CN114059614A

CN114059614A - Walking type engineering equipment, control method and device thereof, and controller

Info

Publication number: CN114059614A
Application number: CN202111324799.6A
Authority: CN
Inventors: 付玲; 梁恒; 张龙; 袁野; 李勇强; 张磊; 柯宝
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2021-11-10
Filing date: 2021-11-10
Publication date: 2022-02-18

Abstract

The embodiment of the invention provides walking type engineering equipment and a control method, a device and a controller thereof, wherein the control method comprises the following steps: acquiring the whole machine direction of the walking type engineering equipment; determining the corresponding relation between the operating signal of the rocker and the control of the electromagnetic valve according to the direction of the whole machine; acquiring the operation signal; determining a control current according to the operation signal; determining the solenoid valve corresponding to the operation signal according to the corresponding relation to obtain a target solenoid valve; and outputting the control current to the target electromagnetic valve so as to control the running mechanism to act. The embodiment of the invention can enable the operation to correspond to the left-right relation of the visual field, reduce the operation difficulty, enable the action speed of the oil cylinder to be adjustable, and selectively set the on-off state of the corresponding relation adjusting function.

Description

Walking type engineering equipment, control method and device thereof, and controller

Technical Field

The invention relates to the technical field of walking type engineering equipment, in particular to walking type engineering equipment, a control method and a control device of the walking type engineering equipment, and a controller of the walking type engineering equipment.

Background

The walking type engineering equipment such as a walking type excavator and the like plays an extremely important role in construction of industrial and civil buildings, transportation, disaster rescue and the like as important equipment in engineering construction, the operation of a vehicle-loading working device of the walking type excavator is the same as that of a hydraulic excavator, the moving mechanism of the walking type excavator is more, the operation which needs to be recorded by an operator is more, and the operation can be normally carried out by a skilled operator. The operating device of the walking excavator in the current market adopts two electric control operating handles integrating a plurality of rocking bars, the extending and retracting actions of each oil cylinder of the walking mechanism are controlled by the switching values of the rocking bars in two directions, and an operator can complete the control of the walking mechanism through the left operating handle and the right operating handle. The position of the rocker on each operating handle corresponds to the corresponding relation of the oil cylinders of the travelling mechanism one by one. However, in the prior art, the rocker and the proportional valve of the control oil cylinder are both in switching value, the movement speed of each oil cylinder is fixed, the action speed of the operation oil cylinder is not adjustable, and further the action speed of the operation walking mechanism is not adjustable, after the boarding platform rotates 180 degrees, the operation relation is opposite to the left-right relation of the visual field, and more operation relations need to be memorized by an operator, so that the operation difficulty is high. Therefore, it is urgently needed to provide a technical solution to solve the above technical problems.

Disclosure of Invention

The embodiment of the invention aims to provide walking engineering equipment, a control method and a control device thereof, and a controller, and solves the technical problems that in the prior art, the action speed of a walking mechanism of the walking engineering equipment controlled by a rocker is fixed, the left-right relation of an operation relation and a visual field is opposite when an upper vehicle platform rotates 180 degrees, and more operation relations need to be memorized by an operator and the operation difficulty is high.

In order to achieve the above object, a first aspect of the present invention provides a control method for a walking-type construction equipment, the walking-type construction equipment including a stick, an electromagnetic valve, and a traveling mechanism, the control method comprising: acquiring the whole machine direction of the walking type engineering equipment; determining the corresponding relation between the operating signal of the rocker and the control solenoid valve according to the direction of the whole machine; acquiring an operation signal; determining a control current according to the operation signal; determining the solenoid valve corresponding to the operation signal according to the corresponding relation to obtain a target solenoid valve; and outputting the control current to the target electromagnetic valve so as to control the running mechanism to act.

In the embodiment of the present invention, obtaining the overall direction of the walking type engineering equipment includes: acquiring a rotation angle of the walking type engineering equipment; acquiring the rotation direction of the walking type engineering equipment; and determining the direction of the whole machine according to the rotation angle and the rotation direction.

In the embodiment of the present invention, obtaining the rotation angle of the walking type engineering equipment includes: acquiring the rotation speed of the walking type engineering equipment; and determining the revolution angle according to the revolution speed.

