CN112938473B

CN112938473B - Control method of material grabbing machine, controller, storage medium and electronic equipment

Info

Publication number: CN112938473B
Application number: CN202110130647.6A
Authority: CN
Inventors: 林飞宇
Original assignee: Sany Marine Heavy Industry Co Ltd
Current assignee: Sany Marine Heavy Industry Co Ltd
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2022-12-20
Anticipated expiration: 2041-01-29
Also published as: CN112938473A

Abstract

The application provides a control method of a material grabbing machine, a controller, a storage medium and electronic equipment of the material grabbing machine, and solves the technical problem that in the prior art, a hydraulic control material grabbing machine cannot receive a remote instruction to achieve remote control or unmanned control. According to the control method of the material grabbing machine, the operation action is converted into the control signal, the pilot proportional valve, the first main pump valve and the first unloading proportional valve of the material grabbing machine are controlled simultaneously, namely the work of the components of the material grabbing machine and the flow and pressure of hydraulic oil are directly controlled by generating the control signal, so that the material grabbing machine works, the work of the material grabbing machine can be remotely controlled, unmanned or remote control work of the material grabbing machine is achieved, and the working efficiency of the material grabbing machine is improved.

Description

Control method of material grabbing machine, controller, storage medium and electronic equipment

Technical Field

The application relates to the field of engineering machinery, in particular to a control method of a material grabbing machine, a controller, a storage medium and electronic equipment of the material grabbing machine.

Background

The material grabbing machine is an important engineering machine in engineering construction, at present, most material grabbing machine control modes in the market are in hydraulic control mode, and development of the material grabbing machine towards automation and intellectualization is limited. In addition, the hydraulic control material grabbing machine needs to be provided with an operating handle in a cab, and cannot receive a remote instruction signal to realize remote control or unmanned control, so that the function expansion of the hydraulic control material grabbing machine is limited.

Disclosure of Invention

In view of this, the present application provides a control method for a material grabbing machine, a controller, a storage medium, and an electronic device thereof, which solve the technical problem that a hydraulic control material grabbing machine in the prior art cannot receive a remote instruction to implement remote control or unmanned control.

For the purpose of making the present application more apparent, its objects, technical means and advantages will be further described in detail with reference to the accompanying drawings.

According to one aspect of the present application, there is provided a control method for a material grabbing machine, wherein the material grabbing machine comprises a pilot proportional valve, a first main pump valve, and a first unloading proportional valve communicated with the first main pump valve, and a control system, the control system comprises an operating tool and a controller, and the controller is electrically connected with the operating tool, the pilot proportional valve, the first main pump valve, and the first unloading proportional valve, respectively, wherein the control method comprises: acquiring an operation action signal for operating the operation tool; analyzing the operation action signal to generate operation action data; generating a pilot proportional valve control instruction, a first main pump valve control instruction and a first unloading proportional valve control instruction according to the operation action data; the first main pump valve and the unloading proportional valve are used for controlling the flow of hydraulic oil provided for the material grabbing machine.

In a possible implementation manner, parsing the operation action signal to generate operation action data includes: acquiring the type data of the operation action according to the operation action signal; acquiring an operation numerical value of the operation action according to the operation action signal; wherein the operation action data comprises the type data of the operation action and the operand value of the operation action.

In one possible implementation, generating a pilot proportional valve control command, a first main pump valve control command, and a first unload proportional valve control command based on the operation motion data includes: acquiring the type of a pilot proportional valve corresponding to the operation action according to the type data of the operation action; judging whether the operand value of the operation action is larger than a first preset value or not; when the operand value of the operation action is larger than the first preset value, preprocessing the operand value of the operation action to generate a preprocessed value;

according to the pilot proportional valve type corresponding to the operation action, carrying out proportional valve-current mapping on the preprocessed numerical value to generate a pilot proportional valve current; performing first main pump valve-current mapping on the preprocessed numerical value to generate first main pump valve current; carrying out first unloading proportional valve-current mapping on the preprocessed value to generate first unloading proportional valve current; generating a pilot proportional valve control instruction according to the type data of the operation action and the pilot proportional valve current; generating a first main pump valve control instruction according to the type data of the operation action and the first main pump valve current; and generating a first unloading proportional valve control command according to the type data of the operation action, the movement direction data of the operation action and the unloading proportional valve current.

In one possible implementation manner, the material grabbing machine further comprises a second main pump valve and a second unloading proportional valve communicated with the second main pump valve; after the preprocessing numerical value is generated, the control method of the material grabbing machine further comprises the following steps: performing second main pump valve-current mapping on the preprocessed numerical value to generate second main pump valve current; performing second unloading proportional valve-current mapping on the preprocessed value to generate second unloading proportional valve current; generating a second main pump valve control instruction according to the type data of the operation action and the second main pump valve current; and generating a second unloading proportional valve control command according to the type data of the operation action, the movement direction data of the operation action and the second unloading proportional valve current.

In a possible implementation manner, preprocessing the operand values of the operation actions to generate preprocessed operand values includes: and performing slope buffer calculation on the operand values of the operation actions to generate preprocessing values.

In one possible implementation, performing pilot proportional valve current mapping on the preprocessed values to generate pilot proportional valve currents includes: carrying out pilot proportional valve current linear mapping on the preprocessing numerical value to generate pilot proportional valve current; and/or performing a first main pump valve current map on the preprocessed values to generate a first main pump valve current, comprising: performing first main pump valve current multipoint difference mapping on the preprocessing numerical value to generate first main pump valve current; and/or performing a first unloading proportional valve current mapping on the preprocessed value to generate a first unloading proportional valve current, comprising: and carrying out handle pretreatment on the pretreatment value, and carrying out first unloading proportional valve current linear mapping on the pretreatment value to generate first unloading proportional valve current.

In one possible implementation manner, the operation action data comprises action data of the rotation of the material grabbing machine, and the material grabbing machine further comprises a rotation brake release valve; when the operation action numerical value is greater than the first preset numerical value, the control method of the material grabbing machine further comprises the following steps: and generating a control command for releasing the rotary brake releasing valve according to the type data of the operation action.

In one possible implementation, the operating tool includes a handle; wherein the operation action signal comprises a handle signal; the operation action type data comprises handle type data and handle movement direction data.

In one possible implementation, the handle includes a first handle and a second handle; wherein the handle category data comprises: first handle data and second handle data; the handle movement direction data comprises first direction movement data, second direction movement data, third direction movement data and fourth direction movement data.

In one possible implementation, the operating tool includes a pedal, wherein the operating action signal includes a pedal signal, and the type data of the operating action includes pedal type data and pedal movement direction data.

In one possible implementation, the operation action data comprises track extending button data, the pilot proportional valve comprises a track extending proportional valve, and the material grabbing machine further comprises a telescopic valve and a gear shifting valve; the control method of the material grabbing machine further comprises the following steps: and generating a control command for opening and closing the retractable valve and a control command for opening the gear shifting valve according to the data of the crawler extension button.

In a possible implementation manner, when the operation action data comprises cab ascending button data, the pilot proportional valve comprises a lifting proportional valve, and the material grabbing machine further comprises a cab ascending valve; the control method of the material grabbing machine further comprises the following steps: and generating a control command for opening the cab ascending valve according to the cab ascending button data.

As a second aspect of the present application, the present application provides a control system for controlling a material grabbing machine, wherein the material grabbing machine includes a pilot proportional valve, a first main pump valve and a first unloading proportional valve communicated with the first main pump valve, wherein the control system includes: an operating tool; and a controller; the controller is electrically connected with the operating tool, the pilot proportional valve, the first main pump valve and the first unloading proportional valve respectively; wherein the controller includes: the signal acquisition module is used for acquiring an operation action signal for operating the operation tool; the analysis module is used for analyzing the operation action signal to generate operation action data; the control module is used for generating a pilot proportional valve control instruction, a first main pump valve control instruction and a first unloading proportional valve control instruction according to the operation action data; the first main pump valve and the first unloading proportional valve are used for controlling the flow of hydraulic oil provided for the material grabbing machine.

As a third aspect of the present application, the present application provides an electronic apparatus comprising: a processor; and a memory for storing the processor executable information; the processor is used for executing the control method of the material grabbing machine.

As a fourth aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing the control method of the stacker crane described above.

