A bulldozer power adjustment method, device, bulldozer, program product and storage medium

Abstract

The embodiment of the application discloses a bulldozer power adjustment method, device, bulldozer, program product and storage medium, and the method comprises the following steps: when the hydrostatic bulldozer is in a working state, the engine speed of the hydrostatic bulldozer is acquired in real time; whether the hydrostatic bulldozer is in a large load mode is determined based on the engine speed; when the hydrostatic bulldozer is in the large load mode and the engine speed does not satisfy a preset condition, the distributable power of a fan motor of the hydrostatic bulldozer is determined based on the engine speed; and the distributable power is distributed to the engine through a preset control algorithm until the distributable power is distributed to the fan motor when the engine speed satisfies the preset condition. The method of the application reasonably distributes the power of the engine under the premise of meeting the heat dissipation demand of the bulldozer, improves the power performance and operation efficiency of the bulldozer, reduces power loss, avoids the situation of insufficient power performance, and thus improves the construction efficiency and driving experience.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of bulldozers, and in particular to a bulldozer power adjustment method, device, bulldozer, program product, and storage medium. Background Art

[0002] A hydrostatic bulldozer is a type of construction machinery that utilizes hydrostatic transmission technology. This technology utilizes hydraulic oil to directly transmit power. Its primary components include a hydraulic pump, control unit, and hydraulic motor. This transmission method offers advantages such as a large transmission ratio, high efficiency, and stepless speed regulation, and is considered the mainstream development direction for bulldozers in the future. Hydrostatic bulldozers utilize a hydraulic system to transmit force, enabling operations such as bulldozing and excavation.

[0003] The net power of a hydrostatic bulldozer during operation plays a decisive role in its overall dynamic performance. Existing bulldozers often experience insufficient power performance due to excessive loads during bulldozing and cutting, which reduces construction efficiency and creates a poor driving experience. Summary of the Invention

[0004] Embodiments of the present invention provide a bulldozer power adjustment method, device, bulldozer, program product, and storage medium, which can quickly increase the power performance of the entire machine, reduce power loss, and avoid insufficient power performance when the bulldozer encounters heavy load operations, thereby improving construction efficiency and driving experience.

[0005] In a first aspect, an embodiment of the present invention provides a bulldozer power adjustment method, comprising:

[0006] When the hydrostatic bulldozer is in working state, obtaining the engine speed of the hydrostatic bulldozer in real time;

[0007] determining whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first predetermined speed;

[0008] When the hydrostatic bulldozer is in the heavy load mode, determining whether the engine meets a preset condition based on the engine speed and a second preset speed;

[0009] When the engine does not meet the preset condition, the allocable power of the fan motor of the hydrostatic bulldozer is determined based on the engine speed; and the allocable power is allocated to the engine through a preset control algorithm until the engine speed meets the preset condition, and the allocable power is allocated to the fan motor.

[0010] In a second aspect, an embodiment of the present invention provides a bulldozer power adjustment device, the device comprising:

[0011] An information acquisition module, configured to acquire the engine speed of the hydrostatic bulldozer in real time when the hydrostatic bulldozer is in operation;

[0012] a first determining module configured to determine whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed;

[0013] a second determining module, configured to determine whether the engine satisfies a preset condition based on the engine speed and a second preset speed when the hydrostatic bulldozer is in the heavy load mode;

[0014] A power distribution module is configured to determine, when the engine does not satisfy the preset condition, an allocable power of a fan motor of the hydrostatic bulldozer based on the engine speed; and distribute the allocable power to the engine through a preset control algorithm until the engine speed satisfies the preset condition, at which time the allocable power is distributed to the fan motor.

[0015] In a third aspect, an embodiment of the present invention further provides a bulldozer, wherein the controller of the bulldozer includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, a bulldozer power adjustment method as described in any one of the embodiments of the present invention is implemented.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the bulldozer power adjustment method as described in any one of the embodiments of the present invention.

