Bulldozer slip rate control method, device, bulldozer and storage medium

Abstract

The present invention belongs to the technical field of bulldozers and discloses a bulldozer slip rate control method, device, bulldozer and storage medium. In the bulldozer slip rate control method, after determining that the bulldozer blade cuts into the ground, the actual driving speed and theoretical driving speed of the bulldozer are obtained, and the slip rate of the bulldozer is calculated based on the actual driving speed and the theoretical driving speed. The blade is controlled to rise and fall based on the slip rate so that the slip rate of the bulldozer can be maintained within a certain range without manual operation. In addition, before obtaining the actual driving speed and theoretical driving speed of the bulldozer, it is determined that the bulldozer is in an automatic slip rate working mode, specifically including determining that the bulldozer's slip rate automatic control switch is turned on, so that the operator can switch between automatic control and manual control by manually adjusting the automatic control switch. In the event of an emergency, the operator can make timely adjustments to avoid accidents.

Description

Technical Field

[0001] The present invention relates to the technical field of bulldozers, and in particular to a bulldozer slip rate control method and device, a bulldozer, and a storage medium. Background Art

[0002] Bulldozers will experience a certain amount of slip during operation. The slip rate should be kept within a certain range to maximize the bulldozer's efficiency. However, during operation, the machine's slip rate often changes due to factors such as changes in external resistance, uneven ground, or uneven track (or tire) ground contact pressure.

[0003] To maintain a bulldozer's slip rate within a certain range, bulldozer operators typically manipulate the handles to adjust the speed caused by changes in engine speed and load, raising and lowering the working device to adjust the depth of the blade's penetration into the ground and thus adjust the slip rate. However, this approach relies heavily on the operator's feel, requiring considerable experience, and cannot precisely control the slip rate. Furthermore, prolonged operation can easily lead to operator fatigue, impacting operational efficiency.

[0004] To address the above issues, the prior art provides an automatic bulldozer slip control system. This system uses a speed sensor and a speed radar to detect the bulldozer's wheel speed and actual vehicle speed, calculates the bulldozer's slip rate, and controls the raising and lowering of the working device to maintain the slip rate within a certain range, replacing the traditional manual control scheme. However, during operation, the raising and lowering of the bulldozer's working device is automatically controlled by the control system. In the event of an emergency, the operator cannot promptly control the working device, which can easily lead to accidents. Summary of the Invention

[0005] According to one aspect of the present invention, the present invention provides a bulldozer slip rate control method to solve the problem in the prior art that the lifting and lowering of the bulldozer working device is automatically controlled by the control system, and the operator cannot control the working device in time when encountering an emergency, which easily leads to accidents.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A bulldozer slip rate control method includes:

[0008] Make sure the bulldozer's blade cuts into the ground;

[0009] Determining that the bulldozer is in an automatic slip rate operating mode; determining that the bulldozer is in an automatic slip rate operating mode includes: determining that an automatic slip rate control switch of the bulldozer is turned on;

[0010] Obtaining the actual driving speed and theoretical driving speed of the bulldozer;

[0011] Calculating a slip rate of the bulldozer according to the actual driving speed and the theoretical driving speed;

[0012] The blade is controlled to rise and fall according to the slip rate.

[0013] As a preferred solution of the bulldozer slip rate control method, determining that the bulldozer is in the slip rate automatic working mode further includes: determining that the bulldozer is in a forward state.

[0014] As a preferred embodiment of the bulldozer slip rate control method, the brake pedal of the bulldozer is movable relative to the vehicle body and has a braking position and a non-braking position. When the brake pedal is in the braking position, the brake pedal is used to control the braking of the bulldozer.

[0015] Determining that the bulldozer is in the automatic slip rate operating mode further includes determining that the brake pedal is in a non-braking position.

[0016] As a preferred solution of the bulldozer slip rate control method, controlling the lifting and lowering of the blade according to the slip rate includes:

[0017] comparing the slip rate with an upper limit of a set range;

[0018] If the slip rate is greater than the upper limit of the set range, the blade is controlled to rise.

