Excavator control method, device and equipment and excavator

Abstract

The embodiment of the invention provides an excavator control method, device and equipment and an excavator. The method comprises the following steps: acquiring an input signal of the excavator, and determining the demand flow of each working mechanism of the excavator according to the input signal; wherein the input signal represents the operation intention of a user on each working mechanism, the working mechanisms are connected in parallel, and the demand flow represents the hydraulic oil flow required by the working mechanisms under the current operation intention; according to the required flow, a valve of a hydraulic system of the excavator is controlled, and the actual flow of each working mechanism of the excavator is obtained; wherein the hydraulic system is used for providing hydraulic oil for all the working mechanisms, and the actual flow represents the actually measured hydraulic oil flow of the working mechanisms; and according to the required flow and the actual flow of each working mechanism, a valve of the hydraulic system is adjusted to meet preset matching conditions. The method is used for achieving the effects of improving the excavator control stability and further improving the user experience.

Description

Technical Field

[0001] This application relates to the field of excavator technology, and in particular to a control method, device, equipment and excavator for an excavator. Background Technology

[0002] The hydraulic system is the core component of an excavator, used to drive the excavator's working mechanism to complete various actions. The working state of the hydraulic system directly affects the excavator's operating performance and work efficiency.

[0003] In the existing technology, the hydraulic system of an excavator usually directly controls the opening / closing of the logic valve or the opening degree of the main valve core according to the input signal of the operating handle, so as to regulate the hydraulic oil flow and drive the working mechanism to move. This control method can meet the user's needs under specific working conditions.

[0004] However, in real-world applications, excavators face varying loads and multiple operating conditions, leading to uncoordinated movements of the working mechanism and slow operational response, resulting in a poor user experience.

[0005] Therefore, there is an urgent need for a solution that can improve the stability of excavator control in order to enhance the user experience. Summary of the Invention

[0006] The excavator control method, device, equipment, and excavator provided in this application are intended to improve the stability of excavator control and thus enhance the user experience.

[0007] In a first aspect, embodiments of this application provide a control method for an excavator, including:

[0008] The system acquires the input signals of the excavator and determines the required flow rate of each working mechanism of the excavator based on the input signals. The input signals represent the user's operating intention for each working mechanism, the working mechanisms are connected in parallel, and the required flow rate represents the hydraulic oil flow rate required by the working mechanism under the current operating intention.

[0009] Based on the required flow rate, the valves of the excavator's hydraulic system are controlled, and the actual flow rate of each working mechanism of the excavator is obtained; the hydraulic system is used to supply hydraulic oil to each working mechanism, and the actual flow rate represents the actual measured hydraulic oil flow rate of the working mechanism.

[0010] Based on the required flow rate and actual flow rate of each working mechanism, adjust the valves of the hydraulic system to meet the preset matching conditions; wherein, the preset matching conditions indicate that the ratio between the actual flow rate and the required flow rate of each working mechanism is consistent.

[0011] In an optional example, the input signals include at least one input sub-signal, each corresponding to a working mechanism; based on the input signals, the required flow rate of each working mechanism of the excavator is determined, including:

[0012] For each input sub-signal, a mapping strategy for the input sub-signal is determined, and based on the mapping strategy, the demand flow corresponding to the input sub-signal is determined as the demand flow of the corresponding working mechanism; wherein, the mapping strategy characterizes the mapping relationship between the input sub-signal and the demand flow.

[0013] In an optional example, the valves of the hydraulic system are adjusted according to the required flow rate and actual flow rate of each working mechanism, including:

[0014] For each working mechanism pair of the excavator, determine the demand ratio and actual ratio of the working mechanism pair, and adjust the corresponding valves of the working mechanism pair according to the demand ratio and actual ratio until the actual ratio equals the demand ratio; wherein, the working mechanism pair includes the first working mechanism and the second working mechanism, the demand ratio represents the ratio between the demand flow of the first working mechanism and the demand flow of the second working mechanism, and the actual ratio represents the ratio between the actual flow of the first working mechanism and the actual flow of the second working mechanism.

[0015] In an optional example, the working mechanism corresponds to a first valve and a second valve. The first valve controls the flow rate of hydraulic oil received by the first working mechanism, and the second valve controls the flow rate of hydraulic oil received by the second working mechanism. The working mechanism adjusts its corresponding valves according to the demand ratio and the actual ratio, including:

[0016] If the actual ratio is less than the demand ratio, increase the opening of the first valve until the actual ratio equals the demand ratio.

[0017] If the actual ratio is greater than the demand ratio, increase the opening of the second valve until the actual ratio equals the demand ratio.

[0018] In an optional example, it also includes:

[0019] The difference between the actual ratio and the demand ratio is determined as the target difference.

[0020] Based on the target difference, determine the increment step size, and based on the increment step size, increase the opening of the first valve or the second valve; whereby the increment step size represents the smallest unit for increasing the valve opening.

[0021] In an optional example, it also includes:

[0022] If the opening degree of the first valve reaches the preset first opening degree threshold and the actual ratio is greater than the required ratio, then the opening degree of the second valve is reduced until the actual ratio equals the required ratio.

[0023] If the opening degree of the second valve reaches the preset second opening degree threshold and the actual ratio is less than the required ratio, then the opening degree of the first valve is reduced until the actual ratio equals the required ratio.

