Intelligent control method and device for hydraulic pump of excavator

Abstract

The invention relates to the technical field of excavator control, and discloses an intelligent control method and device for a hydraulic pump of an excavator, and the method comprises the steps: determining hydraulic pump pressure information and hydraulic pump displacement information of a target excavator, and determining motor rotating speed information of the target excavator; according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor rotating speed information, whether the target excavator meets a preset load abnormal condition or not is judged; and if yes, corresponding operation regulation and control operation is executed on the target excavator according to the hydraulic pump pressure information and the hydraulic pump displacement information. Therefore, the comprehensiveness and rationality of the operation regulation and control mode of the excavator can be improved, the operation regulation and control accuracy and reliability of the excavator are improved, the operation regulation and control efficiency, convenience and timeliness of the excavator are improved, the phenomenon that the rotating speed of the motor is rapidly decreased when the load of the excavator is rapidly increased is effectively prevented, and the service life of the excavator is prolonged. And the operation stability and safety of the excavator are further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of excavator control, and particularly relates to an intelligent control method and device for a hydraulic pump of an excavator. BACKGROUND

[0002] As a key equipment in the field of engineering construction, an excavator plays an irreplaceable core role in many engineering scenarios. As a power source of the hydraulic system of the excavator, the performance and running state of a hydraulic pump directly determine the power output, action accuracy and energy consumption level of the excavator. Therefore, controlling the hydraulic pump of the excavator has become a major application requirement.

[0003] Currently, the control mode of the hydraulic pump of the excavator is mainly manual adjustment of the parameters of the hydraulic pump by an operator according to his own experience, visual observation and judgment of the requirements of the engineering task to control the actions of each actuator of the excavator. The control is highly dependent on the skill level and experience accumulation of the operator. Different operators may adopt different control strategies for the same working condition due to differences in operation habits and understanding of the equipment. In addition, manual control is difficult to adapt to complex and variable working conditions in real time and accurately, and it is difficult to maintain accurate, efficient and stable control all the time in the process of long-time continuous operation, which is prone to operation errors, resulting in low control accuracy and control efficiency of the excavator. Therefore, it is particularly important to provide a way to improve the control accuracy and control efficiency of the excavator. SUMMARY

[0004] The present application provides an intelligent control method and device for a hydraulic pump of an excavator, which can improve the control accuracy and control efficiency of the excavator, and improve the control efficiency and timeliness of the excavator, thereby preventing the motor speed of the excavator from rapidly decreasing when the load rapidly increases.

[0005] To solve the above technical problems, the present application discloses an intelligent control method for a hydraulic pump of an excavator in the first aspect, which comprises: determining the hydraulic pump pressure information and the hydraulic pump displacement information of a target excavator, and determining the motor speed information of the target excavator; judging whether the target excavator meets a preset load abnormal condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information; when it is judged that the target excavator meets the load abnormal condition, performing a corresponding running control operation on the target excavator according to the hydraulic pump pressure information and the hydraulic pump displacement information.

[0006] As an optional implementation, in the first aspect of the present invention, determining whether the target excavator meets the preset abnormal load conditions based on the hydraulic pump pressure information, the hydraulic pump displacement information, and the motor speed information includes: Based on the hydraulic pump pressure information, it is determined whether the target excavator meets the preset abnormal operating speed conditions, and based on the hydraulic pump pressure information, the hydraulic pump displacement information, and the motor speed information, it is determined whether the target excavator meets the preset abnormal operating power conditions. When it is determined that the target excavator meets the abnormal operating rate condition and the abnormal operating power condition, it is determined that the target excavator meets the preset abnormal load condition. When it is determined that the target excavator does not meet the abnormal operating rate condition and / or the abnormal operating power condition, it is determined that the target excavator does not meet the preset abnormal load condition.

[0007] As an optional implementation, in the first aspect of the present invention, determining whether the target excavator meets the preset abnormal operating power conditions based on the hydraulic pump pressure information, the hydraulic pump displacement information, and the motor speed information includes: Based on the hydraulic pump pressure information, the hydraulic pump displacement information, and the motor speed information, determine the current pump power value of the target excavator, and determine the preset maximum pump power value of the target excavator; Based on the current pump power value and the maximum pump power value, determine the current pump power margin value, and based on the motor characteristic information and / or transmission requirement information of the target excavator, determine the pump power margin threshold. Determine whether the current pump power margin value is less than the pump power margin threshold; When it is determined that the current pump power margin value is less than the pump power margin threshold, the target excavator is determined to meet the preset abnormal operating power condition. When it is determined that the current pump power margin value is greater than or equal to the pump power margin threshold, it is determined that the target excavator does not meet the preset abnormal operating power condition. Furthermore, the current pump power value is calculated using the following formula: W=P i ×D i ×N×C1; Where W is the pump power value, P i D represents the first hydraulic pump pressure value at the current time point. i The value is the first hydraulic pump displacement at the current time point, N is the motor speed, and C1 is the hydraulic pump efficiency.

[0008] As an optional implementation, in the first aspect of the present application, the judging whether the target excavator meets the preset operation speed abnormality condition according to the hydraulic pump pressure information comprises: determining a first hydraulic pump pressure value of the target excavator at a current time node and a second hydraulic pump pressure value of the target excavator at a previous time node according to the hydraulic pump pressure information; determining a hydraulic pump pressure rising rate of the target excavator according to the first hydraulic pump pressure value and the second hydraulic pump pressure value; judging whether the hydraulic pump pressure rising rate is greater than a preset pressure rising rate threshold value; when it is judged that the hydraulic pump pressure rising rate is greater than the pressure rising rate threshold value, determining that the target excavator meets the preset operation speed abnormality condition; when it is judged that the hydraulic pump pressure rising rate is less than or equal to the pressure rising rate threshold value, determining that the target excavator does not meet the preset operation speed abnormality condition.

[0009] As an optional implementation, in the first aspect of the present application, the performing corresponding operation regulation operation on the target excavator according to the hydraulic pump pressure information and the hydraulic pump displacement information comprises: determining a first hydraulic pump displacement value of the target excavator at a current time node according to the hydraulic pump displacement information, and determining a first hydraulic pump pressure value of the target excavator at the current time node and a hydraulic pump pressure rising rate of the target excavator according to the hydraulic pump pressure information; determining a response effect parameter according to the determined hydraulic pump displacement changing rate of the target excavator and the hydraulic pump pressure rising rate; determining an expected hydraulic pump displacement value of the target excavator at a next time node according to the response effect parameter, the first hydraulic pump displacement value, the hydraulic pump rising rate and the first hydraulic pump pressure value, and determining an expected hydraulic pump displacement decreasing rate of the target excavator according to the hydraulic pump pressure rising rate; performing corresponding pump displacement decreasing regulation operation on the hydraulic pump of the target excavator according to the expected hydraulic pump displacement value and the expected hydraulic pump displacement decreasing rate; and the expected hydraulic pump displacement value is calculated by the following formula: D i+1 =k×D i ×P s / P i ; wherein, D i+1 is the expected hydraulic pump displacement value at the next time node, k is the response effect parameter, and D iP is a first hydraulic pump pressure value at a current time node s P is a hydraulic pump pressure rising rate i P is a first hydraulic pump pressure value at a current time node.

