Deicing vehicle travel control method, device, equipment and storage medium

Abstract

The application discloses a deicing vehicle driving control method, device, equipment and storage medium. The deicing vehicle comprises a vehicle body and a static pressure transmission system, the static pressure transmission system comprises an engine, a hydraulic variable pump and a walking motor, the walking motor has a first displacement in a low speed mode and a second displacement in a high speed mode, and the method comprises the following steps: the deicing vehicle acquires a current speed mode and a current input flow value of the walking motor; and speed control is performed on the walking motor based on the comparison result of the current input flow value and a set flow threshold value corresponding to the current speed mode. In this way, the automatic switching of the walking motor between the high speed mode and the low speed mode can be realized, the deicing vehicle has a wider driving speed range, and based on the driving speed ranges corresponding to the low speed mode and the high speed mode respectively, the accurate control of the driving speed can be realized, thereby effectively meeting the control requirement of the driving smoothness of the deicing vehicle.

Description

Technical Field

[0001] This application relates to the field of de-icing vehicles, and more particularly to a method, device, equipment, and storage medium for controlling the driving of a de-icing vehicle. Background Technology

[0002] Under icing conditions, ice, snow, and frost directly impact aircraft operational safety. They roughen the aircraft's surface, increase weight, restrict the range of motion of control surfaces, cause instrument errors, and in severe cases, increase stall speed and sudden abnormal pitch, significantly degrading flight performance. This is especially true during takeoff and climb, making flight attitude difficult to control and potentially leading to air disasters. Therefore, to ensure normal air transport and flight safety, it is essential to remove ice, frost, and snow from aircraft surfaces. De-icing vehicles currently used at airports have multiple functions, including de-icing, cleaning, and spraying anti-icing fluid.

[0003] Unlike ordinary engineering vehicles, de-icing trucks need to move while working. Therefore, when a de-icing truck is working, the operator needs to control the truck to move at a stable speed.

[0004] In related technologies, traditional drive systems include three types: gear transmission, hydraulic torque converter transmission, and hydrostatic transmission. Gear transmission, with its simple structure and high transmission efficiency, often dominates the drive system. However, due to the rigid transmission of motion and fixed transmission ratio, gear transmission can only achieve step-like speed regulation, making it difficult to meet the smooth driving requirements of de-icing trucks. Hydraulic torque converters have automatic adaptability to external loads, automatically adjusting torque output according to changes in external loads, making stepless speed regulation possible. However, because energy transmission relies on the viscosity of oil, speed control is not precise enough at low speeds, and the oil temperature is high, resulting in some energy being wasted as heat, affecting energy transmission efficiency. Hydrostatic transmission systems have many technical advantages, such as convenient layout, high power density, a wider high-efficiency range than hydraulic torque converters, and high starting torque. For hydrostatic transmission, under a constant external load, the motion is forcibly transmitted because the hydrostatic transmission system utilizes the static pressure of a liquid, which is incompressible. This is equivalent to direct transmission via a coupling, resulting in precise speed control at low speeds and high energy transmission efficiency. When the external load changes, the output speed and torque can be adjusted through the control mechanism. However, the travel motor in the hydrostatic transmission system of certain de-icing trucks is a single-displacement motor, and speed regulation is achieved by changing the flow rate of a hydraulic variable pump. This has limitations in speed control precision, making it difficult to meet the smooth driving requirements of de-icing trucks. Summary of the Invention

[0005] In view of this, embodiments of this application provide a method, apparatus, device, and storage medium for controlling the driving of a de-icing truck, which aims to effectively meet the control requirements for the smoothness of de-icing truck driving.

[0006] The technical solution of this application embodiment is implemented as follows:

[0007] In a first aspect, embodiments of this application provide a method for controlling the driving of a de-icing truck. The de-icing truck includes a vehicle body and a hydrostatic transmission system. The hydrostatic transmission system includes an engine, a hydraulic variable pump, and a travel motor. The travel motor has a first displacement in a low-speed mode and a second displacement in a high-speed mode. The method includes:

[0008] Obtain the current speed mode and current input flow value of the walking motor;

[0009] Based on the comparison between the current input flow rate value and the set flow rate threshold corresponding to the current speed mode, the speed of the walking motor is controlled.