[0024] In one optional example, the working mechanism is one of the following: bucket working mechanism, boom working mechanism, stick working mechanism, and slewing working mechanism;

[0025] Among them, the bucket working mechanism is used to control the movement of the excavator's bucket, the boom working mechanism is used to control the movement of the excavator's boom, the stick working mechanism is used to control the movement of the excavator's stick, and the slewing working mechanism is used to control the movement of the excavator's superstructure.

[0026] Secondly, embodiments of this application provide a control device for an excavator, comprising:

[0027] The acquisition module is used to acquire the input signals of the excavator and determine the required flow rate of each working mechanism of the excavator based on the input signals. The input signals represent the user's operating intention for each working mechanism. The working mechanisms are connected in parallel, and the required flow rate represents the hydraulic oil flow rate required by the working mechanism under the current operating intention.

[0028] The control module is used to control the valves of the excavator's hydraulic system according to the required flow rate and to obtain the actual flow rate of each working mechanism of the excavator; the hydraulic system is used to supply hydraulic oil to each working mechanism, and the actual flow rate represents the actual measured hydraulic oil flow rate of the working mechanism.

[0029] The adjustment module is used to adjust the valves of the hydraulic system according to the required flow rate and actual flow rate of each working mechanism to meet the preset matching conditions; wherein, the preset matching conditions indicate that the ratio between the actual flow rate and the required flow rate of each working mechanism is consistent.

[0030] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0031] The memory stores the instructions that the computer executes;

[0032] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0033] Fourthly, embodiments of this application provide an excavator, including an excavator body and an electronic device as described in the third aspect above, disposed on the excavator body.

[0034] The excavator control method, apparatus, equipment, and excavator provided in this application embodiment acquire the excavator's input signal and determine the required flow rate of each working mechanism of the excavator based on the input signal. Further, based on the required flow rate, the valves of the excavator's hydraulic system are controlled, and the actual flow rate of each working mechanism is acquired. Further, based on the required and actual flow rates of each working mechanism, the valves of the hydraulic system are dynamically adjusted to meet preset matching conditions. This method, by acquiring the input signal and determining the required flow rate, achieves accurate recognition of the user's operational intent. By controlling the valves of the hydraulic system and acquiring the actual flow rate, it ensures the real-time performance and accuracy of flow rate regulation. By dynamically adjusting the valves to meet preset matching conditions, it optimizes the flow rate distribution of each working mechanism. This method improves the stability of excavator control, thereby enhancing the user experience. Attached Figure Description

[0035] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0036] Figure 1 A flowchart illustrating a control method for an excavator provided in this application. Figure 1 ;

[0037] Figure 2 A flowchart illustrating a control method for an excavator provided in this application. Figure 2 ;

[0038] Figure 3 A schematic diagram of the architecture of an excavator provided in this application;

[0039] Figure 4 A flowchart illustrating a control method for an excavator provided in this application. Figure 3 ;

[0040] Figure 5 This application provides a schematic diagram of the structure of a control device for an excavator.

[0041] Figure 6 This is a schematic diagram of the structure of an electronic device provided in this application.

[0042] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0044] The hydraulic system is the core component of an excavator, used to drive the excavator's working mechanism to complete various actions. The working state of the hydraulic system directly affects the excavator's operating performance and work efficiency.

[0045] In the existing technology, the hydraulic system of an excavator usually directly controls the opening / closing of the logic valve or the opening degree of the main valve core according to the input signal of the operating handle, so as to regulate the hydraulic oil flow and drive the working mechanism to move. This control method can meet the user's needs under specific working conditions.

[0046] However, in real-world applications, excavators face varying loads and multiple operating conditions, leading to uncoordinated movements of the working mechanism and slow operational response, resulting in a poor user experience.

[0047] Specifically, when an excavator encounters a sudden change in load during operation, the hydraulic oil flow rate corresponding to each working mechanism will change, making it impossible to continue working according to the original flow distribution ratio. This change in the operating characteristics of each working mechanism will lead to a poor user experience. In addition, controlling the opening / closing of the logic valve or the size of the main valve core opening solely based on the input signal and parameter curves debugged under a specific working condition results in the excavator meeting user needs under certain working conditions, but exhibiting uncoordinated actions when the usage scenario changes, failing to meet the multi-condition requirements of the excavator.

[0048] Therefore, there is an urgent need for a solution that can improve the stability of excavator control in order to enhance the user experience.

[0049] The excavator control method provided in this application achieves accurate recognition of user operation intentions by acquiring input signals and determining the required flow rate. By controlling the valves of the hydraulic system and acquiring the actual flow rate, it ensures the real-time and accurate adjustment of flow rate. Furthermore, by dynamically adjusting the valves to meet preset matching conditions, it optimizes the flow distribution among various working mechanisms. This method improves the stability of excavator control, thereby enhancing the user experience.

[0050] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0051] Figure 1 A flowchart illustrating a control method for an excavator provided in this application. Figure 1 This method can be applied to excavators, and the executing entity of this application can be an excavator, a host machine, or other equipment, such as... Figure 1 As shown, the method includes:

[0052] S101. Obtain the input signal of the excavator and determine the required flow rate of each working mechanism of the excavator based on the input signal; wherein, the input signal represents the user's operating intention for each working mechanism, the working mechanisms are connected in parallel, and the required flow rate represents the hydraulic oil flow rate required by the working mechanism under the current operating intention.

