Work machine control method and apparatus, work machine

Abstract

The application relates to the field of work machine control, and provides a work machine control method and device and a work machine, wherein the method comprises the following steps: determining that the work machine is working on a slope; and controlling the work machine based on a first driving force; wherein the first driving force makes the traction of the work machine when working on the slope equal to the traction of the work machine when working on a horizontal road surface, and the second driving force is the driving force output by the power system of the work machine when the work machine works on the horizontal road surface corresponding to the current position information of the operation part of the work machine. In this way, the defect that the parking distance changes greatly when the work machine is parked on a slope and the operation habit when working on a horizontal road surface is still maintained is solved or improved, the operator can operate the operation part according to the same operation habit and has the same parking distance whether on a slope or on a horizontal road surface, the operation difficulty is reduced, and the control accuracy of the work machine is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of work machine control, and particularly relates to a work machine control method and device and a work machine. BACKGROUND

[0002] At present, in the process of road construction by using a work machine such as a road roller, there are common slope surfaces such as viaducts and ramps. The stress of the work machine changes on different slope surfaces. If the operator still maintains the operation habit of the horizontal road operation, the parking distance of the work machine will change greatly. For example, when the work machine parks on an uphill slope, the parking distance will be shortened, which results in that part of the road surface is not worked. When the work machine parks on a downhill slope, the parking distance will be lengthened, which is easy to collide with the obstacle in front. SUMMARY

[0003] The present application provides a work machine control method and device and a work machine, which solve or improve the defect that the parking distance of the work machine changes greatly when the work machine parks on a slope surface if the operator still maintains the operation habit of the horizontal road operation.

[0004] The present application provides a work machine control method, which comprises the following steps.

[0005] Determine that the work machine works on a slope surface.

[0006] Control the work machine based on a first driving force.

[0007] The first driving force makes the traction of the work machine when working on the slope surface the same as the traction of the work machine when working on a horizontal road surface, and the second driving force is the driving force output by the power system of the work machine when the work machine works on the horizontal road surface corresponding to the current position information of the operation part of the work machine.

[0008] According to the work machine control method provided by the present application, before the step of controlling the work machine based on the first driving force, the method further comprises the following steps.

[0009] Obtain the first driving force based on the gravity of the work machine, the traveling direction, the friction coefficient of the current work road surface, the road surface inclination angle when working on the slope surface and the second driving force.

[0010] According to the work machine control method provided by the present application, the step of obtaining the first driving force based on the gravity of the work machine, the traveling direction, the friction coefficient of the current work road surface, the road surface inclination angle when working on the slope surface and the second driving force comprises the following steps.

[0011] determine the traction force of the work machine when working on the slope based on the gravity of the work machine, the friction coefficient of the current work surface, the slope angle of the work surface when working on the slope, and the second driving force;

[0012] determine that the traction force of the work machine when working on the slope is the same as the traction force of the work machine when working on the horizontal surface;

[0013] determine the first driving force based on the traction force of the work machine when working on the slope, the gravity of the work machine, the direction of travel, the friction coefficient of the current work surface, and the slope angle of the work surface.

[0014] According to the work machine control method provided by the present application, before the first driving force is obtained based on the gravity of the work machine, the direction of travel, the friction coefficient of the current work surface, the slope angle of the work surface when working on the slope, and the second driving force, the method further comprises:

[0015] obtain the temperature of the work surface when working on the slope;

[0016] obtain a preset first correspondence relationship, the first correspondence relationship comprising a correspondence relationship between a work material, a friction coefficient of a work surface, and a temperature interval of a work surface;

[0017] determine the work material corresponding to the temperature interval of the work surface in which the temperature of the work surface is located based on the first correspondence relationship, and obtain the friction coefficient of the current work surface according to the work material.

[0018] According to the work machine control method provided by the present application, before the first driving force is obtained based on the gravity of the work machine, the direction of travel, the friction coefficient of the current work surface, the slope angle of the work surface when working on the slope, and the second driving force, the method further comprises:

[0019] obtain a preset second correspondence relationship, the second correspondence relationship comprising a correspondence relationship between position information of an operating part and a second driving force output by a power system of the work machine when working on a horizontal surface;

[0020] determine the second driving force output by the power system of the work machine when working on the horizontal surface corresponding to the current position information of the operating part of the work machine based on the second correspondence relationship.

[0021] According to the work machine control method provided by the present application, the work machine is controlled based on the first driving force, which comprises:

[0022] if it is determined that the work machine is climbing uphill when working on the slope, control the power system to output the first driving force;

[0023] If it is determined that the work machine is working on the slope surface and is going downhill, the power system is controlled to output the first driving force, or a driving force difference between the second driving force and the first driving force is determined, the power system is controlled to output the second driving force, and a brake energy recovery device is controlled to generate a braking force, the braking force being equal in size to the driving force difference.

