WO2023273590A1 - 破碎锤打击控制方法、装置、作业机械及存储介质 - Google Patents

破碎锤打击控制方法、装置、作业机械及存储介质 Download PDF

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Publication number
WO2023273590A1
WO2023273590A1 PCT/CN2022/090402 CN2022090402W WO2023273590A1 WO 2023273590 A1 WO2023273590 A1 WO 2023273590A1 CN 2022090402 W CN2022090402 W CN 2022090402W WO 2023273590 A1 WO2023273590 A1 WO 2023273590A1
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WO
WIPO (PCT)
Prior art keywords
breaking hammer
breaker
striking
controller
control
Prior art date
Application number
PCT/CN2022/090402
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English (en)
French (fr)
Inventor
张立更
刘启明
王守伏
薛雄伟
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三一重机有限公司
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Application filed by 三一重机有限公司 filed Critical 三一重机有限公司
Publication of WO2023273590A1 publication Critical patent/WO2023273590A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/12—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor
    • E01C23/122—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/08—Wrecking of buildings
    • E04G23/082—Wrecking of buildings using shears, breakers, jaws and the like
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral

Definitions

  • the present application relates to the field of engineering technology, and in particular to a method, device, operating machine and storage medium for controlling the impact of a breaker.
  • the present application provides a breaking hammer striking control method, device, operating machine and storage medium, so as to reduce operator fatigue and improve operating efficiency.
  • the present application provides a method for controlling the striking of a breaking hammer, including: collecting state signals of operating equipment; wherein, the operating equipment is equipment that controls the striking work of the breaking hammer based on personnel operations; When the hammer is in the continuous working state, the striking work of the breaking hammer is actively controlled based on the controller of the working machine.
  • the determining that the breaking hammer is in the continuous working state based on the state signal includes: determining that the operating device controls the breaking hammer striking work based on the state information When the duration is greater than or equal to the first target duration, it is determined that the breaker is in a continuous working state.
  • the controller based on the working machine actively controls the striking work of the breaking hammer, including: when the working state of the breaking hammer does not change, and the boom cylinder is small When the chamber pressure is lower than the first target pressure, the boom is controlled to descend based on the boom cylinder; wherein, the boom is connected to the breaker; when the small chamber pressure is greater than the second target pressure, based on the dynamic The arm oil cylinder controls the boom to stop falling.
  • the active control of the striking work of the breaking hammer based on the controller of the working machine further includes: when the working state of the breaking hammer changes, based on the A controller controls the breaker to stop striking.
  • the controller based on the working machine actively controls the striking work of the breaking hammer, and further includes: at the controller, starting to actively control the striking working time of the breaking hammer When the working time is less than the second target and the state signal does not change, based on the controller, the breaker is controlled to stop striking.
  • the operating device includes: a foot valve or a sliding key.
  • the present application also provides a breaker strike control device, including: a signal acquisition module for collecting state signals of operating equipment; In a case where it is determined based on the state signal that the breaker is in a continuous working state, the striking work of the breaker is actively controlled based on the controller of the working machine.
  • the present application also provides an operating machine, including the above-mentioned striking control device for a breaking hammer.
  • the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor.
  • the processor executes the program, it can realize the The method of controlling the impact of the breaking hammer is described.
  • the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the breaking hammer strike control method described in any one of the above is implemented.
  • the breaking hammer strike control method, device, operating machine and storage medium provided in the present application collect the state signal of the operating equipment; when the breaking hammer is determined to be in the continuous working state based on the state signal, the blowing of the breaking hammer can be actively controlled through the controller Work. Even if the personnel do not control the strike work of the breaker through the operating equipment, the controller can actively control the automatic strike of the breaker. Therefore, the personnel do not need to operate the operating equipment all the time, thereby reducing the fatigue of the operation and improving the work efficiency.
  • Fig. 1 is one of the schematic flowcharts of the method for controlling the striking of a breaking hammer provided by the present application.
  • Fig. 2 is a schematic diagram of the hammer strike control system provided by the present application.
  • FIG. 3 is a schematic diagram of the position of the sliding key provided by the present application.
  • Fig. 4 is the second schematic flow diagram of the breaking hammer strike control method provided by the present application.
  • Fig. 5 is a schematic structural view of the hammer strike control device provided by the present application.
  • FIG. 6 is a schematic structural diagram of an electronic device provided by the present application.
  • 210 Human-computer interaction equipment
  • 220 Controller
  • 230 Foot valve
  • 500 Breaking hammer strike control device; 510: Signal acquisition module;
  • control module
  • the present application provides a method for controlling the striking of a breaking hammer, which can be applied to working machines, such as excavators.