[0019] As a preferred solution of the bulldozer slip rate control method, if the slip rate is not greater than the upper limit of the set range, then comparing the slip rate with the lower limit of the set range;

[0020] If the slip rate is less than the lower limit of the set range, the blade is controlled to descend.

[0021] As a preferred solution of the bulldozer slip rate control method, if the slip rate is not less than the lower limit of the set range, the process returns to determine whether the bulldozer is in the slip rate automatic working mode.

[0022] As a preferred solution of the bulldozer slip rate control method, obtaining the actual driving speed and theoretical driving speed of the bulldozer includes:

[0023] Obtaining the actual travel speed of the bulldozer; obtaining the actual travel speed of the bulldozer includes: receiving satellite positioning information of the bulldozer through a GNSS receiver, and calculating the actual travel speed of the bulldozer according to the satellite positioning information;

[0024] Obtain a theoretical travel speed of the bulldozer.

[0025] According to another aspect of the present invention, there is provided a bulldozer slip rate control device, comprising:

[0026] A blade penetration determination module is used to determine whether the bulldozer's blade has penetrated the ground;

[0027] a slip rate automatic working mode determining module, configured to determine whether the bulldozer is in a slip rate automatic working mode;

[0028] An actual driving speed acquisition module, used to acquire the actual driving speed of the bulldozer;

[0029] A theoretical driving speed acquisition module, used to acquire the theoretical driving speed of the bulldozer;

[0030] a slip rate calculation module, configured to calculate the slip rate of the bulldozer according to the actual driving speed and the theoretical driving speed;

[0031] A blade lifting control module is used to control the lifting of the blade according to the slip rate.

[0032] According to yet another aspect of the present invention, there is provided a bulldozer comprising a blade and further comprising:

[0033] Controller;

[0034] A slip rate automatic control switch having two states, open and closed, and communicating with the controller;

[0035] a GNSS receiver, configured to receive satellite positioning information of the bulldozer and send the received satellite positioning information to the controller, wherein the controller is configured to calculate an actual travel speed of the bulldozer based on the satellite positioning information;

[0036] a rotation speed sensor, provided on a wheel of the bulldozer, for detecting the rotation speed of the wheel and sending the detected rotation speed of the wheel to the controller, wherein the controller is configured to calculate a theoretical travel speed of the bulldozer based on the rotation speed of the wheel;

[0037] A hydraulic control system, wherein the controller is used to control the hydraulic control system to control the lifting and lowering of the blade;

[0038] a memory for storing one or more programs;

[0039] When the one or more programs are executed by the controller, the controller controls the bulldozer to implement the bulldozer slip rate control method.

[0040] According to another aspect of the present invention, a storage medium is provided, on which a computer program is stored. When the program is executed by a controller, the bulldozer implements the above-mentioned bulldozer slip rate control method.

[0041] The beneficial effects of the present invention are:

[0042] The present invention provides a bulldozer slip rate control method, device, bulldozer, and storage medium. In the bulldozer slip rate control method, after determining that the bulldozer's blade has cut into the ground, the actual and theoretical driving speeds of the bulldozer are obtained. The bulldozer's slip rate is calculated based on the actual and theoretical speeds. The blade is then raised or lowered based on the slip rate to maintain the bulldozer's slip rate within a certain range without requiring manual operation. Furthermore, before obtaining the actual and theoretical speeds of the bulldozer, the bulldozer is determined to be in an automatic slip rate operating mode. This includes determining that the bulldozer's automatic slip rate control switch is turned on, allowing an operator to switch between automatic and manual control by manually adjusting the automatic control switch. In the event of an emergency, the operator can make timely adjustments to avoid accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The process of the bulldozer slip rate control method in the embodiment of the present invention is as follows: Figure 1 ;

[0044] Figure 2 The process of the bulldozer slip rate control method in the embodiment of the present invention is as follows: Figure 2 ;

[0045] Figure 3 2 is a schematic structural diagram of a bulldozer slip rate control device according to an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of the structure of the bulldozer in the embodiment of the present invention. Figure 1 ;

[0047] Figure 5 This is a schematic diagram of the structure of the bulldozer in the embodiment of the present invention. Figure 2 .