[0024] The work machine control method provided by the application further comprises:

[0025] If it is determined that the work machine is working on the slope surface, an alarm information is sent out.

[0026] The application further provides a work machine control device, comprising:

[0027] A determination module is configured to determine that the work machine is working on the slope surface.

[0028] A control module is configured to control the work machine based on a first driving force.

[0029] The first driving force makes the traction force of the work machine when working on the slope surface equal to the traction force of the work machine when working on the horizontal road surface, and the second driving force is the driving force output by the power system of the work machine when the work machine works on the horizontal road surface corresponding to the current position information of the operation part of the work machine.

[0030] The application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the work machine control method.

[0031] The application further provides a computer readable storage medium, which stores a computer program executable on a processor to implement the work machine control method.

[0032] The application further provides a work machine, comprising a work machine body, and the work machine body is provided with the work machine control device, the electronic device, or the computer readable storage medium.

[0033] The work machine control method provided by the application determines the work machine when working on a slope, controls the work machine based on a first driving force, and makes the traction force of the work machine when working on a slope the same as the traction force of the work machine when working on a horizontal road surface by the second driving force, the second driving force being the driving force output by the power system of the work machine when working on a horizontal road surface corresponding to the current position information of the operating part of the work machine. Based on this, the operator can operate the operating part according to the same operation habit and has the same parking distance whether on a slope or on a horizontal road surface, reduces the operation difficulty, improves the control accuracy of the work machine, and avoids or improves the problem of part of the road surface not being worked or being easy to collide with the obstacle in front due to the large change of the parking distance. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0035] Figure 1 is a flowchart of the work machine control method provided by the application;

[0036] Figure 2 is one of the force analysis diagrams of the work machine provided by the application;

[0037] Figure 3 is another force analysis diagram of the work machine provided by the application;

[0038] Figure 4 is a third force analysis diagram of the work machine provided by the application;

[0039] Figure 5 is a handle operation parking diagram provided by the application;

[0040] Figure 6 is one of the parking distance diagrams provided by the application;

[0041] Figure 7 is another parking distance diagram provided by the application;

[0042] Figure 8 is a schematic diagram of the curve of the speed change with time when parking provided by the application;

[0043] Figure 9 is a structural schematic diagram of the work machine control device provided by the application;

[0044] Figure 10 is a structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0045] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the present application.

[0046] At present, in the process of using a working machine to construct a road surface, common slope surfaces such as viaducts and ramps inevitably exist. The stress of the working machine changes on different slope surfaces. If the operator still maintains the operation habit of the horizontal road surface operation, the parking distance of the working machine will change greatly. For example, when the working machine parks on an uphill slope, the parking distance will be shortened, resulting in that part of the road surface is not worked. When the working machine parks on a downhill slope, the parking distance will be lengthened, and it is easy to collide with the obstacle in front. Although the existing manufacturers install laser radar, millimeter wave radar, ultrasonic radar or other safety obstacle avoidance methods based on image distance recognition on the unmanned working machine, take braking measures in advance through obstacle detection, the parking distance will also be affected by the existence of the slope surface.

[0047] Therefore, the present application provides a working machine control method, which can be applied to a working machine and executed by the working machine or software and / or hardware therein. The working machine can be a road roller or the like. The scheme of the present application will be described in detail below.

[0048] Figure 1 is a flowchart of a working machine control method provided by the present application.

[0049] As shown in Figure 1 , the working machine control method provided by the present application at least includes the following steps:

[0050] Step 101, determine that the working machine is working on a slope surface.

[0051] Step 102, control the working machine based on a first driving force; wherein the first driving force makes the traction of the working machine when working on the slope surface the same as the traction of the working machine when working on a horizontal road surface, and the second driving force is the driving force output by the power system of the working machine when the working machine works on the horizontal road surface corresponding to the current position information of the operation part of the working machine.

[0052] In practical applications, the work machine includes a work machine body, and the work machine body is a conventional work machine or an intelligent driving work machine (for example, an unmanned work machine), and has functions such as walking, turning, vibration, and watering necessary for the work machine. It can be understood that the work machine can also include a travel control unit for controlling various electrical components related to the walking of the work machine, such as driving forward (or backward), stopping, and turning functions. Based on this, the work machine can execute the present work machine control method through the travel control unit.

