Energy-saving control method of hydraulic excavator and hydraulic excavator

Abstract

The invention discloses an energy-saving control method for a hydraulic excavator and the hydraulic excavator, and the method comprises the steps: a target controller obtains target signals in real time, and for each obtained target signal, whether the target signal is lower than a target signal threshold value set for the target signal is judged; the target signal comprises a first signal sent by the pilot handle and a second signal sent by the walking foot valve; when it is judged that the target signal is lower than the target signal threshold value set for the target signal, speed reduction control operation is executed on the motor and the hydraulic pump, and speed reduction control results for the motor and the hydraulic pump are obtained; when it is judged that the target signal is not lower than the target signal threshold value set for the target signal, speed raising control operation is executed on the motor and the hydraulic pump, and speed raising control results for the motor and the hydraulic pump are obtained; the speed reduction control operation and the speed increase control operation are respectively used for closing and starting the motor and the hydraulic pump. Therefore, intelligent control over the hydraulic excavator can be achieved, and the working efficiency and the response timeliness are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control of equipment, and particularly relates to an energy-saving control method of a hydraulic excavator and the hydraulic excavator. BACKGROUND

[0002] As a heavy mechanical equipment widely used in engineering construction, mining and other fields, the performance of the hydraulic excavator directly affects the efficiency and quality of engineering construction. In the operation process of the hydraulic excavator, the energy consumption problem has been one of the key factors restricting the further development and application of the hydraulic excavator.

[0003] The working mode of the traditional hydraulic excavator is usually fixed. Once the motor and the hydraulic pump are started, they will continue to run at the preset power and speed until the entire work task is completed or manually stopped. This working mode has many drawbacks in actual application.

[0004] From the perspective of energy consumption, in many working scenarios of the hydraulic excavator, it is not always in a full-load working state. For example, in the case of short pauses, adjustment of the working position or waiting for material loading of the excavator, the control components such as the pilot handle and the walking foot valve do not send effective operation signals, but the motor and the hydraulic pump are still running at high speed, consuming a large amount of electric energy or fuel. This causes unnecessary energy consumption of the hydraulic excavator.

[0005] From the aspects of working efficiency and response timeliness, the traditional hydraulic excavator lacks intelligent signal judgment and dynamic control mechanism. When the work demand suddenly appears, the motor and the hydraulic pump need a certain time to increase from low power or stop state to the required working speed and power, which leads to response delay and cannot meet the work instructions of the operator in time, affecting the continuity and efficiency of construction. For example, during the excavation process, when the operator quickly operates the pilot handle to perform the excavation action, if the motor and the hydraulic pump cannot increase the speed and power in time, the excavation will be weak and the action will be slow, which seriously affects the engineering quality. It can be seen that it is particularly important to provide a corresponding solution for the problems of the existing hydraulic excavator in energy consumption control, working efficiency and response timeliness. SUMMARY

[0006] The present application provides an energy-saving control method of a hydraulic excavator and the hydraulic excavator, which can reduce unnecessary energy consumption of the hydraulic excavator, improve the intelligent degree of control of the hydraulic excavator, and improve the working efficiency and response timeliness.

[0007] The first aspect of the present application discloses an energy-saving control method of a hydraulic excavator, the hydraulic excavator comprising at least a pilot handle, a walking foot valve, a target controller, a motor and a hydraulic pump; wherein the first end of the pilot handle is electrically connected with the first end of the target controller; the first end of the walking foot valve is electrically connected with the second end of the target controller; the third end of the target controller is electrically connected with the first end of the motor; and the fourth end of the target controller is electrically connected with the first end of the hydraulic pump. The method comprises: The target controller acquires a target signal in real time, and for each acquired target signal, judges whether the target signal is lower than a target signal threshold set for the target signal; the target signal comprises a first signal sent by the pilot handle and a second signal sent by the walking foot valve; When it is judged that the target signal is lower than the target signal threshold set for the target signal, the target controller performs a speed reduction control operation on the motor and the hydraulic pump to obtain a speed reduction control result for the motor and the hydraulic pump, and the speed reduction control operation is used to shut down the motor and the hydraulic pump; When it is judged that the target signal is not lower than the target signal threshold set for the target signal, the target controller performs a speed increase control operation on the motor and the hydraulic pump to obtain a speed increase control result for the motor and the hydraulic pump, and the speed increase control operation is used to start the motor and the hydraulic pump.

[0008] As an optional implementation, in the first aspect of the present application, the pilot handle comprises a plurality of first control buttons, and the first signal comprises a first sub-signal matched with each first control button; the walking foot valve comprises a plurality of second control buttons, and the second signal comprises a second sub-signal matched with each second control button; The judging, for each acquired target signal, whether the target signal is lower than a target signal threshold set for the target signal comprises: For each acquired target signal, the target controller judges whether each first sub-signal included in the target signal is lower than a first signal threshold set for the first sub-signal to obtain a first judgment result for each first sub-signal; For each acquired target signal, the target controller judges whether each second sub-signal included in the target signal is lower than a second signal threshold set for the second sub-signal to obtain a second judgment result for each second sub-signal; When the first judgment result of each of the first sub-signals indicates that the first sub-signal is lower than the first signal threshold set for the first sub-signal, and the second judgment result of each of the second sub-signals indicates that the second sub-signal is lower than the second signal threshold set for the second sub-signal, it is determined that the target signal is lower than the target signal threshold set for the target signal.

[0009] As an optional implementation form, in the first aspect, the target controller performs the speed reduction control operation on the motor and the hydraulic pump to obtain the speed reduction control result of the motor and the hydraulic pump, including: The target controller generates an enabling instruction of a timer set for the hydraulic excavator, and controls the timer to perform a timing operation according to the enabling instruction to obtain a timing result of the timer before detecting a speed-up signal; the speed-up signal is a signal in which a certain target signal subsequently acquired by the target controller is higher than the target signal threshold set for the certain target signal; The target controller judges whether the timing result is greater than a preset first time threshold, and when it is judged that the timing result is greater than the first time threshold, generates a target speed reduction instruction of the motor and the hydraulic pump, and performs a speed reduction control operation on the motor and the hydraulic pump according to the target speed reduction instruction to obtain a speed reduction control result of the motor and the hydraulic pump.

[0010] As an optional implementation form, in the first aspect, the target speed reduction instruction includes a motor speed reduction instruction of the motor and a first displacement adjustment instruction of the hydraulic pump; The speed reduction control operation on the motor and the hydraulic pump according to the target speed reduction instruction to obtain the speed reduction control result of the motor and the hydraulic pump includes: The target controller performs a motor speed reduction operation on the motor according to the motor speed reduction instruction, and acquires a motor speed reduction result fed back by the motor; the motor speed reduction result includes a first motor speed value output by the motor after the motor performs the motor speed reduction operation; After it is determined that the first motor speed value reaches an expected minimum motor speed, the target controller determines that the motor speed reduction operation of the motor is completed, and performs a first displacement adjustment operation on the hydraulic pump according to the first displacement adjustment instruction, and acquires a first displacement adjustment result fed back by the hydraulic pump; the first displacement adjustment result includes a first hydraulic pump displacement output by the hydraulic pump after the hydraulic pump performs the first displacement adjustment operation; The target controller determines the first motor speed value and the first hydraulic pump displacement as the speed reduction control result of the motor and the hydraulic pump.

[0011] As an optional implementation, in the first aspect of the present application, the speed-up control operation performed by the target controller on the motor and the hydraulic pump to obtain the speed-up control result of the motor and the hydraulic pump comprises: The target controller acquires a current timing result of a timer arranged on the hydraulic excavator, and determines whether the current timing result is greater than a preset second time threshold; when it is determined that the current timing result is greater than the second time threshold, a reset instruction for the timer is generated; The target controller performs a reset operation on the current timing result according to the reset instruction to reset the current timing result to a zero signal; When it is determined that the current timing result is less than or equal to the second time threshold, or after determining that the current timing result is adjusted to the zero signal, the target controller generates a target speed-up instruction for the motor and the hydraulic pump, and performs a speed-up control operation on the motor and the hydraulic pump according to the target speed-up instruction to obtain a speed-up control result of the motor and the hydraulic pump.