According to the control method of the material grabbing machine, the operation action is converted into the control signal, the pilot proportional valve, the first main pump valve and the first unloading proportional valve of the material grabbing machine are controlled simultaneously, namely, the work of the components of the material grabbing machine and the flow and pressure of hydraulic oil are directly controlled by generating the control signal, so that the material grabbing machine works, the work of the material grabbing machine can be controlled remotely, unmanned or remote control work of the material grabbing machine is achieved, and the working efficiency of the material grabbing machine is improved.

Drawings

Fig. 1 is a schematic diagram illustrating an operation of a material grabbing machine according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a control method of a material grabbing machine according to an embodiment of the present disclosure;

fig. 3 is a schematic flow chart of a control method of a material grabbing machine according to another embodiment of the present application;

fig. 4 is a schematic flow chart illustrating a control method of a material grabbing machine according to another embodiment of the present application;

fig. 5 is a schematic diagram illustrating the operation of a material grabbing machine according to another embodiment of the present disclosure;

fig. 6 is a schematic flow chart illustrating a control method of a material grabbing machine according to another embodiment of the present application;

fig. 7 is a schematic flow chart of a control method of a material grabbing machine according to another embodiment of the present application;

fig. 8 is a schematic flow chart of a control method of a material grabbing machine according to another embodiment of the present application;

fig. 9 is a schematic flow chart illustrating a control method of a material grabbing machine according to another embodiment of the present application;

FIG. 10 is a schematic diagram of the operation of the controller provided in an embodiment of the present application;

FIG. 11 is a schematic diagram of the operation of a controller according to another embodiment of the present application;

fig. 12 is a schematic flowchart illustrating a method for controlling a boom of a gripper according to an embodiment of the present disclosure;

fig. 13 is a schematic flowchart illustrating a method for controlling a boom of a grab loader according to an embodiment of the present disclosure;

fig. 14 is a schematic flow chart illustrating a control method for controlling the right turn of the material grabbing machine according to an embodiment of the present disclosure;

fig. 15 is a schematic flow chart illustrating a control method for controlling left rotation of a material grabbing machine according to an embodiment of the present disclosure;

fig. 16 is a schematic flowchart illustrating a method for controlling the raising of the bucket rod of the material grabbing machine according to an embodiment of the present disclosure;

fig. 17 is a schematic flowchart illustrating a method for controlling a bucket rod of a material grabbing machine according to an embodiment of the present disclosure;

fig. 18 is a schematic flow chart illustrating a control method for controlling the left advance of the material grabbing machine according to an embodiment of the present disclosure;

fig. 19 is a schematic flowchart illustrating a control method for controlling the cab of the material grabbing machine to ascend according to an embodiment of the present disclosure;

fig. 20 is a schematic flow chart illustrating a control method for controlling the track extension of the material grabbing machine according to an embodiment of the present application;

fig. 21 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise. In the embodiment of the present application, all directional indicators (such as up, down, left, right, front, rear, top, bottom \8230;) are used only to explain the relative positional relationship between the components, the motion, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

Fig. 1 shows a working principle diagram of a material grabbing machine provided by the present application, and as shown in fig. 1, the material grabbing machine includes: the control system 100 is used for controlling the operation of the material grabbing machine, wherein the control system 100 includes an operating tool 5 (such as a handle, a pedal, or a button), a display 6, and a controller 4, wherein the controller 4 is respectively connected with the display 6, the operating tool 5, the pilot proportional valve 1, the first main pump valve 2, and the first unloading proportional valve 3 through a controller local area network (can bus for short), and the display 6 is used for displaying the operating state, the operating parameters, and the like of the material grabbing machine. The control system 100 may be present separate from the physical reclaimer machine, for example may be provided in a control room separate from the physical reclaimer machine.

Fig. 2 is a schematic flow chart of the control method of the material grabbing machine shown in fig. 1, and as shown in fig. 2, the control method of the material grabbing machine includes the following steps:

step S101: acquiring an operation action signal of an operation tool;

the operation action signal of the material grabbing machine refers to a signal transmitted by the action of operating an operation tool, for example, when the operation tool is a handle, an operation signal can be generated when the handle is pushed forward. For example, when the operating tool is a pedal, an operating signal may be generated by pressing the pedal forward. For example, when the operation tool is a push button and the cab up button is pressed, an operation signal may be generated. Also, for example, when the track extension button is pressed, an operation signal may be generated.

Step S102: analyzing the operation action signal to generate operation action data;

in step S102, specific operation actions are obtained according to the operation signal analysis, for example, the operation signals are analyzed to obtain the operation actions of the material grabbing machine, such as pushing the handle forward, pressing the pedal forward, lifting the cab, extending the crawler belt, etc., i.e., the operation signals are analyzed to obtain specific operation action data of the material grabbing machine.

Step S103: a pilot proportional valve control command, a first main pump valve control command, and a first unload proportional valve control command are generated based on the operation data.

In step S103, the pilot proportional valve is a valve for directly controlling a moving member of the material grabbing machine, such as a valve for controlling a boom to descend or ascend, a valve for controlling a track to extend or retract, a valve for controlling an arm to ascend or descend, and the like. The first main pump valve and the first unloading proportional valve control output pressure and output flow of hydraulic oil, for example, the first main pump valve and the first unloading proportional valve may control flow of hydraulic oil provided for raising or lowering the boom.

Step S103 is to generate a corresponding control signal after the specific operation action is analyzed in step S102, for example, when the operation action is analyzed in step S102 as a handle forward push, a corresponding control command is generated according to the handle forward push, for example, a control command for opening the boom down proportional valve is generated when the handle is pushed forward.

According to the control method of the material grabbing machine, the operation action is converted into the control signal, the pilot proportional valve, the first main pump valve and the first unloading proportional valve of the material grabbing machine are controlled simultaneously, namely the work of the components of the material grabbing machine and the flow and pressure of hydraulic oil are directly controlled by generating the control signal, so that the material grabbing machine works, the work of the material grabbing machine can be remotely controlled, unmanned or remote control work of the material grabbing machine is achieved, and the working efficiency of the material grabbing machine is improved.

In particular, the operating means in the control system may comprise operating means, such as handles, pedals, which under operation of the operator may be moved in different directions. The operating means may further include a button, such as a cab generation button, and therefore, in the present application, a control method of controlling the operation of the material grabber according to the operation action of the operating means will be described in detail depending on the kind of the operating means.

The operation tool (a) includes an operation tool when a movement in different directions can be made by an operator.

Specifically, the operating tool in the control system comprises a handle; wherein, the operation action signal comprises a handle signal; the operation action type data comprises handle type data and handle movement direction data.

Wherein the handle comprises a first handle and a second handle; wherein the handle category data comprises: first handle data and second handle data; the handle movement direction data comprises first direction movement data, second direction movement data, third direction movement data and fourth direction movement data. For example, the first handle first movement direction (e.g. the first handle pushes forward, i.e. the first handle movement direction is forward) is the kind data of one operation action, and the second handle third movement direction (the second handle pushes left, the second handle movement direction is left).

Similarly, the operating tool of the control system may further include a pedal, wherein the operating action signal includes a pedal signal, and the type data of the operating action includes pedal type data and pedal movement direction data. Similarly, the pedals may also include a first pedal and a second pedal, and the pedal movement direction data includes fifth movement direction data, sixth movement direction data, seventh movement direction data, and eighth movement direction data. For example, the fifth movement direction of the first pedal (e.g., the first pedal is pressed forward, i.e., the first pedal is moved forward, i.e., the fifth movement direction is forward) is the type of data of one operation motion, and the seventh movement direction of the second pedal (e.g., the second pedal is pressed left, the second pedal is moved in the seventh movement direction, and the seventh movement direction is moved left).

Optionally, the first moving direction, the second moving direction, the third moving direction and the fourth moving direction may be respectively front, back, left and right. For example, the first handle moves in the first direction, i.e. the first handle is pushed forward, i.e. the first handle moves forward.

Similarly, the fifth movement direction, the sixth movement direction, the seventh movement direction and the eighth movement direction may be respectively front, back, left and right. For example, the fifth movement direction of the first pedal is the first pedal forward pressure, i.e. the movement direction of the first pedal is forward, i.e. the fifth movement direction is forward.

