Multi-working condition control method, device, system and excavator

Abstract

The present invention relates to the field of excavator control technology, and discloses a multi-operating-condition control method, device, system, and excavator for an excavator. The method comprises: receiving excavator operating condition information; receiving a driving control signal; determining a target response strategy from a plurality of preconfigured actuator response strategies based on the excavator operating condition information; and converting the driving control signal into an actuator enable signal based on the target response strategy, thereby controlling the actuator movement of the excavator via the actuator enable signal. The present invention reduces the workload of the excavator driver and the difficulty of operating an excavator.

Description

Technical Field

[0001] The present invention relates to the technical field of excavator control, and in particular to a multi-working condition control method, device, system and excavator for an excavator. Background Art

[0002] Excavators are primarily used in construction and mining, and their operating conditions encompass excavation, loading, crushing, and screening operations at construction sites. The excavator system primarily consists of an engine, pump, control valves, cylinders, motors, piping, and other accessories. Hydraulic oil drives actuators such as the boom cylinder, dipper arm cylinder, bucket cylinder, slew motor, and travel motor to achieve actions such as boom raising and lowering, dipper arm unloading and digging, bucket excavation and unloading, and slewing. Currently, excavators' control systems for operating conditions and working devices mostly operate in a single mode. To achieve different effects for crushing, screening, and excavation tasks, the driver must use their hands and feet to perform different operations on the excavator's handles, pedals, and other devices. This requires a high level of driver experience, high labor intensity, and low operating efficiency. Therefore, reducing the driver's labor intensity and driving threshold is an urgent issue that needs to be addressed. Summary of the Invention

[0003] In view of this, the present invention provides a multi-working condition control method, device, system and excavator for an excavator to solve the problems of high labor intensity of excavator drivers and high threshold for excavator driving.

[0004] In the first aspect, the present invention provides a multi-working condition control method for an excavator, the method comprising: receiving excavator working condition information; receiving a driving control signal; determining a target response strategy from a plurality of preconfigured actuator response strategies based on the excavator working condition information; converting the driving control signal into an actuator enable signal according to the target response strategy, so as to control the actuator action of the excavator through the actuator enable signal.

[0005] In some optional embodiments, receiving excavator operating condition information includes: receiving operating condition setting information, the operating condition setting information is used to indicate the environmental mode in which the excavator performs a task; receiving working device setting information, the working device setting information includes at least one of a bucket device, a breaker hammer device, a hydraulic shear device, and a screening bucket device; receiving rotation angle setting information, the rotation angle setting information is used to set the rotation angle allowed by the excavator's rotation mechanism.

[0006] In some optional embodiments, a target response strategy is determined from a plurality of preconfigured actuator response strategies based on the excavator operating condition information, including: determining a first strategy based on the operating condition setting information, the first strategy being used to adjust the relative speed between the boom and the stick; determining a second strategy based on the working device setting information, the second strategy being used to control the proportional solenoid valve current of the working device; and determining a third strategy based on the swing angle setting information, the third strategy being used to limit the swing angle of the excavator and adjust the swing speed of the swing motor.

[0007] In some optional embodiments, a first strategy is determined based on operating condition setting information, including: determining a first priority situation of the relative speed between the boom and the arm based on the operating condition setting information, the first priority situation being used to indicate that the boom speed takes precedence over the arm speed, or indicating that the arm speed takes precedence over the boom speed; obtaining a first priority value calculation function based on the first priority situation, the first priority value calculation function being used to calculate a first priority value based on a driving control signal, the first priority value being used to indicate a ratio in which the boom speed takes precedence over the arm speed, or indicating a ratio in which the arm speed takes precedence over the boom speed; obtaining a first pilot pressure calculation function based on the priority situation, the first pilot pressure calculation function being used to calculate a pilot pressure for controlling the boom speed based on the first priority value, or calculating a pilot pressure for controlling the arm speed; determining the first strategy through the first priority value calculation function and the first pilot pressure calculation function.

[0008] In some optional embodiments, a second strategy is determined based on the working device setting information, including: when the working device is a breaker hammer device, determining a second priority situation between the whole vehicle action and the breaker hammer action based on the operating condition setting information, the second priority situation is used to indicate that the whole vehicle action takes precedence over the breaker hammer action, or, indicates that the breaker hammer action takes precedence over the whole vehicle action; obtaining a second priority value calculation function based on the second priority situation, the second priority value calculation function is used to calculate a second priority value based on the driving control signal, the second priority value is used to indicate a ratio in which the whole vehicle action takes precedence over the breaker hammer action, or, indicates a ratio in which the breaker hammer action takes precedence over the whole vehicle action; obtaining a first proportional solenoid valve current calculation function based on the second priority situation, the first proportional solenoid valve current calculation function is used to calculate a proportional solenoid valve demand current value of the breaker hammer based on the second priority value; when the working device is a hydraulic shear device, determining a second priority situation between the whole vehicle action and the hydraulic shear action based on the operating condition setting information The third priority situation is used to indicate that the whole vehicle action takes precedence over the hydraulic shear action, or, indicates that the hydraulic shear action takes precedence over the whole vehicle action; based on the third priority situation, a third priority value calculation function is obtained, and the third priority value calculation function is used to calculate the third priority value according to the driving control signal, and the third priority value is used to indicate the ratio of the whole vehicle action taking precedence over the hydraulic shear action, or, indicates the ratio of the hydraulic shear action taking precedence over the whole vehicle action; based on the third priority situation, a second proportional solenoid valve current calculation function is obtained, and the second proportional solenoid valve current calculation function is used to calculate the required current value of the proportional solenoid valve of the hydraulic shear according to the third priority value; when the working device is a screening bucket device, a speed boosting strategy for improving the response speed of the PID control of the main control valve is determined; the second strategy is determined by the second priority value calculation function and the first proportional solenoid valve current calculation function, or, the third priority value calculation function and the second proportional solenoid valve current calculation function, or, the speed boosting strategy.

