Electric engineering machinery cable drum control method, controller and engineering machinery

Abstract

The invention provides an electric engineering machinery cable drum control method, a controller and engineering machinery. The method comprises the following steps: detecting whether a cable drum is in a working state or not after high voltage is applied to the electric engineering machinery; and if the cable drum is not in the working state, pilot oil is controlled to be output to the hydraulic brake disc so as to drive the hydraulic brake disc to brake the cable drum. The method is used for achieving the effect of reducing labor consumption caused by cable looseness and mess in the operation process of the electric engineering machinery.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery, and in particular to a method for controlling a cable reel of electric engineering machinery, a controller, and engineering machinery. Background Art

[0002] Electric construction machinery (such as electric excavators) draws its power from an external power grid, connected via a heavy-duty power cable. To accommodate the wide range of movement required for construction machinery (including traveling, slewing, and boom raising and lowering), and to ensure safe and orderly cable retraction and deployment, a cable reel is typically installed.

[0003] At present, during the operation of electric construction machinery, due to factors such as the gravity of the cable, the cables in the cable reel device will become loose and messy after working for a period of time. At this time, manual work is required to re-release the cables and then reel them back into the cable reel, which is labor-intensive and easily causes safety risks.

[0004] Therefore, there is currently a lack of a cable reel control method that can effectively prevent the cable from becoming loose and messy. Summary of the Invention

[0005] The embodiments of the present application provide a cable reel control method, a controller, and a construction machine for electric engineering machinery, so as to reduce labor consumption caused by loose and messy cables during the operation of the electric engineering machinery.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a cable reel of an electric engineering machine, comprising: after applying high voltage to the electric engineering machine, detecting whether the cable reel is in a working state;

[0007] If the cable reel is not in a working state, the pilot oil is controlled to be output to the hydraulic brake disc to drive the hydraulic brake disc to brake the cable reel.

[0008] In one possible implementation, controlling the output of pilot oil to the hydraulic brake disc includes:

[0009] Controlling the switch solenoid valve to open so that the pilot oil in the pilot pump is output to the hydraulic brake disc through the switch solenoid valve;

[0010] or,

[0011] determining a control ratio of a proportional solenoid valve according to a pilot pressure of the hydraulic brake disc, wherein the proportional solenoid valve is arranged between the pilot pump and the hydraulic brake disc;

[0012] According to the control ratio, the proportional solenoid valve is controlled to output pilot oil to the hydraulic brake disc.

[0013] In a possible implementation, determining the control ratio of the proportional solenoid valve according to the pilot pressure of the hydraulic brake disc includes:

[0014] determining an input current of the proportional solenoid valve based on a PID control algorithm according to the pilot pressure of the hydraulic brake disc and a preset target pilot pressure;

[0015] Current is input to the proportional solenoid valve according to the input current to determine a control ratio of the proportional solenoid valve.

[0016] In one possible implementation, the method further includes:

[0017] After applying high voltage to the electric engineering machine, detecting whether the electric engineering machine is in a moving state;

[0018] Accordingly, if the cable reel is not in the working state, controlling the output of pilot oil to the hydraulic brake disc includes:

[0019] If the cable reel is not in the working state and the electric construction machine is not in the traveling state, the pilot oil is controlled to be output to the hydraulic brake disc.

[0020] In a possible implementation manner, detecting whether the electric engineering machine is in a walking state includes:

[0021] Obtaining a left travel pilot pressure and a right travel pilot pressure of the electric engineering machine;

[0022] In the case where both the left travel pilot pressure and the right travel pilot pressure are less than or equal to a preset first pressure threshold, if the left travel pilot pressure or the right travel pilot pressure is greater than a preset pressure, it is determined that the electric construction machine is in a walking state;

[0023] If the left travel pilot pressure and the right travel pilot pressure are both less than or equal to the preset pressure, it is determined that the electric construction machine is not in the travel state.

[0024] In one possible implementation, the method further includes:

[0025] When the left travel pilot pressure or the right travel pilot pressure is greater than the first pressure threshold and the duration is greater than a first preset duration, a first fault code is pushed;

[0026] The first fault code is used to indicate that a fault occurs in the sensor corresponding to the left travel pilot pressure and / or the sensor corresponding to the right travel pilot pressure.

[0027] In one possible implementation, the method further includes:

[0028] detecting an input current of the proportional solenoid valve;

[0029] If the input current is greater than the preset current and lasts longer than a second preset time, or if the pilot pressure of the hydraulic brake disc is greater than a second pressure threshold and lasts longer than a third preset time, then control is performed to stop outputting pilot oil to the hydraulic brake disc and push a second fault code;

[0030] The second fault code is used to indicate that a fault occurs in the sensor corresponding to the pilot pressure and / or the proportional solenoid valve.