[0010] As an optional implementation, in the first aspect of the present application, the method further comprises: When it is determined that the target excavator does not meet the load abnormality condition, the motor torque information of the target excavator is determined according to the hydraulic pump pressure information, the hydraulic pump displacement information and the determined mechanical efficiency parameter corresponding to the motor and the hydraulic pump in the target excavator, and the motor power information of the target excavator is determined according to the motor torque information and the motor speed information; The current pump power information of the target excavator is determined, and it is judged whether the target excavator meets a preset normal operation prerequisite condition according to the motor power information and the current pump power information; When it is determined that the target excavator meets the normal operation prerequisite condition, the target excavator is controlled to perform a corresponding original speed and original displacement maintenance operation according to the motor speed information and the hydraulic pump displacement information; When it is determined that the target excavator does not meet the normal operation prerequisite condition, a motor power and hydraulic pump power adjustment scheme corresponding to the target excavator is determined according to a preset motor power and hydraulic pump power size relationship rule, the motor speed information and the hydraulic pump displacement information; and the target excavator is subjected to a corresponding motor power and / or hydraulic pump power regulation operation based on the motor power and hydraulic pump power adjustment scheme.

[0011] As an optional implementation, in the first aspect of the present application, the judgment of whether the target excavator meets a preset normal operation prerequisite condition according to the motor power information and the current pump power information comprises: The motor output torque of the target excavator is judged to meet a preset hydraulic pump load demand condition according to the motor power information and the current pump power information; When it is determined that the motor output torque meets the hydraulic pump load demand condition, it is determined that the target excavator meets the preset normal operation prerequisite condition; When it is determined that the motor output torque does not meet the hydraulic pump load demand condition, it is determined that the target excavator does not meet the preset normal operation prerequisite condition; And the judgment of whether the motor output torque of the target excavator meets a preset hydraulic pump load demand condition according to the motor power information and the current pump power information comprises: determining whether the motor power value is greater than the current pump power value corresponding to the current pump power information; when it is determined that the motor power value is greater than the current pump power value, determining that the motor output torque of the target excavator meets the preset hydraulic pump load demand condition; when it is determined that the motor power value is less than or equal to the current pump power value, determining that the motor output torque of the target excavator does not meet the preset hydraulic pump load demand condition.

[0012] The second aspect of the present application discloses a kind of intelligent control device for hydraulic pump of excavator, the device includes: determining module, for determining the hydraulic pump pressure information and the hydraulic pump displacement information of target excavator, and determining the motor speed information of the target excavator; abnormality judging module, for determining whether the target excavator meets the preset load abnormal condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information; running control module, for when the abnormality judging module determines that the target excavator meets the load abnormal condition, according to the hydraulic pump pressure information and the hydraulic pump displacement information, corresponding running control operation is executed to the target excavator.

[0013] As an optional implementation, in the second aspect of the present application, the way that the abnormality judging module determines whether the target excavator meets the preset load abnormal condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information specifically includes: determining whether the target excavator meets the preset running speed abnormal condition according to the hydraulic pump pressure information, and determining whether the target excavator meets the preset running power abnormal condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information; when it is determined that the target excavator meets the running speed abnormal condition and the target excavator meets the running power abnormal condition, it is determined that the target excavator meets the preset load abnormal condition; when it is determined that the target excavator does not meet the running speed abnormal condition and / or the target excavator does not meet the running power abnormal condition, it is determined that the target excavator does not meet the preset load abnormal condition.

[0014] As an optional implementation, in the second aspect of the present application, the way that the abnormality judging module determines whether the target excavator meets the preset running power abnormal condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information specifically includes: determining a current pump power value of the target excavator according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information, and determining a preset maximum pump power value of the target excavator; determining a current pump power margin value according to the current pump power value and the maximum pump power value, and determining a pump power margin threshold according to motor characteristic information and / or transmission demand information of the target excavator; judging whether the current pump power margin value is less than the pump power margin threshold; when it is judged that the current pump power margin value is less than the pump power margin threshold, determining that the target excavator satisfies a preset operating power abnormality condition; when it is judged that the current pump power margin value is greater than or equal to the pump power margin threshold, determining that the target excavator does not satisfy the preset operating power abnormality condition; and the current pump power value is calculated according to the following formula: W=P i ×D i ×N×C1; wherein W is a pump power value, P i is a first hydraulic pump pressure value at a current time node, D i is a first hydraulic pump displacement value at the current time node, N is a motor speed, and C1 is a hydraulic pump efficiency value.

[0015] As an optional implementation, in the second aspect of the present application, the manner in which the abnormality judging module judges whether the target excavator satisfies a preset operating speed abnormality condition according to the hydraulic pump pressure information specifically comprises: determining a first hydraulic pump pressure value of the target excavator at a current time node and a second hydraulic pump pressure value of the target excavator at a previous time node according to the hydraulic pump pressure information; determining a hydraulic pump pressure rising speed of the target excavator according to the first hydraulic pump pressure value and the second hydraulic pump pressure value; judging whether the hydraulic pump pressure rising speed is greater than a preset pressure rising speed threshold; when it is judged that the hydraulic pump pressure rising speed is greater than the pressure rising speed threshold, determining that the target excavator satisfies a preset operating speed abnormality condition; when it is judged that the hydraulic pump pressure rising speed is less than or equal to the pressure rising speed threshold, determining that the target excavator does not satisfy the preset operating speed abnormality condition.

[0016] As an optional implementation, in the second aspect of the present application, the manner in which the operation regulation module performs the corresponding operation regulation operation on the target excavator according to the hydraulic pump pressure information and the hydraulic pump displacement information specifically comprises: determining a first hydraulic pump displacement value of the target excavator at a current time node according to the hydraulic pump displacement information, and determining a first hydraulic pump pressure value and a hydraulic pump pressure rising rate of the target excavator at the current time node according to the hydraulic pump pressure information; determining a response effect parameter according to the determined hydraulic pump displacement change rate and the hydraulic pump pressure rising rate of the target excavator; determining an expected hydraulic pump displacement value of the target excavator at a next time node according to the response effect parameter, the first hydraulic pump displacement value, the hydraulic pump rising rate and the first hydraulic pump pressure value, and determining an expected hydraulic pump displacement reduction rate of the target excavator according to the hydraulic pump pressure rising rate; performing a corresponding pump displacement reduction regulation operation on the hydraulic pump of the target excavator according to the expected hydraulic pump displacement value and the expected hydraulic pump displacement reduction rate; and the expected hydraulic pump displacement value is calculated by the following formula: D i+1 =k×D i ×P s / P i ; wherein, D i+1 is the expected hydraulic pump displacement value at the next time node, k is the response effect parameter, D i is the first hydraulic pump pressure value at the current time node, P s is the hydraulic pump pressure rising rate, and P i is the first hydraulic pump pressure value at the current time node.

[0017] As an optional implementation, in the second aspect of the present application, the determining module is further configured to, when the abnormality judging module judges that the target excavator does not satisfy the load abnormality condition, determine motor torque information of the target excavator according to the hydraulic pump pressure information, the hydraulic pump displacement information and the determined mechanical efficiency parameter corresponding to the motor and the hydraulic pump in the target excavator, and determine motor power information of the target excavator according to the motor torque information and the motor rotating speed information, and determine current pump power information of the target excavator; The device further comprises: an operation premise judging module configured to judge whether the target excavator satisfies a preset normal operation premise condition according to the motor power information and the current pump power information; The operation maintaining module is configured to, when the operation premise judging module judges that the target excavator meets the normal operation premise condition, control the target excavator to perform a corresponding original speed and original displacement maintaining operation according to the motor speed information and the hydraulic pump displacement information. The operation regulating module is further configured to, when the operation premise judging module judges that the target excavator does not meet the normal operation premise condition, determine a motor power and hydraulic pump power adjustment scheme corresponding to the target excavator according to a preset motor power and hydraulic pump power size relationship rule, the motor speed information and the hydraulic pump displacement information, and perform a corresponding motor power and / or hydraulic pump power regulating operation on the target excavator based on the motor power and hydraulic pump power adjustment scheme.

