Self-recognition excavation working condition reinforcement control method and system and excavator

Abstract

The invention relates to the technical field of excavator control, and discloses a reinforcement control method and system capable of automatically recognizing the excavation working condition and an excavator, and the method comprises the steps that the real-time handle opening degree and the actual large cavity pressure value are obtained so as to judge whether the excavator meets the excavation working condition determining condition or not; and when the excavator meets the excavation working condition determining condition, a valve element of the target main valve is controlled to be switched from the control position to the excavation position, so that hydraulic oil in the small cavity of the target oil cylinder is returned to the oil supply module. Therefore, according to the self-recognition excavation working condition reinforcement control method, whether the whole machine is in the excavation working condition or not can be accurately judged by recognizing the opening degree of the handle, so that the judgment accuracy of the excavation working condition is improved, and meanwhile, the main valve element is accurately controlled to move when the whole machine is in the excavation working condition; therefore, the problem that the oil cylinder sucks air due to erroneous judgment of working conditions is avoided, the reliability of the whole machine is improved, the oil return back pressure of the working oil cylinder is reduced, and the working efficiency of the whole machine in excavation operation is improved.

Description

Technical Field

[0001] This invention relates to the field of excavator control technology, and in particular to a self-identifying excavation working condition boosting control method and system, and an excavator. Background Technology

[0002] Currently, the following methods are generally used to determine the digging condition of an excavator: 1. By using a combination of a pressure check valve and a shut-off valve, when the hydraulic oil pressure exceeds the spring pressure rating of the pressure check valve, the shut-off valve is activated to control the regeneration or full return of the main valve, thereby determining whether it is in digging condition; 2. Replace the pressure check valve in method 1 with a pressure sensor, and determine whether the machine is in digging condition by the pressure in the large chamber of working cylinders such as the boom.

[0003] However, in actual operation, both methods 1 and 2 can lead to misjudgments due to changes in the excavator's operating conditions. Because the return oil opening area of ​​the main valve core cannot be designed to be large enough due to back pressure factors, and because both methods close the regeneration valve when the excavation condition is determined, a misjudgment can cause the regeneration to be cut off, resulting in a sudden increase in the return oil area and causing cavitation in the boom and cylinders. This can lead to component cavitation and burns, ultimately reducing the excavator's reliability.

[0004] Therefore, improving the accuracy of excavation condition assessment and enhancing the reliability of excavators have become urgent problems to be solved. Summary of the Invention

[0005] This invention provides a self-identifying excavation working condition boosting control method and system, and an excavator. It can accurately determine whether the machine is in excavation working condition by identifying the handle opening, thereby improving the accuracy of excavation working condition judgment. At the same time, after determining that it is in excavation working condition, it accurately controls the displacement of the main valve core, thereby improving the reliability of the excavator as a whole and the excavation performance of the machine in excavation operations.

[0006] The first aspect of this invention discloses a self-identifying excavation condition boosting control method applied to an excavator. The excavator includes a target cylinder, a target main valve, a control module, and a fuel supply module. The target main valve is connected to the oil circuits of both the target cylinder and the fuel supply module. The control module is connected to the pressure receiving end oil circuit of the target main valve. The self-identifying excavation condition boosting control method includes: The real-time handle opening of the control module and the actual large chamber pressure value of the target cylinder are obtained, and the excavator is judged to meet the digging condition determination conditions based on the real-time handle opening and the actual large chamber pressure value. When it is determined that the excavator meets the digging condition determination conditions, the valve core of the target main valve is switched from the control position to the digging position so that the hydraulic oil in the small chamber of the target cylinder returns to the oil supply module.

[0007] As an optional implementation, in the first aspect of the present invention, determining whether the excavator meets the digging condition determination conditions based on the real-time handle opening and the actual large-cavity pressure value includes: Determine whether the real-time handle opening has reached the preset target excavation condition opening; When the real-time handle opening reaches the preset target excavation condition opening, a reference large cavity pressure range is selected from the preset opening-pressure database based on the real-time handle opening. Determine whether the actual large cavity pressure value is within the reference large cavity pressure range. If the actual large cavity pressure value is within the reference large cavity pressure range, determine that the excavator meets the excavation condition determination conditions. If the actual large cavity pressure value is not within the reference large cavity pressure range, determine that the excavator does not meet the excavation condition determination conditions.

[0008] As an optional implementation, in the first aspect of the present invention, the real-time handle opening includes the real-time boom handle opening, the real-time stick handle opening, and the real-time bucket handle opening; the step of determining whether the real-time handle opening reaches the preset target digging condition opening includes: The excavation judgment coefficient is calculated based on the real-time boom handle opening, real-time stick handle opening, and real-time bucket handle opening. Determine whether the excavation judgment coefficient reaches the target excavation opening.