[0031] In a second aspect, an embodiment of the present application provides a cable reel control device for electric engineering machinery, comprising:

[0032] Working status detection unit, used to detect whether the cable reel is in working state after high voltage is applied to the electric engineering machinery;

[0033] The control unit is used for controlling the output of pilot oil to the hydraulic brake disc to drive the hydraulic brake disc to brake the cable reel if the cable reel is not in a working state.

[0034] In a possible implementation manner, the control unit is specifically configured to:

[0035] Controlling the switch solenoid valve to open so that the pilot oil in the pilot pump is output to the hydraulic brake disc through the switch solenoid valve;

[0036] or,

[0037] determining a control ratio of a proportional solenoid valve according to a pilot pressure of the hydraulic brake disc, wherein the proportional solenoid valve is arranged between the pilot pump and the hydraulic brake disc;

[0038] According to the control ratio, the proportional solenoid valve is controlled to output pilot oil to the hydraulic brake disc.

[0039] In a possible implementation, the control unit is specifically configured to:

[0040] determining an input current of the proportional solenoid valve based on a PID control algorithm according to the pilot pressure of the hydraulic brake disc and a preset target pilot pressure;

[0041] Current is input to the proportional solenoid valve according to the input current to determine a control ratio of the proportional solenoid valve.

[0042] In a possible implementation manner, the electric engineering machinery cable reel control device further includes:

[0043] A walking state detection unit, used to detect whether the electric engineering machine is in a walking state after high voltage is applied to the electric engineering machine;

[0044] Accordingly, the control unit is specifically configured to:

[0045] If the cable reel is not in the working state and the electric construction machine is not in the traveling state, the pilot oil is controlled to be output to the hydraulic brake disc.

[0046] In a possible implementation, the walking state detection unit is specifically configured to:

[0047] Obtaining a left travel pilot pressure and a right travel pilot pressure of the electric engineering machine;

[0048] In the case where both the left travel pilot pressure and the right travel pilot pressure are less than or equal to a preset first pressure threshold, if the left travel pilot pressure or the right travel pilot pressure is greater than a preset pressure, it is determined that the electric construction machine is in a walking state;

[0049] If the left travel pilot pressure and the right travel pilot pressure are both less than or equal to the preset pressure, it is determined that the electric construction machine is not in the travel state.

[0050] In a possible implementation manner, the electric engineering machinery cable reel control device further includes:

[0051] a first fault detection unit, configured to push a first fault code when the left travel pilot pressure or the right travel pilot pressure is greater than the first pressure threshold and the duration thereof is greater than a first preset duration;

[0052] The first fault code is used to indicate that a fault occurs in the sensor corresponding to the left travel pilot pressure and / or the sensor corresponding to the right travel pilot pressure.

[0053] In a possible implementation manner, the electric engineering machinery cable reel control device further includes:

[0054] a second fault detection unit, configured to detect an input current of the proportional solenoid valve;

[0055] If the input current is greater than the preset current and lasts longer than a second preset time, or if the pilot pressure of the hydraulic brake disc is greater than a second pressure threshold and lasts longer than a third preset time, then control is performed to stop outputting pilot oil to the hydraulic brake disc and push a second fault code;

[0056] The second fault code is used to indicate that a fault occurs in the sensor corresponding to the pilot pressure and / or the proportional solenoid valve.

[0057] In a third aspect, an embodiment of the present application provides a controller, comprising: a memory, a processor;

[0058] The memory stores computer-executable instructions;

[0059] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0060] In a fourth aspect, an embodiment of the present application provides an electric engineering machine, comprising: an engineering machine body, a cable reel, a hydraulic brake disc, and the controller described in the third aspect.

[0061] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementation methods of the first aspect.

[0062] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the first aspect and / or various possible implementation methods of the first aspect.

[0063] The embodiments of the present application provide a method for controlling the cable reel of an electric engineering machinery, a controller, and engineering machinery. After applying high voltage to the electric engineering machinery, the method detects whether the cable reel is in a working state, and when the cable reel is not in a working state, controls the output of pilot oil to the hydraulic brake disc to drive the hydraulic brake disc to brake the cable reel. When the cable reel is not in a working state, the cable reel is braked to prevent the cable from becoming loose and messy due to its own gravity or external resistance (such as wind force, etc.), thereby reducing the labor consumption caused by loose and messy cables during the operation of the electric engineering machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0065] Figure 1 A flow chart of a method for controlling a cable reel of an electric engineering machinery provided in Example 1 of the present application;

[0066] Figure 2 A flow chart of a method for controlling a cable reel of an electric engineering machinery is provided for the second embodiment of the present application;

[0067] Figure 3A flowchart of a specific method for controlling a cable reel of an electric engineering machinery provided in Example 3 of the present application;

[0068] Figure 4 A schematic structural diagram of a cable reel control device for electric engineering machinery provided in Example 4 of the present application;

[0069] Figure 5 A schematic structural diagram of a cable reel control device for electric engineering machinery provided in Example 5 of the present application;

[0070] Figure 6 This is a schematic diagram of the structure of the controller provided in this application.

