Excavator high-low speed switching control method and device, storage medium and electronic equipment

Abstract

The invention provides an excavator high-low speed switching control method and device, a storage medium and electronic equipment, and the method comprises the steps: determining the type of high-low speed switching when an excavator carries out high-low speed switching; if the low speed is switched to the high speed, the motor flow and the motor displacement are synchronously reduced, the motor displacement is controlled to be unchanged, and the motor flow is increased so as to be stably switched to the high speed; and if the type is that the high speed is switched to the low speed, the motor flow and the motor displacement are synchronously increased, the motor displacement is controlled to be unchanged, and the motor flow is reduced so as to be stably switched to the low speed. According to the invention, the motor flow and the motor displacement can be reversely and synchronously controlled to rise (from high speed to low speed) or fall (from low speed to high speed) during high and low speed switching, and then gradually fall (from high speed to low speed) or rise (from low speed to high speed), so that the impact feeling caused by the existing high and low speed switching is avoided, the condition of deviation of the excavator is further avoided, and the service life of the excavator is prolonged. And the safety and experience feeling of excavator operation are improved.

Description

Technical Field

[0001] The present invention relates to the field of excavators, and in particular to a high-speed and low-speed switching control method, device, storage medium and electronic equipment for an excavator. Background Art

[0002] The walking stability of the excavator is an important indicator of the handling quality of the whole vehicle. At present, the high and low speed switching of most excavators is realized by controlling the hydraulic pilot. When receiving the high and low speed instructions, the hydraulic motor switches the displacement based on the pilot oil. The motor uses a small displacement at high speed and a large displacement at low speed. The high and low speed switching of the excavator is realized by adjusting the size of the motor displacement.

[0003] When switching from high speed to low speed, the motor displacement is controlled by the pilot oil pressure and increases instantly, causing the pressure (load) to suddenly decrease. At this time, the walking speed will suddenly slow down, and there will be a certain impact. On the contrary, when switching from low speed to high speed, the motor displacement will suddenly decrease, and the pressure (load) will increase sharply. This process will be accompanied by a more obvious impact. If the deviation of the left and right pressure changes is too large, it may even cause deviation. Therefore, how to achieve a smooth transition between high and low speed switching has become a technical problem that needs to be solved urgently by people in this field. Summary of the invention

[0004] In view of the above problems, the present invention provides a method, device, storage medium and electronic device for controlling high and low speed switching of an excavator, which overcome the above problems or at least partially solve the above problems.

[0005] In a first aspect, a high-speed and low-speed switching control method for an excavator comprises:

[0006] When the excavator switches between high and low speeds, determine the type of high and low speed switching;

[0007] If the type of high-low speed switching is switching from low speed to high speed, after synchronously reducing the motor flow and motor displacement, the motor displacement is controlled to remain unchanged and the motor flow is increased to smoothly switch to high speed;

[0008] If the type of high-low speed switching is high speed switching to low speed, after the motor flow and motor displacement are increased synchronously, the motor displacement is controlled to remain unchanged and the motor flow is reduced to smoothly switch to low speed.

[0009] Optionally, in some optional embodiments, if the type of high-low speed switching is: switching from low speed to high speed, then after synchronously reducing the motor flow and motor displacement, controlling the motor displacement to remain unchanged and increasing the motor flow to smoothly switch to high speed, including:

[0010] If the type of high-low speed switching is switching from low speed to high speed, the motor flow and motor displacement are synchronously reduced in the same proportion;

[0011] After reducing the motor displacement to the first preset displacement, maintaining the motor displacement at the first preset displacement;

[0012] The pump flow is controlled to increase according to a preset increase rate to increase the motor flow, thereby increasing the rotation speed of the motor to smoothly switch to a high speed, wherein the motor flow is equal to the pump flow.

[0013] Optionally, in some optional embodiments, if the type of high-low speed switching is high-speed switching to low-speed, then after synchronously increasing the motor flow and motor displacement, controlling the motor displacement to remain unchanged and reducing the motor flow to smoothly switch to low speed, including:

[0014] If the type of high-low speed switching is high speed switching to low speed, the motor flow and motor displacement are increased synchronously in the same proportion;

[0015] After increasing the motor displacement to the first preset displacement, maintaining the motor displacement at the second preset displacement;

[0016] The pump flow is controlled to decrease according to a preset reduction rate to reduce the motor flow, thereby reducing the rotation speed of the motor to smoothly switch to a low speed, wherein the motor flow is equal to the pump flow.

