Auxiliary drive control method of working machine, electronic equipment and working machine

Abstract

The present invention relates to the technical field of engineering equipment, and provides an auxiliary drive control method, an electronic device and an operating machine for an operating machine. The auxiliary drive control method for the operating machine comprises: obtaining mechanical drive state data of the operating machine; determining a first auxiliary drive control parameter according to the mechanical drive state data when it is determined that the mechanical drive state data does not meet a preset stable drive state condition; the stable drive state condition is used to define a drive state data range corresponding to a mechanical drive source driving the operating machine to drive smoothly; based on the first auxiliary drive control parameter, controlling the auxiliary drive source of the operating machine. Thus, the auxiliary drive source is allocated the output drive force as needed, which effectively saves energy consumption compared to directly outputting the maximum drive force after starting.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering equipment, and in particular to an auxiliary drive control method of an operating machine, an electronic device and an operating machine. Background Art

[0002] With the continuous development of operating machinery technology, some more modern operating machinery is currently equipped with auxiliary drive sources in addition to traditional mechanical drive sources to provide greater driving force for the operating machinery.

[0003] By utilizing the auxiliary drive source, the operating machinery can achieve better performance under more complex working conditions. For example, when climbing a slope, the auxiliary drive source is enabled to increase the climbing power, and the auxiliary drive source is turned off when driving on normal roads.

[0004] At present, after the auxiliary drive switch is started, the auxiliary drive source starts to run at high speed and continuously outputs the maximum driving force, resulting in serious energy loss. At the same time, there is also the risk of high temperature heating of the auxiliary drive source and axle slippage.

[0005] The industry has not yet proposed a better solution to the above problems. Summary of the invention

[0006] The present invention provides an auxiliary drive control method, electronic equipment, non-transitory computer-readable storage medium and working machine for a working machine, which are used to at least solve the defect of serious energy consumption caused by the auxiliary drive source directly outputting the maximum driving force after starting in the prior art.

[0007] The present invention provides an auxiliary drive control method for a working machine, the method comprising: acquiring mechanical drive status data of the working machine; the mechanical drive status data comprising drive status data when the working machine is driven by a mechanical drive source of the working machine to travel; when it is determined that the mechanical drive status data does not meet a preset stable drive status condition, determining a first auxiliary drive control parameter according to the mechanical drive status data; the stable drive status condition is used to define a drive status data range corresponding to the mechanical drive source driving the working machine to travel smoothly; based on the first auxiliary drive control parameter, controlling the auxiliary drive source of the working machine.

[0008] According to the present invention, an auxiliary drive control method for a working machine is provided. After obtaining the mechanical drive status data of the working machine, the method further includes: when it is determined that the mechanical drive status data satisfies the stable drive state condition, controlling the auxiliary drive source of the working machine based on a preset second auxiliary drive control parameter.

[0009] According to the present invention, an auxiliary drive control method for a working machine is provided, wherein obtaining the mechanical drive status data of the working machine comprises: obtaining the engine speed and the driving speed of the working machine; the engine speed is the engine speed corresponding to the mechanical drive source; based on the engine speed and the driving speed, determining the mechanical drive status data of the working machine.

[0010] According to the present invention, an auxiliary drive control method for a working machine is provided, wherein obtaining the engine speed and travel speed of the working machine comprises: collecting the gearbox speed of the working machine and the engine speed corresponding to the mechanical drive source; and determining the travel speed of the working machine based on the gearbox speed.

[0011] According to the present invention, there is provided an auxiliary drive control method for a working machine, wherein the mechanical drive status data of the working machine is determined based on the engine speed and the driving speed, and the method comprises: calculating the ratio of the engine speed to the driving speed; and determining the mechanical drive status data of the working machine according to the ratio.

[0012] According to the present invention, an auxiliary drive control method for a working machine is provided, wherein determining a first auxiliary drive control parameter based on the machine drive status data comprises: determining the first auxiliary drive control parameter based on a ratio corresponding to the machine drive status data, wherein the driving force corresponding to the first auxiliary drive control parameter is positively correlated with the ratio.

