Boom control method and apparatus for material handling machine, and material handling machine and device

Abstract

The present application relates to the technical field of energy conservation in construction machinery. Provided are a boom control method and apparatus for a material handling machine, and a material handling machine and a device. The method of the present application comprises: receiving a boom motion signal, wherein the boom motion signal is used for indicating the raising or lowering of a boom of a material handling machine, the material handling machine being provided with a rodless chamber and a rod chamber; on the basis of the boom motion signal, determining a first pressure of the rodless chamber and a second pressure of the rod chamber; on the basis of the first pressure, determining an operating mode of the material handling machine, wherein the operating mode characterizes an actual executed action of the boom; and on the basis of the operating mode and the second pressure, controlling the boom to raise or lower. Thus, the present application solves the technical problems of relatively low potential energy recovery efficiency of material handling machines and the inability to meet the requirements of a boom pressurization operating condition.

Description

Boom control method and device of material handling machine, material handling machine and equipment

[0001] The present application claims priority to the Chinese patent application No. 202411364557.3, filed on September 27, 2024, and entitled "A boom control system and electric vehicle", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of energy-saving technology for engineering machinery, and more particularly to a boom control method and device of a material handling machine, a material handling machine and equipment. BACKGROUND

[0003] At present, for the systems of material handling machines such as excavators and grab loaders, the gravitational potential energy of the boom and dipper arm can be recycled and utilized for energy saving. In some working conditions, such as the scene of pressing a coal pile with an excavator or pressing a bale with a grab loader, the rod cavity of the boom cylinder needs to be driven to retract the cylinder to provide pressing force. Therefore, for a purely electric material handling machine, it is required to efficiently recycle and utilize the gravitational potential energy and to meet the demand for boom rod cavity pressurization in some working conditions.

[0004] In the prior art, due to the large volume and weight of the electric material handling machine, frequent maintenance and other factors, the self-weight is additionally increased, and additional work is required when the boom is raised. Overall, the energy-saving effect is lost, resulting in low efficiency of gravitational potential energy recycling. Alternatively, the electric material handling machine uses two groups of bidirectional limit pumps / positive and negative swing angle pumps to control the boom to rise and fall, but cannot meet the demand for boom rod cavity pressurization in working conditions.

[0005] SUMMARY

[0006] The present application aims to provide a boom control method and device of a material handling machine, a material handling machine and equipment, which solve the technical problem of low efficiency of potential energy recycling and the inability to meet the demand for boom pressurization in working conditions.

[0007] In a first aspect, the present application discloses a boom control method of a material handling machine, comprising:

[0008] receiving a boom activity signal; wherein the boom activity signal is used to indicate the rising or falling of the boom of the material handling machine; the material handling machine is provided with a rodless cavity and a rod cavity;

[0009] determining a first pressure of the rodless cavity and a second pressure of the rod cavity according to the boom activity signal;

[0010] determining an operation mode of the material handling machine according to the first pressure, wherein the operation mode represents an actual execution action of the swing boom;

[0011] controlling the swing boom to rise or fall according to the operation mode and the second pressure.

[0012] Based on the above technical content, the first pressure of the rodless cavity can efficiently recover and utilize the gravitational potential energy, make up for the solidification of the recovery proportion of the traditional accumulator + recovery cylinder potential energy recovery hydraulic system, realize reverse charging energy storage, achieve the purpose of recovering gravitational potential energy, pump control of rising and falling, and achieve the effects of energy saving and adjustable swing boom lifting speed. The second pressure of the rod cavity can also meet the pressurized working condition. The recoverable interval is large during the conversion process, there is no overflow loss, and the control is simple, safe and reliable. Therefore, the technical problems of low potential energy recovery efficiency of the material handling machine and inability to meet the swing boom pressurized working condition demand are solved.

[0013] Optionally, the material handling machine comprises a pump control structure of the rodless cavity and a valve control structure of the rod cavity.

[0014] The pump control structure is provided with a double-quadrant pump and a first pressure sensor. The valve control structure comprises a gear pump and a second pressure sensor.

[0015] The double-quadrant pump is connected with the rodless cavity, and the rodless cavity is connected with the first pressure sensor. The double-quadrant pump is connected with the gear pump, the gear pump is connected with the second pressure sensor, and the second pressure sensor is connected with the rod cavity.

[0016] Therefore, the first pressure of the rodless cavity can efficiently recover and utilize the gravitational potential energy, make up for the solidification of the recovery proportion of the traditional accumulator + recovery cylinder potential energy recovery hydraulic system, realize reverse charging energy storage, achieve the purpose of recovering gravitational potential energy, pump control of rising and falling, and achieve the effects of energy saving and adjustable swing boom lifting speed. The second pressure of the rod cavity can also meet the pressurized working condition. The recoverable interval is large during the conversion process, there is no overflow loss, and the control is simple, safe and reliable. Therefore, the technical problems of low potential energy recovery efficiency of the material handling machine and inability to meet the swing boom pressurized working condition demand are solved.

[0017] Optionally, the determination of the first pressure of the rodless cavity and the second pressure of the rod cavity according to the swing boom activity signal comprises:

[0018] According to the swing boom activity signal, the first pressure of the rodless cavity is determined through the first pressure sensor, and the second pressure of the rod cavity is determined through the second pressure sensor.

[0019] The first pressure of the rodless cavity is determined by the first pressure sensor, and the second pressure of the rod cavity is determined by the second pressure sensor, so that the user can know whether to pressurize in time.

[0020] Optionally, the operation mode of the material handling machine is determined according to the first pressure, including:

[0021] When the boom activity signal is a lowering instruction, it is determined that the first pressure is greater than or equal to a preset first pressure threshold, and it is determined that the operation mode of the dual quadrant pump is a motor recovery mode; wherein the motor recovery mode represents that oil in the rodless cavity is sucked and oil is supplemented to the rod cavity during the lowering process of the boom.

[0022] When the boom activity signal is a lifting instruction or a lowering instruction, it is determined that the first pressure is less than the first pressure threshold, and it is determined that the operation mode of the dual quadrant pump is a pump output mode; wherein the pump output mode represents that oil is transmitted to the rodless cavity and oil in the rod cavity is discharged during the lifting process of the boom.

[0023] By comparing the first pressure with the preset first pressure threshold, the operation mode of the dual quadrant pump can be accurately and timely determined.

[0024] Optionally, the operation mode of the material handling machine is determined according to the first pressure, including:

[0025] If the operation mode is the motor recovery mode, the dual quadrant pump is controlled to rotate, the motor connected with the dual quadrant pump is driven to rotate, and the oil in the rodless cavity is extracted to the preset hydraulic oil tank;

[0026] If it is determined that the second pressure is greater than a preset second pressure threshold, a first electronic point of a preset electromagnetic reversing valve is turned on, and according to the turned-on first electronic point, a preset gear pump is controlled to operate and drive an oil return valve group to supplement oil to the rod cavity;

[0027] According to the rotating motor and the oil supplementing operation, the boom is controlled to descend.