  • the method for controlling the impact of the breaking hammer includes the following steps.
  • Step 110 collecting status signals of the operating equipment.
  • the operating device is a device for controlling the striking work of the breaker 270 shown in FIG. 2 based on personnel operations.
  • the operating equipment is installed in the operating machine, and after the personnel operate the operating equipment, the operating equipment will generate a corresponding control command for the breaker 270 , that is, a manual strike command is sent to the controller 220 of the operating machine shown in FIG. 2 .
  • the controller 220 of the working machine can control the oil supply main pump 260 to supply oil to the pipeline oil channel of the breaker 270 based on the manual strike command, and control the oil supply main valve 250 on the pipeline oil channel to open, so as to control the breaker 270. blow job.
  • the operating device stops sending manual striking instructions to the controller 220, and the operating device stops controlling the striking work of the breaker 270.
  • the personnel can perform mode selection through the human-computer interaction device 210 (for example, a display screen).
  • 210 outputs an automatic mode signal to the controller 220 of the working machine based on the switching automatic mode command input by the personnel, so that the breaker 270 of the working machine enters the automatic striking mode, and the controller 220 of the working machine starts to collect the status signal of the operating equipment in real time.
  • Collecting the state signal of the operating device may be collecting the state signal of the operating device in real time based on a target collection frequency.
  • the target collection frequency may be a collection frequency preset according to actual needs.
  • Step 120 when it is determined based on the state signal that the breaking hammer 270 is in the continuous working state, actively control the striking work of the breaking hammer 270 based on the controller 220 of the working machine.
  • controller 220 actively controls the striking work of the breaker 270 , that is, the controller 220 can also independently control the strike work of the breaker 270 when the state signal corresponding to the operating device does not change.
  • the status signal corresponding to the operating device has not changed, which means that the status signal corresponding to the operating device has not changed within the target time period, and the target time period can be customized.
  • the breaking hammer 270 is in a continuous working state, that is, the breaking hammer 270 It has been in the same working condition for the target time period and will continue to be in that kind of working condition.
  • the controller 220 actively controls the striking work of the breaking hammer 270 .
  • the operating device includes the foot valve 230 or the sliding key 240 shown in FIG. 2 , and the specific structure of the sliding key 240 is shown in FIG. 3 .
  • both the foot valve 230 and the sliding key 240 can be used to control the work of the breaker 270
  • the sliding key 240 is also the handle sliding key, that is, the sliding key is arranged on the handle 300 .
  • a person depresses the foot valve 230 or pushes the slide key 240 to form a corresponding manual strike command, and sends the manual strike command to the controller 220 of the work machine.
  • the controller 220 controls the oil supply main pump 260 to supply oil to the pipeline oil channel of the breaker 270 based on the manual strike command, and controls the oil supply main valve 250 arranged on the breaker pipeline oil channel to open, and the oil supply main pump 260 passes through the oil supply
  • the oil main valve 250 supplies hydraulic oil to the breaker 270, and the breaker 270 starts to work.
  • the personnel releases the pedal valve 230 or the slide key 240, and the controller 220 of the work machine can also control the breaker 270 to continue the strike work.
  • the controller 220 of the working machine will still control the breaking hammer 270 to continue the striking work.
  • determining that the breaking hammer 270 is in the continuous working state based on the state signal includes: determining that the breaking hammer 270 is in the working state when it is determined based on the state information that the duration of the operating device controlling the striking work of the breaking hammer 270 is greater than or equal to the first target duration. Continue to work.
  • the controller 220 of the working machine determines, based on the state information of the foot valve 230 or the slide key 240, that the pedal valve 230 remains in the stepped state for a duration greater than or equal to the first target duration t1, or that the slide key 240 remains in the forward push state If the duration of the breaker is greater than or equal to the first target time length t1, it can be determined that the breaker 270 is in the continuous working state, that is, after the first target time length t1, it is determined that the breaker 270 will continue to work in the same state.
  • the active control of the striking work of the breaker 270 includes: the working state of the breaker 270 does not change, and the pressure in the small cavity of the boom cylinder 280 is less than the first target When the pressure is high, the lowering of the boom is controlled based on the boom cylinder 280; wherein, the boom is connected to the breaker 270, and the boom cylinder 280 is an oil cylinder for controlling the work of the boom; when the pressure in the small chamber is greater than the second target pressure, 280 controls the boom to stop falling.
  • the boom By controlling the step of lowering the boom, the boom can be lowered to a designated position, which is convenient for the breaking hammer 270 to perform the striking work.
  • the boom cylinder 280 Small cavity pressure is small.