[0013] According to the present invention, there is provided an auxiliary drive control method for a working machine, wherein the auxiliary drive source of the working machine is controlled based on the first auxiliary drive control parameter, including: comparing the first auxiliary drive control parameter with a preset third auxiliary drive control parameter; the third auxiliary drive control parameter corresponds to the maximum output driving force of the auxiliary drive source; when the first auxiliary drive control parameter exceeds the third auxiliary drive control parameter, controlling the auxiliary drive source of the working machine according to the third auxiliary drive control parameter.

[0014] According to the present invention, there is provided an auxiliary drive control method for a working machine, wherein the mechanical drive source drives a mechanical drive axle through a first drive circuit, and the auxiliary drive source drives an auxiliary drive axle through a second drive circuit, wherein the mechanical drive source is connected to the second drive circuit through a control valve, wherein based on the first auxiliary drive control parameter, the auxiliary drive source of the working machine is controlled, including: detecting whether the auxiliary drive source has a fault; if the auxiliary drive source does not have a fault, controlling the auxiliary drive source of the working machine based on the first auxiliary drive control parameter; and if the auxiliary drive source has a fault, opening the control valve, and controlling the mechanical drive source to output a driving force corresponding to the first auxiliary drive control parameter for the second drive circuit.

[0015] The present invention also provides a working machine, which includes a mechanical drive source, an auxiliary drive source and a controller, wherein the controller is used to perform the following operations: obtaining mechanical drive status data of the working machine; the mechanical drive status data includes drive status data when the working machine is driven by the mechanical drive source of the working machine; when it is determined that the mechanical drive status data does not meet a preset stable drive state condition, determining a first auxiliary drive control parameter according to the mechanical drive status data; the stable drive state condition is used to define the drive status data range corresponding to the mechanical drive source driving the working machine to drive smoothly; based on the first auxiliary drive control parameter, controlling the auxiliary drive source of the working machine.

[0016] 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, the steps of the auxiliary drive control method of any one of the above-mentioned working machines are implemented.

[0017] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the auxiliary drive control method of the working machine as described in any one of the above are implemented.

[0018] The auxiliary drive control method, electronic device, non-transient computer-readable storage medium and operating machinery provided by the present invention obtain the mechanical drive state data of the operating machinery and detect it using the preset stable drive state conditions to identify whether the driving force output by the mechanical drive source of the operating machinery is sufficient to drive the whole vehicle to travel smoothly. When the identification result indicates that the driving force of the mechanical drive source is insufficient, the corresponding first auxiliary drive control parameter is determined according to the mechanical drive state data, and then the auxiliary drive source of the operating machinery is controlled accordingly. Thus, for the operating machinery equipped with dual drive sources, the state when the mechanical drive source drives the whole vehicle of the operating machinery alone is identified, and when it is identified that the power of the mechanical drive source is insufficient, the auxiliary drive source is enabled, and the drive control parameters for the auxiliary drive source are determined according to the state data during mechanical drive, so that the auxiliary drive source can distribute the output driving force on demand. Compared with directly outputting the maximum driving force after starting, it effectively saves energy consumption, ensures that the output force of the auxiliary drive source meets the current operation or driving conditions, and greatly reduces the probability of the risk of axle slippage. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 creative work.

[0020] Figure 1 A flowchart showing an example of an auxiliary drive control method for a working machine provided by the present invention;

[0021] Figure 2 A flowchart showing an example of an auxiliary drive control method for a working machine according to an embodiment of the present invention;

[0022] Figure 3 Shown according to Figure 1 An exemplary operation flow chart of step S130 in FIG.

[0023] Figure 4 A flowchart showing an example of an auxiliary drive control method for a working machine according to an embodiment of the present invention;

[0024] Figure 5 A structural block diagram of an example of a working machine according to an embodiment of the present invention is shown;

[0025] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Figure 1 A flowchart of an example of the auxiliary drive control method of the working machine provided according to the present invention is shown. Regarding the execution subject of the method of the embodiment of the present invention, it can be any controller or processor with computing or processing capabilities, and is deployed in the working machine to achieve the goal of controlling or adjusting the auxiliary drive source of the working machine. In some examples, it can be integrated and configured in the auxiliary drive controller of the working machine by software, hardware, or a combination of software and hardware.

[0028] It should be understood that the working machinery in the embodiment of the present invention may be any working machinery that can be equipped with a variety of power drive sources, such as a crane, an excavator, etc., and no limitation should be imposed here.

