Driving deviation correction method, system and electric drive operating machinery

Abstract

The present invention provides a driving deviation correction method, system, and electric-driven working machine, relating to the technical field of working machines. The method includes: obtaining the opening value of the electric-driven working machine's travel pedals, the travel pedals including: a left travel pedal and a right travel pedal; based on the opening value, determining whether the electric-driven working machine is in a straight-line driving state; if the electric-driven working machine is determined to be in a straight-line driving state, then determining whether the electric-driven working machine has deviated from the driving state based on the rotational speed of the electric-driven working machine's travel motor; if the electric-driven working machine has deviated from the driving state, then performing torque compensation on the travel motor based on a preset torque compensation coefficient. This method is used to address the deficiency of the existing art in lacking effective means for driving deviation correction for electric-driven working machines, and achieves effective correction of driving deviation without changing the original control system components of the working machine.

Description

Technical Field

[0001] The present invention relates to the technical field of operating machinery, and in particular to a driving deviation correction method and system and an electric-driven operating machinery. Background Art

[0002] Electric-driven machines, especially crawler-type machines, have their tracks driven by separate motors on both sides. Consequently, the machine may veer off course when required to travel in a straight line.

[0003] However, there is currently a lack of effective means for correcting deviation in electric-powered machinery. In the automotive industry, deviation is primarily detected through steering wheel angle sensors and wheel speed sensors, followed by torque compensation adjustments via motor control algorithms.

[0004] However, crawler-type working machines do not have steering wheels and wheels, and even if the driving deviation of the electric-driven working machine can be corrected by adding angle sensors or wheel speed sensors, it will increase the cost and complexity of the control circuit of the working machine. Summary of the Invention

[0005] The present invention provides a driving deviation correction method, system and electric-driven working machinery, which are used to solve the defect in the prior art that there is a lack of effective means for driving deviation correction of electric-driven working machinery, and realize effective correction of driving deviation without changing the original control system composition of the working machinery.

[0006] The present invention provides a driving deviation correction method, comprising:

[0007] Obtaining an opening value of a walking pedal of an electric-driven working machine, wherein the walking pedal includes: a left walking pedal and a right walking pedal;

[0008] determining whether the electric-driven working machine is in a straight-line driving state based on the opening value;

[0009] If it is determined that the electric-driven working machine is in a straight-line driving state, determining whether the electric-driven working machine is deviating from the driving direction based on the rotational speed of the travel motor of the electric-driven working machine;

[0010] If it is determined that the electric-drive working machine deviates from the driving state, torque compensation is performed on the travel motor based on a preset torque compensation coefficient.

[0011] According to the driving deviation correction method of the present invention, determining whether the electric-driven working machine is in a straight-line driving state based on the opening value includes:

[0012] determining an opening difference between the opening values ​​of the left walking pedal and the right walking pedal based on the opening value;

[0013] Based on the comparison between the opening difference and a preset opening difference threshold, it is determined whether the electric-drive working machine is in a straight-line driving state.

[0014] According to the driving deviation correction method of the present invention, determining whether the electric-driven working machine has deviated based on the rotation speed of the travel motor of the electric-driven working machine includes:

[0015] Obtaining the rotational speed of the travel motor, wherein the travel motor includes: a left travel motor and a right travel motor, wherein the working states of the left travel motor and the right travel motor correspond to the opening degrees of the left travel pedal and the right travel pedal, respectively;

[0016] Based on the rotational speed, determining a rotational speed difference between the left travel motor and the right travel motor;

[0017] Determining whether the electric-drive working machine is likely to deviate from the driving direction based on a comparison between the speed difference and a preset speed difference threshold;

[0018] If it is determined that the electric-driven working machine may deviate from the driving direction, whether the electric-driven working machine deviates from the driving direction is determined based on a comparison between the duration of the speed difference and a preset duration threshold.

[0019] According to the driving deviation correction method of the present invention, the torque compensation of the travel motor based on the preset torque compensation coefficient includes:

[0020] determining a travel speed requirement of the electric-driven working machine based on the opening value;

[0021] Torque compensation is performed on the travel motor based on the travel speed requirement and the preset torque compensation coefficient.

