Work machine support turning control method and device, work machine, and storage medium

Abstract

The application discloses a work machine supporting steering control method and device, a work machine and a storage medium, and belongs to the technical field of work machine control. The method comprises the following steps: acquiring a work arm first supporting pressure and a pedal opening degree, the work arm first supporting pressure being used for representing whether the work arm enters a supporting state; determining whether a supporting steering working condition is entered according to the work arm first supporting pressure and the pedal opening degree; after entering the supporting steering working condition, issuing a hydraulic lock release instruction, the hydraulic lock release instruction being used for controlling the hydraulic lock release; acquiring a slewing control signal, and steering according to the slewing control signal until parking. After identifying that the supporting steering working condition is entered, the hydraulic lock release instruction is directly issued to release the hydraulic lock, so that the user does not need to operate a slewing handle to release the hydraulic lock, avoiding the situation that the user forgets to release the hydraulic lock and steers under the locked condition, and the locked system and a speed reducer are damaged due to the fact that the user gets off and walks to drive the slewing.

Description

Technical Field

[0001] This application relates to the field of work machinery control technology, specifically to a work machinery support and steering control method, a work machinery support and steering control device, a work machinery, and a machine-readable storage medium. Background Technology

[0002] Construction machinery is an important component of the equipment manufacturing industry. In general terms, construction machinery refers to the mechanical equipment necessary for comprehensive mechanized construction projects, including earthmoving, road construction and maintenance, mobile lifting and loading operations, and various building projects.

[0003] Excavators are typical working machines, and one of their special actions is support steering. Support steering is an operation in which the working arm assists the tracks to complete the steering operation. It is usually used for working in narrow spaces or scenarios that require precise steering. When an excavator needs to turn on the spot, the support steering operation can quickly rotate the traveling block to a certain angle, thereby changing the working area.

[0004] Traditional excavator swing bearings rely solely on signals from the travel pedal and swing handle for control, making it impossible to accurately determine the operator's intention to swing the bearing. Furthermore, operational errors during swinging can easily damage components such as the reducer. Summary of the Invention

[0005] The purpose of this application is to provide a method, device, machine, and storage medium for controlling the steering of work machinery, in order to solve the technical problem that the slewing support in the prior art relies solely on the signals of the travel pedal and the slewing handle for control, which makes it impossible to accurately determine the driver's intention to support the steering action, and that the reduction gear and other components are easily damaged due to operational errors during the steering process.

[0006] To achieve the above objectives, the first aspect of this application provides a method for supporting and steering machinery, the method comprising: The first support pressure of the working arm and the pedal opening are obtained. The first support pressure of the working arm is used to characterize whether the working arm has entered the support state. Whether to enter the support steering mode is determined based on the first support pressure of the working arm and the pedal opening. After entering the support steering mode, a hydraulic locking release command is issued, which is used to control the release of the hydraulic locking. Obtain the slewing control signal and steer according to the slewing control signal until the vehicle stops.

[0007] Based on the aforementioned technical means, this method uses the first support pressure of the boom and the pedal opening to determine whether the support steering condition has been entered. During the support steering process, the boom descends to the ground and continues to descend, lifting the end of the machine closest to the boom off the ground. At this time, the boom pressure remains high, and the pedal opening indicates that the driver is performing this support steering operation. Based on this, the support steering can be accurately identified according to the first support pressure of the boom and the pedal opening. After identifying the entry into the support steering condition, a command to release the hydraulic lock is directly issued to release the hydraulic lock, eliminating the need for the user to operate the slewing handle to release the hydraulic lock. This avoids the user forgetting to manually release the hydraulic lock and attempting to turn while the lock is engaged, which could lead to damage to the locking system and reducer due to the user getting off the vehicle and driving the slewing mechanism. This optimizes the operability during support steering.

[0008] In some feasible embodiments, the first support pressure of the boom includes the pressure of the first hydraulic cylinder of the boom; the step of determining whether to enter the support steering mode based on the first support pressure of the boom and the pedal opening includes: Determine whether the pressure of the first hydraulic cylinder of the boom is greater than or equal to the pressure threshold. If the pressure of the first cylinder of the boom is greater than or equal to the pressure threshold, determine whether the pedal opening is greater than or equal to the opening threshold. If the pedal opening is greater than or equal to the opening threshold, the system is determined to enter the support steering mode.

