Auxiliary drive control method of work machine, electronic device, and work machine

Abstract

The application relates to the technical field of engineering equipment, and provides an auxiliary drive control method of a working machine, an electronic device and the working machine. The auxiliary drive control method of the working machine comprises the following steps: acquiring the vehicle speed of a mechanically driven axle of the working machine; determining the target vehicle speed of an auxiliary driven axle of the working machine according to the vehicle speed of the mechanically driven axle; wherein the target vehicle speed is greater than the vehicle speed of the mechanically driven axle; setting the driving control parameter of an auxiliary driving source of the working machine based on the target vehicle speed; wherein the auxiliary driving source is used for driving the auxiliary driven axle. Therefore, the auxiliary driven axle is driven and controlled according to the vehicle speed which is higher than that of the mechanically driven axle, the situation that the working machine is driven backward by the auxiliary drive can be effectively avoided, and the power gain of the auxiliary driving source is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering equipment, and in particular to an auxiliary drive control method of a working machine, an electronic device, a non-transitory computer readable storage medium and a working machine. BACKGROUND

[0002] With the continuous development of engineering equipment technology, some more modern working machines currently have auxiliary driving sources in addition to traditional mechanical driving sources to provide greater driving force.

[0003] By utilizing auxiliary power sources and independent driving transmission systems to drive different axles in a working machine, the performance of the working machine in many special working conditions can be optimized. For example, when climbing a slope, the auxiliary driving force is provided by turning on the auxiliary power source, and when driving in normal conditions, the auxiliary power source is turned off and the driving is provided by the mechanical driving source alone.

[0004] However, the mechanical driving source and the auxiliary driving source are independent of each other, and the matching synchronization between the two becomes a very critical influencing factor. In some cases, due to the poor driving synchronization of the mechanical driving source and the auxiliary driving source, the working machine is driven in reverse by the auxiliary drive, which affects the driving performance of the working machine. SUMMARY

[0005] The present application provides an auxiliary drive control method of a working machine, an electronic device, a non-transitory computer readable storage medium and a working machine to at least solve the defects of the prior art that the working machine is driven in reverse by the auxiliary drive.

[0006] The present application provides an auxiliary drive control method of a working machine, comprising: obtaining the speed of a mechanically driven axle of the working machine; determining a target speed of an auxiliary driven axle of the working machine according to the speed of the mechanically driven axle; wherein the target speed is greater than the speed of the mechanically driven axle; setting a driving control parameter of an auxiliary driving source of the working machine based on the target speed; wherein the auxiliary driving source is used to drive the auxiliary driven axle.

[0007] According to the present application, an auxiliary drive control method of a working machine is provided, and the target speed of the auxiliary driven axle of the working machine is determined according to the speed of the mechanically driven axle, comprising: detecting whether the speed of the mechanically driven axle matches a speed interval corresponding to the starting state of the working machine; when the speed of the mechanically driven axle does not match the speed interval, determining the target speed of the auxiliary driven axle according to the speed of the mechanically driven axle, wherein the target speed and the speed of the mechanically driven axle have a linear relationship.

[0008] According to the present invention, an auxiliary drive control method for a working machine is provided. After detecting whether the speed of the mechanical drive axle matches the speed range corresponding to the starting state of the engineering machine, the auxiliary drive control method for the working machine further includes: when the speed of the mechanical drive axle matches the speed range, determining the target speed for the auxiliary drive axle based on a corresponding preset set speed for the starting state; wherein the set speed is greater than the maximum speed in the speed range.

[0009] According to the present invention, an auxiliary drive control method for a working machine is provided, wherein obtaining the speed of the mechanically driven axle comprises: collecting the transmission speed of the working machine; and determining the speed of the mechanically driven axle based on the transmission speed.

[0010] According to the present invention, there is provided an auxiliary drive control method for a working machine, wherein the auxiliary drive source adopts an oil pump auxiliary drive source, wherein the drive control parameters for the auxiliary drive source of the working machine are set based on the target vehicle speed, including: determining a target oil pump flow for the oil pump auxiliary drive source that matches the target vehicle speed based on a preset vehicle speed-flow relationship; the vehicle speed-flow relationship is a linear relationship between the vehicle speed and the oil pump flow; wherein, after setting the drive control parameters for the auxiliary drive source of the working machine based on the target vehicle speed, the method further includes: performing flow control on the oil pump auxiliary drive source based on the target oil pump flow.