[0053] S102. Based on the required flow rate, control the valves of the excavator's hydraulic system and obtain the actual flow rate of each working mechanism of the excavator; wherein, the hydraulic system is used to supply hydraulic oil to each working mechanism, and the actual flow rate represents the actual measured hydraulic oil flow rate of the working mechanism.

[0054] S103. Adjust the valves of the hydraulic system according to the required flow rate and actual flow rate of each working mechanism to meet the preset matching conditions; wherein, the preset matching conditions indicate that the ratio between the actual flow rate and the required flow rate of each working mechanism is consistent.

[0055] In step S101, the user's input signal can be obtained through the excavator's operating handle or other input devices.

[0056] Input signals characterize the user's operational intentions towards each working mechanism. For example, input signals can be analog or digital signals, acquired through relevant sensors or encoders. For instance, when the user pushes the operating handle, the input signal changes according to the offset and direction of the operating handle, thus characterizing the user's desired speed and direction of movement of the working mechanism.

[0057] In one alternative implementation, the working mechanism is one of the following: bucket working mechanism, boom working mechanism, stick working mechanism, and slewing working mechanism;

[0058] Among them, the bucket working mechanism is used to control the movement of the excavator's bucket, the boom working mechanism is used to control the movement of the excavator's boom, the stick working mechanism is used to control the movement of the excavator's stick, and the slewing working mechanism is used to control the movement of the excavator's superstructure.

[0059] Specifically, the bucket working mechanism achieves the bucket tilting action by controlling the extension and retraction of the bucket cylinder. For example, by pushing the bucket operating handle forward, the bucket cylinder extends and the bucket tilts downward for digging; by pulling the bucket operating handle backward, the bucket cylinder retracts and the bucket tilts upward for unloading.

[0060] The boom working mechanism achieves the lifting and lowering of the boom by controlling the extension and retraction of the boom cylinder. For example, by pushing the boom operating handle upward, the boom cylinder extends and the boom is raised; by pulling the handle downward, the boom cylinder retracts and the boom is lowered.

[0061] The stick working mechanism controls the extension and retraction of the stick by extending and retracting the stick cylinder. For example, by pushing the stick operating handle to the left, the stick cylinder extends and the stick extends forward; by pulling the handle to the right, the stick cylinder retracts and the stick retracts backward.

[0062] The slewing mechanism controls the rotation of the excavator's superstructure by manipulating the rotation of a hydraulic motor. For example, by turning the slewing control handle to the left, the hydraulic motor drives the superstructure to rotate to the left; by turning the slewing control handle to the right, the hydraulic motor drives the superstructure to rotate to the right.

[0063] The parallel operation of the working mechanisms can be achieved by having each mechanism share the same hydraulic system. Hydraulic oil is output from the main pump and distributed to each mechanism, but the flow rate requirement of each mechanism is independent. Specifically, the hydraulic system distributes hydraulic oil to each mechanism via a multi-way valve. For example, based on the input signal, the required hydraulic oil flow rate (demand flow rate) for each mechanism under the current operational intent is determined, and the hydraulic oil is then distributed to the corresponding mechanism.

[0064] In step S102, the executing entity of this application controls the opening degree of the valves in the hydraulic system according to the required flow rate to achieve hydraulic oil flow distribution. It should be understood that the hydraulic system supplies hydraulic oil to each working mechanism through the main pump and the multi-way valve, and the opening degree of the multi-way valve directly affects the flow rate of the hydraulic oil.

[0065] A multi-way valve refers to a valve that integrates multiple hydraulic circuits, each corresponding to the control of hydraulic oil flow in a working mechanism, with the circuits connected in parallel. The valves in a multi-way valve can be proportional solenoid valves or digital solenoid valves, etc. For example, the valves in a multi-way valve can be precisely controlled by electrical control signals to distribute hydraulic oil flow. For instance, when the demand for flow increases, the opening of the corresponding valve is increased via the electrical control signal, thereby increasing the hydraulic oil flow; conversely, when the demand for flow decreases, the opening of the corresponding valve is decreased, thereby reducing the hydraulic oil flow.

[0066] Actual flow rate represents the actual measured hydraulic oil flow rate of the working mechanism. Actual flow rate can be measured directly by a flow sensor, or indirectly calculated using pressure and speed sensors.

[0067] It is understandable that due to load changes (i.e., dynamic changes in load size and nature, such as encountering soil or rock of different hardness during excavation) and multiple working conditions (i.e., excavators in different working modes, such as excavation and loading), there is a problem of deviation between the demand flow and actual flow of each working mechanism. Therefore, it is necessary to analyze the relationship between the demand flow and actual flow of each working mechanism and adjust the valves of the hydraulic system to meet the preset matching conditions.

[0068] In step S103, the executing entity of this application can determine the ratio between the actual flow and the demand flow of each working mechanism based on the demand flow and the actual flow of each working mechanism. When the ratio between the actual flow and the demand flow of each working mechanism is inconsistent, the valve is dynamically adjusted to make the ratio between the actual flow and the demand flow of each working mechanism consistent.

[0069] The ratio between the actual flow rate and the required flow rate of each working mechanism refers to the proportional relationship between the actual flow rate and the required flow rate of each working mechanism. This ratio reflects whether the flow distribution of the hydraulic system to each working mechanism conforms to the user's operational intentions under the current operating conditions.

