Work machine control method, control device, work machine, and readable storage medium

Abstract

The embodiment of the invention discloses an operation machine control method and device, an operation machine and a readable storage medium, and belongs to the technical field of equipment control. The working machine control method comprises the steps of obtaining operation data of a working machine; determining the working condition of the operation machine according to the operation data; determining a control strategy of the working machine based on the working condition of the working machine; obtaining optimization information for controlling the operation machinery based on the control strategy; and updating a control strategy of the working machine according to the optimization information, and controlling the working machine based on the updated control strategy. Differentiated control strategies are provided for different working conditions of the operation machine, fine control over the operation machine is achieved, and the working efficiency of the operation machine under all the working conditions is improved. In addition, the operation machine continuously optimizes the control strategy in the operation process, so that the operation machine can be controlled to operate at the highest working efficiency based on the updated control strategy.

Description

Technical Field

[0001] The present application relates to the technical field of equipment control, and in particular to a working machine control method, a control device, a working machine and a readable storage medium. Background Art

[0002] A loader is a machine used to shovel and load bulk materials such as soil, sand, lime, coal, etc. It can also do light shoveling and digging of ore, hard soil, etc. With the rapid development of the manufacturing technology of loaders and other operating machinery, loaders can also perform bulldozing, lifting and material loading and unloading operations by replacing different auxiliary working devices, so that loaders can be used in earthwork construction scenes of highway, railway, construction, hydropower, ports and mines.

[0003] The loader needs to perform multiple continuous actions during its operation, and each action requires controlling the loader's bucket speed, angle, height and other operating data so that the loader's bucket can unload the material to the specified location. However, the operating data for each action performed by the loader is manually adjusted based on the user's personal experience. There are differences in the operating data adjusted by different users. Inaccurately adjusted operating data leads to low actual working efficiency of the loader. In addition, when the user manually adjusts the operating data inaccurately, it is easy for the bucket to collide and tilt abnormally, which further leads to low actual working efficiency of the loader. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a working machine control method, a control device, a working machine and a readable storage medium, so as to solve the problem of low actual working efficiency of the working machine in the prior art.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a working machine control method, the working machine control method comprising:

[0006] Obtaining the operating data of the operating machinery;

[0007] Determine the working conditions of the operating machinery according to the operation data, wherein the working conditions include shoveling working conditions, lifting working conditions, transporting working conditions and unloading working conditions;

[0008] Determine the control strategy of the operating machinery based on the operating conditions of the operating machinery;

[0009] Obtain optimization information for controlling operating machinery based on control strategies;

[0010] According to the optimization information, the control strategy of the working machine is updated, and the working machine is controlled based on the updated control strategy.

[0011] In the embodiment of the present application, the working machine includes a throttle, a bucket, a travel motor and a hydraulic device, and the operation data includes the opening of the throttle, the load of the bucket, the torque of the travel motor, the travel speed of the working machine, the hydraulic pressure of the hydraulic device, the lifting height of the bucket and the angle of the bucket;

[0012] Determine the working condition of the operating machinery based on the operating data, including:

[0013] When the throttle opening is greater than a preset throttle opening, the bucket load is greater than a preset load, the travel motor torque is greater than a preset motor torque, and the travel speed of the operating machine is less than a preset travel speed, the operating condition of the operating machine is determined to be a shoveling condition;

[0014] When a lifting control signal of the bucket is received, the hydraulic pressure of the hydraulic device is greater than a first preset pressure, and the lifting height of the bucket is greater than a preset height, determining that the working condition of the working machine is a lifting condition;

[0015] When the change value of the lifting height of the bucket is less than the preset height change value, the change value of the angle of the bucket is less than the preset angle change value, and the travel speed of the operating machine is greater than or equal to the preset speed, the operating condition of the operating machine is determined to be the transport operating condition;

[0016] When the hydraulic pressure of the hydraulic device is less than the second preset pressure, the lifting height of the bucket is greater than the preset height, the angle of the bucket is less than the preset angle, and the load of the bucket is reduced, the operating condition of the working machine is determined to be an unloading condition, wherein the first preset pressure is greater than the second preset pressure.

