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

Abstract

The application provides a high-low speed switching control method and device for a shovel, a storage medium and electronic equipment. When the high-low speed switching of the shovel is performed, the type of the high-low speed switching is determined. If the type is low speed switching to high speed, the motor flow and the motor displacement are simultaneously reduced, the motor displacement is controlled to be unchanged and the motor flow is increased to smoothly switch to high speed. If the type is high speed switching to low speed, the motor flow and the motor displacement are simultaneously increased, the motor displacement is controlled to be unchanged and the motor flow is reduced to smoothly switch to low speed. The application can reversely and synchronously control the motor flow and the motor displacement to increase (high speed to low speed) or decrease (low speed to high speed) first, and then gradually decrease (high speed to low speed) or increase (low speed to high speed) when the high-low speed switching is performed, so that the impact feeling caused by the existing high-low speed switching is avoided, and the situation that the shovel deviates is also avoided, and the safety and experience of the operation of the shovel are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of excavators, and particularly relates to an excavator high-low speed switching control method and device, a storage medium and electronic equipment. BACKGROUND

[0002] The walking stability of an excavator is an important indicator of the good or bad of the whole vehicle control. At present, most excavators switch high and low speed by controlling hydraulic pilot. When receiving a high-low speed instruction, the hydraulic motor switches the size of the displacement based on the pilot oil. The motor adopts small displacement in high speed and large displacement in low speed, and the high-low speed switching of the excavator walking 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, which suddenly becomes large, resulting in a sudden decrease in pressure (load). At this time, the walking speed will suddenly slow down, and a certain impact will occur. Conversely, 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 relatively obvious impact. If the deviation of the left and right pressure change amplitudes is too large, it may even cause deviation. Therefore, how to realize the smooth transition of high-low speed switching has become a technical problem to be solved by personnel in the field. SUMMARY

[0004] In view of the above problems, the present application provides an excavator high-low speed switching control method, device, storage medium and electronic equipment which can overcome the above problems or at least partially solve the above problems.

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

[0006] When the excavator switches high and low speed, the type of high-low speed switching is determined;

[0007] If the type of high-low speed switching is low speed switching to high speed, the motor flow and motor displacement are simultaneously reduced, the motor displacement is controlled to be 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, the motor flow and motor displacement are simultaneously increased, the motor displacement is controlled to be 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 low speed switching to high speed, the motor flow and motor displacement are simultaneously reduced, the motor displacement is controlled to be unchanged and the motor flow is increased to smoothly switch to high speed, which comprises:

[0010] If the type of high-low speed switching is low speed switching to high speed, the motor flow and motor displacement are simultaneously reduced at the same ratio;

[0011] maintaining the motor displacement as the first preset motor displacement;

[0012] controlling the pump flow to increase at a preset high speed increasing rate to increase the motor flow, and then to increase the speed of the motor to smoothly switch to high speed, wherein the motor flow is equal to the pump flow.

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

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

[0015] maintaining the motor displacement as the second preset motor displacement;

[0016] controlling the pump flow to decrease at a preset low speed decreasing rate to decrease the motor flow, and then to decrease the speed of the motor to smoothly switch to low speed, wherein the motor flow is equal to the pump flow.

[0017] Optionally, in some optional embodiments, when the excavator is performing high-low speed switching, the type of the high-low speed switching is determined, including:

[0018] when the excavator is performing high-low speed switching, the type of the high-low speed switching is determined according to a high-low speed switching instruction.

[0019] In a second aspect, a high-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 configured to determine the type of the high-low speed switching when the excavator is performing high-low speed switching.

[0021] The high speed switching unit is configured to, if the type of the high-low speed switching is switching from low speed to high speed, after synchronously decreasing the motor flow and the motor displacement, maintain the motor displacement unchanged and increase the motor flow to smoothly switch to high speed.

[0022] The low speed switching unit is configured to, if the type of the high-low speed switching is switching from high speed to low speed, after synchronously increasing the motor flow and the motor displacement, maintain the motor displacement unchanged and decrease the motor flow to smoothly switch to low speed.

[0023] Optionally, in some optional embodiments, the high-speed switching unit comprises: a synchronous reduction subunit, a first displacement maintenance subunit and a flow rate increase subunit.

[0024] The synchronous reduction subunit is configured to, if the high-low speed switching type is low speed to high speed, synchronously reduce the motor flow rate and the motor displacement by the same proportion.