[0070] For example, taking work units including the first work unit, the second work unit, and the third work unit as an example, the demand flow of the first work unit is represented as... Its actual flow rate is expressed as The demand flow of the second working unit is expressed as Its actual flow rate is expressed as The demand flow of the third working unit is expressed as Its actual flow rate is expressed as The ratio between the actual flow and the demand flow of each working unit can be expressed as: and The relationship between them, if and Consistency means that the preset matching conditions are met. and Inconsistency indicates that the preset matching conditions are not met.

[0071] The excavator control method provided in this application achieves accurate recognition of user operation intentions by acquiring input signals and determining the required flow rate. It ensures the real-time performance and accuracy of flow regulation by controlling the valves of the hydraulic system and acquiring the actual flow rate. Furthermore, it optimizes the flow distribution among various working mechanisms by dynamically adjusting the valves to meet preset matching conditions. This method improves the stability of excavator control, thereby enhancing the user experience.

[0072] Figure 2 A flowchart illustrating a control method for an excavator provided in this application. Figure 2 ,like Figure 2 As shown, in this embodiment... Figure 1 Based on the embodiments, the control method of the excavator is described in detail, which includes:

[0073] S201. Obtain the input signals of the excavator and determine the required flow rate of each working mechanism of the excavator based on the input signals; wherein, the input signals represent the user's operating intention for each working mechanism, the working mechanisms are connected in parallel, and the required flow rate represents the hydraulic oil flow rate required by the working mechanism under the current operating intention.

[0074] In one optional implementation, the input signal includes at least one input sub-signal, and the input sub-signal corresponds one-to-one with the working mechanism;

[0075] Based on the input signals, the required flow rate of each working mechanism of the excavator can be determined, which may include:

[0076] For each input sub-signal, a mapping strategy for the input sub-signal is determined, and based on the mapping strategy, the demand flow corresponding to the input sub-signal is determined as the demand flow of the corresponding working mechanism; wherein, the mapping strategy characterizes the mapping relationship between the input sub-signal and the demand flow.

[0077] The input sub-signal can refer to the offset, rotation angle, or other physical quantities related to the operating intention of the control handle. For example, for a bucket working mechanism, the input sub-signal can be the forward or backward offset of the bucket operating handle; for a slewing working mechanism, the input sub-signal can be the rotation angle of the slewing operating handle.

[0078] The mapping strategy can refer to the quantitative relationship between the input sub-signal and the demand flow. For example, the offset of the operating handle and the demand flow can be set to a linear or non-linear relationship. In one possible implementation, the mapping strategy is pre-set by the operator based on the working characteristics of the excavator, user operating habits, and actual working conditions, and stored in the memory of the execution entity of this application using the identifier of the working mechanism corresponding to the input sub-signal as an index, so as to facilitate the retrieval of the mapping strategy of the input sub-signal.

[0079] For example, for the mapping strategy corresponding to the bucket working mechanism, the offset of the bucket operating handle is linearly related to the demand flow rate. For instance, for every 1 mm offset of the bucket operating handle represented by the input sub-signal, the corresponding demand flow rate increases by 2 liters per minute. For the mapping strategy corresponding to the slewing working mechanism, the rotation angle of the slewing operating handle is non-linearly related to the demand flow rate. When the rotation angle of the slewing operating handle represented by the input sub-signal is low (e.g., less than 30 degrees), the corresponding increase in demand flow rate is large. When the rotation angle of the slewing operating handle represented by the input sub-signal is high (e.g., greater than or equal to 30 degrees), the corresponding increase in demand flow rate is small.

[0080] It is understandable that by setting independent mapping strategies for each working mechanism, precise control of each mechanism can be achieved. The advantage of this setup is that it can accurately determine the required flow rate of each working mechanism based on the user's specific operational intentions, thereby improving the excavator's control precision.

[0081] S202. Based on the required flow rate, control the valves of the excavator's hydraulic system and obtain the actual flow rate of each working mechanism of the excavator; wherein, the hydraulic system is used to supply hydraulic oil to each working mechanism, and the actual flow rate represents the actual measured hydraulic oil flow rate of the working mechanism.

[0082] S203. For each working mechanism pair of the excavator, determine the demand ratio and actual ratio of the working mechanism pair, and adjust the corresponding valves of the working mechanism pair according to the demand ratio and actual ratio until the actual ratio equals the demand ratio; wherein, the working mechanism pair includes the first working mechanism and the second working mechanism, the demand ratio represents the ratio between the demand flow of the first working mechanism and the demand flow of the second working mechanism, and the actual ratio represents the ratio between the actual flow of the first working mechanism and the actual flow of the second working mechanism.

[0083] In this context, a working mechanism pair can refer to any combination of two working mechanisms in an excavator. For example, a working mechanism pair can include a bucket working mechanism and a boom working mechanism, a bucket working mechanism and a stick working mechanism, a boom working mechanism and a stick working mechanism, etc. It can be understood that by combining multiple working mechanisms of an excavator in pairs, multiple different working mechanism pairs can be obtained. Each working mechanism pair includes a first working mechanism and a second working mechanism, and each working mechanism pair is different.

[0084] The demand ratio can refer to the ratio between the demand flow of the first working unit and the demand flow of the second working unit. For example, the demand ratio can be expressed as:

[0085] ;

[0086] in, Indicates the demand ratio. This represents the demand flow of the first working unit. This indicates the demand flow of the second working unit.