[0048] In the picture:

[0049] 300, blade cut-in determination module; 310, slip rate automatic working mode determination module; 320, actual driving speed acquisition module; 330, theoretical driving speed acquisition module; 340, slip rate calculation module; 350, blade lifting control module;

[0050] 400, controller; 410, slip rate automatic control switch; 420, GNSS receiver; 430, speed sensor; 440, hydraulic control system; 441, hydraulic cylinder; 442, hydraulic valve; 450, blade; 460, memory; 470, display and control terminal; 480, communication module;

[0051] 500, vehicle body; 501, cab; 502, wheels. DETAILED DESCRIPTION

[0052] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0053] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0054] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0055] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are used to refer to positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate description and simplify operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0056] Example 1

[0057] During the operation of a bulldozer, its slip rate should be kept within a certain range. Bulldozer operators usually operate the handle in time by feeling the changes in vehicle speed caused by changes in engine speed and load, and then adjust the depth of the blade cutting into the ground to adjust the slip rate. However, this solution relies too much on the operator's feel, requires a certain amount of operating experience, and cannot accurately control the slip rate. In response to the above problems, the existing technology provides a bulldozer slip rate automatic control system, which uses a speed sensor and a speed radar to detect the bulldozer wheel speed and actual vehicle speed respectively, and calculates the bulldozer's slip rate, controls the rise or fall of the working device, and keeps the slip rate within a certain numerical range, thereby replacing the traditional manual control solution. However, the problem is that during the operation, the rise and fall of the bulldozer working device is automatically controlled by the control system. When encountering an emergency, the operator cannot control the working device in time, which can easily lead to accidents.

[0058] In response to the above problems, this embodiment provides a bulldozer slip rate control method to solve the problem in the prior art that the lifting and lowering of the bulldozer working device is automatically controlled by the control system, and the operator cannot control the working device in time when encountering an emergency, which easily leads to accidents. The method can be used in the field of bulldozer technology.

[0059] The bulldozer slip rate control method can be executed by a bulldozer slip rate control device, which can be implemented by software and / or hardware and integrated into the bulldozer. Figure 1 , the bulldozer slip rate control method includes the following steps.

[0060] S100: Determine whether the bulldozer blade cuts into the ground.

[0061] After the bulldozer's blade cuts into the ground, the bulldozer starts operation. Specifically, determining that the bulldozer's blade has cut into the ground can be done by detecting the state of the hydraulic system that is used to control the blade's lifting, or by detecting the size of the resistance experienced by the bulldozer during travel to determine whether the blade has cut into the ground.

[0062] S110: Determine whether the bulldozer is in an automatic slip rate operation mode.

[0063] The automatic slip rate working mode is a mode that allows the bulldozer to automatically adjust the slip rate. In this embodiment, the automatic slip rate working mode is only allowed when the surrounding environment is relatively safe and no emergency occurs. Otherwise, the operator needs to manually control the shovel blade to avoid accidents.

[0064] Specifically, S110 includes steps S1101-S1103.

[0065] S1101: Determine whether the automatic control switch of the bulldozer's slip rate is turned on.

[0066] The slip rate automatic control switch can be set in the cab of the bulldozer. The operator can manually adjust the state of the slip rate automatic control switch to switch between automatic control and manual control. In case of emergency, the operator can make timely adjustments to avoid accidents.

[0067] S1102: Determine that the bulldozer is in a forward state.

[0068] Operations can only be performed when the bulldozer is in a forward state. By detecting the driving state of the bulldozer, the bulldozer's slip rate is automatically controlled only when the bulldozer is in a forward state to avoid accidents.

[0069] Specifically, the speed sensor can be used to detect the rotation direction of the bulldozer wheels to determine whether the bulldozer is in the forward state.

[0070] S1103: Determine that the brake pedal is in the non-braking position.

[0071] The bulldozer's brake pedal can move relative to the vehicle body, with a braking position and a non-braking position. When in the braking position, the brake pedal controls the braking of the bulldozer. If an operator encounters an emergency while driving, they typically depress the brake pedal, placing it in the braking position. Automatic adjustment of the blade's lift should not be performed at this time. Therefore, automatic control of the bulldozer's slip rate is only permitted when the brake pedal is in the non-braking position.