[0017] In a fifth aspect, an embodiment of the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the bulldozer power adjustment method as described in any one of the embodiments of the present invention.

[0018] In the embodiment of the present application, when the hydrostatic bulldozer is in a working state, the engine speed of the hydrostatic bulldozer is acquired in real time; whether the hydrostatic bulldozer is in a large load mode is determined based on the engine speed and a first preset speed; when the hydrostatic bulldozer is in the large load mode, whether the engine meets a preset condition is determined based on the engine speed and a second preset speed; when the engine does not meet the preset condition, the distributable power of a fan motor of the hydrostatic bulldozer is determined based on the engine speed; and the distributable power is distributed to the engine through a preset control algorithm until the engine speed meets the preset condition, and the distributable power is distributed to the fan motor. In the method of the embodiment of the present application, when the bulldozer is in the large load mode, more power is distributed to the walking and working system by reducing the power consumption of the fan motor. Under the premise of meeting the heat dissipation demand of the bulldozer, the power of the engine is reasonably distributed, the power performance and operation efficiency of the bulldozer are improved, the power loss is reduced, and the situation of insufficient power performance is avoided, thereby improving the construction efficiency and driving experience. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0020] Figure 1 A first flow chart of a bulldozer power adjustment method provided by the embodiment of the present application;

[0021] Figure 2 A second flow chart of a bulldozer power adjustment method provided by the embodiment of the present application;

[0022] Figure 3 A structural schematic diagram of a bulldozer power adjustment device provided by the embodiment of the present application;

[0023] Figure 4 A structural schematic diagram of a controller of a bulldozer provided by the embodiment of the present application. DETAILED DESCRIPTION

[0024] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, and not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, rather than all the structures.

[0025] Figure 1This is the first flow chart of a bulldozer power adjustment method provided by an embodiment of the present invention. The method of the embodiment of the present invention can quickly increase the power performance of the entire machine, reduce power loss, and avoid insufficient power performance when the bulldozer encounters heavy load operations, thereby improving construction efficiency and driving experience. The method can be executed by a bulldozer power adjustment device provided by an embodiment of the present invention, and the device can be implemented in software and / or hardware. The following embodiments will be described using the device integrated into the entire machine controller of the bulldozer as an example, with reference to Figure 1 , the method may specifically include the following steps:

[0026] Step 101: When the hydrostatic bulldozer is in operation, obtain the engine speed of the hydrostatic bulldozer in real time.

[0027] Specifically, when a hydrostatic bulldozer is in operation, that is, in working order, it drives a hydraulic pump by transmitting power from the engine. Once the hydraulic pump is driven, it converts mechanical energy into hydraulic energy, generating high-pressure oil. The high-pressure oil is then transported via hydraulic lines to a hydraulic motor, which converts the hydraulic energy of the high-pressure oil into mechanical energy. This mechanical energy drives the travel devices (such as the tracks), enabling the bulldozer to move forward, backward, and turn. Therefore, during bulldozer operation, the more power the engine output contributes to the travel and working systems, the greater the overall machine power. In addition to consuming engine power for travel and working systems, bulldozers also need to drive the fan in the heat dissipation module to reduce the temperature of various systems, resulting in further power loss for the entire machine. To ensure sufficient power is available to the propulsion and working systems of a hydrostatic bulldozer when the bulldozer requires high overall power, this solution utilizes real-time engine speed data to determine whether more power should be allocated to the propulsion and working systems. In an alternative embodiment, when a user switches the bulldozer from a stationary state to an operational state, an engine speed sensor can acquire the engine speed in real time and transmit it to a controller, which then determines whether more power should be allocated to the propulsion and working systems based on the engine speed.

[0028] Step 102: Determine whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed.

