Control method and device for work machine, excavator, storage medium

Abstract

The present disclosure relates to the technical field of engineering, and particularly relates to a control method and device of a working machine, an excavator and a storage medium. The control method of the working machine comprises the following steps: determining a target flow of a pump corresponding to a swing arm in the working machine according to a received control signal; and controlling an actual flow of the pump by controlling at least one of the pump, a flow control device corresponding to the pump and an engine corresponding to the pump according to the target flow and a load pressure of the swing arm.

Description

Technical Field

[0001] This disclosure relates to the field of engineering technology, and in particular to a control method and device for operating machinery, an excavator, and a storage medium. Background Technology

[0002] With the development of engineering technology, the working modes of construction machinery such as excavators are becoming more and more diverse, often requiring the switching between multiple tools to complete more varied engineering tasks.

[0003] However, the relevant technologies cannot accurately control the working machinery after the load on the boom changes, resulting in poor operability of the working machinery. Summary of the Invention

[0004] In view of this, the present disclosure provides a control method and device for operating machinery, an excavator, and a storage medium. After receiving a control signal input by a user, the target flow rate of the pump is determined, and the pump, flow control device, or engine in the operating machinery is used for control to ensure that the actual flow rate of the pump meets the target flow rate, so that the boom can operate in the manner expected by the user, avoid the influence of load changes, and improve the operability of the operating machinery.

[0005] According to a first aspect of this disclosure, a control method for a work machinery is provided, comprising: determining a target flow rate of a pump corresponding to the boom in the work machinery based on a received control signal; and controlling the actual flow rate of the pump by controlling at least one of the pump, a flow control device corresponding to the pump, and an engine corresponding to the pump, based on the target flow rate and the load pressure of the boom.

[0006] In some embodiments, determining the target flow rate of the pump corresponding to the boom in the working machinery based on the received control signal includes: determining the target speed of the boom based on the received control signal, wherein the control signal is determined based on at least one of displacement and angle of the controller of the working machinery; and determining the target flow rate of the pump corresponding to the boom in the working machinery based on the target speed.

[0007] In some embodiments, determining the target speed of the boom based on the received control signal includes: determining the target speed based on the correlation between at least one of the displacement and angle of the controller and the speed of the boom, wherein the correlation is determined based on at least one of the historical operating data of the working machinery, the implement type of the working machinery, and the preset speed threshold of the boom.

[0008] In some embodiments, controlling the actual flow rate of the pump by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump, based on the target flow rate and the load pressure of the boom, includes: controlling the actual flow rate of the pump to conform to the target flow rate by controlling the flow control device based on the difference between the current pressure of the pump and the load pressure, and the target flow rate.

[0009] In some embodiments, controlling the actual flow rate of the pump by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump, based on the target flow rate and the load pressure of the boom, includes: controlling the actual flow rate of the pump to conform to the target flow rate by controlling the displacement of the pump based on the target flow rate, the load pressure, and the engine speed.

[0010] In some embodiments, controlling the actual flow rate of the pump by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump, based on the target flow rate and the load pressure of the boom, includes: controlling the actual flow rate of the pump to conform to the target flow rate by controlling the speed and torque of the engine, based on the target flow rate and the load pressure.

[0011] In some embodiments, controlling the actual flow rate of the pump by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump, based on the target flow rate and the load pressure of the boom, includes: determining the target displacement of the pump and the target speed and target torque of the engine based on the target flow rate and the load pressure, so that the efficiency of the engine and the pump is maximized; and controlling the actual flow rate of the pump to conform to the target flow rate by controlling the pump, the flow control device, and the engine based on the target displacement, the target speed, and the target torque.

[0012] In some embodiments, the control method further includes: determining the load pressure of the boom based on the calibrated pressure of the pump, wherein the calibrated pressure is determined when the working machine is operating under preset working conditions, the preset working conditions including at least one of the boom being horizontally raised and the pump flow rate being at a minimum flow rate.

[0013] In some embodiments, determining the load pressure of the boom based on the pump's calibrated pressure includes: determining the load pressure of the boom based on the calibrated pressure according to the correlation between the pump pressure and the boom's load pressure, wherein the correlation is determined by fitting different pressures of the pump corresponding to different load pressures.

[0014] In some embodiments, determining the load pressure of the boom based on the pump's calibrated pressure includes: determining the load pressure of the boom based on the ratio of the pump's calibrated pressure to a preset value of the calibrated pressure, wherein the preset value of the calibrated pressure corresponds to a preset value of the boom's load pressure.

[0015] In some embodiments, the pump is a hydraulic pump; and / or the flow control device is an adjustable regulating valve; and / or the working machine is an excavator.