[0009] Based on the aforementioned technical means, the pressure of the first hydraulic cylinder of the boom is used to determine the support steering condition. During support steering, the boom descends to the ground and then continues to descend to lift the end of the machine closest to the boom off the ground. At this time, the hydraulic oil in the boom cylinder will enter a pressurized state. Even if the boom descent operation is not continued, the pressure value of the boom cylinder will remain above a certain threshold. Therefore, the pressure of the first hydraulic cylinder of the boom can be used to accurately determine whether the boom is on the ground. When the boom is on the ground, the user can then press the pedal to open it to a certain degree, which can accurately detect the driver's support steering intention. This prevents the controller from relying solely on the combined action of the pedal and the slewing handle to determine support steering, which could lead to misjudgment and steering action, causing damage to the reducer.

[0010] In some feasible embodiments, the slewing control signal includes a steering travel signal, and the step of steering according to the slewing control signal until stopping includes: The system detects the steering and travel signals generated by the pedals and controls the travel mechanism to move based on the steering and travel signals, thereby driving the entire vehicle to rotate. Continuously monitor whether the steering and driving signals have terminated; After detecting the termination of the steering travel signal, the control travel mechanism stops.

[0011] According to the above technical means, during the steering process, if only the pedal is pressed, the vehicle can be driven by walking. After the user presses the pedal, the pedal opening corresponds to the walking signal. When the user presses only one side of the pedal, only the walking mechanism on that side moves, and the whole vehicle is driven to rotate around the stationary side. When the user presses both pedals in the opposite direction, one side of the walking mechanism moves forward and the other side moves backward, and the whole vehicle is driven to rotate. When the user releases the pedal, the pedal returns to the initial position, the steering walking signal ends, the walking mechanism stops, and accurate steering after getting off the vehicle is achieved.

[0012] In some feasible embodiments, the slewing control signal includes an upper vehicle slewing signal, and the step of steering according to the slewing control signal until stopping includes: The upper carriage rotation signal generated by the slewing handle is detected, and the slewing motor is controlled to operate according to the upper carriage rotation signal. Continuously monitor whether the vehicle rotation signal has terminated; After detecting the termination of the upper vehicle slewing signal, control the slewing motor to brake and stop.

[0013] Based on the aforementioned technical means, during the steering process, since the end of the working machinery closer to the boom is supported off the ground, and the upper vehicle is fixed to the boom, the upper vehicle cannot rotate and becomes a fixed end when the boom is on the ground, while the lower vehicle is semi-suspended and becomes a free end. At this time, pulling the slewing handle generates a slewing signal for the upper vehicle, controlling the slewing motor to operate, and the lower vehicle will be driven to rotate by the slewing motor. If the slewing handle is pulled while the pedal is pressed, the lower vehicle will be driven to rotate by both the traveling mechanism and the slewing motor, achieving a superposition of two steering methods. Within the same time frame, a larger rotation angle can be achieved, shortening the steering time.

[0014] In some feasible embodiments, controlling the rotary motor to brake and stop includes: A support steering braking command is issued to the rotary motor. The support steering braking command is used to control the rotary braking torque to increase from zero to a target value within a first preset time, and to decrease to zero after a second preset time after successful braking.

[0015] Based on the above technical means, during the parking process, the slewing braking torque increases to the target value within the first preset time, which can control the slewing motor to quickly reduce its speed to zero. This prevents the slewing motor from still having speed after the working machinery returns to a level state due to the slewing motor speed decreasing too slowly. At this time, the lower vehicle is in contact with the ground and cannot rotate, becoming a fixed end, while the upper vehicle becomes a free end, causing the slewing motor to continue driving the upper vehicle to rotate. At the same time, after braking is completed, the slewing braking torque is maintained for the second preset time, avoiding the need for secondary control to stop.

[0016] In some feasible embodiments, after steering according to the turn control signal until stopping, the method further includes: Acquire the second support pressure of the working arm and the working arm motion signal; Determine whether to exit the support steering mode based on the second support pressure of the boom and the boom action signal.

[0017] Based on the above technical means, when the boom rises and no longer supports the ground, the second support pressure of the boom will also change accordingly. By detecting the boom's movement and the second support pressure, it can be determined whether to exit the support and turning mode. This can avoid misjudgment caused by judging the working condition solely based on the second support pressure data of the boom, such as misjudgment caused by abnormal second support pressure data of the boom.

[0018] In some feasible embodiments, the second support pressure of the boom includes the pressure of the second hydraulic cylinder of the boom; determining whether to exit the support steering mode based on the second support pressure of the boom and the boom action signal includes: Determine if the pressure in the second hydraulic cylinder of the boom is less than the pressure threshold. If the pressure of the second cylinder of the boom is less than the pressure threshold, and the boom action signal indicates that the boom is rising, then the support steering mode is discontinued.