[0009] In some optional embodiments, a third strategy is determined based on the swing angle setting information, including: limiting the swing angle of the excavator based on the swing angle setting information; obtaining a fourth priority value calculation function, the fourth priority value calculation function is used to calculate a fourth priority value based on the driving control signal, and the fourth priority value is used to indicate the proportion of the excavator's swing speed that is limited; obtaining a second pilot pressure calculation function, the second pilot pressure calculation function is used to calculate the pilot pressure for controlling the swing motor based on the fourth priority value; and determining the third strategy through the fourth priority value calculation function and the second pilot pressure calculation function.

[0010] In some optional embodiments, the driving control signal is converted into an actuator enable signal according to the target response strategy, including: inputting the driving control signal into a first strategy, a second strategy, and a third strategy respectively, to obtain a first control signal for adjusting the relative speed between the boom and the dipper arm, a second control signal for controlling the current of the proportional solenoid valve of the working device, and a third control signal for limiting the rotation angle of the excavator and adjusting the rotation speed of the rotation motor, wherein the first control signal, the second control signal, and the third control signal serve as actuator enable signals.

[0011] In the second aspect, the present invention provides a multi-working condition control device for an excavator, which includes: a working condition setting module for receiving excavator working condition information; a driver operation module for receiving driving control signals; a strategy matching module for determining a target response strategy from a plurality of preconfigured actuator response strategies based on the excavator working condition information; an enable signal output module for converting the driving control signal into an actuator enable signal according to the target response strategy, so as to control the actuator action of the excavator through the actuator enable signal.

[0012] In the third aspect, the present invention provides a multi-working condition control system for an excavator, including an electric control handle, a hammer and shear foot pedal, a controller, a bus, a display, an actuator, a main control valve and a proportional solenoid valve; the controller is used for any one of the methods provided in the first aspect, the display is used to input the working condition information of the excavator, the display and the controller are connected through bus communication, the electric control handle and the hammer and shear foot pedal are communicated with the controller, the electric control handle and the hammer and shear foot pedal are used to input driving control signals, the main control valve is communicated with the controller, and multiple proportional solenoid valves are installed on the main control valve, each proportional solenoid valve is respectively connected to different components in the actuator, the main control valve is used to receive the actuator enable signal, and respond to the actuator enable signal through each proportional solenoid valve to control the corresponding actuator.

[0013] In a fourth aspect, the present invention provides an excavator, which includes the multi-working condition control system provided in the third aspect.

[0014] The technical solution provided by the present invention has the following advantages:

[0015] The present invention pre-configures a variety of actuator response strategies in the excavator according to different working conditions. For the same driving control signal, different actuator response strategies trigger different action effects of the excavator actuator, thereby adapting to different working conditions. Based on this, when the excavator is working, the excavator working condition information is pre-input, and then the target response strategy is determined from a variety of pre-configured actuator response strategies based on the input excavator working condition information. At this time, the driver only needs to simply operate the handle and pedal to convert the driving control signal input by the user into an actuator enable signal suitable for the current environment according to the target response strategy. In this way, the driver can use almost the same method to operate the excavator and adapt to different working effects for tasks such as breaker tasks, excavation tasks, and screening tasks, thereby solving the problems of high labor intensity of excavator drivers and high threshold for excavator driving, and improving the working efficiency of the excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 is a structural schematic diagram of an excavator according to an embodiment of the present invention;

[0018] Figure 2 2 is a schematic structural diagram of a multi-working-condition control system for an excavator according to an embodiment of the present invention;

[0019] Figure 3 is a flow chart of a multi-working condition control method for an excavator according to an embodiment of the present invention;

[0020] Figure 4 It is a simplified diagram of the display machine settings interface.

[0021] Figure 5 It is a simplified diagram of the display's operating status interface.

[0022] Figure 6 It is a simplified diagram of the display working device interface.

[0023] Figure 7 This is a simplified diagram of the display rotation angle interface.

[0024] Figure 8 is another flow chart of a multi-working condition control method for an excavator according to an embodiment of the present invention;

[0025] Figure 9is another flow chart of a multi-working condition control method for an excavator according to an embodiment of the present invention;

[0026] Figure 10 It is a schematic diagram of the relationship curve between the stick and boom handle signals and the priority values;

[0027] Figure 11 This is a diagram showing the relationship between the stick and boom priority values ​​and the pilot pressure of the stick and boom proportional solenoid valves;

[0028] Figure 12 This is a diagram showing the relationship between the current demand value of the proportional solenoid valve of the breaker hammer and hydraulic shear and the vehicle action signal;

[0029] Figure 13 It is a schematic diagram of the relationship curve of the priority value of the boom action relative to the rotation action;

[0030] Figure 14 This is a diagram showing the relationship between the pilot pressure and the priority value of the proportional solenoid valve of the rotary motor;

[0031] Figure 15 is another flow chart of a multi-working condition control method for an excavator according to an embodiment of the present invention;

[0032] Figure 16 2 is a schematic structural diagram of a multi-working condition control device for an excavator according to an embodiment of the present invention;

[0033] Figure numerals: 1. Electric control handle; 2. Hammer and shear pedal; 3. Controller; 4. Bus; 5. Display; 6. Actuator; 7. Main control valve; 8. Proportional solenoid valve; 9. Boom; 10. Boom cylinder; 11. Arm cylinder; 12. Arm; 13. Bucket cylinder; 14. Bucket; 15. Travel motor; 16. Travel track; 17. Rotation mechanism; 18. Rotation motor. DETAILED DESCRIPTION

[0034] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0035] According to an embodiment of the present invention, there is provided an excavator, such as Figure 1FIG. 1 is a schematic diagram of the structure of an excavator, which includes a boom 9, a boom cylinder 10, an arm cylinder 11, an arm 12, a bucket cylinder 13, a bucket 14, a travel motor 15, a travel track 16, a slewing mechanism 17, and a slewing motor 18. The external structure of this excavator is the same as that of an excavator in the prior art, and the structural design will not be described in detail here.

