WO2022042150A1

WO2022042150A1 - Excavator control method and apparatus, storage medium, and excavator

Info

Publication number: WO2022042150A1
Application number: PCT/CN2021/107829
Authority: WO
Inventors: 张晓峰; 罗建华; 沈得康
Original assignee: 上海华兴数字科技有限公司
Priority date: 2020-08-25
Filing date: 2021-07-22
Publication date: 2022-03-03
Also published as: CN111997137A

Abstract

The present application provides an excavator control method and apparatus, a storage medium, and an excavator. A correction coefficient is first determined according to the current oil temperature and a correction curve, the correction coefficient representing a correction proportion for the torque of a hydraulic pump, and the correction curve comprising correspondences between oil temperatures and correction coefficients. An obtained required torque is then corrected according to the correction coefficient to obtain a target torque. A proportional valve of the hydraulic pump is then adjusted according to the target torque. Considering the effect of an oil temperature on an oil liquid, the problem of inconsistency with an actual output of the excavator may be caused. Adjustment is made according to a correction coefficient to obtain a target torque, so that at a low temperature, vibration is reduced, and at a high temperature, it is guaranteed that the current output power can meet the requirement of a user, thereby avoiding the occurrence of the problem that an excavator is slow in operation and has reduced working efficiency.

Description

Excavator control method, device, storage medium and excavator

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of the Chinese patent application with the application number 202010865034.2 filed on August 25, 2020, and the invention title is "An excavator control method, device, storage medium and excavator", which is incorporated by reference in its entirety. into this article.

technical field

The present application relates to the field of excavators, and in particular, to an excavator control method, device, storage medium, and excavator.

Background technique

Hydraulic excavator is a common working machine. Hydraulic oil is used as the energy transmission medium. The oil temperature change affects the viscosity of the oil, which will lead to changes in the performance and work efficiency of the entire excavator system.

At present, the common practice is to recommend users to warm up the car when the hydraulic oil temperature is low, and increase the power of the cooling system in the high temperature section to control the hydraulic oil temperature to maintain a suitable range. However, it takes tens of minutes to warm up the car, and users usually start working without fully warming up the car; and the working conditions of the excavator are bad and the working time is long, so it is inevitable that the hydraulic oil temperature is too high. That is, in daily work, the performance of the excavator system does not reach the optimal state, and the work efficiency is relatively reduced.

SUMMARY OF THE INVENTION

The purpose of this application is to provide an excavator control method, device, storage medium and excavator to solve the above problems.

In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:

In a first aspect, an embodiment of the present application provides an excavator control method, the method comprising:

determining a correction coefficient according to a current oil temperature correction curve, wherein the correction coefficient represents a correction ratio of hydraulic pump torque, and the correction curve includes a corresponding relationship between the oil temperature and the correction coefficient;

correcting the obtained demand torque according to the correction coefficient to obtain a target torque, wherein the demand torque is the torque input by the driver;

The proportional valve of the hydraulic pump is adjusted according to the target torque.

In a second aspect, an embodiment of the present application provides an excavator control device, the device comprising:

a processing unit, configured to determine a correction coefficient according to a current oil temperature correction curve, wherein the correction coefficient represents the correction ratio of the torque of the hydraulic pump, and the correction curve includes the corresponding relationship of the oil temperature and the correction coefficient; further used for correcting the obtained demand torque according to the correction coefficient to obtain a target torque, wherein the demand torque is the torque input by the driver;

An adjustment unit, configured to adjust the proportional valve of the hydraulic pump according to the target torque.

In a third aspect, an embodiment of the present application provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the foregoing method is implemented.

In a fourth aspect, an embodiment of the present application provides an excavator, the excavator includes: a processor and a memory, the memory is used to store one or more programs; when the one or more programs are executed by the processor When executed, the above method is implemented.

Compared with the prior art, the excavator control method, device, storage medium and excavator provided by the embodiments of the present application have the following beneficial effects: first, a correction coefficient is determined according to the current oil temperature correction curve. Among them, the correction coefficient represents the correction ratio of the hydraulic pump torque, and the correction curve includes the corresponding relationship between the oil temperature and the correction coefficient. The obtained demand torque is then corrected according to the correction coefficient to obtain the target torque. The proportional valve of the hydraulic pump is then adjusted according to the target torque. Considering the influence of oil temperature on the oil, the actual output of the excavator will be inconsistent. Through the correction factor, the target torque is adjusted to reduce jitter at low temperature; at high temperature, it is ensured that the current output power can match the user's needs, avoiding problems such as slow excavator movement and reduced work efficiency.