[0025] The first displacement maintenance subunit is configured to maintain the motor displacement as the first preset displacement after the motor displacement is reduced to the first preset displacement.

[0026] The flow rate increase subunit is configured to control the pump flow rate to increase at a preset high-speed increase rate, so as to increase the motor flow rate and the motor speed, and smoothly switch to high speed, wherein the motor flow rate is equal to the pump flow rate.

[0027] Optionally, in some optional embodiments, the low-speed switching unit comprises: a synchronous increase subunit, a second displacement maintenance subunit and a flow rate decrease subunit.

[0028] The synchronous increase subunit is configured to, if the high-low speed switching type is high speed to low speed, synchronously increase the motor flow rate and the motor displacement by the same proportion.

[0029] The second displacement maintenance subunit is configured to maintain the motor displacement as the second preset displacement after the motor displacement is increased to the second preset displacement.

[0030] The flow rate decrease subunit is configured to control the pump flow rate to decrease at a preset low-speed decrease rate, so as to decrease the motor flow rate and the motor speed, and smoothly switch to low speed, wherein the motor flow rate is equal to the pump flow rate.

[0031] Optionally, in some optional embodiments, the switching type determination unit comprises: a switching type determination subunit.

[0032] The switching type determination subunit is configured to determine the high-low speed switching type according to a high-low speed switching instruction when the excavator performs high-low speed switching.

[0033] In a third aspect, a computer readable storage medium has a program stored thereon, and the program, when executed by a processor, implements the excavator high-low speed switching control method of any one of the preceding aspects.

[0034] In a fourth aspect, an electronic device includes at least one processor, and at least one memory connected with the processor via a bus; the processor and the memory complete mutual communication through the bus; the processor is configured to invoke program instructions in the memory to execute any of the excavator high-low speed switching control methods.

[0035] By the above technical solution, the excavator high-low speed switching control method, device, storage medium and electronic device provided by the application can determine the type of high-low speed switching when the excavator switches between high speed and low speed; if the type of high-low speed switching is switching from low speed to high speed, the motor flow and the motor displacement are simultaneously reduced, then the motor displacement is controlled to be unchanged and the motor flow is increased to smoothly switch to high speed; if the type of high-low speed switching is switching from high speed to low speed, the motor flow and the motor displacement are simultaneously increased, then the motor displacement is controlled to be unchanged and the motor flow is reduced to smoothly switch to low speed. As can be seen, the application can first reversely and synchronously control the motor flow and the motor displacement to increase (switching from high speed to low speed) or decrease (switching from low speed to high speed), and then gradually decrease (switching from high speed to low speed) or increase (switching from low speed to high speed) when switching between high speed and low speed, thereby avoiding the impact caused by directly decreasing (switching from high speed to low speed) or increasing (switching from low speed to high speed) at the beginning, and further avoiding the situation that the excavator deviates, thereby improving the safety and experience of excavator operation.

[0036] The above description is only a summary of the technical solution of the application, in order to more clearly understand the technical means of the application, the specific embodiments of the application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0037] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used throughout the several drawings to represent similar components. In the drawings:

[0038] Figure 1 A structure diagram of an excavator high-low speed switching control system provided by the application is shown;

[0039] Figure 2 A flowchart of a first excavator high-low speed switching control method provided by the application is shown;

[0040] Figure 3 A flowchart of a second excavator high-low speed switching control method provided by the application is shown;

[0041] Figure 4A flow chart of a third excavator high-low speed switching control method provided by the present application is shown;

[0042] Figure 5 A signal contrast diagram provided by the present application is shown;

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

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

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

[0046] At present, most excavators switch high-low speed through controlling hydraulic pilot, when receiving high-low speed instruction, the hydraulic motor switches size displacement based on pilot oil, the motor adopts small displacement in high speed and adopts large displacement in low speed, and the high-low speed switching of excavator walking is realized through adjusting the size of motor displacement.

[0047] The inventor of the present application finds that when switching from high speed to low speed, the motor displacement is controlled by the pilot oil pressure which suddenly becomes large, resulting in sudden decrease of pressure (load), at this time, the walking speed will suddenly slow down, and a certain impact feeling will appear. On the contrary, when switching from low speed to high speed, the motor displacement will suddenly become small, and the pressure (load) will suddenly increase, and this process will be accompanied by a more obvious impact feeling, if the left and right pressure variation amplitude deviation is too large, even the deviation will be caused.