[0028] Through the mode of the motor and the dual quadrant pump, the dual quadrant pump of the rodless cavity is controlled to rotate, the motor is driven to extract the oil in the rodless cavity to the preset hydraulic oil tank, and the boom descending realizes the pump control of the rodless cavity, the energy loss is small, and the energy saving effect is better.

[0029] Optionally, if the operation mode is the motor recovery mode, the dual quadrant pump is controlled to rotate, the motor connected with the dual quadrant pump is driven to rotate, and the oil in the rodless cavity is extracted to the preset hydraulic oil tank, including:

[0030] If the operation mode is the motor recovery mode, a displacement signal is generated; wherein the displacement signal comprises a target displacement of oil liquid discharged from the rodless chamber;

[0031] The double-quadrant pump is controlled to rotate, the motor connected with the double-quadrant pump is driven to rotate, and the oil liquid in the rodless chamber is extracted to the preset hydraulic oil tank according to the target displacement.

[0032] Through the rotation of the double-quadrant pump of the rodless chamber, the motor is driven, and the oil liquid in the rodless chamber is extracted to the preset hydraulic oil tank according to the target displacement, so that the rodless chamber is controlled by the pump, the volume speed can be controlled by the pump, the energy loss is small, and the energy saving effect is better.

[0033] Optionally, the control of the boom rising or falling according to the operation mode and the second pressure comprises:

[0034] If the operation mode is the pump output mode, the oil liquid in the preset hydraulic oil tank is extracted by the double-quadrant pump, and is transmitted to the rodless chamber through the preset boom piston oil cylinder connected with the double-quadrant pump.

[0035] If it is determined that the second pressure is less than the preset second pressure threshold, the second electronic point of the preset electromagnetic reversing valve is turned on; and according to the turned-on second electronic point, the oil liquid in the rod chamber is controlled to flow to the oil return valve group, the radiator and the preset hydraulic oil tank in turn.

[0036] According to the transmission of the oil liquid to the rodless chamber and the operation of the oil liquid flowing to the hydraulic oil tank, the boom is controlled to rise.

[0037] By adopting the electromagnetic reversing valve, the oil liquid in the rod chamber is controlled to flow to the preset hydraulic oil tank, so that the rod chamber is controlled by the valve, and different working conditions can be met.

[0038] Optionally, the preset boom piston oil cylinder comprises a first boom piston oil cylinder and a second boom piston oil cylinder; the rodless chamber is connected with a first inlet of the first boom piston oil cylinder and a second inlet of the second boom piston oil cylinder respectively, and a first outlet of the first boom piston oil cylinder and a second outlet of the second boom piston oil cylinder are connected with the rod chamber respectively.

[0039] Through the connection mode between the first boom piston oil cylinder, the second boom piston oil cylinder and the rodless chamber and the rod chamber, the oil liquid in the rodless chamber and the rod chamber can be extracted.

[0040] Optionally, if the operation mode is the pump output mode, the oil liquid in the preset hydraulic oil tank is extracted by the double-quadrant pump, and is transmitted to the rodless chamber through the preset boom piston oil cylinder connected with the double-quadrant pump, comprising:

[0041] If the operation mode is the pump output mode, the double quadrant pump is controlled to draw oil in a preset hydraulic oil tank, and the oil is transmitted to the rodless cavity through the first boom piston oil cylinder and the second boom piston oil cylinder connected with the double quadrant pump, respectively.

[0042] The double quadrant pump draws oil in a preset hydraulic oil tank, and the oil is transmitted to the rodless cavity through the first boom piston oil cylinder and the second boom piston oil cylinder, respectively, so that reverse charging energy storage is realized, the gravitational potential energy is recovered, the pump control purpose of ascending and descending is achieved, the energy-saving and boom lifting speed-adjustable effect is achieved, and the second pressure of the rod cavity can meet the pressurized working condition. In the conversion process, the recoverable interval is large, there is no overflow loss, the control is simple, safe and reliable, and the technical problems of low potential energy recovery efficiency of the material handling machinery and inability to meet the boom pressurized working condition demand are solved.

[0043] In a second aspect, the application discloses a boom control device of a material handling machinery, which comprises:

[0044] A receiving module is configured to receive a boom activity signal, wherein the boom activity signal is used to indicate the ascending or descending of the boom of the material handling machinery, and the material handling machinery is provided with a rodless cavity and a rod cavity.

[0045] A first determining module is configured to determine a first pressure of the rodless cavity and a second pressure of the rod cavity according to the boom activity signal.

[0046] A second determining module is configured to determine an operation mode of the material handling machinery according to the first pressure, wherein the operation mode represents the actual execution action of the boom.

[0047] A control module is configured to control the ascending or descending of the boom according to the operation mode and the second pressure.

[0048] Optionally, the material handling machinery comprises a pump control structure of the rodless cavity and a valve control structure of the rod cavity.

[0049] The pump control structure is provided with a double quadrant pump and a first pressure sensor, and the valve control structure comprises a gear pump and a second pressure sensor.

[0050] The double quadrant pump is connected with the rodless cavity, and the rodless cavity is connected with the first pressure sensor. The double quadrant pump is connected with the gear pump, the gear pump is connected with the second pressure sensor, and the second pressure sensor is connected with the rod cavity.

[0051] Optionally, the first determining module is specifically configured to:

[0052] According to the boom activity signal, a first pressure of the rodless chamber is determined by the first pressure sensor, and a second pressure of the rod chamber is determined by the second pressure sensor.

[0053] Optionally, the second determining module is specifically used for:

[0054] When the boom activity signal is a lowering instruction, it is determined that the first pressure is greater than or equal to a preset first pressure threshold, and then it is determined that the operating mode of the double-quadrant pump is a motor recovery mode; wherein the motor recovery mode represents that oil in the rodless chamber is absorbed and oil is supplemented into the rod chamber during the lowering process of the boom.

[0055] When the boom activity signal is a lifting instruction or a lowering instruction, it is determined that the first pressure is less than the first pressure threshold, and then it is determined that the operating mode of the double-quadrant pump is a pump output mode; wherein the pump output mode represents that oil is transmitted to the rodless chamber and oil in the rod chamber is discharged during the lifting process of the boom.

[0056] Optionally, the control module comprises:

[0057] The extraction unit is configured to, if the operating mode is the motor recovery mode, control the double-quadrant pump to rotate, drive the motor connected with the double-quadrant pump to rotate, and extract oil in the rodless chamber to a preset hydraulic oil tank.

[0058] The oil supplementing unit is configured to, if it is determined that the second pressure is greater than a preset second pressure threshold, turn on a first electronic point of a preset electromagnetic reversing valve, control a preset gear pump to operate and drive an oil return valve group to perform an oil supplementing operation to the rod chamber according to the turned-on first electronic point.

[0059] The first control unit is configured to control the boom to lower according to the rotating motor and the oil supplementing operation.

[0060] Optionally, the extraction unit is specifically used for:

[0061] If the operating mode is the motor recovery mode, a displacement signal is generated; wherein the displacement signal comprises a target displacement of discharging oil in the rodless chamber.

[0062] The double-quadrant pump is controlled to rotate, the motor connected with the double-quadrant pump is driven to rotate, and oil in the rodless chamber is extracted to a preset hydraulic oil tank according to the target displacement.