[0012] As an optional implementation, in the first aspect of the present application, the target speed-up instruction comprises a motor speed-up instruction for the motor and a second displacement adjustment instruction for the hydraulic pump; The speed-up control operation performed by the target controller on the motor and the hydraulic pump according to the target speed-up instruction to obtain the speed-up control result of the motor and the hydraulic pump comprises: According to the second displacement adjustment instruction, a second displacement adjustment operation is performed on the hydraulic pump, and a second displacement adjustment result fed back by the hydraulic pump is acquired; the second displacement adjustment result comprises a second hydraulic pump displacement output by the hydraulic pump after performing the second displacement adjustment operation; After determining that the second hydraulic pump displacement reaches an expected reference hydraulic pump displacement, the target controller determines that the second displacement adjustment operation for the hydraulic pump is completed, and performs a motor speed-up operation on the motor according to the motor speed-up instruction, and acquires a motor speed-up result fed back by the motor; the motor speed-up result comprises a second motor rotating speed value output by the motor after performing the motor speed-up operation; The target controller determines the second motor rotating speed value and the second hydraulic pump displacement as the speed-up control result of the motor and the hydraulic pump.

[0013] As an optional implementation, in the first aspect of the present application, the motor speed-up instruction comprises a first speed-up instruction, or the motor speed-up instruction comprises a first speed-up instruction and a second speed-up instruction. The motor speed-up operation performed on the motor according to the motor speed-up instruction includes: When the motor speed-up instruction only includes the first speed-up instruction, the target controller performs a first speed-up operation on the motor according to the first speed-up instruction to increase the actual speed of the motor to a preset minimum speed value as the motor speed-up result of the motor; When the motor speed-up instruction includes the first speed-up instruction and the second speed-up instruction, the target controller performs a first speed-up operation on the motor according to the first speed-up instruction, and after determining that the actual speed of the motor is increased to the preset minimum speed value, performs a second speed-up operation on the motor according to the second speed-up instruction to increase the actual speed of the motor to an expected speed matching the second speed-up instruction as the motor speed-up result of the motor; the expected speed is greater than the minimum speed value.

[0014] The second aspect of the present application discloses a hydraulic excavator, which at least includes a pilot handle, a walking foot valve, a target controller, a motor and a hydraulic pump; wherein the first end of the pilot handle is electrically connected with the first end of the target controller; the first end of the walking foot valve is electrically connected with the second end of the target controller; the third end of the target controller is electrically connected with the first end of the motor; the fourth end of the target controller is electrically connected with the first end of the hydraulic pump; The target controller is used for acquiring target signals in real time, and for each acquired target signal, judging whether the target signal is lower than the target signal threshold set for it; the target signal includes a first signal sent by the pilot handle and a second signal sent by the walking foot valve; The target controller is also used for performing a speed-down control operation on the motor and the hydraulic pump to obtain a speed-down control result for the motor and the hydraulic pump when it is judged that the target signal is lower than the target signal threshold set for it, and the speed-down control operation is used for shutting down the motor and the hydraulic pump; The target controller is also used for performing a speed-up control operation on the motor and the hydraulic pump to obtain a speed-up control result for the motor and the hydraulic pump when it is judged that the target signal is not lower than the target signal threshold set for it, and the speed-up control operation is used for starting the motor and the hydraulic pump.

[0015] As an optional implementation, in the second aspect of the present application, the pilot handle comprises a plurality of first control buttons, and the first signal comprises a first sub-signal matched with each of the first control buttons; the walking pedal valve comprises a plurality of second control buttons, and the second signal comprises a second sub-signal matched with each of the second control buttons; The manner in which the target controller determines, for each acquired target signal, whether the target signal is lower than the target signal threshold set therefor specifically comprises: For each acquired target signal, determining whether each first sub-signal included in the target signal is lower than the first signal threshold set therefor to obtain a first determination result for each first sub-signal; For each acquired target signal, determining whether each second sub-signal included in the target signal is lower than the second signal threshold set therefor to obtain a second determination result for each second sub-signal; Wherein, when the first determination result of each first sub-signal indicates that the first sub-signal is lower than the first signal threshold set therefor, and the second determination result of each second sub-signal indicates that the second sub-signal is lower than the second signal threshold set therefor, it is determined that the target signal is lower than the target signal threshold set therefor.

[0016] As an optional implementation, in the second aspect of the present application, the manner in which the target controller performs the speed reduction control operation on the motor and the hydraulic pump to obtain a speed reduction control result for the motor and the hydraulic pump specifically comprises: Generating an enable instruction for a timer set for the hydraulic excavator, and controlling the timer to perform a timing operation according to the enable instruction before detecting a speed-up signal to obtain a timing result of the timer; the speed-up signal is a signal in a target signal subsequently acquired by the target controller, where the target signal is higher than the target signal threshold set therefor; Determining whether the timing result is greater than a preset first time threshold, and when it is determined that the timing result is greater than the first time threshold, generating a target speed reduction instruction for the motor and the hydraulic pump, and performing a speed reduction control operation on the motor and the hydraulic pump according to the target speed reduction instruction to obtain a speed reduction control result for the motor and the hydraulic pump.

[0017] As an optional implementation, in the second aspect of the present application, the target speed reduction instruction comprises a motor speed reduction instruction for the motor and a first displacement adjustment instruction for the hydraulic pump; The target controller executes a speed-down control operation on the motor and the hydraulic pump according to the target speed-down instruction, and obtains a speed-down control result of the motor and the hydraulic pump in the following manner: According to the motor speed-down instruction, a motor speed-down operation is executed on the motor, and a motor speed-down result fed back by the motor is obtained, the motor speed-down result comprising a first motor speed value output by the motor after executing the motor speed-down operation; After determining that the first motor speed value reaches an expected minimum motor speed, it is determined that the motor speed-down operation on the motor is completed, and a first displacement adjustment operation is executed on the hydraulic pump according to the first displacement adjustment instruction, and a first displacement adjustment result fed back by the hydraulic pump is obtained; the first displacement adjustment result comprising a first hydraulic pump displacement output by the hydraulic pump after executing the first displacement adjustment operation; The first motor speed value and the first hydraulic pump displacement are determined as the speed-down control result of the motor and the hydraulic pump.

[0018] As an optional implementation, in the second aspect of the present application, the target controller executes a speed-up control operation on the motor and the hydraulic pump to obtain a speed-up control result of the motor and the hydraulic pump in the following manner: A current timing result of a timer provided in the hydraulic excavator is obtained, and it is determined whether the current timing result is greater than a preset second time threshold; when it is determined that the current timing result is greater than the second time threshold, a reset instruction for the timer is generated; According to the reset instruction, a reset operation is executed on the current timing result to reset the current timing result to a zero reset signal; When it is determined that the current timing result is less than or equal to the second time threshold, or after determining that the current timing result is adjusted to the zero reset signal, a target speed-up instruction for the motor and the hydraulic pump is generated, and a speed-up control operation is executed on the motor and the hydraulic pump according to the target speed-up instruction to obtain a speed-up control result of the motor and the hydraulic pump.

[0019] As an optional implementation, in the second aspect of the present application, the target speed-up instruction comprises a motor speed-up instruction for the motor and a second displacement adjustment instruction for the hydraulic pump; The target controller executes a speed-up control operation on the motor and the hydraulic pump according to the target speed-up instruction, and obtains a speed-up control result of the motor and the hydraulic pump in the following manner: According to the second displacement adjustment instruction, a second displacement adjustment operation is performed on the hydraulic pump, and a second displacement adjustment result fed back by the hydraulic pump is obtained; the second displacement adjustment result comprises a second hydraulic pump displacement output by the hydraulic pump after the second displacement adjustment operation is performed; After it is determined that the second hydraulic pump displacement reaches an expected reference hydraulic pump displacement, it is determined that the second displacement adjustment operation on the hydraulic pump is completed, and a motor speed-up operation is performed on the motor according to the motor speed-up instruction, and a motor speed-up result fed back by the motor is obtained; the motor speed-up result comprises a second motor rotating speed value output by the motor after the motor speed-up operation is performed; The second motor rotating speed value and the second hydraulic pump displacement are determined as a speed-up control result for the motor and the hydraulic pump.