[0011] According to the present invention, an auxiliary drive control method for a working machine is provided, wherein the oil pump auxiliary drive source includes an electric proportional valve for regulating the oil pump flow, wherein the flow control of the oil pump auxiliary drive source is performed based on the target oil pump flow, comprising: determining a target output current for the electric proportional valve corresponding to the target oil pump flow; and controlling the electric proportional valve based on the target output current.

[0012] According to the present invention, there is provided an auxiliary drive control method for a working machine, wherein the drive control parameters for the auxiliary drive source of the working machine are set based on the target vehicle speed, including: determining the auxiliary drive power that matches the target vehicle speed; determining the number of auxiliary drive units based on the auxiliary drive power and a preset auxiliary drive unit drive power; the auxiliary drive source includes a plurality of cascaded auxiliary drive units, each of the auxiliary drive units is used to output the auxiliary drive unit drive power; and controlling the start-up of the auxiliary drive units corresponding to the number of auxiliary drive units.

[0013] The present invention also provides a working machine, which includes a mechanical drive source, an auxiliary drive source and a controller, the mechanical drive source is used to drive a mechanical drive axle, and the auxiliary drive source is used to drive an auxiliary drive axle, wherein the controller is used to perform the following operations: obtaining the vehicle speed of the mechanical drive axle; determining the target vehicle speed for the auxiliary drive axle based on the vehicle speed of the mechanical drive axle; wherein the target vehicle speed is greater than the vehicle speed of the mechanical drive axle; and setting the drive control parameters for the auxiliary drive source of the working machine based on the target vehicle speed.

[0014] 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 for the working machine as described above are implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-described auxiliary drive control methods for a working machine.

[0016] The auxiliary drive control method, electronic device, non-transitory computer-readable storage medium, and working machine provided by the present invention obtain the speed of the mechanical drive axle, determine a target speed greater than the speed of the mechanical drive axle, and set the drive control parameters of the auxiliary drive source. Thus, compared to directly controlling the drive control parameters of the auxiliary drive source according to the working machine's travel speed, in an embodiment of the present invention, the speed of the mechanical drive axle is obtained and the auxiliary drive axle is driven and controlled according to a target speed higher than the mechanical drive axle. This ensures that under normal operating conditions, the speed of the auxiliary drive axle is higher than that of the mechanical drive axle, thereby increasing the power gain of the auxiliary drive source. Furthermore, when the driving force to the auxiliary drive axle is insufficient or temporarily insufficient due to abnormal operating conditions, the speed of the reduced auxiliary drive axle can still exceed the speed of the mechanical drive axle or maintain synchronization with the speed of the mechanical drive axle to a certain extent. This effectively reduces the probability of the auxiliary drive back-dragging the working machine due to the auxiliary drive axle's speed being lower than the mechanical drive axle, thereby optimizing the power and economic performance of the working machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1A flowchart showing an example of an auxiliary drive control method for a working machine provided by the present invention is shown;

[0019] Figure 2 A flowchart illustrating an example of an auxiliary drive control method for a working machine according to an embodiment of the present invention is shown;

[0020] Figure 3 Shown according to Figure 2 An exemplary operational flow chart of step S240 in FIG.

[0021] Figure 4 A flowchart illustrating an example of an auxiliary drive control method for a working machine according to an embodiment of the present invention is shown;

[0022] Figure 5 A block diagram showing a structure of an example of a working machine according to an embodiment of the present invention is shown;

[0023] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0025] Figure 1 A flowchart illustrating an example of an auxiliary drive control method for a work machine according to the present invention is provided. The method according to the present invention can be implemented by any controller or processor with computing or processing capabilities, deployed in the work machine to control or adjust the auxiliary drive source of the work machine. In some examples, the method can be integrated into the auxiliary drive controller of the work machine via software, hardware, or a combination of software and hardware.

