Electric control lifter protection control method and system, storage medium and tractor

Abstract

The invention relates to the technical field of agricultural machinery intelligent control, and discloses an electric control lifter protection control method and system, a storage medium and a tractor. The method comprises the steps that the working mode of the electric control lifter and the working state of an electromagnetic valve are obtained; according to the working mode of the electric control lifter and the working state of the electromagnetic valve, whether the electric control lifter hydraulic system has the continuous pressure building condition or not is judged; and if it is detected that the electric control lifter hydraulic system has the continuous pressure building condition, a power-off protection strategy is started. According to the method, the working mode of the electric control lifter and the working state of the electromagnetic valve are obtained, so that whether the hydraulic system of the lifter continuously builds pressure or not is judged, if yes, corresponding protection measures are taken, additional hardware does not need to be added in the whole judgment process, and therefore the purposes of saving cost, protecting the hydraulic system, improving product reliability and improving product quality are achieved. And the failure rate is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of agricultural machinery, and in particular to a protection control method, system, storage medium and tractor for an electric-controlled lifter. Background Art

[0002] At present, the highest and lowest positions of the electric lifter are calibrated before leaving the factory as reference limit values ​​for tillage depth control. However, after the angle sensor has been used for a period of time, there is a problem of position offset, resulting in the actual position of the lifter reaching or even exceeding the set height, but the signal feedback from the angle sensor still cannot reach the set height. As a result, the lifter controller will continue to send control instructions to the solenoid valve, resulting in excessive pressure in the hydraulic system of the electric lifter, which in turn causes the hydraulic system of the electric lifter to continue to be high in temperature, posing certain safety hazards.

[0003] Therefore, proposing an effective and reliable protection control strategy for electric lifters has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an electric control lift protection control method, system, storage medium and tractor in view of the problems existing in the prior art.

[0005] In a first aspect, the present application provides a protection control method for an electric lifter, comprising:

[0006] Obtain the working mode of the electric control lifter and the working status of the solenoid valve;

[0007] According to the working mode of the electric control lifter and the working state of the solenoid valve, determine whether there is continuous pressure build-up in the hydraulic system of the electric control lifter;

[0008] If continuous pressure build-up is detected in the hydraulic system of the electronically controlled lifter, the power-off protection strategy will be activated.

[0009] The beneficial effect of the present invention is that by obtaining the working mode of the electric-controlled lifter and the working status of the solenoid valve, it is possible to determine whether there is a continuous pressure build-up in the lifter hydraulic system. If so, corresponding protective measures are taken. The entire judgment process does not require the addition of additional hardware, thereby achieving the purpose of saving costs, protecting the hydraulic system, improving product reliability, and reducing failure rates.

[0010] Based on the above technical solution, the present invention can also be improved as follows.

[0011] Furthermore, based on the working mode of the electric lifter and the working state of the solenoid valve, it is determined whether there is a continuous pressure build-up in the hydraulic system of the electric lifter, including: determining whether the combination of the working mode of the electric lifter and the working state of the solenoid valve is one of the preset pressure build-up conditions; if so, determining whether the duration of the combination is greater than a preset time threshold, and if so, determining that there is a continuous pressure build-up in the hydraulic system of the electric lifter.

[0012] The beneficial effect of adopting the above-mentioned further scheme is that the combination of the current working mode of the lifter and the working state of the solenoid valve is compared with the preset pressure holding condition. If the current combination condition belongs to one of the preset pressure holding conditions, the duration of the combination condition is further judged. If the duration exceeds the preset time threshold, it can be determined that there is a continuous pressure holding condition in the hydraulic system of the lifter. In other words, the software of this application can determine whether there is a continuous pressure holding in the hydraulic system based on the obtained working mode and working state parameters, without the need for additional pressure detection hardware, which saves costs, improves work efficiency, improves product reliability, and reduces failure rate.

[0013] Furthermore, the preset pressure holding condition includes an upper limit position pressure holding condition and a lower limit position pressure holding condition;

[0014] Pressure build-up at the upper limit position: the electronically controlled lifter is in transport mode, and the lift valve core in the solenoid valve is open, and the flow is continuously output;

[0015] Pressure build-up at the lower limit position: The electronically controlled lifter is in operation mode and the high-pressure function is turned on, and the spool of the descending valve in the solenoid valve is open, and the flow is continuously output.