Fig. 3 is a schematic flow chart illustrating a control method of the material grabbing machine when the operating tool includes an operating tool that can generate motions in different directions under the operation of an operator, and as shown in fig. 3, the operating motion signal is analyzed to generate the operating motion data, that is, step S102 specifically includes the following steps:

step S1021: acquiring the type data of the operation action according to the operation action signal;

the type data of the operation action is that the operation action is specifically generated, for example, whether the operation action is handle pushing forward or pedal pressing forward;

step S1022: acquiring an operation numerical value of the operation action according to the operation action signal; the operation action data comprises the type data of the operation action and the operand value of the operation action. The operation value is a specific amplitude of the operation action, such as the degree of forward movement of the handle.

The type and value of the operation can be analyzed in steps S1021 and S1022, and which moving member of the material grabbing machine is to be started can be determined based on the operation type and value.

In this case, after the execution of steps S1021 and S1022 is completed, in one possible implementation, as shown in fig. 4, step S103 (generating the pilot proportional valve control command, the first main pump valve control command, and the first unload proportional valve control command based on the operation data) specifically includes the following steps:

step S1031: acquiring the type of a pilot proportional valve corresponding to the operation action according to the type data of the operation action;

that is, the type of the pilot proportional valve corresponding to the operation is acquired based on the type data of the operation acquired in step S1021, and for example, when the type data of the operation is the handle push-forward, the pilot proportional valve corresponding to the handle push-forward may be the boom-down proportional valve.

The correspondence relationship between the operation and the corresponding type of the pilot proportional valve may be set in advance. For example, handle push forward corresponds to a boom-down proportional valve, handle push back corresponds to a boom-up proportional valve, handle push right corresponds to a swing right proportional valve, and handle push left corresponds to a swing left proportional valve.

It should be understood that the correspondence relationship between the operation motion and the pilot proportional valve may be appropriately changed according to the kind of the operation motion, for example, when the handle includes two handles, that is, a first handle and a second handle, the first handle push-back may correspond to the boom-up proportional valve and the first handle push-forward may correspond to the boom-down proportional valve.

That is, in step S1031, the pilot proportional valve type corresponding to the operation can be acquired. The types of the pilot proportional valves correspond to the movement mechanisms of the material grabbing machine one by one, so that the movement mechanisms required to work by the material grabbing machine can be acquired after the types of the pilot proportional valves are acquired.

Step S1032: judging whether the operand value of the operation action is greater than a first preset value or not;

after the type of the pilot proportional valve is obtained in step S1031, the movement mechanism of the material grabbing machine needs to be operated according to the operation action, that is, whether to start or close the movement mechanism of the material grabbing machine. Therefore, in step S1032, a condition for starting the moving mechanism of the material grabbing machine is determined.

Step S1033: when the operand value of the operation action is larger than a first preset value, preprocessing the operand value of the operation action to generate a preprocessed value;

optionally, the operand values of the operation actions are preprocessed, and the generation of the preprocessed operand values may be performed in the following manner: and performing slope buffer calculation on the operand values of the operation actions to generate preprocessing values.

Step S1034: according to the pilot proportional valve type corresponding to the operation action, conducting pilot proportional valve current mapping on the preprocessed numerical value to generate pilot proportional valve current; that is, a pilot proportional valve current is obtained according to the operation value, the pilot proportional valve current can start a pilot proportional valve type corresponding to the operation action, that is, the movement mechanism of the material grabbing machine is started, for example, when the operation action type is the first handle pushing forward, the pilot proportional valve type corresponding to the operation action type is a boom lowering proportional valve, the pilot proportional valve current is a current for starting the boom lowering proportional valve, the boom lowering proportional valve is opened by the action of the pilot proportional valve current, and the boom grabbing material is ready for the opening and lowering action.

Step S1035: according to the first main pump valve, performing first main pump valve current mapping on the preprocessed value to generate first main pump valve current;

step S1035 is to perform a first main pump valve current map on the preprocessed values, i.e. determine a current of the first main pump valve according to the preprocessed values;

step S1036: carrying out first unloading proportional valve current mapping on the preprocessed value to generate first unloading proportional valve current;

step S1036, performing first unloading proportional valve current mapping on the preprocessed numerical value, namely determining the current of the first unloading proportional valve according to the preprocessed numerical value;

the flow rate of the hydraulic oil is determined by the combined action of the current of the first main pump valve obtained in step S1035 and the current of the first unloading proportional valve obtained in step S1036.

Step S1037: generating a pilot proportional valve control command according to the type data of the operation action and the pilot proportional valve current;

step S1038: generating a first main pump valve control instruction according to the type data of the operated action and the first main pump valve current;

step S1039: and generating a first unloading proportional valve control command according to the type data of the operation action and the first unloading proportional valve current.

Step S1034, step S1035, and step S1036 may be performed simultaneously or sequentially. When step S1034, step S1035, and step S1036 are performed sequentially, the order of the three steps is not determined, and the steps may be performed according to step S1034, step S1035, and step S1036, or may be performed according to step S1035, step S1034, and step S1036. Therefore, the sequence of obtaining the current of the pilot proportional valve, the current of the first main pump valve and the current of the first unloading proportional valve according to the preprocessed numerical value after the operation numerical value is preprocessed is not limited in the application.

Similarly, the sequence of generating the corresponding control commands according to the current of the pilot proportional valve, the current of the first main pump valve and the current of the first unloading proportional valve is not limited in the present application. That is, step S1037, step S1038, and step S1039 may be performed simultaneously or sequentially.

Step S1033 to step S1039 are that, when the operation value is greater than the first preset value, the operation value is preprocessed, then the currents of the pilot proportional valve, the first main pump valve, and the first unloading proportional valve are obtained, and then a control instruction is generated, so that the probability that the movement mechanism of the material grabbing machine moves due to the fact that an operator accidentally touches an operation component is reduced. For example, when the operator accidentally touches the first handle to push the first handle forward, the movable arm may descend. Because the motion range of first handle can not be too big when operating personnel touched first handle by accident, consequently, after this application has set up a first preset numerical value, only after the numerical value of operation is greater than first preset numerical value, just can start the moving member of grabbing machine, consequently, has reduced because of operating personnel touches operating parts by accident and makes the probability that the motion of control grabbing machine's motion takes place.

The aforesaid first main pump valve and first unloading proportional valve are flow, pressure etc. that are used for controlling hydraulic oil, when the swing arm of grabbing machine needs to rise or the stick of grabbing machine needs to rise, promptly grab machine includes swing arm rising proportional valve and stick of the arm rising proportional valve when, because the swing arm needs to rise, the stick of the arm needs to rise, consequently, relative decline or rotation, need provide more hydraulic oil and just can easily make the swing arm rise, the stick of the arm rises, consequently, the grabbing machine that this application provided still includes second main pump valve and the second unloading proportional valve who communicates with second main pump valve, as shown in fig. 5, and second main pump valve and second unloading proportional valve are used for controlling flow, pressure etc. of hydraulic oil. Therefore, as shown in fig. 6, after acquiring and preprocessing the operand value of the operation action, i.e., after step S1033, step S103 further includes:

step S1030: carrying out second main pump valve current mapping on the preprocessed values to generate second main pump valve current;

step S10301: carrying out second unloading proportional valve current mapping on the preprocessed value to generate second unloading proportional valve current;

step S10302: generating a second main pump valve control instruction according to the type data of the operation action and the second main pump valve current; and

step S10303: and generating a second unloading proportional valve control command according to the type data of the operation action and the second unloading proportional valve current.

That is, control commands for the second main pump valve and the second unloading proportional valve are acquired through step S1030 to step S10303.

Optionally, performing pilot proportional valve current mapping on the preprocessed value to generate a pilot proportional valve current, including: carrying out pilot proportional valve current linear mapping on the preprocessed numerical value to generate pilot proportional valve current; namely, the pilot proportional valve current is obtained by adopting a linear mapping mode.

Performing a first main pump valve current map on the preprocessed values, generating a first main pump valve current, comprising: performing first main pump valve current multipoint difference mapping on the preprocessing numerical value to generate first main pump valve current; the valve current of the first main pump is obtained by adopting a mapping mode of multi-point interpolation;

performing first unloading proportional valve current mapping on the preprocessed value to generate a first unloading proportional valve current, comprising: and performing linear mapping on the pretreatment value by using the pretreatment value to generate a first unloading proportional valve current. The current of the first unloading proportional valve is obtained by adopting a linear mapping mode;

performing a second main pump valve current map on the preprocessed values to generate a first main pump valve current, comprising: performing second main pump valve current multipoint difference mapping on the preprocessed values to generate second main pump valve current; namely, a mapping mode of multi-point interpolation is adopted to obtain the valve current of the second main pump;

and carrying out second unloading proportional valve current mapping on the preprocessed value to generate second unloading proportional valve current, wherein the second unloading proportional valve current mapping comprises the following steps: and performing linear mapping on the second unloading proportional valve current on the preprocessed value to generate a second unloading proportional valve current. Namely, the second unloading proportional valve current is obtained by adopting a linear mapping mode.