[0071] Figure numerals: 30 - electric engineering machinery cable reel control device; 301 - working state detection unit; 302 - control unit; 303 - walking state detection unit; 304 - first fault detection unit; 305 - second fault detection unit; 40 - controller; 401 - processor; 402 - memory; 403 - communication component; 404 - memory.

[0072] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0073] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0074] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0075] Figure 1 This is a flow chart of the method for controlling the cable reel of an electric engineering machinery provided in Example 1 of the present application, as shown in FIG. Figure 1 As shown, the method includes:

[0076] S101. After applying high voltage to the electric engineering machinery, check whether the cable reel is in working condition.

[0077] It should be noted that this solution is applied to the controller of electric construction machinery equipped with a cable reel and a hydraulic brake disc. The cable reel is a device for winding and storing cables; the hydraulic brake disc is a device that uses hydraulic drive force to brake the cable reel and is generally installed on the output shaft of the cable reel reducer. Electric construction machinery includes electric excavators, electric cranes, and electric loaders. The controller can be a hydraulic controller or a vehicle controller in the electric construction machinery.

[0078] In this step, it is necessary to turn on the high voltage of the electric engineering machine and detect in real time whether the cable reel is in the working state, so as to ensure that the cable reel is braked only when the cable reel is not in the working state. Among them, the cable reel is not in the working state when the cable reel is not in the reeling or unreeling operation.

[0079] In practical applications, electric engineering machinery also includes a cable reel drive motor for driving the cable reel to rotate and reel the cable. Accordingly, whether the cable reel is in an operating state can be determined by identifying the state of the cable reel drive motor. For example, when the cable reel drive motor is on, the cable reel is determined to be in an operating state; when the cable reel drive motor is off, the cable reel is determined to be in an inoperative state.

[0080] S102: If it is determined that the cable reel is not in a working state, control the output of pilot oil to the hydraulic brake disc to drive the hydraulic brake disc to brake the cable reel.

[0081] In this step, when the controller detects that the cable reel is not in a working state, it controls the output of pilot oil to the hydraulic brake disc, so that the hydraulic brake disc performs a braking operation on the cable reel, thereby preventing the cable from becoming loose and messy due to its own gravity or external resistance (such as wind force, etc.).

[0082] The electric engineering machinery cable reel control method provided in this embodiment detects whether the cable reel is in a working state after high voltage is applied to the electric engineering machinery, and controls the output of pilot oil to the hydraulic brake disc when the cable reel is not in a working state to drive the hydraulic brake disc to brake the cable reel, thereby preventing the cable from becoming loose and messy due to its own gravity or external resistance (such as wind force, etc.), thereby achieving the effect of reducing labor consumption caused by loose and messy cables during the operation of the electric engineering machinery.

[0083] Furthermore, in a possible implementation, the above step S102 may be implemented using a solenoid valve in an electric engineering machine. The solenoid valve may be a switching solenoid valve or a proportional solenoid valve in a multi-valve solenoid valve of the electric engineering machine. Specific implementation methods may include the following method 1 or method 2:

[0084] Method 1: Control the switch solenoid valve to open so that the pilot oil in the pilot pump is output to the hydraulic brake disc through the switch solenoid valve.

[0085] In Method 1, a switching solenoid valve is used to control the output of pilot oil to the hydraulic brake disc. The switching solenoid valve is a solenoid valve that controls the flow of fluid based on a control signal (which can only have two discrete states: "open" or "closed").

[0086] It should be understood that the electric construction machinery also includes a pilot pump. When high pressure is applied to the electric construction machinery, the motor of the electric construction machinery will start, and the pilot pump will simultaneously supply pilot oil to the solenoid valve. In this method, after determining that the reel is in an inoperative state, the controller can send a control signal to the switch solenoid valve to instruct it to open. After the switch solenoid valve opens, the pilot oil in the pilot pump flows through the switch solenoid valve and is output to the hydraulic brake disc.

[0087] Method 2:

[0088] Step 1.1: Determine a control ratio of a proportional solenoid valve according to a pilot pressure of a hydraulic brake disc, wherein the proportional solenoid valve is provided between a pilot pump and the hydraulic brake disc.

[0089] In this method, a proportional solenoid valve is selected to realize "controlling the output of pilot oil to the hydraulic brake disc", wherein the proportional solenoid valve determines its valve core opening according to its input electrical signal (such as current signal) to determine the flow rate (or pressure) of the pilot oil it outputs.

[0090] It should be noted that this method utilizes this feature of the proportional solenoid valve. According to the collected pilot pressure of the hydraulic brake disc, the control ratio of the proportional solenoid valve (i.e., the valve core opening of the proportional solenoid valve) is determined, and then the oil pressure of the pilot oil output to the hydraulic brake disc is determined, thereby adjusting the pilot pressure of the hydraulic brake disc to make the tightness of the cable reel brake appropriate.

[0091] Step 1.2: According to the control ratio, control the proportional solenoid valve to output pilot oil to the hydraulic brake disc.