[0026] It should be understood that the working machinery in the embodiment of the present invention may be any working machinery that can be configured with a variety of power drive sources, such as cranes, excavators, etc., and there should be no limitation thereto.

[0027] like Figure 1 As shown, in step S110 , the vehicle speed of the mechanical drive axle of the working machine is acquired.

[0028] In an embodiment of the present invention, the work machine is equipped with both a mechanical drive source (also referred to as a primary drive module) and an auxiliary drive source (also referred to as an auxiliary drive module) to ensure that the work machine has a strong output power. The mechanical drive source and the auxiliary drive source are respectively used to drive different axles of the work machine. For example, the mechanical drive source drives the mechanical drive axle of the work machine, while the auxiliary drive source drives the auxiliary drive axle of the work machine.

[0029] In some examples of embodiments of the present invention, a work machine is provided with multiple 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 work machine is driven by the mechanical drive source, and the rear axle of the work machine is driven by the auxiliary drive source.

[0030] Here, the speed of the mechanically driven axle can be collected by directly collecting the speed or indirectly converting the speed, without limitation. In some embodiments, the engine speed can also be collected and used to calculate the speed of the corresponding mechanically driven axle.

[0031] In step S120 , a target vehicle speed for the auxiliary drive axle of the work machine is determined based on the vehicle speed of the mechanical drive axle.

[0032] Here, the target vehicle speed may represent a vehicle speed that the auxiliary drive axle is expected to achieve. The target vehicle speed is a value greater than the vehicle speed of the mechanical drive axle and may be determined by various settings or algorithms, such as by amplifying the vehicle speed of the mechanical drive axle in equal or proportional manner.

[0033] In step S130 , drive control parameters for the auxiliary drive source of the work machine are set based on the target vehicle speed.

[0034] It should be understood that the auxiliary drive source can utilize various types of power sources, such as a fuel source or an electric motor, to achieve various types of drive power output. Furthermore, the drive control parameters of the auxiliary drive source, such as the oil pump flow rate or the motor output power, can be adjusted according to the target vehicle speed.

[0035] It should be noted that in current related technologies, the parameter control and adjustment of the auxiliary drive source of a work machine is directly determined based on the speed of the work machine or the mechanical drive axle to synchronize the speed of the front and rear axles. However, the operating environment of work machines is harsh, and unexpected situations such as parameter acquisition deviation and delayed transmission are prone to occur, making it impossible to achieve speed synchronization between the front and rear axles. In addition, the speed of the auxiliary drive axle may be lower than that of the mechanical drive axle, causing the auxiliary drive to drag the work machine backward.

[0036] In this embodiment of the present invention, a target speed greater than that of the mechanical drive axle is determined and used to control the auxiliary drive source of the work machine. This speed difference between the auxiliary drive axle and the mechanical axle effectively leverages the power of the auxiliary drive source, optimizing the dynamic performance of the work machine. Furthermore, because the target speed of the auxiliary axle is greater than that of the mechanical drive axle, the likelihood of auxiliary drive reverse drag is significantly reduced, even in the event of unexpected situations such as parameter acquisition deviations and delayed transmission.

[0037] Figure 2 A flowchart illustrating an example of an auxiliary drive control method for a working machine according to an embodiment of the present invention is shown.

[0038] like Figure 2 As shown, in step S210 , the vehicle speed of the mechanical drive axle of the working machine is acquired.

[0039] In one example of the embodiment of the present invention, the vehicle speed of the mechanically driven axle may be obtained by directly acquiring the engine speed signal.

[0040] In another example of the present invention, the speed of the mechanically driven axle can be determined based on the transmission speed of the work machine. It should be noted that due to the torque converter, the speed between the engine and the transmission is not transmitted according to the speed ratio, resulting in speed variations. This often results in a certain degree of deviation in the speed information collected from the engine. In contrast, in this example, directly determining the speed of the mechanically driven axle by collecting the transmission speed effectively improves the accuracy of the determined mechanical axle speed.