[0020] As an optional implementation, in the second aspect of the present application, the motor speed-up instruction comprises a first speed-up instruction, or the motor speed-up instruction comprises a first speed-up instruction and a second speed-up instruction. The manner in which the target controller performs the motor speed-up operation on the motor according to the motor speed-up instruction specifically comprises: When the motor speed-up instruction only comprises the first speed-up instruction, a first speed-up operation is performed on the motor according to the first speed-up instruction to increase the actual rotating speed of the motor to a preset minimum rotating speed value as the motor speed-up result of the motor; When the motor speed-up instruction comprises the first speed-up instruction and the second speed-up instruction, a first speed-up operation is performed on the motor according to the first speed-up instruction, and after it is determined that the actual rotating speed of the motor is increased to the preset minimum rotating speed value, a second speed-up operation is performed on the motor according to the second speed-up instruction to increase the actual rotating speed of the motor to an expected rotating speed matched with the second speed-up instruction as the motor speed-up result of the motor; the expected rotating speed is greater than the minimum rotating speed value.

[0021] The third aspect of the present application discloses an energy-saving control device of a hydraulic excavator, which comprises: a memory in which executable program codes are stored; a processor coupled with the memory; The processor invokes the executable program codes stored in the memory to execute part or all steps of the energy-saving control method of the hydraulic excavator according to any one of the first aspect of the present application.

[0022] The fourth aspect of the present application discloses a computer storage medium, which stores computer instructions, and when the computer instructions are invoked, part or all steps of the energy-saving control method of the hydraulic excavator according to any one of the first aspect of the present application are executed.

[0023] Compared with the prior art, the present application has the following beneficial effects: In the embodiment of the present application, an energy-saving control method of a hydraulic excavator is provided, the hydraulic excavator at least comprising a pilot handle, a walking foot valve, a target controller, a motor and a hydraulic pump; wherein the first end of the pilot handle is electrically connected with the first end of the target controller; the first end of the walking foot valve is electrically connected with the second end of the target controller; the third end of the target controller is electrically connected with the first end of the motor; the fourth end of the target controller is electrically connected with the first end of the hydraulic pump; the method comprises: acquiring a target signal by the target controller in real time, and for each acquired target signal, judging whether the target signal is lower than the target signal threshold set for it; the target signal comprises a first signal sent by the pilot handle and a second signal sent by the walking foot valve; when it is judged that the target signal is lower than the target signal threshold set for it, performing a speed reduction control operation on the motor and the hydraulic pump by the target controller to obtain a speed reduction control result for the motor and the hydraulic pump, the speed reduction control operation being used to shut down the motor and the hydraulic pump; when it is judged that the target signal is not lower than the target signal threshold set for it, performing a speed increase control operation on the motor and the hydraulic pump by the target controller to obtain a speed increase control result for the motor and the hydraulic pump, the speed increase control operation being used to start the motor and the hydraulic pump. It can be seen that, by implementing the present application, the signals of the pilot handle and the walking foot valve are judged in real time by the target controller, and according to the comparison result of the target signal and the target signal threshold, the speed reduction control operation or the speed increase control operation is dynamically performed on the motor and the hydraulic pump, so that the precise control and dynamic energy saving of the hydraulic excavator are realized, the energy consumption of the hydraulic excavator can be effectively reduced when there is no control demand, the work efficiency and the response timeliness for the target signal are guaranteed, and the energy-saving performance, the control stability and the use reliability of the hydraulic excavator are improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0025] Figure 1 is a flowchart of the energy-saving control method of the hydraulic excavator disclosed by the embodiment of the present application; Figure 2is a flow diagram of another energy-saving control method of a hydraulic excavator disclosed by the embodiment of the present application; Figure 3 is a structural diagram of a hydraulic excavator disclosed by the embodiment of the present application; Figure 4 is a structural diagram of an energy-saving control device of a hydraulic excavator disclosed by the embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable personnel in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0027] The terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product, or end including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or end.

[0028] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor does it necessarily refer to a separate or alternative embodiment in isolation from other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0029] The present application discloses an energy-saving control method of a hydraulic excavator and a hydraulic excavator. The target controller judges the signals of the pilot handle and the walking foot valve in real time, and according to the comparison result of the target signal and the target signal threshold value, the motor and the hydraulic pump are dynamically executed speed reduction control operation or speed increase control operation, which realizes accurate control and dynamic energy saving of the hydraulic excavator. It can effectively reduce the energy consumption of the hydraulic excavator when there is no control demand, and can guarantee the work efficiency and the response timeliness of the target signal, improve the energy-saving performance of the hydraulic excavator, and improve the control stability and use reliability of the hydraulic excavator. The following will be described in detail.

[0030] Embodiment one Please refer toFigure 1 , Figure 1 is a flowchart of an energy-saving control method of a hydraulic excavator disclosed by the embodiment of the present application. Wherein, Figure 1 The energy-saving control method of the hydraulic excavator described can be applied to the hydraulic excavator, and the hydraulic excavator at least includes a pilot handle, a walking foot valve, a target controller, a motor and a hydraulic pump; wherein the first end of the pilot handle is electrically connected with the first end of the target controller; the first end of the walking foot valve is electrically connected with the second end of the target controller; the third end of the target controller is electrically connected with the first end of the motor; the fourth end of the target controller is electrically connected with the first end of the hydraulic pump, and the embodiment of the present application is not limited. As Figure 1 shown, the energy-saving control method of the hydraulic excavator can include the following operations: 101, the target controller acquires a target signal in real time, and for each acquired target signal, it is judged whether the target signal is lower than the target signal threshold set for it.

[0031] In the embodiment of the present application, the target signal includes the first signal sent by the pilot handle and the second signal sent by the walking foot valve.

[0032] In the embodiment of the present application, the intelligent signal acquisition and judgment mechanism for the pilot handle and the walking foot valve is set, so that the corresponding operation demand to be responded can be matched and identified according to the different signal judgment results, and then the operation demand is responded, for example, the running state of the motor and the hydraulic pump can be flexibly adjusted according to the small action of the pilot handle or the degree of stepping of the walking foot valve. Specifically, when the operator slightly operates the pilot handle, the first signal generated is small, at this time it can be identified as a false touch of the pilot handle, so as not to directly respond to the first signal, avoiding unnecessary operation of the motor and the hydraulic pump, to a certain extent, the control accuracy and reliability of the hydraulic excavator are improved.

[0033] 102, when it is judged that the target signal is lower than the target signal threshold set for it, the target controller performs a speed reduction control operation on the motor and the hydraulic pump to obtain a speed reduction control result for the motor and the hydraulic pump, and the speed reduction control operation is used to shut down the motor and the hydraulic pump.

[0034] 103, when it is judged that the target signal is not lower than the target signal threshold set for it, the target controller performs a speed-up control operation on the motor and the hydraulic pump to obtain a speed-up control result for the motor and the hydraulic pump, and the speed-up control operation is used to start the motor and the hydraulic pump.

[0035] In the embodiment of the present application, the target signal threshold is used as a reference to determine the demand response mechanism of different target signals. The target signal threshold can be a zero signal. When it is determined that the first signal and the second signal included in the target signal are both 0, it is assumed that there is no control demand for the pilot handle and the walking foot valve. In order to save energy, the hydraulic excavator can enter an energy-saving state. Accordingly, the speed control operation is performed on the motor and the hydraulic pump, so that the motor and the hydraulic pump enter a sleep / standby state. Similarly, when the first signal and the second signal included in the target signal are not 0, that is, there is a control demand for the pilot handle and / or the walking foot valve, the pilot handle and / or the walking foot valve need to be woken up in response to the target signal, and the speed control operation needs to be performed on the pilot handle and the walking foot valve.

[0036] In the embodiment of the present application, the target controller included in the hydraulic excavator can be further divided into a vehicle controller and a motor-pump controller. In actual application, the vehicle controller collects, identifies, and analyzes the first signal sent by the pilot handle and the second signal sent by the walking foot valve, and generates a control instruction for subsequent speed control operation and speed control operation. The control instruction is first transmitted to the motor-pump controller, and the motor-pump controller controls the motor and the hydraulic pump according to the control instruction. That is, the motor and the hydraulic pump are managed in a hierarchical and step-by-step manner, which reduces the control pressure of the whole machine controller and improves the control accuracy, control efficiency, and control precision of the motor and the hydraulic pump management by the motor-pump controller.

[0037] It can be seen that the implementation Figure 1 The energy-saving control method of the hydraulic excavator described above can dynamically perform speed control operation or speed control operation on the motor and the hydraulic pump according to the comparison result of the target signal and the target signal threshold by the target controller to the signals of the pilot handle and the walking foot valve, so as to realize accurate control and dynamic energy saving of the hydraulic excavator. The energy consumption of the hydraulic excavator can be effectively reduced when there is no control demand, and the work efficiency and response timeliness to the target signal can be guaranteed. The energy-saving performance, control stability, and use reliability of the hydraulic excavator are improved.