[0022] According to the driving deviation correction method of the present invention, determining the driving speed requirement of the electric-driven working machine based on the opening value includes:

[0023] The driving speed requirement is determined based on a comparison between the opening value of the left travel pedal and a preset opening threshold, and a comparison between the opening value of the right travel pedal and the preset opening threshold:

[0024] If the opening value of the left walking pedal and the opening value of the right walking pedal are both greater than the preset opening threshold, the driving speed requirement is determined to be a high-speed driving requirement; otherwise, the driving speed requirement is determined to be a low-speed driving requirement.

[0025] According to the driving deviation correction method of the present invention, the torque compensation of the driving motor based on the driving speed requirement and the preset torque compensation coefficient includes:

[0026] If the driving speed requirement is the high-speed driving requirement, increasing the torque of the motor with smaller torque between the left and right driving motors based on the preset torque compensation coefficient;

[0027] If the driving speed requirement is the low-speed driving requirement, reducing the torque of the motor with a larger torque between the left and right driving motors based on the preset torque compensation coefficient;

[0028] Wherein, the preset torque compensation coefficient is determined based on the speed difference.

[0029] The present invention also provides a driving deviation correction system, comprising:

[0030] An acquisition module is used to acquire the opening value of the walking pedal of the electric drive working machine, wherein the walking pedal includes: a left walking pedal and a right walking pedal;

[0031] a first processing module, configured to determine whether the electric-driven working machine is in a straight-line driving state based on the opening value;

[0032] a second processing module configured to determine whether the electric-driven working machine is deviating from the running state based on the rotation speed of the travel motor of the electric-driven working machine if it is determined that the electric-driven working machine is in a straight-line running state;

[0033] The execution module is configured to perform torque compensation on the travel motor based on a preset torque compensation coefficient if it is determined that the electric-driven working machine has deviated from the travel direction.

[0034] The present invention also provides an electric-driven working machine including the driving deviation correction system as described above.

[0035] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any one of the above-described driving deviation correction methods is implemented.

[0036] The present invention provides a driving deviation correction method, system, and electric-driven working machine. These methods obtain the opening values ​​of the left and right walking pedals of the electric-driven working machine, then determine whether the electric-driven working machine is in a straight-line driving state based on the opening values. When the electric-driven working machine is determined to be in a straight-line driving state, the method further determines whether the electric-driven working machine has deviated based on the rotational speed of the electric-driven working machine's travel motor. When the electric-driven working machine is determined to have deviated, torque compensation is performed on the travel motor based on a preset torque compensation coefficient. This method effectively determines the driving state of the electric-driven working machine without changing the control system components of the electric-driven working machine itself, and promptly compensates the travel motor's torque when deviating, thereby effectively resolving the problem of the electric-driven working machine's deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 This is a system architecture diagram for the high-voltage energy flow portion of an electric-driven operating machine.

[0039] Figure 2 This is a system architecture diagram for the low-voltage communication flow part of an electric-driven operating machine;

[0040] Figure 3 This is a flow chart of a driving deviation correction method provided by an embodiment of the present invention;

[0041] Figure 4 This is a control logic diagram of the VCU executing the driving deviation correction method provided by an embodiment of the present invention;

[0042] Figure 5 This is a schematic structural diagram of a correction system provided by an embodiment of the present invention;

[0043] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0045] It should be noted that an electric-driven working machine is an working machine based on electric-driven walking. For an electric-driven working machine based on a distributed individually controlled walking mechanism, the walking mechanisms on the left and right sides correspond to a walking pedal respectively, and each moves under the drive of a walking motor.

[0046] like Figure 1 and Figure 2 As shown in the system architecture diagram of the electric-driven working machinery, the electric-driven walking of the electric-driven working machinery includes high-voltage energy flow and low-voltage communication flow. Figure 1 As shown, the high voltage is output from the battery, passes through the high voltage distribution box and inverter, and supplies high voltage current to the left and right travel motors; Figure 2 As shown, the low-voltage communication is carried out by the vehicle controller VCU by collecting the left and right travel pedal signals. On the one hand, it controls the high-voltage distribution box to power on and off the left and right travel motors, and on the other hand, it controls the working mode and torque response of the left and right travel motors.