[0018] As an optional implementation, in the second aspect of the present application, the operation premise judging module judges whether the target excavator meets a preset normal operation premise condition according to the motor power information and the current pump power information in the following manner: judges whether a motor output torque of the target excavator meets a preset hydraulic pump load demand condition according to the motor power information and the current pump power information; determines that the target excavator meets the preset normal operation premise condition when it is judged that the motor output torque meets the hydraulic pump load demand condition; determines that the target excavator does not meet the preset normal operation premise condition when it is judged that the motor output torque does not meet the hydraulic pump load demand condition; and the operation premise judging module judges whether a motor output torque of the target excavator meets a preset hydraulic pump load demand condition according to the motor power information and the current pump power information in the following manner: judges whether a motor power value corresponding to the motor power information is greater than a current pump power value corresponding to the current pump power information; determines that the motor output torque of the target excavator meets the preset hydraulic pump load demand condition when it is judged that the motor power value is greater than the current pump power value; determines that the motor output torque of the target excavator does not meet the preset hydraulic pump load demand condition when it is judged that the motor power value is less than or equal to the current pump power value.

[0019] The third aspect of the present application discloses another kind of intelligent control device for hydraulic pump of excavator, the device includes: a memory storing executable program code; a processor coupled to the memory; The processor invokes the executable program code stored in the memory to execute the intelligent control method for the hydraulic pump of the excavator disclosed in the first aspect of the present application.

[0020] The fourth aspect of the present application discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the intelligent control method for the hydraulic pump of the excavator disclosed in the first aspect of the present application.

[0021] Compared with the prior art, the embodiments of the present application have the following beneficial effects: In the embodiments of the present application, the hydraulic pump pressure information and the hydraulic pump displacement information of the target excavator are determined, and the motor speed information of the target excavator is determined; whether the target excavator meets the preset load abnormal condition is judged according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information; when it is judged that the target excavator meets the load abnormal condition, corresponding operation control operation is performed on the target excavator according to the hydraulic pump pressure information and the hydraulic pump displacement information. It can be seen that the present application can judge whether the load abnormal condition is met according to the hydraulic pump pressure, the hydraulic pump displacement and the motor speed of the excavator, and when the load abnormal condition is met, the operation control operation is performed on the excavator according to the hydraulic pump pressure and the hydraulic pump displacement, which is beneficial to improve the comprehensiveness and rationality of the operation control mode of the excavator, and further beneficial to improve the operation control accuracy and reliability of the excavator, and beneficial to improve the operation control efficiency, convenience and timeliness of the excavator, thereby effectively preventing the phenomenon of rapid decrease of the motor speed of the excavator when the load rapidly rises, and further beneficial to improve the operation stability and safety of the excavator. BRIEF DESCRIPTION OF DRAWINGS

[0022] 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 labor.

[0023] Figure 1 is a flowchart of an intelligent control method for a hydraulic pump of an excavator disclosed by the embodiments of the present application; Figure 2 is a flowchart of another intelligent control method for a hydraulic pump of an excavator disclosed by the embodiments of the present application; Figure 3 is a structural diagram of an intelligent control device for a hydraulic pump of an excavator disclosed by the embodiments of the present application; Figure 4is another structural schematic view of the intelligent control device for the hydraulic pump of the excavator disclosed by the embodiment of the present application; Figure 5 is another structural schematic view of the intelligent control device for the hydraulic pump of the excavator disclosed by the embodiment of the present application. DETAILED DESCRIPTION

[0024] In order for those skilled 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, not all. 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.

[0025] 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, not 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.

[0026] In this document, reference 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 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 exclude other embodiments that are not explicitly identified as such. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] The present application discloses an intelligent control method and device for the hydraulic pump of an excavator, which can determine whether the load abnormal condition is met according to the hydraulic pump pressure, hydraulic pump displacement, and motor speed of the excavator, and perform running control operation on the excavator according to the hydraulic pump pressure and hydraulic pump displacement when the load abnormal condition is met, which is beneficial to improve the comprehensiveness and rationality of the running control mode of the excavator, and further beneficial to improve the running control accuracy and reliability of the excavator, and beneficial to improve the running control efficiency, convenience, and timeliness of the excavator, thereby effectively preventing the motor speed from rapidly decreasing when the load of the excavator rapidly increases, and further beneficial to improve the running stability and safety of the excavator. The following will be described in detail.

[0028] Embodiment one Please refer to Figure 1 ,Figure 1 is a flowchart of a hydraulic pump intelligent control method for excavators disclosed by the embodiments of the present application. Wherein, Figure 1 The method described can be applied to a hydraulic pump intelligent control device for excavators, wherein the device can include a server, wherein the server includes a local server or a cloud server, and the embodiments of the present application are not limited. As Figure 1 shown, the hydraulic pump intelligent control method for excavators includes the following operations: 101, determine the hydraulic pump pressure information and the hydraulic pump displacement information of the target excavator, and determine the motor speed information of the target excavator.

[0029] Optionally, the target excavator can be a motor-driven excavator, and further, the excavator transmission system to which the present scheme is applied can include a motor-driven hydraulic pump, the hydraulic pump is the load of the motor, the motor and the hydraulic pump are coaxial and have the same speed, and the embodiments of the present application are not limited.

[0030] 102, according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information, determine whether the target excavator meets the preset load abnormal condition.

[0031] Optionally, the target excavator meets the load abnormal condition, for example, when the load of the target excavator sharply rises, it is determined that the load condition is met, and the embodiments of the present application are not limited.

[0032] 103, when it is determined that the target excavator meets the load abnormal condition, according to the hydraulic pump pressure information and the hydraulic pump displacement information, perform corresponding operation control operation on the target excavator.

[0033] Optionally, the motor has an overload protection mechanism, that is, when the output torque cannot drive the load, the speed is reduced. In order to ensure the normal operation of the system, the motor cannot enter the overload protection mechanism, so as to ensure that the motor still operates at the predetermined speed without speed drop. Therefore, by quickly responding to the pump displacement, the motor torque is reduced, thereby preventing the rapid reduction of the motor speed, and the embodiments of the present application are not limited.

[0034] It can be seen that the hydraulic pump intelligent control method for excavators described in the embodiments of the present application can determine whether the load abnormal condition is met according to the hydraulic pump pressure, the hydraulic pump displacement and the motor speed of the excavator. When the load abnormal condition is met, the operation control operation is performed on the excavator according to the hydraulic pump pressure and the hydraulic pump displacement, which is beneficial to improve the comprehensiveness and rationality of the operation control mode of the excavator, thereby improving the operation control accuracy and reliability of the excavator, and improving the operation control efficiency, convenience and timeliness of the excavator, thereby effectively preventing the phenomenon of rapid reduction of motor speed when the load of the excavator sharply rises, and further improving the operation stability and safety of the excavator.

[0035] In an optional embodiment, the above determining whether the target excavator meets the preset load abnormality condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information can include: determining whether the target excavator meets a preset operating speed abnormality condition according to the hydraulic pump pressure information, and determining whether the target excavator meets a preset operating power abnormality condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information; when it is determined that the target excavator meets the operating speed abnormality condition and the target excavator meets the operating power abnormality condition, determining that the target excavator meets the preset load abnormality condition; when it is determined that the target excavator does not meet the operating speed abnormality condition and / or the target excavator does not meet the operating power abnormality condition, determining that the target excavator does not meet the preset load abnormality condition.

[0036] Optionally, the target excavator meets the operating speed abnormality condition, for example, when the hydraulic pump rising speed of the target excavator is greater than a threshold value or when the hydraulic pump rising speed of the target excavator is greater than 0, it is determined that the target excavator meets the operating speed abnormality condition, which is not limited in the embodiments of the present application.