[0092] In this step, after the proportional solenoid valve determines the control ratio based on its input current, it will open its valve core according to the control ratio to output the pilot oil to the hydraulic brake disc, wherein the oil pressure of the pilot oil will make the tightness of the cable reel brake appropriate.

[0093] It should be understood that if the cable reel is in the operating state, pilot oil will not be supplied to the hydraulic brake disc, and the cable reel will not be braked. In actual application, if the operating state of the cable reel is detected to change from "inoperative" to "operative", pilot oil supply to the hydraulic brake disc will be stopped, causing the hydraulic brake disc to release the cable reel. In specific implementations, pilot oil supply to the hydraulic brake disc can be stopped by closing the solenoid valve.

[0094] Alternatively, the following method can be used to determine the control ratio of the proportional solenoid valve based on the pilot pressure of the hydraulic brake disc:

[0095] Step a: According to the pilot pressure of the hydraulic brake disc and a preset target pilot pressure, an input current of the proportional solenoid valve is determined based on a proportional-integral-derivative (PID) control algorithm.

[0096] The target pilot pressure is pre-determined based on the hardware structure of the electric construction machinery. The target pilot pressure refers to the pressure at which the cable reel brake tension is optimally adjusted. This hardware structure includes, for example, the brake caliper, friction pads, and springs of the hydraulic brake disc.

[0097] In practical applications, the pilot pressure of the hydraulic brake disc is collected and obtained through a hydraulic brake disc pilot pressure sensor.

[0098] Step b: inputting current to the proportional solenoid valve according to the input current to determine the control ratio of the proportional solenoid valve.

[0099] In the above steps, it is necessary to use the PID control algorithm to determine the input current to the proportional solenoid valve based on the actual pilot pressure of the collected hydraulic brake disc and the target pilot pressure, and input current to the proportional solenoid valve according to the input current to determine the control ratio of the proportional solenoid valve, thereby determining the oil pressure of the pilot oil output to the hydraulic brake disc, and then adjusting the pilot pressure of the hydraulic brake disc to the target pilot pressure.

[0100] This implementation method utilizes the switching solenoid valve or proportional solenoid valve in the multi-solenoid valve already provided in the electric engineering machinery to control the output of pilot oil to the hydraulic brake disc, without adding a new solenoid valve configuration, thereby realizing the brake operation of the cable reel on the basis of reducing costs. Furthermore, the present application provides a method for controlling the output of pilot oil to the hydraulic brake disc by utilizing a proportional solenoid valve. Based on the collected pilot pressure of the hydraulic brake disc and the PID control algorithm, the control ratio of the proportional solenoid valve is determined. Based on this control ratio, the oil pressure of the pilot oil output to the hydraulic brake disc can adjust the hydraulic brake disc to the target pilot pressure, thereby making the cable reel brake have the appropriate tightness, meeting the brake force requirements of cable reels with different hardware structures.

[0101] Figure 2 A flow chart of a method for controlling a cable reel of an electric engineering machinery is provided for the second embodiment of the present application, as shown in FIG. Figure 2 As shown, based on the above embodiment, the method provided in this embodiment includes:

[0102] S201. After applying high voltage to the electric engineering machine, detect whether the electric engineering machine is in a moving state, and detect whether the cable reel is in a working state.

[0103] In this embodiment, before engaging the cable reel brake, in addition to detecting whether the cable reel is in working condition, it is also necessary to detect whether the electric engineering machinery is in walking condition, so as to prevent the cable reel brake from engaging during the walking process of the electric engineering machinery, causing the cable to be pulled and causing a safety accident, thereby ensuring the rationality of the cable reel brake operation.

[0104] In one possible implementation, the following method can be used to detect whether the cable reel is in the running state:

[0105] Step 2.1: Obtain the left travel pilot pressure and the right travel pilot pressure of the electric construction machinery.

[0106] In practical applications, the left travel pilot pressure can be collected and obtained by the left travel pilot pressure sensor of the electric engineering machinery, and the right travel pilot pressure can be collected and obtained by the left travel pilot pressure sensor of the electric engineering machinery.

[0107] Step 2.2: When both the left travel pilot pressure and the right travel pilot pressure are less than or equal to the preset first pressure threshold, if the left travel pilot pressure or the right travel pilot pressure is greater than the preset pressure, it is determined that the electric construction machine is in the travel state.

[0108] Among them, the first pressure threshold represents the fault critical value of the left walking pilot pressure sensor and the right walking pressure sensor. The purpose of setting it is to judge whether the electric construction machinery is in a walking state based on the left walking pilot pressure and the right walking pilot pressure collected by them only when both the left walking pilot pressure sensor and the right walking pressure sensor are fault-free, so as to ensure accurate judgment of the walking state of the electric construction machinery.

[0109] In practical applications, the first pressure threshold can be determined according to the equipment maintenance manual where the left travel pilot pressure sensor and the right travel pressure sensor are located. For example, it can be determined according to the rated variation range of the left travel pilot pressure and the right travel pressure in the equipment maintenance manual.