[0048] Based on this, the present application optimizes the excavator high-low speed control logic as follows: on the basis of the original motor control, the control of the left pump electromagnetic valve and the right pump electromagnetic valve as shown in Figure 1 is introduced. Further, the load size of the left and right circuits is judged by the left pressure sensor and the right pressure sensor, and the pump electromagnetic valve is fine-tuned to realize smooth transition of the excavator in high-low speed switching.

[0049] Exemplary embodiments of the present application will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application can be more thoroughly understood and the scope of the present application can be accurately conveyed to those skilled in the art.

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

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

[0052] For example, as shown in some optional embodiments, the S100 comprises S110. Figure 3

[0053] S110, determining the type of high-low speed switching according to the high-low speed switching instruction when the excavator is switching between high speed and low speed.

[0054] Optionally, as shown in some optional embodiments, the controller can determine the type of high-low speed switching based on the meaning represented by the high-low speed switching instruction after receiving 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, which is not limited by the present application. Figure 1

[0055] S200, if the type of high-low speed switching is low speed to high speed, then the motor flow and the motor displacement are simultaneously reduced, and then the motor displacement is kept unchanged and the motor flow is increased to smoothly switch to high speed.

[0056] For example, as shown in some optional embodiments, the S200 comprises S210, S220 and S230. Figure 4

[0057] S210, if the type of high-low speed switching is low speed to high speed, then the motor flow and the motor displacement are simultaneously reduced at the same ratio.

[0058] S220, after reducing the motor displacement to a first preset displacement, the motor displacement is kept unchanged at the first preset displacement.

[0059] S230, according to a preset high speed increasing rate, the pump flow is controlled to increase, so as to increase the motor flow and further increase the rotation speed of the motor, to smoothly switch to high speed, wherein the motor flow is equal to the pump flow.

[0060] Optionally, the high speed and the low speed of the excavator are related to the rotation speed of the motor. When the rotation speed of the motor is high, it is high speed gear; when the rotation speed of the motor is low, it is low speed gear. The rotation speed of the motor = motor flow (also pump flow, the flow of each component under closed loop is the same, and the pump is the source) ÷ motor displacement, which is not limited by the present application.

[0061] ​​​Optionally, before and after the low-speed switching 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, at this time, in order to reduce the impact before and after switching, and at the same time reduce the risk of deviation, it is necessary to ensure that the hydraulic transmission ratio before and after switching remains unchanged. Assuming that the hydraulic pump displacement before switching is QPA, and the hydraulic pump displacement 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, but the hydraulic transmission is more flexible and the buffer is better. Keeping the hydraulic transmission ratio unchanged can ensure that the hydraulic system pressure does not appear dramatic shock, and pressure shock will cause impact and deviation. Because the left and right walking is two closed loops, if the pressure difference between the two sides is large, deviation will occur, which is not limited by the present application.

[0063] Optionally, during the low-speed switching to high-speed, the present application can control the pump displacement to transition from QPB to QPA at a certain rate, and the motor displacement is initially maintained at QMB to change with the pump displacement. The pump displacement adjustment rate is affected by the left and right pressure difference, and the adjustment rate of the side with high pressure is fast, and the adjustment rate of the side with low pressure is slow.

[0064] The pump displacement adjustment rate is the core of the excavator hydraulic system debugging, and the main influencing factors include: engine load rate, engine speed drop size, hydraulic system pressure, water temperature, oil temperature, and engine intake pressure. The present application can adjust the pump response speed through PT filtering adjustment. The pressure / rotation speed fluctuation is affected by the main pump response speed, which is affected by the control current (the influence of mechanical response speed is not considered for the time being), and the change speed of the control current is affected by the filtering time. The filtered output y=y÷z+(x-y÷z)×DT÷T1, from the above formula, it can be seen that the longer the filtering time T1, the slower the signal follows. For example Figure 5 The comparison between the filtered signals and the original signals when the filtering time is equal to 10DT and 20DT is shown, which is not limited by the present application.

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

[0066] For example, as shown in Figure 6 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, then the motor flow and the motor displacement are synchronously increased at the same ratio.

[0068] S320, after the motor displacement is increased to the second preset displacement, maintaining the motor displacement as the second preset displacement;

[0069] S330, according to a preset decreasing rate, controlling the pump flow to decrease, so as to decrease the motor flow and further decrease the rotating speed of the motor, so as to smoothly switch to low speed, wherein the motor flow is equal to the pump flow.

[0070] Optionally, before and after the high speed switching to low speed, the motor displacement changes from small to large, assuming 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 feeling 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 pump displacement before switching is QPA and the pump displacement after switching is QPB, then: QPB=QPA×QMB÷QMA.