[0053] In addition, the work machine can also include a posture detection unit for detecting the travel state of the work machine, and the travel state of the work machine can include the travel direction of the work machine and the inclination angle of the travel direction. The travel direction of the work machine can be the forward direction or the backward direction. The travel direction can be determined by the position information of the operation part. The inclination angle of the travel direction refers to the inclination angle of the travel direction of the work machine relative to the horizontal plane of the earth. The inclination angle of the work machine can be measured by a single-axis or multi-axis angle measurement sensor. The horizontal road work here refers to the work on the horizontal plane of the earth. The inclination angle of the work machine can be used as the inclination angle of the road surface. If the absolute value θ of the inclination angle of the road surface is greater than or equal to a preset threshold θ0, it is determined that the work machine is working on a slope.

[0054] In implementation, the operator controls the work machine by operating the operation part, and the position of the operation part is different, and the driving force output by the power system is also different. Most of the time, the operator is working on a horizontal road surface, so the operator will habitually control the position of the operation part according to the operation habit when working on a horizontal road surface to control the driving force output by the power system, and then achieve the required traction. The operation part here can be a handle or a knob switch, etc. The power system can include an engine and / or an electric motor and / or a power source. The engine converts chemical energy from fuel combustion into mechanical energy. The electric motor converts electrical energy into mechanical energy.

[0055] It should be noted that the traction here refers to the resultant force on the work machine in the travel direction.

[0056] The travel control unit can collect the position information of the operation part in real time to obtain the current position information of the operation part. In implementation, the second driving force can be corrected to obtain the first driving force required when the work machine works on a slope corresponding to the current position information of the operation part. The first driving force can make the traction of the work machine when working on a slope equal to the traction when working on a horizontal road surface. In this way, even when working on a slope, the same operation effect as when working on a horizontal road surface can be achieved.

[0057] In the embodiment, when the working machine works on a slope, the working machine is controlled based on the first driving force, and the first driving force can make the traction force of the working machine when working on the slope equal to the traction force of the working machine when working on a horizontal road surface, and the second driving force is the driving force output by the power system of the working machine when the working machine works on a horizontal road surface corresponding to the current position information of the operating part of the working machine, based on which, the operator can operate the operating part according to the same operation habit and has the same parking distance on the slope or on the horizontal road surface, the operation difficulty is reduced, the control accuracy of the working machine is improved, and the problem that part of the road surface is not worked or is easy to collide with the obstacle in front due to the large change of the parking distance is avoided or improved.

[0058] For the road roller, the problem that part of the road surface is not rolled or is easy to collide with the obstacle in front can be avoided.

[0059] Hereinafter, taking the road roller as the working machine and the handle as the operating part as an example, the idea of the scheme of the present application is described in detail based on the force analysis of the working machine according to the mechanical model.

[0060] As shown in Figure 2 , when working on a horizontal road surface, the force analysis of the working machine is based on the mechanical model, and the force currently acting on the working machine mainly includes the driving force F 驱 output by the power system, the gravity G of the working machine, the friction force F 摩 of the horizontal road surface, and the support force F 支撑 of the horizontal road surface. When the working machine works on a horizontal road surface, the absolute value of the road surface inclination angle θ is 0 at this time, and therefore, the traction force F of the working machine in the horizontal direction is:

[0061] F=F 驱 –F 摩 (1)

[0062] F 摩 =F 支撑 *μ(2)

[0063] F 支撑 =G(3)

[0064] Wherein μ is the dynamic friction coefficient.

[0065] When the working machine works on a slope, due to the inclination angle of the road surface, the gravity of the working machine will have components in the parallel direction and the vertical direction of the slope, thereby causing the change of the traction force. For example, as shown in Figure 3 and Figure 4 , the support force F 支撑’, the gravity G of the working machine generates component G1 in the vertical direction of the slope surface, the gravity G of the working machine generates component G2 in the parallel direction of the slope surface, and the friction force F is generated on the slope surface 摩’ , at this time, the traction force F of the working machine when going downhill is 下 :

[0066] F 下 = F 驱 -F 摩’ + G2 (4)

[0067] F 摩’ = F 支撑’ * μ (5)

[0068] F 支撑’ = G1 (6)

[0069] G1 = G * cos θ (7)

[0070] G2 = G * sin θ (8)

[0071] The traction force F of the working machine when going uphill is 上 :

[0072] F 上 = F 驱 -F 摩’ -G2 (9)

[0073] Through the above force analysis, F, F 下、 F 上 are not equal, which will cause the parking distance to be shortened when going uphill in actual construction, resulting in possible missing pressure when going uphill, the parking distance to be lengthened when going downhill, and easy to cause safety hazards and collisions with workers or other equipment.