In an embodiment of the present invention, the operation signal includes an analog operation signal, and the solenoid valve includes a proportional solenoid valve.

In the embodiment of the present invention, the control method further includes: acquiring the switch state of the corresponding relation adjusting function; determining the corresponding relation between the operating signal of the rocker and the control electromagnetic valve according to the direction of the whole machine, comprising the following steps: determining that the corresponding relation is a first corresponding relation under the condition that the corresponding relation adjusting function is in a closed state; and under the condition that the corresponding relation adjusting function is in an opening state, determining the corresponding relation between the operation signal and the control electromagnetic valve according to the direction of the whole machine and the opening and closing state.

In the embodiment of the present invention, when the correspondence adjustment function is in the on state, determining the correspondence between the operation signal and the control solenoid valve according to the overall direction and the on-off state includes: determining that the corresponding relation is a first corresponding relation under the condition that the direction of the whole machine is in a first preset quadrant; determining that the corresponding relation is a second corresponding relation under the condition that the direction of the whole machine is in a second preset quadrant; determining that the corresponding relation is a first corresponding relation under the condition that the direction of the whole machine is changed from a first preset quadrant to a third preset quadrant; and determining that the corresponding relation is a second corresponding relation under the condition that the direction of the whole machine is changed from a second preset quadrant to a third preset quadrant.

In the embodiment of the invention, the electromagnetic valves comprise 24 electromagnetic valves, and the rocker comprises 6 rockers.

In the embodiment of the invention, the angle range of the first preset quadrant is (270 degrees + a,90 degrees-a), the angle range of the second preset quadrant is (90 degrees + a, 270 degrees-a), the angle range of the third preset quadrant is (90 degrees + a ) and (270 degrees-a, 270 degrees + a), wherein 0 degrees < a is not more than 45 degrees, and the corresponding whole machine direction is 0 degree when the whole vehicle position of the walking type engineering equipment is in the front.

A second aspect of the present invention provides a controller configured to execute the control method for a walking type engineering apparatus of the foregoing embodiments.

A third aspect of the present invention provides a control apparatus for a walking type construction equipment, comprising: a joystick configured to provide an operation signal; a turning speed sensor configured to detect a turning speed of the walking engineering equipment and a turning direction of the walking engineering equipment; the electromagnetic valve is configured to control the walking mechanism of the walking type engineering equipment to act; and the controller of the foregoing embodiment.

In an embodiment of the present invention, the control apparatus for a walking type engineering equipment further includes: and the human-computer interaction equipment is configured to set the on-off state of the corresponding relation adjusting function.

A fourth aspect of the present invention provides a walking type construction equipment including the control device for a walking type construction equipment of the foregoing embodiments.

In an embodiment of the invention, the walking type engineering equipment comprises a walking type excavator.

According to the technical scheme, the corresponding relation between the operating signal of the rocker and the control electromagnetic valve can be adjusted in a self-adaptive mode according to the direction of the whole machine, the left-right relation between the operation and the visual field is enabled to correspond, the operation difficulty is reduced, the opening degree of the proportional electromagnetic valve can be controlled according to the analog quantity operating signal of the rocker, the action speed of the oil cylinder is enabled to be adjustable, and the on-off state of the corresponding relation adjusting function can be set selectively through man-machine interaction equipment.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

fig. 1 is a flowchart illustrating a control method 100 for a walking type construction machine according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a control apparatus 200 for a walking type construction machine according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a control apparatus for a walking type construction equipment according to an example of the present invention;

FIG. 4 is a table of the proportional solenoid valve and the corresponding relationship between the controlled travel mechanism actions of the exemplary embodiment of the present invention;

FIG. 5A is a schematic illustration of the operative positions of the 3 rockers LA, LB and LC on the left handle of the example of the present invention;

FIG. 5B is a schematic illustration of the operative positions of the 3 rockers RA, RB and RC on the right handle of the example of the present invention;

FIG. 6 is a table showing the operating positions of the rocker levers on the handle in accordance with an exemplary embodiment of the present invention;

FIG. 7 is a schematic diagram of an exemplary default position of the overall machine; and

FIG. 8 is a quadrant view of the overall orientation of an example of the present invention.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

As shown in fig. 1, in an embodiment of the present invention, a control method 100 for a walking type engineering apparatus is provided. Wherein, the walking engineering equipment comprises a rocker, an electromagnetic valve and a walking mechanism. The control method for the walking type engineering equipment comprises the following steps:

step S110: and acquiring the overall direction of the walking type engineering equipment.