[0110] The preset pressure may be determined according to actual application conditions, and for example, the preset pressure may be 5 bar, 6 bar, etc. The present application does not impose any limitation on the specific value of the preset pressure.

[0111] Step 2.3: If the left travel pilot pressure and the right travel pilot pressure are both less than or equal to the preset pressure, it is determined that the electric construction machine is not in the travel state.

[0112] In this step, if the left travel pilot pressure and the right travel pilot pressure are both less than or equal to the preset pressure, it is determined that the electric construction machine is not in the travel state.

[0113] This implementation method determines whether the electric engineering machinery is in the walking state based on the sizes of the left walking pilot pressure and the right walking pilot pressure of the electric engineering machinery. Furthermore, this scheme only determines whether the electric engineering machinery is in the walking state based on the left walking pilot pressure and the right walking pilot pressure collected by the sensor when both the left walking pilot pressure and the right walking pilot pressure are less than or equal to the preset first pressure threshold, so as to avoid the error in the collected pilot pressure due to sensor failure, thereby leading to misjudgment of the walking state of the electric engineering machinery, and effectively ensures the safety of the brake operation.

[0114] S202: If the cable reel is not in the working state and the electric engineering machine is not in the traveling state, control the output of pilot oil to the hydraulic brake disc to drive the hydraulic brake disc to brake the cable reel.

[0115] In this step, only when the cable reel is not in the working state and the electric engineering machine is not in the traveling state, the pilot oil is controlled to be output to the hydraulic brake disc to drive the hydraulic brake disc to brake the cable reel.

[0116] In actual application, if the cable reel's operating state is detected as "off" and the electric construction machine's travel state changes from "not in travel" to "travel," control is implemented to stop the flow of pilot oil to the hydraulic brake disc, thereby releasing the cable reel. Specifically, this can be achieved by closing a solenoid valve to stop the flow of pilot oil to the hydraulic brake disc.

[0117] In one possible implementation, the electric engineering machinery cable reel control method provided in the present application further includes:

[0118] When the left walking pilot pressure or the right walking pilot pressure is greater than the first pressure threshold and lasts for longer than the first preset time, a first fault code is pushed; wherein, the first fault code is used to indicate that the sensor corresponding to the left walking pilot pressure and / or the sensor corresponding to the right walking pilot pressure has a fault.

[0119] This implementation provides a method for fault diagnosis of a left-walking leading pressure sensor and a right-walking leading pressure sensor based on a first pressure threshold and a first preset time length, wherein the first pressure threshold has been described above and will not be repeated here; the purpose of setting the first preset time length is to consider that a fault exists in the corresponding sensor only when the left-walking leading pressure or the right-walking leading pressure is greater than the first pressure threshold for a long period of time, so as to ensure the reliability of fault diagnosis of the left-walking leading pressure sensor and the right-walking leading pressure sensor, and the specific value is not limited in this application, for example, 30s, 1min, etc.

[0120] Specifically, when it is confirmed that the sensor corresponding to the left travel pilot pressure and / or the sensor corresponding to the right travel pilot pressure is faulty, a first fault code will be pushed to indicate the faulty sensor to relevant staff, so that the staff can take corresponding maintenance measures.

[0121] Optionally, the first fault code may be pushed to a display screen in a cockpit of the electric engineering machinery.

[0122] In one possible implementation, the electric engineering machinery cable reel control method provided in this embodiment further includes:

[0123] Step 3.1. Detect the input current of the proportional solenoid valve.

[0124] Step 3.2: If the input current is greater than the preset current and lasts longer than a second preset duration, or if the pilot pressure of the hydraulic brake disc is greater than the second pressure threshold and lasts longer than a third preset duration, control is performed to stop supplying pilot oil to the hydraulic brake disc and a second fault code is issued. The second fault code indicates a fault in the pilot pressure sensor and / or proportional solenoid valve.

[0125] In this implementation, when a proportional solenoid valve is used to control the output of pilot oil to the hydraulic brake disc, the proportional solenoid valve's input current must be monitored in real time to determine if the valve is faulty. Specifically, if the input current exceeds a preset current and persists for a second preset duration, the proportional solenoid valve is deemed faulty. In this case, control is initiated to halt the output of pilot oil to the hydraulic brake disc and a second fault code is issued, indicating a fault in the proportional solenoid valve.

[0126] Among them, the preset current represents the critical fault value of the proportional solenoid valve, which can be determined according to the equipment maintenance manual where the proportional solenoid valve is located; the purpose of setting the second preset time length is to consider that the proportional solenoid valve is faulty only when the input current is greater than the preset current for a long time, so as to ensure the reliability of the fault diagnosis of the proportional solenoid valve. The specific value is not limited in this application, for example, 30s, 1min, etc.