[0029] In a hydrostatic bulldozer, heavy load mode is an operating mode in which the engine speed decreases due to excessive load when the bulldozer is performing heavy-load operations, such as cutting or transporting soil. In heavy load mode, the bulldozer requires more power to cope with the high load, and engine power may need to be redistributed to ensure sufficient power for the propulsion and working systems. In one optional embodiment, after obtaining the engine speed in real time, the hydrostatic bulldozer is determined to be in heavy load mode when the engine speed is less than or equal to a first preset speed. When the engine speed is greater than the first preset speed, the hydrostatic bulldozer is determined to be not in heavy load mode.

[0030] Among them, the first preset speed is predetermined based on domain big data and the bulldozer's equipment information, and is used to determine whether the bulldozer is in a high-load model. Specifically, when the bulldozer is in working mode, the engine speed of the bulldozer will remain in a normal range. However, when the bulldozer is performing heavy-load operations such as cutting or transporting soil, the engine may experience a drop in speed due to excessive load, that is, the bulldozer has experienced a serious vehicle rotation. When the engine speed is less than or equal to the first preset speed, it indicates that the engine speed is reduced and is in a high-load mode. By setting the first preset speed, it is possible to accurately determine whether the bulldozer is in a heavy-load working state, laying the foundation for subsequently accurately determining whether the fan motor speed needs to be reduced.

[0031] Step 103: When the hydrostatic bulldozer is in the heavy load mode, determine whether the engine meets a preset condition based on the engine speed and a second preset speed.

[0032] The preset conditions are used to determine whether the engine power needs to be redistributed. Specifically, when it is determined that the bulldozer is experiencing severe power loss and is in a high-load mode, the controller will not immediately redistribute the engine power. The controller can obtain the engine speed in real time and determine whether the engine meets the preset conditions based on the engine speed and a second preset speed. In this embodiment, optionally, when the engine speed is less than the second preset speed, it is determined that the engine speed does not meet the preset conditions; when the engine speed is greater than or equal to the second preset speed, it is determined that the engine speed meets the preset conditions.

[0033] Among them, the second preset speed is less than the first preset speed, and the second speed in this solution can be the first speed × 50%. When the engine speed is less than the second preset speed, it means that the engine can no longer provide enough power to meet the needs of all systems such as walking, working and heat dissipation at the same time, that is, the engine speed does not meet the preset conditions. When the engine speed is greater than or equal to the second preset speed, it means that although the engine speed has dropped, it can still provide enough power to meet the needs of all systems such as walking, working and heat dissipation at the same time, so it can be determined that the engine speed meets the preset conditions. Through the first preset speed and the second preset speed, the working state of the engine can be more finely distinguished, thereby achieving more accurate power control and distribution. When the engine speed is lower than the second preset speed, it can be identified that the engine may not be able to meet the needs of all systems, and measures can be taken to prevent the engine from overloading.

[0034] Step 104: When the engine does not meet the preset condition, determine the allocable power of the fan motor of the hydrostatic bulldozer based on the engine speed; and allocate the allocable power to the engine through a preset control algorithm until the engine speed meets the preset condition, at which time the allocable power is allocated to the fan motor.

[0035] Among them, the fan motor is an electric motor used to drive the cooling fan in the bulldozer. The fan motor is directly driven by the engine and is used to generate sufficient airflow to cool the engine and other key components to prevent overheating. Distributable power refers to the engine output power of the hydrostatic bulldozer, in addition to the power that must be used for basic operations (such as walking, digging, etc.) and key auxiliary functions (such as the cooling system), which can be reallocated to other systems or functions. During the operation of the bulldozer, the total power generated by the engine needs to be distributed among different systems to meet various operational needs.