[0038] In an optional embodiment, the pilot handle includes a plurality of first control keys, and the first signal includes a first sub-signal matched with each first control key; the walking foot valve includes a plurality of second control keys, and the second signal includes a second sub-signal matched with each second control key; The manner of determining whether the target signal is lower than the target signal threshold set for the target signal in step 102 includes: For each target signal obtained, the target controller judges whether each first sub-signal included in the target signal is lower than the first signal threshold set for it, to obtain a first judgment result for each first sub-signal; For each target signal obtained, the target controller judges whether each second sub-signal included in the target signal is lower than the second signal threshold set for it, to obtain a second judgment result for each second sub-signal; Wherein, when the first judgment result of each first sub-signal indicates that the first sub-signal is lower than the first signal threshold set for it, and the second judgment result of each second sub-signal indicates that the second sub-signal is lower than the second signal threshold set for it, it is determined that the target signal is lower than the target signal threshold set for it.

[0039] In this optional embodiment, by finely dividing the control signals of the pilot handle and the walking foot valve (corresponding to the above-mentioned multiple first sub-signals and multiple second sub-signals) and independently judging the signals, the independence of each operation key is fully considered, so that the target controller can more accurately recognize the intention of the operator. For example, in excavating operation, different keys of the pilot handle may respectively control the boom lifting, arm stretching and bucket rotating of the excavator, and the force and speed requirements of each action may be different. By respectively judging the relationship between each first sub-signal and second sub-signal and the corresponding threshold, the target controller can accurately understand the control requirements of the operator for each specific action, so as to realize more accurate control of the motor and hydraulic pump, and avoid the problem of inaccurate control caused by overall signal judgment.

[0040] In this optional embodiment, only when each first sub-signal is lower than the corresponding first signal threshold, and each second sub-signal is lower than the corresponding second signal threshold, it is determined that the target signal is lower than the target signal threshold. This comprehensive evaluation method ensures that the state of all operation keys is fully considered when judging whether to perform speed reduction control. In actual work, the hydraulic excavator may be in a complex state where some operation keys are pressed and some are not pressed. Since the speed reduction control operation is used to shut down the motor and hydraulic pump, the motor and hydraulic pump enter the sleep state in time when there is no control demand, so as to reduce energy consumption. Through this comprehensive judgment logic, comprehensive examination of all keys can be realized, and the problem of missing recognition of the control demand of individual keys can be avoided, so that the situation that the user needs to use the hydraulic excavator but the device enters the sleep state by mistake, resulting in failure to respond to the user's control demand, can be avoided. That is, through the comprehensive signal judgment mechanism for the target signal, the operation accuracy and reliability of performing speed reduction control operation on the motor and hydraulic pump are improved.

[0041] It can be seen that in the optional embodiment, by setting multiple control buttons on the pilot handle and the traveling foot valve and corresponding multiple sub-signals, the target controller independently judges and comprehensively evaluates each sub-signal, realizes the effects of fine signal judgment, comprehensive energy-saving control, and enhanced system stability. The fine sub-signal can more accurately reflect the intention of the operator, improve the recognition and response accuracy of the intention of the personnel, and at the same time ensure the stability and reliability of the operation and control of the hydraulic excavator in various working scenarios.

[0042] In another optional embodiment, before the target controller judges whether each first sub-signal included in the target signal is lower than the first signal threshold set therefor to obtain the first judgment result for each first sub-signal, the method further comprises: The target controller acquires a key list recorded for the pilot handle and the traveling foot valve, and the key list at least records all first control buttons and corresponding first key signal identifiers, all second control buttons and corresponding second key signal identifiers; The target controller performs matching operations on all first sub-signals included in the target signal and all first key signal identifiers in the key list to obtain matching results for all first sub-signals; the matching operations at least perform quantity matching operations and signal type matching operations; When the matching results for all first sub-signals indicate that there is a first key signal identifier matching each first sub-signal in the key list, the target controller determines that all first sub-signals are compliant signals, and triggers the execution of the operation corresponding to the operation of the target controller judging whether each first sub-signal included in the target signal is lower than the first signal threshold set therefor to obtain the first judgment result for each first sub-signal; When the matching results for all first sub-signals indicate that there is a first sub-signal in the key list that is identified as matching the first key signal identifier, the first sub-signal is marked, and an abnormal prompt for the first sub-signal is output.

[0043] In the optional embodiment, the quantity matching operation is used to detect whether the number of all first sub-signals included in the target signal matches the number of all first key signal identifiers recorded in advance for the pilot handle in the key list; and the signal type matching operation is used to detect whether the signal types of all first sub-signals match all first key signal identifiers.

[0044] In the optional embodiment, for the processing mechanism type of the walking foot valve, the abnormal signal, the redundant signal and the missing signal can be screened from the two aspects of the signal quantity and the signal type before judging whether each second sub-signal included in the target signal is lower than the second signal threshold value set therefor, and the related processing procedure is not described herein.

[0045] It can be seen that, before performing comparison between each first sub-signal and the first signal threshold value, the abnormal judgment mechanism for all the first sub-signals is set, the signal screening is performed from the two aspects of the signal quantity and the signal type, it is ensured that all the first sub-signals in the subsequent comparison do not have signal missing or redundancy, and thus the accuracy of the subsequent comparison operation is improved.

[0046] In still another optional embodiment, the manner in which the target controller performs the speed reduction control operation on the motor and the hydraulic pump to obtain the speed reduction control result of the motor and the hydraulic pump specifically includes: The target controller generates an enabling instruction for a timer set for the hydraulic excavator, and controls the timer to perform a timing operation according to the enabling instruction to obtain a timing result of the timer before detecting a speed-up signal; the speed-up signal is a signal in a certain target signal subsequently acquired by the target controller, which is higher than a target signal threshold value set therefor; The target controller judges whether the timing result is greater than a preset first time threshold value, generates a target speed reduction instruction for the motor and the hydraulic pump when it is judged that the timing result is greater than the first time threshold value, and performs a speed reduction control operation on the motor and the hydraulic pump according to the target speed reduction instruction to obtain a speed reduction control result of the motor and the hydraulic pump.

[0047] In the optional embodiment, the first time threshold value can be denoted as T1, and according to actual needs, the first time threshold value T1 can be set to 5s, 10s or 15s, or can be 30s, 60s or 90s.

[0048] In the optional embodiment, it needs to be noted that when the target signal lower than the target signal threshold value set therefor is initially detected, it is initially considered that no use / control instruction for the hydraulic excavator is received at the current time, at which time the energy-saving control procedure set for the hydraulic excavator is called and executed. Meanwhile, a judgment mechanism for judging whether the energy-saving control procedure is formally executed is set: a time length judgment mechanism based on the timing result and the first time threshold value. Specifically, after initially entering the energy-saving control procedure, the timing function of the timer is started, and after it is determined that the timing result of the timer is greater than the first time threshold value, i.e., it is judged that the maintenance time length of the situation that no use / control instruction for the hydraulic excavator is received exceeds the set first time threshold value, it is determined to formally execute the energy-saving control procedure.

[0049] In the optional embodiment, the time judgment basis is provided for the speed reduction control operation by setting the timer and enabling the timing function of the timer, and thus the subsequent target speed reduction instruction generation and execution operation is only executed again when the timing result of the timer is greater than the first time threshold.

[0050] It can be seen that in the optional embodiment, by increasing the time control dimension of the timing result of the timer, the situation that the speed reduction control operation is blindly executed to cause the inability to respond to the control instruction temporarily triggered by the user for the hydraulic excavator in time is avoided, and the execution accuracy and reliability of the speed reduction control operation are improved to a certain extent.