[0047] The following combination Figure 3 and Figure 4 The present invention describes a driving deviation correction method, which is executed by the vehicle controller VCU in the electric control system of the electric drive working machine or a combination of software and / or hardware therein, such as Figure 3 As shown, the method includes the following steps:

[0048] 101. Obtaining an opening value of a travel pedal of an electric-driven working machine, wherein the travel pedal includes a left travel pedal and a right travel pedal;

[0049] It should be noted that the left and right walking pedals are both electrically controlled pedals.

[0050] 102. Determine whether the electric-driven working machine is in a straight-line driving state based on the opening value;

[0051] Specifically, the opening degree of the travel pedal determines the magnitude of the current distributed to the travel motor, thereby enabling control of the travel speed of the electric-driven working machine.

[0052] It can be understood that, taking a crawler-type electric-driven working machine as an example, the tracks on both sides are driven by the travel motors on both sides respectively. When the opening values ​​of the left travel pedal and the right travel pedal are different, the current allocated by the VCU to the travel motors on both sides is also different, resulting in a speed difference between the tracks on both sides, thereby realizing the turning of the working machine.

[0053] Based on this, to achieve straight-line travel for an electric-driven work machine, the left and right travel pedals must be opened at the same degree. Therefore, by obtaining the opening values ​​of the left and right travel pedals of the work machine, it is possible to determine whether the work machine is in a straight-line travel state.

[0054] 103. If it is determined that the electric-driven working machine is in a straight-line driving state, determining whether the electric-driven working machine is deviating from the driving direction based on the rotational speed of the travel motor of the electric-driven working machine;

[0055] Specifically, for tracked electric working machines, the tracks are driven by travel motors. When the rotational speeds of the left and right travel motors are the same, the tracks can run at the same speed, and the machine as a whole appears to be traveling in a straight line. Therefore, if the electric working machine is currently traveling straight, the rotational speeds of the left and right travel motors can be used to determine whether the machine is deviating.

[0056] 104. If it is determined that the electric-driven working machine has deviated from the driving direction, torque compensation is performed on the travel motor based on a preset torque compensation coefficient.

[0057] Specifically, when it is determined that the electric-drive working machine is running off track, the rotational speeds of the motors on both sides can be made equivalent by compensating the torque of the travel motor, thereby achieving deviation correction of the electric-drive working machine.

[0058] It is understandable that, since the speed difference between the left and right travel motors is not necessarily the same each time the electric-driven working machine deviates from the road, the preset torque compensation coefficient for each deviation correction of the electric-driven working machine should also be different. Specifically, a correspondence table between the preset torque compensation coefficient and the motor speed difference can be pre-established, and then when the electric-driven working machine deviates from the road, the corresponding preset torque compensation coefficient is retrieved from the correspondence table based on the speed difference of the travel motor to compensate for the torque of the travel motor; or a correspondence curve between the torque compensation coefficient and the motor speed difference can be pre-constructed, and then when the electric-driven working machine deviates from the road, the preset torque compensation coefficient is determined based on the speed difference of the travel motor and the corresponding curve, and then the torque of the motor is compensated based on the determined preset torque compensation coefficient.

[0059] More specifically, with respect to the torque compensation of the motor using a preset torque compensation coefficient, it is preferred to use the preset torque compensation coefficient as a target and gradually compensate the torque of the motor with a certain compensation amount, thereby avoiding the occurrence of excessive adjustment, sudden changes in unilateral walking speed, and the like that are easily caused by a single large-scale compensation, and improving the smoothness and reliability of the correction.

[0060] The driving deviation correction method provided by an embodiment of the present invention obtains the left walking pedal and the right walking pedal signals through the VCU, thereby obtaining the opening value of the walking pedal, and then determines the driving state of the electric-driven working machine through the opening value. When it is determined that the working machine is in a straight-line walking state, the rotation speed of the walking motor is obtained to further determine whether the working machine has deviated from the driving state. Finally, when it is determined that the working machine has deviated from the driving state, the torque of the motor is compensated by a preset torque compensation coefficient, thereby achieving effective adjustment of the deviation of the electric-driven working machine without adding additional sensors and changing the circuit of the original control system of the working machine.

[0061] As an embodiment of the present invention, determining whether the electric-driven working machine is in a straight-line driving state based on the opening value includes:

[0062] determining an opening difference between the opening values ​​of the left walking pedal and the right walking pedal based on the opening value;

[0063] Based on the comparison between the opening difference and a preset opening difference threshold, it is determined whether the electric-drive working machine is in a straight-line driving state.