[0009] As an optional implementation, in the first aspect of the invention, before selecting a reference large cavity pressure range from a preset opening-pressure database based on the real-time handle opening, the self-identifying excavation condition boosting control method further includes: The test chamber pressure value corresponding to each test handle opening is calculated based on multiple different test handle openings and preset excavation condition reference coefficients. The opening-pressure database is constructed based on the opening degree of each test handle and the corresponding pressure value of the test chamber.

[0010] As an optional implementation, in the first aspect of the present invention, the self-identifying excavation condition boosting control method further includes: When it is determined that the excavator does not meet the excavation condition determination conditions, the valve core of the control target main valve is kept in the control position.

[0011] A second aspect of this invention discloses a self-identifying excavation condition boosting control system applied to an excavator. The excavator includes a target cylinder, a target main valve, a control module, and a fuel supply module. The target main valve is connected to the oil circuits of the target cylinder and the fuel supply module, respectively. The control module is connected to the pressure receiving end oil circuit of the target main valve. The self-identifying excavation condition boosting control system includes: The excavation condition judgment module is used to obtain the real-time handle opening of the control module and the actual large chamber pressure value of the target cylinder, and to determine whether the excavator meets the excavation condition determination conditions based on the real-time handle opening and the actual large chamber pressure value. The valve core switching module is used to control the valve core of the target main valve to switch from the control position to the digging position when it is determined that the excavator meets the digging working condition determination conditions, so that the hydraulic oil in the small chamber of the target cylinder returns to the oil supply module.

[0012] As an optional implementation, in a second aspect of the present invention, the specific method by which the excavation condition determination module determines whether the excavator meets the excavation condition determination conditions based on the real-time handle opening and the actual large-cavity pressure value includes: Determine whether the real-time handle opening has reached the preset target excavation condition opening; When the real-time handle opening reaches the preset target excavation condition opening, a reference large cavity pressure range is selected from the preset opening-pressure database based on the real-time handle opening. Determine whether the actual large cavity pressure value is within the reference large cavity pressure range. If the actual large cavity pressure value is within the reference large cavity pressure range, determine that the excavator meets the excavation condition determination conditions. If the actual large cavity pressure value is not within the reference large cavity pressure range, determine that the excavator does not meet the excavation condition determination conditions.

[0013] As an optional implementation, in a second aspect of the present invention, the real-time handle opening includes the real-time boom handle opening, the real-time stick handle opening, and the real-time bucket handle opening; the specific method for determining whether the real-time handle opening reaches the preset target digging condition opening includes: The excavation judgment coefficient is calculated based on the real-time boom handle opening, real-time stick handle opening, and real-time bucket handle opening. Determine whether the excavation judgment coefficient reaches the target excavation opening.

[0014] As an optional implementation, in a second aspect of the invention, the self-identifying excavation condition boosting control system further includes: The database construction module is used to calculate the test chamber pressure value corresponding to each test handle opening based on multiple different test handle openings and preset excavation working condition reference coefficients; and to construct the opening-pressure database based on each test handle opening and the corresponding test chamber pressure value.

[0015] As an optional implementation, in a second aspect of the invention, the self-identifying excavation condition boosting control system further includes: The maintenance module is used to maintain the valve core of the target main valve in the control position when it is determined that the excavator does not meet the excavation working condition determination conditions.

[0016] A third aspect of the present invention discloses an excavator, comprising: The oil supply module is used to supply hydraulic oil; Target hydraulic cylinder; The target main valve is connected to the target cylinder and the oil supply module oil circuit respectively; The control module is connected to the oil circuit of the pressure receiving end of the target main valve, and the control module is used to control the target main valve to switch valve cores. A control device, electrically connected to the control module, is used to execute the self-identifying excavation condition boosting control method described in the first aspect embodiment above.

[0017] As an optional implementation, in a third aspect of the present invention, the target cylinder includes: a boom cylinder, a stick cylinder, and a bucket cylinder; the target main valve includes: a boom main valve, a stick main valve, and a bucket main valve; the boom cylinder is connected to the boom main valve via an oil circuit; the stick cylinder is connected to the stick main valve via an oil circuit; the bucket cylinder is connected to the bucket main valve via an oil circuit; and the pressure receiving ends of the boom main valve, the stick main valve, and the bucket main valve are all connected to the control module via an oil circuit.

[0018] As an optional implementation, in a third aspect of the present invention, the control module includes: an operating handle and a target solenoid valve, the target solenoid valve being electrically connected to the operating handle and the control device respectively, and the target solenoid valve being connected to the oil circuit of the pressure receiving end of the target main valve.