[0029] like Figure 1 As shown, in step S110, the mechanical driving state data of the working machine is obtained, and the mechanical driving state data includes the driving state data when the working machine is driven by the mechanical driving source of the working machine, which can quantitatively reflect the driving state when the working machine is driven by the mechanical driving source alone.

[0030] In some examples, the mechanical driving state data may include one or more driving parameters of the mechanical driving source, and each driving parameter may have a corresponding parameter type, such as torque, driving speed, rotational speed, torque converter working state, throttle opening, etc. In some more specific implementations, the mechanical driving state data may also be determined by combining a plurality of different types of driving parameters, such as combining rotational speed with driving speed, or combining rotational speed with torque, to reflect the mechanical driving state of the mechanical driving source.

[0031] In some business scenarios, in a work machine equipped with a dual power source, the mechanical drive state data may be a state indicator used to measure whether the mechanical drive source can drive the work machine to travel stably. Exemplarily, when the mechanical drive source drives the whole vehicle to travel stably or cannot drive the whole vehicle to travel stably, some specific drive parameters or drive parameter combinations will show a certain regularity, and then determine the corresponding stable drive state conditions, for example, when the mechanical drive source drives the whole vehicle to travel stably, the torque converter working state is not in effect, the engine speed and the driving speed satisfy a linear relationship, and the throttle opening and the driving speed satisfy a linear relationship, etc. Then, by sorting out the above-mentioned drive parameters or drive parameter combinations that can show a certain regularity, such as the torque converter working state, the combination of the engine speed and the driving speed, and the combination of the throttle opening and the driving speed, the corresponding mechanical drive state data can be determined.

[0032] It should be noted that in the embodiment of the present invention, the working machine is equipped with a mechanical drive source (which may also be referred to as a main drive module) and an auxiliary drive source (which may also be referred to as an auxiliary drive module) to ensure that the working machine has a strong output power. The mechanical drive source and the auxiliary drive source are respectively used to drive different axles of the working machine, for example, the mechanical drive axle of the working machine is driven by the mechanical drive source, and the auxiliary drive axle of the working machine is driven by the auxiliary drive source.

[0033] In some examples of the embodiments of the present invention, the working machine is provided with a plurality of axles, each of which is driven by a corresponding drive module (e.g., a mechanical drive source or an auxiliary drive source). In some implementations, the front axle of the working machine is driven by the mechanical drive source, and the rear axle of the working machine is driven by the auxiliary drive source.

[0034] Further, it is detected whether the mechanical driving state data meets a preset stable driving state condition.

[0035] Here, the stable driving state condition is used to define the driving state data range corresponding to the mechanical driving source driving the working machine to drive smoothly. The driving state data range can be a data value range interval composed of one or more specific driving state data. In some examples, through a certain number of effective tests, the driving state data of the mechanical driving source driving the whole vehicle to drive smoothly is collected in advance, and the corresponding stable driving state condition is determined through data cleaning, aggregation and range calibration. Therefore, by matching the mechanical driving state data with the stable driving state condition, it is effectively identified whether the mechanical driving source can drive the whole vehicle to drive smoothly under the current working conditions.

[0036] On the one hand, in step S120, when it is determined that the mechanical driving state data does not meet the preset stable driving state condition, a first auxiliary driving control parameter is determined according to the mechanical driving state data.

[0037] In an example of an embodiment of the present invention, the deviation amplitude between the mechanical driving state data and the driving state data range corresponding to the stable driving state condition is determined, and then the first auxiliary driving control parameter is determined by using the deviation amplitude. Specifically, when the deviation amplitude is large, it means that the auxiliary driving source should be involved to a greater extent, and the corresponding first auxiliary driving control parameter can be matched to a larger auxiliary driving force. When the deviation amplitude is small, it means that the auxiliary driving source should be involved to a lesser extent, and the corresponding first auxiliary driving control parameter can be matched to a smaller auxiliary driving force.

[0038] In another example of an embodiment of the present invention, a first auxiliary drive control parameter matching the acquired mechanical drive state data is determined by a preset state drive relationship model, in which the state drive relationship model defines the relationship between the mechanical drive state data and the auxiliary drive control parameter.