[0074] Since the operator only needs to simply return the position of the handle to the center position to realize parking when operating the working machine on a horizontal road, when operating on a slope, due to the change of the traction force as mentioned above, if the conventional operation habit is directly used, the working machine will exceed the ideal parking point and park in front of it when going downhill, and the working machine cannot reach the ideal parking point when going uphill. The following examples are given.

[0075] The position information of the handle corresponds to the driving force output by the power system, the greater the driving force output by the power system, the greater the running speed of the working machine, and the longer the parking distance when parking. Based on this, for example, Figure 5The diagram illustrating the parking maneuver using a lever shows the curve for parking the work machinery on a level surface, as indicated by the middle curve. Starting from the travel speed point O(D1, V1), the lever is operated to decelerate until point M(D2, V2), where the lever gradually returns to the neutral position. At this point, the power system stops outputting driving force. Due to the inertia of the work machinery, it will continue to travel to the target parking point T(D3, V3), where V3 = 0 km / h, thus achieving a stop. In the diagram, the horizontal axis represents position (m), and the vertical axis represents speed (km / h).

[0076] When going uphill, if you operate the handle as you would on a level road, then... Figure 5 As shown by the curve on the left, when the deceleration is started from the driving speed O(D1, V1), the lever is operated to gradually return to the neutral position until the lever is at point M'(D2', V2'). The power system stops outputting driving force. Due to the inertia of the working machinery, the working machinery will continue to travel to the target parking point T'(D3', V3), at which point V3 = 0 km / h, thus achieving parking.

[0077] Similarly, when going downhill, if you operate the handle as you would on a level road, then... Figure 5 As shown by the curve on the right, when the deceleration is started from the driving speed O(D1, V1), the lever is operated to gradually return to the neutral position until point M"(D2", V2"), and the power system stops outputting driving force. Due to the inertia of the working machinery, the working machinery will continue to travel to the target parking point T"(D3", V3), at which point V3 = 0 km / h, thus achieving parking.

[0078] pass Figure 5 A comparison of the three curves shows that the stopping distance after normal deceleration on a level road is L = D3 - D1, while the stopping distance after deceleration uphill is L' = D3' - D1, and L > L'. (See [reference needed]). Figure 6 This means the stopping distance is shortened. When going downhill, the stopping distance after deceleration is L" = D3" - D1, and L" > L. See [link / reference needed]. Figure 7 This means the parking distance becomes longer. See also Figure 8 This indicates Figure 5 The three curves in the figure represent the speed of the vehicle as a function of time when it is stopped. The horizontal axis in the figure represents time (t), and the unit is seconds (s). The middle curve represents the speed of the vehicle as a function of time on a level road, the left curve represents the speed of the vehicle as a function of time when it is going uphill, and the right curve represents the speed of the vehicle as a function of time when it is going downhill.

[0079] In the traditional way, in order to control the parking at the ideal parking point, the operator needs to pull the handle to the neutral position in advance to reduce the driving force to offset the gravity component G2 of the working machine on the slope, and during this period, the operator may also move the handle back and forth several times to park at the ideal parking position, and the control is very inconvenient.

[0080] The inventor found in the process of implementing the present application that, in order to ensure that the parking distance of the working machine in the direction of travel on the slope is consistent with that on the horizontal road, the tractive force of the working machine on the slope can be kept as consistent as possible with that on the horizontal road, so that the same handle operation habit can be achieved on the slope and on the horizontal road, specifically, the driving force output by the power system of the working machine can be corrected to offset the influence of the gravity component of the working machine on the slope, so that the difference between the position information of the handle and the driving speed on the slope can be compensated, and the Figure 5 the left and right curves coincide with the middle curve, and Figure 8 the left and right curves coincide with the middle curve, thereby achieving the same deceleration parking distance on the slope and on the horizontal road, and achieving safe construction work.

[0081] Based on this, the scheme for correcting the second driving force is as follows:

[0082] Before the working machine is controlled based on the first driving force, the method provided by the embodiment can further include: obtaining the first driving force based on the gravity of the working machine, the direction of travel, the friction coefficient of the current working road, the road inclination angle during the slope operation, and the second driving force.

[0083] Specifically, obtaining the first driving force based on the gravity of the working machine, the direction of travel, the friction coefficient of the current working road, the road inclination angle during the slope operation, and the second driving force can include:

[0084] First, determine the tractive force of the working machine when operating on the horizontal road based on the gravity of the working machine, the friction coefficient of the current working road, and the second driving force.

[0085] Wherein, the current working road is the road targeted by the working machine during construction. The friction coefficient of the current working road is the kinetic friction coefficient.