[0087] The actual ratio can refer to the ratio between the actual flow rate of the first working mechanism and the actual flow rate of the second working mechanism. For example, the actual ratio can be expressed as:

[0088] ;

[0089] in, This represents the actual ratio. This indicates the actual flow rate of the first working unit. This indicates the actual flow rate of the second working unit.

[0090] If the actual ratio is not equal to the demand ratio, it means that the actual flow distribution of the working mechanism is inconsistent with the user's operating intention. In this case, it is necessary to adjust the corresponding valve of the working mechanism so that the actual ratio is close to or equal to the demand ratio.

[0091] If the actual ratio equals the demand ratio, it indicates that the actual flow allocation of the work unit matches the user's operational intention. Figure 1 If the current valve opening is not maintained, the actual flow rate and demand flow rate will continue to be monitored to respond to possible load changes or adjustments to operational intentions.

[0092] It is understandable that by adjusting the valves corresponding to each working mechanism pair according to the demand ratio and the actual ratio until the actual ratio equals the demand ratio, the beneficial effect of this setting is that it can improve the control accuracy and stability of the excavator, thereby improving the user experience.

[0093] In one optional embodiment, the working mechanism includes a first valve and a second valve for the corresponding valves. The first valve is used to control the flow rate of hydraulic oil received by the first working mechanism, and the second valve is used to control the flow rate of hydraulic oil received by the second working mechanism.

[0094] Adjusting the working mechanism for the corresponding valves based on the demand ratio and the actual ratio can include:

[0095] If the actual ratio is less than the demand ratio, increase the opening of the first valve until the actual ratio equals the demand ratio; if the actual ratio is greater than the demand ratio, increase the opening of the second valve until the actual ratio equals the demand ratio.

[0096] If the actual ratio is less than the demand ratio, it means that the actual flow of the first working unit is lower than that of the second working unit, and the flow of the first working unit needs to be increased to match the demand ratio; if the actual ratio is greater than the demand ratio, it means that the actual flow of the second working unit is lower than that of the first working unit, and the flow of the second working unit needs to be increased to match the demand ratio.

[0097] It is understandable that by comparing the actual ratio with the demand ratio, it is determined whether to increase the opening of the first valve or the second valve. The beneficial effect of this setting is that it can dynamically adjust the flow distribution of each working mechanism, ensuring that the ratio between the actual flow and the demand flow is consistent, thereby improving the control accuracy and stability of the excavator and thus improving the user experience.

[0098] In one alternative implementation, the method may further include:

[0099] The difference between the actual ratio and the demand ratio is determined as the target difference. Based on the target difference, the increment step size is determined, and the opening of the first valve or the second valve is increased based on the increment step size. The increment step size represents the smallest unit of increasing the valve opening.

[0100] The target difference is used to quantify the degree of deviation between the actual flow ratio and the demand flow ratio, providing a basis for subsequent valve adjustments.

[0101] The increment step size represents the smallest unit of adjustment of the valve opening each time, and is used to control the adjustment of the valve opening.

[0102] For example, determining the incremental step size based on the target difference can be done by determining the incremental step size corresponding to the target difference based on a preset correlation. The preset correlation represents the relationship between the target difference and the incremental step size. The preset correlation can be pre-set by the operator based on the characteristics of the excavator's hydraulic system, the flow demand characteristics of the working mechanism, and the actual working conditions.

[0103] For example, when the absolute value of the target difference is greater than the preset difference threshold, it indicates that the deviation between the actual ratio and the demand ratio is large, and the working mechanism needs to be quickly adjusted to the corresponding valve to reduce the deviation. In this case, the increment step is large (e.g., 10% of the maximum allowable opening of the valve). When the absolute value of the target difference is less than or equal to the preset difference threshold, it indicates that the deviation between the actual ratio and the demand ratio is small, and the working mechanism needs to be precisely adjusted to the corresponding valve to ensure the accuracy of flow control. In this case, the increment step is small (e.g., 2% of the maximum allowable opening of the valve).

[0104] Furthermore, based on the determined incremental step size, the opening degree of the first valve or the opening degree of the second valve is increased.

[0105] The advantage of this setting is that, compared to increasing the opening of the first valve or the second valve by a fixed step size, by determining the target difference and adjusting the incremental step size according to the target difference, fast and accurate flow control can be achieved, thereby improving the control accuracy and stability of the excavator and thus improving the user experience.

[0106] In one alternative implementation, the method may further include:

[0107] If the opening degree of the first valve reaches the preset first opening degree threshold and the actual ratio is greater than the required ratio, then the opening degree of the second valve is reduced until the actual ratio equals the required ratio; if the opening degree of the second valve reaches the preset second opening degree threshold and the actual ratio is less than the required ratio, then the opening degree of the first valve is reduced until the actual ratio equals the required ratio.

[0108] If the opening degree of the first valve reaches the preset first opening degree threshold and the actual ratio is greater than the demand ratio, it can be said that since the opening degree of the first valve has reached the maximum allowable value, but the actual ratio is still greater than the demand ratio, it is necessary to reduce the flow of the second working mechanism by reducing the opening degree of the second valve, thereby adjusting the overall flow of the working mechanism until the actual ratio equals the demand ratio.