In one possible implementation manner, as shown in fig. 7, when the operation motion data includes motion data of the swing of the material grabbing machine, that is, when the pilot proportional valve corresponding to the operation motion data is a swing proportional valve, and the material grabbing machine includes a swing brake contact valve, after step S102, the control method of the material grabbing machine further includes:

step S104 (i.e. may coincide with step S1032): judging whether the operand value of the operation action is greater than a first preset value or not; when the operand value is greater than the first preset value, step S105 is performed, i.e.

Step S105: and generating a control command for releasing the swing brake release valve according to the type data of the operation action. That is, when the material grabbing machine corresponding to the type of the operation action performs the turning action, when the material grabbing machine needs to turn, for example, to turn left or turn right, when the material grabbing machine starts the left turning action, the turning brake needs to be released, that is, an instruction for controlling the turning brake release valve needs to be generated, so that the turning brake release valve is opened, the turning brake is in a free state, and when the turning proportional valve is opened, and the first main pump valve and the first unloading proportional valve are opened, the material grabbing machine can perform the turning motion.

And (II) the operating tool comprises a button.

Specifically, the buttons may include a cab up button, a cab down button, a track extend button, a track retract button, and the like.

Fig. 8 is a flow chart illustrating a control method of the stacker crane when the operating tool is a track extension button, the pilot proportional valve comprises a track extension proportional valve, the stacker crane further comprises a telescopic valve and a shift valve, and the control method of the stacker crane, as shown in fig. 8, in addition to the steps of the control method shown in fig. 2, namely after step S102, further comprises:

step S106: and generating an expansion valve control command and a gear shifting valve control command according to the operation action data. When the track of the grabbing machine corresponding to the type of the operation action stretches, when the track of the grabbing machine needs to stretch, for example, the track stretches or contracts, when the grabbing machine starts the stretching action, the first-stage gear shifting valve of the telescopic valve needs to be opened, namely, a command for controlling the opening of the telescopic valve and the gear shifting valve needs to be generated, so that the telescopic valve and the gear shifting valve are opened, and after the telescopic proportional valve is opened and the first main pump valve and the first unloading proportional valve are opened, the track of the grabbing machine can do stretching motion.

Fig. 9 is a flow chart illustrating a control method of the stacker crane, wherein when the motion operation data is cab up button data, the pilot proportional valve comprises a lift proportional valve, the stacker crane further comprises a cab up proportional valve, and the stacker crane, as shown in fig. 9, in addition to the steps of the control method shown in fig. 2, that is, after step S102, the control method further comprises:

step S107: a control command for activating the cab up proportional valve is generated based on the operation data (i.e., cab up button data).

For example, when the operation action is to press a button for lifting the cab, a control command for the cab lifting valve is generated according to the operation action data, namely the cab lifting valve is opened, and the material grabbing machine can perform cab lifting movement after the lifting proportional valve, the first main pump valve and the first unloading proportional valve are opened.

As a second aspect of the present application, the present application provides a control system, fig. 10 is an operational schematic diagram of the control system provided in the present application, and as shown in fig. 10, a control system 100 includes: an operating tool 5; and a controller 4; the controller 4 is electrically connected with the operating tool 5, the pilot proportional valve, the first main pump valve and the first unloading proportional valve respectively; wherein, the controller 4 includes: a signal acquisition module 41 for acquiring an operation action signal for operating the operation tool; the analysis module 42 is used for analyzing the operation action signal to generate operation action data; and the control module 43 is configured to generate a pilot proportional valve control instruction, a first main pump valve control instruction, and a first unloading proportional valve control instruction according to the operation action data.

The application provides a control system, through turning into control signal with the operation action, come the guide's proportional valve, first main pump valve and the first off-load proportional valve of grapping material machine of simultaneous control, through producing the work of the part of control signal direct control grapping material machine and the flow and the pressure of hydraulic oil promptly, thereby make the work of grapping material machine, thereby can realize the work of remote control grapping material machine, realize the unmanned or remote control work of grapping material machine, the work efficiency of grapping material machine has been improved.

In order to make the control method of the main material machine of the present application clearer, the following describes in detail the control method of the specific actions of the material grabbing machine with respect to eight specific operation actions.

Fig. 11 is a schematic diagram illustrating the operation of the control system provided in the present application, the control system is used for controlling the operation of the material grabbing machine, and as shown in fig. 11, the control system includes: a first handle 51 (which may be a right handle, for example), a second handle 52 (which may be a left handle, for example), a first pedal 53 (which may be a left pedal, for example), a second pedal 54 (which may be a right pedal, for example), a cab up button 55, a cab down button 56, a track extend button 57, a track retract button 58, a controller 4, and a display 6, wherein the controller 4 is electrically connected to the first handle 51, the second handle 52, the first pedal 53, the second pedal 54, the cab up button 55, the cab down button 56, the track extend button 57, the track retract button 58, and the display 6, respectively, wherein the display 6 is used for data interaction with the controller 4, and the display 6 may display data transmitted by the controller 4; the first handle 51 and the second handle 52 can move left, right, front and back respectively.

The material grabbing machine comprises a first main pump valve, a second main pump valve, a pilot proportional valve (comprising a crawler belt extending proportional valve, a movable arm descending proportional valve, a movable arm ascending proportional valve, a rotary right proportional valve, a rotary left proportional valve, a cab ascending proportional valve, a left advancing proportional valve and a right advancing proportional valve), a first unloading proportional valve and a second unloading proportional valve, wherein the first main pump valve is communicated with the first unloading proportional valve, and the second main pump valve is communicated with the second unloading proportional valve; the controller is respectively electrically connected with the first main pump valve, the second main pump valve, the pilot proportional valve, the first unloading proportional valve and the second unloading proportional valve.

The corresponding relation between the specific operation action of the operation tool and the moving component of the material grabbing machine can be preset. For example, the right handle pushes back the boom of the corresponding grapple machine to rise.

(i) Movable arm lift of right handle push-grab machine

Fig. 12 is a schematic flow chart of a control method for controlling a material grabbing machine by pushing back a right handle, as shown in fig. 2, the control method for the material grabbing machine comprises the following steps:

step S201: acquiring an operation action signal for operating an operation tool;

step S202: analyzing the operation action signal to generate operation action type data and an operation numerical value, namely analyzing the operation action type data as a right handle backward pushing according to the operation action signal, wherein the operation numerical value of the operation action is a first handle numerical value;

step S203: acquiring the type of a pilot proportional valve corresponding to the backward pushing of the right handle according to the backward pushing of the right handle, namely a movable arm ascending proportional valve;

step S204: judging whether the first handle value is larger than a first preset value or not;

when the first handle value is greater than the first preset value, the first handle value is preprocessed, i.e., step S205.

Step S205: the first handle value is subjected to ramp buffer processing to generate a first preprocessed handle value.

Step S206: according to the boom ascending proportional valve, performing pilot proportional valve-current mapping on the first pretreatment handle value to generate a boom ascending proportional valve current, and generating a boom ascending instruction according to the boom ascending proportional valve current, namely controlling the work of the boom ascending proportional valve;

step S207: performing first main pump valve-current mapping on the first pretreatment handle value according to a first main pump valve to generate first main pump valve current, and generating a first main pump valve control instruction according to the first main pump valve current, namely controlling parameters such as the flow of hydraulic oil of the first main pump valve;

step S208: according to the second main pump valve, second main pump valve-current mapping is carried out on the first preprocessing handle value to generate second main pump valve current, and a second main pump valve control instruction is generated according to the second main pump valve current, so that the flow isoparametric of the hydraulic oil of the second main pump valve can be controlled

Step S209: and performing first unloading proportional valve-current mapping on the first pretreatment handle value according to the first unloading proportional valve to generate first unloading proportional valve current, and generating a first unloading proportional valve control command according to the first unloading proportional valve current, namely controlling parameters such as the flow of hydraulic oil under the combined action of the first main pump valve control command and the first unloading proportional valve control command.