[0086] In actual application, the size of the tractive force F of the working machine when operating on the horizontal road can be determined according to formulas (1), (2), and (3). Wherein, F 驱 The size of the tractive force F is equal to the size of the second driving force, and the direction of the tractive force F is the same as that of the second driving force. The direction of the tractive force F is the same as that of the second driving force. μ is the kinetic friction coefficient of the current working road.

[0087] Secondly, the traction force of the working machine on the slope is determined to be the same as the traction force of the working machine on the horizontal road.

[0088] In this step, in order to keep the traction force of the working machine on the slope as consistent as possible with the traction force of the working machine on the horizontal road, the traction force of the working machine on the slope is determined to be the same as the traction force of the working machine on the horizontal road, that is, the traction force of the working machine on the slope is equal in size and same in direction as the traction force of the working machine on the horizontal road.

[0089] Thirdly, the first driving force is determined based on the traction force of the working machine on the slope, the gravity of the working machine, the direction of travel, the friction coefficient of the current working road and the road inclination angle.

[0090] In actual application, if the direction of travel and the road inclination angle represent that the working machine is going downhill, the size of the first driving force F can be determined according to the following formula: 下驱

[0091] F 下驱 摩’ -G2(10)

[0092] If the direction of travel and the road inclination angle represent that the working machine is going uphill, the size of the first driving force F can be determined according to the following formula: 上驱

[0093] F 上驱 摩’ +G2(11)

[0094] Wherein, the direction of the first driving force is the same as the direction of the traction force.

[0095] In this embodiment, the first driving force can be accurately determined through the force analysis of the working machine, so that the traction force of the working machine on the slope is kept consistent with the traction force of the working machine on the horizontal road, and the operator can use the same operation habit to operate the operation part on the slope and on the horizontal road, and the control is more accurate.

[0096] In addition, when the working machine is parked, in order to prevent sliding on the slope, an uphill auxiliary function can be set to control the brake to prevent the working machine from sliding on the slope, at this time, the power system can be controlled to stop outputting the driving force. The specific implementation of the uphill auxiliary function can refer to related technologies, which will not be described here.

[0097] ​​​​Before the first driving force is obtained based on the gravity of the working machine, the direction of travel, the friction coefficient of the current working surface, the inclination angle of the working surface during the slope working, and the second driving force, the working machine control method of the embodiment can further include: obtaining the surface temperature during the slope working; obtaining a preset first correspondence relationship, the first correspondence relationship including a correspondence relationship between a surface temperature interval and a working material and a friction coefficient of a working surface; determining, based on the first correspondence relationship, a working material corresponding to a surface temperature interval in which the surface temperature is located, and obtaining the friction coefficient of the current working surface according to the working material.

[0098] Because different working materials are used in the process of the working machine working on the surface, the friction coefficients of the working surfaces are different, and the surface temperatures are different when different working materials are used, for example, if the working material is asphalt, the surface temperature during working is ≥80℃, and if the working material is water stability, the surface temperature during working is ≤40℃. Based on this, the working material of the working surface can be identified by identifying the surface temperature, and then the friction coefficient of the working surface is obtained. In addition, the friction coefficient of each working material is related to the characteristics of the working material, and the friction coefficient of each working material can be obtained in advance as the friction coefficient of the corresponding working surface, and the surface temperature interval when the working material is used for working is collected, and then the correspondence relationship between the surface temperature interval, the working material, and the friction coefficient of the working surface is stored, so as to obtain the first correspondence relationship.

[0099] In actual application, a temperature sensor can be arranged on the working machine, and the surface temperature during the slope working is collected by the temperature sensor. Then, based on the first correspondence relationship, the working material corresponding to the surface temperature interval in which the surface temperature is located is determined, and the friction coefficient of the current working surface is obtained according to the working material. In the embodiment, the friction coefficient of the current working surface can be accurately obtained through the temperature, so that the first driving force is accurately obtained.

[0100] In addition, the friction coefficient of the current working surface can also be obtained by other ways, for example, the surface image can be collected, the surface image is compared with the pre-stored images of various working materials in terms of similarity, the working material with the highest similarity in the comparison result is taken as the current working material, the preset friction coefficient of the current working material is obtained as the friction coefficient of the current working surface, and the like.

[0101] Before the first driving force is obtained based on the gravity of the working machine, the direction of travel, the friction coefficient of the current working surface, the inclination angle of the working surface during the slope working, and the second driving force, the working machine control method of the embodiment can further include:

[0102] obtaining a preset second correspondence relationship, the second correspondence relationship comprising a correspondence relationship between position information of the operating part and a second driving force output by the power system when the working machine is working on a horizontal road surface;

[0103] determining, based on the second correspondence relationship, the second driving force output by the power system when the working machine is working on a horizontal road surface corresponding to the current position information of the operating part of the working machine.