[0017] In an embodiment of the present application, based on the working condition of the working machine, determining the control strategy of the working machine includes:

[0018] When the working condition of the working machine is a shoveling working condition, determining the control strategy of the working machine to be a first control strategy, wherein the first control strategy includes adjusting the torque of the travel motor to a maximum torque;

[0019] When the working condition of the working machine is a lifting condition, determining the control strategy of the working machine to be a second control strategy, wherein the second control strategy includes adjusting the lifting speed of the bucket and the output power of the travel motor according to the load of the bucket;

[0020] When the working condition of the working machine is a transport working condition, determining the control strategy of the working machine to be a third control strategy, wherein the third control strategy is to adjust the travel speed of the working machine and the torque of the travel motor according to the load of the bucket;

[0021] When the working condition of the working machine is the unloading condition, the control strategy of the working machine is determined to be the fourth control strategy, wherein the fourth control strategy includes adjusting the lowering speed of the bucket based on a preset speed range.

[0022] In the embodiment of the present application, the lifting condition includes a heavy load lifting condition and a light load lifting condition. When a lifting control signal of the bucket is received, the hydraulic pressure of the hydraulic device is greater than the first preset pressure, and the lifting height of the bucket is greater than the preset height, determining that the working condition of the operating machine is the lifting condition includes:

[0023] When a lifting control signal of the bucket is received, the hydraulic pressure of the hydraulic device is greater than a first preset pressure, and the lifting height of the bucket is greater than a preset height, determining whether the load of the bucket is greater than a preset load;

[0024] When the load of the bucket is greater than the preset load, the working condition of the operating machine is determined to be a heavy load lifting condition;

[0025] When the load of the bucket is less than or equal to the preset load, the working condition of the operating machine is determined to be a light load lifting condition.

[0026] In the embodiment of the present application, the transport working condition includes a heavy-load transport working condition and a light-load transport working condition. When the change value of the lifting height of the bucket is less than the preset height change value, the change value of the angle of the bucket is less than the preset angle change value, and the travel speed of the working machine is greater than or equal to the preset speed, the working condition of the working machine is determined to be a transport working condition, including:

[0027] When the change value of the lifting height of the bucket is less than the preset height change value, the change value of the angle of the bucket is less than the preset angle change value, and the travel speed of the working machine is greater than or equal to the preset speed, determining whether the load of the bucket is greater than the preset load;

[0028] When the load of the bucket is greater than the preset load, the working condition of the operating machine is determined to be a heavy-load transport condition;

[0029] When the load of the bucket is less than or equal to the preset load, the working condition of the operating machine is determined to be a light load transport condition.

[0030] In an embodiment of the present application, obtaining optimization information for controlling a working machine based on a control strategy includes:

[0031] Obtain the operating efficiency and operating time of the operating machinery based on the control strategy;

[0032] Get optimization information based on operating efficiency and operating time.

[0033] In an embodiment of the present application, the control strategy of the operating machine is updated according to the optimization information, and the operating machine is controlled based on the updated control strategy, including:

[0034] Determine all target working conditions corresponding to the optimization information, wherein the target working condition is any one of a shoveling working condition, a lifting working condition, a transporting working condition, and an unloading working condition;

[0035] According to the optimization information, the control strategy corresponding to each target working condition is updated to obtain an updated control strategy corresponding to the target working condition;

[0036] When the operating condition of the working machine is the target operating condition, the working machine is controlled based on the updated control strategy corresponding to the target operating condition.

[0037] A second aspect of the present application provides a control device, comprising:

[0038] a memory configured to store instructions;

[0039] The processor is configured to call instructions from the memory and implement the above-mentioned working machine control method when executing the instructions.

[0040] A third aspect of the present application provides a working machine, comprising:

[0041] The control device mentioned above;

[0042] The detection device is configured to obtain operation data of the working machine.

[0043] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned working machine control method.

[0044] The present application provides a method for controlling a work machine, the method comprising: obtaining operation data of the work machine; determining the working condition of the work machine according to the operation data; determining the control strategy of the work machine based on the working condition of the work machine; obtaining optimization information for controlling the work machine based on the control strategy; updating the control strategy of the work machine according to the optimization information, and controlling the work machine based on the updated control strategy. Differentiated control strategies are provided for different working conditions of the work machine to achieve refined control of the work machine and improve the working efficiency of the work machine under various working conditions. In addition, the work machine continuously optimizes the control strategy during the operation process, and can then control the work machine to operate at the highest working efficiency based on the updated control strategy.