[0039] In some embodiments, the state-drive relationship model may be determined through a pre-calibration operation. Specifically, a certain number of effective tests are conducted in advance, and for each different preset mechanical drive state data, corresponding auxiliary drive control parameters that enable the working machine to travel smoothly are determined, and then the relationship between the mechanical drive state data and the auxiliary drive control parameters is obtained through data statistical calibration.

[0040] As an additional or alternative implementation, the state-driven relationship model may further define a relationship between a deviation amplitude and an auxiliary driving control parameter, wherein the deviation amplitude is a deviation value between the mechanical driving state data and the driving state data range corresponding to the stable driving state condition. Thus, after obtaining the mechanical driving state data, the deviation amplitude of the obtained mechanical driving state data relative to the driving state data range is determined, and then the first auxiliary driving control parameter corresponding to the deviation amplitude can be quickly and accurately obtained through the state-driven relationship model.

[0041] In step S130 , the auxiliary drive source of the working machine is controlled based on the first auxiliary drive control parameter.

[0042] Specifically, the auxiliary drive source of the working machine is set according to the first auxiliary drive control parameter so that the auxiliary drive source outputs a matching auxiliary drive force. Thus, for working machines equipped with dual drive sources, the state of the mechanical drive source driving the whole working machine alone is identified, and when it is identified that the power of the mechanical drive source is insufficient, the auxiliary drive source is enabled, and the drive control parameters for the auxiliary drive source are determined based on the state data of the mechanical drive, so that the auxiliary drive source can distribute the output drive force on demand. Compared with directly outputting the maximum drive force at startup, it effectively saves energy consumption, ensures that the output force of the auxiliary drive source meets the current working or driving conditions, and greatly reduces the probability of the risk of axle slippage.

[0043] On the other hand, when the machine driving state data satisfies the stable driving state condition, the auxiliary driving source of the working machine is controlled based on the preset second auxiliary driving control parameter.

[0044] In some examples of the embodiments of the present invention, by setting the second auxiliary drive control parameter, the auxiliary drive source can output a constant small auxiliary drive force. Specifically, when the mechanical drive state data meets the stable drive state condition, it means that the mechanical drive source can drive the working machine to travel smoothly under the current working condition. At this time, controlling the auxiliary drive source to output a constant small auxiliary drive force can save energy consumption of the auxiliary drive source while ensuring the smooth travel of the working machine.

[0045] As an additional or alternative implementation, when the machine driving state data meets the stable driving state condition, the auxiliary driving source of the working machine is directly controlled to stop running, so as to further save energy consumption.

[0046] Figure 2 A flowchart showing an example of an auxiliary drive control method for a working machine according to an embodiment of the present invention is shown.

[0047] like Figure 2 As shown, in step S210, the engine speed and the travel speed of the working machine are obtained. Here, the engine speed is the engine speed of the corresponding mechanical drive source, and specifically, the engine speed can be collected from the engine of the mechanical drive source through the CAN bus.

[0048] Regarding the method of obtaining the driving speed, on the one hand, it can be accomplished by a speed sensor installed on the working machine, for example, by measuring the speed of the auxiliary drive axle using a speed sensor. On the other hand, it can also be obtained by converting the drive parameters.

[0049] It should be noted that in some cases, the driving speed can be determined by converting the engine speed. However, due to the effect of the torque converter, the speed between the engine and the gearbox may not be transmitted according to the speed ratio, and the speed changes, resulting in a certain deviation in the vehicle speed information collected by the engine.

[0050] In view of this, in some embodiments, the gearbox speed of the working machine and the engine speed of the corresponding mechanical drive source are collected, and then the travel speed of the working machine is determined based on the gearbox speed. It should be understood that in the case of a single-source drive of the mechanical drive source, the travel speed of the working machine can be approximately equal to the speed of each axle including the auxiliary drive axle. Therefore, by directly collecting the gearbox speed to determine the speed of the auxiliary drive axle, the accuracy of the determined speed of the auxiliary drive axle can be effectively improved.

[0051] Specifically, the vehicle speed can be determined by the following formula (1):

[0052] V=rev×b1×b2×r Formula (1)

[0053] Among them, V represents the vehicle speed, rev represents the transmission speed, b1 represents the transfer case bottom gear ratio, b2 represents the axle speed ratio, and r represents the tire rolling radius.