[0016] According to a second aspect of this disclosure, a control device for a work machinery is provided, comprising: a determining module configured to determine a target flow rate of a pump corresponding to a boom in the work machinery based on a received control signal; and a control module configured to control the actual flow rate of the pump by controlling at least one of the pump, a flow control device corresponding to the pump, and an engine corresponding to the pump, based on the target flow rate and the load pressure of the boom.

[0017] According to a third aspect of this disclosure, a control device for a work machine is provided, comprising: at least one memory; and at least one processor coupled to the at least one memory, the at least one processor being configured to execute a control method as described in any embodiment of this disclosure based on instructions stored in the at least one memory.

[0018] According to a fourth aspect of this disclosure, an excavator is provided, including a control device as described in any embodiment of this disclosure.

[0019] According to a fifth aspect of this disclosure, a computer-readable storage medium is provided that stores computer instructions thereon, which, when executed by a processor, implement the control method as described in any embodiment of this disclosure.

[0020] According to a sixth aspect of this disclosure, a computer program product is provided that, when run on a computer, causes the computer to implement the control method as described in any embodiment of this disclosure. Attached Figure Description

[0021] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0022] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0023] Figure 1 A flowchart illustrating a control method according to some embodiments of the present disclosure is shown;

[0024] Figure 2A flowchart illustrating the process of determining target traffic according to some embodiments of the present disclosure is shown;

[0025] Figure 3 A schematic diagram illustrating the relationship between the displacement of a controller and the boom speed according to some embodiments of the present disclosure;

[0026] Figure 4 A flowchart illustrating a control method according to other embodiments of the present disclosure is shown;

[0027] Figure 5 A schematic diagram illustrating the relationship between calibration pressure and load pressure according to some embodiments of the present disclosure;

[0028] Figure 6 A schematic diagram illustrating the control effects according to some embodiments of the present disclosure is provided.

[0029] Figure 7 A block diagram showing a control device for a work machine according to some embodiments of the present disclosure;

[0030] Figure 8 A block diagram of a control device for a work machine according to other embodiments of the present disclosure is shown;

[0031] Figure 9 This is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure.

[0032] It should be understood that the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components. Detailed Implementation

[0033] Various embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the embodiments are merely illustrative and are in no way intended to limit the scope of the disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps set forth in these embodiments should be interpreted as merely illustrative and not as limiting.

[0034] The terms “first,” “second,” and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as “including” mean that the element preceding the word covers the element listed after the word, and do not exclude the possibility of covering other elements as well.

[0035] It should also be understood that any component, data or structure mentioned in the embodiments of this disclosure can generally be understood as one or more unless expressly defined or given to the contrary in the context.

[0036] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0037] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0038] In traditional mechanical control processes, it is impossible to accurately control the operating machinery after the load on the boom changes, resulting in poor operability of the operating machinery.

[0039] In view of this, this disclosure proposes a control method and device for operating machinery, an excavator, and a storage medium, which can improve the operability of the operating machinery.

[0040] First, combined Figure 1 The control methods in this disclosure are described. Figure 1 A flowchart illustrating a control method according to some embodiments of the present disclosure is shown.

[0041] like Figure 1 As shown, the control method may include: step S1, determining the target flow rate of the pump corresponding to the boom in the working machinery based on the received control signal; step S3, controlling the actual flow rate of the pump by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump based on the target flow rate and the load pressure of the boom.

[0042] The control method described above can be applied to machinery such as excavators. The pump corresponding to the boom can be, for example, a hydraulic pump. The flow control device can be, for example, an adjustable regulating valve deployed in the pump's pipeline to control the pump's flow rate.

[0043] Load pressure includes, for example, the weight of the implement connected to the boom, as well as the pressure of other loads carried by the implement. Taking the bucket of an excavator as an example of the implement connected to the boom, the load pressure includes not only the weight of the bucket itself, but also other loads carried in the bucket, such as soil.

[0044] After receiving the control signal input by the user, the target flow rate of the pump is determined, and the pump, flow control device or engine in the working machine is controlled to ensure that the actual flow rate of the pump meets the target flow rate, so that the boom can operate in the way the user expects, avoid the influence of load changes and improve the operability of the working machine.

[0045] The following section will elaborate on each step of the control method described above.

[0046] In step S1, for example, the controller of the operating machinery can receive the control signal input by the user and determine the target flow rate of the pump based on the control signal.

[0047] Since the pump's flow rate is directly related to the boom's movement speed, by determining the target flow rate for subsequent control, it can be ensured that the boom's movement speed connected to the pump is consistent with the user's expectations.