[0051] In another optional embodiment, the target speed reduction instruction includes a motor speed reduction instruction for the motor and a first displacement adjustment instruction for the hydraulic pump. The above manner of executing the speed reduction control operation on the motor and the hydraulic pump according to the target speed reduction instruction to obtain the speed reduction control result for the motor and the hydraulic pump specifically includes: The target controller executes the motor speed reduction operation on the motor according to the motor speed reduction instruction, and obtains the motor speed reduction result fed back by the motor, the motor speed reduction result including a first motor speed value output by the motor after executing the motor speed reduction operation. After determining that the first motor speed value reaches the expected minimum motor speed, the target controller determines that the motor speed reduction operation for the motor is completed, executes the first displacement adjustment operation on the hydraulic pump according to the first displacement adjustment instruction, and obtains the first displacement adjustment result fed back by the hydraulic pump, the first displacement adjustment result including a first hydraulic pump displacement output by the hydraulic pump after executing the first displacement adjustment operation. The target controller determines the first motor speed value and the first hydraulic pump displacement as the speed reduction control result for the motor and the hydraulic pump.

[0052] In the optional embodiment, the above-mentioned expected minimum motor speed is generally set to 0 speed, that is, in the absence of special control requirements, the motor speed reduction operation is executed by default to adjust the motor to the working condition of being closed and not rotating.

[0053] In the optional embodiment, the target speed reduction instruction is divided into a motor speed reduction instruction for the motor and a first displacement adjustment instruction for the hydraulic pump. The target controller first performs a speed reduction operation on the motor according to the motor speed reduction instruction and obtains a first motor speed value fed back by the motor. Only when it is determined that the first motor speed value reaches an expected minimum motor speed, the first displacement adjustment operation is performed on the hydraulic pump. This step-by-step and coordinated control mode ensures that the running states of the motor and the hydraulic pump in different stages match each other. Specifically, during the conventional motor speed reduction process, the motor speed decreases, and the hydraulic pump flow also decreases. At this time, if the displacement of the hydraulic pump is adjusted at the same time, because the hydraulic pump flow is related to both the motor speed and the hydraulic pump displacement, a large fluctuation of the hydraulic pump flow will occur, which increases the complexity and instability of the hydraulic pump flow change. Therefore, by adopting the control variable idea, only one parameter is adjusted at a time during the motor speed reduction process, so as to adjust the motor speed first, maintain the hydraulic pump displacement unchanged at the same time, adjust the hydraulic pump displacement while maintaining the motor speed unchanged, so as to realize the stable control of the motor and the hydraulic pump.

[0054] It can be seen that, in the optional embodiment, by subdividing the target speed reduction instruction into the motor speed reduction instruction and the first displacement adjustment instruction, and adopting the step-by-step and coordinated control mode of reducing the motor speed to the expected minimum speed first and then adjusting the hydraulic pump displacement, the precise and coordinated speed reduction control of the motor and the hydraulic pump is realized, and the operation execution precision, stability and safety of the speed reduction control operation performed on the motor and the hydraulic pump are greatly improved.

[0055] Embodiment two Please refer to Figure 2 , Figure 2 is a flow diagram of another energy-saving control method of a hydraulic excavator disclosed in the embodiments of the present application. Among them, Figure 2 The energy-saving control method of the hydraulic excavator described can be applied to a hydraulic excavator, and the hydraulic excavator at least includes a pilot handle, a walking foot valve, a target controller, a motor and a hydraulic pump; wherein the first end of the pilot handle is electrically connected with the first end of the target controller; the first end of the walking foot valve is electrically connected with the second end of the target controller; the third end of the target controller is electrically connected with the first end of the motor; and the fourth end of the target controller is electrically connected with the first end of the hydraulic pump, which is not limited in the embodiments of the present application. As shown in Figure 2 The energy-saving control method of the hydraulic excavator can include the following operations: 201. The target controller acquires a target signal in real time, and for each acquired target signal, judges whether the target signal is lower than the target signal threshold set therefor.

[0056] 202. When it is determined that the target signal is lower than the target signal threshold set for it, the target controller performs a speed reduction control operation on the motor and hydraulic pump to obtain the speed reduction control result for the motor and hydraulic pump. The speed reduction control operation is used to shut down the motor and hydraulic pump.

[0057] 203. When it is determined that the target signal is not lower than the target signal threshold set for it, the target controller obtains the current timing result of the timer set by the hydraulic excavator.

[0058] 204. The target controller determines whether the current timing result is greater than the preset second time threshold. When it is determined that the current timing result is greater than the second time threshold, a reset command for the timer is generated.

[0059] 205. The target controller performs a reset operation on the current timing result according to the reset command, so as to reset the current timing result to a zero signal.

[0060] 206. When it is determined that the current timing result is less than or equal to the second time threshold, or after it is determined that the current timing result is adjusted to a zero signal, the target controller generates a target speed-up command for the motor and hydraulic pump.

[0061] In this embodiment of the invention, in the pre-processing scheme, a timer is activated, and whether the timer's timing result is greater than a first time threshold is used as a time judgment parameter to determine whether to perform a speed reduction control operation on the motor and hydraulic pump. Based on this, the timer remains in a resident enabled state during and after the speed reduction control operation on the motor and hydraulic pump. Simultaneously, it is assumed that if the timer's timing result is greater than the first time threshold, the condition for performing a speed reduction control operation is met. Conversely, if a speed increase control operation is required, the timer's timing result needs to be reset. This allows for different subsequent control operations to be performed based on different timer timing results, avoiding control conflicts for the motor and hydraulic pump. For example, when a hydraulic excavator is performing intermittent operation, there will be no situation where a speed reduction is immediately followed by an erroneous speed increase, or vice versa, ensuring the stability and reliability of the equipment operation.

[0062] In the embodiment of the present application, the second time threshold can be set to be the same as the first time threshold, or can be set to be different. When the first time threshold is different from the second time threshold, the second time threshold is at least smaller than the first time threshold. The purpose of the setting is that the first time threshold corresponds to the shutdown and hibernation process of the motor and the hydraulic pump, which can be slow and needs to set a certain time length or even a longer time length as a buffer to ensure that the device safely and stably enters a low-power consumption state. The second time threshold corresponds to the start-up process of the motor and the hydraulic pump. In order to increase the practicality of the hydraulic excavator, the device can quickly recover to the normal working state when it needs to work, and improve the work efficiency. The response speed of the start-up process should be fast. Therefore, if the first time threshold is different from the second time threshold, at least the second time threshold is set to be smaller than the first time threshold.

[0063] 207. performing, by the target controller, a speed-up control operation on the motor and the hydraulic pump according to the target speed-up instruction, to obtain a speed-up control result for the motor and the hydraulic pump.

[0064] In the embodiment of the present application, the speed-up control operation is used to start the motor and the hydraulic pump.

[0065] In the embodiment of the present application, for other descriptions of steps 201-202, please refer to other specific descriptions of steps 101-102 in Embodiment One. The embodiment of the present application will not be repeated here.

[0066] It can be seen that, in the embodiment of the present application, Figure 2 The energy-saving control method of the hydraulic excavator described above realizes accurate control timing division and avoids control conflicts by flexibly calling the timer and taking different timing results as the judgment basis for the speed-up and speed-down control of the motor and the hydraulic pump. At the same time, by flexibly and accurately setting the first time threshold and the second time threshold, the hydraulic excavator can adapt to the needs of different working scenes, and improve the practicality and work efficiency of the device.

[0067] In an optional embodiment, the target speed-up instruction includes a motor speed-up instruction for the motor and a second displacement adjustment instruction for the hydraulic pump; The above-mentioned way of performing a speed-up control operation on the motor and the hydraulic pump according to the target speed-up instruction to obtain a speed-up control result for the motor and the hydraulic pump specifically includes: performing a second displacement adjustment operation on the hydraulic pump according to the second displacement adjustment instruction, and obtaining a second displacement adjustment result fed back by the hydraulic pump; the second displacement adjustment result includes a second hydraulic pump displacement output after the hydraulic pump performs the second displacement adjustment operation; determining, by the target controller, that the second hydraulic pump displacement reaches the expected reference hydraulic pump displacement, and determining, by the target controller, that the second displacement adjustment operation for the hydraulic pump is completed, and performing, by the target controller, a motor speed-up operation on the motor according to the motor speed-up instruction, and obtaining a motor speed-up result fed back by the motor, the motor speed-down result including a second motor speed value output by the motor after the motor performs the motor speed-up operation; determining, by the target controller, the second motor speed value and the second hydraulic pump displacement as the speed-up control result for the motor and the hydraulic pump.