[0036] Specifically, when the hydrostatic bulldozer is in heavy load mode and the engine speed does not meet preset conditions, this indicates that the engine may not be able to provide sufficient power to simultaneously meet the needs of all systems, including propulsion, operation, and cooling, and the engine speed needs to be increased. Therefore, when the hydrostatic bulldozer is in heavy load mode and the engine speed does not meet the preset conditions, the allocable power of the hydrostatic bulldozer's fan motor is determined based on the engine speed. The lower the engine speed, the greater the power required to be allocated, i.e., the maximum allocable power is required. After determining the allocable power, the allocable power is allocated to the engine using a preset control algorithm, allowing the engine to use this power to drive the propulsion system, etc. Once the engine speed meets the preset conditions, the fan motor speed is restored, effectively allocating the allocable power to the fan motor. When the hydrostatic bulldozer is in heavy load mode and the engine speed meets the preset conditions, this indicates that despite being in heavy load mode, the engine can still provide sufficient power to simultaneously meet the needs of all systems, including propulsion, operation, and cooling, and no further engine power allocation is required.

[0037] The technical solution of this embodiment is to obtain the engine speed of the hydrostatic bulldozer in real time when the bulldozer is in operation; determine whether the hydrostatic bulldozer is in heavy load mode based on the engine speed and a first preset speed; when the hydrostatic bulldozer is in heavy load mode, determine whether the engine meets a preset condition based on the engine speed and a second preset speed; if the engine does not meet the preset condition, determine the allocable power of the fan motor of the hydrostatic bulldozer based on the engine speed; and allocate the allocable power to the engine through a preset control algorithm until the engine speed meets the preset condition, at which point the allocable power is allocated to the fan motor. The method of this embodiment of the present invention reduces the power consumption of the fan motor when the bulldozer is in heavy load mode, allocating more power to the traveling and working systems. While meeting the bulldozer's heat dissipation requirements, the engine power is rationally allocated, improving the bulldozer's power performance and operating efficiency, reducing power loss, and avoiding insufficient power performance, thereby improving construction efficiency and driving experience.

[0038] Figure 2 This is a second flow chart of a bulldozer power adjustment method provided by an embodiment of the present invention. This embodiment is a refinement based on the above embodiment. The specific method can be as follows: Figure 2 As shown, the method may include the following steps:

[0039] Step 201: When the hydrostatic bulldozer is in operation, obtain the engine speed of the hydrostatic bulldozer in real time; and determine whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed.

[0040] Step 202: When the hydrostatic bulldozer is in the heavy load mode, determine whether the engine meets a preset condition based on the engine speed and a second preset speed; when the engine does not meet the preset condition, determine a target speed of the fan motor based on the engine speed and a preset engine fan speed table.

[0041] The engine fan speed table is pre-determined based on domain big data and bulldozer equipment information. It records the corresponding relationship between engine speed and fan speed when the bulldozer is in high-load mode and the engine speed does not meet preset conditions. Specifically, the lower the engine speed, the more power needs to be allocated to it, and the corresponding fan motor speed will be lower. However, if the fan motor speed is too low, it will affect the bulldozer's heat dissipation and thus its operating efficiency. Therefore, the fan motor speed recorded in the engine fan speed table is within a certain range, ensuring that the bulldozer meets the heat dissipation requirements while increasing the engine speed.

[0042] In one alternative embodiment, when the hydrostatic bulldozer is in heavy load mode and the engine speed does not meet a preset condition, this indicates that the engine may not be able to provide sufficient power to simultaneously meet the needs of all systems, including propulsion, operation, and heat dissipation, and the engine speed needs to be increased. Therefore, when the hydrostatic bulldozer is in heavy load mode and the engine speed does not meet the preset condition, the fan motor speed corresponding to the current engine speed, i.e., the fan motor target speed, is searched in an engine speed table. The fan motor speed is then reduced based on the target speed, thereby increasing the engine speed.

[0043] Step 203: Obtain the current speed of the fan motor at the current moment, and determine the allocable power according to the target speed and the motor speed.