[0048] If a target power for an engine or pump is determined for subsequent control, since the power of the engine or pump is related to the product of the load pressure and flow rate, changes in the load while maintaining the target power of the engine or pump may cause a decrease in pump flow rate, which in turn leads to a decrease in the boom's movement speed, failing to meet user needs and resulting in low operability.

[0049] Figure 2 A flowchart illustrating the process of determining target traffic according to some embodiments of this disclosure is shown. Figure 2 As shown, step S1, determining the target flow rate of the pump corresponding to the boom in the working machinery based on the received control signal may include: step S11, determining the target speed of the boom based on the received control signal, wherein the control signal is determined based on at least one of the displacement and angle of the controller of the working machinery; step S12, determining the target flow rate of the pump corresponding to the boom in the working machinery based on the target speed.

[0050] In step S11, the control signal input by the user can be determined based on the displacement or angle of the controller.

[0051] The aforementioned controller refers to, for example, the boom control handle or joystick, used to control the pilot control circuit or hydraulic control circuit corresponding to boom lifting. Users can input control signals through the controller to control the operating machinery.

[0052] For example, the position or angle of the controller can be divided into multiple intervals, each corresponding to a different gear. When the controller is moved to a certain interval, the corresponding operating gear can be determined as the control signal input by the user.

[0053] After receiving the control signal, the operating speed indicated by the corresponding operating gear can be determined as the target speed of the boom.

[0054] For example, determining the target speed of the boom based on the received control signal may include: determining the target speed based on the correlation between at least one of the displacement and angle of the controller and the speed of the boom, according to the received control signal.

[0055] The aforementioned correlation can be determined based on at least one of the historical operating data of the operating machinery, the type of the operating machinery, and the preset speed threshold of the boom.

[0056] Historical operating data for construction machinery can include data specific to a particular machine or to a specific user. By analyzing this data, the optimal operating speed for each controller signal, corresponding to that specific machine or user, can be determined and set as the target speed for the boom, thereby improving the machine's maneuverability.

[0057] The implement type of a work platform refers to the type of implement connected to the boom, such as digging buckets, hydraulic breakers, and log grapples. Different boom speeds can be determined for different implement types, making the control of the work platform more compatible with the actual work scenario and improving its maneuverability.

[0058] The preset speed threshold for the boom can include the upper speed limit of the boom. For example, when the boom has multiple working positions, it can include the upper speed limit corresponding to each position. Using this threshold, it can be ensured that the target speed determined in the above embodiments will not exceed the safe working range of the boom, thereby improving operational safety.

[0059] Based on the above data, the correlation between at least one of the controller's displacement and angle and the speed of the boom can be determined, that is, the correlation between the control signal and the speed of the boom.

[0060] Examples of relationships are as follows Figure 3 As shown, Figure 3 A schematic diagram illustrating the correlation between the displacement of the controller and the boom speed according to some embodiments of the present disclosure is shown. This correlation can be determined, for example, by fitting historical data of the working machinery, or by fitting multiple preset gear sampling points.

[0061] In step S12, the target flow rate that can achieve the target speed can be determined by the correspondence between the boom speed and the pump flow rate.

[0062] Taking a hydraulic pump as an example, the speed of the boom cylinder driven by the hydraulic pump is directly proportional to the flow rate of the hydraulic pump. In other words, the higher the flow rate, the faster the boom speed, and the lower the flow rate, the slower the boom speed. The flow rate of the hydraulic pump can be determined, for example, by multiplying the cylinder speed by the area of ​​the cylinder's inlet chamber.

[0063] After determining the target speed of the boom, the target flow rate of the pump can be determined through the above correspondence, so as to achieve the target speed of the boom required during the control process.

[0064] The above text combines Figure 2 and Figure 3 The previous section explained how to determine the target flow rate of a pump. Now, we will return to... Figure 1 Next, we will introduce how to control the flow based on the target volume.

[0065] In step S3, the working machinery can be controlled according to the determined target flow rate and the actual load of the boom so that the actual flow rate of the pump matches the target flow rate.

[0066] The above control can be divided into three aspects: flow control, pump-side control, and engine control. These three aspects will be introduced in detail below.

[0067] In some embodiments, controlling the actual flow rate of the pump by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump, based on the target flow rate and the load pressure of the boom, may include: controlling the actual flow rate of the pump to conform to the target flow rate by controlling the flow control device based on the difference between the current pressure of the pump and the load pressure, and the target flow rate.