[0072] Specifically, the position of the brake pedal can be detected by a position sensor.

[0073] In this embodiment, S1101, S1102, and S1103 are executed sequentially. In other embodiments, S1101-S1103 may also be executed synchronously after S100 is executed, and S120 is executed only when all three conditions are met.

[0074] Optionally, it is also possible to determine whether the bulldozer is in the automatic slip rate working mode by detecting the state of the blade control handle.

[0075] S120: Obtaining the actual driving speed and theoretical driving speed of the bulldozer.

[0076] Specifically, the method includes two steps: obtaining the actual driving speed of the bulldozer and obtaining the theoretical driving speed of the bulldozer.

[0077] In this embodiment, the actual driving speed of the bulldozer is obtained by relying on the Global Navigation Satellite System (GNSS). Specifically, obtaining the actual driving speed of the bulldozer includes: receiving the satellite positioning information of the bulldozer through a GNSS receiver, and calculating the actual driving speed of the bulldozer based on the satellite positioning information. The GNSS receiver can be set on the body of the bulldozer. The satellite positioning information of the bulldozer is received through the GNSS receiver, and the received satellite positioning information is sent to the controller, and the controller calculates the actual driving speed of the bulldozer based on the satellite positioning information. Receiving satellite positioning information through a GNSS receiver is already a relatively mature technology in the existing technology, and its specific principles and processes will not be repeated.

[0078] The theoretical driving speed of the bulldozer can be obtained through a speed sensor installed on the wheel. Specifically, the speed sensor detects the speed of the wheel and sends the detected speed of the wheel to the controller. The controller obtains the theoretical driving speed of the bulldozer based on the speed of the wheel. Generally speaking, the speed of the wheel is the theoretical driving speed of the bulldozer.

[0079] S130: Calculating the slip rate of the bulldozer according to the actual driving speed and the theoretical driving speed.

[0080] Specifically, the slip ratio is calculated as:

[0081] η=(u t -u i ) / u t

[0082] Where, η is the slip rate of the bulldozer, u t is the theoretical speed of the bulldozer, u i is the actual travel speed of the bulldozer.

[0083] S140: Control the blade lifting and lowering according to the slip rate.

[0084] The bulldozer's slip rate can be controlled by controlling the blade's lift. Specifically, raising the blade reduces the bulldozer's resistance, bringing the actual travel speed closer to the theoretical speed and reducing the slip rate. Lowering the blade increases the bulldozer's resistance, reducing the actual travel speed relative to the theoretical speed and increasing the slip rate. Thus, the bulldozer's slip rate can be maintained within a certain range by controlling the blade's lift.

[0085] In the bulldozer slip rate control method provided in this embodiment, after determining that the bulldozer blade has cut into the ground, the actual and theoretical speeds of the bulldozer are obtained. The bulldozer slip rate is calculated based on the actual and theoretical speeds. The blade is then raised or lowered based on the slip rate to maintain the bulldozer slip rate within a certain range without requiring manual operation. Furthermore, before obtaining the actual and theoretical speeds, the bulldozer is determined to be in automatic slip rate mode. This allows the operator to switch between automatic and manual control by manually adjusting the automatic control switch. In the event of an emergency, the operator can make timely adjustments to avoid accidents.

[0086] Example 2

[0087] Reference Figure 2 The bulldozer slip rate control method provided in this embodiment is specific based on the above embodiment 1. The bulldozer slip rate control method includes the following steps.

[0088] S200: Determine whether the bulldozer blade cuts into the ground.

[0089] S210: Determine that the bulldozer is in the automatic slip rate operation mode.

[0090] S220: Obtaining the actual driving speed and theoretical driving speed of the bulldozer.

[0091] S230: Calculating the slip rate of the bulldozer according to the actual driving speed and the theoretical driving speed.

[0092] S240: Control the blade lifting and lowering according to the slip rate.

[0093] Specifically, S240 includes steps S2401-S2404.

[0094] S2401: Compare the slip rate with the upper limit of the set range.

[0095] If the slip ratio is greater than the upper limit of the set range, execute S2402; if the slip ratio is not greater than the upper limit of the set range, execute S2403.