[0019] Based on the above technical means, when disengaging from the support steering mode, the pressure of the boom cylinder begins to decrease as the boom rises until it no longer supports the ground and continues to rise. Therefore, by combining the second support pressure of the boom and the boom action signal to determine whether to disengage from the support steering mode, it is possible to avoid prematurely disengaging from the support steering mode or mistakenly disengaging from the support steering mode based on a single boom pressure change, which could cause mechanical damage when steering by operating the pedal.

[0020] A second aspect of this application provides a support and steering control device for work machinery, the support and steering control device for work machinery comprising: The first data acquisition unit is used to acquire the first support pressure of the working arm and the pedal opening, wherein the first support pressure of the working arm is used to characterize whether the working arm has entered the support state. The first working condition determination unit is used to determine whether to enter the support steering working condition based on the first support pressure of the working arm and the pedal opening. The unlocking unit is used to issue a hydraulic lock release command after entering the support steering condition, and the hydraulic lock release command is used to control the release of the hydraulic lock. The slewing control unit is used to acquire slewing control signals and steer the vehicle until it stops according to the slewing control signals.

[0021] A third aspect of this application provides a working machine, the working machine including a controller and a pressure acquisition device; The pressure acquisition device is electrically connected to the controller and is used to acquire the first support pressure and the second support pressure of the working arm. The controller is used to implement the aforementioned working machinery support steering control method.

[0022] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned work machinery support steering control method.

[0023] Through the above technical solution, this method obtains the first support pressure of the working arm and the pedal opening to determine whether the support steering condition has been entered. During the support steering process, the working arm descends to the ground and continues to descend to support the end of the working machine that is closer to the working arm off the ground. At this time, the pressure of the working arm will remain at a relatively high level. The pedal opening indicates that the driver is performing this support steering operation. Based on this, the support steering can be accurately identified according to the first support pressure of the working arm and the pedal opening. After identifying the entry into the support steering condition, a command to release the hydraulic lock is directly issued to release the hydraulic lock, eliminating the need for the user to operate the slewing handle to release the hydraulic lock. This avoids the user forgetting to manually release the hydraulic lock and attempting to steer while the lock is engaged, which could lead to damage to the reducer and other malfunctions. This optimizes the operability of support steering.

[0024] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The illustration shows a schematic flowchart of a working machinery support steering control method according to an embodiment of this application; Figure 2 The diagram schematically illustrates a structural block diagram of a work machinery support steering control device according to an embodiment of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0027] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0028] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0029] Figure 1 The illustration schematically shows a flow chart of a working machinery support steering control method according to an embodiment of this application. For example... Figure 1 As shown in the figure, this application provides a method for controlling the steering of a work machinery support, which may include the following steps.

[0030] S1: Acquire the first support pressure of the boom and the pedal opening. The first support pressure of the boom is used to characterize whether the boom has entered the supported state. The first support pressure of the boom includes the pressure of the first boom cylinder, which refers to the pressure of the boom cylinder (the cylinder in the excavator connected at one end to the upper structure and at the other end to the boom). The pressure is collected by a pressure acquisition device installed on the boom cylinder. To distinguish the boom cylinder pressure at different times, this application defines the boom cylinder pressure collected before entering the supported steering condition as the first boom cylinder pressure. The pedal opening refers to the opening data of the foot pedal, which is transmitted to the controller via the CAN bus. In this application, the first support pressure of the boom is directly obtained from the pressure acquisition device, and the pedal opening is obtained from the controller.

[0031] S2: Determine whether to enter the support steering mode based on the first support pressure of the working arm and the pedal opening.

[0032] In the existing technology, the supporting steering action can be broken down into the following three steps: Control the boom to descend to the ground, and continue descending while simultaneously supporting the working machinery; While pressing down on a single travel pedal, pull the reverse rotation handle to release the hydraulic lock and dismount to rotate in place; Release the travel pedals and slewing handle, and raise the boom to restore the balance of the machine.

[0033] Based on the above three steps, in some feasible embodiments, determining whether to enter the support steering condition based on the first support pressure of the working arm and the pedal opening includes: Determining whether the pressure of the first hydraulic cylinder of the boom is greater than or equal to a pressure threshold is crucial. In some typical embodiments, the pressure threshold can be determined through calibration. A pressure greater than or equal to the pressure threshold is the primary condition for entering the support state.

[0034] If the pressure of the first cylinder of the boom is greater than or equal to the pressure threshold, determine whether the pedal opening is greater than or equal to the opening threshold. If the pedal opening is greater than or equal to the opening threshold, the system is determined to enter the support steering mode.