[0064] Specifically, when the work machine is traveling in a straight line, the opening values ​​of the left and right travel pedals should theoretically be the same. However, during use, due to external factors such as errors in the acquired pedal signals, the opening values ​​of the left and right travel pedals may not necessarily be exactly equal, even when the work machine is not swerving. Therefore, determining whether the work machine is traveling in a straight line by comparing the opening difference between the left and right pedals with a preset opening difference threshold can improve the accuracy of determining whether the work machine is traveling in a straight line.

[0065] More specifically, the preset opening difference threshold △T can be set to a specific positive value, such as: 1%, 2%, etc., and then the absolute value of the opening difference is compared with the preset opening difference threshold. When the absolute value of the opening difference is less than △T, it indicates that the operating machine is in a straight-ahead driving state; it can also be set to a positive value and a negative value, such as: -1% and 1%, -2% and 2%, etc., and then the opening difference is compared with the preset opening difference threshold. When the opening difference is less than the positive value, or greater than the negative value, it indicates that the operating machine is in a straight-ahead driving state.

[0066] As an embodiment of the present invention, determining whether the electric-driven working machine has deviated from the running state based on the rotational speed of the travel motor of the electric-driven working machine includes:

[0067] Obtaining the rotational speed of the travel motor, wherein the travel motor includes: a left travel motor and a right travel motor, wherein the working states of the left travel motor and the right travel motor correspond to the opening degrees of the left travel pedal and the right travel pedal, respectively;

[0068] Based on the rotational speed, determining a rotational speed difference between the left travel motor and the right travel motor;

[0069] Determining whether the electric-drive working machine is likely to deviate from the driving direction based on a comparison between the speed difference and a preset speed difference threshold;

[0070] If it is determined that the electric-driven working machine may deviate from the driving direction, whether the electric-driven working machine deviates from the driving direction is determined based on a comparison between the duration of the speed difference and a preset duration threshold.

[0071] Specifically, when the operating machine does not deviate from the road, the rotational speeds of the left and right travel motors should theoretically be the same. However, during the actual travel of the operating machine, considering the influence of external factors such as the error in detecting the travel motor speed, as well as the acceptable deviation amount during driving, determining whether the operating machine has deviated from the road by comparing the speed difference with the preset speed difference threshold can improve the accuracy of the judgment, and at the same time avoid the waste of computing power and energy caused by the VCU continuously correcting the driving of the operating machine.

[0072] More specifically, when a work machine is traveling in a straight line, it is in a state of constant motion. If the speed difference of the travel motor speeds acquired at a single moment is less than a preset speed difference threshold, the work machine is determined to have deviated. This can easily lead to an erroneous determination of the work machine's deviation due to errors in the single acquired travel motor speed and a brief moment of deviation. Consequently, subsequent torque compensation for the travel motor will not only fail to correct the deviation but may also cause the work machine to deviate. Therefore, when determining that the work machine may deviate based on the speed difference, it is further determined whether the duration of the speed difference exceeds a preset duration threshold. Only when the duration of the speed difference exceeds the preset duration threshold is it determined that the work machine has substantially deviated, allowing subsequent deviation correction to effectively correct the deviation.

[0073] Among them, the preset speed difference threshold △S can be set to a specific positive value, such as: 20rpm, 30rpm, etc., and then the absolute value of the speed difference is compared with the preset speed difference threshold. When the absolute value of the speed difference is greater than △S, it indicates that the operating machinery may deviate from the driving direction; it can also be set to a positive value and a negative value, such as: -20rpm and 20rpm, -30rpm and 30rpm, etc., and then the speed difference is compared with the preset speed difference threshold. When the speed difference is greater than the positive value or less than the negative value, it indicates that the operating machinery may deviate from the driving direction.

[0074] Furthermore, the preset time threshold Δt can be set according to actual needs and experience, for example, it can be set to 450ms, 500ms, etc.

[0075] As an embodiment of the present invention, performing torque compensation on the travel motor based on a preset torque compensation coefficient includes:

[0076] determining a travel speed requirement of the electric-driven working machine based on the opening value;

[0077] Torque compensation is performed on the travel motor based on the travel speed requirement and the preset torque compensation coefficient.