[0017] Optionally, in some optional implementations, when the excavator performs high-speed and low-speed switching, determining the type of high-speed and low-speed switching includes:

[0018] When the excavator switches between high and low speeds, the type of high and low speed switching is determined according to the high and low speed switching instruction.

[0019] In a second aspect, a high-speed and low-speed switching control device for an excavator includes: a switching type determination unit, a high-speed switching unit, and a low-speed switching unit;

[0020] The switching type determination unit is used to determine the type of high-speed or low-speed switching when the excavator switches between high-speed and low-speed;

[0021] The high-speed switching unit is used for, if the type of the high-low speed switching is switching from low speed to high speed, after synchronously reducing the motor flow and motor displacement, controlling the motor displacement to remain unchanged and increasing the motor flow to smoothly switch to high speed;

[0022] The low-speed switching unit is used to control the motor displacement to remain unchanged and reduce the motor flow after synchronously increasing the motor flow and motor displacement if the type of high-low speed switching is high-speed switching to low speed, so as to smoothly switch to low speed.

[0023] Optionally, in certain optional embodiments, the high-speed switching unit comprises: a synchronous reduction subunit, a first displacement maintaining subunit and a flow rate increasing subunit;

[0024] The synchronous reduction subunit is used to synchronously reduce the motor flow and the motor displacement in the same proportion if the type of high-low speed switching is switching from low speed to high speed;

[0025] The first displacement maintaining subunit is used for maintaining the motor displacement at the first preset displacement after reducing the motor displacement to the first preset displacement;

[0026] The flow increase unit is used to control the pump flow increase according to a preset increase rate to increase the motor flow, thereby increasing the motor speed to smoothly switch to a high speed, wherein the motor flow is equal to the pump flow.

[0027] Optionally, in certain optional embodiments, the low-speed switching unit comprises: a synchronous raising subunit, a second displacement maintaining subunit and a flow reducing subunit;

[0028] The synchronous raising subunit is used to synchronously raise the motor flow and the motor displacement in the same proportion if the type of high-low speed switching is high speed switching to low speed;

[0029] The second displacement maintaining subunit is used for maintaining the motor displacement at the second preset displacement after increasing the motor displacement to the second preset displacement;

[0030] The flow reduction subunit is used to control the pump flow reduction according to a preset reduction rate to reduce the motor flow, thereby reducing the motor speed to smoothly switch to a low speed, wherein the motor flow is equal to the pump flow.

[0031] Optionally, in certain optional implementations, the switching type determination unit includes: a switching type determination subunit;

[0032] The switching type determination subunit is used to determine the type of high-speed or low-speed switching according to the high-speed or low-speed switching instruction when the excavator switches between high-speed and low-speed.

[0033] In a third aspect, a computer-readable storage medium stores a program, and when the program is executed by a processor, the high-speed and low-speed switching control method of the excavator is implemented.

[0034] In a fourth aspect, an electronic device comprises at least one processor, and at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other via the bus; and the processor is used to call program instructions in the memory to execute any one of the above-mentioned excavator high-speed and low-speed switching control methods.

[0035] By means of the above technical scheme, the present invention provides a method, device, storage medium and electronic device for high-speed switching of an excavator, which can determine the type of high-speed switching when the excavator switches between high and low speeds; if the type of high-speed switching is switching from low speed to high speed, then after synchronously reducing the motor flow and motor displacement, the motor displacement is controlled to remain unchanged and the motor flow is increased to smoothly switch to high speed; if the type of high-speed switching is switching from high speed to low speed, then after synchronously increasing the motor flow and motor displacement, the motor displacement is controlled to remain unchanged and the motor flow is reduced to smoothly switch to low speed. It can be seen from this that the present invention can reversely and synchronously control the motor flow and motor displacement to increase (high speed to low speed) or decrease (low speed to high speed) when switching between high and low speeds, and then gradually decrease (high speed to low speed) or increase (low speed to high speed), avoiding the impact caused by directly decreasing (high speed to low speed) or increasing (low speed to high speed) at the beginning, and further avoiding the deviation of the excavator, thereby improving the safety and experience of the excavator operation.