[0104] In actual application, the second driving force output by the power system corresponding to each position information of the operating part can be collected in advance for the case that the working machine is working on a horizontal road surface, so as to form the above-mentioned second correspondence relationship and store it in the working machine. In implementation, the second driving force output by the power system corresponding to the current position information of the operating part of the working machine can be accurately determined based on the current position information of the operating part of the working machine when the working machine is working on a horizontal road surface.

[0105] Of course, the second driving force can also be determined by other ways, for example, the second driving force corresponding to the current position information of the operating part is calculated through a preset function relationship between the position information of the operating part and the second driving force, etc.

[0106] Based on the above embodiment, the working machine is controlled based on the first driving force, and the specific implementation manner can comprise:

[0107] Firstly, if it is determined that the working machine is climbing on the slope when working on the slope, the first driving force is controlled to be output by the power system.

[0108] Secondly, if it is determined that the working machine is descending on the slope when working on the slope, the first driving force is controlled to be output by the power system, or the driving force difference between the second driving force and the first driving force is determined, the second driving force is controlled to be output by the power system, and the brake energy recovery device is controlled to generate a braking force, the size of the braking force being equal to the size of the driving force difference.

[0109] It can be understood that the direction of the braking force is opposite to the direction of the first driving force.

[0110] If the advancing direction and the road surface inclination angle represent that the working machine is climbing, according to the formula (11), compared with the second driving force on the horizontal road surface, the first driving force is increased, that is, the power system needs to increase the output to compensate the driving force, so as to eliminate the influence of the component of gravity, at this time, the power system directly outputs the first driving force.

[0111] If the traveling direction and the road surface inclination angle represent that the working machine is descending a slope, according to the reference formula (10), the first driving force required is reduced compared with the second driving force when the working machine is on a horizontal road surface, that is, the driving force needs to be reduced at this time to eliminate the influence of the gravity component. To this end, the embodiment provides two control modes. In the former mode, the first driving force output by the power system is directly controlled, that is, the output of the power system is simply reduced. In the latter mode, the excess driving force (i.e., the driving force difference) is recovered in the form of braking energy recovery to reduce the traction force.

[0112] In actual applications, a braking energy recovery system can be arranged in the working machine to recover braking energy through the braking energy recovery system. In the process of energy recovery, the generator generates electricity by using the rotation of the wheels of the working machine and rectifies and delivers the electricity to the battery for charging. The generator can provide a reverse torque, thus generating a braking force opposite to the rotation direction of the wheels to reduce the traction force of the working machine.

[0113] The function realized by the working machine control method of the embodiment is also referred to as a parking assistance function.

[0114] Based on the above embodiment, the working machine control method provided by the embodiment can further include: if it is determined that the working machine is working on a slope, an alarm information is sent. The alarm information is used to give a safety prompt and / or a parking assistance function prompt. If it is determined that the absolute value θ of the road surface inclination angle is greater than or equal to a preset threshold value θ0, it is determined that the working machine is working on a slope, and the alarm information is sent. In actual applications, the working machine can include an audible and visual alarm unit, which sends the alarm information through a voice playing device and a light emitting device (e.g., a light emitting diode). On the one hand, the alarm information can remind the operator and surrounding construction personnel that the working machine has started working on a slope at this time and that safety should be paid attention to. On the other hand, the operator can be reminded that the parking assistance function has been enabled and can operate according to the operation habit of the horizontal road surface.

[0115] The present application provides a working machine control method for safe parking of a working machine when working on a road surface with a certain slope. When the working machine is working, the driving state of the working machine is collected in real time, and the driving force is controlled in combination with the mechanical model of the working machine to increase or reduce the parking distance, thereby ensuring safe construction on the slope.

[0116] The working machine control device provided by the present application is described below. The working machine control device described below can be referred to in correspondence with the working machine control method described above.

[0117] Figure 9 FIG. 1 is a structural schematic diagram of the working machine control device provided by the present application.

[0118] As Figure 9 shown, the work machine control device provided by the embodiment comprises:

[0119] The determination module 901 is configured to determine that the work machine is working on a slope;

[0120] The control module 902 is configured to control the work machine based on the first driving force;

[0121] The first driving force makes the traction force of the work machine when working on the slope the same as the traction force of the work machine when working on a horizontal road surface, and the second driving force is the driving force output by the power system of the work machine when the work machine works on a horizontal road surface corresponding to the current position information of the operation part of the work machine.

[0122] Based on the above embodiment, the driving force obtaining module is further configured to obtain the first driving force based on the gravity of the work machine, the direction of travel, the friction coefficient of the current work road, the road surface inclination angle when working on the slope, and the second driving force before the work machine is controlled based on the first driving force.