[0109] If the opening degree of the second valve reaches the preset second opening degree threshold and the actual ratio is less than the required ratio, it can be said that since the opening degree of the second valve has reached the maximum allowable value, but the actual ratio is still less than the required ratio, it is necessary to reduce the flow rate of the first working mechanism by reducing the opening degree of the first valve, thereby adjusting the overall flow rate of the working mechanism until the actual ratio equals the required ratio.

[0110] Both the preset first opening threshold and the preset second opening threshold can be pre-set by the operator based on the design parameters of the hydraulic system and the flow demand characteristics of the working mechanism. These thresholds limit the maximum permissible opening of the valves, preventing hydraulic system overload or flow runaway. For example, the preset first opening threshold can be set to 95% of the maximum physical opening of the first valve (determined by the physical structure of the first valve), and the preset second opening threshold can be set to 90% of the maximum physical opening of the second valve (determined by the physical structure of the second valve).

[0111] It is understandable that when the valve on one side reaches the maximum allowable opening and the demand ratio is still inconsistent with the actual ratio, the opening of the valve on the other side can be dynamically reduced. The beneficial effect of this setting is that it can effectively avoid flow imbalance caused by the opening limit of a single valve, and ensure that the excavator can be accurately controlled under various working conditions, thereby further improving the control accuracy, stability and user experience of the excavator.

[0112] The excavator control method provided in this application achieves accurate recognition of user operation intentions by acquiring input signals and determining the required flow rate. It ensures the real-time performance and accuracy of flow regulation by controlling the valves of the hydraulic system and acquiring the actual flow rate. Furthermore, it optimizes the flow distribution among various working mechanisms by dynamically adjusting the valves to meet preset matching conditions. This method improves the stability of excavator control, thereby enhancing the user experience.

[0113] In one optional implementation, taking an excavator whose working mechanism includes a bucket working mechanism and a boom working mechanism as an example, Figure 3 This application provides a schematic diagram of the architecture of an excavator, such as... Figure 3 As shown, the excavator's architecture includes a controller, a main pump for the hydraulic system, a bucket working mechanism, and a boom working mechanism.

[0114] The bucket working mechanism and the boom working mechanism are connected in parallel. The main pump of the hydraulic system is used to provide hydraulic oil flow to each working mechanism. Specifically, the hydraulic system receives the main pump total flow signal output from the controller and adjusts the main pump flow based on the pilot proportional valve corresponding to the main pump.

[0115] The bucket working mechanism includes a bucket mechanism, a bucket cylinder, and bucket valves. The bucket valves consist of a bucket valve core and a corresponding pilot proportional valve. The bucket valve core directly controls the hydraulic oil flow to the bucket cylinder, while the corresponding pilot proportional valve adjusts the opening of the bucket valve core based on signals from the controller. The bucket mechanism performs the bucket tilting action, and the bucket cylinder achieves bucket lifting and tilting via hydraulic oil. Specifically, after the bucket handle signal is input to the controller, the controller processes the signal, outputs a bucket valve core opening signal to the bucket working mechanism, and uses relevant sensors to collect the bucket load pressure, feeding it back to the controller to indirectly calculate the actual flow rate of the bucket working mechanism. This allows the controller to make subsequent adjustments based on the actual flow rate of the bucket working mechanism.

[0116] The boom working mechanism includes a boom mechanism, a boom cylinder, and boom valves. The boom valves include a boom valve spool and a corresponding pilot proportional valve. The boom valve spool directly controls the hydraulic oil flow to the boom cylinder, and the corresponding pilot proportional valve adjusts the opening degree of the boom valve spool based on signals from the controller. The boom mechanism performs the lifting and lowering actions of the boom, and the boom cylinder achieves the lifting and lowering of the boom through hydraulic oil. Specifically, after the boom handle signal is input to the controller, the controller processes the signal accordingly, outputs the boom valve spool opening degree signal to the boom working mechanism, and uses relevant sensors to collect the boom load pressure and feed it back to the controller to indirectly calculate the actual flow rate of the boom working mechanism. This allows the controller to make subsequent adjustments based on the actual flow rate of the boom working mechanism.

[0117] In one alternative implementation, relevant sensors can be used to collect the main pump pressure and feed it back to the controller to indirectly calculate the actual flow rate of the main pump, so that the controller can make relevant adjustments based on the actual flow rate of the main pump.

[0118] Figure 4 A flowchart illustrating a control method for an excavator provided in this application. Figure 3 , Figure 4 The implementation examples will be based on Figure 3 The embodiments are described in conjunction with the foregoing embodiments, such as Figure 4 As shown, the method includes:

[0119] S401. Based on the input signals of the excavator, determine the required flow rate of the first working mechanism and the required flow rate of the second working mechanism of the excavator.

[0120] S402. Based on the required flow rate of the first working mechanism and the required flow rate of the second working mechanism of the excavator, output a valve core opening signal to control the opening of the valves in the hydraulic system of the excavator.

[0121] It should be understood that, in this application, valve core opening degree can be understood as the valve opening degree.

[0122] S403, Obtain the actual flow rate of the first working mechanism and the actual flow rate of the second working mechanism of the excavator.

[0123] S404. Based on the demand flow rate of the first working mechanism of the excavator, the demand flow rate of the second working mechanism, the actual flow rate of the first working mechanism, and the actual flow rate of the second working mechanism, determine the demand ratio and the actual ratio, and compare the actual ratio and the demand ratio.