[0019] A third aspect of this invention discloses a self-identifying excavation condition boosting control device, comprising: At least one memory; At least one processor; At least one computer program; The computer program is stored in the memory, and the processor executes the at least one computer program to implement the self-identifying excavation condition boosting control method described in the first aspect embodiment above.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The self-identifying excavation condition boosting control method provided by this invention determines whether the pressure value of the large chamber meets the excavation condition determination conditions by identifying the handle opening, thereby accurately determining whether the excavator is in excavation condition and improving the accuracy of excavation condition determination. Simultaneously, after determining that the excavation condition is being detected, the main valve core is accurately controlled to move, thus avoiding the problem of cylinder cavitation due to misjudgment of the condition, thereby improving the overall reliability of the machine and reducing the return oil back pressure of the working cylinder, thus improving the excavation performance of the machine during excavation operations.

[0021] The self-identifying excavation condition boosting control system provided by this invention corresponds to the aforementioned self-identifying excavation condition boosting control method. It determines whether the pressure value of the large chamber meets the excavation condition determination conditions by identifying the handle opening, thereby accurately determining whether the excavator is in excavation condition and improving the accuracy of excavation condition judgment. Simultaneously, after determining that it is in excavation condition, it accurately controls the displacement of the main valve core to avoid the problem of cylinder cavitation due to misjudgment of the condition. Therefore, while improving the overall reliability of the machine, it reduces the return oil back pressure of the working cylinder, thereby improving the overall operating efficiency of the machine during excavation operations.

[0022] The excavator provided by this invention employs the aforementioned self-identifying digging condition boosting control method. The control equipment in this excavator determines whether the pressure value of the large chamber meets the digging condition determination conditions by identifying the handle opening, thereby accurately determining whether the excavator is in digging condition and improving the accuracy of digging condition judgment. Simultaneously, after determining that digging condition is being detected, it accurately controls the displacement of the main valve core to avoid the problem of cylinder cavitation due to misjudgment of the condition. Therefore, while improving the overall reliability of the machine, it reduces the return oil back pressure of the working cylinder, thereby improving the overall operating efficiency of the machine during digging operations.

[0023] The self-identifying excavation condition boosting control device provided by this invention employs the aforementioned self-identifying excavation condition boosting control method. The control device in the excavator determines whether the pressure value of the large chamber meets the excavation condition determination conditions by identifying the handle opening, thereby accurately determining whether the excavator is in excavation condition and improving the accuracy of excavation condition determination. Simultaneously, after determining that it is in excavation condition, it accurately controls the displacement of the main valve core to avoid the problem of cylinder cavitation due to misjudgment of the condition. Therefore, while improving the overall reliability of the machine, it reduces the return oil back pressure of the working cylinder, thereby improving the overall operating efficiency of the machine during excavation operations. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the hydraulic system of an excavator in a specific embodiment of the present invention; Figure 2 This is a flowchart illustrating a self-identifying excavation condition boosting method disclosed in an embodiment of the present invention; Figure 3 This is a graph showing the relationship between handle opening degree and pilot pressure in a specific embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a self-identifying excavation working condition boosting control system disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a self-identifying excavation working condition boosting control device disclosed in an embodiment of the present invention.

[0026] Figure label: Oil supply module 01, target cylinder 02, target main valve 03, control module 04, excavation condition judgment module 201, valve core switching module 202, processor 301, memory 302, input / output interface 303, communication interface 304, bus 305. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] Currently, the following methods are generally used to determine the digging condition of an excavator: 1. By using a combination of a pressure check valve and a shut-off valve, when the hydraulic oil pressure exceeds the spring pressure rating of the pressure check valve, the shut-off valve is activated to control the regeneration or full return of the main valve, thereby determining whether it is in digging condition; 2. Replace the pressure check valve in method 1 with a pressure sensor, and determine whether the machine is in digging condition by the pressure in the large chamber of working cylinders such as the boom.

[0031] However, in actual operation, both methods 1 and 2 can lead to misjudgments due to changes in the excavator's operating conditions. Because the return oil opening area of ​​the main valve core cannot be designed to be large enough due to back pressure factors, and because both methods close the regeneration valve when the excavation condition is determined, a misjudgment can cause the regeneration to be cut off, resulting in a sudden increase in the return oil area and causing cavitation in the boom and cylinders. This can lead to component cavitation and burns, ultimately reducing the excavator's reliability.

[0032] Therefore, improving the accuracy of excavation condition assessment and enhancing the reliability of excavators have become urgent problems to be solved.

[0033] In response, this invention discloses a self-identifying excavation condition boosting control method and system, and an excavator, which can accurately determine whether the machine is in excavation condition by identifying the handle opening, thereby improving the accuracy of excavation condition judgment. At the same time, after determining that it is in excavation condition, it accurately controls the displacement of the main valve core, thereby improving the reliability of the excavator as a whole and the excavation performance of the machine in excavation operations.