[0044] Among them, the allocable power refers to the part of the power output of the engine of the hydrostatic bulldozer that needs to be reallocated to other systems or functions, in addition to the power that must be used for basic operations (such as walking, digging, etc.) and key auxiliary functions (such as the cooling system). The speed of the fan motor and the allocable power are inversely proportional, that is, the greater the target speed, the greater the power used by the fan motor, and the smaller the allocable power. The smaller the target speed, the smaller the power used by the fan motor, and the greater the allocable power. Specifically, after determining the target speed of the fan motor, the power being used by the fan motor is determined based on the current speed of the fan motor at the current moment, and the target power of the fan motor is determined based on the target speed.

[0045] In this solution, Pf represents the power of the fan motor, Nf represents the fan speed, and k represents the fan power coefficient. The power formula of the fan motor is: Pf = k × Nf 3For example, the current rotating speed of the fan motor is A, and the current power of the fan motor is A1 calculated according to the power formula of the fan motor. The target rotating speed of the fan motor is B, and the target power of the fan motor is B1 calculated according to the power formula of the fan motor, and the allocatable power can be determined as A1-B1.

[0046] Step 204, determining the target current of the fan motor according to the target rotating speed and the pre-determined rotating speed-current relationship.

[0047] The rotating speed-current relationship is pre-determined by the controller and records the relationship between the rotating speed and the current of the fan motor. Specifically, when the engine rotating speed decreases, the cooling system needs to reduce the power to allocate more power to the walking system and the working system, and the controller can reduce the fan rotating speed by reducing the current of the fan motor. Therefore, after the target rotating speed is determined, in order to allocate more power to the walking and power systems, the target current corresponding to the target rotating speed is determined according to the target rotating speed of the fan motor, so as to allocate power by controlling the current of the fan motor.

[0048] Step 205, obtaining the initial current of the fan motor at the current time, and calculating the deviation between the initial current and the target current of the fan motor.

[0049] Specifically, the initial current is the current of the fan motor at the current time. After the target current is determined, the initial current is obtained, and the deviation between the initial current and the target current is calculated, so as to control the fan motor according to the deviation and allocate power to the engine.

[0050] Step 206, performing proportional-integral-derivative current control on the fan motor according to the pre-determined fan equipment information of the fan motor and the deviation, adjusting the fan motor from the initial current to the target current, and adjusting the fan motor from the target current to the initial current when the engine rotating speed meets the pre-set condition.

[0051] The fan equipment information of the fan motor includes parameters such as specification information, model information, rated power, rated current and rated voltage of the fan motor. The pre-set condition is used to judge whether the power of the engine needs to be re-allocated. In the present scheme, when the engine rotating speed is less than the second pre-set rotating speed, it is determined that the engine rotating speed does not meet the pre-set condition; when the engine rotating speed is greater than or equal to the second pre-set rotating speed, it is determined that the engine rotating speed meets the pre-set condition. The proportional-integral-derivative control algorithm is to calculate the error of the control object (such as motor, temperature and pressure, etc.), and adjust the control signal according to the proportion, integral and differential of the error, so as to realize accurate control of the control object.

[0052] In an alternative embodiment, after obtaining the deviation of the target speed and the initial speed of the fan motor, the controller of the hydrostatic bulldozer uses a proportional-integral-derivative control algorithm to control the current of the fan motor according to the device information of the fan motor, combined with the deviation between the initial current and the target current of the fan motor. For example, through the proportional part of the proportional-integral-derivative control algorithm, the output power of the fan motor is adjusted according to the size of the deviation, the larger the deviation, the greater the adjustment amount, so as to quickly respond to the change of the deviation. Through the integral part, the output power of the fan motor is adjusted according to the change of the cumulative deviation over time, so as to ensure that the bulldozer can still maintain stability after a long time of operation. Through the differential part, the output power of the fan motor is adjusted according to the rate of change of the deviation.

