Hydraulic propulsion system synchronization method and related device

Abstract

The embodiment of the invention provides a hydraulic propulsion system synchronization method and a related device, and relates to the technical field of electro-hydraulic control. The method comprises the following steps: obtaining respective propelling distances of two propelling units in the hydraulic propelling system; according to the two obtained propelling distances, whether synchronous compensation is carried out or not is judged; and if yes, the opening degree of reversing valves in the two propelling units is kept unchanged, a target bypass valve in the target propelling unit is controlled to be in an open state, the difference between the two propelling distances is reduced by reducing the speed of the target propelling unit, the target propelling unit is the propelling unit with the higher speed in the two propelling units under the current working condition, and the target bypass valve in the target propelling unit is controlled to be in an open state. And one end of the target bypass pipeline where the target bypass valve is located is connected between the input port of the propulsion oil cylinder in the target propulsion unit and the reversing valve in the propulsion unit. In this way, the synchronism of the hydraulic propulsion system can be improved, and the consistency of the synchronous control effect can be guaranteed due to the fact that manual valve control is not needed.

Description

Technical Field

[0001] This application relates to the technical field of electro-hydraulic control, and more particularly, to a method for synchronizing a hydraulic propulsion system and related devices. Background Art

[0002] In the tunnel engineering machinery industry, most have not yet introduced automated control means. At present, for the hydraulic propulsion systems of construction machinery in many tunnels in China, the synchronization is basically observed by the naked eye of operators, and the opening degree of the valves in the main pipelines of the corresponding propulsion units in the hydraulic propulsion system is manually controlled in the hope of achieving synchronization. As a result, the synchronization is low. Moreover, such an operation method is inefficient; at the same time, the operation consistency is extremely poor, and the operation results of different operators are different. Summary of the Invention

[0003] Embodiments of this application provide a method for synchronizing a hydraulic propulsion system and related devices, which can control the valve states in two propulsion units based on the respective propulsion distances of the two propulsion units, thereby improving the synchronization of the hydraulic propulsion system, and since there is no need for manual valve control, the consistency of the synchronization control effect can be ensured.

[0004] Embodiments of this application can be implemented as follows:

[0005] In a first aspect, embodiments of this application provide a method for synchronizing a hydraulic propulsion system, the method including:

[0006] Obtain the respective propulsion distances of two propulsion units in the hydraulic propulsion system;

[0007] Based on the obtained two propulsion distances, determine whether to perform synchronization compensation;

[0008] In the case where it is determined that synchronization compensation is required, keep the opening degree of the directional control valve in the two propulsion units unchanged, and control the target bypass valve in the target propulsion unit to be in an open state, so as to reduce the difference between the two propulsion distances by reducing the speed of the target propulsion unit, where the target propulsion unit is the propulsion unit with a faster speed among the two propulsion units under the current working condition, and one end of the target bypass pipeline where the target bypass valve is located is connected between the input port of the propulsion cylinder in the target propulsion unit and the directional control valve in this propulsion unit.

[0009] In a second aspect, embodiments of this application provide a device for synchronizing a hydraulic propulsion system, the device including:

[0010] An information acquisition module, configured to obtain the respective propulsion distances of two propulsion units in the hydraulic propulsion system;

[0011] An analysis module, configured to determine whether to perform synchronization compensation based on the obtained two propulsion distances;

[0012] A control module, configured to, when it is determined that synchronous compensation is required, keep the opening degree of the reversing valve in the two propulsion units unchanged, and control the target bypass valve in the target propulsion unit to be in an open state, so as to reduce the gap between the two propulsion distances by reducing the speed of the target propulsion unit, where the target propulsion unit is the propulsion unit with a higher speed among the two propulsion units under the current working condition, and one end of the target bypass pipeline where the target bypass valve is located is connected between the input port of the propulsion cylinder in the target propulsion unit and the reversing valve in this propulsion unit.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory. The memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the hydraulic propulsion system synchronization method described in the foregoing embodiments.

[0014] In a fourth aspect, an embodiment of the present application provides a working device. The working device includes a control unit, a distance information acquisition unit, and two propulsion units. The propulsion unit includes a propulsion cylinder, a reversing valve, and two bypass valves. One end of the bypass pipeline where the bypass valve is located is connected between the cylinder port of the propulsion cylinder and the reversing valve.

[0015] The distance information acquisition unit is configured to detect the propulsion distances of the two propulsion units respectively.

[0016] The control unit is communicatively connected to the distance information acquisition unit and the two propulsion units, and is configured to, when synchronous compensation is required according to the two received propulsion distances, keep the opening degree of the reversing valve in the two propulsion units unchanged, and control the target bypass valve in the target propulsion unit to be in an open state, so as to reduce the gap between the two propulsion distances by reducing the speed of the target propulsion unit, where the target propulsion unit is the propulsion unit with a higher speed among the two propulsion units under the current working condition, one end of the target bypass pipeline where the target bypass valve is located is connected between the target cylinder port and the reversing valve in this propulsion unit, and the target cylinder port is the cylinder port serving as the input port in the propulsion cylinder.

[0017] In a fifth aspect, an embodiment of the present application provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the hydraulic propulsion system synchronization method described in the foregoing embodiments.

[0018] The hydraulic propulsion system synchronization method and related devices provided by the embodiments of the present application first obtain the respective propulsion distances of two propulsion units in the hydraulic propulsion system; then, based on the above two propulsion distances, determine whether synchronous compensation is required; if so, keep the opening degrees of the reversing valves in the two propulsion units unchanged, and control the target bypass valve in the target propulsion unit to be in an open state, so as to reduce the gap between the two propulsion distances by reducing the speed of the target propulsion unit. Wherein, the target propulsion unit is the propulsion unit with a faster speed among the two propulsion units under the current working condition, and one end of the target bypass pipeline where the target bypass valve is located is connected between the input port of the propulsion oil cylinder in the target propulsion unit and the reversing valve in this propulsion unit. The above method controls the valve states in the two propulsion units based on the respective propulsion distances of the two propulsion units, thereby improving the synchronization of the hydraulic propulsion system, and since no manual valve control is required, the consistency of the synchronous control effect can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0020] Figure 1 One of the schematic structural diagrams of the working equipment provided by the embodiments of the present application;

[0021] Figure 2 The block diagram of the working equipment provided by the embodiments of the present application;

[0022] Figure 3 The schematic structural diagram of the connection component in the working equipment;

[0023] Figure 4 Another schematic structural diagram of the working equipment provided by the embodiments of the present application;

[0024] Figure 5 The block diagram of the electronic equipment provided by the embodiments of the present application;

[0025] Figure 6 The hydraulic propulsion system synchronization method provided by the embodiments of the present application;

[0026] Figure 7 The action logic state table of the hydraulic propulsion system synchronization method provided by the embodiments of the present application;

[0027] Figure 8 For Figure 6 The flow schematic diagram of the sub-steps included in step S130 in

[0028] Figure 9 For Figure 8 Schematic diagram of the sub - steps included in sub - step S133;

[0029] Figure 10 Block diagram of the hydraulic propulsion system synchronization device provided by the embodiments of the present application.