[0063] Optionally, the control module comprises:

[0064] a transmission unit, configured to, if the operation mode is the pump output mode, control the dual quadrant pump to draw oil in a preset hydraulic oil tank, and transmit the oil to the rodless cavity through a preset boom piston oil cylinder connected with the dual quadrant pump;

[0065] a return unit, configured to, if it is determined that the second pressure is less than a preset second pressure threshold, turn on a second electronic point of a preset electromagnetic reversing valve, and control the oil in the rod cavity to flow to an oil return valve group, a radiator and the preset hydraulic oil tank in sequence according to the turned-on second electronic point;

[0066] a second control unit, configured to control the boom to rise according to the oil transmitted into the rodless cavity and the operation of flowing to the hydraulic oil tank.

[0067] Optionally, the preset boom piston oil cylinder includes a first boom piston oil cylinder and a second boom piston oil cylinder; the rodless cavity is connected with a first inlet of the first boom piston oil cylinder and a second inlet of the second boom piston oil cylinder respectively, and a first outlet of the first boom piston oil cylinder and a second outlet of the second boom piston oil cylinder are connected with the rod cavity respectively.

[0068] Optionally, the transmission unit is specifically configured to:

[0069] if the operation mode is the pump output mode, control the dual quadrant pump to draw oil in a preset hydraulic oil tank, and transmit the oil to the rodless cavity through the first boom piston oil cylinder and the second boom piston oil cylinder connected with the dual quadrant pump respectively.

[0070] In a third aspect, an embodiment of the present application provides a material handling machine, which is configured to execute the boom control method of the material handling machine according to the first aspect.

[0071] In a fourth aspect, an embodiment of the present application provides an electronic device, which includes a memory and a processor.

[0072] The memory stores computer execution instructions.

[0073] The processor executes the computer execution instructions stored in the memory, so that the processor executes the boom control method according to the first aspect and / or various possible implementation manners of the first aspect.

[0074] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, which stores computer execution instructions, and the computer execution instructions are executed by a processor to implement the boom control method according to the first aspect and / or various possible implementation manners of the first aspect.

[0075] In a sixth aspect, an embodiment of the present application provides a computer program product, comprising a computer program which, when executed by a processor, implements the first aspect and / or various possible implementation manners of the first aspect.

[0076] In combination with the above technical solution, the present application provides a boom control method and device of a material handling machine, an electronic device, and equipment. The boom control method comprises the following steps: receiving a boom activity signal; wherein the boom activity signal is used to indicate that the boom of the material handling machine is rising or falling; the material handling machine is provided with a rodless cavity and a rod cavity. According to the boom activity signal, a first pressure of the rodless cavity and a second pressure of the rod cavity are determined. According to the first pressure, an operation mode of the material handling machine is determined; wherein the operation mode represents an actual execution action of the boom. According to the operation mode and the second pressure, the boom is controlled to rise or fall. In the present solution, the first pressure of the rodless cavity and the second pressure of the rod cavity are used to determine the operation mode of the material handling machine according to the first pressure, and the boom is controlled to rise or fall according to the operation mode and the second pressure. Therefore, the present application can efficiently recover and utilize the gravitational potential energy by using the first pressure of the rodless cavity, can compensate for the solidification of the recovery proportion of the traditional accumulator + recovery cylinder potential energy recovery hydraulic system, can realize reverse charging energy storage, can realize the recovery of gravitational potential energy, pump control for rising and falling, and can achieve the effects of energy saving and adjustable boom lifting speed. In addition, the second pressure of the rod cavity can be used to meet the pressurized working condition, the recoverable interval can be large during the conversion process, there is no overflow loss, and the control is simple, safe and reliable, thereby solving the technical problem that the potential energy recovery efficiency of the material handling machine is low and cannot meet the demand of the boom pressurized working condition. BRIEF DESCRIPTION OF DRAWINGS

[0077] FIG. 1 is a flowchart of a boom control method of a material handling machine according to an embodiment of the present application;

[0078] FIG. 2 is a flowchart of a boom control method of a material handling machine according to an embodiment of the present application;

[0079] FIG. 3 is a circuit diagram of a material handling machine according to an embodiment of the present application;

[0080] FIG. 4 is a structural diagram of a boom control device of a material handling machine according to an embodiment of the present application;

[0081] FIG. 5 is a structural diagram of another boom control device of a material handling machine according to an embodiment of the present application;

[0082] FIG. 6 is a structural diagram of an electronic device according to an embodiment of the present application;

[0083] FIG. 7 is a block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0084] At present, for the system of material handling machinery such as excavators and grab machines, the gravitational potential energy of the boom and dipper arm can be recycled and utilized for energy saving. In some working conditions, for example, the scene of pressing coal piles with an excavator or pressing bale blocks with a grab machine, the rod cavity of the boom cylinder needs to be driven to retract the cylinder to provide pressing force. Therefore, for purely electric material handling machinery, it is required to efficiently recycle and utilize gravitational potential energy and to meet the demand of rod cavity pressurization of the boom in some working conditions.

[0085] In one example, due to the large volume and weight of the electric material handling machinery, frequent maintenance and other factors, the additional weight is increased, and additional work is required when the boom is raised. Overall, the energy saving effect is lost, resulting in low efficiency of gravitational potential energy recycling. Alternatively, the electric material handling machinery uses two groups of bidirectional limit pumps / positive and negative swing angle pumps to control the boom to rise and fall, but cannot meet the demand of rod cavity pressurization of the boom in working conditions.

[0086] The boom control method of the material handling machinery provided in the present application aims to solve the above technical problems of the prior art.

[0087] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes may not be described again in some examples. The embodiments of the present application will be described below with reference to the drawings.

[0088] From the above prior art, it can be seen that in the prior art, there is a technical problem that the potential energy recycling efficiency of the material handling machinery is low and cannot meet the demand of boom pressurization in working conditions.

[0089] The boom control method of the material handling machinery provided in the present application can efficiently recycle and utilize gravitational potential energy through the first pressure of the rod cavity, make up for the fixed recycling proportion of the traditional accumulator + recycled cylinder potential energy recycling hydraulic system, realize reverse charging energy storage, achieve the purpose of recycling gravitational potential energy, pump control of rising and falling, achieve the effect of energy saving and adjustable boom lifting speed; and can also meet the pressurization working condition through the second pressure of the rod cavity, the recoverable interval is large during the conversion process, there is no overflow loss, and the control is simple, safe and reliable, solving the technical problem that the potential energy recycling efficiency of the material handling machinery is low and cannot meet the demand of boom pressurization in working conditions.

[0090] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes may not be described again in some examples. The embodiments of the present application will be described below with reference to the drawings.

[0091] Fig. 1 is a flowchart of a boom control method of a material handling machine according to an embodiment of the present application. As shown in Fig. 1, the method comprises the following steps.

[0092] S101, receiving a boom activity signal; wherein the boom activity signal is used to indicate the boom of the material handling machine to rise or fall; the material handling machine is provided with a rodless chamber and a rod chamber.

[0093] Exemplarily, the execution subject of the embodiment can be an electronic device, a material handling machine, or a terminal device, or a boom control device or equipment of the material handling machine, or other devices or equipment that can execute the embodiment, which is not limited. In the embodiment, the execution subject is introduced as an electronic device.