[0041] Specifically, the speed of the mechanical axle can be determined by the following formula (1):

[0042] V 主 = rev×b1×b2×r Formula (1)

[0043] Among them, V 主 represents the vehicle speed of the mechanical axle, 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.

[0044] In step S220, the speed of the mechanical drive axle is checked to see if it matches the speed range corresponding to the construction machine's starting state. The speed range corresponding to the starting state may represent the speed of the mechanical axle during the construction machine's starting phase. This range is typically a relatively small value range and can be adjusted based on different business scenarios or needs.

[0045] Specifically, in one embodiment of the present invention, the speed interval may be [0, 0], meaning that only the stationary state (i.e., vehicle speed of 0) of the mechanically driven axle during start-up is detected. In another embodiment of the present invention, the speed interval may be another non-zero value interval [0, a] to enable continuous vehicle speed monitoring during the start-up phase and special driving conditions.

[0046] On the one hand, in step S231, when the speed of the mechanical drive axle does not match the speed range, a target speed for the auxiliary drive axle is determined based on the speed of the mechanical drive axle. Here, the target speed is linearly related to the speed of the mechanical drive axle, and the target speed is greater than the speed of the mechanical drive axle.

[0047] It should be noted that in the current relevant technology, the vehicle speeds of different mechanical drive axles and the corresponding auxiliary drive control parameters are generally pre-given by looking up tables. However, rounding off the flow value when the vehicle speed is not an integer will also lead to inconsistent speeds of the mechanical drive axle and the auxiliary drive axle, causing a sudden change in the speed of the auxiliary drive axle.

[0048] In the embodiment of the present invention, the logical relationship between the target vehicle speed and the speed of the mechanical drive axle adopts a linear relationship instead of just taking a few integer points. This can more accurately achieve the synchronization between the auxiliary drive and the mechanical drive, and can also effectively avoid the occurrence of sudden changes in the speed of the auxiliary drive axle.

[0049] Specifically, the relationship between the target vehicle speed and the vehicle speed of the mechanical drive axle satisfies the following formula (2):

[0050] V 辅 = V 主 ×k formula (2)

[0051] Among them, V 主 Indicates the vehicle speed of the mechanical axle, V 辅 represents the speed of the auxiliary axle, and k represents a coefficient greater than 1.

[0052] In some examples of the embodiments of the present invention, the value of k can be determined through a limited number of experiments, so as to achieve the purpose of energy conservation while utilizing the vehicle speed difference to improve the power value of the auxiliary drive source. For example, the value of k should not be too large.

[0053] On the other hand, in step S233, if the mechanical drive axle speed matches the speed range, a target speed for the auxiliary drive axle is determined based on a preset vehicle speed setting for the starting state. Here, the vehicle speed setting is greater than the maximum speed in the speed range.

[0054] It should be noted that, as described above, in current related technologies, the control and adjustment of parameters for auxiliary drive sources for work machines is generally determined directly based on the speed of the work machine or the mechanically driven axle. However, during vehicle startup, the mechanically driven axle's speed is low, for example, zero, resulting in a weak power output from the corresponding auxiliary drive source, which affects the work machine's starting performance.

[0055] In some examples of the present invention, the target vehicle speed is directly set using the set vehicle speed. Specifically, when the work machine is detected to be in a speed range corresponding to the starting state, the auxiliary drive source's output driving force is no longer controlled according to the work machine's current starting speed. Instead, the auxiliary drive source's power output is controlled at a speed greater than or significantly greater than the current starting speed, fully utilizing the driving force of the auxiliary drive axle and improving the work machine's starting performance.

[0056] In step S240 , drive control parameters for the auxiliary drive source of the work machine are set based on the target vehicle speed.

[0057] In some embodiments, an auxiliary drive power matching the target vehicle speed of the auxiliary drive axle is determined, and drive control parameters for the auxiliary drive source of the work machine are set based on the auxiliary drive power. The auxiliary drive source can be a fuel-powered auxiliary drive source, an electric motor-powered auxiliary drive source, or a hybrid power-powered auxiliary drive source. Through embodiments of the present invention, the auxiliary drive power matching the target vehicle speed is determined, and drive control parameters for the auxiliary drive source of the work machine are set based on the auxiliary drive power.