Step S130: and determining the corresponding relation between the operating signal of the rocker and the control electromagnetic valve according to the direction of the whole machine. The solenoid valve is used, for example, to control the movement of the traveling mechanism.

Step S150: an operation signal is acquired.

Step S170: the control current is determined according to the operation signal.

Step S180: and determining the solenoid valve corresponding to the operation signal according to the corresponding relation so as to obtain the target solenoid valve. And

step S190: and outputting the control current to a target electromagnetic valve to control the running mechanism to act.

Specifically, the correspondence between the operation signal of the rocker and the control solenoid valve specifically includes a correspondence between an operation position where the rocker is located and the control solenoid valve, and correspondingly, the correspondence between the operation signal of the rocker and the control solenoid valve is determined according to the overall direction, for example, the correspondence between the operation signal of the rocker and the control solenoid valve specifically is determined according to the operation position information of the rocker included in the operation signal and the correspondence between the operation position where the rocker is located and the proportional solenoid valve, that is, the target proportional solenoid valve corresponding to the operation position where the rocker is located.

Specifically, the step S110 of obtaining the overall direction of the walking engineering equipment includes the following sub-steps:

(a1) and acquiring the rotation angle of the walking type engineering equipment.

(a2) And acquiring the rotation direction of the walking type engineering equipment. And

(a3) and determining the direction of the whole machine according to the rotation angle and the rotation direction.

Specifically, acquiring the turning angle of the crawler type construction equipment, that is, (a1) includes, for example:

(a11) and acquiring the rotation speed of the walking type engineering equipment. And

(a12) and determining a revolution angle according to the revolution speed.

Specifically, the operation signal includes, for example, an analog operation signal, and the solenoid valve includes, for example, a proportional solenoid valve. And the opening of the proportional solenoid valve can be controlled according to the numerical value of the analog quantity operation signal of the rocker, so that the action speed of the travelling mechanism can be adjusted.

Further, the control method 100 for a walking type engineering apparatus, for example, further includes the steps of: and acquiring the switch state of the corresponding relation adjusting function. The user can set the on-off state of the correspondence adjustment function through a display or other man-machine interaction device, for example.

Accordingly, the step S130 of determining the corresponding relationship between the operation signal of the joystick and the control solenoid according to the overall direction includes, for example, the sub-steps of:

(b1) and determining that the corresponding relation is the first corresponding relation under the condition that the corresponding relation adjusting function is in the closed state. And

(b2) and under the condition that the corresponding relation adjusting function is in an opening state, determining the corresponding relation between the operation signal and the control electromagnetic valve according to the direction of the whole machine and the opening and closing state.

Specifically, in the case where the correspondence relationship adjustment function is in the on state, determining the correspondence relationship between the operation signal and the control solenoid valve according to the overall direction and the on-off state, that is, (b2) includes:

(b21) and determining that the corresponding relation is a first corresponding relation under the condition that the direction of the whole machine is in a first preset quadrant.

(b22) And determining that the corresponding relation is a second corresponding relation under the condition that the direction of the whole machine is in a second preset quadrant.

(b23) And determining that the corresponding relation is the first corresponding relation under the condition that the direction of the whole machine is changed from the first preset quadrant to the third preset quadrant. And

(b24) and determining that the corresponding relation is a second corresponding relation under the condition that the direction of the whole machine is changed from a second preset quadrant to a third preset quadrant.

Specifically, the solenoid valves include, for example, 24 solenoid valves, the operating handles include, for example, two left and right operating handles, each operating handle is provided with, for example, 3 rockers, and the operating direction of each rocker includes four directions of up, down, left, and right.

Specifically, the angle range of the first preset quadrant is (270 ° + a,90 ° -a), the angle range of the second preset quadrant is (90 ° + a, 270 ° + a), the angle range of the third preset quadrant is (90 ° + a ) and (270 ° -a, 270 ° + a), wherein 0 ° < a ≦ 45 °, and the corresponding overall machine direction is 0 ° when the overall vehicle position of the walking type engineering equipment is directly in front. Specifically, a is, for example, 45 °.