[0037] Optionally, the target excavator meets the operating power abnormality condition, for example, when the pump power margin value of the target excavator is less than a preset pump power margin threshold value, it is determined that the target excavator meets the operating power abnormality condition, which is not limited in the embodiments of the present application.

[0038] It can be seen that the optional embodiment can determine the load abnormality condition meeting result according to the determined operating speed abnormality condition meeting result and the operating power abnormality condition meeting result, which is beneficial to improve the comprehensiveness and rationality of the load abnormality condition meeting result determination method, and further beneficial to improve the diversity and flexibility of the consideration aspect for determining the load abnormality condition meeting result, thereby beneficial to improve the accuracy and reliability of the determined load abnormality condition meeting result.

[0039] In another optional embodiment, the above determining whether the target excavator meets the preset operating power abnormality condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information can include: determining a current pump power value of the target excavator according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information, and determining a maximum pump power value of the target excavator preset in advance; determining a current pump power margin value according to the current pump power value and the maximum pump power value, and determining a pump power margin threshold value according to motor characteristic information and / or transmission demand information of the target excavator; determining whether the current pump power margin value is less than the pump power margin threshold value; When it is judged that the current pump power margin value is less than the pump power margin threshold value, it is determined that the target excavator meets the preset operating power abnormal condition; When it is judged that the current pump power margin value is greater than or equal to the pump power margin threshold value, it is determined that the target excavator does not meet the preset operating power abnormal condition.

[0040] Further optionally, the current pump power value can be calculated by the following formula: W=P i ×D i ×N×C1; Wherein, W is the pump power value, P i is the first hydraulic pump pressure value of the current time node, D i is the first hydraulic pump displacement value of the current time node, N is the motor speed, and C1 is the hydraulic pump efficiency value.

[0041] Optionally, the hydraulic pump efficiency value can be determined by the hydraulic pump structure, and the embodiments of the present application are not limited.

[0042] Optionally, the pump power margin threshold value is determined according to the motor characteristic information and / or transmission demand information of the target excavator, for example: the pump power margin threshold value is determined according to whether the set motor is allowed to drop speed, the drop speed range, and the like, and the embodiments of the present application are not limited.

[0043] Optionally, the current pump power margin value is determined according to the current pump power value and the maximum pump power value, which can include: calculating the difference between the maximum pump power value and the current pump power value as the current pump power margin value, and the embodiments of the present application are not limited.

[0044] Optionally, for the pump power margin, the motor has a power reserve higher than the maximum power demand of the hydraulic pump, and the greater the power reserve, the less likely it is to drop speed; in order to realize this power reserve, it is not to improve the power of the motor, but to limit the demand power of the hydraulic pump, that is, to adjust the pump displacement, and the embodiments of the present application are not limited.

[0045] It can be seen that the optional embodiment can determine the current pump power margin value and the pump power margin threshold value according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information, and then determine the operating power abnormal condition meeting result according to the size comparison of the determined current pump power margin value and the pump power margin threshold value, which is beneficial to improve the comprehensiveness and rationality of the operating power abnormal condition meeting result determination method, and further beneficial to improve the accuracy and reliability of the determined operating power abnormal condition meeting result; in addition, a specific calculation formula of the current pump power value can be provided, which is beneficial to improve the scientificity, rationality and pertinence of the current pump power value calculation method, and further beneficial to improve the accuracy and reliability of the determined current pump power value.

[0046] In still another optional embodiment, the above determining, according to the hydraulic pump pressure information, whether the target excavator satisfies the preset operation speed abnormality condition can comprise: determining, according to the hydraulic pump pressure information, a first hydraulic pump pressure value of the target excavator for a current time node and a second hydraulic pump pressure value for a previous time node; determining, according to the first hydraulic pump pressure value and the second hydraulic pump pressure value, a hydraulic pump pressure rising rate of the target excavator; determining whether the hydraulic pump pressure rising rate is greater than a preset pressure rising rate threshold value; when it is determined that the hydraulic pump pressure rising rate is greater than the pressure rising rate threshold value, determining that the target excavator satisfies the preset operation speed abnormality condition; when it is determined that the hydraulic pump pressure rising rate is less than or equal to the pressure rising rate threshold value, determining that the target excavator does not satisfy the preset operation speed abnormality condition.

[0047] Optionally, the above determining, according to the first hydraulic pump pressure value and the second hydraulic pump pressure value, the hydraulic pump pressure rising rate of the target excavator can comprise: calculating a difference value corresponding to the first hydraulic pump pressure value and the second hydraulic pump pressure value as the hydraulic pump pressure rising rate of the target excavator, and the embodiments of the present application are not limited thereto.

[0048] Optionally, the first hydraulic pump pressure value can be understood as a load pressure obtained at a current sampling time point; the second hydraulic pump pressure value can be understood as a load pressure obtained at a previous sampling time point, and the embodiments of the present application are not limited thereto.

[0049] It can be seen that the optional embodiment can determine, according to the hydraulic pump pressure information, the first hydraulic pump pressure value for the current time node and the second hydraulic pump pressure value for the previous time node, and then determine the hydraulic pump pressure rising rate, and determine the operation speed abnormality condition satisfaction result according to the size comparison between the hydraulic pump pressure rising rate and the corresponding threshold value, which is beneficial to improve the comprehensiveness and rationality of the operation speed abnormality condition satisfaction result determination manner, and then is beneficial to improve the accuracy and reliability of the determined operation speed abnormality condition satisfaction result.

[0050] In still another optional embodiment, the above performing, according to the hydraulic pump pressure information and the hydraulic pump displacement information, the corresponding operation regulation operation on the target excavator can comprise: determining, according to the hydraulic pump displacement information, a first hydraulic pump displacement value of the target excavator for a current time node, and determining, according to the hydraulic pump pressure information, a first hydraulic pump pressure value and a hydraulic pump pressure rising rate of the target excavator for the current time node; determining a response effect parameter according to the determined hydraulic pump displacement changing rate and the hydraulic pump pressure rising rate of the target excavator; According to the response effect parameter, the first hydraulic pump displacement value, the hydraulic pump rising rate and the first hydraulic pump pressure value, an expected hydraulic pump displacement value of the target excavator for a next time node is determined, and according to the hydraulic pump pressure rising rate, an expected hydraulic pump displacement reduction rate of the target excavator is determined; According to the expected hydraulic pump displacement value and the expected hydraulic pump displacement reduction rate, a corresponding pump displacement reduction regulation operation is performed on the hydraulic pump of the target excavator.

[0051] Further optionally, the expected hydraulic pump displacement value can be calculated by the following formula: D i+1 =k×D i ×P s / P i ; Wherein, D i+1 is the expected hydraulic pump displacement value of the next time node, k is the response effect parameter, D i is the first hydraulic pump pressure value of the current time node, P s is the hydraulic pump pressure rising rate, and P i is the first hydraulic pump pressure value of the current time node.

[0052] Optionally, the response effect parameter is determined according to the determined hydraulic pump displacement change rate and the hydraulic pump pressure rising rate of the target excavator, for example: the response effect parameter is used to represent how much faster the displacement change rate is than the pressure change rate, which is determined according to the system response time, and the embodiments of the present application are not limited.

[0053] Optionally, the expected hydraulic pump displacement reduction rate of the target excavator is determined according to the hydraulic pump pressure rising rate, for example: in order to ensure the original power balance state, the displacement reduction rate (i.e. the expected hydraulic pump displacement reduction rate) should not be lower than the hydraulic pump pressure rising rate, and the embodiments of the present application are not limited.