  • the first target pressure is the corresponding small chamber pressure when the breaking hammer 270 has not yet touched or is about to touch the surface of the object to be struck.
  • the second target pressure is the corresponding small chamber pressure when the breaker 270 has reached the surface of the object to be struck.
  • the controller 220 of the working machine detects that the boom is lifted, the excavator is moved, or other crushing actions are performed, it can be determined that the working state of the breaker 270 has changed.
  • the controller 220 of the working machine does not detect, when the boom is lifted, the excavator is walking, and other crushing actions are added to the work of the breaker 270, it can be determined that the working state of the breaker 270 has not changed.
  • the controller 220 of the working machine controls the boom to slowly descend at the target speed until the pressure in the small chamber of the boom cylinder 280 is greater than the second target pressure, and the working machine The controller 220 controls the lowering action of the boom to stop.
  • the second target pressure is greater than the first target pressure.
  • the controller 220 of the working machine controls the slow down of the boom, the pressure in the small chamber of the corresponding boom cylinder 280 will increase until the pressure in the small chamber of the boom cylinder 280.
  • the pressure is greater than the second target pressure, it can be determined that the boom has lowered to the target position, and at this time, the lowering of the boom can be stopped.
  • the boom cylinder 280 includes: a cylinder cavity with a bare piston rod and a cylinder cavity without a bare piston rod, wherein the cylinder cavity with a bare piston rod is also the small cavity of the boom cylinder 280.
  • the oil cylinder inner cavity without exposed piston rod is also the large cavity of the boom oil cylinder 280 .
  • actively controlling the striking work of the breaker 270 also includes: when the working state of the breaker 270 changes, based on the controller 220, controlling the breaker 270 to stop striking .
  • the controller 220 can stop the oil supply by controlling the oil supply main pump 260, or the oil supply main valve 250 can be closed, and can also control the breaker 270 to stop working by controlling the closing of the valve on the corresponding pipeline oil channel of the breaker 270.
  • the working state of the breaker 270 changes, that is, when the breaker 270 is working, the boom connected to the breaker 270 has a movement of boom lifting or boom walking, or other actions are added to the work of the breaker 270. If the crushing action is performed, it is determined that the working state of the breaking hammer 270 has not changed, and the striking work of the breaking hammer 270 is stopped.
  • actively controlling the striking work of the breaker 270 further includes:
  • the controller 220 starts to actively control the striking working time of the breaker 270 to be less than the second target working time, and when the state signal of the operating device does not change, the breaker 270 is controlled to stop striking based on the controller 220 .
  • the hammer blow control method is first to select the mode, and after the automatic mode is selected, the foot valve 230 or the slide key 240 is used to maintain the crushing start action to reach the first target duration t1 Above, start to control the breaker 270 to strike automatically, and then judge whether there is boom lifting, walking or other breaking actions added.
  • the method for controlling the impact of the breaking hammer provided by this application first collects the state signal of the operating equipment, and when it is determined based on the state signal that the breaking hammer 270 is in a continuous working state, the controller 220 can actively control the breaking hammer 270. blow job. Even if the personnel do not control the striking work of the breaking hammer 270 through the operating equipment, the automatic striking of the breaking hammer 270 can be actively controlled through the controller 220. Therefore, the personnel do not need to operate the operating equipment all the time, thereby reducing the fatigue of the personnel during operation. Improve work efficiency.
  • a breaker strike control device 500 provided by the present application includes: a signal acquisition module 510 and a control module 520 .
  • the signal collection module 510 is used to collect the status signal of the operating equipment; wherein, the operating equipment is a device that controls the breaking hammer 270 to strike based on the operation of personnel.
  • the control module 520 is used to actively control the striking work of the breaker 270 based on the controller of the working machine when it is determined based on the status signal that the breaker 270 is in the continuous working state.
  • the operating device includes a foot valve 230 or a sliding key 240 .
  • control module 520 is further configured to determine that the breaker 270 is in the continuous working state when it is determined based on the state information that the duration of the operating device controlling the strike operation of the breaker 270 is greater than or equal to the first target duration.
  • control module 520 includes: a first control unit and a first stop unit.
  • the first control unit is used to control the lowering of the boom based on the boom cylinder 280 when the working state of the breaker 270 does not change and the pressure in the small cavity of the boom cylinder 280 is lower than the first target pressure; wherein, the boom and the breaker 270 is connected, and the boom oil cylinder 280 is an oil cylinder for controlling the work of the boom.
  • the first stop unit is used to control the boom to stop descending based on the boom cylinder 280 when the pressure in the small cavity is greater than the second target pressure.
  • control module 520 further includes: a second stopping unit.