[0096] The setting range refers to the range of slip rates preset based on actual operating conditions. It is generally the range of slip rates at which the bulldozer achieves maximum operating efficiency. The setting range has an upper limit and a lower limit. For example, the setting range could be 12%-15%, with 12% being the lower limit and 15% being the upper limit.

[0097] S2402: Control the blade to rise.

[0098] If the slip rate is greater than the upper limit of the set range, it indicates that the current slip rate is high. Therefore, the resistance of the bulldozer is reduced by controlling the blade to rise, thereby reducing the slip rate.

[0099] Optionally, after step S2402, return to S210.

[0100] S2403: Compare the slip rate with the lower limit of the set range.

[0101] If the slip ratio is less than the lower limit of the set range, execute S2404; if the slip ratio is not less than the lower limit of the set range, directly return to S210.

[0102] S2404: Control the blade to descend.

[0103] If the slip rate is less than the lower limit of the set range, it indicates that the current slip rate is low. Therefore, the resistance of the bulldozer is increased by controlling the blade to descend, thereby increasing the slip rate.

[0104] Optionally, after step S2404, return to S210.

[0105] Since accidents are highly random, during the control process, the bulldozer enters the automatic control mode after determining that it is in the automatic slip rate operating mode. Even after entering the automatic control mode, if an accident occurs, the operator still needs to make timely adjustments. To address this issue, the duration of each automatic control should be minimized. For example, in this embodiment, the duration of controlling the blade to rise or fall in steps S2402 and S2404 is relatively short. That is, in step S2402, the blade is controlled to rise and returns to S210 after a set time has passed. In step S2404, the blade is controlled to fall and returns to S210 after a set time has passed. The set time is no more than 20 ms. This reduces the duration of each automatic adjustment. After the short set time has passed, the bulldozer immediately returns to S210 and re-determines that it is in the automatic slip rate operating mode. This allows the operator to promptly address the accident when it occurs.

[0106] The bulldozer slip rate control method provided in this embodiment is based on the bulldozer slip rate control method of the first embodiment. In step S240, when the slip rate is not within the set range, the blade is raised or lowered to adjust the slip rate. When the slip rate is within the set range, no operation is performed. Furthermore, in this embodiment, if the slip rate is not less than the lower limit of the set range during steps S2402 or S2404, or during step S2403, the process returns to S210, re-determining that the bulldozer is in the automatic slip rate operating mode, and repeating the aforementioned steps to achieve closed-loop control.

[0107] Example 3

[0108] This embodiment provides a bulldozer slip rate control device, which can execute the bulldozer slip rate control method in the above embodiment.

[0109] Reference Figure 3 Specifically, the bulldozer slip rate control device includes a blade cutting determination module 300, a slip rate automatic working mode determination module 310, an actual driving speed acquisition module 320, a theoretical driving speed acquisition module 330, a slip rate calculation module 340 and a blade lifting control module 350.

[0110] Among them, the blade cutting-in determination module 300 is used to determine whether the bulldozer's blade has cut into the ground; the slip rate automatic working mode determination module 310 is used to determine whether the bulldozer is in the slip rate automatic working mode; the actual driving speed acquisition module 320 is used to obtain the actual driving speed of the bulldozer; the theoretical driving speed acquisition module 330 is used to obtain the theoretical driving speed of the bulldozer; the slip rate calculation module 340 is used to calculate the slip rate of the bulldozer based on the actual driving speed and the theoretical driving speed; the blade lifting control module 350 is used to control the blade lifting according to the slip rate.

[0111] The bulldozer slip rate control device provided in this embodiment determines whether the bulldozer blade has cut into the ground through a blade penetration determination module 300; determines whether the bulldozer is in slip rate automatic operation mode through a slip rate automatic operation mode determination module 310; obtains the actual driving speed of the bulldozer through an actual driving speed acquisition module 320; obtains the theoretical driving speed of the bulldozer through a theoretical driving speed acquisition module 330; calculates the bulldozer slip rate based on the actual driving speed and the theoretical driving speed through a slip rate calculation module 340; and controls the blade lifting and lowering according to the slip rate through a blade lifting and lowering control module 350. This bulldozer slip rate control device can control the blade lifting and lowering according to the slip rate, thereby maintaining the bulldozer's slip rate within a certain range. Furthermore, in the event of an emergency, the operator can make timely adjustments to avoid accidents.