[0016] The beneficial effect of adopting the above further scheme is that, according to the working principle of the lifter, possible pressure holding situations are pre-set, namely, the pressure holding situation at the upper limit position of the lifter and the pressure holding situation at the lower limit position of the lifter. In this way, when making a pressure holding judgment, a judgment can be made quickly to improve work efficiency.

[0017] Furthermore, the method for determining the preset time threshold value includes: determining the first maximum time for the lifter to be lifted to the highest mechanical limit and the second maximum time for the lifter to be lowered to the lowest mechanical limit according to the working principle of the hydraulic system of the electric control lifter, and determining the preset time threshold according to the first maximum time and the second maximum time.

[0018] The beneficial effect of adopting the above further scheme is that, according to the working principle of the lifter hydraulic system, the first maximum time for the lifter to be lifted to the highest mechanical limit and the second maximum time for being lowered to the lowest mechanical limit are analyzed, and the preset time threshold is determined according to the first maximum time and the second maximum time. By determining the preset time in the above manner, the two pressure holding conditions can be identified in a timely and effective manner, and within the bearing capacity of the hydraulic system, damage to the hydraulic system can be avoided.

[0019] Further, according to the working principle of the hydraulic system of the electric control lifter, the first maximum time for the lifter to be lifted to the highest mechanical limit and the second maximum time for the lifter to be lowered to the lowest mechanical limit are determined, including:

[0020] Determine the oil inlet flow, lifting cylinder volume and cylinder volume when strong pressure is lowered according to the basic parameters of the electric lifter hydraulic system;

[0021] Determine the first maximum time for the lifter to be lifted to the highest mechanical limit according to the lifting cylinder volume and the oil inlet flow rate;

[0022] The second maximum time for the lifter to descend to the lowest mechanical limit is determined based on the cylinder volume and the oil inlet flow rate when the strong pressure drops.

[0023] The beneficial effect of adopting the above further scheme is that, first, the oil inlet flow, the lifting cylinder volume and the cylinder volume when the strong pressure is lowered are determined, and then the first maximum time (minimum valve opening) for the lifter to be lifted to the highest mechanical limit and the second maximum time (minimum valve opening) for the lifter to be lowered to the lowest mechanical limit are determined based on the above parameters, providing a reference basis for determining the preset time threshold.

[0024] Further, the preset time threshold is greater than the first maximum time and the second maximum time.

[0025] The beneficial effect of adopting the above further solution is that by setting the preset time threshold to be greater than the first maximum time and the second maximum time, it is possible to ensure effective identification of the upper limit position pressure holding and the lower limit position pressure holding.

[0026] Furthermore, the power-off protection strategy includes: controlling the solenoid valve to be powered off, keeping the solenoid valve in a neutral position, prohibiting hydraulic flow output; and prompting the driver through the instrument that there is a hydraulic fault in the electronically controlled lifter.

[0027] The beneficial effect of adopting the above further scheme is that by controlling the solenoid valve to cut off the power, the hydraulic flow output is prohibited, thereby effectively protecting the hydraulic system of the electronically controlled lifter, and the driver is prompted with a fault through the instrument, so that the driver can take corresponding countermeasures.

[0028] In a second aspect, the present application provides an electric lift protection control system, which is used to implement the electric lift protection control method provided by any of the above solutions, and the system includes:

[0029] An information acquisition module is used to obtain the working mode of the electric control lifter and the working status of the solenoid valve;

[0030] An information processing module, used to determine whether there is a continuous pressure build-up in the hydraulic system of the electric control lifter according to the working mode of the electric control lifter and the working state of the solenoid valve;

[0031] The protection control module is used to activate the power-off protection strategy if it detects that there is a continuous pressure build-up in the hydraulic system of the electric control lifter.

[0032] In a third aspect, the present application provides a computer-readable storage medium, comprising instructions, which, when executed on a computer, enable the computer to execute a protection control method for an electric lifter as provided in any of the above-mentioned schemes.