[0054] In step S220, a ratio of the engine speed to the travel speed is calculated, and the mechanical driving state data of the working machine is determined based on the ratio.

[0055] In some implementations, the ratio may be packaged with other driving state parameters for reference to generate mechanical driving state data.

[0056] In step S230, it is detected whether the mechanical driving state data meets a preset stable driving state condition.

[0057] It should be noted that when the mechanical drive source drives the working machine to travel smoothly, the torque converter does not work, so that under normal circumstances, there is a certain linear relationship between the engine speed and the driving speed, that is, the ratio of the engine speed to the driving speed remains basically constant.

[0058] In some embodiments, the stable driving state condition may represent a calibrated ratio or a calibrated ratio range of the engine speed relative to the driving speed when the mechanical drive source drives the working machine to drive smoothly, which may be pre-calibrated through test results of a limited number of tests.

[0059] In step S240, when the mechanical driving state data does not meet the stable driving state condition, a first auxiliary driving control parameter is determined according to the ratio corresponding to the mechanical driving state data, wherein the driving force corresponding to the first auxiliary driving control parameter is positively correlated with the ratio.

[0060] In some embodiments, the ratio of the engine speed to the driving speed is compared with a calibrated ratio corresponding to a stable driving state condition. When the two are not equal, it is determined that the current mechanical driving state does not meet the stable driving state condition, and then the first auxiliary driving control parameter is determined according to the ratio corresponding to the mechanical driving state data. The larger the ratio, the farther the current mechanical driving state is from the stable driving state condition, and the first auxiliary driving control parameter corresponding to a larger auxiliary driving force is determined accordingly.

[0061] In step S250 , the first auxiliary driving control parameter is compared with a preset third auxiliary driving control parameter, where the third auxiliary driving control parameter corresponds to the maximum output driving force of the auxiliary driving source.

[0062] It should be understood that the auxiliary driving source in the embodiment of the present invention may adopt various types of power sources, such as an oil pump power source, an electric motor power source or a hybrid power source, etc., to meet various auxiliary driving force output scenarios.

[0063] In an example of an embodiment of the present invention, when the power source is an electric motor power source, the third auxiliary drive control parameter can represent the rated power of the motor, and when the power source is an oil pump power source, the third auxiliary drive control parameter can represent the flow rate corresponding to the maximum pressure of the auxiliary drive oil pump.

[0064] Specifically, the relationship between the torque of the auxiliary drive oil pump and the oil pump pressure satisfies the following formula (2):

[0065] T=F×P 马达 ÷2π×d Formula (2)

[0066] Where T represents torque, F represents oil pump pressure, P 马达 It indicates the displacement of the motor corresponding to the auxiliary drive oil pump, and d indicates the axle speed ratio.

[0067] Therefore, the greater the oil pump pressure, the greater the torque output by the auxiliary drive oil pump. When the oil pump pressure reaches the maximum value, the auxiliary drive torque output by the auxiliary drive oil pump also reaches the peak value accordingly.

[0068] In step S261 , when the first auxiliary drive control parameter does not exceed the third auxiliary drive control parameter, the auxiliary drive source of the working machine is controlled according to the first auxiliary drive control parameter.

[0069] Specifically, when the first auxiliary drive control parameter corresponding to the mechanical drive state data does not reach the upper limit value, the auxiliary drive source of the working machine is directly set using the first auxiliary drive control parameter so that the power output by the auxiliary drive source matches the current mechanical drive state. As a result, the auxiliary drive source can distribute the output driving force as needed, which can save energy consumption while achieving stable driving of the working machine.

[0070] In step S263, when the first auxiliary drive control parameter exceeds the third auxiliary drive control parameter, the auxiliary drive source of the working machine is controlled according to the third auxiliary drive control parameter.

[0071] In some cases, if the current mechanical driving state is far from the stable driving state condition, even if the auxiliary driving source outputs the maximum torque, the stable driving state condition cannot be maintained, resulting in the positive correlation between the first auxiliary driving control parameter determined to exceed the third auxiliary driving control parameter corresponding to the maximum output driving force of the auxiliary driving source. At this time, the third auxiliary driving control parameter is used to control the auxiliary driving source of the working machine. Therefore, setting the upper limit value of the driving control parameter can prevent the driving load from exceeding the bearing range of the auxiliary driving source.

