	US 12,234,628 B2
	Boom correction method and device for working machine
Ceng Li, Shanghai (CN); Jialin Song, Shanghai (CN); and Chuanyu Wang, Shanghai (CN)
Assigned to SHANGHAI SANY HEAVY MACHINERY CO., LTD., Shanghai (CN)
Filed by SHANGHAI SANY HEAVY MACHINERY CO., LTD, Shanghai (CN)
Filed on Aug. 15, 2023, as Appl. No. 18/449,825.
Application 18/449,825 is a continuation of application No. PCT/CN2022/077677, filed on Feb. 24, 2022.
Claims priority of application No. 202110282174.1 (CN), filed on Mar. 16, 2021.
Prior Publication US 2024/0003122 A1, Jan. 4, 2024
Int. Cl. E02F 9/26 (2006.01)

CPC E02F 9/268 (2013.01)

6 Claims

1. A boom correction method for a working machine, comprising:

inputting an actual displacement value of a boom of a target working machine at a current moment and a first operating parameter of the target working machine at the current moment into a prediction model, and outputting a predicted displacement value of the boom at a next moment of the current moment; and

calculating a difference between the predicted displacement value of the boom and a preset displacement value, and in response to that the difference is greater than a first preset threshold, adjusting a second operating parameter of the target working machine according to the difference to correct the boom of the target working machine; wherein both the first operating parameter and the second operating parameter are related to a displacement of the boom;

wherein the first operating parameter comprises a pressure of a main pump of the target working machine, a pressure of a cylinder large cavity of the boom, a rotational speed of an engine, and a pilot pressure of the boom; and

wherein the inputting the actual displacement value of the boom of the target working machine at the current moment and the first operating parameter of the target working machine at the current moment into the prediction model, and outputting the predicted displacement value of the boom at the next moment of the current moment comprises:

preprocessing the first operating parameter; wherein, the preprocessing comprises taking the rotational speed of the engine as a logarithm of a logarithmic function, obtaining a value of the logarithmic function, and/or subtracting the pressure of the main pump from the pressure of the main pump before the boom of the target working machine is raised to get a subtraction result, and dividing the subtraction result by a preset coefficient; and

inputting the first operating parameter after the preprocessing into the prediction model, and outputting the predicted displacement value of the boom at the next moment of the current moment.