[0036] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0038] Figure 1 A schematic structural diagram of a high-speed and low-speed switching control system for an excavator provided by the present invention is shown;

[0039] Figure 2 A flow chart showing a first high-low speed switching control method for an excavator provided by the present invention is shown;

[0040] Figure 3 A flow chart showing a second excavator high-low speed switching control method provided by the present invention is shown;

[0041] Figure 4A flow chart showing a third method for controlling high and low speed switching of an excavator provided by the present invention is shown;

[0042] Figure 5 A signal comparison schematic diagram provided by the present invention is shown;

[0043] Figure 6 A flow chart showing a fourth excavator high-low speed switching control method provided by the present invention is shown;

[0044] Figure 7 A schematic structural diagram of a high-speed and low-speed switching control device for an excavator provided by the present invention is shown;

[0045] Figure 8 A structural schematic diagram of an electronic device provided by the present invention is shown. DETAILED DESCRIPTION

[0046] At present, for most excavators, high and low speed switching is achieved by controlling the hydraulic pilot. When receiving high and low speed instructions, the hydraulic motor switches between large and small displacements based on the pilot oil. At high speed, the motor uses a small displacement, and at low speed, the motor uses a large displacement. The high and low speed switching of the excavator is achieved by adjusting the size of the motor displacement.

[0047] The inventor of this solution has found that when switching from high speed to low speed, the motor displacement is controlled by the pilot oil pressure and increases instantly, causing the pressure (load) to suddenly decrease. At this time, the walking speed will suddenly slow down, and there will be a certain impact. On the contrary, when switching from low speed to high speed, the motor displacement will suddenly decrease, and the pressure (load) will increase sharply. This process will be accompanied by a more obvious impact. If the deviation of the left and right pressure changes is too large, it may even cause deviation.

[0048] Based on this, the present invention optimizes the high and low speed control logic of the excavator as follows: on the basis of the original motor control, the following is introduced: Figure 1 The control of the left pump solenoid valve and the right pump solenoid valve is shown. The load size of the left and right circuits is further judged by the left pressure sensor and the right pressure sensor, and the pump solenoid valve is fine-tuned to achieve a smooth transition when the excavator switches between high and low speeds.

[0049] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0050] like Figure 2 As shown, the present invention provides a high-speed and low-speed switching control method for an excavator, comprising: S100, S200 and S300;

[0051] S100, when the excavator switches between high and low speeds, determining the type of the high and low speed switching;

[0052] For example, Figure 3 As shown, in some optional embodiments, the S100 includes: S110;

[0053] S110. When the excavator switches between high and low speeds, the type of high and low speed switching is determined according to the high and low speed switching instruction.

[0054] Optional, such as Figure 1 As shown, after receiving the high-low speed switching instruction, the controller can determine the type of high-low speed switching based on the meaning represented by the high-low speed switching instruction. For example, the high-low speed switching instruction can be a digital variable. When the high-low speed switching instruction = 0, it means switching from high speed to low speed; when the high-low speed switching instruction = 1, it means switching from low speed to high speed. The present invention does not limit this.

[0055] S200, if the type of high-low speed switching is switching from low speed to high speed, after synchronously reducing the motor flow and motor displacement, controlling the motor displacement to remain unchanged and increasing the motor flow to smoothly switch to high speed;

[0056] For example, Figure 4 As shown, in some optional embodiments, the S200 includes: S210, S220 and S230;

[0057] S210, if the type of high-low speed switching is switching from low speed to high speed, then the motor flow and motor displacement are synchronously reduced in the same proportion;

[0058] S220, after reducing the motor displacement to the first preset displacement, maintaining the motor displacement at the first preset displacement;

[0059] S230. Control the pump flow to increase according to a preset increase rate to increase the motor flow, thereby increasing the motor speed to smoothly switch to a high speed, wherein the motor flow is equal to the pump flow.

[0060] Optionally, the high speed and low speed of the excavator are related to the motor speed. If the motor speed is high, it is a high gear; if the motor speed is low, it is a low gear. Motor speed = motor flow (also pump flow, the flow of each component is the same under a closed loop, the pump is the source) ÷ motor displacement, the present invention does not limit this.

[0061] Optionally, before and after switching from low speed to high speed, the motor displacement changes from large to small. Assuming that the motor displacement before switching is QMA and the motor displacement after switching is QMB, in order to reduce the impact before and after switching and reduce the risk of deviation, it is necessary to ensure that the hydraulic transmission ratio before and after switching remains unchanged. Assuming that the displacement of the hydraulic pump before switching is QPA and after switching is QPB, then: QPB = QPA × QMB ÷ QMA.