[0112] Example 4

[0113] This embodiment provides a bulldozer, such as Figure 4-Figure 5 As shown, the bulldozer includes a controller 400, an automatic slip rate control switch 410, a GNSS receiver 420, a rotation speed sensor 430, a hydraulic control system 440, a blade 450, and a memory 460. The controller 400, the automatic slip rate control switch 410, the GNSS receiver 420, the rotation speed sensor 430, the hydraulic control system 440, and the memory 460 may be connected via a bus, and the blade 450 is connected to the hydraulic control system 440.

[0114] Optionally, the bulldozer further includes a body 500 and wheels 502 disposed on the body 500 , wherein the speed sensor 430 is disposed on the wheel 502 , and the controller 400 , the hydraulic control system 440 , the blade 450 and the memory 460 are all disposed on the body 500 .

[0115] Optionally, the bulldozer further includes a cab 501 and a display and control terminal 470 disposed in the cab 501. The slip rate automatic control switch 410 is disposed in the display and control terminal 470 for operator control. Optionally, the bulldozer further includes a communication module 480 for communicating with other devices or terminals. In addition, in this embodiment, the GNSS receiver 420 is disposed on the blade 450. Although the blade 450 moves relative to the vehicle body 500, since the blade 450 mainly moves up and down in the vertical direction, it has little effect on the signal reception of the GNSS receiver 420. In other embodiments, the GNSS receiver 420 may also be disposed on the vehicle body 500 or in the cab 501.

[0116] Specifically, the slip rate automatic control switch 410 has two states: open and closed, and is in communication with the controller 400. The GNSS receiver 420 is used to receive the bulldozer's satellite positioning information and send the received satellite positioning information to the controller 400. The controller 400 is used to calculate the bulldozer's actual driving speed based on the satellite positioning information. The speed sensor 430 is installed on the bulldozer's wheel 502. The speed sensor 430 is used to detect the speed of the wheel 502 and send the detected speed of the wheel 502 to the controller 400. The controller 400 is used to calculate the bulldozer's theoretical driving speed based on the speed of the wheel 502. The controller 400 is used to control the hydraulic control system 440 to control the lifting and lowering of the blade 450. The hydraulic control system 440 includes a hydraulic cylinder 441 and a hydraulic valve 442. The controller 400 outputs a corresponding control current signal to drive the hydraulic valve 442 to operate, further controlling the operation of the hydraulic cylinder 441 to achieve the lifting and lowering of the blade 450.

[0117] Memory 460, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the bulldozer slip rate control method in the embodiments of the present invention. The controller 400 executes the software programs, instructions, and modules stored in memory 460 to perform various bulldozer functions and data processing, thereby implementing the bulldozer slip rate control method in the embodiments described above.

[0118] Memory 460 primarily includes a program storage area and a data storage area. The program storage area can store an operating system and at least one application required for a function; the data storage area can store data generated based on the terminal's use, etc. Furthermore, memory 460 can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some examples, memory 460 may further include memory 460 located remotely from controller 400. These remote memories can be connected to the bulldozer via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0119] The bulldozer provided in the fourth embodiment of the present invention and the bulldozer slip rate control method provided in the above embodiment belong to the same inventive concept. For technical details not described in detail in this embodiment, please refer to the above embodiment, and this embodiment has the same beneficial effects as executing the bulldozer slip rate control method.

[0120] Example 5

[0121] The fifth embodiment of the present invention further provides a storage medium having a computer program stored thereon. When the program is executed by a controller, the bulldozer implements the bulldozer slip rate control method as described in the above embodiment of the present invention.

[0122] Of course, the storage medium containing computer-executable instructions provided by an embodiment of the present invention is not limited to the operations in the bulldozer slip rate control method described above, but can also execute related operations in the bulldozer slip rate control device provided by an embodiment of the present invention, and has corresponding functions and beneficial effects.