[0035] In actual control, when the pressure of the first cylinder of the boom is greater than or equal to the pressure threshold, it is necessary to further determine whether the pedal has an opening on one side. If it does, then it is necessary to further determine whether the pedal opening is greater than or equal to the opening threshold. If it does not have an opening on one side, then it is necessary to further determine whether the pedals on both sides have openings in opposite directions. If so, then it is necessary to further determine whether the pedal opening is greater than or equal to the opening threshold. If both sides have openings in the same direction, then it returns to continue obtaining the first support pressure of the boom and the pedal opening.

[0036] Based on the aforementioned technical means, the pressure of the first hydraulic cylinder of the boom is used to determine the support steering condition. During support steering, the boom descends to the ground and then continues to descend to lift the end of the machine closest to the boom off the ground. At this time, the hydraulic oil in the boom cylinder will enter a pressurized state. Even if the boom descent operation is not continued, the pressure value of the boom cylinder will remain above a certain threshold. Therefore, the pressure of the first hydraulic cylinder of the boom can be used to accurately determine whether the boom is on the ground. When the boom is on the ground, the user can then press the pedal to open it to a certain degree, which can accurately detect the driver's support steering intention. This prevents the controller from relying solely on the combined action of the pedal and the slewing handle to determine support steering, which could lead to misjudgment and steering action, causing damage to the reducer.

[0037] S3: After entering the support steering mode, a hydraulic lock release command is issued. This hydraulic lock release command is used to control the release of the hydraulic lock. In this application, the hydraulic lock release command replaces the original hydraulic lock release signal generated by operating the rotary handle. After detecting the entry into the support steering mode, the hydraulic lock release command is directly issued to release the hydraulic lock, eliminating the need for the user to operate the rotary handle. This avoids the user forgetting to manually release the hydraulic lock and attempting to steer while the vehicle is locked, which could lead to damage to the locking system and reducer due to dismounting and walking. This optimizes the operability during support steering.

[0038] S4: Obtain the slewing control signal and steer according to the slewing control signal until the vehicle stops.

[0039] In some feasible embodiments, the slewing control signal includes a steering travel signal, and the step of steering according to the slewing control signal until stopping includes: The system detects the steering and travel signals generated by the pedals and controls the travel mechanism to move based on the steering and travel signals, thereby driving the entire vehicle to rotate. Continuously monitor whether the steering and driving signals have terminated; Upon detecting the termination of the steering travel signal, the control travel mechanism stops. In this embodiment, the steering travel signal refers to a travel signal that enables the working machinery to turn in place, typically a unilateral travel signal or a signal that controls one side to move forward while the other side moves backward.

[0040] In the slewing operation, the hydraulic lock is first released. At this point, pressing either pedal will cause the corresponding traveling mechanism to move, while the other side will not. The traveling side will rotate around the non-traveling side, thus achieving steering. In some embodiments, the driver can simultaneously press both pedals in opposite directions, causing one traveling mechanism to move forward and the other backward, thus rotating the entire vehicle.

[0041] During the supported steering process, if only the pedal is pressed, the vehicle can be driven by walking, and steering is achieved simply by dismounting. After the user presses the pedal, the pedal opening corresponds to the walking signal. When the user presses only one pedal, only that side's walking mechanism moves, causing the entire vehicle to rotate around its stationary side. When the user presses both pedals in the opposite direction, one side of the walking mechanism moves forward while the other moves backward, causing the entire vehicle to rotate. When the user releases the pedal, the pedal returns to its initial position, the steering walking signal terminates, and the walking mechanism stops, achieving accurate dismounting and steering. Because it is not necessary to pull the slewing handle to release the hydraulic lock, under supported steering conditions, dismounting and steering can be performed simply by pressing the pedal, without generating a zero-speed command to inhibit walking and steering.

[0042] In some other feasible embodiments, the slewing control signal includes an upper vehicle slewing signal, and the step of steering according to the slewing control signal until stopping includes: The upper carriage rotation signal generated by the slewing handle is detected, and the slewing motor is controlled to operate according to the upper carriage rotation signal. Continuously monitor whether the vehicle rotation signal has terminated; After detecting the termination of the upper vehicle slewing signal, control the slewing motor to brake and stop.