[0033] In a fourth aspect, the present application provides a tractor, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, an electric lift protection control method as provided in any of the above schemes is implemented.

[0034] In a fifth aspect, the present application also provides a computer program product, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the electric-controlled lift protection control method provided by any of the above schemes.

[0035] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flow chart of an electric lift protection control method provided by an exemplary embodiment of the present application;

[0037] Figure 2 It is the input and output block diagram of the electric lift control unit;

[0038] Figure 3 It is a conventional lift control logic diagram;

[0039] Figure 4 It is the schematic diagram of hydraulic principle of lifter;

[0040] Figure 5 This is the analysis diagram of the lifting and holding pressure principle of the electric control lifter;

[0041] Figure 6 This is the analysis diagram of the principle of pressure holding when the electric control lifter descends;

[0042] Figure 7 A block diagram of an electric lift protection control system provided for an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0043] The following describes the embodiments of the present disclosure through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0044] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0045] The solution provided in the embodiment of the present invention can be executed by any electronic device, for example, a terminal device, or jointly executed by a terminal device and a server. The server can be an independent server, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms, etc., and is not limited here.

[0046] Figure 1 The flowchart of the protection control method of the electric control lifter is shown in an exemplary embodiment of the present application. Figure 1 As shown, in an exemplary embodiment, the electric control lift protection control method may include steps S101 to S103, which are described in detail as follows:

[0047] S101, obtaining the working mode of the electric control lifter and the working state of the solenoid valve.

[0048] The working modes of the electric lifter may include a transport mode and an operation mode, and the strong pressure function may be turned on or off in the operation mode. The working state of the solenoid valve includes the open and closed state of the valve core of the rising valve and the open and closed state of the valve core of the descending valve.

[0049] S102, judging whether there is a continuous pressure build-up in the hydraulic system of the electronically controlled lifter according to the working mode of the electronically controlled lifter and the working state of the solenoid valve.

[0050] It should be noted that pressure holding refers to the phenomenon that the hydraulic system cannot release pressure normally or the flow is blocked, resulting in an abnormal increase in local or overall pressure, which exceeds the system's design tolerance range.

[0051] For example, when the working mode of the electric lifter is the transport mode, the valve core of the solenoid valve is open, and the flow rate is continuously output and exceeds the preset time threshold, it can be judged that there is continuous pressure holding. Alternatively, when the working mode of the electric lifter is the operation mode and the strong pressure function is turned on, the valve core of the solenoid valve is open, and the flow rate is continuously output and continuously exceeds the preset time threshold, it can also be judged that there is continuous pressure holding.

[0052] S103: If it is detected that there is a continuous pressure build-up in the hydraulic system of the electric lifter, a power-off protection strategy is initiated.

[0053] In the embodiment of the present invention, the power-off protection strategy may include: controlling the solenoid valve to be powered off, keeping the solenoid valve in a neutral position, prohibiting the hydraulic flow output; and prompting the driver through an instrument that there is a hydraulic fault in the electronically controlled lifter.

[0054] Existing electric lifting systems lack control logic for effectively identifying the pressure-holding phenomenon and protecting the hydraulic system, especially electric lifting systems with a strong pressure function. In the embodiment of the present invention, by obtaining the working mode of the electric lifter and the working state of the solenoid valve, it is determined whether there is a pressure-holding situation in the hydraulic system of the lifter, and then corresponding protection measures are taken. The entire judgment process does not require the addition of additional hardware, thereby achieving the purpose of saving costs, protecting the hydraulic system, improving product reliability, and reducing the failure rate.

[0055] Figure 2 This is the input and output block diagram of the electronic lift control unit. Figure 2 As shown, the hardware of the electric lifting system includes: control panel, tail button, angle sensor, force sensor, HCU electronic control unit, EMA electromechanical actuator and strong pressure development. The functions of each hardware are as follows:

[0056] Control panel: The control panel is mainly responsible for sending control signals to the controller, including the working mode knob, tillage depth knob, height limit knob, force position integrated knob, descending speed knob and active shock absorption button, etc.