[0053] In practical applications, the proportional-integral-derivative control algorithm needs to adjust the proportional, integral and derivative gains according to the specific control object (bulldozer) and control requirements (engine speed meets the preset conditions) to achieve the best control effect. Through the proportional-integral-derivative control algorithm, the controller of the hydrostatic bulldozer can dynamically adjust the speed and power distribution of the fan motor according to the actual working state of the engine and the cooling demand, so as to optimize the power performance and cooling effect of the whole machine. This control method not only improves the work efficiency, but also protects the engine from overheating damage, thereby improving the overall performance and reliability of the bulldozer.

[0054] In this scheme, when the engine speed decreases, causing the cooling system to need to reduce power to allocate more power to the walking system and the working system, the controller reduces the current of the fan motor through the proportional-integral-derivative control algorithm, thereby reducing the fan speed. In this way, because the fan speed is reduced, the power consumption of the cooling system is reduced, so that when working under heavy load, the engine can allocate more power to the walking and working systems instead of to the cooling system. At the same time, this adjustment is temporary, and when the engine speed returns to the second preset speed (50% of the first preset speed), the speed of the fan motor returns to the initial speed. Therefore, it will not cause high temperature of the whole system, while ensuring that the bulldozer can quickly increase the power performance under heavy load, reduce power loss, and improve the work efficiency of the bulldozer.

[0055] In the technical solution of this embodiment, when the hydrostatic bulldozer is in operation, the engine speed of the hydrostatic bulldozer is acquired in real time. Based on the engine speed and a first preset speed, it is determined whether the hydrostatic bulldozer is in heavy load mode. When the hydrostatic bulldozer is in heavy load mode, it is determined whether the engine meets a preset condition based on the engine speed and a second preset speed. If the engine does not meet the preset condition, a target speed of the fan motor is determined based on the engine speed and a preset engine fan speed table. The current speed of the fan motor is acquired, and the allocable power is determined based on the target speed and the motor speed. The target current of the fan motor is determined based on the target speed and a predetermined speed-current relationship. The initial current of the fan motor is acquired, and the deviation between the initial current and the target current is calculated. Based on predetermined fan device information and the deviation, proportional-integral-differential current control is performed on the fan motor, adjusting the fan motor current from the initial current to the target current until the engine speed meets the preset condition, at which point the fan motor current is adjusted back to the initial current. In the technical solution of this embodiment, the target speed of the fan motor is determined based on the engine speed in heavy load mode, thereby reducing the power consumption of the fan motor through target speed control. Utilizing a proportional-integral-derivative control algorithm, precise control of the fan motor current is achieved, thereby accurately adjusting the fan speed and ensuring optimal engine performance under various operating conditions. This technical solution improves the bulldozer's power performance, reduces power loss, and thus enhances its efficiency.

[0056] Figure 3 This is a schematic diagram of the structure of a bulldozer power adjustment device provided by an embodiment of the present invention, which is suitable for executing the bulldozer power adjustment method provided by an embodiment of the present invention. Figure 3 As shown, the device may specifically include:

[0057] The information acquisition module 301 is used to obtain the engine speed of the hydrostatic bulldozer in real time when the hydrostatic bulldozer is in working state;

[0058] A first determining module 302 is configured to determine whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed;

[0059] a second determining module 303 for determining, when the hydrostatic bulldozer is in the heavy load mode, whether the engine satisfies a preset condition based on the engine speed and a second preset speed;

[0060] The power distribution module 304 is configured to determine the allocable power of the fan motor of the hydrostatic bulldozer based on the engine speed when the engine does not meet the preset condition; and distribute the allocable power to the engine through a preset control algorithm until the engine speed meets the preset condition, at which time the allocable power is distributed to the fan motor.

[0061] Optionally, the first determining module 302 is specifically configured to: determine that the hydrostatic bulldozer is in the heavy load mode when the engine speed is less than or equal to a first preset speed.

[0062] Optionally, the second determining module 303 is specifically configured to: when the engine speed is less than a second preset speed, determine that the engine speed does not meet the preset condition;

[0063] When the engine speed is greater than or equal to the second preset speed, it is determined that the engine speed meets the preset condition; wherein the second preset speed is less than the first preset speed.