[0034] like Figure 1 As shown in the figure, an excavator disclosed in this embodiment of the invention includes: an oil supply module 01, a target cylinder 02, a target main valve 03, a control module 04, and a control device. The oil supply module 01 is used to supply hydraulic oil; the target main valve 03 is connected to the oil circuits of both the target cylinder 02 and the oil supply module 01; the control module 04 is connected to the oil circuit of the pressure receiving end of the target main valve 03, and is used to control the target main valve 03 to switch valve cores; the control device is electrically connected to the control module 04.

[0035] In this embodiment of the invention, the oil supply module 01 includes an oil supply tank and a main pump. The oil supply tank stores hydraulic oil, and the main pump pumps the hydraulic oil from the oil supply tank to the target main valve 03. The control module 04 controls the pressure at the pressure receiving end of the target main valve 03 via hydraulic oil, thereby switching between the regeneration function and the full return function of the target main valve 03. The regeneration function refers to the hydraulic oil in the small chamber of the target cylinder 02 being returned to the large chamber of the target cylinder 02 via the target main valve 03. The full return function refers to the hydraulic oil in the small chamber of the target cylinder 02 being returned to the oil supply tank of the oil supply module 01.

[0036] When the valve core of the target main valve 03 is in the control position, the regeneration function is executed. When the valve core of the target main valve 03 is in the digging position, the full return oil function is executed. When the excavator performs digging operation, it needs to switch to the full return oil function to ensure that the hydraulic oil in the small chamber of the target cylinder 02 can be returned to the oil supply tank of the oil supply module 01.

[0037] In some specific embodiments, the target cylinder 02 can be the boom cylinder, stick cylinder, and bucket cylinder, and the target main valve 03 can be any one or more of the boom main valve, stick main valve, and bucket main valve. The large and small chambers of the boom cylinder are connected to the corresponding oil circuits of the boom main valve, the large and small chambers of the stick cylinder are connected to the corresponding oil circuits of the stick main valve, and the large and small chambers of the bucket cylinder are connected to the corresponding oil circuits of the bucket main valve. The boom main valve, stick main valve, and bucket main valve are all controlled by the control module 04 to perform corresponding valve core switching.

[0038] In some specific embodiments, the control module 04 includes an operating handle and a target solenoid valve. The operating handle can be manually operated by the excavator operator to control the on / off state of the target solenoid valve, thereby controlling the pressure receiving end of the target main valve 03 and thus realizing the valve core switching control of the target main valve 03. It can be understood that different types of target main valves 03 are all controlled by their respective corresponding target solenoid valves for valve core switching.

[0039] Reference Figure 1 , Figure 1 Taking the hydraulic systems of the boom and bucket as an example, the large and small chambers of the boom cylinder are connected to the corresponding oil circuits of the boom main valve, and the large and small chambers of the bucket cylinder are connected to the corresponding oil circuits of the bucket main valve. Both the boom main valve and the bucket main valve are controlled by their respective target solenoid valves.

[0040] The control equipment can execute a self-identifying excavation condition boosting control method. By identifying the handle opening, it can accurately determine whether the machine is in excavation condition, thereby improving the accuracy of excavation condition judgment. At the same time, it can accurately control the displacement of the target main valve 03 valve core based on the excavation condition, thereby improving the reliability of the excavator as a whole and the excavation performance of the machine in excavation operations.

[0041] The following section will provide a detailed introduction to a self-identifying excavation condition boosting control method implemented by the control equipment.

[0042] Please see Figure 2 , Figure 2 This is a flowchart illustrating a self-identifying excavation condition boosting control method disclosed in an embodiment of the present invention. Figure 2 As shown, the method may include the following steps: 101. Obtain the real-time handle opening and the actual large chamber pressure value of the target cylinder from the control module, and determine whether the excavator meets the conditions for determining the digging working conditions based on the real-time handle opening and the actual large chamber pressure value.

[0043] In this embodiment of the invention, the digging condition determination condition can reflect whether the excavator is in digging condition. The digging condition determination condition can be obtained in advance by conducting data tests on the excavator's working conditions in the corresponding scenario. The real-time handle opening degree of the control module 04 is specifically the real-time opening degree of the control handle when the operator controls the control handle. The actual large chamber pressure value of the target cylinder 02 can be the actual large chamber pressure value corresponding to any one or more of the boom cylinder, stick cylinder, and bucket cylinder.

[0044] Furthermore, based on the acquired real-time handle opening and actual large-cavity pressure values, it can be determined whether the excavator is performing digging operations. When the real-time handle opening and actual large-cavity pressure values ​​indicate that the excavator is performing digging operations, the excavator meets the conditions for determining digging operations. When the real-time handle opening and actual large-cavity pressure values ​​indicate that the excavator is not performing digging operations, the excavator does not meet the conditions for determining digging operations.