In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the preferred embodiments are exemplified below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following drawings will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope. For those skilled in the art, other related drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

2 is a schematic flowchart of a control method for an excavator provided by an embodiment of the present application;

3 is a schematic diagram of a correction curve provided by an embodiment of the present application;

FIG. 4 is one of the schematic flow charts of the excavator control method provided by the embodiment of the present application;

FIG. 5 is one of the schematic flow charts of the excavator control method provided by the embodiment of the present application;

FIG. 6 is a schematic diagram of a unit of an excavator control device provided in an embodiment of the present application.

In the figure: 10-processor; 11-memory; 12-bus; 13-communication interface; 201-processing unit; 202-adjustment unit.

detailed description

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

In the description of this application, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the The orientation or positional relationship that the application product is usually placed in use is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore It should not be construed as a limitation on this application.

In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "arrangement" and "connection" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, or It can be connected in one piece; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

The embodiment of the present application provides an electronic device, which may be a vehicle-mounted computer device. Please refer to FIG. 1 , which is a schematic structural diagram of an electronic device. The electronic device includes a processor 10 , a memory 11 , and a bus 12 . The processor 10 and the memory 11 are connected through a bus 12 , and the processor 10 is used to execute executable modules, such as computer programs, stored in the memory 11 .

The processor 10 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the excavator control method can be completed by the hardware integrated logic circuit in the processor 10 or the instructions in the form of software. The above-mentioned processor 10 can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (Digital Signal Processor, referred to as DSP) ), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

The memory 11 may include a high-speed random access memory (RAM: Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus or the like. Only one double-headed arrow is shown in FIG. 1, but it does not mean that there is only one bus 12 or one type of bus 12.

The memory 11 is used to store programs, for example, programs corresponding to the excavator control device. The excavator control device includes at least one software function module that can be stored in the memory 11 in the form of software or firmware (firmware) or solidified in an operating system (operating system, OS) of the electronic device. After receiving the execution instruction, the processor 10 executes the program to implement the excavator control method.

Possibly, the electronic device provided in this embodiment of the present application further includes a communication interface 13 . The communication interface 13 is connected to the processor 10 through a bus. The electronic device can receive demand instructions or collect information transmitted by other terminals through the communication interface 13 .

It should be understood that the structure shown in FIG. 1 is only a schematic structural diagram of a part of the electronic device, and the electronic device may further include more or less components than those shown in FIG. 1 , or have different configurations from those shown in FIG. 1 . . Each component shown in FIG. 1 may be implemented in hardware, software, or a combination thereof.

The excavator control method provided in the embodiment of the present application can be applied to, but not limited to, the electronic device shown in FIG. 1 . For the specific process, please refer to FIG. 2 :

S103, a correction coefficient is determined according to the current oil temperature correction curve.

Among them, the correction coefficient represents the correction ratio of the hydraulic pump torque, and the correction curve includes the corresponding relationship between the oil temperature and the correction coefficient. The oil temperature is the temperature of the oil in the hydraulic pump, which can be acquired by a temperature sensor and then transmitted to the processor 10 .

Possibly, the correction curve is shown in Figure 3, and the correction factor varies with temperature. In order to solve the problems that may occur in the excavator at different temperatures.

S104, correct the obtained demand torque according to the correction coefficient to obtain the target torque.

Among them, the demand torque is the torque input by the driver. Possibly, the driver may make an input of the required torque through a gear lever or other connected device.

If the influence of oil temperature is ignored, and the hydraulic pump is directly controlled according to the input demand torque, it may occur that the hydraulic oil temperature is too low, which leads to the increase of the viscosity of the hydraulic oil and the increase of the oil suction resistance of the hydraulic pump. Inconsistency and shaking of the excavator action; or, the hydraulic oil becomes thinner due to the high temperature of the hydraulic oil, the pressure of the hydraulic system will be reduced, the actual working flow will be reduced, and the efficiency of the equipment will be reduced. Reduced work efficiency, etc.