[0054] It can be seen that the optional embodiment can determine the expected hydraulic pump displacement value and the expected hydraulic pump displacement reduction rate according to the hydraulic pump pressure information and the hydraulic pump displacement information, and then perform the hydraulic pump displacement reduction regulation operation on the excavator, which is beneficial to improve the comprehensiveness and rationality of the hydraulic pump displacement reduction regulation mode, and then is beneficial to improve the hydraulic pump displacement reduction regulation accuracy and reliability of the excavator; in addition, a specific calculation formula of the expected hydraulic pump displacement value can be provided, which is beneficial to improve the scientificity, rationality and pertinence of the expected hydraulic pump displacement value calculation method, and then is beneficial to improve the accuracy and reliability of the determined expected hydraulic pump displacement value.

[0055] Embodiment two Please refer to Figure 2 , Figure 2is another flowchart of the intelligent control method for the hydraulic pump of the excavator disclosed by the embodiment of the present application. Among them, Figure 2 The described method can be applied to the intelligent control device for the hydraulic pump of the excavator, wherein the device can include a server, wherein the server includes a local server or a cloud server, and the embodiment of the present application is not limited. As shown in Figure 2 The intelligent control method for the hydraulic pump of the excavator includes the following operations: 201, determine the hydraulic pump pressure information and the hydraulic pump displacement information of the target excavator, and determine the motor speed information of the target excavator.

[0056] 202, according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information, it is judged whether the target excavator meets the preset load abnormal condition, when the judgment result is yes, step 203 is executed; when the judgment result is no, step 204 is executed.

[0057] 203, according to the hydraulic pump pressure information and the hydraulic pump displacement information, the corresponding operation control operation is performed on the target excavator.

[0058] 204, according to the hydraulic pump pressure information, the hydraulic pump displacement information and the mechanical efficiency parameter corresponding to the motor and the hydraulic pump in the target excavator determined, the motor torque information of the target excavator is determined, and according to the motor torque information and the motor speed information, the motor power information of the target excavator is determined, and the current pump power information of the target excavator is determined.

[0059] Optionally, the motor torque value can be calculated by the following formula: T=P i ×D i ×C2; wherein T is the motor torque value, P i is the first hydraulic pump pressure value at the current time node, D i is the first hydraulic pump pressure value at the current time node, k is the mechanical efficiency parameter, and the embodiment of the present application is not limited.

[0060] Optionally, the motor power can be calculated by the following formula: W1=T×N; wherein W1 is the motor power, N is the motor speed, and the embodiment of the present application is not limited.

[0061] Optionally, the current pump power information determination method can refer to but is not limited to the above-mentioned current pump power value determination method, and the embodiment of the present application is not limited.

[0062] 205, according to the motor power information and the current pump power information, it is judged whether the target excavator meets the preset normal operation condition, when the judgment result is yes, step 206 is executed; when the judgment result is no, step 207 is executed.

[0063] Optionally, the target excavator meets the normal operation prerequisite, for example: in order to ensure the normal operation of the system, the motor power of the target excavator must be greater than the hydraulic pump power, that is, the output torque of the motor must be able to overcome the hydraulic pump load, otherwise the machine will be stopped, and the embodiment of the present application is not limited.

[0064] 206、According to the motor speed information and the hydraulic pump displacement information, the target excavator is controlled to perform corresponding original speed and original displacement maintenance operation.

[0065] Optionally, the target excavator is controlled to perform corresponding original speed and original displacement maintenance operation, for example: the target excavator is controlled to maintain the original speed and original displacement for work, and the embodiment of the present application is not limited.

[0066] Optionally, the above-mentioned control of the target excavator to perform corresponding original speed and original displacement maintenance operation can include: According to the motor speed information, the current motor speed value is determined, and according to the hydraulic pump displacement information, the current hydraulic pump displacement value is determined; the target excavator is controlled to continue to operate according to the current motor speed value and the current hydraulic pump displacement value.

[0067] 207、According to the preset motor power and hydraulic pump power size relationship rule, the motor speed information and the hydraulic pump displacement information, the corresponding motor power and hydraulic pump power adjustment scheme of the target excavator is determined; based on the motor power and hydraulic pump power adjustment scheme, the target excavator is controlled to perform corresponding motor power and / or hydraulic pump power control operation.

[0068] Optionally, the motor power and hydraulic pump power size relationship rule is, for example: in order to ensure the normal operation of the system, the motor power must be greater than the hydraulic pump power, and the embodiment of the present application is not limited.

[0069] Optionally, the motor power and hydraulic pump power adjustment scheme can be: the motor power is adjusted to be higher than the hydraulic pump power, or the hydraulic pump power is adjusted to be lower than the motor power, and the embodiment of the present application is not limited.

[0070] Optionally, the above-mentioned control of the target excavator to perform corresponding motor power and / or hydraulic pump power control operation is to make the motor power greater than the hydraulic pump power, and the embodiment of the present application is not limited.

[0071] Optionally, the normal operation precondition judgment scheme and the operation scheme triggered thereby (i.e., the control target excavator performs the corresponding original rotation speed and original displacement maintenance operation, and performs the corresponding motor power and / or hydraulic pump power regulation operation on the target excavator) are not limited to the execution logic steps described in the specification (i.e., they can only be executed after it is determined that the preset load abnormal condition is not met), but can be executed throughout the operation of the excavator, and the embodiments of the present application are not limited thereto.

[0072] In the embodiments of the present application, for other descriptions of steps 201-207, please refer to the other detailed descriptions of steps 101-104 in Embodiment 1, and the embodiments of the present application will not be repeated.

[0073] It can be seen that the embodiments of the present application can determine whether the load abnormal condition is met according to the hydraulic pump pressure, the hydraulic pump displacement and the motor rotation speed of the excavator, perform operation regulation operation on the excavator according to the hydraulic pump pressure and the hydraulic pump displacement when the load abnormal condition is met, which is beneficial to improve the comprehensiveness and rationality of the operation regulation mode of the excavator, and further beneficial to improve the operation regulation accuracy and reliability of the excavator, and beneficial to improve the operation regulation efficiency, convenience and timeliness of the excavator, thereby effectively preventing the motor rotation speed from rapidly decreasing when the load of the excavator rapidly increases, and further beneficial to improve the operation stability and safety of the excavator; and the embodiments of the present application can also determine whether the normal operation precondition is met according to the determined motor power information and the current pump power information, match corresponding excavator operation control operations for the case where the normal operation precondition is met and the case where the normal operation precondition is not met, perform the original rotation speed and original displacement maintenance operation on the excavator when the normal operation precondition is met, which is beneficial to improve the execution accuracy and reliability of the maintenance operation control operation of the excavator, and perform the motor power and hydraulic pump power adjustment operation on the excavator when the normal operation precondition is not met, which is beneficial to improve the execution accuracy and timeliness of the motor power and hydraulic pump power adjustment operation of the excavator, and further beneficial to improve the operation stability and safety of the excavator, thereby avoiding the operation failure of the excavator caused by rotation speed and displacement.

[0074] In an optional embodiment, the determination of whether the target excavator meets the preset normal operation precondition according to the motor power information and the current pump power information can include: determining whether the motor output torque of the target excavator meets the preset hydraulic pump load demand condition according to the motor power information and the current pump power information; when it is determined that the motor output torque meets the hydraulic pump load demand condition, determining that the target excavator meets the preset normal operation precondition; When it is judged that the motor output torque does not meet the hydraulic pump load demand condition, it is determined that the target excavator does not meet the preset normal operation prerequisite condition.

[0075] It can be seen that the optional embodiment can determine that the hydraulic pump load demand condition of the motor output torque of the target excavator is met, and then determine that the normal operation prerequisite condition is met, which is beneficial to improve the comprehensiveness and rationality of the normal operation prerequisite condition meeting result determination method, and then improve the accuracy and reliability of the determined normal operation prerequisite condition meeting result.

