Control method and device of vibratory roller and storage medium

Abstract

The application provides a control method and device of a vibratory roller and a storage medium, and relates to the technical field of roller control. When a rotation speed signal is not detected, a control system acquires a plurality of set current values in a current vibration mode, the set current values being set by the control system at start-up; a target current value is determined according to the plurality of set current values; a pump displacement of a vibration pump is controlled according to the target current value; and the rotation speed of the vibration motor is controlled according to the pump displacement and the rotation speed of the engine to drive the steel wheel to vibrate. Through the application, the vibratory roller can still continue to implement the rolling work when the rotation speed signal is lost, the construction process is not affected, and the user experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of road roller control, and particularly relates to a control method and device of a vibratory road roller and a storage medium. BACKGROUND

[0002] The vibratory road roller is an engineering machine for compacting various building and road construction materials by using its own gravity and vibration. In highway construction, the vibratory road roller is widely used for compacting various non-cohesive soils, gravel, gravel mixtures and various asphalt concrete.

[0003] In the control logic of the existing vibratory road roller, the real-time rotating speed of the vibration motor is fed back to the control system through the rotating speed sensor, the rotating speed of the vibration motor is controlled by the control system based on the rotating speed signal, and the steel wheel is driven to vibrate, wherein the vibration motor is installed on the steel wheel. When the control system of the vibratory road roller does not acquire the rotating speed signal, the vibration motor is controlled to stop rotating, so that the steel wheel also stops working, thereby affecting the construction progress. SUMMARY

[0004] The present application provides a control method and device of a vibratory road roller and a storage medium to solve the problem that the construction is affected due to the vibration of the vibratory road roller being stopped because the rotating speed signal is not acquired.

[0005] In a first aspect, the present application provides a control method of a vibratory road roller, the vibratory road roller comprising a steel wheel, a control system, a rotating speed sensor connected with the control system, a vibration motor, a vibration pump and an engine, wherein the vibration motor is installed on the steel wheel, the vibration motor is connected with the vibration pump, the rotating speed sensor is used for detecting the rotating speed of the vibration motor to obtain a rotating speed signal, and the control method comprises the following steps: when the rotating speed signal is not detected, the control system acquires a plurality of set current values in a current vibration mode, the set current value being set by the control system when starting; a target current value is determined according to the plurality of set current values; the pump displacement of the vibration pump is controlled according to the target current value; and the rotating speed of the vibration motor is controlled according to the pump displacement and the rotating speed of the engine to drive the steel wheel to vibrate.

[0006] Optionally, the target current value is determined as the average value of the plurality of set current values according to the plurality of set current values.

[0007] Optionally, the plurality of set current values are a plurality of set current values closest to the current time.

[0008] Optionally, the rotating speed of the vibration motor is controlled according to the pump displacement and the rotating speed of the engine within a set time length.

[0009] Optionally, the method further comprises the following step: the vibration motor is controlled to stop rotating when the set time ends.

[0010] Optionally, the method further comprises: displaying, in a display instrument of the vibratory roller, fault information when the rotation speed signal fails to be detected, the fault information being used to indicate that the rotation speed signal fails to be detected.

[0011] Optionally, the method further comprises: displaying, in the display instrument, a remaining machine working time length, the remaining machine working time length being used to remind a user to perform fault maintenance corresponding to the fault information within the remaining machine working time length.

[0012] In a second aspect, the present application further provides a control device of a vibratory roller, the vibratory roller comprising a steel wheel, a control system, and a rotation speed sensor, a vibratory motor, a vibratory pump and an engine connected with the control system, wherein the vibratory motor is installed on the steel wheel, the vibratory motor is connected with the vibratory pump, the rotation speed sensor is used to detect a rotation speed of the vibratory motor to obtain a rotation speed signal, and the control device comprises: an acquisition module, used to control the control system to acquire a plurality of set current values in a current vibration mode when the rotation speed signal fails to be detected, the set current values being set by the control system at start; a determination module, used to determine a target current value according to the plurality of set current values; a first control module, used to control a pump displacement of the vibratory pump according to the target current value; and a second control module, used to control the rotation speed of the vibratory motor according to the pump displacement and an engine rotation speed to drive the steel wheel to vibrate.