[0094] Firstly, the material handling machine is a machine including a movable boom, for example, the material handling machine can be a grab replacement for a shovel, a crane, etc., which is not limited. The material handling machine is provided with a rodless chamber and a rod chamber. In response to the actual operation of the user, the electronic device receives a boom activity signal, and the boom activity signal is used to indicate the boom of the material handling machine to rise or fall. For example, the boom activity signal is a falling instruction, or a rising instruction.

[0095] S102, determining the first pressure of the rodless chamber and the second pressure of the rod chamber according to the boom activity signal.

[0096] Exemplarily, the rodless chamber is connected with a preset first pressure sensor, and the rod chamber is connected with a preset second pressure sensor. According to the boom activity signal, the first pressure of the rodless chamber can be detected according to the first pressure sensor, and the second pressure of the rod chamber can be detected through the second pressure sensor.

[0097] S103, determining the operating mode of the material handling machine according to the first pressure; wherein the operating mode represents the actual execution action of the boom.

[0098] Exemplarily, the first pressure is compared with a preset first pressure threshold, and an operation mode of the material handling machine is determined according to a comparison result, the operation mode representing an actual execution action of the boom, for example, the operation mode indicating that the boom of the material handling machine performs an ascending operation, or the operation mode indicating that the boom of the material handling machine performs a descending operation. Specifically, when the boom activity signal is a descending instruction, it is determined that the first pressure is less than the preset first pressure threshold, and it is determined that the operation mode of the double-quadrant pump is a motor recovery mode; wherein the motor recovery mode represents that oil in the rodless chamber is sucked and supplemented to the rod chamber during the descending process of the boom. Or, when the boom activity signal is an ascending instruction or the instruction is a descending instruction, it is determined that the first pressure is less than the first pressure threshold, and it is determined that the operation mode of the double-quadrant pump is a pump output mode; wherein the pump output mode represents that oil is transmitted to the rodless chamber and discharged from the rod chamber during the ascending process of the boom.

[0099] Or, the material handling machine can be provided with at least one boom angle sensor, and whether the boom piston cylinder is displaced is determined by the boom angle sensor according to the obtained boom descending signal, and the operation mode of the double-quadrant pump is determined. For example, if it is determined that displacement occurs, it means that the pressurization condition occurs, and it is determined that the operation mode of the double-quadrant pump is the motor recovery mode; if it is determined that displacement does not occur, it is determined that the operation mode of the double-quadrant pump is the pump output mode. Further, the displacement distance can also be determined, if it is determined that the displacement distance is less than a preset distance threshold, it is determined that displacement does not occur; if it is determined that the displacement distance is greater than or equal to the preset distance threshold, it is determined that displacement occurs, which is not limited.

[0100] S104, controlling the boom to ascend or descend according to the operation mode and the second pressure.

[0101] Exemplarily, if the operation mode is the motor recovery mode, the boom is controlled to descend according to the motor recovery mode and the second pressure. Or, if the operation mode is the pump output mode, the boom is controlled to ascend according to the pump output mode and the second pressure.

[0102] The material handling machine arm control method provided by the embodiment of the application receives an arm activity signal; wherein the arm activity signal is used to indicate the lifting or lowering of the arm of the material handling machine; the material handling machine is provided with a rodless cavity and a rod cavity. According to the arm activity signal, the first pressure of the rodless cavity and the second pressure of the rod cavity are determined. According to the first pressure, the operation mode of the material handling machine is determined; wherein the operation mode represents the actual execution action of the arm. According to the operation mode and the second pressure, the lifting or lowering of the arm is controlled. In the scheme, the first pressure of the rodless cavity and the second pressure of the rod cavity are used to determine the operation mode of the material handling machine according to the first pressure, and the lifting or lowering of the arm is controlled according to the operation mode and the second pressure. Therefore, the first pressure of the rodless cavity can be used to efficiently recover and utilize the gravitational potential energy, to make up for the solidification of the recovery proportion of the traditional accumulator + recovery cylinder potential energy recovery hydraulic system, to realize reverse charging energy storage, to realize the recovery of gravitational potential energy, pump control for lifting and lowering, to achieve the effects of energy saving and adjustable lifting and lowering speed of the arm; and the second pressure of the rod cavity can be used to meet the pressurized working condition, wherein the recoverable interval is large during the conversion, there is no overflow loss, and the control is simple, safe and reliable, thereby solving the technical problems of low potential energy recovery efficiency of the material handling machine and the inability to meet the arm pressurized working condition requirement.

[0103] FIG. 2 is a flowchart of a material handling machine arm control method provided by the application. As shown in FIG. 2, the embodiment is based on the embodiment of FIG. 1, and the material handling machine arm control method is described in detail. The method comprises the following steps:

[0104] S201, receiving an arm activity signal; wherein the arm activity signal is used to indicate the lifting or lowering of the arm of the material handling machine; the material handling machine is provided with a rodless cavity and a rod cavity.

[0105] For example, the present step can refer to step 101 in FIG. 1, and will not be described here.

[0106] S202, determining the first pressure of the rodless cavity through the first pressure sensor according to the arm activity signal, and determining the second pressure of the rod cavity through the second pressure sensor.

[0107] In one example, the material handling machine comprises a pump control structure of a rodless cavity and a valve control structure of a rod cavity; the pump control structure is provided with a double-quadrant pump and a first pressure sensor; the valve control structure comprises a gear pump and a second pressure sensor; the double-quadrant pump is connected with the rodless cavity, the rodless cavity is connected with the first pressure sensor; the double-quadrant pump is connected with the gear pump, the gear pump is connected with the second pressure sensor, and the second pressure sensor is connected with the rod cavity.

[0108] Exemplarily, Fig. 3 is a circuit schematic diagram of a material handling machine provided by the present application, as shown in Fig. 3, comprising: a motor 1, a dual-quadrant pump 2, a gear pump 3; an electromagnetic reversing valve 4, a load holding valve 5, a boom piston oil cylinder 6, a return valve group 7, a pressure sensor 8, an unloading electromagnetic valve 9, a relief valve 10, a hydraulic oil tank 11, a rodless cavity 12, and a rod cavity 13, other hydraulic system return paths; wherein the load holding valve 5 comprises a first load holding valve 5.1 and a second load holding valve 5.2; the boom piston oil cylinder 6 comprises a first boom piston oil cylinder 6.1 and a second boom piston oil cylinder 6.2; the return valve group 7 comprises a make-up check valve 7.1, a check valve 7.2, and a check valve 7.3; the pressure sensor 8 comprises a first pressure sensor 8.1 and a second pressure sensor 8.2; the relief valve 10 comprises a first relief valve 10.1 and a second relief valve 10.2.