[0076] In another optional embodiment, the above judging whether the motor output torque of the target excavator meets the preset hydraulic pump load demand condition according to the motor power information and the current pump power information can include: judging whether the motor power information corresponding motor power value is greater than the current pump power information corresponding current pump power value; When it is judged that the motor power value is greater than the current pump power value, it is determined that the motor output torque of the target excavator meets the preset hydraulic pump load demand condition; When it is judged that the motor power value is less than or equal to the current pump power value, it is determined that the motor output torque of the target excavator does not meet the preset hydraulic pump load demand condition.

[0077] It can be seen that the optional embodiment can determine the hydraulic pump load demand condition meeting result according to the size comparison of the motor power value and the current pump power value, which is beneficial to improve the comprehensiveness and rationality of the hydraulic pump load demand condition meeting result determination method, and then improve the accuracy and reliability of the determined hydraulic pump load demand condition meeting result.

[0078] Embodiment three Please refer to Figure 3 , Figure 3 is a structure diagram of an intelligent control device for a hydraulic pump of an excavator disclosed by the embodiment of the present application. Among them, Figure 3 The device described can include a server, wherein the server includes a local server or a cloud server, and the embodiment of the present application is not limited. As Figure 3 shown, the intelligent control device for the hydraulic pump of the excavator can include: A determination module 301 is configured to determine the hydraulic pump pressure information and the hydraulic pump displacement information of a target excavator, and determine the motor speed information of the target excavator.

[0079] An abnormality judgment module 302 is configured to judge whether the target excavator meets a preset load abnormality condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information.

[0080] The running regulation module 303 is configured to perform a corresponding running regulation operation on the target excavator according to the hydraulic pump pressure information and the hydraulic pump displacement information when the abnormality judgment module determines that the target excavator meets the load abnormality condition.

[0081] It can be seen that the implementation Figure 3 The described hydraulic pump intelligent control device for the excavator can determine whether the load abnormality condition is met according to the hydraulic pump pressure, the hydraulic pump displacement and the motor speed of the excavator, perform a running regulation operation on the excavator according to the hydraulic pump pressure and the hydraulic pump displacement when the load abnormality condition is met, and thus improve the comprehensiveness and rationality of the running regulation mode of the excavator, further improve the running regulation accuracy and reliability of the excavator, and improve the running regulation efficiency, convenience and timeliness of the excavator, thereby effectively preventing the motor speed from rapidly decreasing when the load of the excavator rapidly increases, and further improve the running stability and safety of the excavator.

[0082] In an optional embodiment, the abnormality judgment module 302 determines whether the target excavator meets the preset load abnormality condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information in the following manner: determines whether the target excavator meets a preset running speed abnormality condition according to the hydraulic pump pressure information, and determines whether the target excavator meets a preset running power abnormality condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information; determines that the target excavator meets the preset load abnormality condition when it is determined that the target excavator meets the running speed abnormality condition and the target excavator meets the running power abnormality condition; determines that the target excavator does not meet the preset load abnormality condition when it is determined that the target excavator does not meet the running speed abnormality condition and / or the target excavator does not meet the running power abnormality condition.

[0083] It can be seen that the implementation Figure 4 The described device can determine the load abnormality condition meeting result according to the determined running speed abnormality condition meeting result and the running power abnormality condition meeting result, and thus improve the comprehensiveness and rationality of the load abnormality condition meeting result determination manner, further improve the diversity and flexibility of the aspects considered for determining the load abnormality condition meeting result, and thus improve the accuracy and reliability of the determined load abnormality condition meeting result.

[0084] In another optional embodiment, the abnormality judgment module 302 determines whether the target excavator meets the preset running power abnormality condition according to the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information in the following manner: Based on the hydraulic pump pressure information, hydraulic pump displacement information, and motor speed information, determine the current pump power value of the target excavator, and determine the preset maximum pump power value of the target excavator. Based on the current pump power value and the maximum pump power value, determine the current pump power margin value, and based on the target excavator's motor characteristic information and / or transmission requirement information, determine the pump power margin threshold. Determine whether the current pump power margin value is less than the pump power margin threshold; When it is determined that the current pump power margin value is less than the pump power margin threshold, the target excavator is determined to meet the preset abnormal operating power condition. When it is determined that the current pump power margin value is greater than or equal to the pump power margin threshold, it is determined that the target excavator does not meet the preset abnormal operating power conditions.

[0085] It is evident that implementation Figure 4 The described device can also determine the current pump power margin value and pump power margin threshold based on hydraulic pump pressure information, hydraulic pump displacement information and motor speed information, and then determine the result of meeting the abnormal operating power conditions based on the comparison between the determined current pump power margin value and the pump power margin threshold. This helps to improve the comprehensiveness and rationality of the method for determining the result of meeting the abnormal operating power conditions, and thus helps to improve the accuracy and reliability of the determined result of meeting the abnormal operating power conditions.

[0086] In yet another alternative embodiment, the current pump power value can be calculated using the following formula: W=P i ×D i ×N×C1; Where W is the pump power value, P i D represents the first hydraulic pump pressure value at the current time point. i The value is the first hydraulic pump displacement at the current time point, N is the motor speed, and C1 is the hydraulic pump efficiency.

[0087] It is evident that implementation Figure 4 The described device can also provide a specific calculation formula for the current pump power value, which helps to improve the scientificity, rationality and pertinence of the current pump power value calculation method, and thus helps to improve the accuracy and reliability of the determined current pump power value.

[0088] In another optional embodiment, the anomaly detection module 302 determines whether the target excavator meets the preset abnormal operating rate conditions based on the hydraulic pump pressure information, specifically including: Based on the hydraulic pump pressure information, determine the first hydraulic pump pressure value of the target excavator for the current time point and the second hydraulic pump pressure value for the previous time point. Based on the pressure values ​​of the first and second hydraulic pumps, determine the hydraulic pump pressure rise rate of the target excavator. Determine whether the hydraulic pump pressure rise rate is greater than the preset pressure rise rate threshold. When it is determined that the hydraulic pump pressure rise rate is greater than the pressure rise rate threshold, it is determined that the target excavator meets the preset abnormal operating rate condition. When it is determined that the hydraulic pump pressure rise rate is less than or equal to the pressure rise rate threshold, it is determined that the target excavator does not meet the preset abnormal operating rate condition.

[0089] It is evident that implementation Figure 4 The described device can also determine the first hydraulic pump pressure value for the current time node and the second hydraulic pump pressure value for the previous time node based on the hydraulic pump pressure information, and then determine the hydraulic pump pressure rise rate. Based on the comparison between the hydraulic pump pressure rise rate and the corresponding threshold, the device determines the result of the abnormal operating rate condition being met. This helps to improve the comprehensiveness and rationality of the method for determining the result of the abnormal operating rate condition being met, and thus helps to improve the accuracy and reliability of the determined result of the abnormal operating rate condition being met.

[0090] In another optional embodiment, the operation control module 302 performs corresponding operation control operations on the target excavator based on the hydraulic pump pressure information and hydraulic pump displacement information, specifically including: Based on the hydraulic pump displacement information, determine the first hydraulic pump displacement value of the target excavator for the current time node, and based on the hydraulic pump pressure information, determine the first hydraulic pump pressure value of the target excavator for the current time node and the hydraulic pump pressure rise rate. Based on the determined rate of change of hydraulic pump displacement and rate of increase of hydraulic pump pressure of the target excavator, the response effect parameters are determined. Based on the response effect parameters, the displacement value of the first hydraulic pump, the rise rate of the hydraulic pump, and the pressure value of the first hydraulic pump, the expected hydraulic pump displacement value of the target excavator for the next time node is determined, and based on the rise rate of the hydraulic pump pressure, the expected decrease rate of the hydraulic pump displacement of the target excavator is determined. Based on the expected hydraulic pump displacement value and the expected hydraulic pump displacement reduction rate, perform corresponding pump displacement reduction control operations on the hydraulic pump of the target excavator.