[0010] In some embodiments, if the current speed mode is the low speed mode, controlling the speed of the walking motor based on the comparison result between the current input flow rate value and the set flow rate threshold corresponding to the current speed mode includes:

[0011] If it is determined that the current input flow rate is greater than a first set ratio of the rated flow rate of the low speed mode, then the displacement of the walking motor is controlled to switch to the second displacement of the high speed mode, and the input flow rate of the walking motor is adjusted to the first target flow rate value corresponding to the high speed mode.

[0012] In some embodiments, if the current speed mode is the high speed mode, controlling the speed of the walking motor based on the comparison result between the current input flow rate value and the set flow rate threshold corresponding to the current speed mode includes:

[0013] If it is determined that the current input flow rate is less than a second set ratio of the rated flow rate of the high speed mode, then the displacement of the walking motor is switched to the first displacement of the low speed mode, and the input flow rate of the walking motor is adjusted to the second target flow rate value corresponding to the low speed mode.

[0014] In some embodiments, the rotational speed of the walking motor corresponding to the first target flow rate value at the second displacement is equal to the rotational speed of the walking motor corresponding to the second target flow rate value at the first displacement.

[0015] Secondly, embodiments of this application provide a de-icing truck driving control device. The de-icing truck includes a vehicle body and a hydrostatic transmission system. The hydrostatic transmission system includes an engine, a hydraulic variable pump, and a travel motor. The travel motor has a first displacement in a low-speed mode and a second displacement in a high-speed mode. The device includes:

[0016] The acquisition module is used to acquire the current speed mode and current input flow value of the walking motor;

[0017] The driving control module is used to control the speed of the walking motor based on the comparison result between the current input flow value and the set flow threshold corresponding to the current speed mode.

[0018] In some embodiments, if the current speed mode is the low speed mode, the driving control module is specifically used for:

[0019] If it is determined that the current input flow rate is greater than a first set ratio of the rated flow rate of the low speed mode, then the displacement of the walking motor is controlled to switch to the second displacement of the high speed mode, and the input flow rate of the walking motor is adjusted to the first target flow rate value corresponding to the high speed mode.

[0020] In some embodiments, if the current speed mode is the high speed mode, the driving control module is specifically used for:

[0021] If it is determined that the current input flow rate is less than a second set ratio of the rated flow rate of the high speed mode, then the displacement of the walking motor is switched to the first displacement of the low speed mode, and the input flow rate of the walking motor is adjusted to the second target flow rate value corresponding to the low speed mode.

[0022] In some embodiments, the rotational speed of the walking motor corresponding to the first target flow rate value at the second displacement is equal to the rotational speed of the walking motor corresponding to the second target flow rate value at the first displacement.

[0023] Thirdly, embodiments of this application provide a control device for a de-icing vehicle, the de-icing vehicle including a cabin, the control device including: a processor and a memory for storing a computer program capable of running on the processor, wherein, when the processor is used to run the computer program, it executes the steps of the method described in the first aspect of embodiments of this application.

[0024] Fourthly, embodiments of this application provide a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect of embodiments of this application.

[0025] The technical solution provided in this application embodiment includes a de-icing truck comprising a vehicle body and a hydrostatic transmission system. The hydrostatic transmission system includes an engine, a hydraulic variable pump, and a travel motor. The travel motor has a first displacement in a low-speed mode and a second displacement in a high-speed mode. The de-icing truck acquires the current speed mode and current input flow value of the travel motor. Based on the comparison result between the current input flow value and a set flow threshold corresponding to the current speed mode, the travel motor speed is controlled. This allows for automatic switching between high-speed and low-speed modes of the travel motor, enabling the de-icing truck to have a wider driving speed range. Furthermore, based on the driving speed ranges corresponding to the low-speed and high-speed modes, precise speed control can be achieved, effectively meeting the control requirements for the smoothness of the de-icing truck's operation. Attached Figure Description

[0026] Figure 1 This is a schematic flowchart of the de-icing truck driving control method according to an embodiment of this application;

[0027] Figure 2 This is a flowchart illustrating the de-icing truck driving control method in an application example of this application;

[0028] Figure 3 This is a schematic diagram of the de-icing vehicle driving control device according to an embodiment of this application;

[0029] Figure 4 This is a schematic diagram of the control equipment of the de-icing vehicle in an embodiment of this application. Detailed Implementation