[0057] Tail button: The tail manually controls the riser to rise and fall;

[0058] Angle sensor: responsible for measuring the height of the lifter;

[0059] Force sensor: measures the workload of the tractor;

[0060] HCU electronic control unit: responsible for receiving input signals and sending them to EMA electromechanical actuators after processing;

[0061] EMA electromechanical actuator: It controls the corresponding motor to drive the electric control lift valve to move, so as to achieve the rise and fall of the lifter;

[0062] High pressure switch: When the switch is turned on, if the lifter descends, it provides downward pressure to the lifter.

[0063] Figure 3 This is a conventional booster control logic diagram. Figure 3 As shown in the figure, the conventional control logic of the current lifter is as follows: the target tillage depth in the lifter control is set according to the tillage depth or height limit knob on the control panel; the actual tillage depth (H = S*a + F* (1-a), where H is the actual tillage depth, S is the angle signal fed back by the angle sensor, F is the workload of the tractor fed back by the force sensor, and a is the comprehensive force coefficient) is obtained after comprehensive calculation based on the angle sensor and the force sensor; the HCU control unit performs PID closed-loop control based on the target tillage depth and the actual tillage depth to achieve height control in the operation mode. There are two situations of pressure over-limit (pressure holding phenomenon) in this control process, one is pressure holding at the highest position of the lifter, and the other is pressure holding at the lowest position of the lifter.

[0064] Optionally, in some exemplary embodiments, based on the working mode of the electric lifter and the working state of the solenoid valve, it is determined whether there is a continuous pressure build-up in the hydraulic system of the electric lifter, including: determining whether the combination of the working mode of the electric lifter and the working state of the solenoid valve is one of the preset pressure build-up conditions; if so, determining whether the duration of the combination is greater than a preset time threshold, and if so, determining that there is a continuous pressure build-up in the hydraulic system of the electric lifter.

[0065] In an embodiment of the present invention, the combination of the current working mode of the lifter and the working state of the solenoid valve is compared with a preset pressure holding condition. If the current combination condition belongs to one of the preset pressure holding conditions, the duration of the combination condition is further judged. If the duration exceeds the preset time threshold, it can be determined that there is a continuous pressure holding condition in the hydraulic system of the lifter. In other words, the software of the present application can determine whether there is a continuous pressure holding in the hydraulic system based on the obtained working mode and working state parameters, without the need for additional pressure detection hardware, thereby saving costs, improving work efficiency, improving product reliability, and reducing failure rate.

[0066] Optionally, in some exemplary embodiments, the preset pressure holding conditions include an upper limit pressure holding condition and a lower limit pressure holding condition; in the upper limit pressure holding condition: the electrically controlled lifter is in transport mode, and the lift valve core in the solenoid valve is open, and the flow is continuously output; in the lower limit pressure holding condition: the electrically controlled lifter is in operation mode and the high pressure function is turned on, and the descending valve core in the solenoid valve is open, and the flow is continuously output.

[0067] In the embodiment of the present invention, according to the working principle of the lifter, possible pressure build-up situations are pre-set, namely, the pressure build-up situation at the upper limit position of the lifter and the pressure build-up situation at the lower limit position of the lifter, so that when making a pressure build-up judgment, a judgment can be made quickly to improve work efficiency.

[0068] Optionally, in some exemplary embodiments, the method for determining the preset time threshold value includes: determining the first maximum time for the lifter to be lifted to the highest mechanical limit and the second maximum time for the lifter to be lowered to the lowest mechanical limit according to the working principle of the hydraulic system of the electric-controlled lifter, and determining the preset time threshold according to the first maximum time and the second maximum time.

[0069] In an embodiment of the present invention, according to the working principle of the lifter hydraulic system, the first maximum time for the lifter to be lifted to the highest mechanical limit and the second maximum time for the lifter to be lowered to the lowest mechanical limit are analyzed, and a preset time threshold is determined based on the first maximum time and the second maximum time. By determining the preset time in the above manner, the two pressure holding situations can be identified in a timely and effective manner, and within the bearing capacity of the hydraulic system, damage to the hydraulic system can be avoided.