[0013] Optionally, the determination module is specifically used to determine the target current value as an average value of the plurality of set current values.

[0014] Optionally, the plurality of set current values are a plurality of set current values closest to a current time.

[0015] Optionally, the second control module is specifically further used to control the rotation speed of the vibratory motor according to the pump displacement and the engine rotation speed within a set time length.

[0016] Optionally, the control device is specifically further used to control the vibratory motor to stop rotating at the end of the set time.

[0017] Optionally, the control device is specifically further used to display, in a display instrument of the vibratory roller, fault information when the rotation speed signal fails to be detected, the fault information being used to indicate that the rotation speed signal fails to be detected.

[0018] Optionally, the control device is specifically further used to display, in the display instrument, a remaining machine working time length, the remaining machine working time length being used to remind a user to perform fault maintenance corresponding to the fault information within the remaining machine working time length.

[0019] In a third aspect, the present application further provides an electronic device, comprising: a memory, a processor; the memory is used to store program instructions; and the processor is used to call the program instructions to execute the control method according to any one of the first aspect.

[0020] In a fourth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores computer execution instructions, and the computer execution instructions are used for implementing the control method according to any one of the first aspect when executed by a processor.

[0021] In a fifth aspect, the present application provides a computer program product, comprising a computer program, and the computer program is used for implementing the control method according to any one of the first aspect when executed.

[0022] The control method, device and storage medium of the vibratory road roller provided by the present application, when the rotation speed signal is not detected, the control system obtains a plurality of set current values in the current vibration mode, and the set current values are set by the control system when starting; the target current value is determined according to the plurality of set current values; the pump displacement of the vibration pump is controlled according to the target current value; and the rotation speed of the vibration motor is controlled according to the pump displacement and the engine rotation speed to drive the steel wheel to vibrate. Through the present application, the vibratory road roller can still continue to implement the road rolling work when the rotation speed signal is lost, the construction process is not affected, and the user experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and serve to explain the principles of the present application together with the specification.

[0024] Figure 1 The working principle schematic diagram provided by the embodiment of the present application is shown in the figure;

[0025] Figure 2 The flowchart of the control method of the vibratory road roller provided by the embodiment of the present application is shown in the figure; Figure 1 ;

[0026] Figure 3 The schematic diagram of the display instrument of the vibratory road roller provided by the embodiment of the present application is shown in the figure;

[0027] Figure 4 The flowchart of the control method of the vibratory road roller provided by the embodiment of the present application is shown in the figure; Figure 1 ;

[0028] Figure 5 The structural schematic diagram of the control device of the vibratory road roller provided by the embodiment of the present application is shown in the figure;

[0029] Figure 6 The structural schematic diagram of the electronic device provided by the embodiment of the present application is shown in the figure.

[0030] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0031] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0032] Figure 1 A schematic diagram illustrating the working principle of an embodiment of this application. For example... Figure 1 As shown, the working principle involves an electronic control unit (ECU) 101 and a pump control module 102.

[0033] ECU 101, also known as "vehicle computer" or "on-board computer," is similar to a regular computer, consisting of a microcontroller, memory, input / output interface, analog-to-digital converter, and large-scale integrated circuits for shaping and driving. The ECU is primarily used to send, receive, and process various signals from the vehicle system to control the vehicle (e.g., the vibratory roller in this embodiment) to perform various tasks.

[0034] like Figure 1 As shown, the ECU 101 provided in this embodiment includes multiple modules such as engine speed setting, switch signal, vibration speed requirement, vibration ramp, and hydraulic transmission control. The engine speed setting can be adjusted using the hand throttle, and the switch signal can be adjusted using the vibration mode switch to determine the vibration speed requirement and obtain the pump control signal (displacement & current, etc.).

[0035] The pump control module 102 is used to regulate the pump's output, i.e., the pump displacement. Based on the pump displacement and the engine speed, it further controls the speed of the vibration motor, thereby driving the steel wheel to vibrate. Figure 1 As shown, the pump control module 102 provided in this embodiment includes multiple modules such as proportional solenoid valve control and pump vibration proportional solenoid valve. Additionally, the working principle also involves a motor speed sensor, typically installed near the motor, used to detect the motor's real-time / actual speed and transmit the motor speed measurement signal to the ECU 101.