  • the second stop unit is used to control the breaker 270 to stop hitting based on the controller 220 when the working state of the breaker 270 changes.
  • control module 520 further includes: a third stopping unit.
  • the third stop unit is used to control the hammer 270 to stop striking based on the controller 220 when the controller 220 starts actively controlling the hammer 270 to strike for less than the second target working time and the state signal does not change.
  • the present application also provides an operation machine, which includes the above-mentioned breaker strike control device 500 .
  • the electronic device and the storage medium provided by the present application are described below, and the electronic device and the storage medium described below and the method for controlling the impact of the breaking hammer described above can be referred to in correspondence.
  • FIG. 6 illustrates a schematic diagram of the physical structure of an electronic device.
  • the electronic device may include: a processor (processor) 610, a communication interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, Wherein, the processor 610 , the communication interface 620 , and the memory 630 communicate with each other through the communication bus 640 .
  • the processor 610 can call the logic instructions in the memory 630 to execute the method for controlling the impact of the breaking hammer, and the method includes the following steps.
  • Step 110 collecting status signals of the operating equipment.
  • the operating device is a device that controls the breaking hammer 270 to strike based on personnel operations.
  • Step 120 when it is determined based on the state signal that the breaking hammer 270 is in the continuous working state, actively control the striking work of the breaking hammer 270 based on the controller of the working machine.
  • the logic instructions in the above-mentioned memory 630 can be implemented in the form of software function units and can be stored in a computer-readable storage medium when sold or used as an independent product.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • aforementioned storage medium comprises: U disk, removable hard disk, read-only memory (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disk or optical disk and other various mediums that can store program codes.
  • the present application also provides a computer program product
  • the computer program product includes a computer program stored on a non-transitory computer-readable storage medium