[0078] Specifically, the pedal opening of the working machine determines the driving speed of the working machine. Therefore, based on the pedal opening value, the driving speed requirement of the electric-driven working machine can be determined. For example: when the pedal opening is large, it means that the user wants the working machine to travel at a faster speed, and when the pedal opening is small, it means that the user wants the working machine to travel at a slower speed.

[0079] More specifically, after determining the user's desired travel speed, torque compensation is applied to the travel motors based on a preset torque compensation coefficient ΔTc, according to the desired travel speed, to improve the user experience. For example, if the user desires a faster travel speed, torque compensation is applied to the travel motor with the slower speed, correcting any deviation without reducing the travel speed. Conversely, if the user desires a slower travel speed, torque compensation is applied to the travel motor with the faster speed, correcting any deviation without increasing the travel speed.

[0080] As an embodiment of the present invention, determining the travel speed requirement of the electric-driven working machine based on the opening value includes:

[0081] The driving speed requirement is determined based on a comparison between the opening value of the left travel pedal and a preset opening threshold, and a comparison between the opening value of the right travel pedal and the preset opening threshold:

[0082] If the opening value of the left walking pedal and the opening value of the right walking pedal are both greater than the preset opening threshold, the driving speed requirement is determined to be a high-speed driving requirement; otherwise, the driving speed requirement is determined to be a low-speed driving requirement.

[0083] Specifically, the preset opening threshold T_hreq can be flexibly set based on actual needs or experience, for example, T_hreq = 70%, T_hreq = 75%, etc. When the opening values ​​of the left and right travel pedals are both greater than T_hreq, it can be determined that the user's speed requirement for the working machine is a high-speed travel requirement. When the opening values ​​of the left and right travel pedals are both less than or equal to T_hreq, it can be determined that the user's speed requirement for the working machine is a low-speed travel requirement.

[0084] As an embodiment of the present invention, the performing torque compensation on the travel motor based on the travel speed requirement and the preset torque compensation coefficient includes:

[0085] If the driving speed requirement is the high-speed driving requirement, increasing the torque of the motor with smaller torque between the left and right driving motors based on the preset torque compensation coefficient;

[0086] If the driving speed requirement is the low-speed driving requirement, reducing the torque of the motor with a larger torque between the left and right driving motors based on the preset torque compensation coefficient;

[0087] Wherein, the preset torque compensation coefficient is determined based on the speed difference.

[0088] Specifically, when the travel speed requirement is high, torque compensation is applied to the slower-speed travel motor of the left or right, adjusting the torque of the slower-speed travel motor from T_ls to T_ls + ΔTc. This corrects any deviation without reducing the travel speed of the work machine. When the travel speed requirement is low, torque compensation is applied to the faster-speed travel motor of the left or right, adjusting the torque of the faster-speed travel motor from T_hs to T_hs - ΔTc. This corrects any deviation without increasing the travel speed of the work machine.

[0089] More specifically, each time an electric-driven working machine deviates from the running direction, the speed difference between the left and right travel motors is not necessarily the same, so the preset torque compensation coefficient is determined based on the speed difference, so that the determined preset torque compensation coefficient can be adapted to the correction of the running deviation of the working machine, thereby improving the deviation adjustment effect.

[0090] Furthermore, based on the description of the above embodiment of the present invention, it can be seen that the control logic of the VCU of the electric-driven working machine to execute the driving correction method provided by the above embodiment of the present invention mainly includes the following: Figure 4 The three parts shown.

[0091] Among them, the first part is the input part, which specifically includes: the opening value of the left walking pedal and the opening value of the right walking pedal, the acquisition of two analog signals, and the speed of the left walking motor and the speed of the right walking motor, and the acquisition of two CAN signals.

[0092] The second part is the strategy processing part, which specifically includes: pattern recognition of the electric-driven working machinery, that is, the judgment of whether it is in a straight-line driving mode, whether there is a driving deviation phenomenon, and the judgment of the driving speed requirement, as well as the strategy algorithm, that is, the torque calculation of the walking motor and the determination of the preset torque compensation coefficient.

[0093] The third part is the output part, which specifically includes: outputting the torque compensation mode and compensation torque to the left travel motor controller, and outputting the torque compensation mode and compensation torque to the right travel motor controller.