[0070] Optionally, in some exemplary embodiments, the calculation process of the first maximum time and the second maximum time includes: determining the oil inlet flow, the lifting cylinder volume and the cylinder volume when the strong pressure is reduced according to the basic parameters of the hydraulic system of the electronically controlled lifter; determining the first maximum time for the lifter to be lifted to the highest mechanical limit according to the lifting cylinder volume and the oil inlet flow; determining the second maximum time for the lifter to be lowered to the lowest mechanical limit according to the cylinder volume and the oil inlet flow when the strong pressure is reduced.

[0071] Specifically, Figure 4It is a schematic diagram of the hydraulic principle of the lifter. Figure 4 As shown, the hydraulic system of the lifter includes the oil inlet P, the oil outlet T, the diameter of the lower cavity of the cylinder d1, the diameter of the cylinder piston d2 and the cylinder stroke L. According to the hydraulic principle of the lifter, the following calculation can be performed:

[0072] 1. Calculation of oil inlet (P port) flow rate:

[0073] Q = V*n*Ratio*η;

[0074] Q: Hydraulic pump flow (L / min);

[0075] V: oil pump displacement (ml / r) 40 pumps;

[0076] n: Engine speed (r / min) Idle speed 800rpm;

[0077] Ratio: gear pump speed ratio (1.12);

[0078] η: Volumetric efficiency (about 80% at idle speed);

[0079] The calculated flow rate of the P port at idle speed is about 28.67L / min (this is the flow rate when the valve port is fully open), and the flow rate is greater at high speed. The displacement stroke of the valve core in the lifting and lowering positions is 0-7mm, and the dead zone range is about 30% of the stroke, that is, the minimum P port flow rate is about Q p_min =28.67*0.3=8.6L / min.

[0080] 2. Lifting cylinder capacity:

[0081]

[0082] V Lift : Lifting cylinder capacity (L);

[0083] d1: Diameter of the lower chamber of the oil cylinder (mm): 150mm;

[0084] L: Cylinder stroke (mm): 200mm;

[0085] The calculated volume of the lifting cylinder is 3.61L.

[0086] 3. Cylinder volume when strong pressure drops:

[0087]

[0088] V down : Cylinder volume when the lifter is lowered (L);

[0089] d2: Cylinder piston diameter (mm): 87mm;

[0090] The calculated volume of the oil cylinder when descending is 2.54L.

[0091] 4. Maximum time to reach the highest mechanical limit (minimum valve opening):

[0092]

[0093] The calculated maximum time to lift to the mechanical limit (highest position of the cylinder) is about 25 seconds.

[0094] 5. Maximum time to drop to the lowest mechanical limit (minimum valve opening):

[0095]

[0096] The maximum time to drop to the mechanical limit (lowest position of the cylinder) is calculated to be about 18 seconds.

[0097] According to the above analysis, the maximum time for the lifter to rise to the high mechanical limit is about 25s, and the maximum time for the lifter to fall to the lowest mechanical limit is about 18s.

[0098] In an embodiment of the present invention, the oil inlet flow, the lifting cylinder volume and the cylinder volume when the strong pressure is lowered are first determined, and then the first maximum time (minimum valve opening) for the lifter to be lifted to the highest mechanical limit and the second maximum time (minimum valve opening) for the lifter to be lowered to the lowest mechanical limit are determined based on the above-mentioned parameters, providing a reference for determining the preset time threshold.

[0099] In the embodiment of the present invention, the preset time threshold value can be set to 30s. By setting the above time threshold, it is possible to accurately and effectively determine whether the electric lifter hydraulic system is continuously pressurized, and avoid the safety hazard caused by the continuous high temperature of the electric lifter hydraulic system due to the continuous pressure buildup of the hydraulic system.

[0100] Figure 5 This is an analysis diagram of the principle of pressure holding for the electric lifter. Figure 5 As shown, when the lift is in transport mode, the target height of the lift is the limited height set by the height limit knob, and the theoretical height is the height signal fed back by the angle sensor. If the angle sensor of the lift is shifted after long-term use (or other factors cause the position of the angle sensor to change), the actual height of the lift may exceed the target height of the lift, or even reach the upper limit of the mechanical limit of the lift. However, the height signal fed back by the angle sensor is still lower than the limited height, causing the lift controller to continue sending lifting instructions to the solenoid valve (the lift valve core is open, the flow is continuously output, and the duration is greater than the preset time threshold, such as the preset time threshold can be 30s), resulting in continuous pressure buildup in the hydraulic system and continuous temperature increase, which may lead to certain safety hazards.