In an embodiment of the invention, a controller is provided, for example configured to perform the control method 100 for a walking engineering plant according to any one of the preceding embodiments. For specific functions and details of the control method 100 for the walking engineering equipment, reference may be made to the related description of the foregoing embodiments, and further description is omitted here.

Specifically, the controller may be, for example, an industrial personal computer, an embedded system, a microprocessor, a programmable logic device, or other control devices.

As shown in fig. 2, in an embodiment of the present invention, there is provided a control apparatus 200 for a walking type construction machine, including: a rocker 210, a swing speed sensor 230, a solenoid valve 250, and a controller 270.

Wherein the rocker 210 is configured to provide an operating signal, for example.

The turning speed sensor 230 is configured to detect, for example, a turning speed of the walking work apparatus and a turning direction of the walking work apparatus. The slew rate sensor 230 includes, for example, slew rate sensors of the type DSM 1-10.

The solenoid valve 250 is, for example, configured to control the traveling mechanism action of the walking type working machine.

The controller 270 is, for example, a controller according to any one of the preceding embodiments. The detailed functions and details of the controller can refer to the related descriptions of the foregoing embodiments, and are not repeated herein. Controller 270 includes, for example, controllers model RC 28-14/30.

The rocker 210, the rotational speed sensor 230, and the solenoid valve 250 are connected to the controller 270, respectively, for example, and may be connected to the controller 270 in a wired manner or a wireless manner, for example.

Specifically, the rocker 210 includes, for example, a continuous control type rocker that can provide, for example, a continuously variable analog quantity operation signal, and accordingly, the solenoid valve includes, for example, a proportional solenoid valve. More specifically, the signals output by the rocker in the continuous operation process in the up, down, left and right directions are continuously changed analog quantity signals instead of switching value signals which are not 1 or 0, so that the action speed of the walking mechanism can be adjusted by adjusting the operation position of the rocker. The joystick 210 may be connected to the controller 270, for example, via a CAN bus.

Further, the control apparatus 200 for the walking type construction equipment further includes, for example: and (3) a human-computer interaction device. The human-computer interaction device is configured to set an on-off state of the correspondence adjustment function, for example. The human-computer interaction device is, for example, a display, which may be connected to the controller 270, for example, via a CAN bus. Of course, the embodiment of the present invention is not limited to this, and for example, the setting of the switch state of the correspondence relation adjusting function may be performed by a mechanical switch. Of course, the embodiment of the present invention is not limited to this, and the on-off state of the corresponding relationship adjusting function may be a built-in on-off state, or may be set by other software methods or hardware devices.

In an embodiment of the present invention, there is provided a walking type engineering apparatus including a control device for the walking type engineering apparatus. Wherein the control device for a walking type engineering equipment is, for example, the control device 200 for a walking type engineering equipment according to any one of the preceding embodiments. The detailed functions and details of the control device 200 for the walking type engineering equipment can be referred to the related description of the foregoing embodiments, and are not repeated herein.

Specifically, the walking type construction equipment includes, for example, a walking excavator.

The following describes the structure and operation of the control device for the walking type engineering equipment according to the embodiment of the present invention with reference to a specific example.

As shown in fig. 3, a specific example of a control device for a walking type engineering equipment, specifically, the walking type engineering equipment is a walking excavator, and the control device mainly includes a controller, and proportional electromagnetic valves a-x, a left handle, a right handle, a turning Speed Sensor (Speed Sensor) and a display connected to the controller.

The Speed Sensor outputs the current rotation Speed and the current rotation direction of the whole machine to the controller in real time.

The display is used for completing the human-computer interaction function so as to set the on-off state of the corresponding relation adjusting function.

The left handle and the right handle are respectively provided with 3 rockers, and an operator controls the rocker to output an operation signal, namely the operation signal of the rocker, to the controller.

The controller judges the direction of the whole machine, namely the direction of the whole machine, according to the rotation speed and the rotation direction.

The controller adjusts the on-off state of the function and the direction of the whole machine according to the corresponding relation set by the operation signal and the display, outputs control current to the proportional solenoid valve, and finally controls the oil cylinder of the travelling mechanism to act to finish the action of the travelling mechanism.

As shown in fig. 4, the proportional solenoid valve corresponds to the operation of the controlled traveling mechanism.