Step S2091: according to the second unloading proportional valve, performing second unloading proportional valve-current mapping on the first pretreatment handle value to generate a second unloading proportional valve current; and an unloading proportional valve control instruction is generated according to the current of the second unloading proportional valve, so that parameters such as the flow of hydraulic oil can be controlled under the combined action of the second main pump valve control instruction and the second unloading proportional valve control instruction.

And under the combined action of the first main pump valve control instruction, the first unloading proportion valve control instruction, the movable arm lifting proportion valve control instruction, the second main pump valve control instruction and the second unloading proportion valve control instruction, lifting the movable arm for grabbing materials.

Step S205-step S2091 are specific control processes of the control method of the material grabbing machine when the first handle value is greater than the first preset value.

When the first handle value is less than or equal to a first preset value, respectively executing the following steps:

step S2092: setting the current of a boom-up proportional valve to 0;

step S2093: setting the current of the first main pump valve to 0;

step S2094: setting the current of the first unloading proportional valve to 0;

step S2095: setting the current of the second main pump valve to 0;

step S2096: setting the current of the second unloading proportional valve to 0;

since the first main pump valve current, the first unloading proportional valve current, the movable arm ascending proportional valve current, the second main pump valve current and the second unloading proportional valve current are all 0, the first main pump valve, the first unloading proportional valve, the movable arm ascending proportional valve, the second main pump valve and the second unloading proportional valve do not work, that is, the movable arm of the material grabbing machine does not ascend.

Because the power possibly required by the boom ascending is large, two pump valves and two unloading proportional valves are adopted to jointly provide power for the boom ascending in the control method for the boom ascending.

(ii) Swing arm descending of right handle front push-grab machine

Fig. 13 is a schematic flow chart of a control method for controlling the material grabbing machine by pushing forward the right handle, and as shown in fig. 13, the control method for the material grabbing machine comprises the following steps:

step S301: acquiring an operation action signal for operating an operation tool;

step S302: analyzing the operation action signal to generate operation action type data and an operation numerical value, namely analyzing the operation action type data as a right handle forward pushing according to the operation action signal, wherein the operation numerical value of the operation action is a second handle numerical value;

step S303: acquiring the type of a pilot proportional valve corresponding to the forward push of the right handle, namely a boom descending proportional valve, according to the forward push of the right handle;

step S304: judging whether the numerical value of the second handle is larger than a second preset value or not;

when the second handle value is greater than the second preset value, the preprocessing of the second handle value is performed, i.e., step S305.

Step S305: and performing slope buffer processing on the second handle value to generate a second pre-processing handle value.

Step S306: according to the boom descending proportional valve, performing pilot proportional valve-current mapping on the second pretreatment handle value to generate a boom descending proportional valve current, and generating a boom descending instruction according to the boom descending proportional valve current, namely controlling the work of the boom descending proportional valve;

step S307: performing first main pump valve-current mapping on the second pretreatment handle value according to the first main pump valve to generate first main pump valve current, and generating a first main pump valve control instruction according to the first main pump valve current, namely controlling parameters such as the flow of hydraulic oil of the first main pump valve;

step S308: and performing first unloading proportional valve-current mapping on the second pretreatment handle value according to the first unloading proportional valve to generate first unloading proportional valve current, and generating a first unloading proportional valve control command according to the first unloading proportional valve current, namely controlling parameters such as the flow of hydraulic oil under the combined action of the first main pump valve control command and the first unloading proportional valve control command.

And under the combined action of a first main pump valve control instruction, a first unloading proportion valve control instruction and a movable arm descending proportion valve control instruction, the movable arm for grabbing the materials descends.

Steps S305 to S308 are specific control processes of the control method of the material grabbing machine when the value of the second handle is greater than a second preset value.

When the second handle value is less than or equal to a second preset value, respectively executing the following steps:

step S309: setting a current of a boom down proportional valve to 0;

step S3091: setting the current of the first main pump valve to 0;

step S3092: setting the current of the first unloading proportional valve to 0;

because the first main pump valve current, the first unloading proportional valve current and the movable arm ascending proportional valve current are all 0, the first main pump valve, the first unloading proportional valve and the movable arm ascending proportional valve cannot work, namely the movable arm of the material grabbing machine cannot descend.

Since the power required for lowering the boom is small compared to the boom raising, the boom lowering is powered by using only the first main pump valve and the first unloading proportional valve when controlling the boom lowering.

(iii) Left handle right push-grab machine right turn

Fig. 14 is a schematic flow chart of a control method for controlling a material grabbing machine by pushing a left handle to the right, and as shown in fig. 14, the control method for the material grabbing machine comprises the following steps:

step S401: acquiring an operation action signal for operating an operation tool;

step S402: analyzing the operation action signal to generate operation action type data and an operation numerical value, namely analyzing the operation action type data as a left handle right push according to the operation action signal, and the operation numerical value of the operation action as a third handle numerical value;

step S303: obtaining the type of a pilot proportional valve corresponding to the right push of the left handle according to the right push of the left handle, namely a rotary right proportional valve;

step S404: judging whether the numerical value of the third handle is larger than a third preset value or not;

when the third handle value is greater than the third preset value, the third handle value is preprocessed, that is, step S405 and step S409 are performed.

Step S409: generating a rotary brake release valve command for left handle right pushing according to the type data of the operation action, wherein the command can release the rotary brake valve;

step S405: and performing slope buffer processing on the third handle value to generate a third pre-processing handle value.

Step S406: according to the rotary right proportional valve, performing pilot proportional valve-current mapping on the third pretreatment handle value to generate rotary right proportional valve current, and generating a rotary right proportional valve instruction according to the rotary right proportional valve current, namely controlling the work of the rotary right proportional valve;

step S407: performing first main pump valve-current mapping on the third pretreatment handle value according to the first main pump valve to generate first main pump valve current, and generating a first main pump valve control instruction according to the first main pump valve current, namely controlling parameters such as the flow of hydraulic oil of the first main pump valve;

step S408: and performing first unloading proportional valve-current mapping on the third pretreatment handle value according to the first unloading proportional valve to generate first unloading proportional valve current, and generating a first unloading proportional valve control instruction according to the first unloading proportional valve current, namely controlling parameters such as the flow rate of hydraulic oil under the combined action of the first main pump valve control instruction and the first unloading proportional valve control instruction.

And under the combined action of the first main pump valve control command, the first unloading proportional valve control command and the turning right proportional valve control command, the material is grabbed to turn right.

And the step S405 to the step S408 are specific control processes of the control method of the material grabbing machine when the value of the third handle is larger than a third preset value.

When the value of the third handle is less than or equal to a third preset value, the following steps are respectively executed:

step S4091: setting the current of the turning right proportional valve to 0;

step S4092: setting the current of the first main pump valve to 0;

step S4093: setting the current of the first unloading proportional valve to 0;

step S4094: a command is generated not to release the swing brake release valve.

Because the rotary brake release valve is not released, the current of the first main pump valve, the current of the first unloading proportional valve and the current of the rotary right proportional valve are all 0, so that the first main pump valve, the first unloading proportional valve and the rotary right proportional valve cannot work, namely, the material grabbing machine cannot rotate right.

Compared with the ascending of the movable arm, the power required by the right rotation of the material grabbing machine is less, so that when the descending of the movable arm is controlled, only the first main pump valve and the first unloading proportional valve are adopted to provide power for the right rotation of the material grabbing machine.

(iv) Left handle left push-grab machine left turn

Fig. 15 is a schematic flow chart of a control method for controlling a material grabbing machine by left-pushing a left handle, and as shown in fig. 15, the control method for the material grabbing machine comprises the following steps:

step S501: acquiring an operation action signal for operating an operation tool;

step S502: analyzing the operation action signal to generate operation action type data and an operation numerical value, namely analyzing the operation action type data as a left handle and a left push according to the operation action signal, wherein the operation numerical value of the operation action is a fourth handle numerical value;

step S303: acquiring the type of a pilot proportional valve corresponding to left pushing of the left handle according to left pushing of the left handle, namely a rotary left proportional valve;

step S505: judging whether the value of the fourth handle is larger than a fourth preset value or not;

when the fourth handle value is greater than the fourth preset value, the preprocessing of the fourth handle value is executed, i.e., step S505 and step S509.

Step S509: according to the type data of the operation action, left-hand handle left-hand pushing is carried out, and a rotary brake valve releasing command is generated, namely the command can release a rotary brake valve;

step S505: and performing slope buffer processing on the fourth handle value to generate a fourth pre-processing handle value.