In order to solve the above problem, it is necessary to correct the required torque according to the correction coefficient to obtain the target torque. That is, the required power is corrected to obtain the target power.

S107, adjust the proportional valve of the hydraulic pump according to the target torque.

Possibly, at low temperature, the corrected target torque decreases relative to the demand torque, and the proportional valve opening decreases, reducing jitter; at high temperature, the oil becomes thinner and the pressure is insufficient, the corrected target torque increases relative to the demand torque, and the proportional valve increases. The opening degree is increased to ensure that the current output power can match the needs of users, and to avoid problems such as slow excavator movement and reduced work efficiency.

To sum up, in the excavator control method provided by the embodiments of the present application, the correction coefficient is first determined according to the current oil temperature correction curve. Among them, the correction coefficient represents the correction ratio of the hydraulic pump torque, and the correction curve includes the corresponding relationship between the oil temperature and the correction coefficient. The obtained demand torque is then corrected according to the correction coefficient to obtain the target torque. The proportional valve of the hydraulic pump is then adjusted according to the target torque. Considering the influence of oil temperature on the oil, the actual output of the excavator will be inconsistent. Through the correction factor, the target torque is adjusted to reduce jitter at low temperature; at high temperature, it is ensured that the current output power can match the user's needs, avoiding problems such as slow excavator movement and reduced work efficiency.

On the basis of FIG. 2 , regarding the correction curve, the embodiment of the present application also provides a possible implementation manner. Please continue to refer to FIG. 3 . The corresponding relationship between the oil temperature and the correction coefficient includes:

If the oil temperature is less than the first temperature threshold, the correction coefficient is the first correction threshold.

If the oil temperature is greater than or equal to the first temperature threshold and less than the second temperature threshold, the correction coefficient linearly increases from the first correction threshold to the second correction threshold as the oil temperature increases.

If the oil temperature is greater than or equal to the second temperature threshold and less than or equal to the third temperature threshold, the correction coefficient is the second correction threshold.

If the oil temperature is greater than the third temperature threshold and less than the fourth temperature threshold, the correction coefficient linearly increases from the second correction threshold to the third correction threshold as the oil temperature increases.

If the oil temperature is greater than or equal to the fourth temperature threshold and less than the fifth temperature threshold, the correction coefficient linearly decreases from the third correction threshold to the fourth correction threshold as the oil temperature increases.

If the oil temperature is greater than or equal to the fifth temperature threshold, the correction coefficient is the fourth correction threshold.

The first correction threshold and the fourth correction threshold are both smaller than the second correction threshold, the third correction threshold is greater than the second correction threshold, the first temperature threshold, the second temperature threshold, the third temperature threshold, the fourth temperature threshold and the fifth temperature threshold The temperature thresholds increase sequentially.

The first correction threshold and the fourth correction threshold may be the same or different.

The first correction threshold value is smaller than the second correction threshold value, and the first temperature threshold value is smaller than the second temperature threshold value, that is, the target torque is reduced in an environment where the oil temperature is low. Even if the hydraulic oil temperature is too low, the viscosity of the hydraulic oil increases, and the oil suction resistance of the hydraulic pump increases, because the target torque has been reduced. reduce.

The interval between the second temperature threshold and the third temperature threshold is equivalent to the interval of normal oil temperature operation.

The third temperature threshold is less than the fourth temperature threshold, and the second correction threshold is less than the third correction threshold, that is, the target torque is increased in an environment with a high oil temperature. Alleviate or reduce the problem of hydraulic oil becoming thinner due to the high temperature of hydraulic oil, the pressure of hydraulic system will decrease, the actual working flow will decrease, and the efficiency of equipment will decrease.

When the temperature is higher than the fourth temperature threshold, the oil temperature will continue to rise, which will cause damage to the equipment, and the output power needs to be properly controlled to reduce the oil temperature, so the correction coefficient is reduced.

Possibly, the first temperature threshold, the second temperature threshold, the third temperature threshold, the fourth temperature threshold and the fifth temperature threshold are respectively T1, T2, T3, T4 and T5, and the corresponding temperature values are 0, 30, 70 respectively , 90, and 100.