[0036] In the working process, the engine speed is adjusted by the hand throttle, and the vibratory roller vibration mode (large vibration mode or small vibration mode, different vibration modes correspond to different motor speeds) is selected by the vibration mode switch, so that the ECU 101 determines the set displacement and control current of the pump and sends it to the pump control module 102, at this time, the motor obtains a target speed. At the same time, the motor speed sensor will feed back the real-time speed of the motor to the ECU 101, and the ECU 101 will compare the difference between the real-time speed of the motor and the target speed, and correct the control signal to the pump, so as to achieve the purpose of regulating the motor speed, so that the actual speed of the motor is basically consistent with the target speed.

[0037] When the ECU 101 does not receive the feedback signal of the motor speed sensor within a specified time, it will control the motor to stop rotating, so that the vibratory roller stops working, which seriously affects the construction progress. The present application aims to solve the problem that the vibratory roller cannot work when the motor speed signal is lost, and proposes a control method, device and storage medium for the vibratory roller, which calls a new pump control signal to regulate the pump when the motor speed signal is lost, so that the motor does not stop rotating and the vibratory roller can continue to work.

[0038] The control method of the vibratory roller provided by the technical scheme of the present application will be described below in conjunction with specific embodiments.

[0039] Figure 2 The flowchart of the control method of the vibratory roller provided by the embodiment of the present application Figure 1 The vibratory roller provided by the embodiment of the present application includes a steel wheel, a control system, and a speed sensor, a vibration motor, a vibration pump and an engine connected with the control system, wherein the vibration motor is installed on the steel wheel, the vibration motor and the vibration pump are connected, and the speed sensor is used to detect the speed of the vibration motor to obtain a speed signal. As shown in Figure 2 The control method includes:

[0040] S201: When the speed signal is not detected, the control system obtains a plurality of set current values in the current vibration mode, and the set current value is set by the control system when starting.

[0041] The rotation speed signal reflects the real-time rotation speed of the vibration motor, which is obtained by the rotation speed sensor and fed back to the control system. The control system can further adjust the rotation speed of the motor according to the rotation speed signal. The vibration mode specifically refers to the vibration mode of the motor of the vibration roller, and the vibration mode can be selected when the vibration roller is started according to the construction purpose. In some embodiments, the vibration roller comprises a vibration selection switch, and the selection of the motor vibration mode can be selected by using the selection switch when starting. The control signal for controlling the rotation of the motor is different under different vibration modes, and the rotation speed of the motor is also different. For example, the vibration mode can include a large vibration mode (vibration frequency f1) and a small vibration mode (vibration frequency f2), f1 < f2.

[0042] The set current value is usually used to control the pump displacement, and is one of the control signals for controlling the rotation of the vibration motor, which is set by the control system when the vibration roller is started. In actual scenarios, the set current value may be different each time due to the differences in the working conditions of the vehicle each time the vehicle is started. These set current values can be obtained from historical set parameters or recorded by the control system each time the set current value is set.

[0043] When the control system does not detect the rotation speed signal fed back by the rotation speed sensor within a specified time, it is determined that the vibration roller is currently in a vibration mode, and a plurality of set current values in the current vibration mode are obtained from the historical control signals corresponding to the current vibration mode.

[0044] S202: Determine a target current value according to the plurality of set current values.

[0045] The set current value can be obtained from the historical set parameters in the current vibration mode or from the control system record. The target current value is a control signal for controlling the current pump displacement.

[0046] Optionally, the method of determining the target current value according to the plurality of set current values can include determining the target current value as the average of the plurality of set current values. For example, the plurality of set current values can include all set current values that can be obtained in the current vibration mode, or a specified number of set current values.

[0047] Optionally, the plurality of set current values can be a plurality of set current values closest to the current time. For example, the average of the last ten set current values is determined as the plurality of set current values, and the target current value is determined according to the last ten set current values, for example, the average of the last ten set current values is determined as the target current value. After the control system obtains the plurality of set current values, the average of the plurality of set current values is calculated to determine the target current value.

[0048] S203: Control the pump displacement of the vibration pump according to the target current value.