[0036] Based on the above excavator architecture, the present invention also provides a multi-working condition control system for an excavator, which is applied to the above excavator to solve the problem that the excavator cannot adaptively adjust the execution action of the actuator under multiple working conditions. Figure 2 As shown, the multi-condition control system of the excavator provided by the present invention includes: an electric control handle 1, a hammer and shear pedal 2, a controller 3, a bus 4, a display 5, an actuator 6, a main control valve 7 and a proportional solenoid valve 8; wherein the controller 3 is used to execute the multi-condition control method of the excavator provided by the present invention. The specific control logic is described in detail in the following method embodiment and will not be repeated here. The display 5 is used to input the excavator working condition information, that is, the user determines the current construction working condition according to the current construction environment, and manually inputs the excavator working condition information. The display 5 and the controller 3 are communicatively connected through the bus 4, and the electric control handle 1 and the hammer and shear pedal 2 are communicatively connected with the controller 3. The electric control handle 1 and the hammer and shear pedal 2 are used to input driving control signals. For example, the electric control handle 1 is used to control the boom 9 and the dipper arm 12 of the excavator, and the hammer and shear pedal 2 is used to control the action of the breaker hammer or hydraulic shear. The main control valve 7 is communicatively connected to the controller 3. A plurality of proportional solenoid valves 8 are installed on the main control valve 7. Each proportional solenoid valve 8 is respectively connected to a different component in the actuator 6 (such as the boom cylinder 10, the dipper cylinder 11, the bucket cylinder 13, the rotary motor 18, the breaker hammer, the hydraulic shear, etc.). The main control valve 7 is used to receive the actuator enable signal and respond to the actuator enable signal through each proportional solenoid valve 8 to control the corresponding actuator 6 component.

[0037] Based on the multi-condition control system of the excavator mentioned above, the present invention provides an embodiment of a multi-condition control method for an excavator. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0038] Figure 3 This is a flow chart of a multi-working condition control method for an excavator according to an embodiment of the present invention, the flow includes the following steps:

[0039] Step S301, receiving excavator working condition information;

[0040] Step S302, receiving a driving control signal;

[0041] Step S303, determining a target response strategy from a plurality of pre-configured actuator response strategies according to the excavator working condition information;

[0042] Step S304 : converting the driving control signal into an actuator enable signal according to the target response strategy, so as to control the actuator action of the excavator through the actuator enable signal.

[0043] Specifically, the present invention pre-configures multiple actuator response strategies in the excavator based on different operating conditions. Given the same driving control signal, different actuator response strategies can convert the driving control signal into actuator enable signals of varying magnitudes, thereby triggering different actions of the excavator's actuators to adapt to different operating scenarios. In this embodiment, the actuators include the boom cylinder 10, arm cylinder 11, bucket cylinder 13, swing motor 18, breaker hammer, hydraulic shears, etc.

[0044] Based on this, when the excavator is working, the driver can pre-input the excavator working condition information according to the current working environment. Since a variety of actuator response strategies correspond to different working conditions, the input excavator working condition information and the pre-configured working conditions are matched. According to the matching relationship, the target response strategy that best suits the current excavator working condition information can be determined from a variety of pre-configured actuator response strategies. At this time, the driver only needs to simply operate the electric control handle and hammer shear foot pedal and other equipment in the cab to convert the driving control signal input by the user into an actuator enable signal suitable for the current environment according to the rules of the target response strategy. In this way, the driver uses almost the same method to operate the excavator, and can adapt to different working effects for tasks such as breaker hammer tasks, excavation tasks, and screening tasks, thereby solving the problems of high labor intensity and high excavator driving threshold of the excavator driver and improving the working efficiency of the excavator.

[0045] In some optional implementations, the above step S301 includes:

[0046] Step a1: receiving operating condition setting information, where the operating condition setting information is used to represent an environment mode in which the excavator performs a task;

[0047] Step a2, receiving working device setting information, where the working device setting information includes at least one of a bucket device, a breaker hammer device, a hydraulic shear device, and a screen bucket device;

[0048] Step a3: receiving rotation angle setting information, where the rotation angle setting information is used to set the rotation angle allowed by the excavator's rotation mechanism.

[0049] Specifically, in the embodiment of the present invention, the input excavator working condition information mainly includes three aspects, namely, working condition setting information, working device setting information and rotation angle setting information. Figures 4 to 7 As shown, there are four different software pages displayed on the monitor, among which Figure 4 It is used to prompt the user to select whether the working condition that needs to be set currently is the operating condition setting information, the working device setting information or the rotation angle setting information. Figure 5 This is the page after the user selects the working condition setting information. In the working condition setting information, the user can continue to set standard, flat ground, high efficiency, hoisting and other environmental modes used to represent the excavator's task execution. Figure 6 This is the page where users select the working device setting information. In this page, you can select the working device for the task, including but not limited to the bucket device, breaker device, hydraulic shear device, and screen bucket device. The hydraulic shear device can also be divided into shear / clamp A and shear / clamp B according to the type of hydraulic shear. Figure 7 This is the page for setting the rotation angle, where you can enter the allowed rotation angle of the excavator's rotation mechanism. After setting, the rotation angle of the rotation mechanism cannot exceed the set value. Finally, based on the information entered by the user, the specific excavator working conditions are obtained, such as Figure 8 The figure shows a flowchart for setting excavator operating information. This information, input by the user, is sent to the controller via the display. The technical solution provided by the embodiments of this invention specifies excavator operating scenarios based on the excavator's environment, working device, and swing angle. By configuring a variety of actuator response strategies for different scenarios, the user's handle signals can be adjusted in more complex operating scenarios, enabling the user to achieve the desired control effect without much effort in operating the handle, significantly improving excavator operating efficiency.