[0123] Based on the above embodiment, the driving force obtaining module is specifically configured to:

[0124] Determine the traction force of the work machine when working on a horizontal road surface based on the gravity of the work machine, the friction coefficient of the current work road, and the second driving force;

[0125] Determine that the traction force of the work machine when working on the slope is the same as the traction force of the work machine when working on a horizontal road surface;

[0126] Determine the first driving force based on the traction force of the work machine when working on the slope, the gravity of the work machine, the direction of travel, the friction coefficient of the current work road, and the road surface inclination angle.

[0127] Based on the above embodiment, the driving force obtaining module is further configured to obtain the road surface temperature when working on the slope before obtaining the first driving force based on the gravity of the work machine, the direction of travel, the friction coefficient of the current work road, the road surface inclination angle when working on the slope, and the second driving force.

[0128] Obtain a preset first correspondence relationship, wherein the first correspondence relationship comprises a corresponding relationship between a road surface temperature interval and a work material and a friction coefficient of a work road;

[0129] Determine the work material corresponding to the road surface temperature interval corresponding to the road surface temperature based on the first correspondence relationship, and obtain the friction coefficient of the current work road according to the work material.

[0130] Based on the above embodiments, the driving force acquisition module is further configured to obtain a preset second correspondence before obtaining the first driving force based on the gravity of the operating machinery, the direction of travel, the friction coefficient of the current working surface, the inclination angle of the road surface during the slope operation, and the second driving force. The second correspondence includes the correspondence between the position information of the operating unit and the second driving force output by the power system when the operating machinery is operating on a horizontal road.

[0131] Based on the second correspondence, the current position information of the operating part of the working machine is determined, which corresponds to the second driving force output by the power system of the working machine when it is working on a horizontal road.

[0132] Based on the above embodiments, the control module is specifically used for:

[0133] If it is determined that the working machinery is working uphill on the slope, the power system is controlled to output the first driving force.

[0134] If it is determined that the working machinery is working downhill on the slope, the power system is controlled to output the first driving force, or the driving force difference between the second driving force and the first driving force is determined, the power system is controlled to output the second driving force and the braking energy recovery device is controlled to generate braking force, the magnitude of the braking force being equal to the magnitude of the driving force difference.

[0135] Based on the above embodiments, it also includes:

[0136] The alarm module is used to issue an alarm message if it is determined that the operating machinery is working on a slope.

[0137] Figure 10 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 10 As shown, the electronic device may include: a processor 1010, a communication interface 1020, a memory 1030, and a communication bus 1040, wherein the processor 1010, the communication interface 1020, and the memory 1030 communicate with each other through the communication bus 1040. The processor 1010 can call logical instructions in the memory 1030 to execute a machine control method, which includes:

[0138] Ensure that the machinery is operating on the slope;

[0139] The operating machinery is controlled based on the first driving force;

[0140] The first driving force makes the traction force of the work machine when working on a slope surface same as the traction force of the work machine when working on a horizontal road surface, and the second driving force is a driving force output by a power system of the work machine when the work machine works on the horizontal road surface corresponding to current position information of an operating part of the work machine.

[0141] In addition, the logic instructions in the memory 1030 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0142] On the other hand, the present application also provides a computer program product, which comprises a computer program stored on a computer readable storage medium, and the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute the work machine control method provided by the above-mentioned method, and the method comprises:

[0143] determining that the work machine works on a slope surface;

[0144] controlling the work machine based on a first driving force;

[0145] The first driving force makes the traction force of the work machine when working on a slope surface same as the traction force of the work machine when working on a horizontal road surface, and the second driving force is a driving force output by a power system of the work machine when the work machine works on the horizontal road surface corresponding to current position information of an operating part of the work machine.

[0146] In another aspect, the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the work machine control method provided by the above-mentioned method, and the method comprises:

[0147] determining that the work machine works on a slope surface;

[0148] controlling the work machine based on a first driving force;

[0149] The first driving force is the same as a second driving force that makes the work machine have a traction force when the work machine works on a horizontal road surface, the second driving force being a driving force outputted by a power system of the work machine when the work machine works on the horizontal road surface corresponding to current position information of an operation part of the work machine.

[0150] The application further provides a work machine comprising a work machine body, wherein the work machine body is provided with the work machine control device, the electronic device or the computer readable storage medium.

[0151] The device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e., may be located in one place or distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments. Those skilled in the art can understand and implement without creative labor.

[0152] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software products, and the computer software products can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and include a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0153] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the application, and not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application.