[0058] More specifically, the auxiliary drive source can include multiple cascaded auxiliary drive units, each configured to output a preset auxiliary drive unit drive power. Accordingly, the number of auxiliary drive units is determined based on the auxiliary drive power and the auxiliary drive unit drive power, and activation of the corresponding number of auxiliary drive units is controlled. Thus, based on the auxiliary drive power required for the target vehicle speed of the auxiliary drive axle, the corresponding number of auxiliary drive units is activated, enabling on-demand, graded utilization of each auxiliary drive unit in the auxiliary drive module, achieving efficient and orderly use of auxiliary drive power resources, and contributing to improved endurance of the work machine.

[0059] It should be noted that in current related technologies, when using vehicle speed to control the oil pump flow rate, this is typically done through a table lookup, for example, directly specifying the flow rate for integer speeds. However, when the vehicle speed is non-integer, the corresponding flow rate value is obtained through table lookup using rounding. This can cause a sudden change in the auxiliary drive force and, to a certain extent, lead to inconsistent vehicle speeds between the mechanical drive axle and the auxiliary drive axle.

[0060] Figure 3Shown according to Figure 2 Here, the auxiliary driving source is an oil pump auxiliary driving source.

[0061] like Figure 3 As shown, in step S310, a target oil pump flow rate for the oil pump auxiliary driving source that matches the target vehicle speed is determined according to a preset vehicle speed-flow rate relationship.

[0062] Here, the vehicle speed flow relationship may be a pre-calibrated linear relationship between the vehicle speed and the oil pump flow rate.

[0063] In step S320 , the flow rate of the oil pump auxiliary drive source is controlled based on the target oil pump flow rate.

[0064] In some embodiments, the auxiliary oil pump drive source includes an electric proportional valve for regulating the oil pump flow rate. Specifically, a target output current for the electric proportional valve corresponding to a target oil pump flow rate can be determined, and the electric proportional valve can be controlled based on the target output current. This allows for precise control of the output flow rate through the electric proportional valve, ensuring that the auxiliary drive axle's travel speed reaches the target vehicle speed.

[0065] Through the embodiments of the present invention, the linear relationship between the vehicle speed and the oil pump flow rate is pre-calibrated. When determining the flow rate corresponding to the vehicle speed, it is no longer necessary to look up the integer points in the table. Instead, the linear relationship is used to directly determine the flow rate. This can effectively prevent the risk of sudden power changes in the auxiliary drive and optimize the synchronization between the mechanical drive axle and the auxiliary drive axle.

[0066] Figure 4 A flowchart illustrating an example of an auxiliary drive control method for a working machine according to an embodiment of the present invention is shown.

[0067] like Figure 4 As shown, in step S410, the transmission speed is collected.

[0068] In step S420 , the mechanical axle speed is calculated.

[0069] Specifically, the mechanical axle speed is calculated using the collected transmission speed. For details, please refer to the description in conjunction with formula (1).

[0070] In step S430 , the auxiliary drive axle speed is calculated.

[0071] Specifically, the auxiliary drive axle speed is calculated based on the mechanical axle speed. The auxiliary drive axle speed and the mechanical axle speed are in a linear relationship in direct proportion, and the auxiliary drive axle speed is greater than the mechanical axle speed to fully utilize the power of the auxiliary drive. For relevant details, please refer to the description of the above formula (2).

[0072] In step S440, the auxiliary drive oil pump flow rate is calculated.

[0073] Specifically, the relationship between the auxiliary drive oil pump flow rate and the auxiliary drive axle vehicle speed satisfies the following formula (3):

[0074] F 辅 = (V 辅 ×T 马达 ) / (π×d×i) Formula (3)

[0075] Among them, F 辅 Indicates the auxiliary drive oil pump flow rate, T 马达 It represents the displacement of the motor corresponding to the auxiliary drive oil pump, d represents the tire rolling diameter, and i represents the auxiliary drive axle speed ratio.