[0068] As mentioned earlier, the flow control device can be, for example, an adjustable regulating valve deployed in the pump's outlet pipeline. The operating point of the pipeline can be, for example, the intersection of the pressure-flow curve of the hydraulic pump and the pressure-flow curve of the pipeline. Therefore, the flow rate of the liquid in the pipeline can be adjusted by controlling the valve's opening area and thus adjusting the resistance applied to the liquid by the valve.

[0069] For example, when a flow rate needs to be reduced, the pressure applied to the liquid in the pipeline can be increased by reducing the valve opening area, thereby reducing the pump's actual flow rate. Similarly, when a flow rate needs to be increased, the pressure applied to the liquid can be reduced by increasing the valve opening area, thereby increasing the pump's actual flow rate.

[0070] For example, the relationship between the above parameters can be characterized as follows:

[0071] .

[0072] In the above formula, Q represents the pump flow rate. k represents a fixed coefficient that can be determined by the characteristics of the pipeline to which the pump is connected. A represents the valve opening area. P1 represents the pressure at the pump end, which can be determined by a pressure sensor deployed on the pump. P2 represents the load pressure.

[0073] After determining the valve opening area, the corresponding valve pilot control current can be determined according to a preset correspondence to control the valve. In the above embodiment, by controlling the flow control device, i.e., controlling the flow end, the actual flow rate of the pump can be controlled to conform to the target flow rate.

[0074] The previous section explained how to control flow based on target flow rate and load pressure. The following section will explain how to control the pump end based on target flow rate and load pressure.

[0075] In some embodiments, controlling the actual flow rate of the pump by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump, based on the target flow rate and the load pressure of the boom, includes: controlling the actual flow rate of the pump to conform to the target flow rate by controlling the displacement of the pump based on the target flow rate, the load pressure, and the engine speed.

[0076] In pump-side control, the controlled variable includes the pump's displacement, which is the volume of liquid that the pump can theoretically discharge per revolution. Therefore, the pump's flow rate can be expressed as the product of the pump's displacement and its rotational speed.

[0077] Since the pump's power comes from the corresponding engine, the pump's rotational speed usually corresponds directly to the engine's rotational speed. Therefore, the pump's displacement can be determined based on the target flow rate and the engine's rotational speed, ensuring that the pump's actual flow rate matches the target flow rate.

[0078] Furthermore, before determining the aforementioned displacement, the engine power can be assessed based on the boom load pressure and engine speed to determine if it exceeds the power threshold. If the engine power exceeds the power threshold, it indicates that the engine may be operating under overload. In this case, the pump displacement can be appropriately reduced to decrease the engine power and ensure mechanical safety.

[0079] The previous section explained how to control the pump based on target flow rate and load pressure. The following section will explain how to control the engine based on target flow rate and load pressure.

[0080] In some embodiments, controlling the actual flow rate of the pump by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump, based on the target flow rate and the load pressure of the boom, includes: controlling the actual flow rate of the pump to conform to the target flow rate by controlling the speed and torque of the engine, based on the target flow rate and the load pressure.

[0081] In the above embodiments, the engine can also be controlled to provide the pump with the corresponding power. For example, the engine power can be calculated and the engine controlled by setting the engine speed and torque.

[0082] For example, as mentioned earlier, since the pump is powered by the engine, the pump's rotational speed is directly related to the engine's rotational speed. To ensure that the pump's actual flow rate matches the target flow rate, the engine speed can be controlled to remain at a constant speed while keeping the pump's displacement constant.

[0083] Furthermore, changes in load pressure, or, for example, changes in pipeline pressure due to valve opening, will cause corresponding changes in the torque required by the pump. Therefore, in order to ensure that the engine speed remains at the aforementioned fixed speed, it is necessary to control the engine power accordingly, so that the torque provided by the engine can meet the changed load pressure and pipeline pressure, in order to control the actual flow rate of the pump to match the target flow rate.

[0084] The above text has introduced the control methods for flow control, pump-side control, and engine control. In addition to controlling one aspect individually, multiple aspects can also be combined for control.

[0085] In some embodiments, controlling the actual flow rate of the pump by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump, based on the target flow rate and the load pressure of the boom, includes: determining the target displacement of the pump and the target speed and target torque of the engine based on the target flow rate and the load pressure, so that the efficiency of the engine and the pump is maximized; and controlling the actual flow rate of the pump to conform to the target flow rate by controlling the pump, the flow control device, and the engine based on the target displacement, the target speed, and the target torque.

[0086] In the above embodiments, the product between the pump displacement and the engine speed can be determined based on the target flow rate. Furthermore, the difference between the engine torque and the resistance applied by the flow control device can be determined based on the load pressure.