[0091] It is evident that implementation Figure 4 The described device can also determine the expected hydraulic pump displacement value and the expected hydraulic pump displacement reduction rate based on the hydraulic pump pressure information and hydraulic pump displacement information, and then perform hydraulic pump displacement reduction control operation on the excavator. This helps to improve the comprehensiveness and rationality of the hydraulic pump displacement reduction control method, and thus helps to improve the accuracy and reliability of the hydraulic pump displacement reduction control of the excavator.

[0092] In yet another alternative embodiment, the expected hydraulic pump displacement value can be calculated using the following formula: D i+1 =k×D i ×P s / P i ; Among them, D i+1 Let D be the expected hydraulic pump displacement at the next time point, k be the response effect parameter, and D be the displacement value. i P represents the first hydraulic pump pressure value at the current time point. s P is the rate of pressure rise of the hydraulic pump. i This represents the first hydraulic pump pressure value at the current time point.

[0093] It is evident that implementation Figure 4 The described device can also provide a specific calculation formula for the expected hydraulic pump displacement value, which helps to improve the scientificity, rationality and pertinence of the calculation method for the expected hydraulic pump displacement value, and thus helps to improve the accuracy and reliability of the determined expected hydraulic pump displacement value.

[0094] In another optional embodiment, the determining module 301 is further configured to, when the anomaly judgment module 302 determines that the target excavator does not meet the load anomaly conditions, determine the motor torque information of the target excavator based on the hydraulic pump pressure information, hydraulic pump displacement information and the mechanical efficiency parameters corresponding to the motor and hydraulic pump in the target excavator, and determine the motor power information of the target excavator based on the motor torque information and motor speed information; and determine the current pump power information of the target excavator.

[0095] like Figure 4 As shown, the device may further include: The operation prerequisite judgment module 304 is used to determine whether the target excavator meets the preset normal operation prerequisites based on the motor power information and the current pump power information.

[0096] The operation maintenance module 305 is used to control the target excavator to perform the corresponding original speed and original displacement maintenance operation based on the motor speed information and hydraulic pump displacement information when the operation prerequisite judgment module 304 determines that the target excavator meets the normal operation prerequisite conditions.

[0097] The operation control module 303 is also used to determine the motor power and hydraulic pump power adjustment scheme corresponding to the target excavator according to the preset rules of the relationship between motor power and hydraulic pump power, motor speed information and hydraulic pump displacement information when the operation prerequisite judgment module 204 determines that the target excavator does not meet the normal operation prerequisite conditions; and to perform corresponding motor power and / or hydraulic pump power control operations on the target excavator based on the motor power and hydraulic pump power adjustment scheme.

[0098] It can be seen that the embodiment Figure 4 The described device can also determine whether the normal operation prerequisite condition is met according to the determined motor power information and the current pump power information, and match corresponding excavator operation control operations for the case of meeting the normal operation prerequisite condition and the case of not meeting the normal operation prerequisite condition. When the normal operation prerequisite condition is met, the excavator is controlled to perform the original rotation speed and original displacement maintenance operation, which is beneficial to improve the execution accuracy and execution reliability of the excavator maintenance operation control operation. When the normal operation prerequisite condition is not met, the motor power and hydraulic pump power adjustment operation is performed on the excavator, which is beneficial to improve the execution accuracy and execution timeliness of the motor power and hydraulic pump power adjustment operation of the excavator, thereby improving the operation stability and operation safety of the excavator and avoiding excavator operation failure caused by rotation speed and displacement.

[0099] In another optional embodiment, the operation prerequisite judgment module 304 determines whether the target excavator meets the preset normal operation prerequisite condition according to the motor power information and the current pump power information, and the specific implementation includes: According to the motor power information and the current pump power information, it is determined whether the motor output torque of the target excavator meets the preset hydraulic pump load demand condition; When it is determined that the motor output torque meets the hydraulic pump load demand condition, it is determined that the target excavator meets the preset normal operation prerequisite condition; When it is determined that the motor output torque does not meet the hydraulic pump load demand condition, it is determined that the target excavator does not meet the preset normal operation prerequisite condition.

[0100] It can be seen that the embodiment Figure 4 The described device can also determine that the hydraulic pump load demand condition of the motor output torque of the target excavator is met, and then determine that the normal operation prerequisite condition is met, which is beneficial to improve the comprehensiveness and rationality of the normal operation prerequisite condition meeting result determination method, and thereby improve the accuracy and reliability of the determined normal operation prerequisite condition meeting result.

[0101] In another optional embodiment, the operation prerequisite judgment module 304 determines whether the motor output torque of the target excavator meets the preset hydraulic pump load demand condition according to the motor power information and the current pump power information, and the specific implementation includes: It is determined whether the motor power information corresponding to the motor power value is greater than the current pump power information corresponding to the current pump power value; When it is determined that the motor power value is greater than the current pump power value, it is determined that the motor output torque of the target excavator meets the preset hydraulic pump load demand condition; When it is judged that the motor power value is less than or equal to the current pump power value, it is determined that the motor output torque of the target excavator does not meet the preset hydraulic pump load demand condition.

[0102] It can be seen that, by implementing the method Figure 4 The described device can also determine the hydraulic pump load demand condition satisfaction result according to the size comparison between the motor power value and the current pump power value, which is beneficial to improve the comprehensiveness and rationality of the hydraulic pump load demand condition satisfaction result determination method, and further improve the accuracy and reliability of the determined hydraulic pump load demand condition satisfaction result.

[0103] Embodiment Four Please refer to Figure 5 , Figure 5 is another structure diagram of the hydraulic pump intelligent control device for the excavator disclosed by the embodiments of the present application. Among them, Figure 5 The described device can include a server, wherein the server includes a local server or a cloud server, and the embodiments of the present application are not limited. As Figure 5 shown, the device can include: a memory 401 storing executable program codes; a processor 402 coupled with the memory 401; Further, it can also include an input interface 403 and an output interface 404 coupled with the processor 402; The processor 402 calls the executable program codes stored in the memory 401, and is used to execute the steps in the hydraulic pump intelligent control method for the excavator described in embodiment one or embodiment two.

[0104] Embodiment Five The embodiments of the present application disclose a computer storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the steps in the hydraulic pump intelligent control method for the excavator described in embodiment one or embodiment two.

[0105] Embodiment Six The embodiments of the present application disclose a computer program product, which includes a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps in the hydraulic pump intelligent control method for the excavator described in embodiment one or embodiment two.

[0106] The apparatus embodiments described above are only illustrative, wherein the modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical modules, i.e., can be located in one place or distributed to multiple network modules. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0107] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, and 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, a magnetic disk storage, a magnetic tape storage, or any other computer readable medium that can be used to carry or store data.

[0108] Finally, it should be noted that: the disclosed hydraulic pump intelligent control method and device for excavator disclosed by the embodiments of the present application are only the preferred embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that; the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced; 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 intelligent control method for hydraulic pumps in excavators, characterized in that, The method includes: Determine the hydraulic pump pressure and displacement information of the target excavator, and determine the motor speed information of the target excavator; Based on the hydraulic pump pressure information, the hydraulic pump displacement information, and the motor speed information, determine whether the target excavator meets the preset abnormal load conditions; When it is determined that the target excavator meets the abnormal load conditions, corresponding operation control operations are performed on the target excavator based on the hydraulic pump pressure information and the hydraulic pump displacement information.