Step S506: according to the rotary left proportional valve, performing pilot proportional valve-current mapping on the fourth pretreatment handle value to generate a rotary left proportional valve current, and generating a rotary left proportional valve instruction according to the rotary left proportional valve current, namely controlling the work of the rotary left proportional valve;

step S507: performing first main pump valve-current mapping on the fourth preprocessing handle value according to the first main pump valve to generate first main pump valve current, and generating a first main pump valve control instruction according to the first main pump valve current, namely controlling parameters such as the flow of hydraulic oil of the first main pump valve;

step S508: and performing first unloading proportional valve-current mapping on the fourth pretreatment handle value according to the first unloading proportional valve to generate first unloading proportional valve current, and generating a first unloading proportional valve control instruction according to the first unloading proportional valve current, namely controlling parameters such as the flow rate of hydraulic oil under the combined action of the first main pump valve control instruction and the first unloading proportional valve control instruction.

And under the combined action of the first main pump valve control instruction, the first unloading proportional valve control instruction and the rotation left proportional valve control instruction, the material is grabbed to rotate left.

Step S505 to step S508 are all specific control processes of the control method of the material grabbing machine when the fourth handle value is greater than the fourth preset value.

When the fourth handle value is less than or equal to a fourth preset value, respectively executing the following steps:

step S5091: setting the current of the rotary left proportional valve to 0;

step S5092: setting the current of the first main pump valve to 0;

step S5093: setting the current of the first unloading proportional valve to 0;

step S5095: a command is generated not to release the swing brake release valve.

Because the rotary brake release valve is not released, the current of the first main pump valve, the current of the first unloading proportional valve and the current of the rotary left proportional valve are all 0, so that the first main pump valve, the first unloading proportional valve and the rotary left proportional valve cannot work, namely, the material grabbing machine cannot rotate to the right.

Compared with the lifting of the movable arm, the power required by the left rotation of the material grabbing machine is less, so that when the movable arm is controlled to descend, only the first main pump valve and the first unloading proportional valve are adopted to provide power for the left rotation of the material grabbing machine.

(v) Bucket rod lifting of left handle back pushing-grabbing machine

Fig. 16 is a schematic flow chart of a control method for controlling the material grabbing machine by pushing back the left handle, as shown in fig. 16, the control method for the material grabbing machine comprises the following steps:

step S601: acquiring an operation action signal for operating an operation tool;

step S606: analyzing the operation action signal to generate operation action type data and an operation numerical value, namely analyzing the operation action type data as a left handle backward pushing according to the operation action signal, wherein the operation numerical value of the operation action is a fifth handle numerical value;

step S603: acquiring the type of a pilot proportional valve corresponding to the backward pushing of the left handle according to the backward pushing of the left handle, namely a bucket rod ascending proportional valve;

step S604: judging whether the value of the fifth handle is greater than a fifth preset value or not;

when the fifth handle value is greater than the fifth preset value, the preprocessing of the fifth handle value is performed, i.e., step S605.

Step S605: and performing slope buffer processing on the fifth handle value to generate a fifth pre-processing handle value.

Step S606: according to the bucket rod ascending proportional valve, performing pilot proportional valve-current mapping on the fifth preprocessing handle value to generate bucket rod ascending proportional valve current, and generating a bucket rod ascending instruction according to the bucket rod ascending proportional valve current, namely controlling the operation of the bucket rod ascending proportional valve;

step S607: performing first main pump valve-current mapping on the fifth preprocessing handle value according to the first main pump valve to generate first main pump valve current, and generating a first main pump valve control instruction according to the first main pump valve current, namely controlling parameters such as the flow of hydraulic oil of the first main pump valve;

step S608: according to the second main pump valve, performing second main pump valve-current mapping on the fifth preprocessing handle value to generate second main pump valve current, and generating a second main pump valve control instruction according to the second main pump valve current, namely controlling the flow and other parameters of hydraulic oil of the second main pump valve

Step S609: and performing first unloading proportional valve-current mapping on the fifth preprocessing handle value according to the first unloading proportional valve to generate first unloading proportional valve current, and generating a first unloading proportional valve control instruction according to the first unloading proportional valve current, namely controlling parameters such as the flow rate of hydraulic oil under the combined action of the first main pump valve control instruction and the first unloading proportional valve control instruction.

Step S6091: according to the second unloading proportional valve, performing second unloading proportional valve-current mapping on the fifth pretreatment handle value to generate a second unloading proportional valve current; and generating an unloading and unloading proportional valve control instruction according to the current of the second unloading proportional valve, namely controlling parameters such as the flow rate of hydraulic oil under the combined action of the second main pump valve control instruction and the second unloading proportional valve control instruction.

And under the combined action of the first main pump valve control command, the first unloading proportional valve control command, the bucket rod lifting proportional valve control command, the second main pump valve control command and the second unloading proportional valve control command, the bucket rod for grabbing materials is lifted.

Step S605 to step S6091 are specific control procedures of the control method of the material grabbing machine when the value of the fifth handle is greater than a fifth preset value.

When the value of the fifth handle is less than or equal to a fifth preset value, respectively executing the following steps:

step S6092: setting the current of the bucket rod lifting proportional valve to be 0;

step S6093: setting the current of the first main pump valve to 0;

step S6094: setting the current of the first unloading proportional valve to 0;

step S6095: setting the current of the second main pump valve to 0;

step S6096: setting the current of the second unloading proportional valve to 0;

because the first main pump valve current, the first unloading proportional valve current, the bucket rod ascending proportional valve current, the second main pump valve current and the second unloading proportional valve current are all 0, the first main pump valve, the first unloading proportional valve, the bucket rod ascending proportional valve, the second main pump valve and the second unloading proportional valve cannot work, namely, the movable arm of the material grabbing machine cannot ascend.

Because the power which may be needed for the arm to ascend is large, in the control method for the arm to ascend, two pump valves and two unloading proportional valves are adopted to jointly provide power for the arm to ascend.

(vi) Bucket rod descending of left handle front push-grab machine

Fig. 17 is a schematic flow chart of a control method for controlling a material grabbing machine by pushing a left handle forward, and as shown in fig. 17, the control method for the material grabbing machine comprises the following steps:

step S701: acquiring an operation action signal for operating an operation tool;

step S702: analyzing the operation action signal to generate operation action type data and an operation numerical value, namely analyzing the operation action type data as a left handle forward pushing according to the operation action signal, wherein the operation numerical value of the operation action is a sixth handle numerical value;

step S703: acquiring the type of a pilot proportional valve corresponding to the forward push of the left handle according to the forward push of the left handle, namely a bucket rod descending proportional valve;

step S704: judging whether the numerical value of the sixth handle is greater than a sixth preset value;

when the sixth handle value is greater than the sixth preset value, the preprocessing of the sixth handle value is performed, that is, step S705.

Step S705: and performing slope buffer processing on the sixth handle value to generate a sixth pre-processing handle value.

Step S706: according to the bucket rod descending proportional valve, conducting pilot proportional valve-current mapping on the sixth preprocessing handle value to generate bucket rod descending proportional valve current, and generating a bucket rod descending instruction according to the bucket rod descending proportional valve current, namely controlling the bucket rod descending proportional valve to work;

step S707: performing first main pump valve-current mapping on the sixth preprocessing handle value according to the first main pump valve to generate first main pump valve current, and generating a first main pump valve control instruction according to the first main pump valve current, namely controlling parameters such as the flow of hydraulic oil of the first main pump valve;

step S708: and performing first unloading proportional valve-current mapping on the sixth preprocessing handle value according to the first unloading proportional valve to generate first unloading proportional valve current, and generating a first unloading proportional valve control instruction according to the first unloading proportional valve current, namely controlling parameters such as the flow rate of hydraulic oil under the combined action of the first main pump valve control instruction and the first unloading proportional valve control instruction.

And under the combined action of the first main pump valve control instruction, the first unloading proportional valve control instruction and the bucket rod descending proportional valve control instruction, the bucket rod for grabbing materials descends.

Step S705-step S708 are specific control procedures of the control method of the material grabbing machine when the sixth handle value is greater than the sixth preset value.