  • the computer program includes program instructions, and when the program instructions are executed by a computer
  • the computer can execute the breaking hammer strike control method provided by the above methods, and the method includes the following steps.
  • Step 110 collecting status signals of the operating equipment.
  • the operating device is based on personnel operation and controls the breaking hammer 270 to strike;
  • Step 120 when it is determined based on the state signal that the breaking hammer 270 is in the continuous working state, actively control the striking work of the breaking hammer 270 based on the controller of the working machine.
  • the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the above-mentioned breaking hammer strike control methods provided by the above methods, the method includes follows the steps below.
  • Step 110 collecting status signals of the operating equipment.
  • the operating device is based on personnel operation and controls the breaking hammer 270 to strike;
  • Step 120 when it is determined based on the state signal that the breaking hammer 270 is in the continuous working state, actively control the striking work of the breaking hammer 270 based on the controller of the working machine.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.
  • each implementation can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware.
  • the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

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Abstract

一种破碎锤(270)打击控制方法、装置(500)、作业机械及存储介质，破碎锤(270)打击控制方法包括：采集操作设备的状态信号(110)；其中，操作设备为基于人员操作，控制破碎锤(270)打击工作的设备；在基于状态信号确定破碎锤(270)处于继续工作状态的情况下，基于作业机械的控制器，主动控制破碎锤(270)的打击工作(120)。破碎锤(270)打击控制方法，可以实现降低操作手的疲劳，提高作业效率。

Description

破碎锤打击控制方法、装置、作业机械及存储介质 技术领域
本申请涉及工程技术领域，尤其涉及一种破碎锤打击控制方法、装置、作业机械及存储介质。
发明背景
目前，随着国内作业机械市场的火热，越来越多的作业机械被不断运用在各个领域。在拆除老旧建筑、水泥路面、矿山开采等工况方面，作业机械的破碎锤的应用越来越多，国内传统的作业机械破碎锤主要通过脚踏阀来操作，在作业的过程中需要一直踩着脚踏阀，这样操作手很容易疲劳而影响作业效率。因此，需要提供一种破碎锤打击控制方法，能够降低操作手的疲劳，提高作业效率。
发明内容
本申请提供一种破碎锤打击控制方法、装置、作业机械及存储介质，实现降低操作手的疲劳，提高作业效率。
本申请提供了一种破碎锤打击控制方法，包括：采集操作设备的状态信号；其中，所述操作设备为基于人员操作，控制破碎锤打击工作的设备；在基于所述状态信号确定所述破碎锤处于继续工作状态的情况下，基于作业机械的控制器，主动控制所述破碎锤的打击工作。
根据本申请提供的破碎锤打击控制方法，所述基于所述状态信号确定所述破碎锤处于继续工作状态，包括：在基于所述状态信息，确定所述操作设备控制所述破碎锤打击工作的持续时间大于等于第一目标时长时，确定所述破碎锤处于继续工作状态。
根据本申请提供的破碎锤打击控制方法，所述基于作业机械的控制器，主动控制所述破碎锤的打击工作，包括：在所述破碎锤的工作状态未发生变化，且动臂油缸的小腔压力小于第一目标压力时，基于所述动臂油缸控制动臂下降；其中，所述动臂与所述破碎锤连接；在所述小腔压力大于第二目标压力时，基于所述动臂油缸控制动臂停止下降。
根据本申请提供的破碎锤打击控制方法，所述基于作业机械的控制器，主动控制所述破碎锤的打击工作，还包括：在所述破碎锤的工作状态发生变化的情况下，基于所述控制器，控制所述破碎锤停止打击。