Fig. 5A and 5B are schematic views showing the operation positions of the 3 rockers LA, LB and LC on the left handle and the 3 rockers RA, RB and RC on the right handle, respectively. For example, when the operating position of the rocker LA on the left handle is currently located on a straight line above the original position (the intersection of the straight lines shown in fig. 5A), the operating position is defined as LA 1; when the operating position of the rocker LA on the left handle is on the straight line to the left of the original position, the operating position is defined as LA 2; when the operating position of the rocker LA on the left handle is on a straight line below the original position, the operating position is defined as LA 3; when the operating position of the rocker LA on the left handle is currently located on a straight line on the right of the original position, the operating position is defined as LA4, and similarly, LB1, LB2, LB3, LB4, LC1, LC2, LC3, LC4, RA1, RA2, RA3, RA4, RB1, RB2, RB3, RB4, RC1, RC2, RC3 and RC4 are defined on the principle, and are not described in detail herein.

FIG. 6 is a table showing the correspondence between the operating position of the rocker on the handle and the proportional solenoid valve.

The user can select whether to start the corresponding relation adjusting function through the display. If the corresponding relation adjusting function is not started, the corresponding relation between the operating position of the rocker on the handle and the proportional solenoid valve is defaulted to the corresponding relation I, and if the corresponding relation adjusting function is started, the corresponding relation adjusting function is executed according to the following procedure.

The controller collects a rotation speed signal and a rotation direction signal, calculates a rotation angle according to the rotation speed and the rotation direction, and then judges the current direction of the whole vehicle according to the rotation angle.

The controller detects the operating signals of the rockers on the current left handle and the current right handle, determines the operating positions of the rockers according to the operating signals and calculates the corresponding control current.

The controller adjusts the on-off state of the function and the current direction of the whole machine according to the corresponding relation selected by the user through the display, and determines the corresponding relation between the operating position of the rocker on the handle and the proportional solenoid valve.

The controller determines a proportional solenoid valve corresponding to the operating position of the rocker, namely a target proportional solenoid valve, according to the operating position of the rocker and the corresponding relation between the operating position of the rocker on the handle and the proportional solenoid valve, and then outputs control current to the target proportional solenoid valve to complete corresponding control action.

As shown in fig. 7, the default position of the whole machine is shown schematically, and the direction indicated by the arrow is defined as the right front of the whole machine, i.e. the large wheel direction is the front, and the small wheel direction is the rear.

Fig. 8 is a quadrant view of the whole machine direction. When the position of the whole vehicle is right ahead, the controller records that the current position is 0 degree position, namely the direction of the whole vehicle is 0 degree, when the whole vehicle rotates, the controller reads a rotation speed signal and a rotation direction signal of a rotation speed sensor, through the current direction of the whole vehicle, if an angle between (270 degrees + a,90 degrees-a) is defined as I quadrant, if the angle between (90 degrees + a, 270 degrees-a) is defined as II quadrant, if the angle is not in I quadrant, and not in II quadrant, namely between (90 degrees-a, 90 degrees + a) or between (270 degrees-a, 270 degrees + a) is defined as III quadrant, wherein 0 degrees < a is less than or equal to 45 degrees. Specifically, a is, for example, 45 °.

As shown in fig. 4, the correspondence relationship between the 24 proportional solenoid valves and the operation of the traveling mechanism controlled by the proportional solenoid valves is shown.

The controller adjusts the on-off state of the function according to the corresponding relationship selected by the user through the display, and if the corresponding relationship adjustment function is off, the corresponding relationship is I. If the corresponding relation adjustment function is started, the controller further judges according to the direction of the whole machine, and if the direction of the whole machine is in the I quadrant limit, the corresponding relation is I; if the direction of the whole machine is changed from quadrant I to quadrant III, the corresponding relation is I; otherwise, if the relation is in the second quadrant, the corresponding relation is II; if the direction of the whole machine is changed from quadrant II to quadrant III, the corresponding relation is II.