[0030] Icon: 100 - working device; 110 - first propulsion unit; 111 - first reversing valve; 112 - first bypass valve; 113 - second bypass valve; 114 - first propulsion cylinder; 115 - first pressure compensator; 116 - first shuttle valve; 117 - first balance valve; 118 - second balance valve; 120 - second propulsion unit; 121 - second reversing valve; 122 - third bypass valve; 123 - fourth bypass valve; 124 - second propulsion cylinder; 125 - second pressure compensator; 126 - second shuttle valve; 127 - third balance valve; 128 - fourth balance valve; 131 - suction filter; 133 - thermometer; 135 - return oil filter; 137 - motor; 139 - variable pump; 141 - high - pressure filter; 143 - overflow valve; 145 - radiator; 147 - check valve; 149 - fuel tank; 150 - distance information acquisition unit; 151 - first distance sensor; 152 - second distance sensor; 160 - control unit; 171 - connection component; 173 - working arm; 200 - electronic device; 210 - memory; 220 - processor; 230 - communication unit; 300 - hydraulic propulsion system synchronization device; 310 - information acquisition module; 320 - analysis module; 330 - control module. Detailed implementation manners

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0033] It should be noted that relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0034] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0035] Please refer to Figure 1 and Figure 2 , an embodiment of the present application provides a working device 100. The working device 100 may be, but is not limited to, a roadheader. The working device 100 may include a hydraulic propulsion system, a distance information acquisition unit 150, and a control unit 160. The hydraulic propulsion system includes two propulsion units, namely a first propulsion unit 110 and a second propulsion unit 120. The distance information acquisition unit 150 is configured to detect the propulsion distances of the two propulsion units respectively.

[0036] The control unit 160 is communicatively connected to the distance information acquisition unit 150 and the two propulsion units, and is configured to keep the opening degree of the directional valve in the two propulsion units unchanged and control the target bypass valve in the target propulsion unit to be in an open state when synchronous compensation is required according to the two received propulsion distances, so as to reduce the difference between the two propulsion distances by reducing the speed of the target propulsion unit. Wherein, the target propulsion unit is the propulsion unit with a faster speed among the two propulsion units under the current working condition, one end of the target bypass pipeline where the target bypass valve is located is connected between the target cylinder port and the directional valve in the propulsion unit, the target cylinder port is the cylinder port serving as the input port in the propulsion cylinder, and the current working condition is a propulsion working condition or a retraction working condition. In this way, the synchronism can be automatically improved, and there is no need for manual control of the valve state, which can improve the work efficiency and ensure the consistency of the synchronous control efficiency.

[0037] In this embodiment, the first propulsion unit 110 may include a first reversing valve 111, a first bypass valve 112, a second bypass valve 113, and a first propulsion cylinder 114. The first reversing valve 111 can be connected to the first propulsion cylinder 114 via a first main pipeline and a second main pipeline. The first reversing valve 111 is used to control whether the liquid flows into the rodless cavity or the rod cavity of the first propulsion cylinder 114. When hydraulic oil enters from the rodless cavity, it flows out from the rod cavity; when hydraulic oil enters from the rod cavity, it flows out from the rodless cavity.

[0038] The first bypass valve 112 is arranged on a first bypass pipeline, and one end of the first bypass valve 112 communicates with the first main pipeline. In this embodiment, one end of the first bypass valve 112 is connected between a first reversing valve 111 and a cylinder port of the corresponding rodless cavity of the first propulsion cylinder 114. The first bypass valve 112 can also be called a first forward bypass valve. When the first bypass valve 112 is opened, the hydraulic oil in the first main pipeline decreases.

[0039] The second bypass valve 113 is arranged on a second bypass pipeline, and one end of the second bypass valve 113 communicates with the second main pipeline. In this embodiment, one end of the second bypass valve 113 is connected between the first reversing valve 111 and a cylinder port of the corresponding rod cavity of the first propulsion cylinder 114. The second bypass valve 113 can also be called a first reverse bypass valve. When the second bypass valve 113 is opened, the hydraulic oil in the second main pipeline decreases.

[0040] Therefore, by controlling the first bypass valve 112 or the second bypass valve 113 corresponding to the inflow pipeline (i.e., the main pipeline for inputting hydraulic oil to the first propulsion cylinder 114) in the first propulsion unit 110 to be in an open state, the speed of the first propulsion cylinder 114 can be slowed down.

[0041] Similarly, in this embodiment, the second propulsion unit 120 may include a second reversing valve 121, a third bypass valve 122, a fourth bypass valve 123, and a second propulsion cylinder 124. The second reversing valve 121 can be connected to the second propulsion cylinder 124 via a third main pipeline and a fourth main pipeline. The second reversing valve 121 is used to control whether the liquid flows into the rodless cavity or the rod cavity of the second propulsion cylinder 124.

[0042] The third bypass valve 122 is arranged on a third bypass pipeline, and one end of the third bypass valve 122 communicates with the third main pipeline. In this embodiment, one end of the third bypass valve 122 is connected between the second reversing valve 121 and a cylinder port of the corresponding rodless cavity of the second propulsion cylinder 124. The third bypass valve 122 can also be called a second forward bypass valve. When the third bypass valve 122 is opened, the hydraulic oil in the third main pipeline decreases.

[0043] The fourth bypass valve 123 is disposed on the fourth bypass pipeline, and one end of the fourth bypass valve 123 communicates with the fourth main pipeline. In this embodiment, one end of the fourth bypass valve 123 is connected between an oil cylinder port corresponding to the rodless cavity of the second reversing valve 121 and the second propulsion oil cylinder 124. The fourth bypass valve 123 may also be referred to as the second reverse bypass valve. When the fourth bypass valve 123 is opened, the hydraulic oil in the fourth main pipeline decreases.

[0044] Therefore, by controlling the third bypass valve 122 or the fourth bypass valve 123 corresponding to the inflow pipeline in the second propulsion unit 120 (i.e., the main pipeline for inputting hydraulic oil to the second propulsion oil cylinder 124) to be in an open state, the speed of the second propulsion oil cylinder 124 can be slowed down.