根据本申请提供的破碎锤打击控制方法，所述基于作业机械的控制器，主动 控制所述破碎锤的打击工作，还包括：在所述控制器，开始主动控制所述破碎锤的打击工作时间小于第二目标工作时长，且所述状态信号未发生变化时，基于所述控制器，控制所述破碎锤停止打击。
根据本申请提供的破碎锤打击控制方法，所述操作设备包括：脚踏阀或者滑移键。
本申请还提供一种破碎锤打击控制装置，包括：信号采集模块，用于采集操作设备的状态信号；其中，所述操作设备为基于人员操作，控制破碎锤打击工作的设备；控制模块，用于在基于所述状态信号确定所述破碎锤处于继续工作状态的情况下，基于作业机械的控制器，主动控制所述破碎锤的打击工作。
本申请还提供一种作业机械，包括上述的破碎锤打击控制装置。
本申请还提供一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序时实现如上述任一项所述破碎锤打击控制方法。
本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现如上述任一项所述破碎锤打击控制方法。
本申请提供的破碎锤打击控制方法、装置、作业机械及存储介质，采集操作设备的状态信号；在基于状态信号确定破碎锤处于继续工作状态的情况下，可以通过控制器主动控制破碎锤的打击工作。即使人员不通过操作设备控制破碎锤的打击工作，控制器也可以主动控制破碎锤自动打击，因此，人员不需要对操作设备一直进行操作，进而降低人员操作的疲劳感，提高作业效率。
附图简要说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请提供的破碎锤打击控制方法的流程示意图之一。
图2是本申请提供的破碎锤打击控制系统的示意图。
图3是本申请提供的滑移键的位置示意图。
图4是本申请提供的破碎锤打击控制方法的流程示意图之二。
图5是本申请提供的破碎锤打击控制装置的结构示意图。
图6是本申请提供的电子设备的结构示意图。
附图标记：
210：人机交互设备；  220：控制器；       230：脚踏阀；
240：滑移键；       250：供油主阀；     260：供油主泵；
270：破碎锤；       280：动臂油缸；     300：手柄；
500：破碎锤打击控制装置；           510：信号采集模块；
520：控制模块。
实施本发明的方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
下面结合图1至图6描述本申请的破碎锤打击控制方法、装置、作业机械及存储介质。
本申请提供一种破碎锤打击控制方法，该破碎锤打击控制方法可以应用于作业机械，例如挖掘机。
如图1所示，该破碎锤打击控制方法包括如下步骤。
步骤110、采集操作设备的状态信号。
操作设备为基于人员操作，控制图2所示的破碎锤270打击工作的设备。
需要说明的是，操作设备设置于作业机械内，人员对操作设备进行操作后，操作设备会形成相应的破碎锤270控制指令，即手动打击指令至图2所示的作业机械的控制器220。
作业机械的控制器220可以基于手动打击指令，控制供油主泵260给破碎锤270的管路油道供油，并控制管路油道上的供油主阀250打开，以控制破碎锤270的打击工作。
当人员停止对操作设备进行操作，操作设备恢复初始状态时，操作设备就停止发送手动打击指令至控制器220，也就停止了操作设备对破碎锤270打击工作的控制。
进一步地，如图2和图4所示，人员可以通过人机交互设备210(例如，显示屏)进行模式选择，例如，人员可以通过人机交互设备210输入切换自动模式指令，人机交互设备210基于人员输入的切换自动模式指令，输出自动模式信号至作业机械的控制器220，使得作业机械的破碎锤270进入自动打击模式，作业机械的控制器220开始实时采集操作设备的状态信号。
采集操作设备的状态信号，可以是基于目标采集频率实时采集操作设备的状态信号。目标采集频率可以是根据实际需求预先设置的采集频率。
步骤120、在基于状态信号确定破碎锤270处于继续工作状态的情况下，基于作业机械的控制器220，主动控制破碎锤270的打击工作。
需要说明的是，控制器220主动控制破碎锤270的打击工作，也即是操作设备对应的状态信号没有发生变化的情况下，控制器220也可以独立控制破碎锤270的打击工作。
操作设备对应的状态信号没有发生变化，是指操作设备对应的状态信号在目标时间段内没有发生改变，该目标时间段可以自定义。
通过操作设备的状态信号，可以判断是否有人员对操作设备进行操作，并且可以判断操作设备是否需要继续保持这种状态，若是，则可以确定破碎锤270处于继续工作状态，也即是破碎锤270在目标时间段内一直处于同一种工况下，并且还将继续处于该种工况。
在确定破碎锤270还将继续处于该种工况时，就通过控制器220主动控制破碎锤270的打击工作。
在一些实施例中，操作设备包含有图2所示的脚踏阀230或者滑移键240，滑移键240的具体结构如图3所示。
需要说明的是，脚踏阀230和滑移键240均可用于控制破碎锤270的工作，滑移键240也即是手柄滑移键，即滑移键设置于手柄300上。
当作业机械的破碎锤270处于手动打击模式下，人员踩下脚踏阀230或者推动滑移键240，形成相应的手动打击指令，并将该手动打击指令发送至作业机械的控制器220。
控制器220基于手动打击指令，控制供油主泵260给破碎锤270管路油道供油，以及控制设置在破碎锤管路油道上的供油主阀250打开，供油主泵260通过供油主阀250将液压油供到破碎锤270，破碎锤270开始工作。
当作业机械的破碎锤270处于自动打击模式下，此时人员松开脚踏阀230或者滑移键240，作业机械的控制器220还可以控制破碎锤270继续进行打击工作。
当然，即使人员不松开脚踏阀230或者滑移键240，作业机械的控制器220，还是会控制破碎锤270继续进行打击工作。
在一些实施例中，基于状态信号确定破碎锤270处于继续工作状态，包括：在基于状态信息，确定操作设备控制破碎锤270打击工作的持续时间大于等于第一目标时长时，确定破碎锤270处于继续工作状态。