[0049] According to the target current value determined in S202, the vibration pump of the vibratory roller is controlled, so as to realize the control of the pump displacement.

[0050] S204: According to the pump displacement and the engine speed, the speed of the vibration motor is controlled to drive the steel wheel to vibrate.

[0051] The speed of the vibration motor is determined by the pump displacement and the engine speed, and the engine speed is usually fixed in the current vibration mode. In the embodiment, when the control system fails to detect the speed signal, the target current value is determined by S202, and the pump displacement is controlled according to the target current value, so as to control the speed of the vibration motor.

[0052] In the embodiment, when the speed signal is not detected, the control system obtains a plurality of set current values in the current vibration mode, the set current values are set by the control system when starting; the target current value is determined according to the plurality of set current values; the pump displacement of the vibration pump is controlled according to the target current value; and the speed of the vibration motor is controlled according to the pump displacement and the engine speed to drive the steel wheel to vibrate. Through the application, the vibratory roller can still continue to implement the road rolling work when the speed signal is lost, which does not affect the construction progress and improves the user experience.

[0053] Optionally, according to the pump displacement and the engine speed, the speed of the vibration motor can include: within a set time length, the speed of the vibration motor is controlled according to the pump displacement and the engine speed. The set time length can be set when the vibratory roller starts each time, for example, according to the current construction scene, or the set time length of the vibratory roller can be set at one time, for example, 5 hours or 12 hours, etc. The set time length is usually the time length sufficient for the vibratory roller to complete the set task and drive the vibratory roller to the maintenance department.

[0054] Optionally, when the set time ends, the vibration motor is controlled to stop rotating. The set time is usually the time for the vibratory roller to continue to complete the set task and drive the vibratory roller to the maintenance department for maintenance. When the set time ends, the control system controls the motor to stop rotating, so as to ensure that the vibratory roller does not work for too long in the case that the speed signal is lost.

[0055] In some embodiments, when the speed signal fails to be detected, a fault information is displayed in the display instrument of the vibratory roller, and the fault information is used to indicate that the speed signal fails to be detected. For example, the fault information can be displayed as a fault code, and the fault type corresponding to the fault code can be matched from the manual of the vibratory roller. The fault information can also be directly displayed as a fault type, which is not limited herein. In the embodiment, the fault information is used to indicate that the speed signal fails to be detected.

[0056] Optionally, the remaining machine working time can also be displayed in the display instrument, and the remaining machine working time is used to remind the user to perform the fault maintenance corresponding to the fault information within the remaining machine working time. The remaining machine working time is the remaining time of the set time, and the display of the remaining machine working time in the display instrument can remind the user of the remaining working time of the vibratory roller and take measures such as stopping work and maintenance in time.

[0057] Figure 3 The display instrument of the vibratory roller provided by the embodiment of the present application is shown in the schematic view. As shown in the figure, the display instrument includes a window for displaying fault information and a window for displaying the remaining machine working time. For example, the window for displaying fault information displays “sensor failure”, which indicates that the rotation speed signal cannot be detected; and the window for displaying the remaining machine working time displays “03:28:45”, which indicates that the remaining working time of the vibratory roller is 3 hours, 28 minutes and 45 seconds, reminding the user to maintain the vibratory roller in time within this time. Figure 3

[0058] The flowchart of the control method of the vibratory roller provided by the embodiment of the present application is shown in the schematic view. Figure 4 Figure 1 As shown in the figure, the method includes: Figure 4

[0059] When the rotation speed signal is not detected:

[0060] S411: The control system acquires a plurality of set current values closest to the current time in the current vibration mode;

[0061] S412: The target current value is determined as the average of the plurality of set current values;

[0062] S413: The pump displacement of the vibratory pump is controlled according to the target current value;

[0063] S414: The rotation speed of the vibratory motor is controlled according to the pump displacement and the working frequency of the vibratory motor within the set time;

[0064] S415: The vibratory motor is controlled to stop rotating at the end of the set time;

[0065] While the rotation speed signal is not detected:

[0066] S421: The fault information is displayed in the display instrument of the vibratory roller, and the fault information indicates that the rotation speed signal cannot be detected;

[0067] S422: The remaining machine working time is displayed in the display instrument, and the remaining machine working time is used to remind the user to perform the fault maintenance corresponding to the fault information within the remaining machine working time.​​

[0068] In the embodiment, S411-S415 and S421-S422 can be executed simultaneously in time, or S411-S415 can be executed first and then S421-S422.