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

[0072] In summary, by keeping the pump / motor transmission ratio (displacement ratio) unchanged, the present application realizes the smoothness before and after switching to reduce the impact feeling and the risk of deviation. The high and low pressure is used to adjust the pump displacement change rate. This change rate has a direct impact on the high and low speed switching feeling, and in the practice process, it needs to be adjusted on site based on the subjective feeling of the operator.

[0073] Although the operations are depicted in a particular order, this should not be understood as requiring the operations to be performed in the particular order shown or in sequential order, as some operations can be performed in parallel or in different order than shown.

[0074] It should be understood that each of the steps recited in the method embodiments of the present application can be performed in different order and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the execution of the steps shown. The scope of the present application is not limited in this respect.

[0075] As shown in Figure 7 The present application provides a high / low speed switching control device for 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 for determining the type of high / low speed switching when the excavator performs high / low speed switching.

[0077] The high-speed switching unit 200 is configured to, if the high-low speed switching type is low-speed to high-speed switching, synchronously reduce the motor flow and motor displacement, then control the motor displacement to remain unchanged and increase the motor flow 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 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 configured to maintain 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 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 rate reducing subunit;

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

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

[0086] The flow reduction subunit is used to control the pump flow to reduce 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 handover type determination unit 100 includes: a handover type determination subunit;

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

[0089] As to the device in the above-mentioned embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments of the method, and thus will not be described in detail here.

[0090] The excavator high-low speed switching control device comprises a processor and a memory, and the switching type determination unit 100, the high speed switching unit 200, the low speed switching unit 300 and the like are stored in the memory as program units, and the corresponding functions are realized by the processor executing the program units stored in the memory.

[0091] The processor comprises a core, and the core retrieves the corresponding program units from the memory. The core can be one or more, and by adjusting the core parameters, the motor flow and the motor displacement are first reversely synchronized to rise (high speed to low speed) or fall (low speed to high speed) at the time of high-low speed switching, and then gradually fall (high speed to low speed) or rise (low speed to high speed), thereby avoiding the impact caused by directly falling (high speed to low speed) or rising (low speed to high speed) at the beginning, and further avoiding the situation that the excavator deviates, and improving the safety and experience of the excavator operation.

[0092] The embodiment of the present application provides a computer readable storage medium, which stores a program, and the program is executed by a processor to realize the excavator high-low speed switching control method.

[0093] The embodiment of the present application provides a processor, which is used for running a program, and the program is executed to perform the excavator high-low speed switching control method.

[0094] As shown in Figure 8 The embodiment of the present application provides an electronic device 700, which comprises at least one processor 701, at least one memory 702 connected with the processor 701 and a bus 703; wherein the processor 701 and the memory 702 complete mutual communication through the bus 703; the processor 701 is used for calling program instructions in the memory 702 to execute the above-mentioned excavator high-low speed switching control method. The electronic device in the present application can be a server, a PC, a PAD, a mobile phone and the like.

[0095] The present application also provides a computer program product, which, when executed on an electronic device, is adapted to execute a program initialized with the following method steps:

[0096] The computer program instructions can also be loaded onto a computer, other programmable device, or other device to cause a series of operations to be performed on the computer, other programmable device, or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable device implement the functions specified in the flowchart block or blocks. Figure 1 The flowchart and / or block diagram in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments. In this regard, each flowchart block and / or combination of flowchart blocks can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable device, implement the functions specified in the flowchart block or blocks. Figure 1 The flowchart and / or block diagram in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments. In this regard, each flowchart block and / or combination of flowchart blocks can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable device, implement the functions specified in the flowchart block or blocks.

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

[0098] The memory can include non-persistent memory and / or volatile memory, e.g., random access memory (RAM) having a common memory space and / or non-volatile memory, e.g., read-only memory (ROM), flash memory, etc. The memory includes at least one memory chip. The memory is an example of computer-readable media.

[0099] Computer-readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as 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 disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette, magnetic tape disk storage, or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to computing devices. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0100] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "front", "back", "left" and "right" are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated position or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0101] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. It should also be noted that the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0102] Those skilled in the art will appreciate that embodiments of the present application can be devised for a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0103] The embodiments of the present application only illustrate the technical solutions of the present application and are not used to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall fall within the scope of claims of the present application.