[0045] 102. When it is determined that the excavator meets the conditions for digging, the valve core of the target main valve is switched from the control position to the digging position so that the hydraulic oil in the small chamber of the target cylinder returns to the oil supply module.

[0046] In this embodiment of the invention, when it is determined that the excavator meets the conditions for determining the digging working condition, it indicates that the excavator has confirmed that it is in the digging working condition. At this time, the valve core of the corresponding target main valve 03 is switched from the control position to the digging position by the target solenoid valve, and the full return oil function is executed, so that the hydraulic oil in the small chamber of the target cylinder 02 can return to the oil supply tank of the oil supply module 01. At this time, the main pump can pump the hydraulic oil in the oil supply tank to the large chamber of the target cylinder 02 through the target main valve 03, thereby realizing the hydraulic oil circulation of the target cylinder 02, so that the excavator can control the corresponding working equipment to perform digging work based on the target cylinder 02.

[0047] As can be seen, the self-identifying excavation condition boosting control method of the present invention determines whether the pressure value of the large chamber meets the excavation condition determination conditions by identifying the handle opening. This allows for accurate determination of whether the excavator is in excavation condition, thus improving the accuracy of excavation condition judgment. Simultaneously, after determining that the excavation condition is being detected, the main valve core is accurately controlled to move, thereby avoiding the problem of cylinder cavitation due to misjudgment of the condition. Therefore, while improving the overall reliability of the machine, the return oil back pressure of the working cylinder is reduced, thereby improving the overall operating efficiency of the machine during excavation operations.

[0048] In an optional embodiment, the self-identifying excavation condition boosting control method may further include the following steps: When it is determined that the excavator does not meet the conditions for determining the excavation working condition, the valve core of the main valve controlling the target is kept in the control position.

[0049] In this optional embodiment, when it is determined that the excavator does not meet the conditions for determining the digging working condition, it indicates that the excavator is not yet in the digging working condition. At this time, the valve core of the target main valve 03 is kept in the control position, and the regeneration function is continued to be executed, so as to avoid the corresponding target cylinder 02 from sucking in air.

[0050] As can be seen, this optional embodiment can also maintain the valve core of the target main valve 03 in the control position when it is determined that the excavator is not in the digging condition, thereby avoiding the problem of cylinder sucking in air and improving the reliability of the whole machine.

[0051] In an optional embodiment, determining whether the excavator meets the digging condition determination criteria based on the real-time handle opening and the actual large-cavity pressure value may include the following steps: Determine whether the real-time handle opening has reached the preset target excavation condition opening; When the real-time handle opening reaches the preset target excavation condition opening, the reference large cavity pressure range is selected from the preset opening-pressure database based on the real-time handle opening. Determine whether the actual large cavity pressure value is within the reference large cavity pressure range. If the actual large cavity pressure value is within the reference large cavity pressure range, it is determined that the excavator meets the conditions for determining the digging working condition. If the actual large cavity pressure value is not within the reference large cavity pressure range, it is determined that the excavator does not meet the conditions for determining the digging working condition.

[0052] In this optional embodiment, the handle opening can be set to a predetermined value K, where K ranges from 0 to 1. The specific value of K is based on the handle opening characteristics of the digging working condition, with different points corresponding to different operations. Specifically, when the preset target digging working condition opening is K=1, it indicates that the operator actually needs to control the excavator to enter the digging working condition. As the K value increases from 0 to 1, the excavator gradually enters the digging working condition.

[0053] After determining that the real-time handle opening has reached the target excavation condition opening, a reference large cavity pressure range is determined from a preset opening-pressure database based on the current real-time handle opening. The opening-pressure database is a preset database that contains the large cavity pressure values ​​corresponding to different handle openings.

[0054] By selecting the reference large chamber pressure range, it is possible to determine whether the actual large chamber pressure value of the current target cylinder 02 meets the preset calculated value, thereby determining whether the excavator needs to switch the target main valve 03 to the full return oil function to perform excavation work.

[0055] As can be seen, this optional embodiment can also confirm whether the excavator needs to switch the target main valve 03 to the full return oil function to perform the excavation operation by using the preset target digging condition opening degree and opening degree-pressure database, which further improves the accuracy of judging the working condition of the excavator.

[0056] In an optional embodiment, the real-time handle opening includes the real-time boom handle opening, the real-time stick handle opening, and the real-time bucket handle opening. Determining whether the real-time handle opening has reached the preset target digging condition opening may include the following steps: The excavation judgment coefficient is calculated based on the real-time boom handle opening, the real-time stick handle opening, and the real-time bucket handle opening. Determine whether the excavation judgment coefficient has reached the target excavation opening.