[0050] In some optional implementations, the above step S103 includes:

[0051] Step b1, determining a first strategy based on the operating condition setting information, the first strategy being used to adjust the relative speed between the boom and the arm;

[0052] Step b2, determining a second strategy based on the working device setting information, where the second strategy is used to control the current of the proportional solenoid valve of the working device;

[0053] Step b3: determining a third strategy according to the swing angle setting information, wherein the third strategy is used to limit the swing angle of the excavator and adjust the swing speed of the swing motor.

[0054] Specifically, if Figure 9As shown, this embodiment of the present invention uses different first strategies for different operating conditions, such as standard, flat ground, high-efficiency, and hoisting. This adjusts the relative speed between the boom and dipper arm, making it more suitable for both conventional and extreme operating modes. The current of the proportional solenoid valves of different working devices, such as the breaker hammer, hydraulic shear, and screen bucket, is adjusted to provide a more appropriate force output for the different output modes of crushing and excavation. A corresponding third strategy is determined for the swing angle, thereby limiting the excavator's swing angle and adjusting the swing motor's rotation speed.

[0055] In some optional embodiments, by inputting the handle and driving control signals into the first strategy, the second strategy and the third strategy respectively, a first control signal for adjusting the relative speed between the boom and the dipper arm, a second control signal for controlling the current of the proportional solenoid valve of the working device, and a third control signal for limiting the swing angle of the excavator and adjusting the swing speed of the swing motor are obtained, wherein the first control signal, the second control signal and the third control signal serve as actuator enable signals.

[0056] Through the coordination of the above three strategies, the driving control signals input by the user are converted into actuator enable signals that are more suitable for the current working conditions, which significantly improves the efficiency and accuracy of the excavator's work, lowers the driver's operating threshold, and reduces the driver's labor intensity.

[0057] In some optional implementations, the above step b1 includes:

[0058] Step c1, determining a first priority condition of the relative speed between the boom and the arm according to the operating condition setting information, wherein the first priority condition is used to indicate that the boom speed takes precedence over the arm speed for operation, or that the arm speed takes precedence over the boom speed for operation;

[0059] Step c2: obtaining a first priority value calculation function based on the first priority condition, the first priority value calculation function being used to calculate a first priority value according to the driving control signal, the first priority value being used to indicate a ratio in which the boom speed takes precedence over the arm speed, or a ratio in which the arm speed takes precedence over the boom speed;

[0060] Step c3: obtaining a first pilot pressure calculation function based on the priority condition, the first pilot pressure calculation function being used to calculate the pilot pressure for controlling the boom speed according to the first priority value, or for calculating the pilot pressure for controlling the arm speed;

[0061] Step c4: determining a first strategy through a first priority value calculation function and a first pilot pressure calculation function.

[0062] Specifically, for the four operating condition control methods of standard, flat ground, high efficiency, and lifting, the embodiment of the present invention is achieved by adjusting the relative movement speed of the boom and the bucket arm. The above four operating modes require high coordination of the boom and the bucket arm. Different priority control methods are selected for different working conditions, and the actual values ​​are confirmed based on the excavator debugging effect.

[0063] For any operating condition, the first priority condition for the relative speeds of the boom and arm must be determined. This first priority condition indicates that the boom speed takes precedence over the arm speed, or vice versa. For example, in a level-land operating condition, the boom speed takes precedence over the arm speed, while in a high-efficiency operating condition, the arm speed takes precedence over the boom speed. This embodiment of the present invention is merely an example and is not intended to be limiting. The actual first priority condition needs to be defined based on user needs and actual application.

[0064] Afterwards, a first priority value calculation function is obtained based on the first priority situation, wherein the first priority value calculation function is used to calculate the first priority value according to the driving control signal, and the first priority value is used to indicate the ratio of the boom speed to the arm speed, or the ratio of the arm speed to the boom speed.

[0065] Specifically, when the boom and the stick are in combined motion, the boom speed and the stick speed restrict each other. The speed restriction is expressed by the first priority value (0-100%). The larger the first priority value, the greater the restriction, and the corresponding slower the motion speed. The driving control signal received by the controller is the electric control handle motion signal, which mainly includes the boom handle signal J B And stick handle signal J A , according to the actual working condition of the excavator, the first priority value calculated includes R A and R B Two situations. When the boom action speed needs to be accelerated and the arm action speed needs to be slowed down, calculate the first priority value R of the boom action relative to the arm action A A linear function relationship (first priority value calculation function): R A =k A ·J B +b A When the arm movement speed needs to be accelerated and the boom movement speed needs to be slowed down, calculate the first priority value R of the arm movement relative to the boom movement B The curve is a linear function (first priority value calculation function): R B =k B ·J A +b B , where the priority coefficient k A 、b A 、k B 、b BThe specific value is determined according to the actual debugging effect. The first priority value R A or R B The relationship curve diagram is as follows Figure 10 shown.

[0066] After the first priority value is calculated, the embodiment of the present invention calculates the first pilot pressure through the first priority value. First, it is necessary to obtain the first pilot pressure calculation function based on the aforementioned priority situation, and substitute the first priority value into the first pilot pressure calculation function to calculate the pilot pressure for controlling the boom speed, or calculate the pilot pressure for controlling the boom speed.