[0076] It should be noted that when a work machine is just starting, the required driving force is high, and at this time, the vehicle speed is zero, resulting in a small flow rate matched to the oil pump, which is insufficient to maximize the oil pump pressure. In some examples of the present invention, when the vehicle speed is detected to be zero, the oil pump is given a preset flow rate corresponding to the set vehicle speed, which just maximizes the oil pump pressure, ensuring sufficient driving force without adhering to the linear relationship between real-time vehicle speed and flow rate. As a result, when the work machine is just starting and high torque is required, the auxiliary drive axle can provide a large torque.

[0077] In step S450 , a control current of the oil pump electric proportional valve is output.

[0078] Specifically, the relationship between the control current of the oil pump electric proportional valve and the flow rate of the auxiliary drive oil pump satisfies the following formula (4):

[0079] I 油泵 = F 辅 ×s formula (4)

[0080] Among them, I 油泵 Indicates the control current of the oil pump electric proportional valve, F 辅 It represents the flow rate of auxiliary drive oil pump, and s represents the calibration coefficient.

[0081] Through the embodiment of the present invention, the relationship between the oil pump flow rate and vehicle speed is linearly controlled, ensuring the synchronization of the vehicle speeds of the mechanical drive axle and the auxiliary drive axle. In addition, the auxiliary drive axle's speed is greater than that of the mechanical drive axle, ensuring that the auxiliary drive axle performs an auxiliary driving function without dragging the mechanical axle backward.

[0082] 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 in correspondence with each other.

[0083] Figure 5 A block diagram showing a structure of an example of a working machine according to an embodiment of the present invention is shown.

[0084] like Figure 5 As shown, the work machine 500 includes a mechanical drive source 510 , an auxiliary drive source 520 , and a controller 530 .

[0085] The mechanical drive source 510 is used to drive the mechanical drive axle.

[0086] The auxiliary drive source 520 is used to drive the auxiliary drive axle.

[0087] The controller 530 is used to perform the following operations: obtaining the vehicle speed of the mechanical drive axle; determining the target vehicle speed for the auxiliary drive axle based on the vehicle speed of the mechanical drive axle; wherein the target vehicle speed is greater than the vehicle speed of the mechanical drive axle; and setting the drive control parameters for the auxiliary drive source of the working machine based on the target vehicle speed.

[0088] 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 is not limited thereto.

[0089] Figure 6 An example of a physical structure diagram of an electronic device is shown below. Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute an auxiliary drive control method for a working machine, the method comprising: obtaining the speed of a mechanical drive axle of the working machine; determining a target speed for an auxiliary drive axle of the working machine based on the speed of the mechanical drive axle; wherein the target speed is greater than the speed of the mechanical drive axle; and setting a drive control parameter for an auxiliary drive source of the working machine based on the target speed; wherein the auxiliary drive source is used to drive the auxiliary drive axle.

[0090] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0091] 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 methods, the method including: obtaining the vehicle speed of the mechanical drive axle of the working machinery; determining the target vehicle speed of the auxiliary drive axle of the working machinery based on the vehicle speed of the mechanical drive axle; wherein the target vehicle speed is greater than the vehicle speed of the mechanical drive axle; based on the target vehicle speed, setting the drive control parameters for the auxiliary drive source of the working machinery; wherein the auxiliary drive source is used to drive the auxiliary drive axle.

[0092] 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 machinery provided above, the method comprising: obtaining the vehicle speed of the mechanical drive axle of the working machinery; determining the target vehicle speed for the auxiliary drive axle of the working machinery based on the vehicle speed of the mechanical drive axle; wherein the target vehicle speed is greater than the vehicle speed of the mechanical drive axle; and setting the drive control parameters for the auxiliary drive source of the working machinery based on the target vehicle speed; wherein the auxiliary drive source is used to drive the auxiliary drive axle.