[0068] In the actual operation of the hydraulic excavator, the motor speed and the hydraulic pump displacement are parameters that are interrelated and have an important influence on the operation performance. For example, during the excavation operation, a suitable motor speed can provide sufficient power, and a proper hydraulic pump displacement determines the pressure and flow of the hydraulic system, directly affecting the size of the digging force and the smoothness of the action. By issuing specific instructions to the motor and the hydraulic pump respectively, the operation parameters of the two can be accurately adjusted according to the actual operation requirements, realizing the coordinated work of the motor and the hydraulic pump, thereby improving the overall operation performance of the hydraulic excavator and making it better adapt to different working conditions and operation tasks.

[0069] In this optional embodiment, similar to the above operation process of performing the speed-down control operation on the motor and the hydraulic pump, the step-by-step control method is adopted to perform the speed-up control operation. And the execution sequence is specifically set as first performing the second displacement adjustment operation on the hydraulic pump, and then performing the speed-up operation on the motor after determining that the second hydraulic pump displacement reaches the expected reference hydraulic pump displacement. The purpose is to: during the motor speed-up process, the hydraulic pump flow will also rise, and by preferentially adjusting the displacement of the second hydraulic pump to the required reference hydraulic pump displacement, the subsequent motor speed-up operation will not cause the hydraulic pump to have insufficient flow due to insufficient displacement.

[0070] It can be seen that in this optional embodiment, through the explicit target speed-up instruction, precise coordinated control of the motor and the hydraulic pump is realized, and the operation performance of the hydraulic excavator is improved. And by adopting the step-by-step control method, the operation error probability of the speed-up control operation is reduced, thereby improving the stability and reliability of the overall speed-up control of the hydraulic excavator.

[0071] In another optional embodiment, the motor speed-up instruction includes a first speed-up instruction, or the motor speed-up instruction includes a first speed-up instruction and a second speed-up instruction; The above method of performing the motor speed-up operation on the motor according to the motor speed-up instruction specifically includes: When the motor speed-up instruction only includes the first speed-up instruction, the target controller executes a first speed-up operation on the motor according to the first speed-up instruction to increase the actual speed of the motor to a preset minimum speed value, as the motor speed-up result of the motor; When the motor speed-up instruction includes the first speed-up instruction and the second speed-up instruction, the target controller executes a first speed-up operation on the motor according to the first speed-up instruction, and after determining that the actual speed of the motor is increased to the preset minimum speed value, executes a second speed-up operation on the motor according to the second speed-up instruction to increase the actual speed of the motor to an expected speed matching the second speed-up instruction, as the motor speed-up result of the motor; the expected speed is greater than the minimum speed value.

[0072] In this optional embodiment, in the actual working scene of the hydraulic excavator, different work tasks and working conditions have great differences in the speed requirements of the motor. By setting the motor speed-up instruction to include the first speed-up instruction or the two flexible forms of the first speed-up instruction and the second speed-up instruction, the diversified requirements can be well adapted. For example, when the hydraulic excavator performs some simple operations with low power requirements, such as slight movement of position or small-amplitude excavation preparation actions, the motor speed-up instruction only includes the first speed-up instruction. The target controller increases the actual speed of the motor to the preset minimum speed value according to the first speed-up instruction, which can meet the basic operation requirements of the equipment under the current working condition, avoid unnecessary high-speed operation of the motor, and save energy. When high-intensity excavation operations are performed, such as excavating hard soil or large stones, the motor needs to provide more power. At this time, the motor speed-up instruction includes the first speed-up instruction and the second speed-up instruction. The first speed-up instruction is used to make the motor reach the minimum speed value, so as to ensure that the equipment can be normally started and initially operated, and also reduce the impact and wear during starting. Then, the second speed-up instruction is used to increase the actual speed of the motor to the expected speed matching the second speed-up instruction, so as to provide sufficient power support for high-intensity operations. This flexible instruction setting mode enables the hydraulic excavator to efficiently and reasonably operate under various working conditions, and makes the adjustment of the motor speed more precise and stable, avoiding damage caused by sudden changes in the speed of the motor.

[0073] It can be seen that in this optional embodiment, by designing a flexible motor speed-up instruction form, the motor speed is controlled in stages and accurately. This control mode can flexibly adapt to the diversified working condition requirements of the hydraulic excavator, optimize energy management and utilization efficiency, and reduce damage caused by sudden changes in the speed of the motor, thereby enhancing the stability and safety of the operation and control of the equipment.

[0074] Embodiment Three Please refer to Figure 3 , Figure 3 is a structural schematic diagram of a hydraulic excavator disclosed in an embodiment of the present application. As shown inFigure 3 As shown in the figure, the hydraulic excavator at least comprises a pilot handle 301, a walking foot valve 302, a target controller 303, a motor 304 and a hydraulic pump 305; wherein the first end of the pilot handle 301 is electrically connected with the first end of the target controller 303; the first end of the walking foot valve 302 is electrically connected with the second end of the target controller 303; the third end of the target controller 303 is electrically connected with the first end of the motor 304; the fourth end of the target controller 303 is electrically connected with the first end of the hydraulic pump 305. Wherein: The target controller 303 is used for acquiring a target signal in real time, and for each acquired target signal, judging whether the target signal is lower than a target signal threshold set for the target signal; the target signal comprises a first signal sent by the pilot handle 301 and a second signal sent by the walking foot valve 302.

[0075] The target controller 303 is further used for performing a speed reduction control operation on the motor 304 and the hydraulic pump 305 when it is judged that the target signal is lower than the target signal threshold set for the target signal, to obtain a speed reduction control result for the motor 304 and the hydraulic pump 305, and the speed reduction control operation is used for shutting down the motor 304 and the hydraulic pump 305.

[0076] The target controller 303 is further used for performing a speed increase control operation on the motor 304 and the hydraulic pump 305 when it is judged that the target signal is not lower than the target signal threshold set for the target signal, to obtain a speed increase control result for the motor 304 and the hydraulic pump 305, and the speed increase control operation is used for starting the motor 304 and the hydraulic pump 305.

[0077] It can be seen that the implementation Figure 3 The described hydraulic excavator realizes precise control and dynamic energy saving for the hydraulic excavator by the target controller judging the signals of the pilot handle and the walking foot valve in real time, and dynamically performing speed reduction control operation or speed increase control operation on the motor and the hydraulic pump according to the comparison result of the target signal and the target signal threshold, which can effectively reduce the energy consumption of the hydraulic excavator when there is no control demand, can guarantee the work efficiency and the response timeliness for the target signal, and improves the energy saving performance of the hydraulic excavator while improving the control stability and the use reliability of the hydraulic excavator.

[0078] In an optional embodiment, the pilot handle 301 comprises a plurality of first control buttons, and the first signal comprises a first sub-signal matched with each first control button; the walking foot valve 302 comprises a plurality of second control buttons, and the second signal comprises a second sub-signal matched with each second control button; The way that the target controller 303 judges whether the target signal is lower than the target signal threshold set for the target signal for each acquired target signal specifically comprises: For each acquired target signal, it is judged whether each first sub-signal included in the target signal is lower than the first signal threshold set for the first sub-signal, to obtain a first judgment result for each first sub-signal; For each acquired target signal, it is judged whether each second sub-signal included in the target signal is lower than the second signal threshold set for the second sub-signal, to obtain a second judgment result for each second sub-signal; Wherein, when the first judgment result of each first sub-signal indicates that the first sub-signal is lower than the first signal threshold set for the first sub-signal, and the second judgment result of each second sub-signal indicates that the second sub-signal is lower than the second signal threshold set for the second sub-signal, it is determined that the target signal is lower than the target signal threshold set for the target signal.

[0079] It can be seen that in this optional embodiment, by setting multiple control buttons on the pilot handle and the walking foot valve and corresponding multiple sub-signals, the target controller independently judges and comprehensively evaluates each sub-signal, achieving the effects of fine signal judgment, comprehensive energy-saving control, and enhanced system stability. The fine sub-signal can more accurately reflect the operator's intention, improve the recognition and response accuracy of the operator's intention, and at the same time ensure the stability and reliability of the operation and control of the hydraulic excavator in various working scenarios.