Claims

1. A control method for switching between high and low speeds of a shovel, characterized by, The method comprises the steps of: When the excavator switches between high speed and low speed, determining the type of high-low speed switching; If the type of high-low speed switching is low speed to high speed, then after synchronously reducing the motor flow and the motor displacement, the motor displacement is controlled to be unchanged and the motor flow is increased to smoothly switch to high speed; If the type of high-low speed switching is low speed to high speed, then after synchronously reducing the motor flow and the motor displacement, the motor displacement is controlled to be unchanged and the motor flow is increased to smoothly switch to high speed, comprising: If the type of high-low speed switching is low speed to high speed, then the motor flow and the motor displacement are synchronously reduced at the same proportion; After reducing the motor displacement to a first preset displacement, the motor displacement is maintained to be unchanged at the first preset displacement; According to a preset high speed increasing rate, the pump flow is controlled to be increased to increase the motor flow, thereby increasing the rotating speed of the motor, to smoothly switch to high speed, wherein the motor flow is equal to the pump flow; If the type of high-low speed switching is high speed to low speed, then after synchronously increasing the motor flow and the motor displacement, the motor displacement is controlled to be unchanged and the motor flow is reduced to smoothly switch to low speed; If the type of high-low speed switching is high speed to low speed, then the motor flow and the motor displacement are synchronously increased at the same proportion; After increasing the motor displacement to a second preset displacement, the motor displacement is maintained to be unchanged at the second preset displacement; According to a preset low speed decreasing rate, the pump flow is controlled to be decreased to decrease the motor flow, thereby decreasing the rotating speed of the motor, to smoothly switch to low speed, wherein the motor flow is equal to the pump flow. The step of determining the type of high-low speed switching when the excavator switches between high speed and low speed, comprising:

2. The method of claim 1, wherein, When the excavator switches between high speed and low speed, determining the type of high-low speed switching according to a high-low speed switching instruction. The method comprises the steps of:

3. A high-low speed switching control device for a shovel, characterized by comprising: A switching type determination unit, a high speed switching unit and a low speed switching unit; The switching type determination unit is configured to determine the type of high-low speed switching when the excavator switches between high speed and low speed; The high speed switching unit is configured to, if the type of high-low speed switching is low speed to high speed, synchronously reduce the motor flow and the motor displacement, then control the motor displacement to be unchanged and increase the motor flow to smoothly switch to high speed; The high speed switching unit comprises a synchronous reduction subunit, a first displacement maintaining subunit and a flow increasing subunit; The synchronous reduction subunit is configured to, if the type of high-low speed switching is low speed to high speed, synchronously reduce the motor flow and the motor displacement at the same proportion; The first displacement maintaining subunit is configured to, after reducing the motor displacement to a first preset displacement, maintain the motor displacement to be unchanged at the first preset displacement; The flow increasing subunit is configured to, according to a preset high speed increasing rate, control the pump flow to be increased to increase the motor flow, thereby increasing the rotating speed of the motor, to smoothly switch to high speed, wherein the motor flow is equal to the pump flow; ​ The low-speed switching unit is configured to, if the type of the high-low speed switching is high speed to low speed, control the motor flow and the motor displacement to be synchronously increased, then control the motor displacement to be constant and the motor flow to be decreased, and smoothly switch to the low speed. The low-speed switching unit comprises a synchronous increasing subunit, a second displacement maintaining subunit, and a flow decreasing subunit. The synchronous increasing subunit is configured to, if the type of the high-low speed switching is high speed to low speed, synchronously increase the motor flow and the motor displacement at the same proportion. The second displacement maintaining subunit is configured to, after the motor displacement is increased to the second preset displacement, maintain the motor displacement to be constant. The flow decreasing subunit is configured to, according to a preset decreasing rate, control the pump flow to be decreased, so as to decrease the motor flow and the motor rotating speed, and smoothly switch to the low speed.

4. The apparatus of claim 3, wherein, The switching type determining unit comprises a switching type determining subunit. The switching type determining subunit is configured to, when the excavator performs the high-low speed switching, determine the type of the high-low speed switching according to a high-low speed switching instruction.

5. A computer-readable storage medium having stored thereon a program, characterized in that, The program is executed by the processor to implement the excavator high-low speed switching control method in any one of claims 1 to 2.

6. An electronic device, comprising: The electronic device comprises at least one processor, at least one memory connected with the processor, and a bus; the processor and the memory complete mutual communication through the bus; the processor is used to call program instructions in the memory to execute the excavator high-low speed switching control method in any one of claims 1 to 2.

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