[0087] Using the above relationships as constraints, we can determine, for example, the operating conditions that maximize the overall efficiency of the pump and engine based on the pump's characteristic diagram and the engine's characteristic diagram. We can then define the corresponding displacement, speed, and torque as the target displacement, target speed, and target torque for subsequent control, thereby improving the overall efficiency of the machinery while meeting control requirements.

[0088] The control methods described above are merely exemplary and not restrictive. Other methods can also be used to control pumps, flow control devices, or engines in the control methods proposed in this disclosure.

[0089] For example, different priorities can be assigned to pumps, flow control devices, and engines. During the control process when the load changes, the flow control device can be controlled first, and only when the flow control device cannot meet the control requirements can the pump displacement and engine power be controlled.

[0090] Referring to the example of a flow control device as a regulating valve, when the load increases, the valve opening area can be increased first, thereby attempting to control the actual pump displacement to match the target displacement by reducing the resistance exerted by the valve on the liquid in the pipeline.

[0091] When the valve opening area reaches its maximum but the actual pump displacement is still less than the target displacement, it means that the regulating valve alone cannot meet the control requirements. In this case, the pump displacement and engine power can be increased, and the pump displacement can be adjusted through other control methods so that the actual pump displacement matches the target displacement.

[0092] By assigning different priorities to different control methods, targeted control can be implemented during the control process. Priority can be given to control methods that have less impact on the overall operation of the machinery to adjust the pump flow, thereby improving the operability of the machinery.

[0093] The previous section detailed how to control traffic based on target flow and load pressure. Below, we will combine... Figure 4 This paper introduces another implementation of the control method in this disclosure. Figure 4 A flowchart illustrating a control method according to other embodiments of the present disclosure is shown.

[0094] like Figure 4 As shown, in Figure 1 Based on this, the control method may further include step S2, determining the load pressure of the boom according to the calibrated pressure of the pump, wherein the calibrated pressure is determined when the working machinery is operating under preset working conditions, the preset working conditions including at least one of the following: the boom is horizontally raised and the pump flow rate is at its minimum flow rate.

[0095] In step S2, the load pressure of the boom can be actively calibrated and identified before specific control is performed. For example, after the work machinery is replaced with a new implement, step S2 can be executed when the user selects the "new implement calibration mode" to determine the load pressure of the boom.

[0096] Specifically, determining the load pressure while the boom is horizontally raised maximizes the torque of the load at the boom end, increases the pressure difference between pumps corresponding to different loads, and thus improves the resolution of load gravity or pressure.

[0097] Determining the load pressure when the pump flow rate is the minimum flow rate that can support the movement of the boom allows the boom and its connected load to move at a constant speed at a minimum, thereby reducing the impact of other factors such as friction and air resistance on the pump pressure.

[0098] By using the above operating conditions as the preset operating conditions when calibrating load pressure, the influence of other factors can be reduced during the calibration process, thereby improving the accuracy of the calibration.

[0099] Taking an excavator as an example, after the user selects a new implement calibration mode, the excavator's stick can be fully extended. The tilt angle of the implement is controlled by a preset tilt angle, which can be the commonly used tilt angle during actual operation. The preset tilt angle can be different for different implement types. For example, the preset tilt angle for a hydraulic breaker can be -90 degrees to the left of the horizontal (with counterclockwise as positive), i.e., vertically downward.

[0100] Then, the excavator's boom can be lowered to its lowest angle, close to the ground. At this point, the boom angle will be below the horizontal, for example, -10 degrees relative to the horizontal. From this lowest angle, the boom can be smoothly raised using the minimum flow rate of the hydraulic pump until the final angle, for example, 10 degrees.

[0101] During the aforementioned smooth lifting process, the boom will pass through the horizontal direction. At this time, it can be determined that the working machine is operating under the preset working conditions, and the pressure of the hydraulic pump at this time can be determined as the pump's rated pressure.

[0102] Specifically, the movement trajectory of the boom during the above process can be approximated as a fan shape. When the boom passes through the horizontal direction, the lever arm of the machine is at its maximum, and the pressure of the hydraulic pump also reaches its maximum value. Therefore, the maximum pressure of the hydraulic pump during the above smooth lifting process can be determined as the calibrated pressure.

[0103] Furthermore, the minimum angle at which the boom can be lowered may differ depending on the type of implement and its shape. For example, the minimum angle corresponding to a hydraulic breaker might be -10 degrees, while the minimum angle corresponding to a bucket might be -15 degrees. By employing a similarly smooth lifting process, it can be ensured that for any minimum boom angle, the boom will pass through a horizontal direction, and the maximum pressure of the hydraulic pump during the lifting process can be determined as the calibrated pressure.