The first correction threshold and the fourth correction threshold are 0.8, the second correction threshold is 1, and the third correction threshold is 1.2.

On the basis of FIG. 3 , in order to ensure the safe operation of the excavator equipment, the embodiment of the present application also provides a possible implementation manner. Please refer to FIG. 4 , the excavator control method further includes:

S101, determine whether the oil temperature is less than a first temperature threshold or greater than a fourth temperature threshold. If yes, execute S102; if not, execute S103.

Specifically, when the oil temperature is less than the first temperature threshold or greater than the fourth temperature threshold, the current environment may not be suitable for the excavator to work again. If the oil temperature continues to work, the excavator may be damaged, thereby causing potential safety hazards. In order to remind the driver, S102 is executed at this time. Otherwise, execute S103.

S102, issue an alarm instruction.

Possibly, after an alarm instruction is issued, S103 may be continued. In a possible implementation manner, after an alarm instruction is issued, the excavator stops working, for example, the oil temperature exceeds a safety threshold.

On the basis of FIG. 2, regarding the content in S107, the embodiment of the present application also provides a possible implementation manner, please refer to FIG. 5, the excavator control method further includes:

S105, determining the required displacement according to the pilot pressure.

The processor 10 can collect the pilot pressure, and determine the size of the corresponding demand displacement through signal processing such as filtering, amplitude limiting, and calculation.

S106, determine the maximum displacement according to the main pressure of the hydraulic pump.

The processor 10 can collect the main pressure of the hydraulic pump, and determine the size of the corresponding maximum displacement through signal processing such as filtering, amplitude limiting, and calculation.

S107 includes:

In S107-1, the smaller value of the required displacement and the maximum displacement is used as the limited displacement.

The displacement of the current excavator hydraulic pump cannot exceed the limit displacement.

S107-2, it is judged whether the target displacement corresponding to the target torque is smaller than the limit displacement. If yes, execute S107-3; if not, execute S107-4.

If the target displacement corresponding to the target torque is smaller than the limit displacement, that is, the current displacement can meet the target displacement, and the proportional valve of the hydraulic pump is adjusted according to the target displacement, and S107-3 is executed; otherwise, S107-4 is executed. .

S107-3, adjust the proportional valve of the hydraulic pump according to the target displacement.

S107-4, adjust the proportional valve of the hydraulic pump according to the limited displacement.

On the basis of FIG. 5, corresponding to the content in S107-3, the embodiment of the present application further provides a possible implementation manner, please refer to the following.

The feedback torque (current torque of the main pump) is calculated based on the pressure of the main pump and the current of the main pump. According to the difference between the feedback torque and the target torque, the corresponding displacement difference is determined, and then the proportional valve of the hydraulic pump is adjusted according to the displacement difference.

The adjustment of the proportional valve of the hydraulic pump according to the displacement difference can be carried out by the adjustment unit (sent to the Pid control module).

Please refer to FIG. 6 . FIG. 6 is an excavator control device provided by an embodiment of the application. Optionally, the excavator control device is applied to the electronic equipment described above.

The excavator control device includes: a processing unit 201 and an adjustment unit 202 .

The processing unit 201 is used to determine a correction coefficient according to the current oil temperature correction curve, wherein the correction coefficient represents the correction ratio of the torque of the hydraulic pump, and the correction curve includes the corresponding relationship of the oil temperature and correction coefficient; and is also used for obtaining the demand according to the correction coefficient The torque is corrected to obtain the target torque, where the requested torque is the torque input by the driver. Specifically, the processing unit 201 may perform S103 and S104.

The adjusting unit 202 is used for adjusting the proportional valve of the hydraulic pump according to the target torque. Specifically, the adjustment unit 202 may perform S107.