[0030] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0032] This application provides a method for controlling the movement of a de-icing truck. The de-icing truck includes a vehicle body and a hydrostatic transmission system. The hydrostatic transmission system includes an engine, a hydraulic variable pump, and a travel motor. The travel motor has a first displacement in a low-speed mode and a second displacement in a high-speed mode. The hydraulic variable pump is connected to the travel motor via a pipeline, and the flow rate of the liquid pumped by the hydraulic variable pump is introduced to the travel motor through this pipeline. The working principle of the hydrostatic transmission system is as follows: the mechanical energy output by the engine (e.g., an internal combustion engine or an electric motor) is converted into hydraulic energy in the hydraulic variable pump, and then transmitted to the travel motor through pipelines and control valves. At the travel motor, it is converted back into mechanical energy capable of overcoming the torque caused by the load and reaching the required speed. This mechanical energy is then directly or indirectly output by the travel motor to drive the wheels to rotate, thus achieving the purpose of moving the de-icing truck.

[0033] like Figure 1 As shown, the de-icing truck driving control method includes:

[0034] Step 101: Obtain the current speed mode and current input flow value of the walking motor.

[0035] For example, here, the travel motor has a first displacement in a low-speed mode and a second displacement in a high-speed mode. The processor of the de-icing truck can control the switching of the travel motor's displacement and the switching of the current speed mode. The processor of the de-icing truck can obtain the current speed mode of the travel motor based on the speed mode identifier, and can obtain the current input flow value of the travel motor based on the detection value of the flow sensor.

[0036] Step 102: Based on the comparison result between the current input flow rate value and the set flow rate threshold corresponding to the current speed mode, the speed of the walking motor is controlled.

[0037] It should be noted that different speed modes can be set with corresponding set flow thresholds. For example, there is a first set flow threshold for the low-speed mode and a second set flow threshold for the high-speed mode. The de-icing truck's processor can control the speed of the travel motor based on the comparison between the current input flow value and the set flow threshold corresponding to the current speed mode. This allows for automatic switching of the travel motor between high-speed and low-speed modes, giving the de-icing truck a wider driving speed range. Furthermore, based on the driving speed ranges corresponding to low-speed and high-speed modes respectively, precise speed control can be achieved, effectively meeting the control requirements for smooth driving of the de-icing truck.

[0038] In some embodiments, if the current speed mode is the low speed mode, controlling the speed of the walking motor based on the comparison result between the current input flow rate value and the set flow rate threshold corresponding to the current speed mode includes:

[0039] If it is determined that the current input flow rate is greater than a first set ratio of the rated flow rate of the low speed mode, then the displacement of the walking motor is controlled to switch to the second displacement of the high speed mode, and the input flow rate of the walking motor is adjusted to the first target flow rate value corresponding to the high speed mode.

[0040] It is understandable that the set flow threshold corresponding to the low-speed mode is a first set ratio of the rated flow value of that low-speed mode. The rated flow value of this low-speed mode can be determined based on the maximum speed of the travel motor in that low-speed mode.

[0041] In some embodiments, if the current speed mode is the high speed mode, controlling the speed of the walking motor based on the comparison result between the current input flow rate value and the set flow rate threshold corresponding to the current speed mode includes:

[0042] If it is determined that the current input flow rate is less than a second set ratio of the rated flow rate of the high speed mode, then the displacement of the walking motor is switched to the first displacement of the low speed mode, and the input flow rate of the walking motor is adjusted to the second target flow rate value corresponding to the low speed mode.

[0043] It is understandable that the set flow threshold corresponding to the high-speed mode is a second set ratio of the rated flow value of that high-speed mode. The rated flow value of this high-speed mode can be determined based on the maximum speed of the travel motor in that high-speed mode.

[0044] For example, the rotational speed of the travel motor at the second displacement corresponding to the first target flow rate value is equal to the rotational speed of the travel motor at the first displacement corresponding to the second target flow rate value. This allows for switching between different speed modes while maintaining the same rotational speed, resulting in a smooth, shock-free ride for the de-icing truck and providing the driver with greater comfort and smoothness.

[0045] The following example illustrates the driving control method for de-icing vehicles.

[0046] In this application example, the conversion formula between the driving speed of the de-icing truck and the rotational speed of the travel motor is shown in the following formula (1):

[0047]

[0048] Where, n m V represents the rotational speed of the travel motor, measured in revolutions per minute (r / min); V represents the travel speed of the de-icing truck, measured in kilometers per hour (km / h); R d R is the static load radius of the tire, in millimeters (mm). In this application example, R dThe value is 504mm.