[0124] S405. If the actual ratio is less than the required ratio, increase the opening of the first valve and determine whether the actual ratio and the required ratio are equal.

[0125] The first valve is the valve corresponding to the first working mechanism.

[0126] S406. If the actual ratio and the required ratio are not equal, determine whether the opening degree of the first valve has reached the preset first opening degree threshold.

[0127] S407. If the opening degree of the first valve does not reach the preset first opening degree threshold, then proceed to step S405.

[0128] S408. If the opening degree of the first valve reaches the preset first opening degree threshold, then reduce the opening degree of the second valve and determine whether the actual ratio and the required ratio are equal.

[0129] The second valve is the valve corresponding to the second working mechanism.

[0130] S409. If the actual ratio and the demand ratio are not equal, then proceed to step S408.

[0131] S410. If the actual ratio is greater than the required ratio, increase the opening of the second valve and determine whether the actual ratio and the required ratio are equal.

[0132] S411. If the actual ratio and the required ratio are not equal, determine whether the opening degree of the second valve has reached the preset second opening degree threshold.

[0133] S412. If the opening degree of the second valve does not reach the preset second opening degree threshold, then execute step S410.

[0134] S413. If the opening degree of the second valve reaches the preset second opening degree threshold, then reduce the opening degree of the first valve and determine whether the actual ratio and the required ratio are equal.

[0135] S414. If the actual ratio and the demand ratio are not equal, then proceed to step S413.

[0136] S415. If the actual ratio and the demand ratio are equal, the processing ends.

[0137] The method described in this application improves the stability of excavator control, thereby enhancing the user experience.

[0138] Figure 5 This application provides a schematic diagram of the structure of a control device for an excavator, as shown below. Figure 5 As shown, the excavator control device 50 provided in this embodiment includes: an acquisition module 501, a control module 502, and an adjustment module 503.

[0139] The acquisition module 501 is used to acquire the input signals of the excavator and determine the required flow rate of each working mechanism of the excavator based on the input signals; wherein, the input signals represent the user's operating intention for each working mechanism, the working mechanisms are connected in parallel, and the required flow rate represents the hydraulic oil flow rate required by the working mechanism under the current operating intention.

[0140] The control module 502 is used to control the valves of the hydraulic system of the excavator according to the required flow rate and to obtain the actual flow rate of each working mechanism of the excavator; wherein, the hydraulic system is used to supply hydraulic oil to each working mechanism, and the actual flow rate represents the actual measured hydraulic oil flow rate of the working mechanism.

[0141] The adjustment module 503 is used to adjust the valves of the hydraulic system according to the required flow rate and actual flow rate of each working mechanism to meet the preset matching conditions; wherein, the preset matching conditions indicate that the ratio between the actual flow rate and the required flow rate of each working mechanism is consistent.

[0142] In an optional example, the input signal includes at least one input sub-signal, and the input sub-signal corresponds one-to-one with the working mechanism; the acquisition module 501 is further configured to determine the mapping strategy of the input sub-signal for each input sub-signal, and determine the demand flow corresponding to the input sub-signal as the demand flow of the corresponding working mechanism based on the mapping strategy; wherein, the mapping strategy characterizes the mapping relationship between the input sub-signal and the demand flow.

[0143] In an optional example, the adjustment module 503 is further configured to determine the demand ratio and actual ratio of each working mechanism pair of the excavator, and adjust the valves corresponding to the working mechanism pair according to the demand ratio and actual ratio until the actual ratio equals the demand ratio; wherein the working mechanism pair includes a first working mechanism and a second working mechanism, the demand ratio represents the ratio between the demand flow of the first working mechanism and the demand flow of the second working mechanism, and the actual ratio represents the ratio between the actual flow of the first working mechanism and the actual flow of the second working mechanism.

[0144] In an optional example, the working mechanism includes a first valve and a second valve for the corresponding valves. The first valve is used to control the flow rate of hydraulic oil received by the first working mechanism, and the second valve is used to control the flow rate of hydraulic oil received by the second working mechanism. The adjustment module 503 is also used to increase the opening of the first valve if the actual ratio is less than the required ratio, until the actual ratio is equal to the required ratio.

[0145] If the actual ratio is greater than the demand ratio, increase the opening of the second valve until the actual ratio equals the demand ratio.

[0146] In an optional example, adjustment module 503 is also used to determine the difference between the actual ratio and the demand ratio, as the target difference;

[0147] Based on the target difference, determine the increment step size, and based on the increment step size, increase the opening of the first valve or the second valve; whereby the increment step size represents the smallest unit for increasing the valve opening.

[0148] In an optional example, the adjustment module 503 is further configured to reduce the opening of the second valve until the actual ratio equals the required ratio if the opening of the first valve reaches a preset first opening threshold and the actual ratio is greater than the required ratio.

[0149] If the opening degree of the second valve reaches the preset second opening degree threshold and the actual ratio is less than the required ratio, then the opening degree of the first valve is reduced until the actual ratio equals the required ratio.

[0150] In one optional example, the working mechanism is one of the following: bucket working mechanism, boom working mechanism, stick working mechanism, and slewing working mechanism;

[0151] Among them, the bucket working mechanism is used to control the movement of the excavator's bucket, the boom working mechanism is used to control the movement of the excavator's boom, the stick working mechanism is used to control the movement of the excavator's stick, and the slewing working mechanism is used to control the movement of the excavator's superstructure.