[0109] The material handling machine comprises a pump control structure of the rodless cavity and a valve control structure of the rod cavity. The motor 1 is connected with the dual-quadrant pump 2, the dual-quadrant pump 2 is connected with the rodless cavity 12, and the dual-quadrant pump 2 is connected with the first pressure sensor 8.1, the unloading electromagnetic valve 9, and the second relief valve 10.2 respectively; the rodless cavity 12 is connected with the first pressure sensor 8.1, and the rodless cavity 12 is connected with the first load holding valve 5.1 and the second load holding valve 5.2 respectively; the first load holding valve 5.1 is connected with a first inlet of the first boom piston oil cylinder 6.1, and the second load holding valve 5.2 is connected with a second inlet of the second boom piston oil cylinder 6.2; a first outlet of the first boom piston oil cylinder 6.1 and a second outlet of the second boom piston oil cylinder 6.2 are both connected with the rod cavity 13; the rod cavity 13 is connected with the second pressure sensor 8.2 and the return valve group 7 respectively; the second pressure sensor 8.2 is sequentially connected with the first relief valve 10.1, the electromagnetic reversing valve 4, and the gear pump 3, wherein the electromagnetic reversing valve 4 and the first relief valve 10.1 constitute a pressurizing valve group, and the electromagnetic reversing valve 4 comprises a first electronic point DT1 and a second electronic point DT2; the gear pump 3 is connected with the dual-quadrant pump 2; the second relief valve 10.2 and the unloading electromagnetic valve 9 constitute a pressure unloading valve group; the first load holding valve 5.1 comprises a point S1, and the second load holding valve 5.2 comprises a point S2; the unloading electromagnetic valve 9 comprises a point DT4; the first pressure sensor 8.1 comprises a switch YG2, and the second pressure sensor 8.2 comprises a switch YG7.

[0110] In this step, the electronic device can determine the first pressure of the rodless cavity through the first pressure sensor according to the boom activity signal, and the first pressure is the pressure of the dual-quadrant pump port of the dual-quadrant pump 2, and determine the second pressure of the rod cavity through the second pressure sensor, and the second pressure is the pressure of the gear pump port of the gear pump 3. Therefore, when the boom is operated to descend, whether the dual-quadrant pump and the gear pump 3 need to be supplied with oil and pressurized can be judged through the pressure sensor signal of the pump port.

[0111] S203, determine an operation mode of the material handling machine according to the first pressure; wherein the operation mode represents an actual execution action of the boom.

[0112] In one example, S203 includes: when the boom activity signal is a lowering instruction, determining that the first pressure is greater than or equal to a preset first pressure threshold, and then determining that the operation mode of the two-quadrant pump is a motor recovery mode; wherein the motor recovery mode represents that oil in the rodless chamber is sucked and supplemented into the rod chamber during the lowering process of the boom; when the boom activity signal is a lifting instruction or a lowering instruction, determining that the first pressure is less than the first pressure threshold, and then determining that the operation mode of the two-quadrant pump is a pump output mode; wherein the pump output mode represents that oil is transmitted to the rodless chamber and discharged from the rod chamber during the lifting process of the boom.

[0113] Exemplarily, the electronic device can compare the first pressure with a preset first pressure threshold P0, determine the operation mode of the material handling machine according to the comparison result, and the operation mode represents an actual execution action of the boom, for example, the operation mode indicates that the boom of the material handling machine performs a lifting operation, or the operation mode indicates that the boom of the material handling machine performs a lowering operation. Specifically, if the boom activity signal is a lowering instruction and it is determined that the first pressure is greater than or equal to the preset first pressure threshold P0, it is judged that the pressurizing condition occurs, and it is determined that the operation mode of the two-quadrant pump is the motor recovery mode, wherein the motor recovery mode represents that oil in the rodless chamber is sucked and supplemented into the rod chamber during the lowering process of the boom. If it is determined that the boom activity signal is a lifting instruction or a lowering instruction, and the first pressure is less than the first pressure threshold P0, it is determined that the operation mode of the two-quadrant pump is the pump output mode, wherein the pump output mode represents that oil is transmitted to the rodless chamber and discharged from the rod chamber during the lifting process of the boom.

[0114] S204, control the boom to lift or lower according to the operation mode and the second pressure.

[0115] In one example, S204 includes two implementation manners:

[0116] The first implementation manner of S204: if the operation mode is the motor recovery mode, control the two-quadrant pump to rotate, drive the motor connected with the two-quadrant pump to rotate, and extract the oil in the rodless chamber to a preset hydraulic oil tank; if it is determined that the second pressure is greater than a preset second pressure threshold, turn on a first electronic point of a preset electromagnetic reversing valve, control a preset gear pump to operate and drive an oil return valve group to perform a supplement operation to the rod chamber according to the turned-on first electronic point, and control the boom to lower according to the rotating motor and the supplement operation.

[0117] In one example, if the operation mode is the motor recovery mode, the double-quadrant pump is controlled to rotate, the motor connected with the double-quadrant pump is controlled to rotate, and the oil in the rodless cavity is extracted to the preset hydraulic oil tank according to the target displacement.

[0118] In the second implementation of step 204, if the operation mode is the pump output mode, the double-quadrant pump is controlled to extract the oil in the preset hydraulic oil tank, and the oil is transmitted to the rodless cavity through the preset boom piston oil cylinder connected with the double-quadrant pump; if it is determined that the second pressure is less than the preset second pressure threshold, the second electronic point of the preset electromagnetic reversing valve is turned on; and according to the turned-on second electronic point, the oil in the rod cavity is controlled to flow to the oil return valve group, the radiator and the preset hydraulic oil tank in sequence; according to the oil transmitted to the rodless cavity and the operation of flowing to the hydraulic oil tank, the boom is controlled to rise.

[0119] In one example, the preset boom piston oil cylinder includes a first boom piston oil cylinder and a second boom piston oil cylinder; the rodless cavity is connected with a first inlet of the first boom piston oil cylinder and a second inlet of the second boom piston oil cylinder respectively, and a first outlet of the first boom piston oil cylinder and a second outlet of the second boom piston oil cylinder are connected with the rod cavity respectively.

[0120] In one example, if the operation mode is the pump output mode, the double-quadrant pump is controlled to extract the oil in the preset hydraulic oil tank, and the oil is transmitted to the rodless cavity through the preset boom piston oil cylinder connected with the double-quadrant pump, including: if the operation mode is the pump output mode, the double-quadrant pump is controlled to extract the oil in the preset hydraulic oil tank, and the oil is transmitted to the rodless cavity through the first boom piston oil cylinder and the second boom piston oil cylinder connected with the double-quadrant pump respectively.

[0121] Exemplarily, the working condition of the grabber part is pressing the packing block, at this time, the self-weight pressing force cannot be relied on, and the boom rod cavity needs to provide a certain pressure, the pump control structure of the rodless cavity can be controlled according to the operation mode, the valve control structure of the rod cavity can be controlled according to the second pressure, and then the boom is controlled to rise or fall.