2. The intelligent control method for hydraulic pumps in excavators according to claim 1, characterized in that, The step of determining whether the target excavator meets the preset abnormal load conditions based on the hydraulic pump pressure information, the hydraulic pump displacement information, and the motor speed information includes: Based on the hydraulic pump pressure information, it is determined whether the target excavator meets the preset abnormal operating speed conditions, and based on the hydraulic pump pressure information, the hydraulic pump displacement information, and the motor speed information, it is determined whether the target excavator meets the preset abnormal operating power conditions. When it is determined that the target excavator meets the abnormal operating rate condition and the abnormal operating power condition, it is determined that the target excavator meets the preset abnormal load condition. When it is determined that the target excavator does not meet the abnormal operating rate condition and / or the abnormal operating power condition, it is determined that the target excavator does not meet the preset abnormal load condition.

3. The intelligent control method for hydraulic pumps in excavators according to claim 2, characterized in that, The step of determining whether the target excavator meets the preset abnormal operating power conditions based on the hydraulic pump pressure information, the hydraulic pump displacement information, and the motor speed information includes: Based on the hydraulic pump pressure information, the hydraulic pump displacement information, and the motor speed information, determine the current pump power value of the target excavator, and determine the preset maximum pump power value of the target excavator; Based on the current pump power value and the maximum pump power value, determine the current pump power margin value, and based on the motor characteristic information and / or transmission requirement information of the target excavator, determine the pump power margin threshold. Determine whether the current pump power margin value is less than the pump power margin threshold; When it is determined that the current pump power margin value is less than the pump power margin threshold, the target excavator is determined to meet the preset abnormal operating power condition. When it is determined that the current pump power margin value is greater than or equal to the pump power margin threshold, it is determined that the target excavator does not meet the preset abnormal operating power condition. Furthermore, the current pump power value is calculated using the following formula: W=P i ×D i ×N×C1; Where W is the pump power value, P i D represents the first hydraulic pump pressure value at the current time point. i The value is the first hydraulic pump displacement at the current time point, N is the motor speed, and C1 is the hydraulic pump efficiency.

4. The intelligent control method for hydraulic pumps in excavators according to claim 2, characterized in that, The step of determining whether the target excavator meets the preset abnormal operating rate conditions based on the hydraulic pump pressure information includes: Based on the hydraulic pump pressure information, determine the first hydraulic pump pressure value of the target excavator for the current time node and the second hydraulic pump pressure value for the previous time node. The hydraulic pump pressure rise rate of the target excavator is determined based on the first hydraulic pump pressure value and the second hydraulic pump pressure value. Determine whether the hydraulic pump pressure rise rate is greater than a preset pressure rise rate threshold; When it is determined that the hydraulic pump pressure rise rate is greater than the pressure rise rate threshold, the target excavator is determined to meet the preset abnormal operating rate condition. When it is determined that the hydraulic pump pressure rise rate is less than or equal to the pressure rise rate threshold, it is determined that the target excavator does not meet the preset abnormal operating rate condition.

5. The intelligent control method for hydraulic pumps in excavators according to claim 1, characterized in that, The step of performing corresponding operation control operations on the target excavator based on the hydraulic pump pressure information and the hydraulic pump displacement information includes: Based on the hydraulic pump displacement information, the first hydraulic pump displacement value of the target excavator for the current time node is determined, and based on the hydraulic pump pressure information, the first hydraulic pump pressure value of the target excavator for the current time node and the hydraulic pump pressure rise rate are determined. Based on the determined rate of change of hydraulic pump displacement and rate of increase of hydraulic pump pressure of the target excavator, the response effect parameters are determined; Based on the response effect parameters, the first hydraulic pump displacement value, the hydraulic pump rise rate, and the first hydraulic pump pressure value, the expected hydraulic pump displacement value of the target excavator for the next time node is determined, and based on the hydraulic pump pressure rise rate, the expected hydraulic pump displacement reduction rate of the target excavator is determined. Based on the expected hydraulic pump displacement value and the expected hydraulic pump displacement reduction rate, perform corresponding pump displacement reduction control operations on the hydraulic pump of the target excavator; Furthermore, the expected hydraulic pump displacement value is calculated using the following formula: D i+1 =k×D i ×P s / P i ; Among them, D i+1 Let D be the expected hydraulic pump displacement at the next time point, k be the response effect parameter, and D be the displacement value. i P represents the first hydraulic pump pressure value at the current time point. s P is the rate of pressure rise of the hydraulic pump. i This represents the first hydraulic pump pressure value at the current time point.

6. The intelligent control method for hydraulic pumps of excavators according to any one of claims 1-5, characterized in that, The method further includes: When it is determined that the target excavator does not meet the abnormal load conditions, the motor torque information of the target excavator is determined based on the hydraulic pump pressure information, the hydraulic pump displacement information, and the mechanical efficiency parameters corresponding to the motor and hydraulic pump in the target excavator. The motor power information of the target excavator is then determined based on the motor torque information and the motor speed information. Determine the current pump power information of the target excavator, and based on the motor power information and the current pump power information, determine whether the target excavator meets the preset normal operation prerequisites; When it is determined that the target excavator meets the normal operating prerequisites, the target excavator is controlled to perform the corresponding original speed and original displacement operation to maintain operation based on the motor speed information and the hydraulic pump displacement information. When it is determined that the target excavator does not meet the normal operating prerequisites, the motor power and hydraulic pump power adjustment scheme corresponding to the target excavator is determined according to the preset rules on the relationship between motor power and hydraulic pump power, the motor speed information and the hydraulic pump displacement information; based on the motor power and hydraulic pump power adjustment scheme, the corresponding motor power and / or hydraulic pump power regulation operation is performed on the target excavator.

7. The intelligent control method for hydraulic pumps in excavators according to claim 6, characterized in that, The step of determining whether the target excavator meets the preset normal operation prerequisites based on the motor power information and the current pump power information includes: Based on the motor power information and the current pump power information, determine whether the motor output torque of the target excavator meets the preset hydraulic pump load requirements. When it is determined that the output torque of the motor meets the load requirements of the hydraulic pump, the target excavator is determined to meet the preset normal operation prerequisites. When it is determined that the output torque of the motor does not meet the load requirements of the hydraulic pump, it is determined that the target excavator does not meet the preset normal operation prerequisites. And, the step of determining whether the motor output torque of the target excavator meets the preset hydraulic pump load requirement condition based on the motor power information and the current pump power information includes: Determine whether the motor power value corresponding to the motor power information is greater than the current pump power value corresponding to the current pump power information; When it is determined that the motor power value is greater than the current pump power value, it is determined that the motor output torque of the target excavator meets the preset hydraulic pump load requirement condition. When it is determined that the motor power value is less than or equal to the current pump power value, it is determined that the motor output torque of the target excavator does not meet the preset hydraulic pump load requirement condition.

8. An intelligent control device for a hydraulic pump in an excavator, characterized in that, The device includes: The determination module is used to determine the hydraulic pump pressure information and hydraulic pump displacement information of the target excavator, and to determine the motor speed information of the target excavator; The anomaly detection module is used to determine whether the target excavator meets the preset load anomaly conditions based on the hydraulic pump pressure information, the hydraulic pump displacement information and the motor speed information. The operation control module is used to perform corresponding operation control operations on the target excavator based on the hydraulic pump pressure information and the hydraulic pump displacement information when the anomaly judgment module determines that the target excavator meets the load anomaly conditions.

9. An intelligent control device for a hydraulic pump in an 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 intelligent control method for the hydraulic pump of an 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 intelligent control method for the hydraulic pump of an excavator as described in any one of claims 1-7.

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