[0067] Specifically, the first pilot pressure calculation function obtained according to the aforementioned priority conditions in the embodiments of the present invention also includes two forms. The first is boom priority control, that is, the boom speed is controlled with priority over the arm speed. The boom priority control calculates the required pilot pressure value of the proportional solenoid valve of the arm cylinder.

[0068] Boom priority control is based on the priority value R of the boom action relative to the stick action A , calculate the required pilot pressure value of the boom cylinder proportional solenoid valve. The required pilot pressure value is the hydraulic oil pilot pressure at the boom proportional solenoid valve. The pilot hydraulic oil generated by the solenoid valve pushes the valve core to move, thereby controlling the cylinder action. Priority value R A The first pilot pressure calculation function obtained is P A =P A-1 -P A-1 ·R A , the priority value R A Substitute into the above formula to get the first pilot pressure P A , the specific curve diagram is as follows Figure 11 In the above formula, P A Indicates the actual required pilot pressure value of the boom cylinder proportional solenoid valve after adjustment; P A-1 Indicates the pilot pressure value required to adjust the proportional solenoid valve of the front boom cylinder.

[0069] The second is arm priority control, that is, the arm speed is controlled before the boom speed. The arm priority control calculates the required pilot pressure value of the proportional solenoid valve of the boom cylinder.

[0070] The arm priority control is based on the priority value R of the arm action relative to the boom action. B , calculate the required pilot pressure value of the boom cylinder proportional solenoid valve, priority value R B It has a linear functional relationship with the pilot pressure curve of the boom proportional solenoid valve. This functional relationship is another first pilot pressure calculation function: P B =P B-1 -P B-1 ·R B ,like Figure 11 As shown. In the above formula, P B Indicates the actual boom cylinder proportional solenoid valve required pilot pressure value after adjustment; P B-1 Indicates the pilot pressure value required to adjust the proportional solenoid valve of the front boom cylinder.

[0071] Finally, based on the first priority value calculation function and the first pilot pressure calculation function obtained above, different formulas are obtained according to different priority situations to generate the corresponding first strategy, and the priority value R A or R B Simply substitute the value into the calculation to accurately calculate the required pilot pressure value of the boom cylinder or the required pilot pressure value of the stick cylinder. The required pilot pressure value calculated above is an actuator enable signal, thereby achieving the purpose of accurately regulating the relative speed between the boom and the stick according to user needs, and realizing different operating effects under different environmental modes.

[0072] In some optional implementations, the above b2 includes:

[0073] Step d1: When the working device is a breaker hammer device, a second priority between the vehicle action and the breaker hammer action is determined based on the working condition setting information, where the second priority indicates that the vehicle action takes precedence over the breaker hammer action, or that the breaker hammer action takes precedence over the vehicle action;

[0074] Step d2: obtaining a second priority value calculation function based on the second priority condition, the second priority value calculation function being used to calculate a second priority value according to the driving control signal, the second priority value being used to indicate the ratio of the whole vehicle action to the breaker action, or the ratio of the breaker action to the whole vehicle action;

[0075] Step d3, obtaining a first proportional solenoid valve current calculation function based on the second priority condition, wherein the first proportional solenoid valve current calculation function is used to calculate a required current value of the proportional solenoid valve of the breaker according to the second priority value;

[0076] Step d4: When the working device is a hydraulic shear device, a third priority between the whole vehicle motion and the hydraulic shear motion is determined based on the working condition setting information, where the third priority indicates that the whole vehicle motion takes precedence over the hydraulic shear motion, or that the hydraulic shear motion takes precedence over the whole vehicle motion;

[0077] Step d5: obtaining a third priority value calculation function based on the third priority condition, the third priority value calculation function being used to calculate a third priority value according to the driving control signal, the third priority value being used to indicate a ratio in which the entire vehicle action takes precedence over the hydraulic shear action, or indicating a ratio in which the hydraulic shear action takes precedence over the entire vehicle action;

[0078] Step d6, obtaining a second proportional solenoid valve current calculation function based on the third priority condition, wherein the second proportional solenoid valve current calculation function is used to calculate a required current value of the proportional solenoid valve of the hydraulic shear according to the third priority value;

[0079] Step d7, when the working device is a sieve bucket device, determining a speed boost strategy for increasing the PID control response speed of the main control valve;

[0080] Step d8: Determine the second strategy through the second priority value calculation function and the first proportional solenoid valve current calculation function, or the third priority value calculation function and the second proportional solenoid valve current calculation function, or the speed boost strategy.

[0081] Specifically, the present invention defines performance matching strategies for different auxiliary working devices. Different auxiliary working devices have different performance matching strategies for the vehicle's boom, arm, bucket, slewing, and traveling movements, resulting in different secondary strategies. The breaker hammer provides hammering capabilities, while the hydraulic shears provide clamping, releasing, and rotating functions. The present invention implements different secondary strategies for each of these devices, as detailed below.

[0082] Steps d1-d3 control the hammer device. When the working device is a hammer device, a second priority between the vehicle and hammer actions is determined based on the operating condition setting information. In embodiments of the present invention, the second priority indicates that the vehicle action takes precedence over the hammer action, or alternatively, the hammer action takes precedence over the vehicle action. Since the hydraulic oil pump's oil supply is fixed at any given time, if the speed of the vehicle's boom, arm, bucket, slewing, and traveling actions needs to be increased, the hydraulic oil flow required for the hammer's action needs to be limited. This allows more hydraulic oil to flow into the action cylinder and less into the hammer, thereby controlling the speed of both actions.