[0045] The distance information obtaining unit 150 may include a first distance sensor 151 and a second distance sensor 152. The first distance sensor 151 may be disposed near the first propulsion oil cylinder 114 to detect the movement of the piston rod of the first propulsion oil cylinder 114, so as to obtain the extended length of the piston rod in the first propulsion oil cylinder 114 and use this length as the first propulsion distance. The second distance sensor 152 may be disposed near the second propulsion oil cylinder 124 to detect the movement of the piston rod of the second propulsion oil cylinder 124, so as to obtain the extended length of the piston rod in the second propulsion oil cylinder 124 and use this length as the second propulsion distance. The first distance sensor 151 may send the obtained first propulsion distance to the control unit 160, and the second distance sensor 152 may send the obtained second propulsion distance to the control unit 160, so that the control unit 160 can perform synchronous control based on the two obtained propulsion distances. Wherein, the first distance sensor 151 and the second distance sensor 152 may be, but are not limited to, cable displacement sensors.

[0046] Optionally, in this embodiment, the first propulsion unit 110 may further include a first pressure compensator 115 and a first shuttle valve 116. The first pressure compensator 115 is disposed between the first reversing valve 111 and the oil tank 149. One end of the first shuttle valve 116 communicates with two ports of the first reversing valve 111 facing the first propulsion oil cylinder 114, and the other end is connected to the first pressure compensator 115. The first pressure compensator 115 cooperates with the first shuttle valve 116 to make the flow rates of the two ports of the first reversing valve 111 facing the first propulsion oil cylinder 114 approximately the same when they are respectively used as hydraulic oil outlets. Similarly, the second propulsion unit 120 may further include a second pressure compensator 125 and a second shuttle valve 126.

[0047] Optionally, in this embodiment, the first propulsion unit 110 may further include a first balance valve 117 and a second balance valve 118. The first balance valve 117 and the second balance valve 118 are used for the first propulsion cylinder 114, so that the propulsion distance of the first propulsion unit 110 remains unchanged when the oil supply stops. Similarly, the second propulsion unit 120 may further include a third balance valve 127 and a fourth balance valve 128.

[0048] In this embodiment, the hydraulic propulsion system may further include an oil suction filter 131 and a high-pressure filter 141 provided on the total inflow pipeline. One end of the oil suction filter 131 is connected to the fuel tank 149, and the other end is connected to the first reversing valve 111 and the second reversing valve 121 via the high-pressure filter 141. The oil suction filter 131 is used for rough filtration, and the high-pressure filter 141 is used for fine filtration to reduce the impurities entering the propulsion unit from the fuel tank 149.

[0049] In this embodiment, the hydraulic propulsion system may further include a motor 137 and a variable pump 139 provided on the total inflow pipeline. When the motor 137 and the variable pump 139 are powered on, hydraulic oil can enter the total inflow pipeline from the fuel tank 149. Among them, the opening of the variable pump 139 can be controlled, so as to control the flow rate of the hydraulic oil entering the total inflow pipeline. The variable pump 139 can be provided between the oil suction filter 131 and the high-pressure filter 141.

[0050] In this embodiment, a check valve 147 may also be provided on the total inflow pipeline. The check valve 147 can be provided between the high-pressure filter 141 and the two reversing valves (i.e., the first reversing valve 111 and the second reversing valve 121). The check valve 147 is used to prevent the hydraulic oil from flowing from the total inflow pipeline into the fuel tank 149.

[0051] In this embodiment, the hydraulic propulsion system may further include a radiator 145 and an oil return filter 135 provided on the total outflow pipeline. The radiator 145 is used to reduce the temperature of the hydraulic oil, and the oil suction filter 131 is used to reduce the impurities entering the fuel tank 149 through the total outflow pipeline. When returning oil, the hydraulic oil can enter the fuel tank 149 through the radiator 145 and the oil return filter 135 in sequence.

[0052] In this embodiment, the hydraulic propulsion system may further include an overflow pipeline, and an overflow valve 143 is provided on the overflow pipeline. One end of the overflow pipeline is connected to the total inflow pipeline and the end of the total outflow pipeline facing the propulsion unit. When the overflow valve 143 is opened, the hydraulic oil in the total inflow pipeline and the total outflow pipeline can enter the fuel tank 149 through the overflow pipeline.

[0053] In this embodiment, the hydraulic propulsion system may further include a thermometer 133. The thermometer 133 can be used to detect the temperature of the fuel tank 149, so as to heat up or cool down the fuel tank, etc.

[0054] The hydraulic propulsion system is used to drive other devices to move forward or retract. For example, Figure 3 and Figure 4 as shown, when the working device is a roadheader, the working device may further include a connection component 171 and a working arm 173. The first propulsion cylinder 114 and the second propulsion cylinder 124 respectively drive one end of the connection component 171 to move, so as to drive the working arm 173 connected to the connection component 171 to move forward or retract.

[0055] Please refer to Figure 5 , Figure 5 which is a block diagram of the electronic device 200 provided by an embodiment of the present application. The electronic device 200 can be a working device or a control unit in a working device, etc. The electronic device 200 may include a memory 210, a processor 220 and a communication unit 230. The elements of the memory 210, the processor 220 and the communication unit 230 are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines.

[0056] Among them, the memory 210 is used to store programs or data. The memory 210 can be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0057] The processor 220 is used to read / write data or programs stored in the memory 210 and execute corresponding functions. For example, a hydraulic propulsion system synchronization device 300 is stored in the memory 210. The hydraulic propulsion system synchronization device 300 includes at least one software function module that can be stored in the memory 210 in the form of software or firmware. The processor 220 executes various functional applications and data processing by running software programs and modules stored in the memory 210, such as the hydraulic propulsion system synchronization device 300 in the embodiments of the present application, thereby implementing the hydraulic propulsion system synchronization method in the embodiments of the present application.

[0058] The communication unit 230 is used to establish a communication connection between the electronic device 200 and other communication terminals through a network, and is used to transmit and receive data through the network.

[0059] It should be understood that Figure 5 The structure shown is only a schematic diagram of the structure of the electronic device 200. The electronic device 200 may also include more or fewer components than those shown Figure 5 shown, or have a different configuration from that Figure 5 shown. Figure 5 Each component shown can be implemented by hardware, software, or a combination thereof.

[0060] Please refer to Figure 6 , Figure 6 which is the hydraulic propulsion system synchronization method provided by the embodiments of the present application. The method is applied to the above-mentioned working equipment. The specific process of the hydraulic propulsion system synchronization method will be elaborated in detail below. In this embodiment, the method may include step S110 to step S130.

[0061] Step S110, obtain the propulsion distances of two propulsion units in the hydraulic propulsion system respectively.

[0062] Step S120, determine whether to perform synchronous compensation according to the obtained two propulsion distances.