[0101] In the embodiment of the present invention, when it is detected that the electric lifter is in the transport mode, and the lift valve core in the solenoid valve is open, the flow is continuously output, and the duration is greater than the preset time threshold, it is determined that there is a continuous pressure build-up in the hydraulic system of the electric lifter, and then the power-off protection strategy is activated. The embodiment of the present invention does not require additional pressure sensors, and only obtains the working mode of the electric lifter and the working state of the solenoid valve through software to determine whether there is a pressure build-up at the highest position of the lifter, and then take corresponding protection measures, thereby achieving the purpose of saving costs, protecting the hydraulic system, improving product reliability, and reducing failure rates.

[0102] Figure 6 This is the analysis diagram of the pressure holding principle of the electric control lifter. Figure 6 As shown in the figure, when the lifter is in the operation mode, if the strong pressure function is not turned on, the lifter descends by its own weight, and there is no pressure holding problem. If the strong pressure function is turned on, the target height of the lifter is the tillage depth height set by the tillage depth knob, and the theoretical height is the height signal comprehensively fed back by the angle sensor and the force sensor. If the angle sensor of the lifter is offset after long-term use (or other factors cause the position of the angle sensor to change), the actual position of the lifter is lower than the target height, or even reaches the lower limit of the mechanical limit of the lifter, but the signal fed back by the angle sensor is still higher than the tillage depth height, causing the lifter controller to continue to send a descending command to the solenoid valve (the spool of the descending valve is open, the flow is continuously output, and the duration is greater than the preset time threshold, which can be 30s), resulting in continuous pressure holding in the hydraulic system and continuous temperature increase, which may lead to certain safety hazards.

[0103] In the embodiment of the present invention, when it is detected that the electric lifter is in the operation mode, and the strong pressure function is turned on, the valve core of the descending valve in the solenoid valve is opened, the flow is continuously output, and the duration is greater than the preset time threshold, it is determined that there is a continuous pressure build-up in the hydraulic system of the electric lifter, and then the power-off protection strategy is activated. The embodiment of the present invention does not require additional pressure sensors, and only obtains the working mode of the electric lifter and the working state of the solenoid valve through software to determine whether there is a pressure build-up at the lowest position of the lifter, and then take corresponding protection measures, thereby achieving the purpose of saving costs, protecting the hydraulic system, improving product reliability, and reducing failure rates.

[0104] In the embodiment of the present invention, if it is detected that the hydraulic system of the electric control lifter has a continuous pressure build-up, a power-off protection strategy is initiated, which may include: controlling the solenoid valve to be powered off, keeping the solenoid valve in the middle position, prohibiting the output of hydraulic flow; and prompting the driver through the instrument that there is a hydraulic fault in the electric control lifter, thereby protecting the hydraulic system. It should be noted that the instrument prompting method includes but is not limited to sound prompting, voice prompting, and display prompting.

[0105] In the embodiment of the present invention, the solenoid valve is controlled to be de-energized to prohibit the output of hydraulic flow, thereby effectively protecting the hydraulic system of the electronically controlled lifter, and the driver is prompted with a fault through an instrument, so that the driver can take corresponding countermeasures.

[0106] Figure 7 This is a block diagram of an electric lift protection control system provided by an exemplary embodiment of the present application. Figure 7 As shown, the electric lift protection control system can be used to implement the electric lift protection control method provided by any of the above solutions, and the system includes an information acquisition module, an information processing module and a protection control module.

[0107] The information acquisition module is used to obtain the working mode of the electric lifter and the working status of the solenoid valve; the information processing module is used to determine whether there is a continuous pressure build-up in the hydraulic system of the electric lifter based on the working mode of the electric lifter and the working status of the solenoid valve; the protection control module is used to activate the power-off protection strategy if it detects that there is a continuous pressure build-up in the hydraulic system of the electric lifter.