[0127] At the same time, whether using a proportional solenoid valve or a switching solenoid valve to control the output of pilot oil to the hydraulic brake disc, it is necessary to determine in real time whether the proportional solenoid valve is faulty based on the second pressure threshold and the third preset duration. Specifically, if the pilot pressure of the hydraulic brake disc exceeds the second pressure threshold and lasts for longer than the third preset duration, it is considered that the pilot pressure sensor of the hydraulic brake disc is faulty. At this time, the control will stop the output of pilot oil to the hydraulic brake disc and send a second fault code, which will indicate that the pilot pressure sensor of the hydraulic brake disc is faulty.

[0128] Among them, the second pressure threshold represents the critical fault value of the pilot pressure sensor of the hydraulic brake disc, which can be determined according to the equipment maintenance manual where the pilot pressure sensor of the hydraulic brake disc is located; the purpose of setting the third preset time length is to only consider that the pilot pressure sensor of the hydraulic brake disc is faulty when the pilot pressure of the hydraulic brake disc is greater than the second pressure threshold for a long time, so as to ensure the reliability of the fault diagnosis of the pilot pressure sensor of the hydraulic brake disc. The specific value is not limited in this application, for example, 30s, 1min, etc.

[0129] Optionally, the second fault code may be pushed to a display screen in the cockpit of the electric engineering machinery.

[0130] This implementation method determines in real time whether there is a fault in the pilot pressure sensor of the proportional solenoid valve and the hydraulic brake disc when controlling the output of pilot oil to the hydraulic brake disc, and stops the pilot pressure sensor of the proportional solenoid valve and the hydraulic brake disc when there is a fault in the pilot pressure sensor of the proportional solenoid valve and / or the hydraulic brake disc, thereby effectively ensuring the safety of the braking operation. At the same time, it also pushes the second fault code indicating the faulty equipment to enable the staff to take corresponding maintenance measures.

[0131] The electric engineering machinery cable reel control method provided in this embodiment detects whether the electric engineering machinery is in a walking state after high voltage is applied to the electric engineering machinery, and controls the output of pilot oil to the hydraulic brake disc only when the cable reel is not in a working state and the electric engineering machinery is not in a walking state. This effectively prevents the cable reel from being engaged during the walking process of the electric engineering machinery, causing the cable to be pulled and thus causing a safety accident, thereby ensuring the rationality of the cable reel engagement operation.

[0132] Figure 3 The flowchart of the specific electric engineering machinery cable reel control method provided in the third embodiment of the present application is applied in an electric excavator, which includes a display screen, a vehicle controller, a hydraulic controller, a pilot pump, a proportional solenoid valve arranged in a multi-solenoid valve, a hydraulic brake disc, a pilot pressure sensor of the hydraulic brake disc, a cable reel, a cable reel drive motor, a left travel pilot pressure sensor, and a right travel pilot pressure sensor. Figure 3 As shown, the method provided by this application includes:

[0133] First, after the high voltage is applied to the electric excavator, the motor of the electric excavator will start, and the pilot pump will begin to supply pilot oil to the proportional solenoid valve. At this time, the hydraulic controller will collect the status of the cable reel drive motor (or the vehicle controller collects the status of the cable reel drive motor and sends the status to the hydraulic controller) to enable the hydraulic controller to detect whether the cable reel is in working condition.

[0134] At the same time, after the high pressure is applied to the electric excavator, the hydraulic controller starts to judge in real time whether there is a fault in the left walking pilot pressure sensor and the right walking pilot pressure sensor based on the obtained left walking pilot pressure and the right walking pilot pressure of the electric excavator, according to whether the left walking pilot pressure or the right walking pilot pressure is greater than the first pressure threshold and the duration is greater than the first preset duration; when the left walking pilot pressure sensor and / or the right walking pilot pressure sensor is faulty, the corresponding fault code is sent to the display screen; when the left walking pilot pressure sensor and / or the right walking pilot pressure sensor is not faulty, the walking status of the electric excavator is judged according to whether the left walking pilot pressure or the right walking pilot pressure is greater than 5 bar.

[0135] Then, when the hydraulic controller determines that the cable reel is not in working condition and the electric excavator is not in walking condition, the hydraulic controller will obtain the pilot pressure of the hydraulic brake disc in real time, and based on the PID algorithm, determine the input current of the proportional solenoid valve according to the pilot pressure, and based on the input current, the proportional solenoid valve can output pilot oil of appropriate pressure to the hydraulic brake disc according to the control ratio to drive the hydraulic brake disc to brake the cable reel; when the hydraulic controller determines that the cable reel is working and / or the electric excavator is walking, the hydraulic controller will control the closing of the proportional solenoid valve to stop controlling the output of pilot oil to the hydraulic brake disc, thereby releasing the reel brake.