Further, the corresponding relationship of the oil temperature correction coefficient includes:

If the oil temperature is less than the first temperature threshold, the correction coefficient is the first correction threshold;

If the oil temperature is greater than or equal to the first temperature threshold and less than the second temperature threshold, the correction coefficient linearly increases from the first correction threshold to the second correction threshold as the oil temperature increases;

If the oil temperature is greater than or equal to the second temperature threshold and less than or equal to the third temperature threshold, the correction coefficient is the second correction threshold;

If the oil temperature is greater than the third temperature threshold and less than the fourth temperature threshold, the correction coefficient linearly increases from the second correction threshold to the third correction threshold as the oil temperature increases;

If the oil temperature is greater than or equal to the fourth temperature threshold and less than the fifth temperature threshold, the correction coefficient linearly decreases from the third correction threshold to the fourth correction threshold as the oil temperature increases;

If the oil temperature is greater than or equal to the fifth temperature threshold, the correction coefficient is the fourth correction threshold;

The first correction threshold and the fourth correction threshold are both smaller than the second correction threshold, the third correction threshold is greater than the second correction threshold, the first temperature threshold, the second temperature threshold, the third temperature threshold, the fourth temperature threshold and the fifth The temperature thresholds increase sequentially.

Further, the processing unit 201 is further configured to issue an alarm instruction when the oil temperature is less than the first temperature threshold or greater than the fourth temperature threshold. Specifically, the processing unit 201 may perform S101 and S102.

Further, the processing unit 201 is further configured to determine the required displacement according to the pilot pressure; and determine the maximum displacement according to the main pressure of the hydraulic pump. Specifically, the processing unit 201 may perform S105 and S106.

The adjustment unit 202 is further configured to use the smaller value between the required displacement and the maximum displacement as the restricted displacement; when the target displacement corresponding to the target torque is less than the restricted displacement, adjust the proportional valve of the hydraulic pump according to the target displacement; When the target displacement corresponding to the target torque is greater than or equal to the limited displacement, the proportional valve of the hydraulic pump is adjusted according to the limited displacement. Specifically, the processing unit 201 may perform S103 and S104. Specifically, the adjustment unit 202 may execute S107-1 to S107-4.

It should be noted that the excavator control device provided in this embodiment can execute the method flow shown in the above method flow embodiment, so as to achieve corresponding technical effects. For a brief description, for parts not mentioned in this embodiment, reference may be made to the corresponding content in the above-mentioned embodiments.

Embodiments of the present application further provide a storage medium, where computer instructions and programs are stored in the storage medium, and when the computer instructions and programs are read and run, the excavator control methods of the foregoing embodiments are executed. The storage medium may include memory, flash memory, registers, or a combination thereof, and the like.

An excavator is provided below. The excavator includes an electronic device as shown in FIG. 1 , which can implement the above-mentioned control method for the excavator. Specifically, the electronic device includes: a processor 10 , a memory 11 , and a bus 12 . The processor 10 may be a CPU. The memory 11 is used to store one or more programs, and when the one or more programs are executed by the processor 10, the excavator control method of the above-described embodiment is executed.

In the embodiments provided in this application, it should be understood that the disclosed apparatus and method may also be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architectures, functions and possible implementations of apparatuses, methods and computer program products according to various embodiments of the present application. operate. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

In addition, each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution, and the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

It will be apparent to those skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Accordingly, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the application is to be defined by the appended claims rather than the foregoing description, which is therefore intended to fall within the scope of the claims. All changes that come within the meaning and scope of equivalents to are included in this application. Any reference signs in the claims shall not be construed as limiting the involved claim.

Claims

An excavator control method, the method comprising:

determining a correction coefficient according to a current oil temperature correction curve, wherein the correction coefficient represents a correction ratio of hydraulic pump torque, and the correction curve includes a corresponding relationship between the oil temperature and the correction coefficient;

correcting the obtained demand torque according to the correction coefficient to obtain a target torque, wherein the demand torque is the torque input by the driver;

The proportional valve of the hydraulic pump is adjusted according to the target torque.
The excavator control method according to claim 1, wherein the corresponding relationship between the oil temperature and the correction coefficient comprises:

If the oil temperature is less than the first temperature threshold, the correction coefficient is the first correction threshold;

If the oil temperature is greater than or equal to the first temperature threshold and less than a second temperature threshold, the correction coefficient linearly increases from the first correction threshold to the second correction threshold as the oil temperature increases;

If the oil temperature is greater than or equal to the second temperature threshold and less than or equal to a third temperature threshold, the correction coefficient is the second correction threshold;

If the oil temperature is greater than the third temperature threshold and less than a fourth temperature threshold, the correction coefficient linearly increases from the second correction threshold to the third correction threshold as the oil temperature increases;