[0108] An exemplary embodiment of the present application also provides a computer-readable storage medium, including instructions, which, when executed on a computer, enable the computer to execute the electric lift protection control method provided by any of the above schemes.

[0109] An exemplary embodiment of the present application also provides a tractor, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, an electric lift protection control method as provided in any of the above schemes is implemented.

[0110] An exemplary embodiment of the present application also provides a computer program product, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the electric-controlled lift protection control method provided by any of the above schemes.

[0111] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0112] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0113] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0114] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0115] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0116] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A protection control method for an electric control lifter, characterized in that: include: Obtain the working mode of the electric lifter and the working status of the solenoid valve; According to the working mode of the electronically controlled lifter and the working state of the solenoid valve, determining whether there is a continuous pressure build-up in the hydraulic system of the electronically controlled lifter; If continuous pressure build-up is detected in the hydraulic system of the electronically controlled lifter, the power-off protection strategy will be activated.

2. The method according to claim 1, characterized in that The step of judging whether there is a continuous pressure build-up in the hydraulic system of the electric-controlled lifter according to the working mode of the electric-controlled lifter and the working state of the solenoid valve comprises: Determine whether the combination of the working mode of the electric-controlled lifter and the working state of the solenoid valve is one of the preset pressure holding conditions; If so, it is determined whether the duration of the combined situation is greater than a preset time threshold. If so, it is determined that there is a continuous pressure build-up in the hydraulic system of the electronically controlled lifter.

3. The method according to claim 2, characterized in that The preset pressure holding condition includes the upper limit position pressure holding condition and the lower limit position pressure holding condition; The pressure holding condition at the upper limit position: the electronically controlled lifter is in the transport mode, and the lift valve core in the solenoid valve is open, and the flow is continuously output; The pressure holding situation at the lower limit position: the electric control lifter is in the operation mode and the high pressure function is turned on, and the valve core of the descending valve in the solenoid valve is opened, and the flow is continuously output.

4. The method according to claim 2, characterized in that: The method for determining the preset time threshold value includes: determining the first maximum time for the lifter to be lifted to the highest mechanical limit and the second maximum time for the lifter to be lowered to the lowest mechanical limit according to the working principle of the hydraulic system of the electric control lifter, and determining the preset time threshold according to the first maximum time and the second maximum time.

5. The method according to claim 4, characterized in that The method of determining the first maximum time for the lifter to be lifted to the highest mechanical limit and the second maximum time for the lifter to be lowered to the lowest mechanical limit according to the working principle of the hydraulic system of the electric control lifter comprises: Determine the oil inlet flow, lifting cylinder volume and cylinder volume when strong pressure is lowered according to the basic parameters of the electric lifter hydraulic system; Determining a first maximum time for the lifter to be lifted to a maximum mechanical limit according to the lift cylinder capacity and the oil inlet flow rate; The second maximum time for the lifter to descend to the lowest mechanical limit is determined according to the oil cylinder volume and the oil inlet flow rate when the strong pressure decreases.

6. The method according to claim 4, characterized in that The preset time threshold is greater than the first maximum time and the second maximum time.

7. The method according to any one of claims 1 to 6, characterized in that: The power-off protection strategy includes: controlling the solenoid valve to cut off power, keeping the solenoid valve in a neutral position, prohibiting hydraulic flow output; and prompting the driver through an instrument that there is a hydraulic fault in the electronically controlled lifter.

8. An electric lift protection control system, characterized in that: For implementing the method described in any one of claims 1 to 7, the system comprises: An information acquisition module is used to obtain the working mode of the electric control lifter and the working status of the solenoid valve; An information processing module, used for judging whether there is a continuous pressure holding condition in the hydraulic system of the electric control lifter according to the working mode of the electric control lifter and the working state of the solenoid valve; The protection control module is used to activate the power-off protection strategy if it detects that there is a continuous pressure build-up in the hydraulic system of the electric control lifter.

9. A computer-readable storage medium comprising instructions, characterized in that: When the instructions are executed on a computer, the computer is enabled to execute the electric lift protection control method according to any one of claims 1 to 7.

10. A tractor comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the electric lift protection control method as described in any one of claims 1 to 7 when executing the program.

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