[0062] Optionally, excluding factors such as leakage and overflow, the hydraulic transmission ratio of the closed system = pump displacement ÷ motor displacement. The hydraulic transmission ratio is similar to the mechanical transmission ratio, except that the hydraulic transmission is softer and has better buffering. The hydraulic transmission ratio remains unchanged to ensure that the pressure of the hydraulic system will not fluctuate violently, which can cause impact and deviation. Because the left and right travels are two closed circuits, if the pressure difference between the two sides is large, deviation will occur, and the present invention does not limit this.

[0063] Optionally, during the process of switching from low speed to high speed, the present invention can control the pump displacement from QPB to QPA at a certain rate, and the motor displacement is initially maintained at QMB, so that the motor displacement changes with the change of the pump displacement. The adjustment rate of the pump displacement is affected by the left and right pressure difference, and the side with high pressure adjusts faster and the side with low pressure adjusts slower.

[0064] The adjustment rate of the pump displacement is the core of the excavator hydraulic system debugging, and the main influencing factors are: engine load rate, engine speed drop, hydraulic system pressure, water temperature, oil temperature and engine intake pressure, etc. The present invention can achieve the adjustment of the pump response speed through PT filtering adjustment. The fluctuation of pressure / speed is affected by the response speed of the main pump, and the response speed of the main pump is controlled by the control current (the influence of mechanical response speed is not considered for the time being), and the speed of change of the control current is affected by the filtering time. The output after filtering y=y÷z+(xy÷z)×DT÷T1. It can be seen from the above formula that the longer the filtering time T1, the slower the signal follows. Figure 5 The figures show the comparison between the filtered signal and the original signal when the filtering time is 10DT and 20DT, respectively, and the present invention does not impose any limitation on this.

[0065] S300, if the type of high-speed switching is switching from high speed to low speed, after synchronously increasing the motor flow and motor displacement, the motor displacement is controlled to remain unchanged and the motor flow is reduced to smoothly switch to low speed.

[0066] For example, Figure 6 As shown, in some optional embodiments, the S300 includes: S310, S320 and S330;

[0067] S310, if the type of high-low speed switching is high speed switching to low speed, the motor flow and motor displacement are increased synchronously at the same ratio;

[0068] S320, after increasing the motor displacement to the second preset displacement, maintaining the motor displacement at the second preset displacement;

[0069] S330. Control the pump flow to decrease according to a preset reduction rate to reduce the motor flow, thereby reducing the rotation speed of the motor to smoothly switch to a low speed, wherein the motor flow is equal to the pump flow.

[0070] Optionally, before and after switching from high speed to low speed, the motor displacement changes from small to large. Assume that the motor displacement before switching is QMA and the motor displacement after switching is QMB. At this time, in order to reduce the impact before and after switching and reduce the risk of deviation, it is necessary to ensure that the hydraulic transmission ratio before and after switching remains unchanged. Assume that the displacement of the hydraulic pump before switching is QPA and after switching is QPB, then: QPB = QPA × QMB ÷ QMA.

[0071] Optionally, during the process of switching from high speed to low speed, the present invention can control the pump displacement from QPB to QPA (if QPA is the maximum pump displacement, it remains unchanged) at a certain rate, and the motor displacement remains unchanged at QMB. The pump adjustment rate is affected by the left and right pressure differences, the side with high pressure adjusts slowly, and the side with low pressure adjusts quickly.

[0072] In summary, the present invention achieves smoothness before and after switching and reduces the impact and risk of deviation by keeping the pump / motor transmission ratio (displacement ratio) unchanged. The pump displacement change rate is adjusted by the left and right pressures. This change rate has a direct impact on the high and low speed switching feeling, and in practice, it needs to be adjusted on-site based on the subjective feelings of the operator.

[0073] Although operations are depicted in a particular order, this should not be understood as requiring that the operations be performed in the particular order shown or in a sequential order.Multitasking and parallel processing may be advantageous under certain circumstances.

[0074] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0075] like Figure 7 As shown, the present invention provides a high-speed and low-speed switching control device for an excavator, comprising: a switching type determination unit 100, a high-speed switching unit 200 and a low-speed switching unit 300;

[0076] The switching type determination unit 100 is used to determine the type of high-speed or low-speed switching when the excavator switches between high-speed and low-speed;

[0077] The high-speed switching unit 200 is used to control the motor displacement to remain unchanged and increase the motor flow rate after synchronously reducing the motor flow rate and the motor displacement if the type of the high-low speed switching is switching from low speed to high speed, so as to smoothly switch to high speed;

[0078] The low speed switching unit 300 is used to control the motor displacement to remain unchanged and reduce the motor flow after synchronously increasing the motor flow and motor displacement if the type of high-low speed switching is high speed to low speed, so as to smoothly switch to low speed.