[0045] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0047] Figure 1 A schematic diagram of a process flow of a working machine control method according to an embodiment of the present application is schematically shown;

[0048] Figure 2 The schematic diagram shows the structure of a working machine according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0050] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0051] It should be noted that if directional indication is involved in the embodiments of the present application, the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0052] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0053] Figure 1The flowchart of a method for controlling a working machine according to an embodiment of the present application is schematically shown. Figure 1 As shown, an embodiment of the present application provides a working machine control method, which may include the following steps.

[0054] S110, obtaining operation data of the operating machine;

[0055] In the process of controlling the operating machine to perform the operation, the operating data of the operating machine is obtained. It should be understood that the type of operating data is set according to actual needs and is not limited here. For ease of understanding, in the embodiment of the present application, the operating data includes the position information, motion information, load information, operation information and time information of the operating machine.

[0056] The type of operating machinery is set according to actual needs and is not limited here. For ease of understanding, in the embodiment of the present application, the operating machinery is a loader, the position information can be the position coordinates of the operating machinery, the bucket tilt angle and the boom tilt angle, etc.; the motion information can be the driving speed of the loader and the movement direction of the loader, etc.; the load information can be the bucket load, the throttle opening, the brake pedal opening, the speed of the travel motor, the torque of the travel motor and the hydraulic pressure of the hydraulic device, etc.; the operation information can be the control signal received; the time information can obtain the time of each operation data, which will not be repeated here.

[0057] S120, determining the working condition of the operating machine according to the operating data, wherein the working condition includes shoveling working condition, lifting working condition, transporting working condition and unloading working condition.

[0058] When the working condition of the operating machinery is the shoveling condition, the action characteristic of the operating machinery is that the bucket sinks to be close to or in contact with the ground. When the working condition of the operating machinery is the lifting condition, the action characteristic of the operating machinery is that the bucket rises and the angle of the bucket tilts backward. When the working condition of the operating machinery is the transportation condition, the bucket no longer performs excavation and lifting actions. The action characteristic of the operating machinery is that the bucket remains relatively horizontal, and the change value of the tilt angle of the operating machinery is small. When the working condition of the operating machinery is the unloading condition, the bucket tilts backward to unload materials, and the action characteristic of the operating machinery is that the lifting height of the bucket rises to the preset unloading height. The action characteristics of the operating machinery under different working conditions are different, which makes the operating data different. According to the acquired operating data, the working condition of the operating machinery is determined.

[0059] S130, determining a control strategy of the operating machine based on the operating condition of the operating machine;

[0060] The operating machine actively identifies the working conditions when operating, and determines the control strategy of the operating machine based on the working conditions of the operating machine. Differentiated control strategies are provided for different working conditions of the operating machine to achieve refined control of the operating machine, improve the working efficiency of the operating machine under various working conditions, reduce the energy consumption of the operating machine, and thus extend the service life of the operating machine.

[0061] S140, obtaining optimization information for controlling the working machine based on the control strategy;

[0062] Usually, in a loading cycle, the working conditions of the operating machine will be switched to shoveling condition, lifting condition, transportation condition and unloading condition respectively. In a loading cycle of the operating machine, the control strategy is used to target different working conditions of the operating machine, and the optimization information of the control strategy is obtained during the process of controlling the operating machine through the control strategy. The type of optimization signal is set according to actual needs, which can be an adjustment parameter value, and is not limited here.

[0063] In an embodiment of the present application, obtaining optimization information for controlling a working machine based on a control strategy includes:

[0064] Obtain the operating efficiency and operating time of the operating machinery based on the control strategy;

[0065] Get optimization information based on operating efficiency and operating time.

[0066] In the process of controlling the operating machine based on the control strategy, the operating efficiency and operating time of a loading cycle are obtained. Based on the operating efficiency and operating time, the working efficiency of the operating machine is evaluated to obtain optimization information for indicating the working efficiency. Based on the optimization information, the control strategy of the operating machine is updated. The operating machine continuously optimizes the control strategy during the operation process, and then can control the operating machine to operate at the highest working efficiency based on the updated control strategy.

[0067] S150: updating the control strategy of the working machine according to the optimization information, and controlling the working machine based on the updated control strategy.