[0094] The driving deviation correction method provided by the above-mentioned embodiment of the present invention collects the opening degree of the left and right walking pedals and the speed of the left and right walking motors through the VCU, and then performs pattern recognition and strategy algorithm calculation. According to the deviation situation and speed requirement of the entire machine in the straight-line mode, the speed difference of the left and right motors is used as feedback to dynamically compensate and adjust the corresponding motor torque. The deviation adjustment effect is achieved without changing the original control system structure of the electric-driven working machine, and the control logic is simple and easy to implement.

[0095] A driving deviation correction system provided by the present invention is described below. The driving deviation correction system described below and the driving deviation correction method described above can be referenced to each other.

[0096] like Figure 5 As shown, a driving deviation correction system provided by an embodiment of the present invention includes: an acquisition module 510, a first processing module 520, a second processing module 530 and an execution module 540; wherein,

[0097] The acquisition module 510 is used to obtain the opening value of the walking pedal of the electric drive working machine, and the walking pedal includes: a left walking pedal and a right walking pedal;

[0098] The first processing module 520 is used to determine whether the electric-driven working machine is in a straight-line driving state based on the opening value;

[0099] The second processing module 530 is configured to determine whether the electric-driven working machine is running off the track based on the rotation speed of the travel motor of the electric-driven working machine if it is determined that the electric-driven working machine is in a straight-line driving state;

[0100] The execution module 540 is configured to perform torque compensation on the travel motor based on a preset torque compensation coefficient if it is determined that the electric-driven working machine has deviated from the travel direction.

[0101] The driving deviation correction system provided by an embodiment of the present invention obtains the opening values ​​of the left and right walking pedals of an electric-driven working machine, and then determines whether the electric-driven working machine is in a straight-line driving state based on the opening values. When the electric-driven working machine is determined to be in a straight-line driving state, the system further determines whether the electric-driven working machine has deviated from the driving state based on the rotational speed of the electric-driven working machine's travel motor. When the electric-driven working machine is determined to have deviated from the driving state, the system performs torque compensation on the travel motor based on a preset torque compensation coefficient. This system effectively determines the driving state of the electric-driven working machine without changing the control system components of the electric-driven working machine itself, and promptly compensates the travel motor torque when the vehicle deviates from the driving state, thereby effectively solving the problem of the electric-driven working machine deviating from the driving state.

[0102] Preferably, the first processing module is specifically used to determine the opening difference between the opening values ​​of the left walking pedal and the right walking pedal based on the opening value, and to determine whether the electric-driven working machine is in a straight-line driving state based on a comparison between the opening difference and a preset opening difference threshold.

[0103] Preferably, the second processing module is specifically used to obtain the rotational speed of the walking motor, and the walking motor includes: a left walking motor and a right walking motor, the working states of the left walking motor and the right walking motor respectively correspond to the opening degrees of the left walking pedal and the right walking pedal, based on the rotational speed, the rotational speed difference between the left walking motor and the right walking motor is determined, and based on the comparison between the rotational speed difference and a preset rotational speed difference threshold, it is determined whether the electric-driven working machine may deviate from the driving state, and when it is determined that the electric-driven working machine may deviate from the driving state, based on the comparison between the duration of the rotational speed difference and a preset duration threshold, it is determined whether the electric-driven working machine may deviate from the driving state.

[0104] Preferably, the execution module is specifically used to determine the travel speed requirement of the electric-driven working machine based on the opening value, and perform torque compensation on the travel motor based on the travel speed requirement and the preset torque compensation coefficient.

[0105] Preferably, the execution module is more specifically used to determine the driving speed requirement based on a comparison of the opening value of the left walking pedal with a preset opening threshold, and a comparison of the opening value of the right walking pedal with the preset opening threshold, and when the opening value of the left walking pedal and the opening value of the right walking pedal are both greater than the preset opening threshold, the driving speed requirement is determined to be a high-speed driving requirement; otherwise, the driving speed requirement is determined to be a low-speed driving requirement.