[0079] Optionally, in certain optional embodiments, the high-speed switching unit 200 includes: a synchronous reduction subunit, a first displacement maintaining subunit and a flow rate increasing subunit;

[0080] The synchronous reduction subunit is used to synchronously reduce the motor flow and the motor displacement in the same proportion if the type of high-low speed switching is switching from low speed to high speed;

[0081] The first displacement maintaining subunit is used for maintaining the motor displacement at the first preset displacement after reducing the motor displacement to the first preset displacement;

[0082] The flow increase unit is used to control the pump flow increase according to a preset increase rate to increase the motor flow, thereby increasing the motor speed to smoothly switch to a high speed, wherein the motor flow is equal to the pump flow.

[0083] Optionally, in some optional embodiments, the low speed switching unit 300 includes: a synchronous raising subunit, a second displacement maintaining subunit and a flow reducing subunit;

[0084] The synchronous raising subunit is used to synchronously raise the motor flow and the motor displacement in the same proportion if the type of high-low speed switching is high speed switching to low speed;

[0085] The second displacement maintaining subunit is used for maintaining the motor displacement at the second preset displacement after increasing the motor displacement to the second preset displacement;

[0086] The flow reduction subunit is used to control the pump flow reduction according to a preset reduction rate to reduce the motor flow, thereby reducing the motor speed to smoothly switch to a low speed, wherein the motor flow is equal to the pump flow.

[0087] Optionally, in some optional implementations, the switching type determination unit 100 includes: a switching type determination subunit;

[0088] The switching type determination subunit is used to determine the type of high-speed or low-speed switching according to the high-speed or low-speed switching instruction when the excavator switches between high-speed and low-speed.

[0089] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0090] The excavator high-low speed switching control device includes a processor and a memory. The switching type determination unit 100, the high-speed switching unit 200 and the low-speed switching unit 300 are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

[0091] The processor contains a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set. By adjusting the kernel parameters, the motor flow and motor displacement are first reversely and synchronously controlled to increase (high speed to low speed) or decrease (low speed to high speed) when switching between high and low speeds, and then gradually decrease (high speed to low speed) or increase (low speed to high speed), avoiding the impact caused by directly decreasing (high speed to low speed) or increasing (low speed to high speed) at the beginning, and thus avoiding the deviation of the excavator, improving the safety and experience of the excavator operation.

[0092] An embodiment of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, the high-speed and low-speed switching control method of the excavator is implemented.

[0093] An embodiment of the present invention provides a processor, which is used to run a program, wherein the excavator high-speed and low-speed switching control method is executed when the program is running.

[0094] like Figure 8 As shown, an embodiment of the present invention provides an electronic device 700, which includes at least one processor 701, and at least one memory 702 and a bus 703 connected to the processor 701; wherein the processor 701 and the memory 702 communicate with each other through the bus 703; the processor 701 is used to call the program instructions in the memory 702 to execute the above-mentioned excavator high-low speed switching control method. The electronic device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0095] The present invention also provides a computer program product, which, when executed on an electronic device, is suitable for executing a program for initializing the following method steps:

[0096] The present invention is described with reference to flowcharts and / or block diagrams of methods, apparatuses, electronic devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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 device to generate a machine, so that the instructions executed by the processor of the computer or other programmable 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.

[0097] In a typical configuration, an electronic device includes one or more processors (CPU), a memory, and a bus. The electronic device may also include an input / output interface, a network interface, and the like.

[0098] 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, and the memory includes at least one memory chip. The memory is an example of a computer-readable medium.

[0099] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0100] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left" and "right" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the positions or elements referred to must have specific directions, be constructed and operate in specific directions. Therefore, they should not be understood as limitations of the present invention.

[0101] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should also be noted that the terms "include", "comprise" or any other variants 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 further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0102] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0103] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A high-speed and low-speed switching control method for an excavator, characterized in that: include: When the excavator switches between high and low speeds, determine the type of high and low speed switching; If the type of high-low speed switching is switching from low speed to high speed, after synchronously reducing the motor flow and motor displacement, the motor displacement is controlled to remain unchanged and the motor flow is increased to smoothly switch to high speed; If the type of high-low speed switching is high speed switching to low speed, after the motor flow and motor displacement are increased synchronously, the motor displacement is controlled to remain unchanged and the motor flow is reduced to smoothly switch to low speed.