作业机械的控制器220基于脚踏阀230或者滑移键240的状态信息，确定脚踏阀230保持踩踏状态的持续时间大于等于第一目标时长t1，或者滑移键240保持在向前推状态的持续时间大于等于第一目标时长t1，则可以确定破碎锤270处于继续工作状态，也即是在经过第一目标时长t1之后，判定破碎锤270仍然会以相同的状态继续工作。
在一些实施例中，基于作业机械的控制器220，主动控制破碎锤270的打击工作，包括：在破碎锤270的工作状态未发生变化，且在动臂油缸280的小腔压力小于第一目标压力时，基于动臂油缸280控制动臂下降；其中，动臂与破碎锤270连接，动臂油缸280为控制动臂工作的油缸；在小腔压力大于第二目标压力时，基于动臂油缸280控制动臂停止下降。
通过控制动臂下降的步骤，可以将动臂下降至指定位置，方便破碎锤270执行打击工作。
其中，动臂油缸280的小腔压力小于第一目标压力的情况，可以是破碎锤270还没有触达待打击物体表面，例如破碎锤270还没有触达地面，此时，动臂油缸280的小腔压力较小。第一目标压力，也即是破碎锤270在还未触达或者即将触达待打击物体表面时，所对应的小腔压力。
动臂油缸280的小腔压力大于第二目标压力的情况，可以是破碎锤270已经触达待打击物体表面，此时，动臂油缸280的小腔压力会增大，因此，此时需要控制动臂停止下降。第二目标压力，也即是破碎锤270已经触达待打击物体表面时，所对应的小腔压力。
需要说明的是，作业机械的控制器220检测到，有动臂提升、挖机行走，或者其他的破碎动作时，可以确定破碎锤270的工作状态发生变化。
反之，如果作业机械的控制器220没有检测到，动臂提升、挖机行走以及在破碎锤270工作中加入其他的破碎动作时，可以确定破碎锤270的工作状态未发生变化。
在动臂油缸280的小腔压力小于第一目标压力时，作业机械的控制器220通过控制动臂按照目标速度缓慢下降，直至动臂油缸280的小腔压力大于第二目标压力时，作业机械的控制器220控制动臂下降动作停止。
其中，第二目标压力大于第一目标压力，在作业机械的控制器220控制动臂缓慢下降过程中，对应的动臂油缸280的小腔压力会增大，直至动臂油缸280的小腔压力大于第二目标压力时，则可以确定动臂下降到了目标位置，此时，可以停止动臂下降。
需要说明的是，动臂油缸280包括：有裸露活塞杆的油缸内腔和无裸露活塞杆的油缸内腔，其中，有裸露活塞杆的油缸内腔也即是动臂油缸280的小腔，无裸露活塞杆的油缸内腔也即是动臂油缸280的大腔。
在一些实施例中，基于作业机械的控制器220，主动控制破碎锤270的打击工作，还包括：在破碎锤270的工作状态发生变化的情况下，基于控制器220，控制破碎锤270停止打击。
控制器220可以通过控制供油主泵260停止供油，或者供油主阀250关闭，也可以通过控制破碎锤270对应管路油道上阀门的关闭，控制破碎锤270停止工 作。
破碎锤270的工作状态发生变化的情况，也即是在破碎锤270工作中，与破碎锤270连接的动臂存在动臂提升或者动臂行走的动作，或者在破碎锤270工作中加入其他的破碎动作，则确定破碎锤270的工作状态未发生变化，停止破碎锤270的打击工作。
在一些实施例中，基于作业机械的控制器220，主动控制破碎锤270的打击工作，还包括：
在控制器220，开始主动控制破碎锤270的打击工作时间小于第二目标工作时长，操作设备的状态信号未发生变化时，基于控制器220，控制破碎锤270停止打击。
在作业机械的控制器220开始主动控制破碎锤270的打击工作后的第二目标时长t2内，基于操作设备的状态信号，确定操作设备没有任何动作，则停止破碎锤270的工作。
需要说明的是，在作业机械的控制器220开始主动控制破碎锤270的打击工作后的第二目标时长的内，基于状态信号，确定操作设备状态未发生变化时，则判定破碎锤270工作已完成，因此，停止破碎锤270的工作。
在另一些实施例中，破碎锤打击控制方法如图5所示，先进行模式选择，在选择了自动模式后，通过脚踏阀230或者滑移键240保持破碎开始动作达到第一目标时长t1以上，开始控制破碎锤270自动打击，接着判断是否有动臂提升、行走或者其他破碎动作加入。
若没有有动臂提升、行走或者其他破碎动作加入，则判断动臂油缸280的小腔压力是否小于第一目标压力，若动臂油缸280的小腔压力小于第一目标压力，则控制动臂下压至小腔压力大于第二目标压力。
再判断从开始控制破碎锤270自动打击时间小于第二目标工作时长，脚踏阀230或者滑移键240是否有动作，若没有动作，则停止破碎锤270自动打击。
综上所述，本申请提供的破碎锤打击控制方法，先采集操作设备的状态信号，在基于状态信号确定破碎锤270处于继续工作状态的情况下，可以通过控制器220主动控制破碎锤270的打击工作。即使人员不通过操作设备控制破碎锤270的打击工作，也可以通过控制器220主动控制破碎锤270自动打击，因此，人员不需要对操作设备一直进行操作，进而可以，降低人员操作的疲劳感，提高作业效率。
下面对本申请提供的破碎锤打击控制装置500进行描述，下文描述的破碎锤打击控制装置500与上文描述的破碎锤打击控制方法可相互对应参照。
如图5所示，本申请提供的一种破碎锤打击控制装置500包括：信号采集模块510和控制模块520。
信号采集模块510用于采集操作设备的状态信号；其中，操作设备为基于人 员操作，控制破碎锤270打击工作的设备。
控制模块520用于在基于状态信号确定破碎锤270处于继续工作状态的情况下，基于作业机械的控制器，主动控制破碎锤270的打击工作。
在一些实施例中，操作设备包括脚踏阀230或者滑移键240。
在一些实施例中，控制模块520还用于在基于状态信息，确定操作设备控制破碎锤270打击工作的持续时间大于等于第一目标时长时，确定破碎锤270处于继续工作状态。
在一些实施例中，控制模块520包括：第一控制单元和第一停止单元。
第一控制单元用于在破碎锤270的工作状态未发生变化，且动臂油缸280的小腔压力小于第一目标压力时，基于动臂油缸280控制动臂下降；其中，动臂与破碎锤270连接，动臂油缸280为控制动臂工作的油缸。