[0068] In the process of controlling the operating machinery based on the control strategy, there are still cases where the working efficiency of the operating machinery has not reached the maximum working efficiency. After the operating machinery completes the shoveling condition, lifting condition, transportation condition and unloading condition in a loading cycle, the control strategy of the operating machinery is updated according to the optimization information. When the operating machinery enters the operation of the next loading cycle, the operating machinery is controlled based on the updated control strategy to re-perform the shoveling condition, lifting condition, transportation condition and unloading condition to further improve the working efficiency of the operating machinery. The operating machinery continuously optimizes the control strategy during the operation process, and then can control the operating machinery to operate at the highest working efficiency based on the updated control strategy.

[0069] In the embodiment of the present application, the working machine includes a throttle, a bucket, a travel motor and a hydraulic device, and the operation data includes the opening of the throttle, the load of the bucket, the torque of the travel motor, the travel speed of the working machine, the hydraulic pressure of the hydraulic device, the lifting height of the bucket and the angle of the bucket;

[0070] Determine the working condition of the operating machinery based on the operating data, including:

[0071] When the throttle opening is greater than a preset throttle opening, the bucket load is greater than a preset load, the travel motor torque is greater than a preset motor torque, and the travel speed of the operating machine is less than a preset travel speed, the operating condition of the operating machine is determined to be a shoveling condition;

[0072] When a lifting control signal of the bucket is received, the hydraulic pressure of the hydraulic device is greater than a first preset pressure, and the lifting height of the bucket is greater than a preset height, determining that the working condition of the working machine is a lifting condition;

[0073] When the change value of the lifting height of the bucket is less than the preset height change value, the change value of the angle of the bucket is less than the preset angle change value, and the travel speed of the operating machine is greater than or equal to the preset speed, the operating condition of the operating machine is determined to be the transport operating condition;

[0074] When the hydraulic pressure of the hydraulic device is less than the second preset pressure, the lifting height of the bucket is greater than the preset height, the angle of the bucket is less than the preset angle, and the load of the bucket is reduced, the operating condition of the working machine is determined to be an unloading condition, wherein the first preset pressure is greater than the second preset pressure.

[0075] In the case where the operating machine is a loader, the operating machine includes a throttle, a bucket, a travel motor and a hydraulic device, and the operating data includes the throttle opening, the bucket load, the travel motor torque, the travel speed of the operating machine, the hydraulic pressure of the hydraulic device, the lifting height of the bucket and the angle of the bucket. It should be understood that the acquired operating data can be preprocessed, and the working condition of the operating machine can be determined by the preprocessed operating data. The preprocessing step of the operating data is set according to actual needs, which can be data cleaning to remove noise data and missing values, or feature extraction to normalize the features of the operating data, which is not limited here.

[0076] For the shoveling working condition, the features that the operating machine needs to identify include the bucket load, the throttle opening, the travel speed of the operating machine and the torque of the travel motor. The values ​​of the preset throttle opening, preset load, preset motor torque and preset travel speed are set according to actual needs and are not limited here. For ease of understanding, in the embodiment of the present application, when the throttle opening is greater than 90%, the bucket load is greater than 50%, the travel motor torque is greater than the preset motor torque, and the travel speed of the operating machine is less than 5km / h, the operating condition of the operating machine is determined to be the shoveling working condition.

[0077] For the lifting condition, the features that the operating machine needs to identify include the control signal of the control handle, the lifting height of the bucket, and the hydraulic pressure of the hydraulic device. The values ​​of the first preset pressure and the preset height are set according to actual needs and are not limited here. For ease of understanding, in the embodiment of the present application, when the lifting control signal of the bucket is received, the hydraulic pressure of the hydraulic device is greater than 20M, and the lifting height of the bucket is greater than 1 meter, the operating condition of the operating machine is determined to be the lifting condition.

[0078] For the transport condition, the features that the operating machine needs to identify include the operating machine's travel speed, gear status, bucket load, and throttle opening. When the change in the bucket's lifting height is less than the preset height change value, the change in the bucket's angle is less than the preset angle change value, and the operating machine's travel speed is greater than or equal to 5 km / h, the operating machine's operating condition is determined to be a transport condition.

[0079] For the unloading condition, the features that the operating machine needs to identify include the unloading time, the position of the bucket, the hydraulic pressure of the hydraulic device, and the load of the bucket. The second preset pressure and the preset angle are set according to actual needs and are not limited here. For ease of understanding, in the embodiment of the present application, when the hydraulic pressure of the hydraulic device is less than 5M, the lifting height of the bucket is greater than 1 meter, the angle of the bucket is less than 0°, and the load of the bucket is reduced, the operating condition of the operating machine is determined to be an unloading condition.