[0043] In the slewing operation, because the end of the working machine closest to the boom is supported off the ground, and the upper carriage is fixed to the boom, the upper carriage cannot rotate and becomes the fixed end when the boom is on the ground, while the lower carriage is semi-suspended and becomes the free end. At this time, pulling the slewing handle generates a slewing signal for the upper carriage, controlling the slewing motor to operate, and the lower carriage will be driven to rotate by the slewing motor. If the slewing handle is pulled while the pedal is pressed, the lower carriage will be driven to rotate by both the traveling mechanism and the slewing motor, achieving superimposed steering. Within the same time frame, a larger rotation angle can be achieved, shortening the steering time.

[0044] In some feasible embodiments, controlling the rotary motor to brake and stop includes: A support steering braking command is issued to the rotary motor. This command controls the rotary braking torque to increase from zero to a target value within a first preset time, and then decrease to zero after a second preset time following successful braking. In this embodiment, the first preset time is greater than the minimum time for the torque to increase from zero to the target value, but less than the time set in the prior art for the rotary braking torque to increase from zero to the target value. For example, assuming the minimum time set in the prior art for the rotary braking torque to increase from zero to the target value is 2 seconds, and the minimum time for the torque to increase from zero to the target value is 0.5 seconds, the first preset time can be set to 1 second. The second preset time is greater than the rotary braking torque withdrawal time set in the prior art.

[0045] Based on the aforementioned technical means, during the parking process, the slewing braking torque increases to the target value within a shorter first preset time, which can control the slewing motor to quickly reduce its speed to zero. This prevents the slewing motor from still having speed after the working machinery returns to a level state due to the slewing motor speed decreasing too slowly. At this time, the lower vehicle is in contact with the ground and cannot rotate, becoming a fixed end, while the upper vehicle becomes a free end, causing the slewing motor to continue driving the upper vehicle to rotate. At the same time, after braking is completed, the slewing braking torque is maintained for a longer second preset time, avoiding the need for secondary control to stop the machine.

[0046] Based on the aforementioned technical means, this method uses the first support pressure of the working arm and the pedal opening to determine whether the work has entered the support steering mode. During the support steering process, the working arm descends to the ground and continues to descend, lifting the end of the working machine closest to the working arm off the ground. At this time, the pressure of the working arm will remain at a relatively high level. The pedal opening indicates whether the pedal has a tendency to generate a dismounting and turning signal. Based on this, the support steering can be accurately identified according to the first support pressure of the working arm and the pedal opening. After identifying the entry into the support steering mode, a command to release the hydraulic lock is directly issued to release the hydraulic lock, eliminating the need for the user to operate the turn handle to release the hydraulic lock. This avoids the user forgetting to manually release the hydraulic lock and turning while the lock is engaged, which could lead to damage to the locking system and reducer due to dismounting and turning. This optimizes the operability during support steering.

[0047] In some feasible embodiments, after steering according to the turn control signal until stopping, the method further includes: S5: Acquire the second support pressure of the boom and the boom movement signal. In this embodiment, the second support pressure of the boom includes the pressure of the second hydraulic cylinder of the boom, which also refers to the pressure of the boom cylinder. This pressure is acquired by a pressure acquisition device installed on the boom cylinder. In this application, the boom cylinder pressure acquired after slewing and stopping, used to determine whether the support steering condition has been discontinued, is defined as the second hydraulic cylinder pressure of the boom. The boom movement signal includes the boom raising signal, which can be the tilt angle of the boom. Whether the boom has raised is determined based on the change pattern of the boom tilt angle.

[0048] S6: Determine whether to exit the support steering mode based on the second support pressure of the boom and the boom action signal.

[0049] In some feasible embodiments, determining whether to exit the support steering mode based on the second support pressure of the boom and the boom motion signal includes: Determine if the pressure in the second hydraulic cylinder of the boom is less than the pressure threshold. If the pressure of the second cylinder of the boom is less than the pressure threshold, and the boom action signal indicates that the boom is rising, then the support steering mode is discontinued.

[0050] Based on the above technical means, when the boom rises and no longer supports the ground, the second support pressure of the boom will also change accordingly. By detecting the boom's movement and the second support pressure, it can be determined whether to exit the support and turning mode. This can avoid misjudgment caused by judging the working condition solely based on the second support pressure data of the boom, such as misjudgment caused by abnormal second support pressure data of the boom.

[0051] When disengaging from the support steering mode, as the boom rises, the pressure in the boom cylinder begins to decrease until it no longer supports the ground and continues to rise. Therefore, by combining the second support pressure of the boom with the boom action signal to determine whether to disengage from the support steering mode, it is possible to avoid prematurely disengaging from the support steering mode or mistakenly disengaging from the support steering mode based on a single boom pressure change, which could cause mechanical damage when steering by operating the pedals.