[0063] Step S130, when it is determined that synchronous compensation is required, keep the opening degree of the directional control valve in the two propulsion units unchanged, and control the target bypass valve in the target propulsion unit to be in an open state, so as to reduce the gap between the two propulsion distances by reducing the speed of the target propulsion unit.

[0064] In this embodiment, the two propulsion units include a first propulsion unit and a second propulsion unit. The propulsion distance of the first propulsion unit can be obtained as the first propulsion distance, and the propulsion distance of the second propulsion unit can be obtained as the second propulsion distance. The specific obtaining methods of the above two propulsion distances can be determined according to actual needs.

[0065] For example, a first distance sensor is provided at the first propulsion cylinder of the first propulsion unit, and the first propulsion distance is obtained by using the first distance sensor. Also, a second distance sensor is provided at the second propulsion cylinder of the second propulsion unit, and the second propulsion distance is obtained by using the second distance sensor.

[0066] After obtaining the above two propulsion distances, the absolute value of the difference between the two propulsion distances can be calculated as the distance difference. Then, it is determined whether the distance difference is greater than a first preset difference. If the distance difference is less than the first preset difference, it can be determined that no synchronous compensation is required to improve the synchronism of the hydraulic propulsion system. If the distance difference is greater than or equal to the first preset difference, it can be determined that synchronous compensation is required.

[0067] In the case where it is determined that synchronous compensation is required, one of the first propulsion unit and the second propulsion unit can be determined as the target propulsion unit according to the first propulsion distance and the second propulsion distance. The target propulsion unit is the propulsion unit with a faster speed among the two propulsion units (i.e., the first propulsion unit and the second propulsion unit) under the current working condition; the current working condition is the propulsion working condition or the retraction working condition, that is, if the current working condition is the propulsion working condition, the target propulsion unit is the propulsion unit with a faster propulsion speed among the two propulsion units, and if the current working condition is the retraction working condition, the target propulsion unit is the propulsion unit with a faster retraction speed among the two propulsion units. Also, the opening degrees of the first reversing valve in the first propulsion unit and the second reversing valve in the second propulsion unit are kept unchanged, and the target bypass valve in the target propulsion unit is controlled to be in an open state to reduce the gap between the two propulsion distances by reducing the speed of the target propulsion unit. Wherein, the bypass pipeline where the target bypass valve is located is the target bypass pipeline, and one end of the target bypass pipeline is connected between the input port of the propulsion cylinder in the target propulsion unit and the reversing valve in the propulsion unit.

[0068] In this way, when the propulsion distances of the two propulsion units differ greatly, the corresponding bypass valve can be controlled to open, thereby slowing down the speed of the propulsion cylinder in the propulsion unit with a faster speed to reduce the gap between the two propulsion distances. The above method can improve the synchronism of the hydraulic propulsion system, and since no manual valve control is required, the consistency of the synchronous control effect can be ensured.

[0069] In this embodiment, the first propulsion unit and the second propulsion unit can work independently or synchronously. The following will describe how to control the first propulsion unit and the second propulsion unit to work in combination with Figure 1 to illustrate how to control the first propulsion unit and the second propulsion unit to work. The above 4 bypass valves in the hydraulic propulsion system are default to the closed state.

[0070] 1. When the first propulsion unit 110 corresponding to the first propulsion cylinder 114 works independently, the motor 137 is powered on, and the electromagnet YV01 of the variable pump 139 is powered on, and the hydraulic propulsion system is ready for work.

[0071] In the propulsion working condition (also known as the forward working condition), the first propulsion unit 110 is controlled to work in the following way.

[0072] The first propulsion distance of the first propulsion unit 110 is read by the first distance sensor 151. When the first propulsion distance is less than the set working distance, the electromagnet YV02 of the first reversing valve 111 (i.e., the forward electromagnet of the first reversing valve 111) is powered on to work, and the P port and the A port of the first reversing valve 111 are connected. The A port of the first reversing valve 111 is connected to the A port of the first balance valve 117, the B port of the first balance valve 117 is connected to the A port of the first propulsion cylinder 114, the B port of the first propulsion cylinder 114 is connected to the B port of the second balance valve 118, and the A port of the second balance valve 118 is connected to the B port of the first reversing valve 111. The B port of the first reversing valve 111 is connected to the T port of the first reversing valve 111. The T port of the first reversing valve 111 is connected to the A port of the radiator 145, the B port of the radiator 145 is connected to the A port of the return oil filter 135, and the B port of the return oil filter 135 is connected to the fuel tank 149. In this way, the first propulsion unit can run in the predetermined direction to reach the set working distance. When the set working distance is reached, the electromagnet YV02 of the first reversing valve 111 is powered off to stop working, and the hydraulic propulsion system automatically completes the operation.

[0073] In the retraction working condition (also known as the reverse working condition), the first propulsion unit 110 is controlled to work in the following way.

[0074] Read the first propulsion distance of the first propulsion unit 110 through the first distance sensor 151. When the retraction distance determined based on the first propulsion distance is less than the set working distance, control the electromagnet YV03 of the first reversing valve 111 (i.e., the retracting electromagnet of the first reversing valve 111) to be energized and work, and the P port and the B port of the first reversing valve 111 are connected. The B port of the first reversing valve 111 is connected to the A port of the second balance valve 118, the B port of the second balance valve 118 is connected to the B port of the first propulsion cylinder, the A port of the first propulsion cylinder 114 is connected to the B port of the first balance valve 117, and the A port of the first balance valve 117 is connected to the A port of the first reversing valve 111. The A port of the first reversing valve 111 is connected to the T port of the first reversing valve 111. The T port of the first reversing valve 111 is connected to the A port of the radiator 145, the B port of the radiator 145 is connected to the A port of the return oil filter 135, and the B port of the return oil filter 135 is connected to the fuel tank 149. In this way, the first propulsion unit can run in a predetermined direction to reach the set working distance. When the set working distance is reached, control the electromagnet YV03 of the first reversing valve 111 to lose power and stop working, and the hydraulic propulsion system automatically completes the operation.

[0075] II. When the second propulsion unit 120 corresponding to the second propulsion cylinder 124 works independently, the motor 137 is energized, and the electromagnet YV01 of the variable pump 139 is energized, and the hydraulic propulsion system is ready for work.

[0076] When the working condition is the propulsion condition, control the second propulsion unit 120 to work in the following manner.