[0080] In an embodiment of the present application, based on the working condition of the working machine, determining the control strategy of the working machine includes:

[0081] When the working condition of the working machine is a shoveling working condition, determining the control strategy of the working machine to be a first control strategy, wherein the first control strategy includes adjusting the torque of the travel motor to a maximum torque;

[0082] When the working condition of the working machine is a lifting condition, determining the control strategy of the working machine to be a second control strategy, wherein the second control strategy includes adjusting the lifting speed of the bucket and the output power of the travel motor according to the load of the bucket;

[0083] When the working condition of the working machine is a transport working condition, determining the control strategy of the working machine to be a third control strategy, wherein the third control strategy is to adjust the travel speed of the working machine and the torque of the travel motor according to the load of the bucket;

[0084] When the working condition of the working machine is the unloading condition, the control strategy of the working machine is determined to be the fourth control strategy, wherein the fourth control strategy includes adjusting the lowering speed of the bucket based on a preset speed range.

[0085] When the working condition of the working machine is the shoveling condition, the working machine control strategy is determined to be the first control strategy. In the process of controlling the shoveling condition of the working machine based on the first control strategy, the torque of the travel motor is adjusted to the maximum torque, and the output power of the travel motor is P=T max *n / 9550, where P is the output power of the travel motor, T max is the maximum torque of the travel motor, n is the speed of the travel motor, and the adjusted speed of the travel motor does not exceed a preset percentage of the peak speed. By adjusting the torque of the travel motor to the maximum torque, the shoveling efficiency of the operating machinery can be improved. It should be understood that when the torque of the travel motor is adjusted to the maximum torque, the output power curve of the travel motor can be adjusted by adjusting the speed of the travel motor.

[0086] When the working condition of the working machine is the lifting condition, the working machine control strategy is determined to be the second control strategy. During the lifting condition of the working machine controlled based on the second control strategy, the load of the bucket will change, and the lifting speed of the bucket and the output power of the travel motor are adjusted according to the load of the bucket.

[0087] When the working condition of the working machine is the transport working condition, the control strategy of the working machine is determined to be the third control strategy. In the process of controlling the transport working condition of the working machine based on the third control strategy, different driving conditions of the working machine will lead to different loads on the bucket. According to the load of the bucket, the lifting speed of the bucket and the output power of the travel motor are adjusted.

[0088] When the working condition of the working machine is an unloading condition, the control strategy of the working machine is determined to be the fourth control strategy. In the process of controlling the unloading condition of the working machine based on the fourth control strategy, the descent speed of the bucket is adjusted based on the preset speed range. It should be understood that the range value of the preset speed range is set according to actual needs and is not limited here. In the unloading condition of the working machine, the bucket load is small, and the preset speed range can be a higher speed range value to increase the descent speed of the bucket, thereby achieving rapid unloading.

[0089] In the embodiment of the present application, the lifting condition includes a heavy load lifting condition and a light load lifting condition. When a lifting control signal of the bucket is received, the hydraulic pressure of the hydraulic device is greater than the first preset pressure, and the lifting height of the bucket is greater than the preset height, determining that the working condition of the operating machine is the lifting condition includes:

[0090] When a lifting control signal of the bucket is received, the hydraulic pressure of the hydraulic device is greater than a first preset pressure, and the lifting height of the bucket is greater than a preset height, determining whether the load of the bucket is greater than a preset load;

[0091] When the load of the bucket is greater than the preset load, the working condition of the operating machine is determined to be a heavy load lifting condition;

[0092] When the load of the bucket is less than or equal to the preset load, the working condition of the operating machine is determined to be a light load lifting condition.

[0093] In this embodiment, the lifting working condition includes a heavy load lifting working condition and a light load lifting working condition. When a lifting control signal of the bucket is received, the hydraulic pressure of the hydraulic device is greater than the first preset pressure, and the lifting height of the bucket is greater than the preset height, the working condition of the working machine is determined to be the lifting working condition, and it is determined whether the load of the bucket is greater than the preset load;

[0094] When the load of the bucket is greater than the preset load, the working condition of the operating machine is determined to be a heavy load lifting condition, and the lifting speed of the bucket can be reduced and the output power of the travel motor can be increased according to the load of the bucket. When the load of the bucket is less than or equal to the preset load, the working condition of the operating machine is determined to be a light load lifting condition, and the lifting speed of the bucket can be increased and the output power of the travel motor can be reduced according to the load of the bucket.