When the sixth handle value is less than or equal to a sixth preset value, the following steps are respectively executed:

step S709: setting the current of the arm lowering proportional valve to 0;

step S7091: setting the current of the first main pump valve to 0;

step S7092: setting the current of the first unloading proportional valve to 0;

because the first main pump valve current, the first unloading proportional valve current and the movable arm ascending proportional valve current are all 0, the first main pump valve, the first unloading proportional valve and the movable arm ascending proportional valve cannot work, namely, the movable arm of the material grabbing machine cannot fall.

Since the power required for lowering the arm is small compared to the case where the arm is raised, only the first main pump valve and the first unloading proportional valve are used to provide power for lowering the arm when the arm is controlled to be lowered.

(vii) Left pedal forward pressing-grabbing machine forward left

Fig. 18 is a schematic flow chart of a control method for controlling a material grabbing machine by pressing a left pedal forward, and as shown in fig. 18, the control method for the material grabbing machine comprises the following steps:

step S801: acquiring an operation action signal for operating an operation tool;

step S802: analyzing the operation action signal to generate operation action type data and an operation numerical value, namely analyzing the operation action type data as the front pressing of the left pedal according to the operation action signal, wherein the operation numerical value of the operation action is a first pedal numerical value;

step S803: acquiring the type of a pilot proportional valve corresponding to the front pressure of the left pedal according to the front pressure of the left pedal, namely a left forward proportional valve;

step S804: judging whether the value of the first pedal is larger than an eighth preset value or not;

when the first pedal value is greater than the eighth preset value, the preprocessing of the first pedal value is performed, i.e., step S805.

Step S805: and performing slope buffer processing on the first pedal value to generate a first pre-processing pedal value.

Step S806: according to the left advancing proportional valve, conducting pilot proportional valve-current mapping on the eighth preprocessing pedal value to generate left advancing proportional valve current, and generating a left advancing proportional valve instruction according to the left advancing proportional valve current, namely controlling the work of the left advancing proportional valve;

step S807: performing first main pump valve-current mapping on the first preprocessing pedal value according to a first main pump valve to generate first main pump valve current, and generating a first main pump valve control instruction according to the first main pump valve current, namely controlling parameters such as the flow of hydraulic oil of the first main pump valve;

step S808: and according to the first unloading proportional valve, carrying out first unloading proportional valve-current mapping on the first preprocessing pedal value to generate first unloading proportional valve current, and generating a first unloading proportional valve control command according to the first unloading proportional valve current, namely, controlling parameters such as the flow rate of hydraulic oil under the combined action of the first main pump valve control command and the first unloading proportional valve control command.

And under the combined action of the first main pump valve control instruction, the first unloading proportional valve control instruction and the left advancing proportional valve control instruction, the material grabbing machine advances left.

Step S805 to step S808 are specific control processes of the control method of the material grabbing machine when the value of the first pedal is greater than the eighth preset value.

When the first pedal value is smaller than or equal to an eighth preset value, respectively executing the following steps:

step S809: setting the current of the rotary left forward proportional valve to 0;

step S8091: setting the current of the first main pump valve to 0;

step S8092: setting the current of the first unloading proportional valve to 0;

because first main pump valve current, first off-load proportional valve current, the proportional valve current that advances left are 0, so first main pump valve, first off-load proportional valve, the proportional valve that advances left can not work all so, promptly grab the material machine and can not advance left promptly.

Compared with the lifting of the movable arm, the power required by the grabbing machine to move left is less, so that when the movable arm is controlled to descend, only the first main pump valve and the first unloading proportional valve are adopted to provide power for the grabbing machine to move left.

(viii) Cab button-cab lift

Fig. 19 is a schematic flow chart of a control method for controlling a material grabbing machine through a cab button, as shown in fig. 19, the control method for the material grabbing machine comprises the following steps:

step S901: acquiring an operation action signal for operating an operation tool;

step S902: analyzing the operation action signal to generate operation action type data and a first button numerical value, namely analyzing the operation action data as a button according to the operation action signal;

step S903: it is judged whether the button is a cab up button, and when the button is the cab up button, step S904 of determining whether the button is the cab up button is performed

Step S904: acquiring a cab ascending valve corresponding to the cab ascending button according to the cab ascending button, and generating a control instruction for opening the cab ascending valve according to the cab ascending valve;

step S905: acquiring the type of a pilot proportional valve corresponding to a cab lifting button according to the cab lifting button, namely a lifting proportional valve;

step S906: and performing slope buffer processing on the first button numerical value to generate a first preprocessing button numerical value.

Step S907: according to the lifting proportional valve, conducting pilot proportional valve-current mapping on the numerical value of the first preprocessing button to generate lifting proportional valve current, and generating a lifting proportional valve instruction according to the lifting proportional valve current, namely controlling the working of the lifting proportional valve;

the cab of the material grabbing machine can ascend under the common control of a control command for opening an ascending proportional valve of the cab and an ascending proportional valve command.

Step S908: performing first main pump valve-current mapping on the numerical value of the first preprocessing button according to a first main pump valve to generate first main pump valve current, and generating a first main pump valve control instruction according to the first main pump valve current, namely controlling parameters such as the flow of hydraulic oil of the first main pump valve;

step S909: and according to the first unloading proportional valve, carrying out first unloading proportional valve-current mapping on the numerical value of the first preprocessing button to generate first unloading proportional valve current, and generating a first unloading proportional valve control command according to the first unloading proportional valve current, namely, controlling parameters such as the flow rate of hydraulic oil under the combined action of the first main pump valve control command and the first unloading proportional valve control command.

Under the combined action of the first main pump valve control command, the first unloading proportional valve control command, the command for opening the cab ascending proportional valve and the ascending proportional valve control command, the cab of the material grabbing machine ascends.

Steps S905 to S909 are specific control procedures of the control method of the material grabbing machine when the button is the cab up button.

When the button is not the cab-up button, respectively executing the following steps:

step S9091: generating a control command for not starting the cab ascending valve;

step S9092: setting the current of the lifting proportional valve to be 0;

step S9093: setting the current of the first main pump valve to 0;

step S9094: setting the current of the first unloading proportional valve to 0;

because first main pump valve electric current, first off-load proportional valve electric current, lift proportional valve electric current are 0, and the ascending proportional valve of driver's cabin also does not start, so first main pump valve, first off-load proportional valve, lift proportional valve and the ascending proportional valve of driver's cabin can not work, grab the driver's cabin of material machine promptly and can not rise.

(x) Caterpillar extension button-caterpillar extension

Fig. 20 is a flowchart illustrating a control method for controlling a material grabbing machine by a crawler extension button, as shown in fig. 20, the control method for the material grabbing machine includes the following steps:

step S1: acquiring an operation action signal for operating an operation tool;

step S2: analyzing the operation action signal to generate operation action type data, wherein the operation action type data comprises a button and a second button numerical value, namely the operation action data is analyzed as the button according to the operation action signal;

and step S3: judging whether the button is a crawler extension button, and when the button is a crawler elevation button, performing step S4, i.e.

And step S4: acquiring a telescopic valve and a gear shifting valve corresponding to the crawler lifting button according to the crawler extending button, and generating a control instruction for opening the telescopic valve and the gear shifting valve according to the telescopic valve and the gear shifting valve;

step S5: acquiring the type of a pilot proportional valve corresponding to the crawler extension button according to the crawler extension button, namely the crawler extension proportional valve;

step S6: and performing slope buffer processing on the second button numerical value to generate a second preprocessing button numerical value.

Step S7: according to the crawler extension proportional valve, conducting pilot proportional valve-current mapping on the numerical value of the second preprocessing button to generate crawler extension proportional valve current, and generating a crawler extension proportional valve control instruction according to the crawler extension proportional valve current, namely controlling the crawler extension proportional valve to work;

under the common control of a control command for opening the telescopic valve and the gear shifting valve and a control command for controlling the crawler belt stretching proportion valve, the crawler belt of the material grabbing machine can stretch out.

Step S8: performing first main pump valve-current mapping on the numerical value of the second preprocessing button according to the first main pump valve to generate first main pump valve current, and generating a first main pump valve control instruction according to the first main pump valve current, namely controlling parameters such as the flow of hydraulic oil of the first main pump valve;

step S9: and performing first unloading proportional valve-current mapping on the numerical value of the second preprocessing button according to the first unloading proportional valve to generate first unloading proportional valve current, and generating a first unloading proportional valve control instruction according to the first unloading proportional valve current, namely controlling parameters such as the flow rate of hydraulic oil under the combined action of the first main pump valve control instruction and the first unloading proportional valve control instruction.