[0052] In some feasible embodiments, after determining that the support steering condition has been exited, a hydraulic locking command is issued. This hydraulic locking command is used to control the hydraulic locking of the vehicle, eliminating the need for manual locking by pulling the slewing handle and simplifying the operation.

[0053] The second aspect of this application provides a working machinery support steering control device, such as... Figure 2 As shown, the working machinery support steering control device includes: The first data acquisition unit is used to acquire the first support pressure of the working arm and the pedal opening, wherein the first support pressure of the working arm is used to characterize whether the working arm has entered the support state. The first working condition determination unit is used to determine whether to enter the support steering working condition based on the first support pressure of the working arm and the pedal opening. The unlocking unit is used to issue a hydraulic lock release command after entering the support steering condition, and the hydraulic lock release command is used to control the release of the hydraulic lock. The slewing control unit is used to acquire slewing control signals and steer the vehicle until it stops according to the slewing control signals.

[0054] In some feasible embodiments, the first support pressure of the working arm includes the pressure of the first hydraulic cylinder of the boom, and the first working condition determination unit is specifically used for: Determine whether the pressure of the first hydraulic cylinder of the boom is greater than or equal to the pressure threshold. If the pressure of the first cylinder of the boom is greater than or equal to the pressure threshold, determine whether the pedal opening is greater than or equal to the opening threshold. If the pedal opening is greater than or equal to the opening threshold, the system is determined to enter the support steering mode.

[0055] In some feasible embodiments, the slewing control signal includes a steering travel signal, and the slewing control unit is specifically used for: The system detects the steering and travel signals generated by the pedals and controls the travel mechanism to move based on the steering and travel signals, thereby driving the entire vehicle to rotate. Continuously monitor whether the steering and driving signals have terminated; After detecting the termination of the steering travel signal, the control travel mechanism stops.

[0056] In some feasible embodiments, the slewing control signal includes an upper vehicle slewing signal, and the slewing control unit is specifically used for: The upper carriage rotation signal generated by the slewing handle is detected, and the slewing motor is controlled to operate according to the upper carriage rotation signal. Continuously monitor whether the vehicle rotation signal has terminated; After detecting the termination of the upper vehicle slewing signal, control the slewing motor to brake and stop.

[0057] The control of the rotary motor to brake and stop includes: A support steering braking command is issued to the rotary motor. The support steering braking command is used to control the rotary braking torque to increase from zero to a target value within a first preset time, and to decrease to zero after a second preset time after successful braking.

[0058] In some feasible embodiments, the work machinery support steering control device further includes: The second data acquisition unit is used to acquire the second support pressure of the working arm and the working arm action signal; The second working condition determination unit is used to determine whether to exit the support steering working condition based on the second support pressure of the working arm and the working arm action signal.

[0059] In one feasible embodiment, the first data acquisition unit and the second data acquisition unit can be combined into one data acquisition unit. Before entering the support steering condition, this data acquisition unit acquires the first support pressure of the working arm and the pedal opening. After stopping, it acquires the second support pressure of the working arm and the working arm movement signal. The first working condition determination unit and the second working condition determination unit can also be combined into one working condition determination unit. Before entering the support steering condition, this working condition determination unit determines whether to enter the support steering condition based on the first support pressure of the working arm and the pedal opening. After stopping, it determines whether to exit the support steering condition based on the second support pressure of the working arm and the working arm movement signal.

[0060] In some feasible embodiments, the second support pressure of the boom includes the pressure of the second hydraulic cylinder of the boom; the second working condition determination unit is specifically used for: Determine if the pressure in the second hydraulic cylinder of the boom is less than the pressure threshold. If the pressure of the second cylinder of the boom is less than the pressure threshold, and the boom action signal indicates that the boom is rising, then the support steering mode is discontinued.

[0061] A third aspect of this application provides a working machine, the working machine including a controller and a pressure acquisition device; The pressure acquisition device is electrically connected to the controller and is used to acquire the first support pressure and the second support pressure of the working arm; in a typical embodiment, the pressure acquisition device is a pressure sensor, which is installed on the boom cylinder.

[0062] The controller is used to implement the aforementioned working machinery support steering control method.

[0063] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned work machinery support steering control method.

[0064] The following description uses an electric rotary excavator as an example to illustrate the work machinery support steering control method of this application.

[0065] The electric swing excavator uses a swing motor to drive a reducer as the power to drive the upper excavator to rotate. When the electronic handle is operated to request swing, the swing motor acts as the driving force, which drives the upper excavator to rotate through the reducer. The vehicle controller controls the motor controller to drive the swing motor to achieve the steering of the excavator.