[0049] The maximum input flow rate required by the walking motor is calculated as shown in the following formula (2):

[0050]

[0051] Among them, Q m This represents the maximum input flow rate required by the travel motor, in liters per minute (L / min); n m The speed of the aforementioned travel motor; q m The displacement of the travel motor is expressed in milliliters per revolution (cc / rev); η vm The volumetric efficiency of the travel motor is the ratio of the actual flow rate of the travel motor to its theoretical flow rate.

[0052] In this application example, the aforementioned first displacement of the travel motor is 2.978cc / rev (i.e., the full displacement corresponding to low-speed mode), and the aforementioned second displacement of the travel motor is 1.117cc / rev (i.e., half displacement corresponding to high-speed mode). The volumetric efficiency η of the travel motor is... vm It is 0.98.

[0053] The required output flow rate of the hydraulic variable pump (also known as a traveling pump) is calculated as shown in the following formula (3):

[0054] Q p =k*(Q m / η vp )*i (3)

[0055] Among them, Q p Q represents the required output flow rate of the mobile pump, in L / min; k is the ratio constant; Q m The maximum input flow rate required by the aforementioned travel motor; η vp is the volumetric efficiency of the traveling pump; i is the constant value of the speed ratio of the main reducer.

[0056] In this application example, k takes the value of 1.2, and η vp The value of is 0.98, and the value of i is 1.269.

[0057] The formula for calculating the required input power of a hydraulic variable pump is shown in formula (4) below:

[0058] Pe = Q p *Δp*η t / 600 (4)

[0059] Where Pe is the input power required by the hydraulic variable pump, in kilowatts (KW); Q pThe required output flow rate of the aforementioned travel pump is given by Δp, where Δp is the hydraulic pressure difference between the input and output ports of the travel pump, in bar; η t The effective efficiency of input power is expressed as a percentage (%).

[0060] It is understandable that, based on the above formulas (1) to (4), the operating parameters such as the rotational speed of the travel motor, the vehicle speed, the input flow rate of the travel motor, and the input power of the travel pump under different displacements can be calculated.

[0061] In this application example, such as Figure 2 As shown, the de-icing truck driving control method includes:

[0062] Step 201: Obtain the current speed mode and current input flow value of the walking motor.

[0063] Step 202: Determine whether the operation is in low speed mode. If yes, proceed to step 203; otherwise, proceed to step 207.

[0064] Step 203: Determine whether the current input flow rate is greater than 80% of the rated flow rate in low speed mode. If not, proceed to step 204 to make the de-icing truck run at low speed. If yes, proceed to steps 205 and 206 to switch to high speed mode and make the de-icing truck run at high speed.

[0065] Step 204: Low-speed operation.

[0066] At this time, the travel motor operates in low-speed mode, i.e., the travel motor displacement q m It has a power output of 2.978cc / rev, corresponding to a rated flow rate of 79.96629355L / min, and a rated maximum driving speed of 5km / h.

[0067] Step 205: Perform the switching control from low speed mode to high speed mode.

[0068] If, in low-speed mode, the input flow rate of the travel motor exceeds 80% of the rated flow rate for low-speed mode (i.e., greater than 63.97303484 L / min, corresponding to a travel speed of 4 km / h), then the travel motor displacement should be switched to the second displacement of high-speed mode, i.e., the travel motor displacement q should be adjusted. m Switch to 1.117cc / rev and change the input flow rate of the travel motor to 23.99525853L / min, which corresponds to a travel speed of 4km / h in high-speed mode, so that the travel speed is maintained at 4km / h. The above switching is done at the same speed as the vehicle, which can make the driver feel smoother and more comfortable without any impact.

[0069] Step 206: High-speed operation.

[0070] At this time, the travel motor operates in high-speed mode, i.e., the travel motor displacement q m It has a power output of 1.117cc / rev, corresponding to a rated flow rate of 239.9525853L / min, and a rated maximum driving speed of 40km / h.

[0071] Step 207: Determine whether the current input flow rate is less than 10% of the rated flow rate in high-speed mode. If not, execute the aforementioned step 206 to maintain the high-speed operation of the de-icing truck. If yes, execute step 208 and the aforementioned step 204 to switch to low-speed mode and make the de-icing truck operate at low speed.

[0072] Step 208: Perform the switching control from high speed mode to low speed mode.