[0104] The above calibration process can directly utilize the main pump pressure sensor that comes with the excavator, without the need to add any other pressure sensors, thus reducing the complexity of the excavator's structure.

[0105] In some embodiments, after determining the pump's calibrated pressure, determining the boom's load pressure based on the pump's calibrated pressure may include: determining the boom's load pressure based on the correlation between the pump's pressure and the boom's load pressure, wherein the correlation is determined by fitting different pressures of the pump corresponding to different load pressures.

[0106] Figure 5 A schematic diagram illustrating the relationship between calibration pressure and load pressure according to some embodiments of the present disclosure is provided. Figure 5 As shown, multiple different pressures of the pump corresponding to multiple different load pressures can be determined in advance through experiments, such as... Figure 5 Points A, B, and C in the diagram.

[0107] The above sampling points can all be obtained under the preset operating conditions of the operating machinery, which is consistent with the operating conditions of the operating machinery when the calibration pressure is obtained, thereby improving the accuracy of the load pressure calibration.

[0108] After determining the above sampling points, the correlation between pump pressure and load pressure can be determined through fitting. For example, Figure 5 The relationship between pump pressure and load pressure in the illustrated example of operating machinery can be characterized as follows: Figure 5 The line shown is the one determined by linear fitting.

[0109] In the above embodiments, the load pressure of the boom can be calibrated based on the measured calibration pressure and the determined correlation, thereby improving the accuracy and operability of the control in the subsequent control process.

[0110] In other embodiments, determining the load pressure of the boom based on the pump's calibrated pressure may include: determining the load pressure of the boom based on the ratio of the pump's calibrated pressure to a preset calibrated pressure value, wherein the preset calibrated pressure value corresponds to a preset load pressure value of the boom.

[0111] In the above embodiments, a certain preset value can be used as a reference benchmark, and the load pressure of the boom can be calibrated according to the ratio between the calibrated pressure and the preset value.

[0112] For example, if the pump's rated pressure is 1.2 times the preset value, it can be determined that the boom's load pressure is also 1.2 times the preset value.

[0113] In the above embodiments, the load pressure of the boom can be quickly calibrated by using a preset calibrated reference benchmark, thereby improving the operability of the control process.

[0114] The above describes a control method for operating machinery provided in this disclosure. This control method, upon receiving a user-input control signal, determines the target flow rate of the pump and controls it via the pump, flow control device, or engine in the operating machinery. This ensures that the actual flow rate of the pump matches the target flow rate, allowing the boom to operate as desired by the user, avoiding the impact of load changes, and improving the operability of the operating machinery.

[0115] Figure 6 A schematic diagram illustrating the control effects according to some embodiments of the present disclosure is shown. For example... Figure 6 As shown in the figure, the relationship between the boom movement speed of the working machine and the control signal before the load pressure changes is shown in the first curve 61.

[0116] After the load pressure increases, the correspondence between the boom movement speed of the operating machinery controlled by a fixed power and the control signal is shown as the second curve 62. The correspondence between the boom movement speed of the operating machinery controlled by the control method proposed in this embodiment and the control signal is shown as the third curve 63.

[0117] from Figure 6 It can be seen that, after a change in load pressure, the boom lifting speed of operating machinery controlled by engine power in related technologies will slow down. However, in the embodiments of this disclosure, the boom lifting speed of the operating machinery controlled by the target flow rate is basically consistent with the target, resulting in higher operability.

[0118] The following is for reference. Figure 7 and Figure 8 The present disclosure describes a control device for a working machine according to an embodiment of the present disclosure, used to execute any of the embodiments of the control method described above. Figure 7 A block diagram of a control device for a work machine according to some embodiments of the present disclosure is shown.

[0119] like Figure 7As shown, the first control device 7 of the working machinery includes: a determining module 71, configured to determine the target flow rate of the pump corresponding to the boom in the working machinery according to the received control signal; and a control module 72, configured to control the actual flow rate of the pump according to the target flow rate and the load pressure of the boom by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump.

[0120] The determining module 71 of the first control device 7 can, for example, be used to execute... Figure 1 Step S1. The control module 72 of the first control device 7 can, for example, be used to perform... Figure 1 Step S3.

[0121] The control device for the above-mentioned operating machinery disclosed herein determines the target flow rate of the pump after receiving the control signal input by the user, and controls it through the pump, flow control device or engine in the operating machinery to ensure that the actual flow rate of the pump meets the target flow rate, so that the boom can operate in the manner expected by the user, avoid the influence of load changes, and improve the operability of the operating machinery.