[0083] When the whole vehicle action (arm, arm, bucket, rotation, travel) and the breaker hammer perform compound action at the same time, the action speed of the arm, arm, bucket, rotation, travel and the hammer flow of the breaker hammer are restricted to each other. The magnitude of the restriction is determined by the second priority value R. H (0~100%). The second priority value R H It needs to be calculated in combination with the driving control signal of the breaker pedal. The specific calculation method is the same as the above R A and R B The calculation method is the same as that of the second priority value calculation function. The calculation function of R A and R BThe expression is omitted here. Then, based on the second priority situation, the first proportional solenoid valve current calculation function is obtained. The first proportional solenoid valve current calculation function is used to calculate the proportional solenoid valve demand current value of the breaker hammer according to the second priority value, and the whole vehicle action (boom, bucket, bucket, rotation, travel) is relative to the second priority value R of the breaker hammer action. H Substitute into the current calculation function of the first proportional solenoid valve to obtain the required current value I of the breaker proportional solenoid valve H .

[0084] Among them, if the vehicle movement speed becomes faster and the breaker hammer flow decreases, the current calculation function of the first proportional solenoid valve is I H =I H-1 -I H-1 ·R H ,like Figure 12 If the vehicle speed is required to slow down and the hammer flow is increased, the current calculation function of the first proportional solenoid valve is I H =I H-1 +I H-1 ·R H , thereby increasing the current value required by the breaker hammer proportional solenoid valve. H Indicates the actual current value required by the proportional solenoid valve of the breaker hammer after adjustment; I H-1 Indicates the required current value of the breaker hammer proportional solenoid valve before adjustment.

[0085] The above steps d4 to d6 are for controlling the hydraulic shear device. When the working device is a hydraulic shear device, the third priority between the vehicle movement and the hydraulic shear movement is first determined according to the working condition setting information. The third priority is used to indicate that the vehicle movement takes precedence over the hydraulic shear movement, or that the hydraulic shear movement takes precedence over the vehicle movement. When the vehicle movement (boom, arm, bucket, rotation, travel) and the hydraulic shear are combined, the vehicle movement speed and the hydraulic shear flow rate are mutually restricted. The magnitude of the restriction is expressed by the third priority value R C The third priority value R of the vehicle action (boom, arm, bucket, rotation, travel) relative to the hydraulic shear action (clamping, releasing and rotation) C The calculation principle is the same as that of the above embodiment and will not be repeated here. C Calculate the required current value I of the hydraulic shear proportional solenoid valve C According to the actual working conditions of the excavator, if the vehicle movement speed needs to be accelerated and the hydraulic shear flow rate needs to be reduced (i.e., the vehicle movement takes precedence over the hydraulic shear movement), the required current value of the hydraulic shear proportional solenoid valve needs to be reduced. The required current value of the hydraulic shear proportional solenoid valve and the vehicle movement signal curve are in a linear functional relationship, i.e., the second proportional solenoid valve current calculation function I C =I C-1 -IC-1 ·R C ,like Figure 12 When the vehicle speed needs to be slowed down and the hydraulic shear flow rate needs to be increased, the required current value of the hydraulic shear proportional solenoid valve needs to be increased, that is, the current calculation function of the second proportional solenoid valve is I C =I C-1 +I C-1 ·R C In the above formula, I C Indicates the actual hydraulic shear proportional solenoid valve demand current value after adjustment; I C-1 Indicates the required current value of the hydraulic shear proportional solenoid valve before adjustment.

[0086] Step d7 controls the screening bucket device. In screening mode, the excavator bucket and dipper arm operate faster and respond more quickly than in shovel mode. Therefore, embodiments of the present invention achieve a combined screening function for the bucket and dipper arm by increasing the PID control response speed of the main control valve. In some specific embodiments, this speed-boosting strategy for increasing the PID control response speed of the main control valve can be implemented by adjusting a parameter tuning method involving a proportional coefficient. The specific process is conventional and will not be further elaborated herein.

[0087] Through the technical solutions provided by the embodiments of the present invention, for different working devices, the breaker hammer can adjust the proportional solenoid valve current of the breaker hammer using the second priority value calculation function and the first proportional solenoid valve current calculation function, the hydraulic shear can adjust the proportional solenoid valve current of the hydraulic shear using the third priority value calculation function and the second proportional solenoid valve current calculation function, and the screen bucket can be adjusted by PID response speed. The present invention adaptively controls different working devices based on different second strategies, significantly improving the excavator's adaptability to different working conditions. The user only needs to input the same handle signal to achieve different control effects, significantly reducing the operator's workload.

[0088] In some optional implementations, the above step b3 includes:

[0089] Step e1, limiting the rotation angle of the excavator according to the rotation angle setting information;

[0090] Step e2: obtaining a fourth priority value calculation function, the fourth priority value calculation function being used to calculate a fourth priority value according to the driving control signal, the fourth priority value being used to indicate a ratio at which the excavator rotation speed is limited;

[0091] Step e3, obtaining a second pilot pressure calculation function, the second pilot pressure calculation function being used to calculate the pilot pressure for controlling the rotary motor according to the fourth priority value;

[0092] Step e4: determining a third strategy through the fourth priority value calculation function and the second pilot pressure calculation function.

[0093] Specifically, the third strategy defined in this embodiment of the present invention consists of two parts: the first part limits the excavator's swing angle, and the second part controls the pilot pressure of the swing motor, thereby adjusting the excavator's swing speed. The first part, based on different excavator loading environments and operational requirements, requires strong adaptability in the coordinated boom and swing movements. Users can select different swing angles for different loading environments.