[0069] The above embodiments specifically explain the control method of the vibratory road roller provided in the application. The control device of the vibratory road roller and the storage medium provided in the embodiments of the application will be explained below.

[0070] Figure 5 A structural schematic diagram of the control device of the vibratory road roller provided in the embodiments of the application is shown. The vibratory road roller includes a steel wheel, a control system, and a speed sensor, a vibratory motor, a vibratory pump, and an engine connected with the control system, wherein the vibratory motor is mounted on the steel wheel, the vibratory motor and the vibratory pump are connected, the speed sensor is used to detect the speed of the vibratory motor, and a speed signal is obtained, as shown in Figure 5 The control device 500 includes:

[0071] The acquisition module 501 is configured to acquire a plurality of set current values in a current vibration mode by the control system when the speed signal is not detected, wherein the set current values are set by the control system at start-up.

[0072] The determination module 502 is configured to determine a target current value according to the plurality of set current values.

[0073] The first control module 503 is configured to control the pump displacement of the vibratory pump according to the target current value.

[0074] The second control module 504 is configured to control the speed of the vibratory motor according to the pump displacement and the engine speed, so as to drive the steel wheel to vibrate.

[0075] Optionally, the determination module 502 can be specifically configured to determine the target current value as an average value of the plurality of set current values.

[0076] Optionally, the plurality of set current values are a plurality of set current values closest to the current time.

[0077] Optionally, the second control module 504 can be specifically configured to control the speed of the vibratory motor according to the pump displacement and the engine speed within a set time.

[0078] Optionally, the control device 500 can be specifically configured to control the vibratory motor to stop rotating at the end of the set time.

[0079] Optionally, the control device 500 can be specifically configured to display fault information in a display instrument of the vibratory road roller when the speed signal is not detected, wherein the fault information is used to indicate that the speed signal is not detected.

[0080] Optionally, the control device 500 can be specifically used for displaying the remaining machine working time in the display instrument, and the remaining machine working time is used for reminding the user to perform the fault maintenance corresponding to the fault information within the remaining machine working time.

[0081] Figure 6 A structural schematic diagram of an electronic device provided by the embodiment of the present application is shown in the figure. Figure 6 As shown in the figure, the electronic device 600 includes:

[0082] The processor 601, the memory 602, the communication interface 603 and the system bus 604.

[0083] The memory 602 and the communication interface 603 are connected with the processor 601 through the system bus 604 and complete the communication between each other, the memory 602 is used for storing computer execution instructions, the communication interface 603 is used for communicating with other devices, and the processor 601 is used for executing the computer execution instructions to execute the scheme of the control method of the vibratory roller as described above.

[0084] Specifically, the processor 601 can include one or more processing units, for example: the processor 601 can be a CPU, and can also be a digital signal processing (Digital Signal Processing, abbreviated as DSP), an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC) and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor and the like. The steps of the method disclosed in the application can be directly embodied as the execution of the hardware processor, or executed by the combination of the hardware and software modules in the processor.

[0085] The memory 602 can be used for storing program instructions. The memory 602 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one application required by a function (such as a sound playing function and the like) and the like. The data storage area can store data (such as audio data and the like) created during the use of the electronic device 600 and the like. In addition, the memory 602 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, a universal flash memory (Universal Flash Storage, abbreviated as UFS) and the like. The processor 601 executes various functional applications and data processing of the electronic device 600 by running the program instructions stored in the memory 602.

[0086] The communication interface 603 can provide a solution including 2G / 3G / 4G / 16G, etc. wireless communication applied on the electronic device 600. The communication interface 603 can receive electromagnetic waves by an antenna, and perform filtering, amplification, etc. processing on the received electromagnetic waves, and transmit to a modem processor for demodulation. The communication interface 603 can also amplify the signal modulated by the modem processor, and convert to electromagnetic waves radiated by the antenna. In some embodiments, at least part of the function modules of the communication interface 603 can be arranged in the processor 601. In some embodiments, at least part of the function modules of the communication interface 603 and at least part of the modules of the processor 601 can be arranged in the same device.