[0072] Figure 3 Shown according to Figure 1 An example operation flow chart of step S130 in FIG.

[0073] It should be noted that in the current relevant technology, the auxiliary drive source and the mechanical drive source are independent of each other. The auxiliary drive source mainly comes from the on-board engine. When the on-board engine fails, the auxiliary drive source cannot function, resulting in the inability of the auxiliary drive axle to move.

[0074] In view of this, in some examples of embodiments of the present invention, the mechanical drive source drives the mechanical drive axle through a first drive circuit, and the auxiliary drive source drives the auxiliary drive axle through a second drive circuit, wherein the mechanical drive source and the second drive circuit are connected through a control valve.

[0075] like Figure 3 As shown, in step S310, it is detected whether the auxiliary driving source has a fault.

[0076] In one example of the embodiment of the present invention, the self-checking program of the auxiliary driving source is enabled to self-check whether there is a fault. In another example of the embodiment of the present invention, whether there is a fault notification from the auxiliary driving source is detected to identify whether the auxiliary driving source has a fault.

[0077] In step S321 , if there is no failure in the auxiliary drive source, the auxiliary drive source of the working machine is controlled based on the first auxiliary drive control parameter.

[0078] In step S323, if the auxiliary driving source fails, the control valve is opened, and the mechanical driving source is controlled to output a driving force corresponding to the first auxiliary driving control parameter for the second driving circuit.

[0079] Therefore, when there is a fault in the auxiliary drive source, the control valve is opened to connect the mechanical drive source and the second drive circuit, so that the mechanical drive source can drive the first drive circuit and the second drive circuit at the same time, so as to drive the mechanical drive axle and the auxiliary drive axle to move synchronously, thereby ensuring the reliability of the power source of the working machinery.

[0080] As an additional or alternative embodiment, the auxiliary drive source can also be connected to the first drive circuit through a valve, so that when a mechanical drive source fails, the valve is opened and the auxiliary drive source is used to drive the mechanical drive axle, so that when any drive source fails, there is a backup power source to drive the corresponding axle.

[0081] Figure 4 A flowchart showing an example of an auxiliary drive control method for a working machine according to an embodiment of the present invention is shown.

[0082] like Figure 4 As shown, in step S410, the transmission speed and the engine speed are collected.

[0083] In step S420, the driving speed is calculated.

[0084] It should be noted that in the current related technology, the vehicle speed is determined by collecting the engine speed signal, but due to the effect of the torque converter, the speed between the engine and the gearbox is not transmitted according to the speed ratio, resulting in changes in the speed, making the collected vehicle speed value inaccurate.

[0085] In some examples of the embodiments of the present invention, the speed signal of the output shaft of the gearbox is collected, and the speed ratio of the transfer case, the speed ratio of the axle, and the rolling radius of the tire are used to calculate the driving speed. For specific calculation details, please refer to the description in combination with formula (1) above.

[0086] In step S430, the ratio N=engine speed / driving speed is calculated.

[0087] In step S440, it is determined whether N exceeds M. 标定 .

[0088] It should be noted that when the mechanical drive axle has sufficient driving force to drive the vehicle, the ratio between the engine speed and the driving speed is almost constant and can be calibrated in advance, that is, M 标定 .

[0089] In step S451, when N>M 标定When N is reached, the auxiliary drive output pressure is gradually increased.

[0090] In step S453, when N≤M 标定 When the auxiliary drive source is controlled to stably output the auxiliary drive pressure corresponding to the smaller value.

[0091] In some examples of the embodiments of the present invention, after the auxiliary drive switch is turned on, it is determined whether to turn on the auxiliary drive according to the actual driving situation, and the auxiliary drive driving torque is controlled by controlling the oil pump pressure, and the auxiliary drive pressure gradually increases until the stable driving requirement or the maximum pressure is met.

[0092] It should be noted that when the mechanical drive axle does not have enough driving force to drive the vehicle, the torque converter will play a role, resulting in an increase in the ratio of engine speed to driving speed. Here, in order to ensure that the auxiliary drive oil pump plays a role at its maximum power, when the auxiliary drive switch is turned on, the relationship between the engine speed and the vehicle speed is identified. When the ratio of the engine speed to the driving speed is constant or small, the torque converter does not work, and the oil pump pressure of the auxiliary drive source can be controlled to be maintained at a small value. In addition, when the ratio of the engine speed to the vehicle speed increases, the torque converter works to control the auxiliary drive oil pump pressure to gradually increase until the torque converter stops working or the auxiliary drive oil pump pressure reaches the maximum value.