[0077] Read the second propulsion distance of the second propulsion unit 120 through the second distance sensor 152. When the second propulsion distance is less than the set working distance, control the electromagnet YV04 of the second reversing valve 121 (i.e., the forward electromagnet of the second reversing valve 121) to be energized and work, and the P port and the A port of the second reversing valve 121 are connected. The A port of the second reversing valve 121 is connected to the A port of the third balance valve 127, the B port of the third balance valve 127 is connected to the A port of the second propulsion cylinder 124, the B port of the second propulsion cylinder 124 is connected to the B port of the fourth balance valve 128, and the A port of the fourth balance valve 128 is connected to the B port of the second reversing valve 121. The B port of the second reversing valve 121 is connected to the T port of the second reversing valve 121. The T port of the second reversing valve 121 is connected to the A port of the radiator 145, the B port of the radiator 145 is connected to the A port of the return oil filter 135, and the B port of the return oil filter 135 is connected to the fuel tank 149. In this way, the second propulsion unit 120 can run in a predetermined direction to reach the set working distance. When the set working distance is reached, control the electromagnet YV04 of the second reversing valve 121 to lose power and stop working, and the hydraulic propulsion system automatically completes the operation.

[0078] When the working condition is the retraction condition, the second propulsion unit 120 is controlled to operate in the following manner.

[0079] The second propulsion distance of the second propulsion unit 120 is read by the second distance sensor 152. When the retraction distance determined based on the second propulsion distance is less than the set working distance, the electromagnet YV05 of the second reversing valve 121 (i.e., the retraction electromagnet of the second reversing valve 121) is energized to work, and the P port and the B port of the second reversing valve 121 are connected. The B port of the second reversing valve 121 is connected to the A port of the fourth balance valve 128, the B port of the fourth balance valve 128 is connected to the B port of the second propulsion cylinder 124, the A port of the second propulsion cylinder 124 is connected to the B port of the third balance valve 127, and the A port of the third balance valve 127 is connected to the A port of the second reversing valve 121. The A port of the second reversing valve 121 is connected to the T port of the second reversing valve 121. The T port of the second reversing valve 121 is connected to the A port of the radiator 145, the B port of the radiator 145 is connected to the A port of the oil return filter 135, and the B port of the oil return filter 135 is connected to the fuel tank 149. In this way, the second propulsion unit can be made to operate in a predetermined direction to reach the set working distance. When the set working distance is reached, the electromagnet YV05 of the second reversing valve 121 is de-energized to stop working, and the hydraulic propulsion system automatically completes the operation.

[0080] III. When the first propulsion unit 110 and the second propulsion unit 120 work synchronously, the motor 137 is energized, and the electromagnet YV01 of the variable pump 139 is energized, and the hydraulic propulsion system is ready for work.

[0081] When the working condition is the synchronous propulsion condition (i.e., both propulsion units are working in the propulsion condition), the first propulsion unit 110 and the second propulsion unit 120 are controlled to operate in the following manner.

[0082] The first propulsion distance of the first propulsion unit is obtained by the first distance sensor 151, and the second propulsion distance of the second propulsion unit is obtained by the second distance sensor 152. According to the first propulsion distance and the second propulsion distance, it is judged whether the propulsion distance of the hydraulic propulsion system reaches the set working distance. If not (i.e., less than), the electromagnet YV02 of the first reversing valve 111 (i.e., the forward electromagnet of the second reversing valve 121) and the electromagnet YV04 of the second reversing valve 121 (i.e., the forward electromagnet of the second reversing valve 121) are controlled to be energized and work. The P port of the first reversing valve 111 is connected to the A port, the A port of the first reversing valve 111 is connected to the A port of the first balance valve 117, the B port of the first balance valve 117 is connected to the A port of the first propulsion cylinder 114, the B port of the first propulsion cylinder 114 is connected to the B port of the second balance valve 118, and the A port of the second balance valve 118 is connected to the B port of the first reversing valve 111. The B port of the first reversing valve 111 is connected to the T port of the first reversing valve 111. The T port of the first reversing valve 111 is connected to the A port of the radiator 145, the B port of the radiator 145 is connected to the A port of the return oil filter 135, and the B port of the return oil filter 135 is connected to the fuel tank 149.

[0083] The P port of the second reversing valve 121 is connected to the A port. The A port of the second reversing valve 121 is connected to the A port of the third balance valve 127, the B port of the third balance valve 127 is connected to the A port of the second propulsion cylinder 124, the B port of the second propulsion cylinder 124 is connected to the B port of the fourth balance valve 128, and the A port of the fourth balance valve 128 is connected to the B port of the second reversing valve 121. The B port of the second reversing valve 121 is connected to the T port of the second reversing valve 121. The T port of the second reversing valve 121 is connected to the A port of the radiator 145, the B port of the radiator 145 is connected to the A port of the return oil filter 135, and the B port of the return oil filter 135 is connected to the fuel tank 149.

[0084] In this way, the first propulsion unit 110 and the second propulsion unit 120 can be made to operate in a predetermined direction to reach the set working distance. When the set working distance is reached, the electromagnet YV02 of the first reversing valve 111 and the electromagnet YV04 of the second reversing valve 121 are controlled to lose power and stop working at the same time, and the automatic operation of the hydraulic propulsion system is completed.

[0085] In the synchronous retraction working condition (i.e., both propulsion units work in the retraction working condition), the first propulsion unit 110 and the second propulsion unit 120 are controlled to work in the following manner.

[0086] The first propulsion distance of the first propulsion unit is obtained by the first distance sensor 151, and the second propulsion distance of the second propulsion unit is obtained by the second distance sensor 152. According to the first propulsion distance and the second propulsion distance, it is determined whether the retraction distance of the hydraulic propulsion system reaches the set working distance. If it does not reach (i.e., is less than), the electromagnet YV03 of the first reversing valve 111 (i.e., the retracting electromagnet of the first reversing valve 111) and the electromagnet YV05 of the second reversing valve 121 (i.e., the retracting electromagnet of the second reversing valve 121) are controlled to be energized and work simultaneously. The P port and the B port of the first reversing valve 111 are connected. The B port of the first reversing valve 111 is connected to the A port of the second balance valve 118, the B port of the second balance valve 118 is connected to the B port of the first propulsion cylinder, the A port of the first propulsion cylinder is connected to the B port of the first balance valve 117, the A port of the first balance valve 117 is connected to the A port of the first reversing valve 111. The A port of the first reversing valve 111 is connected to the T port of the first reversing valve 111. The T port of the first reversing valve 111 is connected to the A port of the radiator 145, the B port of the radiator 145 is connected to the A port of the oil return filter 135, and the B port of the oil return filter 135 is connected to the fuel tank 149.

[0087] The P port and the B port of the second reversing valve 121 are connected. The B port of the second reversing valve 121 is connected to the A port of the fourth balance valve 128, the B port of the fourth balance valve 128 is connected to the B port of the second propulsion cylinder 124, the A port of the second propulsion cylinder 124 is connected to the B port of the third balance valve 127, the A port of the third balance valve 127 is connected to the A port of the second reversing valve 121, and the A port of the second reversing valve 121 is connected to the T port of the second reversing valve 121. The T port of the second reversing valve 121 is connected to the A port of the radiator 145, the B port of the radiator 145 is connected to the A port of the oil return filter 135, and the B port of the oil return filter 135 is connected to the fuel tank 149.