[0152] The excavator control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0153] Figure 6 A schematic diagram of the structure of an electronic device provided in this application, such as... Figure 6 As shown, the electronic device 60 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the electronic device 60 further includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus 604.

[0154] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.

[0155] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0156] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0157] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0158] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0159] This embodiment also provides an excavator, including an excavator body and electronic equipment disposed on the excavator body. This excavator achieves the same technical effects as the above-described method embodiments, and to avoid repetition, it will not be described again here.

[0160] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A control method for an excavator, characterized in that, include: The system acquires the input signals of the excavator and determines the required flow rate of each working mechanism of the excavator based on the input signals; wherein the input signals represent the user's operating intention for each working mechanism, the working mechanisms are connected in parallel, and the required flow rate represents the hydraulic oil flow rate required by the working mechanism under the current operating intention; Based on the required flow rate, the valves of the hydraulic system of the excavator are controlled, and the actual flow rate of each working mechanism of the excavator is obtained; wherein, the hydraulic system is used to supply hydraulic oil to each working mechanism, and the actual flow rate represents the actual measured hydraulic oil flow rate of the working mechanism; The valves of the hydraulic system are adjusted according to the required flow rate and actual flow rate of each working mechanism to meet the preset matching conditions; wherein, the preset matching conditions indicate that the ratio between the actual flow rate and the required flow rate of each working mechanism is consistent.

2. The method according to claim 1, characterized in that, The input signal includes at least one input sub-signal, and the input sub-signal corresponds one-to-one with the working mechanism; Determining the required flow rate of each working mechanism of the excavator based on the input signal includes: For each input sub-signal, a mapping strategy for the input sub-signal is determined, and based on the mapping strategy, the demand flow corresponding to the input sub-signal is determined as the demand flow of the corresponding working mechanism; wherein, the mapping strategy characterizes the mapping relationship between the input sub-signal and the demand flow.

3. The method according to claim 1, characterized in that, The step of adjusting the valves of the hydraulic system according to the required flow rate and actual flow rate of each of the working mechanisms includes: For each working mechanism pair of the excavator, the demand ratio and actual ratio of the working mechanism pair are determined, and the valves corresponding to the working mechanism pair are adjusted according to the demand ratio and the actual ratio until the actual ratio equals the demand ratio; wherein, the working mechanism pair includes a first working mechanism and a second working mechanism, the demand ratio represents the ratio between the demand flow of the first working mechanism and the demand flow of the second working mechanism, and the actual ratio represents the ratio between the actual flow of the first working mechanism and the actual flow of the second working mechanism.

4. The method according to claim 3, characterized in that, The working mechanism includes a first valve and a second valve for corresponding valves. The first valve is used to control the flow rate of hydraulic oil received by the first working mechanism, and the second valve is used to control the flow rate of hydraulic oil received by the second working mechanism. The step of adjusting the working mechanism for the corresponding valve based on the demand ratio and the actual ratio includes: If the actual ratio is less than the demand ratio, the opening of the first valve is increased until the actual ratio equals the demand ratio. If the actual ratio is greater than the demand ratio, the opening of the second valve is increased until the actual ratio equals the demand ratio.

5. The method according to claim 4, characterized in that, Also includes: The difference between the actual ratio and the demand ratio is determined as the target difference. Based on the target difference, an incremental step size is determined, and based on the incremental step size, the opening of the first valve or the opening of the second valve is increased; wherein, the incremental step size represents the smallest unit for increasing the valve opening.

6. The method according to claim 4, characterized in that, Also includes: If the opening degree of the first valve reaches a preset first opening degree threshold, and the actual ratio is greater than the required ratio, then the opening degree of the second valve is reduced until the actual ratio is equal to the required ratio. If the opening degree of the second valve reaches a preset second opening degree threshold, and the actual ratio is less than the required ratio, then the opening degree of the first valve is reduced until the actual ratio equals the required ratio.

7. The method according to any one of claims 1-6, characterized in that, The working mechanism is one of the following: bucket working mechanism, boom working mechanism, stick working mechanism, and slewing working mechanism; The bucket working mechanism is used to control the movement of the excavator's bucket, the boom working mechanism is used to control the movement of the excavator's boom, the stick working mechanism is used to control the movement of the excavator's stick, and the slewing working mechanism is used to control the movement of the excavator's superstructure.

8. A control device for an excavator, characterized in that, include: An acquisition module is used to acquire input signals from the excavator and determine the required flow rate of each working mechanism of the excavator based on the input signals; wherein, the input signals represent the user's operating intention for each working mechanism, the working mechanisms are connected in parallel, and the required flow rate represents the hydraulic oil flow rate required by the working mechanism under the current operating intention; The control module is used to control the valves of the hydraulic system of the excavator according to the required flow rate, and to obtain the actual flow rate of each of the working mechanisms of the excavator; wherein, the hydraulic system is used to supply hydraulic oil to each working mechanism, and the actual flow rate represents the actual measured hydraulic oil flow rate of the working mechanism; The adjustment module is used to adjust the valves of the hydraulic system according to the required flow rate and actual flow rate of each working mechanism to meet the preset matching conditions; wherein, the preset matching conditions indicate that the ratio between the actual flow rate and the required flow rate of each working mechanism is consistent.

9. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-7.

10. An excavator, characterized in that, It includes an excavator body and an electronic device as described in claim 9 disposed on the excavator body.

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