[0073] If, in high-speed mode, the input flow rate of the travel motor is less than 10% of the rated flow rate for high-speed mode (i.e., less than 23.99525853 L / min, corresponding to a travel speed of 4 km / h), then the travel motor displacement should be switched to the first displacement of low-speed mode, i.e., the travel motor displacement q should be adjusted. m Switch to 2.978cc / rev and change the input flow rate of the travel motor to 63.97303484L / min, which corresponds to a travel speed of 4km / h in low-speed mode, so that the travel speed is maintained at 4km / h. The above switching is done at the same speed as the vehicle, which can make the driver feel smoother and more comfortable without any impact.

[0074] Understandably, in this application example, by switching the speed mode of the dual-displacement travel motor, the minimum stable speed of the de-icing truck can be 1 km / h and the maximum stable speed can be 40 km / h, while also meeting the control requirements for the smoothness of the de-icing truck's driving.

[0075] In order to implement the method of the embodiments of this application, the embodiments of this application also provide a de-icing truck driving control device, which corresponds to the above-mentioned de-icing truck driving control method. The steps in the embodiments of the above-mentioned de-icing truck driving control method are also fully applicable to the embodiments of this de-icing truck driving control device.

[0076] like Figure 3 As shown, the de-icing truck driving control device includes an acquisition module 301 and a driving control module 302. The acquisition module 301 is used to acquire the current speed mode and current input flow value of the driving motor; the driving control module 302 is used to control the speed of the driving motor based on the comparison result between the current input flow value and the set flow threshold corresponding to the current speed mode.

[0077] In some embodiments, if the current speed mode is the low speed mode, the driving control module 302 is specifically used for:

[0078] If it is determined that the current input flow rate is greater than a first set ratio of the rated flow rate of the low speed mode, then the displacement of the walking motor is controlled to switch to the second displacement of the high speed mode, and the input flow rate of the walking motor is adjusted to the first target flow rate value corresponding to the high speed mode.

[0079] In some embodiments, if the current speed mode is the high speed mode, the driving control module 302 is specifically used for:

[0080] If it is determined that the current input flow rate is less than a second set ratio of the rated flow rate of the high speed mode, then the displacement of the walking motor is switched to the first displacement of the low speed mode, and the input flow rate of the walking motor is adjusted to the second target flow rate value corresponding to the low speed mode.

[0081] In some embodiments, the rotational speed of the walking motor corresponding to the first target flow rate value at the second displacement is equal to the rotational speed of the walking motor corresponding to the second target flow rate value at the first displacement.

[0082] In practical applications, the acquisition module 301 and the driving control module 302 can be implemented by the processor in the de-icing truck. Of course, the processor needs to run the computer program in the memory to realize its function.

[0083] It should be noted that the de-icing truck driving control device provided in the above embodiments is only illustrated by the division of the above-described program modules when controlling the driving of the de-icing truck. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. In addition, the de-icing truck driving control device and the de-icing truck driving control method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0084] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiments of this application, the embodiments of this application also provide a control device for a de-icing vehicle. Figure 4 The structure of this control device is shown as an example only, not the entire structure; it can be implemented as needed. Figure 4 The structure shown may be part or all of the structure.

[0085] It is understood that a de-icing truck includes a vehicle body and a hydrostatic transmission system. The hydrostatic transmission system includes an engine, a hydraulic variable displacement pump, and a travel motor. The travel motor has a first displacement in a low-speed mode and a second displacement in a high-speed mode. The hydraulic variable displacement pump is connected to the travel motor via pipelines, and the flow rate of the liquid pumped by the hydraulic variable displacement pump is introduced to the travel motor through these pipelines. The working principle of the hydrostatic transmission system is as follows: the mechanical energy output by the engine (e.g., an internal combustion engine or an electric motor) is converted into hydraulic energy in the hydraulic variable displacement pump, and then transmitted to the travel motor via pipelines and control valves. At the travel motor, it is converted back into mechanical energy capable of overcoming the torque caused by the load and achieving the required speed. This mechanical energy is then directly or indirectly output by the travel motor to drive the wheels, thus enabling the de-icing truck to move.

[0086] like Figure 4 As shown, the control device 400 for a de-icing vehicle provided in this embodiment includes: at least one processor 401, a memory 402, a user interface 403, and at least one network interface 404. The various components in the de-icing vehicle 400 are coupled together via a bus system 405. It can be understood that the bus system 405 is used to realize communication between these components. In addition to a data bus, the bus system 405 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 4 The general designated all buses as Bus System 405.

[0087] The user interface 403 may include a monitor, keyboard, mouse, trackball, click wheel, buttons, touchpad, or touch screen.

