device (i.e., the pressure value when the oil pump 4 performs the pumping operation), and the pressure detector 8 performs the pressure detection function in real time and sends the real-time detected pumping pressure value to the processor 7; further, in the present embodiment, the first piston position detector 301, the second piston position detector 302, the processor 7 and the pressure detector 8 together constitute the control device 9 (such as Figure 3 shown).

[0093] In one embodiment of the present application, the pumping device further comprises:

[0094] The overflow component is connected to the first oil cylinder 1 and the second oil cylinder 2 and is used to make the first oil cylinder 1 and the second oil cylinder 2 overflow.

[0095] Specifically, the overflow assembly in this embodiment (not shown in the figure) includes a first pipeline, a second pipeline, a first overflow valve and a second overflow valve. The first overflow valve is arranged on the first pipeline, and the second overflow valve is arranged on the second pipeline. The first pipeline is connected to the first oil cylinder 1, and the second pipeline is connected to the second oil cylinder 2. After a cylinder collision occurs in the first oil cylinder 1, the first overflow valve and the first pipeline can work together to make the first oil cylinder 1 overflow. After the first oil cylinder 1 overflows, the pumping pressure value shows a downward trend within the third time period 12; similarly, after a cylinder collision occurs in the second oil cylinder 2, the second overflow valve and the second pipeline can work together to make the second oil cylinder 2 overflow. After the second oil cylinder 2 overflows, the pumping pressure value shows a downward trend within the third time period 12.

[0096] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0097] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0098] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0099] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A control method for a pumping device, characterized in that: The pumping device comprises a first oil cylinder (1), a second oil cylinder (2) and a piston position detection assembly (3), wherein the piston position detection assembly (3) is used to detect the position of the piston of the first oil cylinder (1) and the position of the piston of the second oil cylinder (2), and the control method comprises: Determine that the pumping device starts a pumping function; Determining that the piston position detection component (3) fails; Controlling the pumping device to start an emergency reversing mode; Obtaining a pumping pressure value of the pumping equipment; When the pumping pressure value satisfies a first preset change condition, determining that the first oil cylinder (1) or the second oil cylinder (2) has a cylinder collision, wherein the first preset change condition includes a first stage, a second stage, and a third stage in succession, the first stage is a stage in which the pumping pressure value continuously decreases, the second stage is a stage in which the pumping pressure value continuously increases, and the third stage is a stage in which the pumping pressure value continuously decreases; The first oil cylinder (1) and the second oil cylinder (2) are controlled to perform a switching operation.

2. The control method for a pumping device according to claim 1, characterized in that: Determining that the piston position detection component (3) fails comprises: Acquiring the detection signal frequency of the piston position detection component (3); It is determined that the piston position detection component (3) has failed based on the detection signal frequency.

3. The control method for a pumping device according to claim 1, characterized in that: It is determined that the pumping pressure value satisfies the first preset change condition according to the following circumstances: determining a pumping pressure change rate according to the pumping pressure value; In the case where the pumping pressure change rate satisfies the second preset change condition, it is determined that the pumping pressure value satisfies the first preset change condition, wherein the second preset change condition includes a continuous fourth stage, a fifth stage and a sixth stage, the fourth stage is a stage in which the pumping pressure change rate is continuously less than zero, the fifth stage is a stage in which the pumping pressure change rate is continuously greater than or equal to zero, and the sixth stage is a stage in which the pumping pressure change rate is continuously less than zero.

4. The control method for a pumping device according to claim 3, characterized in that: The fourth stage is a stage in which the pumping pressure change rate is continuously less than zero for the first preset number of times, the fifth stage is a stage in which the pumping pressure change rate is continuously greater than or equal to zero for the second preset number of times, and the sixth stage is a stage in which the pumping pressure change rate is continuously less than zero for the third preset number of times.

5. The control method for a pumping device according to claim 3, characterized in that: The pumping pressure change rate in the fourth stage is greater than the first preset value, and the pumping pressure change rate in the sixth stage is greater than the second preset value.

6. The control method for a pumping device according to claim 1, characterized in that: The control method further comprises: After the pumping device has undergone a preset number of reversing operations, obtaining the final pumping pressure value obtained in the first stage during each reversing operation; determining an average of a plurality of said end pumping pressure values; When the pumping pressure value reaches the average value, the pumping device is controlled to perform the switching operation.

7. A processor, characterized in that: The processor (7) is configured to execute the control method for a pumping device according to any one of claims 1-6.

8. A control device, characterized in that: The control device (9) comprises: A pressure detector (8) for detecting a pumping pressure value of a pumping device; and A processor (7) as claimed in claim 7.

9. A pumping device, characterized in that: The pumping equipment comprises: A first oil cylinder (1); A second oil cylinder (2) is arranged in parallel with the first oil cylinder (1); A piston position detection component (3) for detecting the position of the piston of the first oil cylinder (1) and the position of the piston of the second oil cylinder (2); and A control device (9) according to claim 8.

10. The pumping device according to claim 9, characterized in that The pumping device also includes: An overflow component is connected to the first oil cylinder (1) and the second oil cylinder (2) and is used to make the first oil cylinder (1) and the second oil cylinder (2) overflow.

Images