[0093] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0094] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for controlling an auxiliary drive of an operating machine, comprising: Obtaining the speed of the mechanical drive axle of the working machine; determining a target speed for the auxiliary drive axle of the working machine according to the speed of the mechanical drive axle; wherein the target speed is greater than the speed of the mechanical drive axle; Based on the target vehicle speed, setting a drive control parameter for an auxiliary drive source of the working machine; wherein the auxiliary drive source is used to drive the auxiliary drive axle; Determining the target speed of the auxiliary drive axle of the working machine according to the speed of the mechanical drive axle includes: detecting whether the speed of the mechanically driven axle matches the speed range corresponding to the starting state of the construction machinery; When the speed of the mechanical drive axle does not match the speed range, a target speed for the auxiliary drive axle is determined according to the speed of the mechanical drive axle, wherein the target speed is linearly related to the speed of the mechanical drive axle.

2. The auxiliary drive control method of a working machine according to claim 1, characterized in that: After detecting whether the speed of the mechanically driven axle matches the speed range corresponding to the starting state of the construction machinery, the auxiliary drive control method of the working machinery further includes: When the speed of the mechanical drive axle matches the speed range, a target speed for the auxiliary drive axle is determined based on a corresponding preset set speed for a starting state; wherein the set speed is greater than a maximum speed in the speed range.

3. The auxiliary drive control method of a working machine according to claim 1, characterized in that: The obtaining of the vehicle speed of the mechanically driven axle includes: collecting the gearbox speed of the operating machine; A vehicle speed of the mechanically driven axle is determined based on the transmission speed.

4. The auxiliary drive control method of a working machine according to claim 1, characterized in that: The auxiliary drive source is an oil pump auxiliary drive source, wherein the drive control parameters for the auxiliary drive source of the working machine are set based on the target vehicle speed, including: determining a target oil pump flow rate for the oil pump auxiliary drive source that matches the target vehicle speed based on a preset vehicle speed-flow rate relationship; the vehicle speed-flow rate relationship being a linear relationship between the vehicle speed and the oil pump flow rate; After setting the drive control parameters for the auxiliary drive source of the working machine based on the target vehicle speed, the method further includes: Based on the target oil pump flow rate, the flow rate of the oil pump auxiliary drive source is controlled.

5. The auxiliary drive control method of a working machine according to claim 4, characterized in that: The oil pump auxiliary driving source includes an electric proportional valve for regulating the oil pump flow rate, wherein the flow rate of the oil pump auxiliary driving source is controlled based on the target oil pump flow rate, including: determining a target output current for the electric proportional valve corresponding to the target oil pump flow rate; The electric proportional valve is controlled based on the target output current.

6. The auxiliary drive control method of a working machine according to claim 1, characterized in that: The step of setting a drive control parameter for an auxiliary drive source of the working machine based on the target vehicle speed includes: determining an auxiliary drive power that matches the target vehicle speed; The number of auxiliary drive units is determined based on the auxiliary drive power and the preset auxiliary drive unit drive power; the auxiliary drive source comprises a plurality of cascaded auxiliary drive units, each of the auxiliary drive units is used to output the auxiliary drive unit drive power; Auxiliary drive units corresponding to the number of auxiliary drive units are controlled to start.

7. A working machine, characterized in that: The working machine includes a mechanical drive source, an auxiliary drive source, and a controller, wherein the mechanical drive source is used to drive a mechanical drive axle, the auxiliary drive source is used to drive an auxiliary drive axle, and the controller is used to perform the following operations: obtaining the vehicle speed of the mechanical drive axle; determining a target vehicle speed for the auxiliary drive axle according to the vehicle speed of the mechanical drive axle; wherein the target vehicle speed is greater than the vehicle speed of the mechanical drive axle; setting a drive control parameter for an auxiliary drive source of the work machine based on the target vehicle speed; Determining the target speed of the auxiliary drive axle of the working machine according to the speed of the mechanical drive axle includes: detecting whether the speed of the mechanically driven axle matches the speed range corresponding to the starting state of the construction machinery; When the speed of the mechanical drive axle does not match the speed range, a target speed for the auxiliary drive axle is determined according to the speed of the mechanical drive axle, wherein the target speed is linearly related to the speed of the mechanical drive axle.

8. 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 for the working machine as described in any one of claims 1 to 6 are implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the auxiliary drive control method for a working machine as described in any one of claims 1 to 6 are implemented.

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