[0093] The working machine provided by the present invention is described below. The working machine described below and the auxiliary drive control method of the working machine described above can be referred to each other.

[0094] Figure 5 A structural block diagram showing an example of a working machine according to an embodiment of the present invention.

[0095] like Figure 5 As shown, the working machine 500 includes a mechanical drive source 510 , an auxiliary drive source 520 , and a controller 530 .

[0096] The controller 530 is used to perform the following operations:

[0097] Acquire mechanical driving state data of the working machine; the mechanical driving state data includes driving state data when the working machine is driven by the mechanical driving source 510;

[0098] In the case where it is determined that the mechanical driving state data does not meet the preset stable driving state condition, determining the first auxiliary driving control parameter according to the mechanical driving state data; the stable driving state condition is used to define the driving state data range corresponding to the mechanical driving source 510 driving the working machine to travel smoothly;

[0099] Based on the first auxiliary driving control parameter, the auxiliary driving source 530 is controlled.

[0100] It should be understood that the working machine 500 may be any type of engineering equipment equipped with tires, such as an all-terrain crane, an excavator, a bulldozer, etc., and this should not be limited herein.

[0101] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. 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 through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the auxiliary drive control method of the working machine, the method comprising: obtaining the mechanical drive state data of the working machine; the mechanical drive state data includes the drive state data when the working machine is driven by the mechanical drive source of the working machine; when it is determined that the mechanical drive state data does not meet the preset stable drive state condition, determining the first auxiliary drive control parameter according to the mechanical drive state data; the stable drive state condition is used to define the drive state data range corresponding to the mechanical drive source driving the working machine to drive smoothly; based on the first auxiliary drive control parameter, controlling the auxiliary drive source of the working machine.

[0102] 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 it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, 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, and the computer software product is stored in a storage medium, including a number of instructions for 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: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0103] 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 a computer, the computer can execute the auxiliary drive control method of the working machinery provided by the above-mentioned methods, and the method includes: obtaining mechanical drive status data of the working machinery; the mechanical drive status data includes drive status data when the mechanical drive source of the working machinery is used to drive the whole vehicle of the working machinery; when it is determined that the mechanical drive status data does not meet the preset stable drive state condition, determine a first auxiliary drive control parameter according to the mechanical drive status data; the stable drive state condition is used to define the drive status data range corresponding to the mechanical drive source driving the working machinery to drive smoothly; based on the first auxiliary drive control parameter, control the auxiliary drive source of the working machinery.

[0104] 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, is implemented to execute the auxiliary drive control method of the working machine provided above, the method comprising: obtaining mechanical drive status data of the working machine; the mechanical drive status data comprises drive status data when the mechanical drive source of the working machine is used to drive the whole vehicle of the working machine for travel; when it is determined that the mechanical drive status data does not meet a preset stable drive state condition, determining a first auxiliary drive control parameter according to the mechanical drive status data; the stable drive state condition is used to define a drive status data range corresponding to the mechanical drive source driving the working machine for stable travel; based on the first auxiliary drive control parameter, controlling the auxiliary drive source of the working machine.

[0105] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0106] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for 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 some parts of the embodiments.

[0107] 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 embodiments of the present invention.