[0057] In this optional embodiment, when multiple working cylinders operate simultaneously, it is necessary to consider the real-time handle opening corresponding to each working cylinder. The comprehensive digging judgment coefficient can be calculated using the following formula: K0 = K_bkt × K_arm × K_boom Where K0 is the excavation judgment coefficient, K_bkt is the real-time bucket handle opening, K_arm is the real-time stick handle opening, and K_boom is the real-time boom handle opening. Since the target excavation condition opening K=1, the product of K_bkt, K_arm, and K_boom must equal 1, that is, when K_bkt, K_arm, and K_boom are all 1, it can be confirmed that the excavation judgment coefficient has reached the target excavation condition opening.

[0058] The handle opening corresponds to the corresponding pilot pressure; that is, the bucket handle opening corresponds to the bucket pilot pressure, the stick handle opening corresponds to the stick pilot pressure, and the boom handle opening corresponds to the boom pilot pressure. For example, refer to... Figure 3 , Figure 3 This is a graph showing the pilot pressure versus handle opening for each of the boom, stick, and bucket, where P_bkt is the bucket pilot pressure, P_arm is the stick pilot pressure, and P_boom is the boom pilot pressure.

[0059] When the bucket pilot pressure value P_bkt is greater than B1, the real-time bucket handle opening K_bkt = 1; when the bucket pilot pressure value P_bkt is less than A1, the real-time bucket handle opening K_bkt = 0; and when the bucket pilot pressure value is between A1 and B1, K_bkt = 1 corresponds to a ratio of 0 to 1. Similarly, when the stick pilot pressure value P_arm is greater than B2, the real-time stick handle opening K_arm = 1; when the stick pilot pressure value P_arm is less than A2, the real-time stick handle opening K_arm = 0; and when the stick pilot pressure value is between A2 and B2, K_arm = 1 corresponds to a ratio of 0 to 1. When the boom pilot pressure value P_boom is less than A3, the real-time boom handle opening K_boom=1; when the boom pilot pressure value P_boom is greater than B3, the real-time boom handle opening K_boom=0; when the boom pilot pressure value is between B3 and A3, K_boom=1 corresponds to a ratio of 0 to 1.

[0060] As can be seen, this optional embodiment can also comprehensively determine whether the operating handle has been pushed to the end position by real-time boom handle opening, real-time stick handle opening and real-time bucket handle opening, thereby further improving the accuracy of judging the excavator's working condition.

[0061] In an optional embodiment, before selecting a reference large cavity pressure range from a preset opening-pressure database based on the real-time handle opening, the self-identifying excavation condition boosting control method may further include the following steps: The test chamber pressure value corresponding to each test handle opening is calculated based on multiple different test handle openings and preset excavation working condition reference coefficients. An opening-pressure database is constructed based on the opening degree of each test handle and the corresponding test chamber pressure value.

[0062] In this optional embodiment, the digging condition reference coefficient represents an empirical reference coefficient indicating that the large-cavity pressure satisfies the excavator's digging condition. Calculations are performed with different test handle openings, and the calculation formula satisfies the following pressure judgment formula: Pr = (-K C +2) × K_T Where Pr is the theoretical value of the pressure in the large cavity, and K C Different test handle openings from 0 to 1 can be selected, with K_T being the excavation condition reference coefficient. The opening-pressure database is obtained by combining and statistically analyzing the data from each test handle opening from 0 to 1 with their corresponding large-cavity pressure values. After obtaining the excavation judgment coefficient K0=1 in the subsequent steps, K... C =1 corresponds to Pr as the range judgment node of the reference large cavity pressure range, so as to judge the pressure of the actual large cavity pressure value.

[0063] As can be seen, this optional embodiment can also construct an opening-pressure database through multiple test handle openings and preset digging condition reference coefficients. The digging condition reference coefficients are empirical reference coefficients that ensure the large cavity pressure meets the requirements of the excavator when it is in digging condition, thereby further improving the accuracy of the excavator's digging condition judgment.

[0064] Please see Figure 4 , Figure 4 This is a schematic diagram of a self-identifying excavation condition boosting control system disclosed in an embodiment of the present invention. The self-identifying excavation condition boosting control system is applied to the excavator described in the above embodiment. Figure 4 As shown, the system may include a digging condition judgment module 201 and a valve core switching module 202, wherein: The excavation condition judgment module 201 is used to obtain the real-time handle opening and the actual large chamber pressure value of the target cylinder from the control module, and to determine whether the excavator meets the excavation condition determination conditions based on the real-time handle opening and the actual large chamber pressure value. The valve core switching module 202 is used to control the valve core of the target main valve to switch from the control position to the digging position when it is determined that the excavator meets the digging working conditions, so that the hydraulic oil in the small chamber of the target cylinder returns to the oil supply module.