[0136] Then, when controlling the output of pilot oil to the hydraulic brake disc, the hydraulic controller will make a fault judgment on the proportional solenoid valve in real time based on whether the input current of the proportional solenoid valve is greater than the preset current and the duration exceeds the second preset time length, and make a fault judgment on the pilot pressure sensor of the hydraulic brake disc in real time based on whether the pilot pressure of the hydraulic brake disc is greater than the second pressure threshold and the duration exceeds the third preset time length; when a fault occurs in the pilot pressure sensor of the proportional solenoid valve and / or the hydraulic brake disc, a corresponding fault code is sent to the display screen, and the proportional solenoid valve is controlled to be closed to stop controlling the output of pilot oil to the hydraulic brake disc, thereby releasing the drum brake.

[0137] It should be noted that the above-mentioned proportional solenoid valve can also be replaced by a switch solenoid valve. When the switch solenoid valve is used to control the output of pilot oil to the hydraulic brake disc, the hydraulic controller will directly open the switch solenoid valve (without determining the control ratio) when it determines that the cable reel is not in working condition and the electric excavator is not in walking condition, so as to output pilot oil to the hydraulic brake disc, thereby driving the hydraulic brake disc to brake the cable reel.

[0138] The electric engineering machinery cable reel control method provided in this embodiment has similar implementation principles and technical effects, and will not be described in detail in this embodiment.

[0139] Figure 4 This is a schematic diagram of the structure of the cable reel control device for electric engineering machinery provided in Example 4 of the present application, as shown in FIG. Figure 4 As shown, the electric engineering machinery cable reel control device 30 provided in this embodiment includes:

[0140] The working state detection unit 301 is used to detect whether the cable reel is in the working state after the high voltage is applied to the electric engineering machinery;

[0141] The control unit 302 is configured to control the output of pilot oil to the hydraulic brake disc to drive the hydraulic brake disc to brake the cable reel if the cable reel is not in a working state.

[0142] The electric engineering machinery cable reel control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0143] Figure 5 This is a schematic diagram of the structure of the cable reel control device for electric engineering machinery provided in Example 5 of the present application, as shown in FIG. Figure 5 As shown, based on the above embodiment, the electric engineering machinery cable reel control device 30 provided in this embodiment further includes:

[0144] A walking state detection unit 303 is used to detect whether the electric engineering machine is in a walking state after high voltage is applied to the electric engineering machine;

[0145] Accordingly, the control unit 302 is specifically configured to: if the cable reel is not in a working state and the electric engineering machine is not in a traveling state, control the output of pilot oil to the hydraulic brake disc.

[0146] The first fault detection unit 304 is used to push a first fault code when the left walking pilot pressure or the right walking pilot pressure is greater than the first pressure threshold and the duration is greater than a first preset duration; wherein the first fault code is used to indicate that the sensor corresponding to the left walking pilot pressure and / or the sensor corresponding to the right walking pilot pressure is faulty.

[0147] The second fault detection unit 305 is used to detect the input current of the proportional solenoid valve; if the input current is greater than the preset current and lasts for more than a second preset time, or the pilot pressure of the hydraulic brake disc is greater than the second pressure threshold and lasts for more than a third preset time, the control stops outputting the pilot oil to the hydraulic brake disc and pushes a second fault code; wherein, the second fault code is used to indicate that the sensor corresponding to the pilot pressure and / or the proportional solenoid valve has a fault.

[0148] In a possible implementation manner, the control unit is specifically configured to:

[0149] Controlling the switch solenoid valve to open so that the pilot oil in the pilot pump is output to the hydraulic brake disc through the switch solenoid valve;

[0150] or,

[0151] determining a control ratio of a proportional solenoid valve according to a pilot pressure of the hydraulic brake disc, wherein the proportional solenoid valve is arranged between the pilot pump and the hydraulic brake disc;

[0152] According to the control ratio, the proportional solenoid valve is controlled to output pilot oil to the hydraulic brake disc.

[0153] In a possible implementation, the control unit 302 is specifically configured to:

[0154] determining an input current of the proportional solenoid valve based on a PID control algorithm according to the pilot pressure of the hydraulic brake disc and a preset target pilot pressure;

[0155] Current is input to the proportional solenoid valve according to the input current to determine a control ratio of the proportional solenoid valve.

[0156] In a possible implementation, the walking state detection unit 303 is specifically configured to:

[0157] Obtaining a left travel pilot pressure and a right travel pilot pressure of the electric engineering machine;

[0158] In the case where both the left travel pilot pressure and the right travel pilot pressure are less than or equal to a preset first pressure threshold, if the left travel pilot pressure or the right travel pilot pressure is greater than a preset pressure, it is determined that the electric construction machine is in a walking state;

[0159] If the left travel pilot pressure and the right travel pilot pressure are both less than or equal to the preset pressure, it is determined that the electric construction machine is not in the travel state.

[0160] The electric engineering machinery cable reel control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0161] Figure 6 This is a schematic diagram of the structure of the controller provided in this application. Figure 6 As shown, the controller 40 provided in this embodiment includes: at least one processor 401 and a memory 402. Optionally, the controller 40 also includes a communication component 403. The processor 401, the memory 402 and the communication component 403 are connected via a bus 404.