Claims

1. A method for controlling auxiliary drive of an operating machine; It is characterized in that The method comprises: Acquiring mechanical driving state data of the working machine; the mechanical driving state data includes driving state data when the working machine is driven by the mechanical driving source of the working machine; In the case where it is determined that the mechanical driving state data does not meet a preset stable driving state condition, determining a first auxiliary driving control parameter according to the mechanical driving state data; the stable driving state condition is used to define a driving state data range corresponding to the mechanical driving source driving the working machine to travel smoothly; controlling an auxiliary drive source of the working machine based on the first auxiliary drive control parameter; The step of obtaining the mechanical driving state data of the working machine includes: Acquiring the engine speed and travel speed of the working machine; the engine speed is the engine speed corresponding to the machine driving source; determining mechanical driving state data of the working machine based on the engine speed and the travel speed; The obtaining of the engine speed and the travel speed of the working machine comprises: collecting the transmission speed of the working machine and the engine speed corresponding to the mechanical driving source; determining a travel speed of the working machine based on the transmission speed; The determining of the mechanical driving state data of the working machine based on the engine speed and the travel speed includes: calculating a ratio of the engine speed to the travel speed, and determining mechanical drive state data of the working machine according to the ratio; The mechanical drive source drives the mechanical drive axle through a first drive circuit, and the auxiliary drive source drives the auxiliary drive axle through a second drive circuit, wherein the mechanical drive source and the second drive circuit are connected through a control valve. Wherein, based on the first auxiliary drive control parameter, controlling the auxiliary drive source of the working machine includes: Detecting whether the auxiliary drive source has a fault; If the auxiliary drive source is not faulty, controlling the auxiliary drive source of the working machine based on the first auxiliary drive control parameter; and If the auxiliary drive source fails, the control valve is opened, and the mechanical drive source is controlled to output a drive force corresponding to the first auxiliary drive control parameter for the second drive circuit.

2. The auxiliary drive control method of the working machine according to claim 1, It is characterized in that After obtaining the mechanical driving state data of the working machine, the method further includes: When it is determined that the machine driving state data satisfies the stable driving state condition, the auxiliary driving source of the working machine is controlled based on a preset second auxiliary driving control parameter.

3. The auxiliary drive control method of the working machine according to claim 1, It is characterized in that The determining of the first auxiliary drive control parameter according to the mechanical drive state data comprises: A first auxiliary driving control parameter is determined according to the ratio corresponding to the mechanical driving state data, wherein the driving force corresponding to the first auxiliary driving control parameter is positively correlated with the ratio.

4. The auxiliary drive control method of a working machine according to claim 1 or 3, It is characterized in that The controlling of the auxiliary drive source of the working machine based on the first auxiliary drive control parameter includes: comparing the first auxiliary drive control parameter with a preset third auxiliary drive control parameter; the third auxiliary drive control parameter corresponds to the maximum output driving force of the auxiliary drive source; When the first auxiliary drive control parameter exceeds the third auxiliary drive control parameter, the auxiliary drive source of the working machine is controlled according to the third auxiliary drive control parameter.

5. A working machine, It is characterized in that The working machine includes a mechanical drive source, an auxiliary drive source and a controller, wherein the controller is used to perform the following operations: Acquiring mechanical driving state data of the working machine; the mechanical driving state data includes driving state data when the working machine is driven by the mechanical driving source; In the case where it is determined that the mechanical driving state data does not meet a preset stable driving state condition, determining a first auxiliary driving control parameter according to the mechanical driving state data; the stable driving state condition is used to define a driving state data range corresponding to the mechanical driving source driving the working machine to travel smoothly; controlling the auxiliary drive source based on the first auxiliary drive control parameter; The step of obtaining the mechanical driving state data of the working machine includes: Acquiring the engine speed and travel speed of the working machine; the engine speed is the engine speed corresponding to the machine driving source; determining mechanical driving state data of the working machine based on the engine speed and the travel speed; The obtaining of the engine speed and the travel speed of the working machine comprises: collecting the transmission speed of the working machine and the engine speed corresponding to the mechanical driving source; determining a travel speed of the working machine based on the transmission speed; The determining of the mechanical driving state data of the working machine based on the engine speed and the travel speed includes: calculating a ratio of the engine speed to the travel speed, and determining mechanical drive state data of the working machine according to the ratio; The mechanical drive source drives the mechanical drive axle through a first drive circuit, and the auxiliary drive source drives the auxiliary drive axle through a second drive circuit, wherein the mechanical drive source and the second drive circuit are connected through a control valve. Wherein, based on the first auxiliary drive control parameter, controlling the auxiliary drive source of the working machine includes: Detecting whether the auxiliary drive source has a fault; If the auxiliary drive source is not faulty, controlling the auxiliary drive source of the working machine based on the first auxiliary drive control parameter; and If the auxiliary drive source fails, the control valve is opened, and the mechanical drive source is controlled to output a drive force corresponding to the first auxiliary drive control parameter for the second drive circuit.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the program, the steps of the auxiliary drive control method of the working machine as described in any one of claims 1 to 4 are implemented.

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