[0065] visible, Figure 4 The described system can determine whether the pressure value of the large chamber meets the conditions for determining digging conditions by identifying the handle opening, thereby accurately determining whether the excavator is in digging mode and improving the accuracy of digging condition determination. Simultaneously, after determining digging mode, it accurately controls the displacement of the main valve core to avoid cylinder cavitation problems caused by misjudgment of the working condition. Therefore, while improving the overall reliability of the machine, it reduces the back pressure of the working cylinder, thereby improving the overall operating efficiency of the machine during digging operations.

[0066] In an optional embodiment, the specific method by which the excavation condition determination module determines whether the excavator meets the excavation condition determination conditions based on the real-time handle opening and the actual large cavity pressure value includes: Determine whether the real-time handle opening has reached the preset target excavation condition opening; When the real-time handle opening reaches the preset target excavation condition opening, the reference large cavity pressure range is selected from the preset opening-pressure database based on the real-time handle opening. Determine whether the actual large cavity pressure value is within the reference large cavity pressure range. If the actual large cavity pressure value is within the reference large cavity pressure range, it is determined that the excavator meets the conditions for determining the digging working condition. If the actual large cavity pressure value is not within the reference large cavity pressure range, it is determined that the excavator does not meet the conditions for determining the digging working condition.

[0067] As can be seen, this optional embodiment can also confirm whether the excavator needs to switch the target main valve 03 to the full return oil function to perform the excavation operation by using the preset target digging condition opening degree and opening degree-pressure database, which further improves the accuracy of judging the working condition of the excavator.

[0068] In another optional embodiment, the real-time handle opening includes the real-time boom handle opening, the real-time stick handle opening, and the real-time bucket handle opening; the specific method for determining whether the real-time handle opening has reached the preset target digging condition opening includes: The excavation judgment coefficient is calculated based on the real-time boom handle opening, the real-time stick handle opening, and the real-time bucket handle opening. Determine whether the excavation judgment coefficient has reached the target excavation opening.

[0069] As can be seen, this optional embodiment can also comprehensively determine whether the operating handle has been pushed to the end position by real-time boom handle opening, real-time stick handle opening and real-time bucket handle opening, thereby further improving the accuracy of judging the excavator's working condition.

[0070] In yet another optional embodiment, the self-identifying excavation condition boosting control system further includes: The database construction module is used to calculate the test chamber pressure value corresponding to each test handle opening based on multiple different test handle openings and preset excavation working condition reference coefficients; and to construct an opening-pressure database based on each test handle opening and its corresponding test chamber pressure value.

[0071] As can be seen, this optional embodiment can also construct an opening-pressure database through multiple test handle openings and preset digging condition reference coefficients. The digging condition reference coefficients are empirical reference coefficients that ensure the large cavity pressure meets the requirements of the excavator when it is in digging condition, thereby further improving the accuracy of the excavator's digging condition judgment.

[0072] In an optional embodiment, the self-identifying excavation condition boosting control system further includes: The maintenance module is used to maintain the valve core of the target main valve in the control position when it is determined that the excavator does not meet the digging working conditions.

[0073] As can be seen, this optional embodiment can also maintain the valve core of the target main valve 03 in the control position when it is determined that the excavator is not in the digging condition, thereby avoiding the problem of cylinder sucking in air and improving the reliability of the whole machine.

[0074] like Figure 5 As shown in the figure, an embodiment of the present invention discloses a self-identifying excavation condition boosting control device, the control device comprising: The processor 301 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this disclosure. The memory 302 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 302 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 302 and is called by the processor 301 to execute some or all of the steps performed in the self-identifying excavation working condition boosting control method described in Embodiment 1 of this invention. Input / output interface 303 is used to implement information input and output; The communication interface 304 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 305 transmits information between various components of the device (e.g., processor 301, memory 302, input / output interface 303, and communication interface 304); The processor 301, memory 302, input / output interface 303, and communication interface 304 are connected to each other within the device via bus 305.

[0075] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0076] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0077] Finally, it should be noted that the self-identifying excavation working condition boosting control method and system disclosed in the embodiments of the present invention, and the excavator disclosed therein, are only preferred embodiments of the present invention, and are only used to illustrate the technical solutions of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-identifying excavation condition boosting control method, characterized in that, Applied to excavators, the excavator includes a target cylinder, a target main valve, a control module, and a fuel supply module. The target main valve is connected to the oil circuits of the target cylinder and the fuel supply module, respectively. The control module is connected to the oil circuit of the pressure receiving end of the target main valve. The self-identifying excavation condition boosting control method includes: The real-time handle opening of the control module and the actual large chamber pressure value of the target cylinder are obtained, and the excavator is judged to meet the digging condition determination conditions based on the real-time handle opening and the actual large chamber pressure value. When it is determined that the excavator meets the digging condition determination conditions, the valve core of the target main valve is switched from the control position to the digging position so that the hydraulic oil in the small chamber of the target cylinder returns to the oil supply module.