[0122] Specifically, in the first implementation, as shown in FIG. 3, if the operation mode is the motor recovery mode, in the pump control structure, the double quadrant pump 2 is controlled to rotate, the motor 1 connected with the double quadrant pump 2 is driven to rotate, and then the oil in the rodless cavity 12 is extracted to the preset hydraulic oil tank 11, so as to achieve the effect of pump control of the boom rodless cavity. In the valve control structure, if it is determined that the second pressure is greater than the preset second pressure threshold value, it indicates that the rod cavity 13 needs to be pressurized and supplemented with oil, at this time the first electronic point of the preset electromagnetic reversing valve 4 is turned on, the series connected gear pump 3 is controlled to operate according to the turned-on first electronic point, the gear pump 3 drives the oil return valve group 7 to extract oil from the hydraulic oil tank 11, and the oil extracted is supplemented to the rod cavity 13 to prevent the rod cavity 13 from being sucked empty during overspeed drop; and the gear pump 3 generates a pressure for the rod cavity 13, which is used to press the packing block to achieve the effect of valve control of the boom rod cavity. Finally, according to the rotating motor 1, the oil supplementing operation and the pressure of the rod cavity 13, the boom is controlled to descend.

[0123] Further, if the operation mode is the motor recovery mode, a displacement signal is generated, the displacement signal includes a target displacement of the oil in the rodless cavity 12, the target displacement can be a preset displacement, or can be actually determined according to the volume of the oil in the rodless cavity 12, which is not limited. The double quadrant pump 2 is controlled to rotate, the unloading electromagnetic valve 9 is unloaded, the motor 1 connected with the double quadrant pump 2 is driven to rotate, and the oil in the rodless cavity 12 is sucked according to the target displacement, so as to prevent the double quadrant pump 2 from sucking the oil in the rodless cavity 12.

[0124] In the second implementation, as shown in FIG. 3, the preset boom piston cylinder includes a first boom piston cylinder 6.1 and a second boom piston cylinder 6.2, the rodless cavity 12 is connected with the first inlet of the first boom piston cylinder 6.1 through the first load holding valve 5.1, and connected with the second inlet of the second boom piston cylinder 6.2 through the second load holding valve 5.2, and the first outlet of the first boom piston cylinder 6.1 and the second outlet of the second boom piston cylinder 6.2 are connected with the rod cavity 13 respectively. If the operation mode is the pump output mode, in the pump control structure, based on the boom potential energy recovery principle, the double quadrant pump 2 is controlled to extract the oil in the preset hydraulic oil tank 11, and the oil is transmitted to the rodless cavity 12 through the first boom piston cylinder 6.1 and the second boom piston cylinder 6.2 connected with the double quadrant pump 2 respectively, and then the rodless cavity 12 is supplied with oil. If it is determined that the second pressure is less than the preset second pressure threshold value, the second electronic point of the preset electromagnetic reversing valve 4 is turned on, and the oil in the rod cavity 13 is controlled to flow to T1, the check valve 7.2, the check valve 7.3, the radiator and the preset hydraulic oil tank 11 in the oil return valve group 7 in turn according to the turned-on second electronic point, wherein the radiator is used for radiating the oil flowing through, and then the oil flows to the hydraulic oil tank 11. According to the operation of the oil transmitted to the rodless cavity 12 and the oil flowing to the hydraulic oil tank 11, the boom is controlled to rise, and at this time, the pressure loss is small.

[0125] For example, assuming that the action process cylinder displacement is L, the pump port pressure is P, and the cylinder rodless cavity area is A, the energy W in the lifting process is:

[0126] The ratio of the descending recovery potential energy and the rising energy consumption is the recovery efficiency Wherein, n1 is the transmission coefficient of the motor transmission to the double quadrant pump, n2 is the transmission coefficient of the motor transmission to the motor, L1 represents the initial displacement of the cylinder; L2 represents the terminal displacement of the cylinder; Wdown represents the energy in the descending process; Wup represents the energy in the rising process; i represents the cylinder displacement; Piu represents the pump port pressure corresponding to the cylinder displacement i in the rising process; Pidown represents the pump port pressure corresponding to the cylinder displacement i in the descending process; the recovery efficiency is related to the descending process pressure P. The following Table 1 is the data in the actual operation mode:

[0127] Table 1

[0128] Therefore, compared with the traditional accumulator + energy-saving oil cylinder mode affected by the displacement L and pressure of the oil cylinder, the full-cycle recovery efficiency is not high, and the motor + double-quadrant pump mode is adopted to realize the process of gravity potential energy → high-pressure oil → motor mode rotation → motor rotation → battery storage, so that the gravity potential energy can be efficiently recovered and utilized, reverse charging energy storage is realized, the gravity potential energy is recovered, the pump control purpose of ascending and descending is achieved, the effects of energy saving and adjustable speed of the boom are achieved, and the pressurizing working condition can be met through the valve control of the rod cavity.

[0129] The boom control method of the material handling machine provided in the embodiment of the application receives a boom activity signal; wherein the boom activity signal is used to indicate the ascending or descending of the boom of the material handling machine; and the material handling machine is provided with a rodless cavity and a rod cavity. According to the boom activity signal, the first pressure of the rodless cavity is determined through a first pressure sensor, and the second pressure of the rod cavity is determined through a second pressure sensor. According to the first pressure, the operating mode of the material handling machine is determined; wherein the operating mode represents the actual execution action of the boom. According to the operating mode and the second pressure, the ascending or descending of the boom is controlled. Therefore, through the first pressure of the rodless cavity, the gravity potential energy can be efficiently recovered and utilized, the recovery proportion of the traditional accumulator + recovered oil cylinder potential recovery hydraulic system is fixed, reverse charging energy storage is realized, the gravity potential energy is recovered, the pump control purpose of ascending and descending is achieved, the effects of energy saving and adjustable speed of the boom are achieved, and the pressurizing working condition can be met through the second pressure of the rod cavity, wherein the recoverable interval is large during the conversion process, there is no overflow loss, the control is simple, safe and reliable, and the technical problems of low potential recovery efficiency of the material handling machine and the inability to meet the boom pressurizing working condition demand are solved.

[0130] FIG. 4 is a structural schematic diagram of a boom control device of a material handling machine provided in the application, as shown in FIG. 4, the boom control device 30 of the material handling machine provided in the embodiment includes:

[0131] The receiving module 31 is used to receive a boom activity signal; wherein the boom activity signal is used to indicate the ascending or descending of the boom of the material handling machine; and the material handling machine is provided with a rodless cavity and a rod cavity.

[0132] The first determining module 32 is used to determine the first pressure of the rodless cavity and the second pressure of the rod cavity according to the boom activity signal.

[0133] The second determining module 33 is used to determine the operating mode of the material handling machine according to the first pressure; wherein the operating mode represents the actual execution action of the boom.

[0134] The control module 34 is used to control the ascending or descending of the boom according to the operating mode and the second pressure.

[0135] Fig. 5 is a structural schematic diagram of a boom control device of another material handling machine provided by the embodiment of the present application. On the basis of the embodiment shown in Fig. 4, as shown in Fig. 5, the material handling machine comprises a pump control structure of a rodless cavity and a valve control structure of a rod cavity.

[0136] The pump control structure is provided with a two-quadrant pump and a first pressure sensor; and the valve control structure comprises a gear pump and a second pressure sensor.

[0137] The two-quadrant pump is connected with the rodless cavity, and the rodless cavity is connected with the first pressure sensor; the two-quadrant pump is connected with the gear pump, the gear pump is connected with the second pressure sensor, and the second pressure sensor is connected with the rod cavity.