[0066] A particularly unique working condition for excavators is supporting steering. Conventional methods often result in slow turning and stopping, and a lag in turning and stopping at the end of the working condition.

[0067] When the excavator needs to turn in place, the support steering operation can quickly rotate the travel section to a certain angle. During support steering, the boom is lowered to the ground and continues to lower to support the excavator, suspending the front end of the track chain. At this time, the pressure in the boom cylinder will remain at a relatively high level. Adding a pressure sensor to the boom cylinder to detect the pressure can be used as one of the conditions for support and rotation. At the same time, based on the travel and rotation movement status, the support steering state can be accurately located.

[0068] The electric slewing system mainly includes the following components: slewing motor, reducer, vehicle control unit (VCU), motor controller, data acquisition sensors, and actuators; the entire system is connected to the same CAN bus to achieve data communication.

[0069] When the driver performs a slewing maneuver, the action can be broken down into the following three steps: 1. Control the boom to descend to the ground, and continue to descend while supporting the excavator; 2. While pressing down on a single travel pedal, pull the reverse swing handle to get off the vehicle and turn it around in place; 3. Release the travel pedal and the swing handle, raise the boom to restore the excavator to balance.

[0070] The main data acquisition components include the following: Electric handle: Receives data from the driver's handle operation and transmits it to the controller via the CAN bus; Electric pedals: Receive data from the driver's pedals and transmit it to the controller via the CAN bus; Pressure sensor: Collects pressure data from the boom cylinder; Solenoid valve: controls the rotary hydraulic unlocking mechanism.

[0071] Since the driver's intention to support and steer cannot be accurately determined by relying solely on the signals from the travel pedal and the swing handle, a pressure sensor is installed on the boom cylinder for detection. When supporting the steering, the hydraulic oil in the boom cylinder will enter a state of pressure buildup. At this time, even if the boom lowering operation is not continued, the pressure value of the boom cylinder will be above a certain threshold. By using the detected boom cylinder pressure value and pedal signal together as the judgment conditions, the driver's support steering intention can be accurately detected, preventing the controller from making misjudgments and taking control based solely on the detection of composite actions.

[0072] Once the system detects that the steering is in a support-steering state, the controller implements a support-steering control strategy, performing a series of operations such as hydraulic brake unlocking and control.

[0073] When the vehicle control unit (VCU) detects that the boom cylinder pressure is greater than the threshold, this is the primary condition for entering the support state. If the electric foot pedal opening is detected to be greater than the threshold, the condition for support steering is met, and the support steering condition processing begins. Immediately release the hydraulic lock to prevent the vehicle from rotating and damaging the locking system and reducer if the driver gets off and walks. During the steering process, the rotary motor normally processes the signals from the rotary handle and controls the rotary motor to perform its actions. When the VCU detects that the electronic pedals and slewing handle have returned to their initial state, it determines that the support steering has stopped and enters the parking phase. During the slewing and stopping phase, the VCU issues a rapid stop command to the slewing motor control, and the motor outputs a large torque to brake, stop the vehicle, and recover the slewing energy.

[0074] Since the track travel provides a driving assist to make the upper vehicle rotate, the rotation speed will be pulled up rapidly, and there is a risk of rotating by only pressing the travel pedal. Therefore, a supporting steering mode is set. In this mode, the zero speed command sent can prevent the travel from inhibiting the steering.

[0075] When approaching a stop, a rapid torque clearing strategy (providing large braking torque) is employed, and the slewing motor is controlled to quickly reduce its speed to zero. This prevents the excavator from continuing to drive the upper vehicle to slew when it returns to level ground due to the motor speed decreasing too slowly.

[0076] After the working arm is raised and the pressure value of the working arm cavity is lower than the threshold, the support steering condition control is discontinued.

[0077] This method uses the first support pressure of the boom and the pedal opening to determine whether the machine has entered the support steering mode. During the support steering process, the boom descends to the ground and continues to descend, lifting the end of the machine closest to the boom off the ground. At this time, the boom pressure remains high. The pedal opening indicates that the driver is performing this support steering operation. Based on this, the support steering can be accurately identified by the first support pressure of the boom and the pedal opening. After identifying the support steering mode, a command to release the hydraulic lock is directly issued to release the hydraulic lock, eliminating the need for the user to operate the slewing handle to release the hydraulic lock. This avoids the user forgetting to manually release the hydraulic lock and attempting to steer while the machine is locked, which could lead to damage to the reducer and other malfunctions. This optimizes the operability of support steering.