[0122] Figure 8 A block diagram of a control device for a work machine according to other embodiments of the present disclosure is shown.

[0123] like Figure 8 As shown, the second control device 8 of the operating machinery includes: at least one memory 81; and at least one processor 82 coupled to the at least one memory 81, the at least one processor 82 being configured to execute the control method as described in any of the foregoing embodiments based on instructions stored in the at least one memory 81.

[0124] Memory 81 is used to store one or more computer-readable instructions. Memory 81 may include any combination of various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory, including but not limited to random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), read-only memory (ROM), and flash memory. Memory 81 may, for example, store operating systems, application programs, bootloaders, databases, and other programs, as well as various application programs and various data.

[0125] Processor 82 is configured to execute computer-readable instructions to implement the control method described in any of the foregoing embodiments. Specific implementations of each step of the method can be found in the above embodiments, for example... Figure 1 and Figure 4 The steps involved are repeated here, so the details will not be repeated.

[0126] The control device for the above-mentioned operating machinery disclosed herein determines the target flow rate of the pump after receiving the control signal input by the user, and controls it through the pump, flow control device or engine in the operating machinery to ensure that the actual flow rate of the pump meets the target flow rate, so that the boom can operate in the manner expected by the user, avoid the influence of load changes, and improve the operability of the operating machinery.

[0127] The processor 82 can be various processing devices, such as a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The central processing unit (CPU) can be based on x86 or ARM architectures, etc.

[0128] The processor 82 and the memory 81 can communicate with each other directly or indirectly. For example, the processor 82 and the memory 81 can communicate via a network. The network can include wireless networks, wired networks, and / or any combination of wireless and wired networks. The processor 82 and the memory 81 can also communicate with each other via a system bus, which is not limited in this disclosure.

[0129] It should be noted that Figure 8 The components of the second control device 8 of the operating machinery shown are merely exemplary and not limiting. The second control device 8 of the operating machinery may also have other components depending on the actual application requirements. The processor 82 can control other components in the second control device 8 of the operating machinery to perform desired functions.

[0130] The second control device 8 of the operating machinery can be implemented by software, firmware and / or hardware, and can be integrated into a device with the relevant application installed.

[0131] This disclosure also provides an excavator including the control device of any of the foregoing embodiments. As before, after receiving a control signal input by a user, the target flow rate of the pump is determined, and control is exercised through the pump, flow control device, or engine in the working machinery to ensure that the actual flow rate of the pump matches the target flow rate. This allows the boom to operate as expected by the user, avoiding the influence of load changes and improving the operability of the working machinery.

[0132] Figure 9 This is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure.

[0133] like Figure 9 As shown, computer system 9 can be represented in the form of a general computing device. Computer system 9 includes memory 81, processor 82, and bus 90 connecting different system components.

[0134] The memory 81 can be various forms of computer-readable storage media, such as system memory, non-volatile storage media, etc. System memory may store, for example, an operating system, application programs, a bootloader, and other programs. System memory may include volatile storage media, such as random access memory (RAM) and / or cache memory. Non-volatile storage media may store, for example, instructions for executing corresponding embodiments of the control method. Non-volatile storage media include, but are not limited to, disk storage, optical storage, flash memory, etc.

[0135] The processor 82 can be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete hardware components such as discrete gates or transistors. Accordingly, each module can be implemented by executing instructions in the central processing unit (CPU) memory to perform the corresponding steps, or by implementing dedicated circuitry to perform the corresponding steps.

[0136] Bus 90 can use any of the various bus architectures. For example, bus architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MCA) bus, and the Peripheral Component Interconnect (PCI) bus.

[0137] The computer system 9 may also include an input / output interface 93, a network interface 94, and a storage interface 95. These interfaces 93, 94, and 95, as well as the memory 81 and processor 82, can be connected via a bus 90. The input / output interface 93 provides a connection interface for input / output devices such as a monitor, mouse, and keyboard. The network interface 94 provides a connection interface for various networked devices. The storage interface 95 provides a connection interface for external storage devices such as floppy disks, USB flash drives, and SD cards.

[0138] According to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product that, when run on a computer, causes the computer to implement the control method described in any of the foregoing embodiments. The computer program product includes computer instructions carried on a computer-readable medium, the computer instructions containing program code for performing the methods shown in the flowcharts.