[0094] In the second part, before adjusting the excavator's rotation speed, it is necessary to obtain the electrical signals of the boom and the rotation handle and calculate the fourth priority value. When the boom and rotation actions are combined, because the hydraulic oil pressure of the boom cylinder is much greater than the hydraulic oil pressure of the rotation motor, it is necessary to limit the rotation speed to prevent the rotation from being too fast during loading operations. This is achieved by limiting the rotation speed through the boom action. The limit range is expressed by the fourth priority value R S To represent, where the fourth priority value R S The controller receives the boom handle signal J through the fourth priority value calculation function. B According to the actual working condition of the excavator, when the boom movement speed needs to be accelerated and the rotation speed needs to be slowed down, the boom handle signal J B Substitute the fourth priority value calculation function R which is a linear function relationship S =k S ·J B +b S , where the priority coefficient k S 、b S The specific value is determined according to the actual debugging effect. The relationship curve of the boom action with various rotation angles relative to the rotation action priority value is as follows: Figure 13 shown.

[0095] The rotation speed needs to be based on the fourth priority value R of the boom action relative to the rotation action. S To control the rotation speed, it is necessary to calculate the required pilot pressure value of the proportional solenoid valve of the rotary motor, the fourth priority value R S It has a linear function relationship with the pilot pressure curve of the proportional solenoid valve of the rotary motor, that is, the second pilot pressure calculation function: P S =P S-1 -P S-1 ·R S The relationship curve between the pilot pressure and priority value of the proportional solenoid valve of the rotary motor with various rotation angles is as follows: Figure 14 As shown. In the above formula, P S Indicates the actual pilot pressure value required by the proportional solenoid valve of the rotary motor after adjustment; P S-1This indicates the required pilot pressure value for adjusting the front swing motor's proportional solenoid valve. Finally, the excavator's vehicle controller, based on the electronic control handle signal and external analog input, calculates and outputs the corresponding proportional solenoid valve current, which in turn controls the various cylinders and motors to perform their respective actions.

[0096] In some optional embodiments, such as Figure 15 As shown, the controller receives the excavator working condition information from the display through the excavator vehicle bus. The controller identifies the excavator working condition information and determines whether the current setting mode has changed. If it has not changed, it enters the next step. If it has changed, the working mode is re-identified. If the working condition, working device, and rotation angle setting mode remain unchanged, the controller saves and memorizes the currently selected mode information. After the system is restarted, there is no need to repeat the setting. The corresponding algorithm calculation is performed for different selection modes and matching output is performed.

[0097] Specifically, the method provided by the embodiment of the present invention can update the changes in the excavator working condition information in real time, accurately replace the corresponding target response strategy, ensure that the output actuator enable signal can best suit the current working condition scenario, and improve the excavator operating efficiency.

[0098] This embodiment also provides a multi-operating-condition control device for an excavator, which is used to implement the above-described embodiments and preferred implementations. Details already described will not be repeated here. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0099] This embodiment provides a multi-operating condition control device for an excavator, such as Figure 16 Shown, including:

[0100] The working condition setting module 1601 is used to receive the working condition information of the excavator;

[0101] A driver control module 1602 is configured to receive a driving control signal;

[0102] a strategy matching module 1603 for determining a target response strategy from a plurality of pre-configured actuator response strategies according to the excavator working condition information;

[0103] The enable signal output module 1604 is used to convert the driving control signal into an actuator enable signal according to the target response strategy, so as to control the actuator action of the excavator through the actuator enable signal.

[0104] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0105] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0106] A portion of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the form in which the computer program instruction exists in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc. Accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by the computer.

[0107] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A multi-working condition control method for an excavator, characterized in that: The method comprises: Receiving excavator working condition information; the receiving of the excavator working condition information includes: receiving operating condition setting information, the operating condition setting information is used to represent the environment mode in which the excavator performs the task; Receive driving control signals; Determining a target response strategy from a plurality of preconfigured actuator response strategies according to the excavator working condition information; determining a target response strategy from a plurality of preconfigured actuator response strategies according to the excavator working condition information, including: determining a first strategy according to the operating condition setting information, the first strategy being used to adjust the relative speed between the boom and the arm; determining the first strategy according to the operating condition setting information, including: determining a first priority situation of the relative speed between the boom and the arm according to the operating condition setting information, the first priority situation being used to indicate that the boom speed takes precedence over the arm speed for action, or indicating that the arm speed takes precedence over the boom speed. The method further comprises: obtaining a first priority value calculation function based on the first priority situation, the first priority value calculation function being used to calculate a first priority value according to the driving control signal, the first priority value being used to indicate a ratio in which the boom speed takes precedence over the arm speed, or a ratio in which the arm speed takes precedence over the boom speed; obtaining a first pilot pressure calculation function based on the first priority situation, the first pilot pressure calculation function being used to calculate a pilot pressure for controlling the boom speed according to the first priority value, or a pilot pressure for controlling the arm speed; and determining the first strategy through the first priority value calculation function and the first pilot pressure calculation function. The driving control signal is converted into an actuator enable signal according to the target response strategy, so as to control the actuator action of the excavator through the actuator enable signal.

2. The method according to claim 1, characterized in that The receiving of the excavator working condition information further includes: receiving working device setting information, wherein the working device setting information includes at least one of a bucket device, a breaker hammer device, a hydraulic shear device, and a screen bucket device; The device receives rotation angle setting information, wherein the rotation angle setting information is used to set the rotation angle allowed by the excavator's rotation mechanism.

3. The method according to claim 2, characterized in that The step of determining a target response strategy from a plurality of pre-configured actuator response strategies according to the excavator working condition information further includes: determining a second strategy according to the working device setting information, wherein the second strategy is used to control the current of the proportional solenoid valve of the working device; A third strategy is determined according to the swing angle setting information, where the third strategy is used to limit the swing angle of the excavator and adjust the swing speed of the swing motor.