[0088] In this way, the first propulsion unit 110 and the second propulsion unit 120 can be made to operate in a predetermined direction to reach the set working distance. When the set working distance is reached, the electromagnet YV03 of the first reversing valve 111 and the electromagnet YV05 of the second reversing valve 121 are controlled to be de-energized and stop working, and the automatic operation of the hydraulic propulsion system is completed.

[0089] IV. When the first propulsion unit 110 and the second propulsion unit 120 work synchronously, it is possible to determine whether synchronous propulsion compensation or synchronous retraction compensation needs to be performed based on the current working conditions and the two propulsion distances obtained, so as to achieve synchronization.

[0090] A joystick may be provided in the working device, and the operator can control the joystick to move forward or backward. According to the way the joystick is operated, the current working condition can be determined. For example, if the operator operates the joystick forward, the current working condition is the propulsion condition; if the operator operates the joystick backward, the current working condition is the retraction condition.

[0091] As Figure 7 shown, similar to the situation described above, when the current working condition is the propulsion condition, the forward electromagnet of the first reversing valve and the forward electromagnet of the second reversing valve are energized. When the current disclosure is the retraction condition, the backward electromagnet of the first reversing valve and the backward electromagnet of the second reversing valve are energized. Among them, Figure 7 the "√" in

[0092] means energized. When the hydraulic propulsion system is working, the reversing valve in the system needs to be supplied with current, and the specific reversing valve that needs to be supplied with current can be determined according to actual needs. For example, if only the first propulsion unit needs to work, current can be supplied to the first reversing valve and not to the second reversing valve; if only the second propulsion unit needs to work, current can be supplied to the second reversing valve and not to the first reversing valve; if the first propulsion unit and the second propulsion unit need to work, current can be supplied to the second reversing valve and the second reversing valve.

[0093] The magnitude of the current supplied to the reversing valve is proportional to the opening of the reversing valve within a certain range. Optionally, in this embodiment, the opening of the reversing valve is controlled by controlling the current value in the reversing valve, and the current value in the reversing valve is calculated in the following manner. The current propulsion depth of the joystick in the hydraulic propulsion system can be detected, and then, based on the current propulsion depth, the maximum and minimum propulsion depths of the joystick, and the maximum and minimum current values of the reversing valve, the target current value corresponding to the reversing valve is calculated. This target current value is the magnitude of the current supplied to the reversing valve. The propulsion speed is determined by the propulsion depth of the joystick. The greater the propulsion amplitude of the joystick, the faster the speed, and the smaller the propulsion amplitude of the joystick, the slower the speed.

[0094] The target current value corresponding to the reversing valve can be calculated through the following formula:

[0095]

[0096] It can be understood that in the above four scenarios, the target current value of the reversing valve can be obtained through the above method.

[0097] When it is determined that synchronous compensation is required, based on Figure 7 the action logic state table shown, the target bypass valve can be determined, and then the state of the target bypass valve is controlled to achieve synchronization.

[0098] When the current working condition is the propulsion condition, if the first propulsion distance is less than the second propulsion distance and the distance difference is greater than or equal to the first preset difference, the second forward bypass valve (i.e., the third bypass valve mentioned above) in the second propulsion unit is taken as the target bypass valve, and the target bypass valve is controlled to be in the open state.

[0099] As Figure 1 shown, during the forward movement of the hydraulic propulsion system, if the left propulsion distance (i.e., the first propulsion distance) is less than the right propulsion distance (i.e., the second propulsion distance) and the distance difference between the left and right sides is greater than or equal to the first preset difference, the right forward bypass valve (i.e., Figure 1 the third bypass valve 122 in) is energized to reduce the right propulsion speed (i.e., reduce the speed of the second propulsion unit 120) to achieve synchronization.

[0100] When the current working condition is the propulsion condition, if the first propulsion distance is greater than the second propulsion distance and the distance difference is greater than or equal to the first preset difference, the first forward bypass valve (i.e., the first bypass valve mentioned above) in the first propulsion unit is taken as the target bypass valve, and the target bypass valve is controlled to be in the open state.

[0101] As Figure 1 shown, during the forward movement of the hydraulic propulsion system, if the left propulsion distance (i.e., the first propulsion distance) is greater than the right propulsion distance (i.e., the second propulsion distance) and the distance difference between the left and right sides is greater than or equal to the first preset difference, the left forward bypass valve (i.e., Figure 1 the first bypass valve 112 in) is energized to reduce the left propulsion speed (i.e., reduce the speed of the first propulsion unit 110) to achieve synchronization.

[0102] When the current working condition is the retraction condition, if the first propulsion distance is less than the second propulsion distance and the distance difference is greater than or equal to the first preset difference, the first backward bypass valve corresponding to the first propulsion unit (i.e., the second bypass valve mentioned above) is taken as the target bypass valve, and the target bypass valve is controlled to be in the open state.

[0103] As Figure 1 shown, during the backward movement of the hydraulic propulsion system, if the left propulsion distance (i.e., the first propulsion distance) is less than the right propulsion distance (i.e., the second propulsion distance) and the distance difference between the left and right sides is greater than or equal to the first preset difference, the left backward bypass valve (i.e., Figure 1 the second bypass valve 113 in) is energized to reduce the left backward speed (i.e., reduce the speed of the first propulsion unit 110) to achieve synchronization.

[0104] When the current working condition is the retraction working condition, if the first propulsion distance is greater than the second propulsion distance and the distance difference is greater than or equal to the first preset difference, the second retraction bypass valve corresponding to the second propulsion unit (i.e., the fourth bypass valve described above) is taken as the target bypass valve, and the target bypass valve is controlled to be in an open state.

[0105] As Figure 1 shown, during the retraction process of the hydraulic propulsion system, if the left propulsion distance (i.e., the first propulsion distance) is greater than the right propulsion distance (i.e., the second propulsion distance) and the distance difference between the left and right sides is greater than or equal to the first preset difference, the right retraction bypass valve (i.e., Figure 1 the fourth bypass valve 123 in

[0106] is energized to reduce the right retraction speed (i.e., reduce the speed of the second propulsion unit 120) to achieve synchronization.

[0107] It can be understood that when the propulsion distances on the left and right are significantly different, the target bypass valve is controlled to be in an open state, and at the same time, the opening degrees of the first control valve and the second control valve remain unchanged.