[0064] Optionally, the power distribution module 304 is specifically configured to: determine a target speed of the fan motor based on the engine speed and a preset engine fan speed table;

[0065] The current rotation speed of the fan motor at the current moment is acquired, and the allocable power is determined according to the target rotation speed and the motor rotation speed.

[0066] Optionally, the power distribution module 304 is further configured to: determine a target current of the fan motor according to the target speed and a predetermined speed-current relationship;

[0067] The initial current of the fan motor at the current moment is obtained, and the fan motor is adjusted from the initial current to the target current through the preset control algorithm until the engine speed meets the preset condition, and the fan motor is adjusted from the target current to the initial current.

[0068] Optionally, the power allocation module 304 is further configured to: calculate a deviation between the initial current and the target current of the fan motor;

[0069] According to predetermined fan device information of the fan motor and the deviation, proportional-integral-differential current control is performed on the fan motor to adjust the fan motor from the initial current to the target current.

[0070] The bulldozer power adjustment device provided in the embodiment of the present invention can execute the bulldozer power adjustment method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For any content not described in detail in this embodiment, please refer to the description of any method embodiment of the present invention.

[0071] An embodiment of the present invention also provides a computer program product.

[0072] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer program products, which can include one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0073] Figure 4 A schematic diagram of a bulldozer controller according to an embodiment of the present invention is provided. Figure 4 , Figure 4 The bulldozer controller 12 shown is only an example and should not limit the functionality and scope of use of the embodiments of the present application. Figure 4 As shown, the bulldozer controller 12 is implemented as a general purpose computing device. Components of the bulldozer controller 12 may include, but are not limited to, one or more processors or processing units 16, a system memory 28, and a bus 18 connecting various system components, including the system memory 28 and the processing unit 16.

[0074] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0075] The bulldozer controller 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the bulldozer controller 12, including volatile and non-volatile media, removable and non-removable media.

[0076] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The bulldozer controller 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be configured to read and write to non-removable, non-volatile magnetic media ( Figure 4 Not shown, often called a "hard drive"). Although Figure 4 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the various embodiments of the present application.

[0077] A program / utility 40 having a set (at least one) of program modules 46 may be stored, for example, in memory 28. Such program modules 46 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 46 generally implement the functions and / or methods of the embodiments described herein.

[0078] The bulldozer controller 12 may also communicate with one or more external devices 14 (e.g., a keyboard, a pointing device, a display 24, etc.), one or more devices that enable a user to interact with the bulldozer controller 12, and / or any device that enables the bulldozer controller 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may occur through an input / output (I / O) interface 22. Furthermore, the bulldozer controller 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20. As shown, the network adapter 20 communicates with the other modules of the bulldozer controller 12 via the bus 18. It should be understood that although Figure 4Not shown, other hardware and / or software modules may be used in conjunction with the bulldozer controller 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0079] The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, such as implementing a bulldozer power adjustment method provided by an embodiment of the present invention: when the hydrostatic bulldozer is in a working state, the engine speed of the hydrostatic bulldozer is obtained in real time; based on the engine speed and a first preset speed, it is determined whether the hydrostatic bulldozer is in a heavy load mode; when the hydrostatic bulldozer is in the heavy load mode, it is determined whether the engine meets a preset condition based on the engine speed and a second preset speed; when the engine does not meet the preset condition, the allocable power of the fan motor of the hydrostatic bulldozer is determined based on the engine speed; and the allocable power is allocated to the engine through a preset control algorithm until the engine speed meets the preset condition, at which time the allocable power is allocated to the fan motor.