[0106] Preferably, the execution module is more specifically used to increase the torque of the motor with smaller torque between the left walking motor and the right walking motor based on the preset torque compensation coefficient when the driving speed requirement is the high-speed driving requirement; and reduce the torque of the motor with larger torque between the left walking motor and the right walking motor based on the preset torque compensation coefficient when the driving speed requirement is the low-speed driving requirement; wherein the preset torque compensation coefficient is determined based on the speed difference.

[0107] An embodiment of the present invention further provides an electrically driven working machine including a driving correction system as provided in any of the above embodiments.

[0108] Specifically, the electric-driven working machinery including the driving correction system described in the present invention has all the advantages and technical effects of the driving correction system, which will not be described in detail here.

[0109] More specifically, the electric-driven working machine may be any working machine based on electric drive, such as an electric excavator, an electric loader, an electric crane, etc.

[0110] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call logic instructions in the memory 630 to execute a driving deviation correction method, which includes: obtaining the opening value of the travel pedals of the electric-driven working machine, the travel pedals including: a left travel pedal and a right travel pedal; based on the opening value, determining whether the electric-driven working machine is in a straight-line driving state; if it is determined that the electric-driven working machine is in a straight-line driving state, determining whether the electric-driven working machine has deviated from the driving state based on the speed of the travel motor of the electric-driven working machine; if it is determined that the electric-driven working machine has deviated from the driving state, performing torque compensation on the travel motor based on a preset torque compensation coefficient.

[0111] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0112] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by the computer, the computer can execute a driving correction method provided by the above methods, the method including: obtaining the opening value of the walking pedal of the electric-driven working machine, the walking pedal including: a left walking pedal and a right walking pedal; based on the opening value, determining whether the electric-driven working machine is in a straight-line driving state; if it is determined that the electric-driven working machine is in a straight-line driving state, then determining whether the electric-driven working machine has deviated from the driving state based on the speed of the walking motor of the electric-driven working machine; if it is determined that the electric-driven working machine has deviated from the driving state, then performing torque compensation on the walking motor based on a preset torque compensation coefficient.

[0113] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement a driving correction method provided by the above-mentioned methods, the method comprising: obtaining the opening value of the walking pedal of the electric-driven working machine, the walking pedal comprising: a left walking pedal and a right walking pedal; based on the opening value, determining whether the electric-driven working machine is in a straight-line driving state; if it is determined that the electric-driven working machine is in a straight-line driving state, determining whether the electric-driven working machine has deviated from the driving state based on the rotational speed of the walking motor of the electric-driven working machine; if it is determined that the electric-driven working machine has deviated from the driving state, performing torque compensation on the walking motor based on a preset torque compensation coefficient.

[0114] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0115] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A driving deviation correction method, characterized in that: include: Obtaining the opening value of the travel pedals of the electric-driven working machine, the travel pedals including: a left travel pedal and a right travel pedal; the opening value of the travel pedals determines the magnitude of the current distributed to the travel motors on both sides, and the magnitude of the current determines the speed of the crawler tracks on both sides, thereby achieving control of the travel speed of the electric-driven working machine; determining whether the electric-driven working machine is in a straight-line driving state based on the opening value; If it is determined that the electric-driven working machine is in a straight-line driving state, determining whether the electric-driven working machine is deviating from the driving direction based on the rotational speed of the travel motor of the electric-driven working machine; If it is determined that the electric-driven working machine has deviated from the travel direction, performing torque compensation on the travel motor based on a preset torque compensation coefficient; The determining whether the electric-driven working machine has deviated from the running state based on the rotational speed of the travel motor of the electric-driven working machine includes: Obtaining the rotational speed of the travel motor, wherein the travel motor includes: a left travel motor and a right travel motor, wherein the working states of the left travel motor and the right travel motor correspond to the opening degrees of the left travel pedal and the right travel pedal, respectively; Based on the rotational speed, determining a rotational speed difference between the left travel motor and the right travel motor; Determining whether the electric-drive working machine is likely to deviate from the driving direction based on a comparison between the speed difference and a preset speed difference threshold; If it is determined that the electric-driven working machine may deviate from the driving direction, determining whether the electric-driven working machine deviates from the driving direction based on a comparison of the duration of the speed difference with a preset duration threshold; The performing torque compensation on the travel motor based on a preset torque compensation coefficient includes: Determining a travel speed requirement of the electric-driven working machine based on the opening value, wherein the travel speed requirement includes a high-speed travel requirement and a low-speed travel requirement; Performing torque compensation on the travel motor based on the travel speed requirement and the preset torque compensation coefficient; The performing torque compensation on the travel motor based on the travel speed requirement and the preset torque compensation coefficient includes: If the driving speed requirement is the high-speed driving requirement, increasing the torque of the motor with smaller torque between the left and right driving motors based on the preset torque compensation coefficient; If the driving speed requirement is the low-speed driving requirement, reducing the torque of the motor with a larger torque between the left and right driving motors based on the preset torque compensation coefficient; Wherein, the preset torque compensation coefficient is determined based on the speed difference.