2. The method according to claim 1, characterized in that If the type of high-low speed switching is: switching from low speed to high speed, then after synchronously reducing the motor flow and motor displacement, controlling the motor displacement to remain unchanged and increasing the motor flow to smoothly switch to high speed, including: If the type of high-low speed switching is switching from low speed to high speed, the motor flow and motor displacement are synchronously reduced in the same proportion; After reducing the motor displacement to the first preset displacement, maintaining the motor displacement at the first preset displacement; The pump flow is controlled to increase according to a preset increase rate to increase the motor flow, thereby increasing the rotation speed of the motor to smoothly switch to a high speed, wherein the motor flow is equal to the pump flow.

3. The method according to claim 1, characterized in that If the type of high-speed to low-speed switching is high-speed switching to low-speed, after synchronously increasing the motor flow and motor displacement, controlling the motor displacement to remain unchanged and reducing the motor flow to smoothly switch to low speed, including: If the type of high-low speed switching is high speed switching to low speed, the motor flow and motor displacement are increased synchronously in the same proportion; After increasing the motor displacement to the first preset displacement, maintaining the motor displacement at the second preset displacement; The pump flow is controlled to decrease according to a preset reduction rate to reduce the motor flow, thereby reducing the rotation speed of the motor to smoothly switch to a low speed, wherein the motor flow is equal to the pump flow.

4. The method according to claim 1, characterized in that When the excavator switches between high and low speeds, determining the type of the high and low speed switching includes: When the excavator switches between high and low speeds, the type of high and low speed switching is determined according to the high and low speed switching instruction.

5. A high-speed and low-speed switching control device for an excavator, characterized in that: include: a switching type determination unit, a high-speed switching unit, and a low-speed switching unit; The switching type determination unit is used to determine the type of high-speed or low-speed switching when the excavator switches between high-speed and low-speed; The high-speed switching unit is used for, if the type of the high-low speed switching is switching from low speed to high speed, after synchronously reducing the motor flow and motor displacement, controlling the motor displacement to remain unchanged and increasing the motor flow to smoothly switch to high speed; The low-speed switching unit is used to control the motor displacement to remain unchanged and reduce the motor flow after synchronously increasing the motor flow and motor displacement if the type of high-low speed switching is high-speed switching to low speed, so as to smoothly switch to low speed.

6. The device according to claim 5, characterized in that The high-speed switching unit includes: a synchronous reduction subunit, a first displacement maintaining subunit and a flow rate increasing subunit; The synchronous reduction subunit is used to synchronously reduce the motor flow and the motor displacement in the same proportion if the type of high-low speed switching is switching from low speed to high speed; The first displacement maintaining subunit is used for maintaining the motor displacement at the first preset displacement after reducing the motor displacement to the first preset displacement; The flow increase unit is used to control the pump flow increase according to a preset increase rate to increase the motor flow, thereby increasing the motor speed to smoothly switch to a high speed, wherein the motor flow is equal to the pump flow.

7. The device according to claim 5, characterized in that The low-speed switching unit includes: a synchronous raising subunit, a second displacement maintaining subunit and a flow reducing subunit; The synchronous raising subunit is used to synchronously raise the motor flow and the motor displacement in the same proportion if the type of high-low speed switching is high speed switching to low speed; The second displacement maintaining subunit is used for maintaining the motor displacement at the second preset displacement after increasing the motor displacement to the second preset displacement; The flow reduction subunit is used to control the pump flow reduction according to a preset reduction rate to reduce the motor flow, thereby reducing the motor speed to smoothly switch to a low speed, wherein the motor flow is equal to the pump flow.

8. The device according to claim 5, characterized in that The switching type determination unit includes: a switching type determination subunit; The switching type determination subunit is used to determine the type of high-speed or low-speed switching according to the high-speed or low-speed switching instruction when the excavator switches between high-speed and low-speed.

9. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the high-speed and low-speed switching control method for an excavator according to any one of claims 1 to 4 is implemented.

10. An electronic device, characterized in that: The electronic device includes at least one processor, and at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other through the bus; the processor is used to call the program instructions in the memory to execute the excavator high-speed and low-speed switching control method as described in any one of claims 1 to 4.

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