[0138] In a possible implementation, the first determining module 32 is specifically configured to:

[0139] According to the boom activity signal, the first pressure of the rodless cavity is determined by the first pressure sensor, and the second pressure of the rod cavity is determined by the second pressure sensor.

[0140] In a possible implementation, the second determining module 33 is specifically configured to:

[0141] When the boom activity signal is a lowering instruction, it is determined that the first pressure is greater than or equal to a preset first pressure threshold, and then it is determined that the operating mode of the two-quadrant pump is a motor recovery mode; wherein the motor recovery mode represents that the oil in the rodless cavity is absorbed and supplemented into the rod cavity during the lowering process of the boom.

[0142] When the boom activity signal is a lifting instruction or a lowering instruction, it is determined that the first pressure is less than the first pressure threshold, and then it is determined that the operating mode of the two-quadrant pump is a pump output mode; wherein the pump output mode represents that the oil is transmitted into the rodless cavity and discharged from the rod cavity during the lifting process of the boom.

[0143] In a possible implementation, the control module 34 comprises:

[0144] The extraction unit 341 is configured to, if the operating mode is the motor recovery mode, control the two-quadrant pump to rotate, drive the motor connected with the two-quadrant pump to rotate, and extract the oil in the rodless cavity to a preset hydraulic oil tank.

[0145] The oil supplement unit 342 is configured to, if it is determined that the second pressure is greater than a preset second pressure threshold, turn on a first electronic point of a preset electromagnetic reversing valve, control the preset gear pump to operate and drive the oil return valve group to perform the oil supplement operation to the rod cavity according to the turned-on first electronic point.

[0146] The first control unit 343 is configured to control the boom to descend according to the rotating motor and the oil supplementing operation.

[0147] In a possible implementation, the extraction unit 341 is specifically configured to:

[0148] If the operation mode is the motor recovery mode, a displacement signal is generated; the displacement signal includes a target displacement of oil discharged from the rodless chamber.

[0149] The control dual quadrant pump to rotate, drive the motor connected with the dual quadrant pump to rotate, and extract the oil in the rodless chamber to the preset hydraulic oil tank according to the target displacement.

[0150] In a possible implementation, the control module 34 includes:

[0151] The transmission unit 344 is configured to, if the operation mode is the pump output mode, control the dual quadrant pump to extract the oil in the preset hydraulic oil tank, and transmit the oil to the rodless chamber through the preset boom piston oil cylinder connected with the dual quadrant pump.

[0152] The backflow unit 345 is configured to, if it is determined that the second pressure is less than the preset second pressure threshold, turn on a second electronic point of the preset electromagnetic reversing valve; and according to the turned-on second electronic point, control the oil in the rod chamber to flow to the oil return valve group, the radiator and the preset hydraulic oil tank in sequence.

[0153] The second control unit 346 is configured to control the boom to rise according to the oil transmitted to the rodless chamber and the operation flowing to the hydraulic oil tank.

[0154] In a possible implementation, the preset boom piston oil cylinder includes a first boom piston oil cylinder and a second boom piston oil cylinder; the rodless chamber is connected with a first inlet of the first boom piston oil cylinder and a second inlet of the second boom piston oil cylinder respectively, and a first outlet of the first boom piston oil cylinder and a second outlet of the second boom piston oil cylinder are connected with the rod chamber respectively.

[0155] In a possible implementation, the transmission unit 344 is specifically configured to:

[0156] If the operation mode is the pump output mode, the dual quadrant pump is controlled to extract the oil in the preset hydraulic oil tank, and the oil is transmitted to the rodless chamber through the first boom piston oil cylinder and the second boom piston oil cylinder connected with the dual quadrant pump respectively.

[0157] The boom control device of the material handling machine provided in the embodiment can execute the method provided in the method embodiment, and has similar implementation principles and technical effects, which will not be described here.

[0158] The present embodiment provides a material handling machine for performing the method in the above embodiment, which will not be repeated here.

[0159] Fig. 6 is a structural schematic diagram of an electronic device provided by the embodiment of the present application. As shown in Fig. 6, the electronic device comprises a memory 43 and a processor 42.

[0160] The memory 43 stores a computer program executable on the processor 42.

[0161] The processor 42 is configured to perform the method provided by the above embodiment.

[0162] The electronic device further comprises a receiver 40 and a transmitter 41. The receiver 40 is configured to receive instructions and data sent by an external device, and the transmitter 41 is configured to send instructions and data to the external device.

[0163] In the specific implementation process, the at least one processor 42 executes the computer program instructions stored in the memory 43, so that the at least one processor 42 performs the above method.

[0164] The specific implementation process of the processor 42 can refer to the method embodiments described above, which have similar implementation principles and technical effects, and will not be repeated here in the present embodiment.

[0165] Fig. 7 is a block diagram of a terminal device according to an example embodiment, which can be a material handling machine, a mobile phone, a computer, a messaging device, a tablet device, a personal digital assistant, etc.

[0166] The apparatus 600 can include one or more of the following components: a processing component 602, a memory 604, a power supply component 606, a multimedia component 608, an audio component 610, an input / output (I / O) interface 612, a sensor component 614, and a communication component 616.

[0167] The processing component 602 usually controls overall operations of the apparatus 600, such as operations associated with displaying, making phone calls, data communications, camera operations and recording operations. The processing component 602 can include one or more processors 620 to execute instructions to complete all or part of steps of the methods described above. In addition, the processing component 602 can include one or more modules to facilitate the interaction between the processing component 602 and other components. For example, the processing component 602 can include a multimedia module to facilitate the interaction between the multimedia component 608 and the processing component 602.

[0168] The memory 604 is configured to store various types of data to support the operation of the device 600. Examples of such data include instructions for any application or method operating on the device 600, contact data, phonebook data, messages, pictures, videos, and the like. The memory 604 can be implemented by any type of volatile or nonvolatile storage devices or a combination thereof such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0169] The power supply component 606 supplies electrical power for the various components of the device 600. The power supply component 606 can include a power supply management system, one or more power supplies, and other components associated with generating, managing, and distributing electrical power for the device 600.

[0170] The multimedia component 608 includes a screen providing an output interface between the device 600 and a user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swiping, and gestures on the touch panel. The touch sensors can not only sense a boundary of a touch or swiping action, but also detect duration and pressure associated with the touch or swiping action. In some embodiments, the multimedia component 608 includes a front camera and / or a rear camera. The front and / or rear camera can receive external multimedia data when the device 600 is in an operation mode, such as a shooting mode or a video mode. Each of the front and rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0171] The audio component 610 is configured to output and / or input audio signals. For example, the audio component 610 includes a microphone (MIC) that is configured to receive an external audio signal when the device 600 is in an operation mode, such as a calling mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 604 or transmitted via the communication component 616. In some embodiments, the audio component 610 also includes a speaker for outputting audio signals.