2. The self-identifying excavation condition boosting control method according to claim 1, characterized in that, The step of determining whether the excavator meets the digging condition determination conditions based on the real-time handle opening and the actual large-cavity pressure value includes: Determine whether the real-time handle opening has reached the preset target excavation condition opening; When the real-time handle opening reaches the preset target excavation condition opening, a reference large cavity pressure range is selected from the preset opening-pressure database based on the real-time handle opening. Determine whether the actual large cavity pressure value is within the reference large cavity pressure range. If the actual large cavity pressure value is within the reference large cavity pressure range, determine that the excavator meets the excavation condition determination conditions. If the actual large cavity pressure value is not within the reference large cavity pressure range, determine that the excavator does not meet the excavation condition determination conditions.

3. The self-identifying excavation condition boosting control method according to claim 2, characterized in that, The real-time handle opening includes the real-time boom handle opening, the real-time stick handle opening, and the real-time bucket handle opening; determining whether the real-time handle opening reaches the preset target digging condition opening includes: The excavation judgment coefficient is calculated based on the real-time boom handle opening, real-time stick handle opening, and real-time bucket handle opening. Determine whether the excavation judgment coefficient reaches the target excavation opening.

4. The self-identifying excavation condition boosting control method according to claim 2, characterized in that, Before selecting a reference large cavity pressure range from a preset opening-pressure database based on the real-time handle opening, the self-identifying excavation condition force boosting control method further includes: The test chamber pressure value corresponding to each test handle opening is calculated based on multiple different test handle openings and preset excavation condition reference coefficients. The opening-pressure database is constructed based on the opening degree of each test handle and the corresponding pressure value of the test chamber.

5. The self-identifying excavation condition boosting control method according to any one of claims 1 to 4, characterized in that, The self-identifying excavation condition boosting control method also includes: When it is determined that the excavator does not meet the excavation condition determination conditions, the valve core of the control target main valve is kept in the control position.

6. A self-identifying excavation condition boosting control system, characterized in that, Applied to excavators, the excavator includes a target cylinder, a target main valve, a control module, and a fuel supply module. The target main valve is connected to the oil circuits of the target cylinder and the fuel supply module, respectively. The control module is connected to the oil circuit of the pressure receiving end of the target main valve. The self-identifying excavation condition boosting control system includes: The excavation condition judgment module is used to obtain the real-time handle opening of the control module and the actual large chamber pressure value of the target cylinder, and to determine whether the excavator meets the excavation condition determination conditions based on the real-time handle opening and the actual large chamber pressure value. The valve core switching module is used to control the valve core of the target main valve to switch from the control position to the digging position when it is determined that the excavator meets the digging working condition determination conditions, so that the hydraulic oil in the small chamber of the target cylinder returns to the oil supply module.

7. An excavator, characterized in that, include: The oil supply module is used to supply hydraulic oil; Target hydraulic cylinder; The target main valve is connected to the target cylinder and the oil supply module oil circuit respectively; The control module is connected to the oil circuit of the pressure receiving end of the target main valve, and the control module is used to control the target main valve to switch valve cores. A control device, electrically connected to the control module, the control device being used to execute the self-identifying excavation condition boosting control method as described in any one of claims 1 to 5.

8. The excavator according to claim 7, characterized in that, The target cylinders include: a boom cylinder, a stick cylinder, and a bucket cylinder. The target main valves include: a boom main valve, a stick main valve, and a bucket main valve. The boom cylinder is connected to the boom main valve via an oil circuit. The stick cylinder is connected to the stick main valve via an oil circuit. The bucket cylinder is connected to the bucket main valve via an oil circuit. The pressure receiving terminals of the boom main valve, the stick main valve, and the bucket main valve are all connected to the control module via an oil circuit.

9. The excavator according to claim 7, characterized in that, The control module includes: an operating handle and a target solenoid valve. The target solenoid valve is electrically connected to the operating handle and the control device, respectively. The target solenoid valve is connected to the oil circuit of the pressure receiving end of the target main valve.

10. A self-identifying excavation condition boosting control device, characterized in that, The device includes: At least one memory; At least one processor; At least one computer program; The computer program is stored in the memory, and the processor executes the at least one computer program to implement the self-identifying excavation condition boosting control method as described in any one of claims 1 to 5.

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