4. The method according to claim 3, characterized in that The determining of the second strategy according to the working device setting information includes: When the working device is a breaker hammer device, a second priority between the whole vehicle action and the breaker hammer action is determined according to the working condition setting information, wherein the second priority is used to indicate that the whole vehicle action takes precedence over the breaker hammer action, or that the breaker hammer action takes precedence over the whole vehicle action; obtaining a second priority value calculation function based on the second priority condition, wherein the second priority value calculation function is used to calculate a second priority value according to the driving control signal, wherein the second priority value is used to indicate a ratio in which the whole vehicle action takes precedence over the breaker action, or a ratio in which the breaker action takes precedence over the whole vehicle action; obtaining a first proportional solenoid valve current calculation function based on the second priority condition, wherein the first proportional solenoid valve current calculation function is used to calculate a required current value of the proportional solenoid valve of the breaker according to the second priority value; When the working device is a hydraulic shear device, a third priority situation between the whole vehicle movement and the hydraulic shear movement is determined according to the working condition setting information, wherein the third priority situation is used to indicate that the whole vehicle movement takes precedence over the hydraulic shear movement, or that the hydraulic shear movement takes precedence over the whole vehicle movement; obtaining a third priority value calculation function based on the third priority condition, the third priority value calculation function being used to calculate a third priority value according to the driving control signal, the third priority value being used to indicate a ratio in which the whole vehicle action takes precedence over the hydraulic shear action, or indicating a ratio in which the hydraulic shear action takes precedence over the whole vehicle action; acquiring a second proportional solenoid valve current calculation function based on the third priority condition, wherein the second proportional solenoid valve current calculation function is used to calculate a required current value of the proportional solenoid valve of the hydraulic shear according to the third priority value; When the working device is a sieve bucket device, determining a speed boost strategy for increasing the PID control response speed of the main control valve; The second strategy is determined by the second priority value calculation function and the first proportional solenoid valve current calculation function, or the third priority value calculation function and the second proportional solenoid valve current calculation function, or the speed boost strategy.

5. The method according to claim 3, characterized in that Determining a third strategy according to the rotation angle setting information includes: limiting the rotation angle of the excavator according to the rotation angle setting information; obtaining a fourth priority value calculation function, the fourth priority value calculation function being used to calculate a fourth priority value according to the driving control signal, the fourth priority value being used to indicate a ratio at which the excavator rotation speed is limited; obtaining a second pilot pressure calculation function, wherein the second pilot pressure calculation function is used to calculate a pilot pressure for controlling a rotary motor according to the fourth priority value; The third strategy is determined by the fourth priority value calculation function and the second pilot pressure calculation function.

6. The method according to claim 3, characterized in that The converting the driving control signal into an actuator enable signal according to the target response strategy includes: The driving control signal is input into the first strategy, the second strategy and the third strategy respectively to obtain a first control signal for adjusting the relative speed between the boom and the dipper arm, a second control signal for controlling the current of the proportional solenoid valve of the working device, and a third control signal for limiting the rotation angle of the excavator and adjusting the rotation speed of the rotation motor, wherein the first control signal, the second control signal and the third control signal serve as the actuator enable signal.

7. A multi-working condition control device for an excavator, characterized in that: The device comprises: A working condition setting module is used to receive excavator working condition information; the receiving of the excavator working condition information includes: receiving operating condition setting information, the operating condition setting information is used to represent the environment mode in which the excavator performs the task; A driver control module, for receiving a driving control signal; a strategy matching module, configured to determine a target response strategy from a plurality of pre-configured actuator response strategies according to the excavator working condition information; the determining of the target response strategy from a plurality of pre-configured actuator response strategies according to the excavator working condition information comprises: determining a first strategy according to the operating condition setting information, the first strategy being used to adjust the relative speed between the boom and the stick; the determining of the first strategy according to the operating condition setting information comprises: determining a first priority situation of the relative speed between the boom and the stick according to the operating condition setting information, the first priority situation being used to indicate that the boom speed takes precedence over the stick speed for action, or that the stick speed takes precedence; Taking action before the boom speed; obtaining a first priority value calculation function based on the first priority situation, the first priority value calculation function being used to calculate a first priority value according to the driving control signal, the first priority value being used to indicate a ratio in which the boom speed takes precedence over the arm speed, or a ratio in which the arm speed takes precedence over the boom speed; obtaining a first pilot pressure calculation function based on the first priority situation, the first pilot pressure calculation function being used to calculate a pilot pressure for controlling the boom speed according to the first priority value, or a pilot pressure for controlling the arm speed; determining the first strategy through the first priority value calculation function and the first pilot pressure calculation function; An enable signal output module is used to convert the driving control signal into an actuator enable signal according to the target response strategy, so as to control the actuator action of the excavator through the actuator enable signal.

8. A multi-operating-condition control system for an excavator, characterized in that: Including electric control handle, hammer and shear foot pedal, controller, bus, display, actuator, main control valve and proportional solenoid valve; The controller is used to execute the method provided in any one of claims 1 to 6, the display is used to input excavator working condition information, the display and the controller are communicatively connected via the bus, the electric control handle and the hammer shear foot pedal are communicatively connected to the controller, the electric control handle and the hammer shear foot pedal are used to input driving control signals, the main control valve is communicatively connected to the controller, a plurality of proportional solenoid valves are installed on the main control valve, each of the proportional solenoid valves is respectively connected to different components in the actuator, the main control valve is used to receive an actuator enable signal, and respond to the actuator enable signal through each of the proportional solenoid valves to control the corresponding actuator.

9. An excavator, characterized in that: The excavator includes the multi-mode control system provided in claim 8.

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