If the oil temperature is greater than or equal to the fourth temperature threshold and less than a fifth temperature threshold, the correction coefficient linearly decreases from the third correction threshold to a fourth correction threshold as the oil temperature increases;

If the oil temperature is greater than or equal to the fifth temperature threshold, the correction coefficient is the fourth correction threshold;

Wherein, the first correction threshold and the fourth correction threshold are both smaller than the second correction threshold, the third correction threshold is greater than the second correction threshold, the first temperature threshold, the second temperature threshold The threshold, the third temperature threshold, the fourth temperature threshold, and the fifth temperature threshold increase sequentially.
The excavator control method of claim 2, wherein the method further comprises:

When the oil temperature is less than the first temperature threshold or greater than the fourth temperature threshold, a warning instruction is issued.
The excavator control method of claim 1, wherein the method further comprises:

Determine the required displacement according to the pilot pressure;

Determine the maximum displacement according to the main pressure of the hydraulic pump;

The step of adjusting the proportional valve of the hydraulic pump according to the target torque includes:

Taking the smaller of the required displacement and the maximum displacement as the limited displacement;

When the target displacement corresponding to the target torque is smaller than the limited displacement, adjusting the proportional valve of the hydraulic pump according to the target displacement;

When the target displacement corresponding to the target torque is greater than or equal to the limited displacement, the proportional valve of the hydraulic pump is adjusted according to the limited displacement.
An excavator control device, wherein the device includes:

a processing unit, configured to determine a correction coefficient according to a current oil temperature correction curve, wherein the correction coefficient represents a correction ratio of the torque of the hydraulic pump, and the correction curve includes a corresponding relationship between the oil temperature and the correction coefficient; correcting the obtained demand torque according to the correction coefficient to obtain a target torque, wherein the demand torque is the torque input by the driver;

An adjustment unit, configured to adjust the proportional valve of the hydraulic pump according to the target torque.
The excavator control device according to claim 5, wherein the corresponding relationship between the oil temperature and the correction coefficient comprises:

If the oil temperature is less than the first temperature threshold, the correction coefficient is the first correction threshold;

If the oil temperature is greater than or equal to the first temperature threshold and less than a second temperature threshold, the correction coefficient linearly increases from the first correction threshold to the second correction threshold as the oil temperature increases;

If the oil temperature is greater than or equal to the second temperature threshold and less than or equal to a third temperature threshold, the correction coefficient is the second correction threshold;

If the oil temperature is greater than the third temperature threshold and less than a fourth temperature threshold, the correction coefficient linearly increases from the second correction threshold to the third correction threshold as the oil temperature increases;

If the oil temperature is greater than or equal to the fourth temperature threshold and less than a fifth temperature threshold, the correction coefficient linearly decreases from the third correction threshold to a fourth correction threshold as the oil temperature increases;

If the oil temperature is greater than or equal to the fifth temperature threshold, the correction coefficient is the fourth correction threshold;

Wherein, the first correction threshold and the fourth correction threshold are both smaller than the second correction threshold, the third correction threshold is greater than the second correction threshold, the first temperature threshold, the second temperature threshold The threshold, the third temperature threshold, the fourth temperature threshold, and the fifth temperature threshold increase sequentially.
The excavator control device according to claim 6, wherein the processing unit is further configured to issue a warning instruction when the oil temperature is lower than the first temperature threshold or greater than the fourth temperature threshold.
The excavator control device according to claim 5, wherein the processing unit is further configured to determine the required displacement according to the pilot pressure; determine the maximum displacement according to the main pressure of the hydraulic pump;

The adjustment unit is further configured to take the smaller value of the required displacement and the maximum displacement as the restricted displacement; when the target displacement corresponding to the target torque is smaller than the restricted displacement, according to the target displacement The displacement adjusts the proportional valve of the hydraulic pump; when the target displacement corresponding to the target torque is greater than or equal to the limited displacement, the proportional valve of the hydraulic pump is adjusted according to the limited displacement.
A storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method according to any one of claims 1-4.
An excavator, comprising: a processor and a memory, the memory is used to store one or more programs; when the one or more programs are executed by the processor, any one of claims 1-4 is implemented method described in item.