[0108] Optionally, in this embodiment, when the target bypass valve is determined, the opening degree of the target bypass valve can be adjusted according to the distance difference between the two propulsion distances. Wherein, the greater the distance difference, the greater the adjusted opening degree of the target bypass valve. In this way, it is convenient to adjust the speed of the target propulsion unit based on the actual situation. Figure 8 Figure 8 Figure 8 Figure 6 For

[0109]

[0110] Sub-step S131, calculate a distance difference coefficient according to the distance difference and the target value.

[0111] Sub-step S132, calculate a reference current value according to the maximum current value, minimum current value of the target bypass valve and the distance difference coefficient.

[0112] Sub-step S133, control the opening degree of the target bypass valve according to the reference current value.

[0112] In this embodiment, the distance difference coefficient can be calculated first based on the following formula: The target value is the difference between the first preset difference and the second preset difference: the second preset difference - the first preset difference, and the second preset difference is greater than the first preset difference. ​

[0113] After obtaining the distance difference coefficient, the reference current value can be calculated through the following formula: Reference current value = distance difference coefficient * (maximum current value of the target bypass valve - minimum current value of the target bypass valve), where the maximum current value of the target bypass valve is the magnitude of the current required to make the target bypass valve at the maximum opening, and the minimum current value of the target bypass valve is the magnitude of the current required to make the target bypass valve at the minimum opening.

[0114] Optionally, when the reference current value is obtained, a current with a magnitude equal to the reference current value can be directly provided to the target bypass valve. Or, further analysis can be carried out, and then the magnitude of the current provided to the target bypass valve can be determined according to the analysis result.

[0115] As a possible implementation manner, it can be controlled by Figure 9 the shown manner to control the opening of the target bypass valve. Please refer to Figure 9 , Figure 9 which is Figure 8 a schematic flow diagram of the sub-steps included in sub-step S133. In this embodiment, sub-step S133 may include sub-steps S1331 to S1333.

[0116] Sub-step S1331, determine the larger current value between the reference current value and the minimum current value of the target bypass valve.

[0117] Sub-step S1332, determine the smaller current value between the larger current value and the maximum current value of the target bypass valve.

[0118] Sub-step S1333, control the opening of the target bypass valve by providing a current with a value equal to the smaller current value to the target bypass valve.

[0119] In this embodiment, the reference current value can be compared with the minimum current value of the target bypass valve to determine the larger current value between the two. Then, a current with a value equal to the larger current value can be directly provided to the target bypass valve. In this way, it is convenient to quickly complete the control and make the target bypass valve in the open state. Or, the larger current value can be compared with the maximum current value of the target bypass valve to determine the smaller current value between the two, and a current with a value equal to the smaller current value is provided to the target bypass valve, that is, the current value of the target bypass valve = min(larger current value, maximum current value of the target bypass valve), that is: the current value of the target bypass valve = min(max(distance difference coefficient * (maximum current value of the target bypass valve - minimum current value of the target bypass valve), minimum current value of the target bypass valve), maximum current value of the target bypass valve)

[0120] The magnitude of the current supplied to the target bypass valve is proportional to the opening degree of the target bypass valve within a certain range. When the magnitude of the supplied current is greater than the maximum current value of the target bypass valve, the opening degree of the target bypass valve remains at the maximum opening degree (i.e., the opening degree does not increase). The above control method can avoid power waste caused by supplying a current greater than the maximum current value of the target bypass valve to the target bypass valve, and at the same time make the opening degree of the target bypass valve match the difference in the propulsion distances of the current two propulsion units.

[0121] In this embodiment, as Figure 7 shown, regardless of whether the hydraulic propulsion system is moving forward or backward, as long as the distance difference between the left and right sides is less than the set first preset difference, it is considered to be in a synchronous state, and all bypass valves can be closed, and only the left and right side reversing valves are controlled to realize the forward and backward movement of the hydraulic propulsion system.

[0122] In this embodiment, during the operation of both propulsion units in the hydraulic propulsion system, it is also possible to determine whether to control the two propulsion units to stop working according to the two propulsion distances and the preset working distance. In the case where it is determined that the two propulsion units need to be controlled to stop working, control the two propulsion units to stop working. In the case where it is determined that the two propulsion units do not need to be controlled to stop working, control the two propulsion units to continue working.

[0123] To execute the corresponding steps in the above embodiments and various possible ways, the following gives an implementation manner of a hydraulic propulsion system synchronization device 300. Optionally, the hydraulic propulsion system synchronization device 300 may adopt the device structure of the above Figure 5 shown electronic device 200. Further, please refer to Figure 10 Figure 10 is a block diagram of the hydraulic propulsion system synchronization device 300 provided by the embodiment of the present application. It should be noted that for the hydraulic propulsion system synchronization device 300 provided in this embodiment, its basic principle and the generated technical effects are the same as those in the above embodiments. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding content in the above embodiments. In this embodiment, the hydraulic propulsion system synchronization device 300 may include: an information acquisition module 310, an analysis module 320, and a control module 330.

[0124] The information acquisition module 310 is configured to acquire the propulsion distances of the two propulsion units in the hydraulic propulsion system respectively.

[0125] The analysis module 320 is configured to determine whether to perform synchronous compensation according to the acquired two propulsion distances.

[0126] The control module 330 is used to keep the opening of the reversing valves in the two propulsion units unchanged and control the target bypass valve in the target propulsion unit to be in an open state when it is determined that synchronous compensation is required, so as to reduce the difference between the two propulsion distances by reducing the speed of the target propulsion unit. The target propulsion unit is the faster propulsion unit of the two propulsion units under the current working condition, and one end of the target bypass pipeline where the target bypass valve is located is connected between the input port of the propulsion cylinder in the target propulsion unit and the reversing valve in the propulsion unit.

[0127] Optionally, the above modules can be stored in the form of software or firmware. Figure 5 The memory 210 shown in the figure may be fixed in the operating system (OS) of the electronic device 200 and may be Figure 2 Meanwhile, the data and program codes required for executing the above modules may be stored in the memory 210.

[0128] An embodiment of the present application also provides a readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the hydraulic propulsion system synchronization method is implemented.

[0129] In summary, the embodiment of the present application provides a method and related device for synchronizing a hydraulic propulsion system. First, the propulsion distances of the two propulsion units in the hydraulic propulsion system are obtained; then, based on the two propulsion distances, it is determined whether synchronization compensation is required; if necessary, the opening of the reversing valves in the two propulsion units is kept unchanged, and the target bypass valve in the target propulsion unit is controlled to be in an open state, so as to reduce the difference between the two propulsion distances by reducing the speed of the target propulsion unit. Among them, the target propulsion unit is the faster propulsion unit of the two propulsion units under the current working conditions, and one end of the target bypass pipeline where the target bypass valve is located is connected between the input port of the propulsion cylinder in the target propulsion unit and the reversing valve in the propulsion unit. The above method controls the valve states in the two propulsion units based on the respective propulsion distances of the two propulsion units, thereby improving the synchronization of the hydraulic propulsion system, and since there is no need for manual valve control, the consistency of the synchronization control effect can be guaranteed.