[0080] In another optional embodiment, the target controller 303 performs a speed reduction control operation on the motor 304 and the hydraulic pump 305, and the manner in which the target controller 303 performs the speed reduction control operation on the motor 304 and the hydraulic pump 305 specifically includes: An enabling instruction for a timer provided on the hydraulic excavator is generated, and before a speed-up signal is detected, the timer is controlled to perform a timing operation according to the enabling instruction, to obtain a timing result of the timer; the speed-up signal is a signal in a target signal subsequently acquired by the target controller 303, which is higher than a target signal threshold set for the target signal; It is judged whether the timing result is greater than a preset first time threshold, and when it is judged that the timing result is greater than the first time threshold, a target speed reduction instruction for the motor 304 and the hydraulic pump 305 is generated, and the motor 304 and the hydraulic pump 305 are controlled to perform a speed reduction control operation according to the target speed reduction instruction, to obtain a speed reduction control result for the motor 304 and the hydraulic pump 305.

[0081] It can be seen that in this optional embodiment, by adding the timing result of the timer as a time control dimension, the situation that the speed reduction control operation is blindly performed and cannot respond to the control instruction temporarily triggered by the user for the hydraulic excavator in time is avoided, and at the same time the execution accuracy and reliability of the speed reduction control operation are improved to some extent.

[0082] In yet another optional embodiment, the target speed-down instruction includes a motor speed-down instruction for the motor 304 and a first displacement adjustment instruction for the hydraulic pump 305; The target controller 303 executes the speed-down control operation on the motor 304 and the hydraulic pump 305 according to the target speed-down instruction, and the manner in which the target controller 303 obtains the speed-down control result for the motor 304 and the hydraulic pump 305 specifically includes: The motor 304 is executed according to the motor speed-down instruction, and the motor speed-down result fed back by the motor 304 is obtained, the motor speed-down result including a first motor speed value output by the motor 304 after the motor speed-down operation is executed; After determining that the first motor speed value reaches the expected minimum motor speed, it is determined that the motor speed-down operation for the motor 304 is completed, and the first displacement adjustment operation is executed on the hydraulic pump 305 according to the first displacement adjustment instruction, and the first displacement adjustment result fed back by the hydraulic pump 305 is obtained; the first displacement adjustment result includes a first hydraulic pump displacement output by the hydraulic pump 305 after the first displacement adjustment operation is executed; The first motor speed value and the first hydraulic pump displacement are determined as the speed-down control result for the motor 304 and the hydraulic pump 305.

[0083] It can be seen that, in this optional embodiment, by subdividing the target speed-down instruction into the motor speed-down instruction and the first displacement adjustment instruction, and adopting the step-by-step collaborative control manner of first motor speed-down to the expected minimum speed and then adjustment of the hydraulic pump displacement, precise collaborative speed-down control of the motor and the hydraulic pump is realized, and the operation execution precision, stability and safety of the speed-down control operation executed on the motor and the hydraulic pump are greatly improved.

[0084] In another optional embodiment, the manner in which the target controller 303 executes the speed-up control operation on the motor 304 and the hydraulic pump 305 to obtain the speed-up control result for the motor 304 and the hydraulic pump 305 specifically includes: The current timing result of the timer provided by the hydraulic excavator is obtained, and it is determined whether the current timing result is greater than a preset second time threshold; when it is determined that the current timing result is greater than the second time threshold, a reset instruction for the timer is generated; The current timing result is executed according to the reset instruction to reset the current timing result to a zero reset signal; When it is determined that the current timing result is less than or equal to the second time threshold, or after determining that the current timing result is adjusted to the zero reset signal, a target speed-up instruction for the motor 304 and the hydraulic pump 305 is generated, and the motor 304 and the hydraulic pump 305 are executed according to the target speed-up instruction to obtain the speed-up control result for the motor 304 and the hydraulic pump 305.

[0085] It can be seen that in the optional embodiment, by flexibly calling the timer, different timing results are used as the judgment basis for the motor and hydraulic pump speed-up and speed-down control, precise control timing division is realized, and control conflicts are avoided. At the same time, by flexibly and accurately setting the first time threshold and the second time threshold, the hydraulic excavator can adapt to the needs of different working scenes, and the use practicality and work efficiency of the equipment are improved.

[0086] In yet another optional embodiment, the target speed-up instruction includes a motor speed-up instruction for the motor 304 and a second displacement adjustment instruction for the hydraulic pump 305; The target controller 303 executes the speed-up control operation on the motor 304 and the hydraulic pump 305 according to the target speed-up instruction, and the manner in which the target controller 303 obtains the speed-up control result for the motor 304 and the hydraulic pump 305 specifically includes: According to the second displacement adjustment instruction, the second displacement adjustment operation is performed on the hydraulic pump 305, and a second displacement adjustment result fed back by the hydraulic pump 305 is obtained; the second displacement adjustment result includes a second hydraulic pump displacement output by the hydraulic pump 305 after performing the second displacement adjustment operation; After determining that the second hydraulic pump displacement reaches the expected reference hydraulic pump displacement, it is determined that the second displacement adjustment operation for the hydraulic pump 305 is completed, and a motor speed-up operation is performed on the motor 304 according to the motor speed-up instruction, and a motor speed-up result fed back by the motor 304 is obtained; the motor speed-up result includes a second motor speed value output by the motor 304 after performing the motor speed-up operation; The second motor speed value and the second hydraulic pump displacement are determined as the speed-up control result for the motor 304 and the hydraulic pump 305.

[0087] It can be seen that in the optional embodiment, by using the explicit target speed-up instruction, precise collaborative control of the motor and the hydraulic pump is realized, and the work performance of the hydraulic excavator is improved. In addition, by using the step-by-step control manner, the operation error probability of the speed-up control operation is reduced, thereby improving the stability and reliability of the overall speed-up control of the hydraulic excavator.

[0088] In another optional embodiment, the motor speed-up instruction includes a first speed-up instruction, or the motor speed-up instruction includes a first speed-up instruction and a second speed-up instruction; The target controller 303 executes the motor speed-up operation on the motor 304 according to the motor speed-up instruction, and the manner in which the target controller 303 executes the motor speed-up operation on the motor 304 specifically includes: When the motor speed-up instruction only includes the first speed-up instruction, a first speed-up operation is performed on the motor 304 according to the first speed-up instruction to increase the actual speed of the motor 304 to a preset minimum speed value as the motor speed-up result of the motor 304; When the motor speed-up instruction comprises the first speed-up instruction and the second speed-up instruction, the first speed-up operation is performed on the motor 304 according to the first speed-up instruction, and after determining that the actual rotating speed of the motor 304 increases to the preset minimum rotating speed value, the second speed-up operation is performed on the motor 304 according to the second speed-up instruction, so as to increase the actual rotating speed of the motor 304 to the expected rotating speed matched with the second speed-up instruction, as the motor speed-up result of the motor 304; the expected rotating speed is greater than the minimum rotating speed value.

[0089] It can be seen that in the optional embodiment, the hierarchical and accurate control of the motor rotating speed is realized by designing the flexible motor speed-up instruction form. This control mode can flexibly adapt to the diversified working condition requirements of the hydraulic excavator, optimize the energy management and utilization efficiency, and at the same time, reduce the damage caused by the sudden change of the rotating speed to the equipment, and enhance the stability and safety of the equipment operation and control.

[0090] Embodiment four Please refer to Figure 4 , Figure 4 is another structure schematic diagram of the energy-saving control device of the hydraulic excavator disclosed by the embodiment of the present application. As shown in Figure 4 , the energy-saving control device of the hydraulic excavator can comprise: a memory 401 storing executable program codes; a processor 402 coupled with the memory 401; The processor 402 calls the executable program codes stored in the memory 401 to execute part or all of the steps in the energy-saving control of the hydraulic excavator described in the embodiment one or the embodiment two of the present application.

[0091] Embodiment five The embodiment of the present application discloses a computer storage medium, which stores computer instructions, and when the computer instructions are called, part or all of the steps in the energy-saving control method of the hydraulic excavator described in the embodiment one or the embodiment two of the present application are executed.

[0092] The device embodiments described above are only schematic, wherein the modules illustrated as separate components can or can not be physically separated, and the components illustrated as modules can or can not be physical modules, that is, they can be located in one place, or can be distributed on multiple network modules. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0093] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above specific description of the embodiments, and the various embodiments can be realized by means of software and necessary universal hardware platforms, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in terms of contribution to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, including a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically-Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM), or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other medium that can be used to carry or store computer readable instructions.