[0172] The I / O interface 612 provides an interface between the processing component 602 and peripheral interface modules, which can be a keyboard, a click wheel, buttons, and the like. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0173] The sensor component 614 includes one or more sensors for providing status assessments for various aspects of the device 600. For example, the sensor component 614 can detect an open / closed position of the device 600, relative positioning of components, such as a display and keypad of the device 600, changes in position of the device 600 or a component of the device 600, presence or absence of user contact with the device 600, orientation or acceleration / deceleration of the device 600, and temperature changes of the device 600. The sensor component 614 can include proximity sensor(s) configured to detect presence of objects in a proximity without any physical contact. The sensor component 614 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 614 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0174] The communication component 616 is configured to facilitate wired or wireless communication between the device 600 and another device. The device 600 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 616 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 616 further includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra-WideBand (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0175] In an exemplary embodiment, the device 600 can be implemented using one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, or other electronic units to perform the above-described methods.

[0176] In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 604 including instructions, is also provided. The instructions can be executed by the processor 620 of the device 600 to perform the above-described methods. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disc, and an optical data storage device, etc.

[0177] A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor of a terminal device, enables the terminal device to perform the above-described method of controlling a boom of a material handling machine.

[0178] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any changes or replacements within the technical scope disclosed by the present application can be easily thought by those skilled in the art, and should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of controlling a boom of a material handling machine, the method comprising: The method comprises the following steps: receiving a boom movement signal; wherein the boom movement signal is used to indicate the lifting or lowering of the boom of the material handling machine; the material handling machine is provided with a rodless chamber and a rod chamber; determining the first pressure of the rodless chamber and the second pressure of the rod chamber according to the boom movement signal; determining the operating mode of the material handling machine according to the first pressure; wherein the operating mode represents the actual execution action of the boom; controlling the lifting or lowering of the boom according to the operating mode and the second pressure.

2. The method of claim 1, wherein, The material handling machine comprises a pump control structure of the rodless chamber and a valve control structure of the rod chamber; The pump control structure is provided with a two-quadrant pump and a first pressure sensor; the valve control structure comprises a gear pump and a second pressure sensor; The two-quadrant pump is connected with the rodless chamber, and the rodless chamber is connected with the first pressure sensor; the two-quadrant pump is connected with the gear pump, and the gear pump is connected with the second pressure sensor; the second pressure sensor is connected with the rod chamber.

3. The method of claim 2, wherein, The method of determining the first pressure of the rodless chamber and the second pressure of the rod chamber according to the boom movement signal comprises: determining the first pressure of the rodless chamber through the first pressure sensor and determining the second pressure of the rod chamber through the second pressure sensor according to the boom movement signal.

4. The method according to claim 2 or 3, characterized in that, The method of determining the operating mode of the material handling machine according to the first pressure comprises: when the boom movement signal is a lowering instruction, determining that the first pressure is greater than or equal to a preset first pressure threshold, and then determining that the operating mode of the two-quadrant pump is a motor recovery mode; wherein the motor recovery mode represents that the oil in the rodless chamber is sucked and supplemented into the rod chamber during the lowering of the boom; when the boom movement signal is a lifting instruction or a lowering instruction, determining that the first pressure is less than the first pressure threshold, and then determining that the operating mode of the two-quadrant pump is a pump output mode; wherein the pump output mode represents that the oil is transmitted into the rodless chamber and discharged from the rod chamber during the lifting of the boom.

5. The method according to any one of claims 2-4, characterized in that, The method of controlling the lifting or lowering of the boom according to the operating mode and the second pressure comprises: if the operating mode is the motor recovery mode, controlling the two-quadrant pump to rotate, driving the motor connected with the two-quadrant pump to rotate, and extracting the oil in the rodless chamber to a preset hydraulic oil tank; if it is determined that the second pressure is greater than a preset second pressure threshold, turning on a first electronic point of a preset electromagnetic reversing valve, and controlling the preset gear pump to operate and drive the oil return valve group to supplement oil into the rod chamber according to the turned-on first electronic point; controlling the boom to lower according to the rotating motor and the oil supplementing operation.

6. The method of claim 5, wherein, if the operating mode is the motor recovery mode, controlling the two-quadrant pump to rotate, driving the motor connected with the two-quadrant pump to rotate, and extracting the oil in the rodless chamber to a preset hydraulic oil tank, comprises: If the operation mode is the motor recovery mode, a displacement signal is generated; wherein the displacement signal comprises a target displacement of oil liquid discharged from the rodless chamber; The double-quadrant pump is controlled to rotate, the motor connected with the double-quadrant pump is driven to rotate, and the oil liquid in the rodless chamber is extracted to a preset hydraulic oil tank according to the target displacement.

7. The method according to any one of claims 2-4, characterized in that, The control of the boom raising or lowering according to the operation mode and the second pressure comprises: If the operation mode is the pump output mode, the double-quadrant pump is controlled to extract the oil liquid in the preset hydraulic oil tank and transmit the oil liquid to the rodless chamber through a preset boom piston oil cylinder connected with the double-quadrant pump. If it is determined that the second pressure is less than a preset second pressure threshold, a second electronic point of a preset electromagnetic reversing valve is turned on; and the oil liquid in the rod chamber is controlled to flow to a return valve group, a radiator and the preset hydraulic oil tank in sequence according to the turned-on second electronic point. The boom is controlled to raise according to the oil liquid transmitted to the rodless chamber and the operation of flowing to the hydraulic oil tank.

8. The method of claim 7, wherein, The preset boom piston oil cylinder comprises a first boom piston oil cylinder and a second boom piston oil cylinder; the rodless chamber is connected with a first inlet of the first boom piston oil cylinder and a second inlet of the second boom piston oil cylinder respectively, and a first outlet of the first boom piston oil cylinder and a second outlet of the second boom piston oil cylinder are connected with the rod chamber respectively.

9. The method of claim 8, wherein, If the operation mode is the pump output mode, the double-quadrant pump is controlled to extract the oil liquid in the preset hydraulic oil tank and transmit the oil liquid to the rodless chamber through a preset boom piston oil cylinder connected with the double-quadrant pump. If the operation mode is the pump output mode, the double-quadrant pump is controlled to extract the oil liquid in the preset hydraulic oil tank and transmit the oil liquid to the rodless chamber through a preset boom piston oil cylinder connected with the double-quadrant pump.

10. A boom control apparatus of a material handling machine, characterized by, Comprise: The receiving module is used for receiving a boom activity signal; wherein the boom activity signal is used for indicating that the boom of the material handling machine is raised or lowered; the material handling machine is provided with a rodless chamber and a rod chamber; The first determining module is used for determining a first pressure of the rodless chamber and a second pressure of the rod chamber according to the boom activity signal; The second determining module is used for determining an operation mode of the material handling machine according to the first pressure; wherein the operation mode represents an actual execution action of the boom; The control module is used for controlling the boom to raise or lower according to the operation mode and the second pressure.

11. A material handling machine characterized by, The material handling machine is used for executing the boom control method of the material handling machine as claimed in any one of claims 1-9.

12. An electronic device, comprising: Comprise a processor and a memory; wherein The memory is used for storing program code; The processor is used for calling the program code stored in the memory to execute the method as claimed in any one of claims 1-9.

13. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions, when the instructions run on the computer, make the computer execute the method as claimed in any one of claims 1-9.

14. A computer program, characterized in that, Computer program including a program code which, when the computer program is executed by a computer, performs the method according to any one of claims 1 to 9.

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