[0130] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0131] In addition, in each embodiment of the present application, the various functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0132] If the described functions are implemented in the form of software function modules and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0133] The foregoing is only the optional embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A synchronous method for a hydraulic propulsion system, characterized in that The method includes: Obtaining the propulsion distances of two propulsion units in a hydraulic propulsion system respectively; Judging whether to perform synchronous compensation according to the obtained two propulsion distances; When it is determined that synchronous compensation is required, keeping the opening degree of the reversing valve in the two propulsion units unchanged, and controlling the target bypass valve in the target propulsion unit to be in an open state, so as to reduce the gap between the two propulsion distances by reducing the speed of the target propulsion unit, where the target propulsion unit is the propulsion unit with a faster speed among the two propulsion units under the current working condition, and one end of the target bypass pipeline where the target bypass valve is located is connected between the input port of the propulsion oil cylinder in the target propulsion unit and the reversing valve in this propulsion unit.

2. The method according to claim 1, wherein The two propulsion units include a first propulsion unit and a second propulsion unit, the two propulsion distances include the first propulsion distance of the first propulsion unit and the second propulsion distance of the second propulsion unit, the difference between the two propulsion distances is the distance difference, and controlling the target bypass valve in the target propulsion unit to be in an open state includes: When the current working condition is a propulsion working condition, if the first propulsion distance is less than the second propulsion distance and the distance difference is greater than or equal to a first preset difference, taking the second forward bypass valve in the second propulsion unit as the target bypass valve and controlling the target bypass valve to be in an open state; When the current working condition is a propulsion working condition, if the first propulsion distance is greater than the second propulsion distance and the distance difference is greater than or equal to a first preset difference, taking the first forward bypass valve in the first propulsion unit as the target bypass valve and controlling the target bypass valve to be in an open state; When the current working condition is a retraction working condition, if the first propulsion distance is less than the second propulsion distance and the distance difference is greater than or equal to a first preset difference, taking the first retraction bypass valve corresponding to the first propulsion unit as the target bypass valve and controlling the target bypass valve to be in an open state; When the current working condition is a retraction working condition, if the first propulsion distance is greater than the second propulsion distance and the distance difference is greater than or equal to a first preset difference, taking the second retraction bypass valve corresponding to the second propulsion unit as the target bypass valve and controlling the target bypass valve to be in an open state.

3. The method according to claim 1, wherein Controlling the target bypass valve in the target propulsion unit to be in an open state includes: Adjusting the opening degree of the target bypass valve according to the distance difference between the two propulsion distances, where the greater the distance difference, the greater the adjusted opening degree of the target bypass valve.

4. The method according to claim 3, wherein Adjusting the opening degree of the target bypass valve according to the distance difference between the two propulsion distances includes: Calculating a distance difference coefficient according to the distance difference and a target value, where the target value is the difference between a first preset difference and a second preset difference, and when the distance difference is greater than or equal to the first preset difference, synchronous compensation is required; Calculating a reference current value according to the maximum current value, minimum current value of the target bypass valve and the distance difference coefficient; Controlling the opening degree of the target bypass valve according to the reference current value.

5. The method according to claim 4, characterized in that, Controlling the opening degree of the target bypass valve according to the reference current value includes: Determining the larger current value between the reference current value and the minimum current value of the target bypass valve; Determining the smaller current value between the larger current value and the maximum current value of the target bypass valve; Controlling the opening degree of the target bypass valve by supplying a current with a current value of the smaller current value to the target bypass valve.

6. The hydraulic propulsion system synchronization method according to any one of claims 1-5, characterized in that The opening degree of the reversing valve is controlled by controlling the current value in the reversing valve, and the current value in the reversing valve is calculated by the following method: Calculating the target current value corresponding to the reversing valve according to the current propulsion depth of the rocker in the hydraulic propulsion system, the maximum and minimum propulsion depths of the rocker, the maximum and minimum current values of the reversing valve.

7. The hydraulic propulsion system synchronization method according to any one of claims 1-5, characterized in that, The method further includes: Judging whether it is necessary to control the two propulsion units to stop working according to the two propulsion distances and a preset propulsion distance; When it is determined that it is necessary to control the two propulsion units to stop working, controlling the two propulsion units to stop working; When it is determined that it is not necessary to control the two propulsion units to stop working, controlling the two propulsion units to continue working.

8. A synchronization device for a hydraulic propulsion system, characterized in that, The device includes: An information acquisition module for acquiring the propulsion distances of two propulsion units in a hydraulic propulsion system respectively; An analysis module for judging whether synchronous compensation is to be performed according to the two acquired propulsion distances; A control module for, when it is determined that synchronous compensation is required, keeping the opening degree of the reversing valve in the two propulsion units unchanged, and controlling the target bypass valve in the target propulsion unit to be in an open state, so as to reduce the difference between the two propulsion distances by reducing the speed of the target propulsion unit, wherein the target propulsion unit is the propulsion unit with a faster speed among the two propulsion units under the current working condition, and one end of the target bypass pipeline where the target bypass valve is located is connected between the input port of the propulsion oil cylinder in the target propulsion unit and the reversing valve in this propulsion unit.

9. An electronic device, characterized in that, It includes a processor and a memory, and the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the hydraulic propulsion system synchronization method according to any one of claims 1-7.

10. An operating device, characterized in that, The working equipment includes a control unit, a distance information acquisition unit and two propulsion units. The propulsion unit includes a propulsion oil cylinder, a reversing valve and two bypass valves. One end of the bypass pipeline where the bypass valve is located is connected between the cylinder port of the propulsion oil cylinder and the reversing valve. The distance information acquisition unit is used for detecting the propulsion distances of the two propulsion units respectively; The control unit is communicatively connected to the distance information acquisition unit and the two propulsion units, and is configured to, when synchronous compensation is required according to the two received propulsion distances, keep the opening degrees of the reversing valves in the two propulsion units unchanged, and control the target bypass valve in the target propulsion unit to be in an open state, so as to reduce the gap between the two propulsion distances by reducing the speed of the target propulsion unit, wherein the target propulsion unit is the propulsion unit with a higher speed among the two propulsion units under the current working condition, one end of the target bypass pipeline where the target bypass valve is located is connected between the target cylinder port and the reversing valve in this propulsion unit, and the target cylinder port is the cylinder port serving as the input port in the propulsion oil cylinder.

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