[0095] In the embodiment of the present application, the transport working condition includes a heavy-load transport working condition and a light-load transport working condition. When the change value of the lifting height of the bucket is less than the preset height change value, the change value of the angle of the bucket is less than the preset angle change value, and the travel speed of the working machine is greater than or equal to the preset speed, the working condition of the working machine is determined to be a transport working condition, including:

[0096] When the change value of the lifting height of the bucket is less than the preset height change value, the change value of the angle of the bucket is less than the preset angle change value, and the travel speed of the working machine is greater than or equal to the preset speed, determining whether the load of the bucket is greater than the preset load;

[0097] When the load of the bucket is greater than the preset load, the working condition of the operating machine is determined to be a heavy-load transport condition;

[0098] When the load of the bucket is less than or equal to the preset load, the working condition of the operating machine is determined to be a light load transport condition.

[0099] In this embodiment, the transport conditions include heavy-load transport conditions and light-load transport conditions. When the change in the bucket's lifting height is less than a preset height change value, the change in the bucket's angle is less than a preset angle change value, and the operating speed of the operating machinery is greater than or equal to a preset speed, the operating condition of the operating machinery is determined to be a transport condition, and it is determined whether the bucket's load is greater than the preset load.

[0100] When the bucket load is less than or equal to the preset load, the working condition of the operating machine is determined to be a light-load transport condition. Usually, when the operating machine is traveling on a flat road, it is in a light-load transport condition. The third control strategy corresponding to the light-load transport condition can be that the driving speed of the operating machine does not exceed 15km / h, and the output power of the travel motor is P=T*n / 9550, where P is the output power of the travel motor, T is the torque of the travel motor, and the travel motor does not exceed 50% of the maximum torque, and n is the speed of the travel motor, and the speed of the travel motor can reach the peak speed after adjustment.

[0101] When the operating machinery is traveling on an uneven road, it is in a heavy-load transport condition. The third control strategy corresponding to the heavy-load transport condition can be that the driving speed of the operating machinery does not exceed 5 km / h, and the output power of the travel motor is P=T*n / 9550, wherein P is the output power of the travel motor, T is the torque of the travel motor, and the travel motor does not exceed 55% of the maximum torque, n is the speed of the travel motor, and the adjusted speed of the travel motor does not exceed a preset percentage of the peak speed.

[0102] In an embodiment of the present application, the control strategy of the operating machine is updated according to the optimization information, and the operating machine is controlled based on the updated control strategy, including:

[0103] Determine all target working conditions corresponding to the optimization information, wherein the target working condition is any one of a shoveling working condition, a lifting working condition, a transporting working condition, and an unloading working condition;

[0104] According to the optimization information, the control strategy corresponding to each target working condition is updated to obtain an updated control strategy corresponding to the target working condition;

[0105] When the operating condition of the working machine is the target operating condition, the working machine is controlled based on the updated control strategy corresponding to the target operating condition.

[0106] In the actual process of controlling the operating machinery, it is not necessary to update the control strategies for all working conditions. In this embodiment, after obtaining the optimization information, all target working conditions corresponding to the optimization information are determined, that is, the working conditions for which the control strategies need to be updated are determined. According to the optimization information, the control strategy corresponding to each target working condition is updated to obtain the updated control strategy corresponding to the target working condition.

[0107] A loading cycle includes shoveling, lifting, transporting and unloading conditions, and the determined target condition is any one of the shoveling, lifting, transporting and unloading conditions. Specifically, when the operating machine is started and enters the first loading cycle, the operating machine is controlled based on the control strategy corresponding to each condition.

[0108] When the operating machine enters the loading cycle after the first loading cycle, the control strategy corresponding to each target working condition is updated according to the optimization information to obtain the updated control strategy corresponding to the target working condition. Determine whether the current working condition of the operating machine is the target working condition. When the working condition of the operating machine is not the target working condition, control the operating machine based on the control strategy corresponding to the working condition. When the working condition of the operating machine is the target working condition, control the operating machine based on the updated control strategy corresponding to the target working condition. During the operation, the control strategy is continuously optimized as the loading cycle of the operating machine changes, so that the operating machine can be controlled to operate at the highest working efficiency based on the updated control strategy.