[0094] Finally, it should be noted that: the above-mentioned embodiments disclosed only the preferred embodiments of the present application, only for the description of the technical solutions of the present application, and not limited; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand; it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An energy-saving control method for a hydraulic excavator, characterized in that, The hydraulic excavator includes at least a pilot handle, a travel foot valve, a target controller, a motor, and a hydraulic pump; wherein, a first end of the pilot handle is electrically connected to a first end of the target controller; a first end of the travel foot valve is electrically connected to a second end of the target controller; a third end of the target controller is electrically connected to a first end of the motor; and a fourth end of the target controller is electrically connected to a first end of the hydraulic pump. The method includes: The target controller acquires target signals in real time, and for each acquired target signal, determines whether the target signal is lower than the target signal threshold set for it; the target signal includes a first signal sent by the pilot handle and a second signal sent by the walking foot valve; When it is determined that the target signal is lower than the target signal threshold set for it, the target controller performs a speed reduction control operation on the motor and the hydraulic pump to obtain a speed reduction control result for the motor and the hydraulic pump. The speed reduction control operation is used to shut down the motor and the hydraulic pump. When it is determined that the target signal is not lower than the target signal threshold set for it, the target controller performs a speed-up control operation on the motor and the hydraulic pump to obtain the speed-up control result for the motor and the hydraulic pump. The speed-up control operation is used to start the motor and the hydraulic pump.

2. The energy-saving control method for a hydraulic excavator according to claim 1, characterized in that, The pilot handle includes a plurality of first control buttons, and the first signal includes a first sub-signal matching each of the first control buttons; the walking foot pedal valve includes a plurality of second control buttons, and the second signal includes a second sub-signal matching each of the second control buttons; For each acquired target signal, determining whether the target signal is below a set target signal threshold includes: For each acquired target signal, the target controller determines whether each of the first sub-signals included in the target signal is lower than a first signal threshold set for it, and obtains a first determination result for each first sub-signal. For each acquired target signal, the target controller determines whether each of the second sub-signals included in the target signal is lower than the second signal threshold set for it, and obtains a second determination result for each second sub-signal. Specifically, when the first judgment result of each first sub-signal indicates that the first sub-signal is lower than the first signal threshold set for it, and the second judgment result of each second sub-signal indicates that the second sub-signal is lower than the second signal threshold set for it, the target signal is determined to be lower than the target signal threshold set for it.

3. The energy-saving control method for a hydraulic excavator according to claim 1 or 2, characterized in that, The step of the target controller performing speed reduction control operations on the motor and the hydraulic pump to obtain speed reduction control results for the motor and the hydraulic pump includes: The target controller generates an activation command for the timer set for the hydraulic excavator, and before detecting the acceleration signal, controls the timer to perform timing operation according to the activation command to obtain the timing result of the timer; the acceleration signal is a signal in a target signal subsequently acquired by the target controller that is higher than the target signal threshold set for it; The target controller determines whether the timing result is greater than a preset first time threshold. When the timing result is determined to be greater than the first time threshold, a target deceleration command is generated for the motor and the hydraulic pump. Based on the target deceleration command, a deceleration control operation is performed on the motor and the hydraulic pump to obtain a deceleration control result for the motor and the hydraulic pump.

4. The energy-saving control method for a hydraulic excavator according to claim 3, characterized in that, The target speed reduction command includes a motor speed reduction command for the motor and a first displacement adjustment command for the hydraulic pump; The step of performing a speed reduction control operation on the motor and the hydraulic pump according to the target speed reduction command, and obtaining a speed reduction control result for the motor and the hydraulic pump, includes: The target controller performs a motor deceleration operation on the motor according to the motor deceleration command, and obtains the motor deceleration result fed back by the motor. The motor deceleration result includes the first motor speed value output by the motor after performing the motor deceleration operation. After determining that the first motor speed has reached the expected minimum motor speed, the target controller determines to complete the motor speed reduction operation for the motor, and performs a first displacement adjustment operation on the hydraulic pump according to the first displacement adjustment command, and obtains the first displacement adjustment result fed back by the hydraulic pump; the first displacement adjustment result includes the first hydraulic pump displacement output by the hydraulic pump after performing the first displacement adjustment operation. The target controller determines the first motor speed value and the first hydraulic pump displacement as the speed reduction control result for the motor and the hydraulic pump.

5. The energy-saving control method for a hydraulic excavator according to claim 1, 2, or 4, characterized in that, The step of the target controller performing speed-up control operations on the motor and the hydraulic pump to obtain speed-up control results for the motor and the hydraulic pump includes: The target controller obtains the current timing result of the timer set by the hydraulic excavator and determines whether the current timing result is greater than a preset second time threshold. When it is determined that the current timing result is greater than the second time threshold, a reset command for the timer is generated. The target controller performs a reset operation on the current timing result according to the reset command, so as to reset the current timing result to a zero signal; When it is determined that the current timing result is less than or equal to the second time threshold, or after determining that the current timing result is adjusted to the zero signal, the target controller generates a target speed-up command for the motor and the hydraulic pump, and performs speed-up control operation on the motor and the hydraulic pump according to the target speed-up command, thereby obtaining the speed-up control result for the motor and the hydraulic pump.

6. The energy-saving control method for a hydraulic excavator according to claim 5, characterized in that, The target speed-up command includes a motor speed-up command for the motor and a second displacement adjustment command for the hydraulic pump; The step of performing speed-up control operations on the motor and the hydraulic pump according to the target speed-up command, and obtaining speed-up control results for the motor and the hydraulic pump, includes: According to the second displacement adjustment command, a second displacement adjustment operation is performed on the hydraulic pump, and a second displacement adjustment result fed back by the hydraulic pump is obtained; the second displacement adjustment result includes the second hydraulic pump displacement output by the hydraulic pump after performing the second displacement adjustment operation; After determining that the second hydraulic pump displacement has reached the expected reference hydraulic pump displacement, the target controller determines that the second displacement adjustment operation for the hydraulic pump has been completed, and performs a motor speed-up operation on the motor according to the motor speed-up command, and obtains the motor speed-up result fed back by the motor. The motor speed-down result includes the second motor speed value output by the motor after performing the motor speed-up operation. The target controller determines the second motor speed value and the second hydraulic pump displacement as the acceleration control result for the motor and the hydraulic pump.

7. The energy-saving control method for a hydraulic excavator according to claim 6, characterized in that, The motor speed-up command includes a first speed-up command, or the motor speed-up command includes a first speed-up command and a second speed-up command; The step of performing a motor speed-up operation on the motor according to the motor speed-up command includes: When the motor speed-up command only includes the first speed-up command, the target controller performs a first speed-up operation on the motor according to the first speed-up command to increase the actual speed of the motor to a preset minimum speed value, which is taken as the motor speed-up result; When the motor speed-up command includes both the first speed-up command and the second speed-up command, the target controller performs a first speed-up operation on the motor according to the first speed-up command. After determining that the actual speed of the motor has increased to a preset minimum speed value, the controller performs a second speed-up operation on the motor according to the second speed-up command to increase the actual speed of the motor to a expected speed that matches the second speed-up command, which is taken as the motor speed-up result; the expected speed is greater than the minimum speed value.

8. A hydraulic excavator, characterized in that, The hydraulic excavator includes at least a pilot handle, a travel foot valve, a target controller, a motor, and a hydraulic pump; wherein, a first end of the pilot handle is electrically connected to a first end of the target controller; a first end of the travel foot valve is electrically connected to a second end of the target controller; a third end of the target controller is electrically connected to a first end of the motor; and a fourth end of the target controller is electrically connected to a first end of the hydraulic pump. The target controller is used to acquire target signals in real time, and for each acquired target signal, determine whether the target signal is lower than the target signal threshold set for it; the target signal includes a first signal sent by the pilot handle and a second signal sent by the walking foot valve; The target controller is further configured to perform a speed reduction control operation on the motor and the hydraulic pump when it is determined that the target signal is lower than the target signal threshold set for it, thereby obtaining a speed reduction control result for the motor and the hydraulic pump. The speed reduction control operation is used to shut down the motor and the hydraulic pump. The target controller is further configured to perform a speed-up control operation on the motor and the hydraulic pump when it is determined that the target signal is not lower than the target signal threshold set for it, thereby obtaining a speed-up control result for the motor and the hydraulic pump. The speed-up control operation is used to start the motor and the hydraulic pump.

9. An energy-saving control device for a hydraulic excavator, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the energy-saving control method for the hydraulic excavator as described in any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the energy-saving control method for the hydraulic excavator as described in any one of claims 1-7.

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