[0088] The memory 402 in this embodiment is used to store various types of data to support the operation of the de-icing vehicle. Examples of such data include any computer programs used for operation on the de-icing vehicle.

[0089] The de-icing truck driving control method disclosed in this application embodiment can be applied to, or implemented by, processor 401. Processor 401 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the de-icing truck driving control method can be completed by the integrated logic circuitry in the hardware of processor 401 or by instructions in software form. The processor 401 can be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 401 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules can be located in a storage medium, specifically memory 402. Processor 401 reads information from memory 402 and, in conjunction with its hardware, completes the steps of the de-icing truck driving control method provided in the embodiments of this application.

[0090] In an exemplary embodiment, the control device of the de-icing vehicle may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0091] It is understood that memory 402 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0092] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a memory 402 that stores a computer program. This computer program can be executed by the processor 401 of the de-icing vehicle to complete the steps described in the method of this application embodiment. The computer-readable storage medium can be a ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM, etc.

[0093] It should be noted that terms such as "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0094] Furthermore, the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0095] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling the movement of a de-icing truck, characterized in that, The de-icing vehicle includes a vehicle body and a hydrostatic transmission system. The hydrostatic transmission system includes an engine, a hydraulic variable pump, and a travel motor. The travel motor has a first displacement in a low-speed mode and a second displacement in a high-speed mode. The method includes: Obtain the current speed mode and current input flow value of the walking motor; Based on the comparison result between the current input flow rate value and the set flow rate threshold corresponding to the current speed mode, the speed of the walking motor is controlled. If the current speed mode is the low speed mode, the step of controlling the speed of the walking motor based on the comparison result between the current input flow rate value and the set flow rate threshold corresponding to the current speed mode includes: If it is determined that the current input flow rate is greater than the first set ratio of the rated flow rate of the low speed mode, then the displacement of the walking motor is controlled to switch to the second displacement of the high speed mode, and the input flow rate of the walking motor is adjusted to the first target flow rate value corresponding to the high speed mode. If the current speed mode is the high speed mode, the step of controlling the speed of the walking motor based on the comparison result between the current input flow rate value and the set flow rate threshold corresponding to the current speed mode includes: If it is determined that the current input flow rate is less than the second set ratio of the rated flow rate of the high speed mode, then the displacement of the walking motor is switched to the first displacement of the low speed mode, and the input flow rate of the walking motor is adjusted to the second target flow rate value corresponding to the low speed mode. The rotational speed of the walking motor corresponding to the first target flow rate value under the second displacement is equal to the rotational speed of the walking motor corresponding to the second target flow rate value under the first displacement.

2. A de-icing truck driving control device, characterized in that, The de-icing vehicle includes a vehicle body and a hydrostatic transmission system. The hydrostatic transmission system includes an engine, a hydraulic variable pump, and a travel motor. The travel motor has a first displacement in a low-speed mode and a second displacement in a high-speed mode. The device includes: The acquisition module is used to acquire the current speed mode and current input flow value of the walking motor; The driving control module is used to control the speed of the walking motor based on the comparison result between the current input flow value and the set flow threshold corresponding to the current speed mode; If the current speed mode is the low speed mode, the driving control module is specifically used for: If it is determined that the current input flow rate is greater than the first set ratio of the rated flow rate of the low speed mode, then the displacement of the walking motor is controlled to switch to the second displacement of the high speed mode, and the input flow rate of the walking motor is adjusted to the first target flow rate value corresponding to the high speed mode. If the current speed mode is the high speed mode, the driving control module is specifically used for: If it is determined that the current input flow rate is less than the second set ratio of the rated flow rate of the high speed mode, then the displacement of the walking motor is switched to the first displacement of the low speed mode, and the input flow rate of the walking motor is adjusted to the second target flow rate value corresponding to the low speed mode. The rotational speed of the walking motor corresponding to the first target flow rate value under the second displacement is equal to the rotational speed of the walking motor corresponding to the second target flow rate value under the first displacement.

3. A control device for a de-icing vehicle, characterized in that, The de-icing vehicle includes a vehicle body and a hydrostatic transmission system. The hydrostatic transmission system includes an engine, a hydraulic variable displacement pump, and a travel motor. The travel motor has a first displacement in a low-speed mode and a second displacement in a high-speed mode. The control device includes a processor and a memory for storing computer programs capable of running on the processor. The processor is configured to execute the steps of the method of claim 1 when running a computer program.

4. A computer storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method of claim 1.

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