[0109] In an embodiment of the present application, the operating machine control method further includes:

[0110] In response to the received working condition instruction, determine the target working condition of the operating machine;

[0111] The operating machinery is controlled based on the control strategy corresponding to the target working condition.

[0112] In the operation engineering of operating machinery, users can request the working condition of the operating machinery through the working condition instruction. The operating machinery responds to the received working condition instruction and determines the target working condition of the operating machinery, wherein the target working condition is any one of the shoveling working condition, lifting working condition, transportation working condition and unloading working condition requested by the user. The operating machinery is controlled based on the control strategy corresponding to the target working condition. Through the user manually requesting the control strategy corresponding to the working condition, the operating machinery can operate according to the actual user needs, thereby improving the working efficiency of the operating machinery.

[0113] The present application provides a method for controlling a work machine, the method comprising: obtaining operation data of the work machine; determining the working condition of the work machine according to the operation data; determining the control strategy of the work machine based on the working condition of the work machine; obtaining optimization information for controlling the work machine based on the control strategy; updating the control strategy of the work machine according to the optimization information, and controlling the work machine based on the updated control strategy. Differentiated control strategies are provided for different working conditions of the work machine to achieve refined control of the work machine and improve the working efficiency of the work machine under various working conditions. In addition, the work machine continuously optimizes the control strategy during the operation process, and can then control the work machine to operate at the highest working efficiency based on the updated control strategy.

[0114] The present application also provides a control device, including:

[0115] a memory configured to store instructions;

[0116] The processor is configured to call instructions from the memory and implement the above-mentioned working machine control method when executing the instructions.

[0117] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be provided, and the above-mentioned working machine control method is implemented by adjusting kernel parameters.

[0118] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0119] Figure 2 The schematic diagram shows the structure of a working machine according to an embodiment of the present application.

[0120] The embodiment of the present application further provides a working machine 200, including:

[0121] The control device 210 mentioned above;

[0122] The detection device 220 is configured to obtain operating data of the working machine 200 .

[0123] In this embodiment, the detection device 220 includes a load sensor, a displacement sensor, a speed sensor, an inclination sensor, and a pressure sensor. The load sensor is used to monitor the load of the bucket; the displacement sensor is used to monitor the lifting and lowering position of the bucket; the speed sensor is used to monitor the speed of the travel motor; the inclination sensor is used to monitor the angle of the bucket and the inclination angle of the boom; and the pressure sensor is used to monitor the hydraulic pressure of the hydraulic device. The detection device 220 obtains the operating data of the working machine 200 through each sensor, and the control device 210 determines the working condition of the working machine 200 based on the operating data, and then determines the control strategy corresponding to the working condition.

[0124] It should be understood that the operating machine 200 also includes other devices and structures. The other devices and structures are arranged according to actual needs, and may be a throttle, a bucket, a travel motor, a hydraulic device, etc., which are not limited here.

[0125] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned working machine control method.

[0126] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0127] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0128] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0130] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0131] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0132] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0133] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0134] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling a working machine, characterized in that: The working machine control method comprises: Obtaining the operating data of the operating machinery; Determining the working condition of the working machine according to the operating data, wherein the working condition includes shoveling working condition, lifting working condition, transporting working condition and unloading working condition; Determining a control strategy for the operating machine based on the operating condition of the operating machine; Acquiring optimization information for controlling the working machine based on the control strategy; The control strategy of the working machine is updated according to the optimization information, and the working machine is controlled based on the updated control strategy.