In summary, according to the embodiment of the present invention, the corresponding relationship between the operation signal of the rocker and the control solenoid valve can be adaptively adjusted according to the direction of the adjustment machine, so that the left-right relationship between the operation and the visual field is associated, the operation difficulty is reduced, the opening degree of the proportional solenoid valve can be controlled according to the analog operation signal of the rocker, the actuation speed of the cylinder can be adjusted, and the on-off state of the function can be selectively adjusted according to the corresponding relationship through the human-computer interaction device.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

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

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A control method for walking engineering equipment, which is characterized in that the walking engineering equipment comprises a rocker, an electromagnetic valve and a walking mechanism, and the control method comprises the following steps:

acquiring the whole machine direction of the walking type engineering equipment;

determining the corresponding relation between the operating signal of the rocker and the control of the electromagnetic valve according to the direction of the whole machine;

acquiring the operation signal;

determining a control current according to the operation signal;

determining the solenoid valve corresponding to the operation signal according to the corresponding relation to obtain a target solenoid valve; and

and outputting the control current to the target electromagnetic valve so as to control the running mechanism to act.

2. The control method according to claim 1, wherein the obtaining of the overall direction of the walking-type engineering equipment comprises:

acquiring a rotation angle of the walking type engineering equipment;

acquiring the rotation direction of the walking type engineering equipment; and

and determining the direction of the whole machine according to the rotation angle and the rotation direction.

3. The control method according to claim 2, wherein the obtaining of the turning angle of the walking-type engineering equipment comprises:

acquiring the rotation speed of the walking type engineering equipment; and

and determining the revolution angle according to the revolution speed.

4. The control method of claim 1, wherein the operating signal comprises an analog operating signal and the solenoid valve comprises a proportional solenoid valve.

5. The control method according to claim 1, characterized by further comprising:

acquiring the switch state of the corresponding relation adjusting function;

the corresponding relation between the operation signal of the rocker and the electromagnetic valve is determined according to the direction of the whole machine, and comprises the following steps:

determining that the corresponding relation is a first corresponding relation under the condition that the corresponding relation adjusting function is in a closed state;

and under the condition that the corresponding relation adjusting function is in an opening state, determining the corresponding relation between the operation signal and the electromagnetic valve according to the direction of the whole machine and the switching state.

6. The control method according to claim 5, wherein the determining the correspondence between the operation signal and the control of the solenoid valve according to the overall machine direction and the on-off state in the case where the correspondence adjustment function is in the on state includes:

determining the corresponding relation as a first corresponding relation under the condition that the direction of the whole machine is in a first preset quadrant;

determining the corresponding relation to be a second corresponding relation under the condition that the direction of the whole machine is in a second preset quadrant;

determining the corresponding relation as the first corresponding relation under the condition that the direction of the whole machine is changed from the first preset quadrant to a third preset quadrant; and

and determining the corresponding relation as the second corresponding relation under the condition that the direction of the whole machine is changed from the second preset quadrant to the third preset quadrant.

7. The control method of claim 1, wherein the solenoid valve comprises 24 solenoid valves and the rocker comprises 6 rocker.

8. The control method according to claim 6, characterized in that the angular range of the first preset quadrant is (270 ° + a,90 ° -a), the angular range of the second preset quadrant is (90 ° + a, 270 ° -a), the angular range of the third preset quadrant is (90 ° + a ) and (270 ° + a, 270 ° + a), wherein 0 ° < a ≦ 45 °, and the overall machine direction corresponding to the overall vehicle position of the crawler work apparatus being directly in front is 0 °.

9. A controller, characterized by being configured to execute the control method for a walking-type engineering equipment according to any one of claims 1 to 8.

10. A control apparatus for a walking type construction equipment, comprising:

a joystick configured to provide an operation signal;

a turning speed sensor configured to detect a turning speed of the walking-type construction equipment and a turning direction of the walking-type construction equipment;

the electromagnetic valve is configured to control the action of a walking mechanism of the walking type engineering equipment; and

the controller of claim 9.

11. The control device of claim 10, wherein the operating signal comprises an analog operating signal and the solenoid valve comprises a proportional solenoid valve.

12. The control device according to claim 10 or 11, characterized by further comprising:

and the human-computer interaction equipment is configured to set the on-off state of the corresponding relation adjusting function.

13. Walking work apparatus, characterized in that it comprises a control device for walking work apparatus according to any of claims 10-12.

14. Walking work apparatus as claimed in claim 13, characterized in that the walking work apparatus comprises a walking excavator.