[0123] Through the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware. Of course, it can also be implemented with hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, 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 a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a robot, personal computer, server, or network device, etc.) to execute the bulldozer slip rate control method described in various embodiments of the present invention.

[0124] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A bulldozer slip rate control method, characterized in that: include: Make sure the bulldozer's blade cuts into the ground; determining that the bulldozer is in an automatic slip rate operating mode; Determining that the bulldozer is in the automatic slip rate operating mode includes: determining that an automatic slip rate control switch of the bulldozer is turned on; Obtaining the actual driving speed and theoretical driving speed of the bulldozer; Calculating a slip rate of the bulldozer according to the actual driving speed and the theoretical driving speed; controlling the lifting and lowering of the blade according to the slip rate; The brake pedal of the bulldozer is movable relative to the vehicle body and has a braking position and a non-braking position. When the brake pedal is in the braking position, the brake pedal is used to control the braking of the bulldozer; Determining that the bulldozer is in the automatic slip rate operating mode further includes determining that the brake pedal is in a non-braking position.

2. The bulldozer slip rate control method according to claim 1, characterized in that: Determining that the bulldozer is in the automatic slip rate operation mode further includes: determining that the bulldozer is in a forward state.

3. The bulldozer slip rate control method according to any one of claims 1 to 2, characterized in that: Controlling the lifting of the blade according to the slip rate includes: comparing the slip rate with an upper limit of a set range; If the slip rate is greater than the upper limit of the set range, the blade is controlled to rise.

4. The bulldozer slip rate control method according to claim 3, characterized in that: If the slip rate is not greater than the upper limit of the set range, comparing the slip rate with the lower limit of the set range; If the slip rate is less than the lower limit of the set range, the blade is controlled to descend.

5. The bulldozer slip rate control method according to claim 4, characterized in that: If the slip rate is not less than the lower limit of the set range, the process returns to determine whether the bulldozer is in the slip rate automatic working mode.

6. The bulldozer slip rate control method according to any one of claims 1-2, characterized in that: Obtaining the actual driving speed and theoretical driving speed of the bulldozer includes: Obtaining the actual travel speed of the bulldozer; obtaining the actual travel speed of the bulldozer includes: receiving satellite positioning information of the bulldozer through a GNSS receiver, and calculating the actual travel speed of the bulldozer according to the satellite positioning information; Obtain a theoretical travel speed of the bulldozer.

7. A bulldozer slip rate control device, characterized in that: The bulldozer slip rate control method according to any one of claims 1 to 6 is used, wherein the bulldozer slip rate control device comprises: A blade penetration determination module is used to determine whether the bulldozer's blade has penetrated the ground; a slip rate automatic working mode determining module, configured to determine whether the bulldozer is in a slip rate automatic working mode; An actual driving speed acquisition module, used to acquire the actual driving speed of the bulldozer; A theoretical driving speed acquisition module, used to acquire the theoretical driving speed of the bulldozer; a slip rate calculation module, configured to calculate the slip rate of the bulldozer according to the actual driving speed and the theoretical driving speed; A blade lifting control module is used to control the lifting of the blade according to the slip rate.

8. A bulldozer including a blade, characterized in that Also includes: Controller; A slip rate automatic control switch having two states, open and closed, and communicating with the controller; a GNSS receiver, configured to receive satellite positioning information of the bulldozer and send the received satellite positioning information to the controller, wherein the controller is configured to calculate an actual travel speed of the bulldozer based on the satellite positioning information; a rotation speed sensor, provided on a wheel of the bulldozer, for detecting the rotation speed of the wheel and sending the detected rotation speed of the wheel to the controller, wherein the controller is configured to calculate a theoretical travel speed of the bulldozer based on the rotation speed of the wheel; A hydraulic control system, wherein the controller is used to control the hydraulic control system to control the lifting and lowering of the blade; a memory for storing one or more programs; When the one or more programs are executed by the controller, the controller controls the bulldozer to implement the bulldozer slip rate control method according to any one of claims 1 to 6.

9. A storage medium having a computer program stored thereon, characterized in that When the program is executed by the controller, the bulldozer implements the bulldozer slip rate control method according to any one of claims 1 to 6.

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