Claims

1. A work machine control method characterized by, The method comprises: determining that the work machine is working on a slope; controlling the work machine based on a first driving force; wherein the first driving force makes the traction of the work machine when working on the slope the same as the traction of the work machine when working on a horizontal road surface, and the second driving force is a driving force output by a power system of the work machine when the work machine works on the horizontal road surface corresponding to current position information of an operating part of the work machine; before the step of controlling the work machine based on the first driving force, the method further comprises: obtaining a road surface temperature when the work machine works on the slope; obtaining a preset first correspondence relationship, the first correspondence relationship comprising a correspondence relationship between a road surface temperature interval and a friction coefficient of a work material and a work road surface; based on the first correspondence relationship, determining a work material corresponding to the road surface temperature interval in which the road surface temperature is located, and obtaining the friction coefficient of the current work road surface according to the work material; based on the gravity of the work machine, the friction coefficient of the current work road surface and the second driving force, determining the traction of the work machine when working on the horizontal road surface; determining that the traction of the work machine when working on the slope is the same as the traction of the work machine when working on the horizontal road surface; based on the traction of the work machine when working on the slope, the gravity of the work machine, a traveling direction, the friction coefficient of the current work road surface and a road surface inclination angle, determining the first driving force; If the traveling direction is an uphill, the first driving force is calculated according to the formula F 上驱 = F+F 摩’ +Gsinθ If the traveling direction is a downward slope, the first driving force is calculated according to the formula F 下驱 = F+F 摩’ -Gsinθ where F is the second driving force, F 摩’ = μGcosθ.

2. The work machine control method of claim 1, wherein before obtaining the first driving force based on the gravity of the work machine, the traveling direction, the friction coefficient of the current work road surface, the road surface inclination angle when the work machine works on the slope and the second driving force, the method further comprises: obtaining a preset second correspondence relationship, the second correspondence relationship comprising a correspondence relationship between position information of the operating part and the second driving force output by the power system of the work machine when the work machine works on the horizontal road surface; based on the second correspondence relationship, determining the second driving force output by the power system of the work machine when the work machine works on the horizontal road surface corresponding to the current position information of the operating part of the work machine.

3. The work machine control method according to any one of claims 1 to 2, characterized by, The step of controlling the work machine based on the first driving force comprises: if it is determined that the work machine is climbing the slope when working on the slope, controlling the power system to output the first driving force; if it is determined that the work machine is descending the slope when working on the slope, controlling the power system to output the first driving force, or determining a driving force difference between the second driving force and the first driving force, controlling the power system to output the second driving force and controlling a braking energy recovery device to generate a braking force, the size of the braking force being equal to the size of the driving force difference.

4. A work machine control device characterized by comprising: The method comprises: a determining module configured to determine that the work machine is working on a slope; a control module configured to control the work machine based on a first driving force; wherein the first driving force makes the traction of the work machine when working on the slope the same as the traction of the work machine when working on a horizontal road surface, and the second driving force is a driving force output by a power system of the work machine when the work machine works on the horizontal road surface corresponding to current position information of an operating part of the work machine; The driving force obtaining module is configured to determine the traction force of the working machine when working on a horizontal road surface based on the gravity of the working machine, the friction coefficient of the current working road surface and the second driving force before the working machine is controlled based on the first driving force; determine that the traction force of the working machine when working on a slope is the same as the traction force of the working machine when working on a horizontal road surface; determine the first driving force based on the traction force of the working machine when working on a slope, the gravity of the working machine, the direction of travel, the friction coefficient of the current working road surface and the inclination angle of the road surface; if the direction of travel is uphill, calculate the first driving force according to the formula F 上驱 = F+F 摩’ +Gsinθ; if the direction of travel is downhill, calculate the first driving force according to the formula F 下驱 = F+F 摩’ -Gsinθ; wherein F is the second driving force, F 摩’ = μGcosθ. The driving force obtaining module is further configured to obtain a road surface temperature during the slope operation before obtaining the first driving force based on the gravity of the work machine, the traveling direction, the friction coefficient of the current work surface, the road surface inclination angle during the slope operation, and the second driving force; obtain a preset first corresponding relationship, the first corresponding relationship including a corresponding relationship between a road surface temperature interval and a work material and a friction coefficient of a work surface; determine a work material corresponding to a road surface temperature interval in which the road surface temperature is located based on the first corresponding relationship, and obtain the friction coefficient of the current work surface according to the work material.

5. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the work machine control method of any one of claims 1 to 3 when executing the program.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the work machine control method of any one of claims 1 to 3.

7. A work machine comprising a work machine body, characterized by The work machine body is provided with the work machine control device of claim 4, the electronic equipment of claim 5, or the computer readable storage medium of claim 6.

Images