第一停止单元用于在小腔压力大于第二目标压力时，基于动臂油缸280控制动臂停止下降。
在一些实施例中，控制模块520还包括：第二停止单元。
第二停止单元用于在破碎锤270的工作状态发生变化的情况下，基于控制器220，控制破碎锤270)停止打击。
在一些实施例中，控制模块520还包括：第三停止单元。
第三停止单元用于在控制器220，开始主动控制破碎锤270的打击工作时间小于第二目标工作时长，状态信号未发生变化时，基于控制器220，控制破碎锤270停止打击。
本申请还提供一种作业机械，该作业机械包括上述的破碎锤打击控制装置500。
进一步，在本申请提供的作业机械中，由于具备如上所述的破碎锤打击控制装置500，因此同样具备如上所述的各种优势。
下面对本申请提供的电子设备及存储介质进行描述，下文描述的电子设备及存储介质与上文描述的破碎锤打击控制方法可相互对应参照。
图6示例了一种电子设备的实体结构示意图，如图6所示，该电子设备可以包括：处理器(processor)610、通信接口(Communications Interface)620、存储器(memory)630和通信总线640，其中，处理器610，通信接口620，存储器630通过通信总线640完成相互间的通信。处理器610可以调用存储器630中的逻辑指令，以执行破碎锤打击控制方法，该方法包括如下步骤。
步骤110、采集操作设备的状态信号。
操作设备为基于人员操作，控制破碎锤270打击工作的设备。
步骤120、在基于状态信号确定破碎锤270处于继续工作状态的情况下，基于作业机械的控制器，主动控制破碎锤270的打击工作。
此外，上述的存储器630中的逻辑指令可以通过软件功能单元的形式实现并 作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-OnlyMemory)、随机存取存储器(RAM，RandomAccess Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
另一方面，本申请还提供一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各方法所提供的破碎锤打击控制方法，该方法包括如下步骤。
步骤110、采集操作设备的状态信号。
操作设备为基于人员操作，控制破碎锤270打击工作的设备；
步骤120、在基于状态信号确定破碎锤270处于继续工作状态的情况下，基于作业机械的控制器，主动控制破碎锤270的打击工作。
又一方面，本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各提供的破碎锤打击控制方法，该方法包括如下步骤。
步骤110、采集操作设备的状态信号。
操作设备为基于人员操作，控制破碎锤270打击工作的设备；
步骤120、在基于状态信号确定破碎锤270处于继续工作状态的情况下，基于作业机械的控制器，主动控制破碎锤270的打击工作。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (10)

  1. 一种破碎锤打击控制方法，包括：
    采集操作设备的状态信号；其中，所述操作设备为基于人员操作，控制破碎锤打击工作的设备；
    在基于所述状态信号确定所述破碎锤处于继续工作状态的情况下，基于作业机械的控制器，主动控制所述破碎锤的打击工作。
  2. 根据权利要求1所述的破碎锤打击控制方法，其中，所述基于所述状态信号确定所述破碎锤处于继续工作状态，包括：
    在基于所述状态信息，确定所述操作设备控制所述破碎锤打击工作的持续时间大于等于第一目标时长时，确定所述破碎锤处于继续工作状态。
  3. 根据权利要求1或2所述的破碎锤打击控制方法，其中，所述基于作业机械的控制器，主动控制所述破碎锤的打击工作，包括：
    在所述破碎锤的工作状态未发生变化，且动臂油缸的小腔压力小于第一目标压力时，基于所述动臂油缸控制动臂下降；其中，所述动臂与所述破碎锤连接；
    在所述小腔压力大于第二目标压力时，基于所述动臂油缸控制所述动臂停止下降。
  4. 根据权利要求1至3任一项所述的破碎锤打击控制方法，其中，所述基于作业机械的控制器，主动控制所述破碎锤的打击工作，还包括：
    在所述破碎锤的工作状态发生变化的情况下，基于所述控制器，控制所述破碎锤停止打击。
  5. 根据权利要求3或4所述的破碎锤打击控制方法，其中，所述基于作业机械的控制器，主动控制所述破碎锤的打击工作，还包括：
    在所述控制器，开始主动控制所述破碎锤的打击工作时间小于第二目标工作时长，且所述状态信号未发生变化时，基于所述控制器，控制所述破碎锤停止打击。
  6. 根据权利要求1-5任一项所述的破碎锤打击控制方法，其中，所述操作设备包括：脚踏阀或者滑移键。
  7. 一种破碎锤打击控制装置，包括：
    信号采集模块，用于采集操作设备的状态信号；其中，所述操作设备为基于人员操作，控制破碎锤打击工作的设备；
    控制模块，用于在基于所述状态信号确定所述破碎锤处于继续工作状态的情况下，基于作业机械的控制器，主动控制所述破碎锤的打击工作。
  8. 一种作业机械，包括权利要求7所述的破碎锤打击控制装置。
  9. 一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序时实现如权利要求1至6任一项所述破碎锤打击控制方法。
  10. 一种非暂态计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至6任一项所述破碎锤打击控制方法。
PCT/CN2022/090402 2021-06-30 2022-04-29 破碎锤打击控制方法、装置、作业机械及存储介质 WO2023273590A1 (zh)

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