Under the combined action of a first main pump valve control instruction, a first unloading proportional valve control instruction, a control instruction for opening the telescopic valve and the gear shifting valve and a track stretching proportional valve control instruction, the track of the material grabbing machine stretches out.

And S5-S9 are specific control processes of the control method of the material grabbing machine when the button is a track extending button.

When the button is not a crawler extension button, respectively executing the following steps:

step S11: generating a control command for not starting the telescopic valve and the gear shifting valve;

step S12: setting the current of the track extending out of the proportional valve to 0;

step S13: setting the current of the first main pump valve to 0;

step S14: setting the current of the first unloading proportional valve to 0;

because first main pump valve electric current, first off-load proportional valve electric current, track stretch out proportional valve electric current and are 0, and telescopic valve and selector valve also do not start, first main pump valve, first off-load proportional valve, track stretch out proportional valve, telescopic valve and selector valve can not work so, promptly grab the track of material machine then can not stretch out.

Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 21. Fig. 21 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

As shown in fig. 21, the electronic device 20 includes one or more processors 21 and a memory 22.

The processor 21 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or information execution capabilities, and may control other components in the electronic device 20 to perform desired functions.

Memory 22 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer readable storage medium and executed by the processor 21 to implement the control method of the material grabbing machine of the various embodiments of the present application described above or other desired functions.

In one example, the electronic device 20 may further include: an input device 23 and an output device 24, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

The input device 23 may include, for example, a keyboard, a mouse, and the like.

The output device 24 can output various kinds of information to the outside. The output device 24 may include, for example, a display, a communication network, a remote output device connected thereto, and so forth.

Of course, for the sake of simplicity, only some of the components related to the present application in the electronic device 20 are shown in fig. 21, and components such as a bus, an input/output interface, and the like are omitted. In addition, the electronic device 20 may include any other suitable components depending on the particular application.

In addition to the above-described methods and devices, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in the control method of a reclaimer machine, according to various embodiments of the present application, described in the present specification.

The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer readable storage medium having stored thereon computer program information which, when executed by a processor, causes the processor to perform the steps in the control method of a reclaimer machine according to various embodiments of the present application.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The basic principles of the present application have been described above with reference to specific embodiments, but it should be noted that advantages, effects, etc. mentioned in the present application are only examples and are not limiting, and the advantages, effects, etc. must not be considered to be possessed by various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.

The block diagrams of devices, apparatuses, devices, systems referred to in this application are only used as illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

It should also be noted that in the devices, apparatuses, and methods of the present application, each component or step can be decomposed and/or re-combined. These decompositions and/or recombinations are to be considered as equivalents of the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the present invention, and any modifications, equivalents and the like that are within the spirit and scope of the present invention should be considered as being included therein.

Claims

1. A control method of a material grabbing machine, wherein the material grabbing machine comprises a pilot proportional valve, a first main pump valve, a first unloading proportional valve and a control system, the first unloading proportional valve is communicated with the first main pump valve, the control system comprises an operation tool and a controller, and the controller is respectively and electrically connected with the operation tool, the pilot proportional valve, the first main pump valve and the first unloading proportional valve, and the control method comprises the following steps:

acquiring an operation action signal for operating the operation tool;

analyzing the operation action signal to generate operation action data;

generating a pilot proportional valve control instruction, a first main pump valve control instruction and a first unloading proportional valve control instruction according to the operation action data;

the first unloading proportional valve is used for controlling the flow of hydraulic oil provided for the material grabbing machine;

analyzing the operation action signal to generate operation action data, comprising:

acquiring the type data of the operation action according to the operation action signal; and

acquiring an operation numerical value of the operation action according to the operation action signal;

the operation action data comprises the type data of the operation action and the operand value of the operation action;

the operand value of the operation action is the specific amplitude of the operation action;

generating a pilot proportional valve control instruction, a first main pump valve control instruction and a first unloading proportional valve control instruction according to the operation action data, and the method comprises the following steps:

acquiring the type of a pilot proportional valve corresponding to the operation action according to the type data of the operation action;

judging whether the operand value of the operation action is larger than a first preset value or not;

when the operand value of the operation action is larger than the first preset value, preprocessing the operand value of the operation action to generate a preprocessed operand value;

according to the pilot proportional valve type corresponding to the operation action, proportional valve-current mapping is carried out on the preprocessing numerical value to generate pilot proportional valve current;

performing first main pump valve-current mapping on the preprocessed value to generate first main pump valve current;

carrying out first unloading proportional valve-current mapping on the preprocessed value to generate first unloading proportional valve current;

generating a pilot proportional valve control command according to the type data of the operation action and the pilot proportional valve current;

generating a first main pump valve control instruction according to the type data of the operation action and the first main pump valve current; and

and generating a first unloading proportional valve control command according to the type data of the operation action, the movement direction data of the operation action and the current of the unloading proportional valve.

2. The control method of the material grabbing machine according to claim 1, wherein said material grabbing machine further comprises a second main pump valve and a second unloading proportional valve communicated with said second main pump valve;

after the preprocessing numerical value is generated, the control method of the material grabbing machine further comprises the following steps:

performing second main pump valve-current mapping on the preprocessed numerical value to generate second main pump valve current;

carrying out second unloading proportional valve-current mapping on the preprocessed value to generate second unloading proportional valve current;

generating a second main pump valve control instruction according to the type data of the operation action and the second main pump valve current; and

and generating a second unloading proportional valve control command according to the type data of the operation action, the movement direction data of the operation action and the current of the second unloading proportional valve.

3. The control method of the material grabbing machine according to claim 1, wherein the preprocessing of the operand values of the operation action to generate the preprocessed operand values comprises:

and performing slope buffer calculation on the operand values of the operation actions to generate preprocessing values.

4. Control method of a reclaimer machine, according to claim 1, characterized in that,

performing pilot proportional valve current mapping on the preprocessed values to generate pilot proportional valve currents, comprising: carrying out pilot proportional valve current linear mapping on the preprocessing numerical value to generate pilot proportional valve current; and/or

Performing a first main pump valve current map on the preprocessed values to generate a first main pump valve current, comprising:

performing first main pump valve current multipoint difference mapping on the preprocessing numerical value to generate first main pump valve current; and/or

Performing a first unloading proportional valve current mapping on the preprocessed value to generate a first unloading proportional valve current, comprising: and performing handle pretreatment on the pretreatment value, and performing first unloading proportional valve current linear mapping on the pretreatment value to generate first unloading proportional valve current.

5. The control method of the material grabbing machine according to claim 1, wherein the operation action data comprises action data of the material grabbing machine turning, and the material grabbing machine further comprises a turning brake release valve;

when the operation action numerical value is greater than the first preset value, the control method of the material grabbing machine further comprises the following steps:

and generating a control command for releasing the rotary brake releasing valve according to the type data of the operation action.

6. The control method of a reclaimer machine, according to claim 1, characterized in that said operating means comprise a handle;

wherein the operation action signal comprises a handle signal; the operation action type data comprises handle type data and handle movement direction data.

7. The control method of the material grabbing machine according to claim 6, wherein the handle comprises a first handle and a second handle;

wherein the handle category data comprises: first handle data and second handle data;

the handle movement direction data comprises first direction movement data, second direction movement data, third direction movement data and fourth direction movement data.

8. The control method of a reclaimer machine, to the claim 1, characterized in that said operating means comprise a pedal,

the operation action signals comprise pedal signals, and the type data of the operation actions comprise pedal type data and pedal movement direction data.

9. The control method of the material grabbing machine as claimed in claim 1, wherein said operation action data includes track extension button data, said pilot proportional valve includes track extension proportional valve, said material grabbing machine further includes telescopic valve and shift valve;

the control method of the material grabbing machine further comprises the following steps:

and generating a control instruction for opening the telescopic valve and a control instruction for opening the gear shifting valve according to the data of the crawler extension button.

10. The control method of the material grabbing machine according to the claim 1, wherein when the operation action data comprises cab up button data, the pilot proportional valve comprises a lift proportional valve, and the material grabbing machine further comprises a cab up valve;

and generating a control instruction for opening the cab ascending valve according to the cab ascending button data.

11. An electronic device, characterized in that the electronic device comprises:

a processor; and

a memory for storing the processor executable information;

wherein the processor is configured to execute the control method of the reclaimer according to any one of the preceding claims 1 to 10.

12. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the method of controlling a reclaimer machine, according to any of the preceding claims 1 to 10.