2. The working machine control method according to claim 1, characterized in that: The working machine includes a throttle, a bucket, a travel motor and a hydraulic device, and the operating data includes the opening of the throttle, the load of the bucket, the torque of the travel motor, the travel speed of the working machine, the hydraulic pressure of the hydraulic device, the lifting height of the bucket and the angle of the bucket; Determining the working condition of the working machine according to the operating data includes: When the throttle opening is greater than a preset throttle opening, the bucket load is greater than a preset load, the travel motor torque is greater than a preset motor torque, and the travel speed of the work machine is less than a preset travel speed, the work machine is determined to be in a shoveling work condition; When a lifting control signal of the bucket is received, the hydraulic pressure of the hydraulic device is greater than a first preset pressure, and the lifting height of the bucket is greater than a preset height, determining that the working condition of the working machine is a lifting condition; When the change value of the lifting height of the bucket is less than the preset height change value, the change value of the angle of the bucket is less than the preset angle change value, and the travel speed of the working machine is greater than or equal to the preset speed, the working condition of the working machine is determined to be the transport working condition; When the hydraulic pressure of the hydraulic device is less than the second preset pressure, the lifting height of the bucket is greater than the preset height, the angle of the bucket is less than the preset angle, and the load of the bucket is reduced, the operating condition of the working machine is determined to be an unloading condition, wherein the first preset pressure is greater than the second preset pressure.

3. The working machine control method according to claim 2, characterized in that: Determining the control strategy of the operating machine based on the operating condition of the operating machine includes: When the working condition of the working machine is a shoveling working condition, determining the control strategy of the working machine to be a first control strategy, wherein the first control strategy includes adjusting the torque of the travel motor to a maximum torque; When the working condition of the working machine is a lifting condition, determining the control strategy of the working machine to be a second control strategy, wherein the second control strategy includes adjusting the lifting speed of the bucket and the output power of the travel motor according to the load of the bucket; When the working condition of the working machine is a transport working condition, determining the control strategy of the working machine to be a third control strategy, wherein the third control strategy is to adjust the travel speed of the working machine and the torque of the travel motor according to the load of the bucket; When the working condition of the working machine is an unloading condition, the control strategy of the working machine is determined to be a fourth control strategy, wherein the fourth control strategy includes adjusting the descending speed of the bucket based on a preset speed range.

4. The working machine control method according to claim 2, characterized in that: The lifting working condition includes a heavy load lifting working condition and a light load lifting working condition. When a lifting control signal of the bucket is received, the hydraulic pressure of the hydraulic device is greater than a first preset pressure, and the lifting height of the bucket is greater than a preset height, determining that the working condition of the working machine is a lifting working condition includes: Upon receiving a lifting control signal of the bucket, the hydraulic pressure of the hydraulic device is greater than a first preset pressure, and the lifting height of the bucket is greater than a preset height, determining whether the load of the bucket is greater than a preset load; When the load of the bucket is greater than a preset load, determining that the working condition of the working machine is the heavy load lifting condition; When the load of the bucket is less than or equal to a preset load, the working condition of the working machine is determined to be the light load lifting condition.

5. The working machine control method according to claim 2, characterized in that: The transport working condition includes a heavy-load transport working condition and a light-load transport working condition. When the change value of the lifting height of the bucket is less than a preset height change value, the change value of the angle of the bucket is less than a preset angle change value, and the travel speed of the working machine is greater than or equal to a preset speed, determining that the working condition of the working machine is a transport working condition includes: When the change value of the lifting height of the bucket is less than the preset height change value, the change value of the angle of the bucket is less than the preset angle change value, and the travel speed of the working machine is greater than or equal to the preset speed, determining whether the load of the bucket is greater than the preset load; When the load of the bucket is greater than a preset load, determining that the working condition of the working machine is the heavy-load transport working condition; When the load of the bucket is less than or equal to a preset load, the operating condition of the working machine is determined to be the light load transport condition.

6. The working machine control method according to claim 1, characterized in that: The obtaining of optimization information for controlling the working machine based on the control strategy includes: Acquire the operation efficiency and operation time of controlling the working machine based on the control strategy; The optimization information is obtained according to the operating efficiency and the operating time.

7. The working machine control method according to claim 1, characterized in that: The step of updating the control strategy of the working machine according to the optimization information and controlling the working machine based on the updated control strategy includes: Determine all target working conditions corresponding to the optimization information, wherein the target working condition is any one of the shoveling working condition, the lifting working condition, the transporting working condition and the unloading working condition; According to the optimization information, the control strategy corresponding to each target operating condition is updated to obtain an updated control strategy corresponding to the target operating condition; When the operating condition of the working machine is a target operating condition, the working machine is controlled based on an updated control strategy corresponding to the target operating condition.

8. A control device, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the working machine control method according to any one of claims 1 to 7 when executing the instructions.

9. A working machine, characterized in that: include: A control device according to claim 8; The detection device is configured to obtain the operating data of the working machine.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the working machine control method according to any one of claims 1 to 7.

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