[0162] In a specific implementation process, at least one processor 401 executes the computer-executable instructions stored in the memory 402, so that the at least one processor 401 performs the above method.

[0163] The specific implementation process of the processor 401 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0164] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASICs), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules within the processor.

[0165] Memory can include read-only memory and random access memory. The memory can be volatile or non-volatile, or can include both volatile and non-volatile memory. Non-volatile memory can include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can include random access memory (RAM), which is used as an external cache memory. By way of example and not limitation, many forms of RAM are available. For example, static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM) and direct RAM bus random access memory (DR RAM).

[0166] A bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0167] The present application also provides an electric engineering machine, which includes an engineering machine body, a cable reel, a hydraulic brake disc and the above-mentioned controller, and the controller can implement the above-mentioned method.

[0168] Examples of electric construction machinery include electric excavators, electric cranes, and electric loaders.

[0169] The present application also provides a computer program product, including a computer program, which implements the above method when executed.

[0170] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, the above method is implemented.

[0171] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as SRAM, EEPROM, EPROM, PROM, ROM, magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0172] An exemplary readable storage medium is coupled to a processor, such that the processor can read information from and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an ASIC. Of course, the processor and the readable storage medium can also exist as discrete components in a device.

[0173] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0174] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0175] 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.

[0176] If a function is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (such as a personal computer, server, or network device) to perform all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, removable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0177] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0178] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A method for controlling a cable reel of an electric engineering machinery, characterized in that: include: After applying high voltage to electric engineering machinery, check whether the cable reel is in working condition; If the cable reel is not in a working state, the pilot oil is controlled to be output to the hydraulic brake disc to drive the hydraulic brake disc to brake the cable reel.

2. The method according to claim 1, characterized in that The control of outputting pilot oil to the hydraulic brake disc includes: Controlling the switch solenoid valve to open so that the pilot oil in the pilot pump is output to the hydraulic brake disc through the switch solenoid valve; or, determining a control ratio of a proportional solenoid valve according to a pilot pressure of the hydraulic brake disc, wherein the proportional solenoid valve is arranged between the pilot pump and the hydraulic brake disc; According to the control ratio, the proportional solenoid valve is controlled to output pilot oil to the hydraulic brake disc.

3. The method according to claim 2, characterized in that Determining the control ratio of the proportional solenoid valve according to the pilot pressure of the hydraulic brake disc includes: determining an input current of the proportional solenoid valve based on a PID control algorithm according to the pilot pressure of the hydraulic brake disc and a preset target pilot pressure; Current is input to the proportional solenoid valve according to the input current to determine a control ratio of the proportional solenoid valve.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: After applying high voltage to the electric engineering machine, detecting whether the electric engineering machine is in a moving state; Accordingly, if the cable reel is not in the working state, controlling the output of pilot oil to the hydraulic brake disc includes: If the cable reel is not in the working state and the electric construction machine is not in the traveling state, the pilot oil is controlled to be output to the hydraulic brake disc.

5. The method according to claim 4, characterized in that The detecting whether the electric engineering machine is in the walking state includes: Obtaining a left travel pilot pressure and a right travel pilot pressure of the electric engineering machine; In the case where both the left travel pilot pressure and the right travel pilot pressure are less than or equal to a preset first pressure threshold, if the left travel pilot pressure or the right travel pilot pressure is greater than a preset pressure, it is determined that the electric construction machine is in a walking state; If the left travel pilot pressure and the right travel pilot pressure are both less than or equal to the preset pressure, it is determined that the electric construction machine is not in the travel state.

6. The method according to claim 4, characterized in that The method further comprises: When the left travel pilot pressure or the right travel pilot pressure is greater than the first pressure threshold and the duration is greater than a first preset duration, a first fault code is pushed; The first fault code is used to indicate that a fault occurs in the sensor corresponding to the left travel pilot pressure and / or the sensor corresponding to the right travel pilot pressure.

7. The method according to claim 3, characterized in that The method further comprises: detecting an input current of the proportional solenoid valve; If the input current is greater than the preset current and lasts longer than a second preset time, or if the pilot pressure of the hydraulic brake disc is greater than a second pressure threshold and lasts longer than a third preset time, then control is performed to stop outputting pilot oil to the hydraulic brake disc and push a second fault code; The second fault code is used to indicate that a fault occurs in the sensor corresponding to the pilot pressure and / or the proportional solenoid valve.

8. A cable reel control device for electric engineering machinery, characterized in that: include: Working status detection unit, used to detect whether the cable reel is in working state after high voltage is applied to the electric engineering machinery; The control unit is used for controlling the output of pilot oil to the hydraulic brake disc to drive the hydraulic brake disc to brake the cable reel if the cable reel is not in a working state.

9. A controller, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. An electric engineering machine, characterized in that: include: An engineering machinery body, a cable reel, a hydraulic brake disc, and the controller according to claim 9.

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