[0139] Various embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0140] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A control method for a work-related machine, comprising: The load pressure of the boom is determined based on the pump's calibrated pressure, wherein the calibrated pressure is determined when the working machinery is operating under preset working conditions, and the preset working conditions include at least one of the following: the boom is horizontally raised and the pump's flow rate is at its minimum. Based on the correlation between at least one of the displacement and angle of the controller of the working machine and the speed of the boom, the target speed of the boom in the working machine is determined according to the control signal received from the controller. The control signal is determined according to at least one of the displacement and angle of the controller of the working machine. The correlation is determined according to at least one of the historical operating data of the working machine, the implement type of the working machine, and the preset speed threshold of the boom. Based on the target speed, determine the target flow rate of the pump corresponding to the boom; Based on the target flow rate and the load pressure of the boom, the actual flow rate of the pump is controlled to conform to the target flow rate by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump.

2. The control method according to claim 1, wherein, Based on the target flow rate and the load pressure of the boom, controlling the actual flow rate of the pump to conform to the target flow rate by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump includes: Based on the difference between the pump's current pressure and the load pressure, and the target flow rate, the actual flow rate of the pump is controlled to conform to the target flow rate by controlling the flow control device.

3. The control method according to claim 1, wherein, Based on the target flow rate and the load pressure of the boom, controlling the actual flow rate of the pump to conform to the target flow rate by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump includes: Based on the target flow rate, the load pressure, and the engine speed, the pump's displacement is controlled to ensure that the actual flow rate of the pump matches the target flow rate.

4. The control method according to claim 1, wherein, Based on the target flow rate and the load pressure of the boom, controlling the actual flow rate of the pump to conform to the target flow rate by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump includes: Based on the target flow rate and the load pressure, the actual flow rate of the pump is controlled to match the target flow rate by controlling the engine speed and torque.

5. The control method according to claim 1, wherein, Based on the target flow rate and the load pressure of the boom, controlling the actual flow rate of the pump to conform to the target flow rate by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump includes: Based on the target flow rate and the load pressure, the target displacement of the pump and the target speed and target torque of the engine are determined. The efficiency of the engine operating at the target speed and target torque is greater than or equal to the efficiency of the engine operating at other speeds and torques that can meet the target flow rate and the load pressure. The efficiency of the pump operating at the target displacement is greater than or equal to the efficiency of the pump operating at other displacements that can meet the target flow rate and the load pressure. Based on the target displacement, the target speed, and the target torque, the pump, the flow control device, and the engine are controlled to ensure that the actual flow rate of the pump matches the target flow rate.

6. The control method according to claim 1, wherein, Determining the load pressure of the boom based on the pump's rated pressure includes: Based on the correlation between the pump pressure and the boom load pressure, the boom load pressure is determined according to the calibration pressure. The correlation is determined by fitting different pump pressures corresponding to different load pressures.

7. The control method according to claim 1, wherein, Determining the load pressure of the boom based on the pump's rated pressure includes: The load pressure of the boom is determined based on the ratio of the pump's rated pressure to the preset value of the rated pressure, and the preset value of the rated pressure corresponds to the preset value of the boom's load pressure.

8. The control method according to claim 1, wherein: The pump is a hydraulic pump; and / or The flow control device is an adjustable regulating valve; and / or The machine being operated is an excavator.

9. A control device for a work machine, the control device employing the control method as described in any one of claims 1 to 8, comprising: The load pressure determination module is configured to determine the load pressure of the boom based on the calibrated pressure of the pump, wherein the calibrated pressure is determined when the working machinery is operating under preset working conditions, the preset working conditions including at least one of the following: the boom is horizontally raised and the pump flow rate is at its minimum. The target speed determination module is configured to determine the target speed of the boom in the working machine based on the correlation between at least one of the displacement and angle of the controller of the working machine and the speed of the boom, according to the control signal received from the controller. The control signal is determined based on at least one of the displacement and angle of the controller of the working machine, and the correlation is determined based on at least one of the historical operating data of the working machine, the implement type of the working machine, and the preset speed threshold of the boom. The target flow rate determination module is configured to determine the target flow rate of the pump corresponding to the boom based on the target speed; The control module is configured to control the actual flow rate of the pump to conform to the target flow rate by controlling at least one of the pump, the flow control device corresponding to the pump, and the engine corresponding to the pump, based on the target flow rate and the load pressure of the boom.

10. A control device for a work-related machine, comprising: At least one memory; as well as At least one processor coupled to the at least one memory, the at least one processor being configured to execute the control method as described in any one of claims 1 to 8 based on instructions stored in the at least one memory.

11. An excavator, comprising the control device as described in claim 9 or 10.

12. A computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the control method as described in any one of claims 1 to 8.

13. A computer program product, when run on a computer, causes the computer to implement the control method as described in any one of claims 1 to 8.

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