[0078] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0079] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0080] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0081] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0082] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0083] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0084] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0085] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0086] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the steering of work machinery, characterized in that, The operating machinery support steering control method includes: The first support pressure of the working arm and the pedal opening are obtained. The first support pressure of the working arm is used to characterize whether the working arm has entered the support state. Whether to enter the support steering mode is determined based on the first support pressure of the working arm and the pedal opening. After entering the support steering mode, a hydraulic locking release command is issued, which is used to control the release of the hydraulic locking. Obtain the slewing control signal and steer according to the slewing control signal until the vehicle stops; The first support pressure of the boom includes the pressure of the first hydraulic cylinder of the boom; determining whether to enter the support steering mode based on the first support pressure of the boom and the pedal opening includes: Determine whether the pressure of the first hydraulic cylinder of the boom is greater than or equal to the pressure threshold. If the pressure of the first cylinder of the boom is greater than or equal to the pressure threshold, determine whether the pedal opening is greater than or equal to the opening threshold. If the pedal opening is greater than or equal to the opening threshold, the system is determined to enter the support steering mode.

2. The working machinery support steering control method according to claim 1, characterized in that, The slewing control signal includes a steering travel signal, and the step of steering according to the slewing control signal until stopping includes: The system detects the steering and travel signals generated by the pedals and controls the travel mechanism to move based on the steering and travel signals, thereby driving the entire vehicle to rotate. Continuously monitor whether the steering and driving signals have terminated; After detecting the termination of the steering travel signal, the control travel mechanism stops.

3. The working machinery support steering control method according to claim 1 or 2, characterized in that, The slewing control signal includes an upper vehicle slewing signal, and the step of turning according to the slewing control signal until stopping includes: The upper carriage rotation signal generated by the slewing handle is detected, and the slewing motor is controlled to operate according to the upper carriage rotation signal. Continuously monitor whether the vehicle rotation signal has terminated; After detecting the termination of the upper vehicle slewing signal, control the slewing motor to brake and stop.

4. The working machinery support steering control method according to claim 3, characterized in that, The control of the rotary motor to brake and stop includes: A support steering braking command is issued to the rotary motor. The support steering braking command is used to control the rotary braking torque to increase from zero to a target value within a first preset time, and to decrease to zero after a second preset time after successful braking.

5. The working machinery support steering control method according to claim 1, characterized in that, After steering according to the stated turn control signal until stopping, the method further includes: Acquire the second support pressure of the working arm and the working arm motion signal; Determine whether to exit the support steering mode based on the second support pressure of the boom and the boom action signal.

6. The working machinery support steering control method according to claim 5, characterized in that, The second support pressure of the boom includes the pressure of the second hydraulic cylinder of the boom; Determine whether to exit the support steering mode based on the second support pressure of the boom and the boom motion signal, including: Determine if the pressure in the second hydraulic cylinder of the boom is less than the pressure threshold. If the pressure of the second cylinder of the boom is less than the pressure threshold, and the boom action signal indicates that the boom is rising, then the support steering mode is discontinued.

7. A working machinery support steering control device, characterized in that, The working machinery support steering control device includes: The first data acquisition unit is used to acquire the first support pressure of the working arm and the pedal opening, wherein the first support pressure of the working arm is used to characterize whether the working arm has entered the support state. The first working condition determination unit is used to determine whether to enter the support steering working condition based on the first support pressure of the working arm and the pedal opening. The unlocking unit is used to issue a hydraulic lock release command after entering the support steering condition, and the hydraulic lock release command is used to control the release of the hydraulic lock. A slewing control unit is used to acquire slewing control signals and steer the vehicle until it stops according to the slewing control signals; The first support pressure of the working arm includes the pressure of the first hydraulic cylinder of the boom; the first working condition determination unit is specifically used for: Determine whether the pressure of the first hydraulic cylinder of the boom is greater than or equal to the pressure threshold. If the pressure of the first cylinder of the boom is greater than or equal to the pressure threshold, determine whether the pedal opening is greater than or equal to the opening threshold. If the pedal opening is greater than or equal to the opening threshold, the system is determined to enter the support steering mode.

8. A type of operating machinery, characterized in that, The operating machinery includes a controller and a pressure acquisition device; The pressure acquisition device is electrically connected to the controller and is used to acquire the first support pressure and the second support pressure of the working arm. The controller is used to implement the working machinery support steering control method according to any one of claims 1 to 6.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the work machinery support steering control method as described in any one of claims 1 to 6.

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