[0087] The system bus 604 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus 604 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is shown in the figure, but it does not mean that there is only one bus or only one type of bus.

[0088] It should be noted that the number of the memory 602 and the processor 601 is not limited in the embodiments of the present application, and each can be one or more. Figure 6 Take one as an example; the memory 602 and the processor 601 can be connected by various wired or wireless ways, for example, connected by a bus. In actual application, the electronic device 600 can be various forms of computers or mobile terminals. Among them, the computer is, for example, a laptop computer, a desktop computer, a workbench, a server, a blade server, a mainframe computer, etc.; the mobile terminal is, for example, a personal digital processor, a cellular phone, a smart phone, a wearable device and other similar computing devices.

[0089] The electronic device of the embodiment can be used to execute the technical solutions in the above method embodiments, and the implementation principles and technical effects are similar, which will not be repeated here.

[0090] The embodiments of the present application also provide a computer readable storage medium, which stores computer execution instructions, and the computer execution instructions are executed by a processor to implement the control method of the vibrating road roller in the above method embodiments.

[0091] The embodiments of the present application also provide a computer program product, which includes a computer program; the computer program is executed to implement the control method of the vibrating road roller in the above method embodiments.

[0092] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0093] It is to be understood that the application is not limited to the precise construction herein disclosed and shown in the drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the claims that follow.

Claims

1. A control method for a vibratory roller, characterized in that, The vibratory roller includes a steel wheel, a control system, and a speed sensor, a vibratory motor, a vibratory pump, and an engine connected to the control system. The vibratory motor is mounted on the steel wheel and connected to the vibratory pump. The speed sensor detects the speed of the vibratory motor to obtain a speed signal. The control method includes: When the rotational speed signal is not detected, the control system acquires multiple set current values ​​under the current vibration mode, which are set by the control system at startup. Determine the target current value based on the multiple set current values; The pump displacement of the vibration pump is controlled according to the target current value; Within a set time period, the rotational speed of the vibration motor is controlled according to the pump displacement and engine speed to drive the steel wheel to vibrate, and the vibration motor is controlled to stop rotating when the set time period ends.

2. The control method according to claim 1, characterized in that, Determining the target current value based on the plurality of set current values ​​includes: The target current value is determined to be the average of the plurality of set current values.

3. The control method according to claim 1, characterized in that, The multiple set current values ​​are the multiple set current values ​​that are closest to the current time.

4. The control method according to any one of claims 1 to 3, characterized in that, Also includes: If the speed signal is not detected, a fault message is displayed on the display instrument of the vibratory roller, indicating that the speed signal was not detected.

5. The control method according to claim 4, characterized in that, Also includes: The remaining operating time of the entire unit is displayed on the display instrument. The remaining operating time of the entire unit is used to remind the user to perform the fault repair corresponding to the fault information within the remaining operating time of the entire unit.

6. A control device for a vibratory roller, characterized in that, The control method described in any one of claims 1-5, wherein the vibratory roller includes a steel wheel, a control system, and a speed sensor, a vibratory motor, a vibratory pump, and an engine connected to the control system, wherein the vibratory motor is mounted on the steel wheel, the vibratory motor is connected to the vibratory pump, the speed sensor is used to detect the speed of the vibratory motor to obtain a speed signal, and the control device includes: The acquisition module is used to acquire multiple set current values ​​in the current vibration mode when the rotational speed signal is not detected. The set current values ​​are set by the control system at startup. The determining module is used to determine the target current value based on the plurality of set current values; The first control module is used to control the pump displacement of the vibration pump according to the target current value; The second control module is used to control the rotational speed of the vibration motor according to the pump displacement and engine speed, so as to drive the steel wheel to vibrate.

7. An electronic device, characterized in that, include: Memory, processor; The memory is used to store program instructions; The processor is configured to invoke the program instructions to execute the control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the control method as described in any one of claims 1 to 5.

9. A computer program product, characterized in that, Includes a computer program; when the computer program is executed, it implements the control method as described in any one of claims 1 to 5.

Images