2. The driving deviation correction method according to claim 1, characterized in that: The determining, based on the opening value, whether the electric-driven working machine is in a straight-line driving state includes: determining an opening difference between the opening values ​​of the left walking pedal and the right walking pedal based on the opening value; Based on the comparison between the opening difference and a preset opening difference threshold, it is determined whether the electric-drive working machine is in a straight-line driving state.

3. The driving deviation correction method according to claim 1, characterized in that: The determining of the travel speed requirement of the electric-driven working machine based on the opening value includes: The driving speed requirement is determined based on a comparison between the opening value of the left travel pedal and a preset opening threshold, and a comparison between the opening value of the right travel pedal and the preset opening threshold: If the opening value of the left walking pedal and the opening value of the right walking pedal are both greater than the preset opening threshold, the driving speed requirement is determined to be a high-speed driving requirement; otherwise, the driving speed requirement is determined to be a low-speed driving requirement.

4. A driving correction system, characterized in that: include: an acquisition module, configured to acquire the opening value of the travel pedals of the electric-drive working machine, the travel pedals comprising: a left travel pedal and a right travel pedal; the opening value of the travel pedals determines the magnitude of the current distributed to the travel motors on both sides, and the magnitude of the current determines the speed of the crawlers on both sides, thereby achieving control of the travel speed of the electric-drive working machine; a first processing module, configured to determine whether the electric-driven working machine is in a straight-line driving state based on the opening value; a second processing module configured to determine whether the electric-driven working machine is deviating from the running state based on the rotation speed of the travel motor of the electric-driven working machine if it is determined that the electric-driven working machine is in a straight-line running state; an execution module, configured to perform torque compensation on the travel motor based on a preset torque compensation coefficient if it is determined that the electric-drive working machine has deviated from the travel direction; The determining whether the electric-driven working machine has deviated from the running state based on the rotational speed of the travel motor of the electric-driven working machine includes: Obtaining the rotational speed of the travel motor, wherein the travel motor includes: a left travel motor and a right travel motor, wherein the working states of the left travel motor and the right travel motor correspond to the opening degrees of the left travel pedal and the right travel pedal, respectively; Based on the rotational speed, determining a rotational speed difference between the left travel motor and the right travel motor; Determining whether the electric-drive working machine is likely to deviate from the driving direction based on a comparison between the speed difference and a preset speed difference threshold; If it is determined that the electric-driven working machine may deviate from the driving direction, determining whether the electric-driven working machine deviates from the driving direction based on a comparison of the duration of the speed difference with a preset duration threshold; The performing torque compensation on the travel motor based on a preset torque compensation coefficient includes: Determining a travel speed requirement of the electric-driven working machine based on the opening value, wherein the travel speed requirement includes a high-speed travel requirement and a low-speed travel requirement; Performing torque compensation on the travel motor based on the travel speed requirement and the preset torque compensation coefficient; The performing torque compensation on the travel motor based on the travel speed requirement and the preset torque compensation coefficient includes: If the driving speed requirement is the high-speed driving requirement, increasing the torque of the motor with smaller torque between the left and right driving motors based on the preset torque compensation coefficient; If the driving speed requirement is the low-speed driving requirement, reducing the torque of the motor with a larger torque between the left and right driving motors based on the preset torque compensation coefficient; Wherein, the preset torque compensation coefficient is determined based on the speed difference.

5. An electric drive working machine, characterized in that: It includes the driving correction system as described in claim 4.

6. An electronic device comprising 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 driving deviation correction method according to any one of claims 1 to 3 is implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the driving deviation correction method according to any one of claims 1 to 3 is implemented.

Images