[0080] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the program implements a bulldozer power adjustment method as provided in all embodiments of the present invention: when a hydrostatic bulldozer is in operation, obtaining the engine speed of the hydrostatic bulldozer in real time; determining whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed; when the hydrostatic bulldozer is in the heavy load mode, determining whether the engine meets a preset condition based on the engine speed and a second preset speed; when the engine does not meet the preset condition, determining the allocable power of a fan motor of the hydrostatic bulldozer based on the engine speed; and allocating the allocable power to the engine using a preset control algorithm until the engine speed meets the preset condition, at which point the allocable power is allocated to the fan motor. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but is not limited to, an electric, magnetic, optical, electromagnetic, infrared, or semiconductor bulldozer controller, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction-executing bulldozer controller, device, or component.

[0081] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, embodying computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction-executing bulldozer controller, device, or component.

[0082] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0083] Computer program code for performing the operations of the present invention can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0084] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A bulldozer power adjustment method, characterized in that: The method comprises: When the hydrostatic bulldozer is in working state, obtaining the engine speed of the hydrostatic bulldozer in real time; determining whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first predetermined speed; When the hydrostatic bulldozer is in the heavy load mode, determining whether the engine meets a preset condition based on the engine speed and a second preset speed; When the engine does not meet the preset condition, the allocable power of the fan motor of the hydrostatic bulldozer is determined based on the engine speed; and the allocable power is allocated to the engine through a preset control algorithm until the engine speed meets the preset condition, and the allocable power is allocated to the fan motor.

2. The method according to claim 1, characterized in that Determining whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed includes: When the engine speed is less than or equal to the first preset speed, it is determined that the hydrostatic bulldozer is in the heavy load mode.

3. The method according to claim 1, characterized in that Determining whether the engine meets a preset condition based on the engine speed and a second preset speed includes: When the engine speed is less than a second preset speed, determining that the engine speed does not meet the preset condition; When the engine speed is greater than or equal to the second preset speed, it is determined that the engine speed meets the preset condition; wherein the second preset speed is less than the first preset speed.

4. The method according to claim 1, wherein Determining the allocable power of a fan motor of the hydrostatic bulldozer based on the engine speed includes: determining a target speed of the fan motor based on the engine speed and a preset engine fan speed table; The current rotation speed of the fan motor at the current moment is acquired, and the allocable power is determined according to the target rotation speed and the motor rotation speed.

5. The method according to claim 4, characterized in that The method comprises: distributing the distributable power to the engine by using a preset control algorithm until the engine speed meets the preset condition, and then distributing the distributable power to the fan motor, comprising: determining a target current of the fan motor according to the target speed and a predetermined speed-current relationship; The initial current of the fan motor at the current moment is obtained, and the fan motor is adjusted from the initial current to the target current through the preset control algorithm until the engine speed meets the preset condition, and the fan motor is adjusted from the target current to the initial current.

6. The method according to claim 5, characterized in that Adjusting the fan motor from the initial current to the target current by using the preset control algorithm includes: calculating a deviation between the initial current and the target current of the fan motor; According to predetermined fan device information of the fan motor and the deviation, proportional-integral-differential current control is performed on the fan motor to adjust the fan motor from the initial current to the target current.

7. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements a bulldozer power adjustment method according to any one of claims 1 to 6.

8. A bulldozer power adjustment device, characterized in that: include: An information acquisition module, configured to acquire the engine speed of the hydrostatic bulldozer in real time when the hydrostatic bulldozer is in operation; a first determining module configured to determine whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed; a second determining module, configured to determine whether the engine satisfies a preset condition based on the engine speed and a second preset speed when the hydrostatic bulldozer is in the heavy load mode; A power distribution module is configured to determine, when the engine does not satisfy the preset condition, an allocable power of a fan motor of the hydrostatic bulldozer based on the engine speed; and distribute the allocable power to the engine through a preset control algorithm until the engine speed satisfies the preset condition, at which time the allocable power is distributed to the fan motor.

9. A bulldozer, wherein a controller of the bulldozer comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the bulldozer power adjustment method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the bulldozer power adjustment method according to any one of claims 1 to 6 is implemented.

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