Slope parking control method and device for operating machinery and operating machinery

Abstract

The present invention relates to the technical field of working machinery, and provides a method and device for controlling parking on a hill for a working machinery, and a working machinery. The method comprises: obtaining a target driving direction and a slope-slipping status signal of the working machinery; determining the motor braking torque of the working machinery with a target vehicle speed of zero in response to the slope-slipping status signal; determining a first front axle motor braking torque of the front axle motor of the working machinery and a first rear axle motor braking torque of the rear axle motor of the working machinery based on the target driving direction and the motor braking torque; and sending a front axle braking signal containing the first front axle motor braking torque to the front axle motor, and sending a rear axle braking signal containing the first rear axle motor braking torque to the rear axle motor. By rationally allocating the braking torques of the front axle motor and the rear axle motor, the present invention can improve the braking and parking effect, effectively prevent the working machinery from sliding down a hill, and improve safety and reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of operating machinery, and in particular to a method and device for controlling parking on a slope of an operating machinery, and the operating machinery. Background Art

[0002] In related technologies, parking on a slope is a high-frequency scenario for drivers during driving. When an operating mechanical vehicle is driving on a slope, if the accelerator or brake is not pressed, the operating mechanical vehicle will slide down the slope, which can easily cause serious traffic accidents.

[0003] To prevent the vehicle from rolling down a slope, the current common method is to use the handbrake to brake the vehicle. The handbrake can only be activated when the vehicle is stopped. The operation is cumbersome when driving on a slope with frequent starting and stopping. In addition, if the driver operates improperly and forgets to pull the handbrake, there is a risk of rolling down the slope. Summary of the Invention

[0004] The present invention provides a method and device for controlling parking of an operating machine on a slope, and an operating machine, which can realize automatic control of parking of the operating machine on a slope, improve the braking and parking effect on the slope, effectively prevent the operating machine from sliding down the slope, and improve safety and reliability.

[0005] The present invention provides a method for controlling parking of a working machine on a slope, comprising:

[0006] Obtain the target driving direction and slope status signal of the operating machinery;

[0007] In response to the slope slipping state signal, determining a motor braking torque of the working machine with a target vehicle speed of zero;

[0008] determining a first front axle motor braking torque of a front axle motor of the working machine and a first rear axle motor braking torque of a rear axle motor of the working machine according to the target driving direction and the motor braking torque;

[0009] A front axle braking signal including the first front axle motor braking torque is sent to the front axle motor, and a rear axle braking signal including the first rear axle motor braking torque is sent to the rear axle motor.

[0010] According to a hill parking control method for a working machine provided by the present invention, the target driving direction includes: an uphill direction in a forward gear; the step of determining a first front axle motor braking torque of a front axle motor of the working machine and a first rear axle motor braking torque of a rear axle motor of the working machine according to the target driving direction and the motor braking torque comprises:

[0011] When the target driving direction is the forward gear uphill direction, it is determined that the first rear axle motor braking torque of the rear axle motor is equal to the motor braking torque.

[0012] According to a method for controlling hill parking of a working machine provided by the present invention, after the steps of sending a front axle braking signal including the braking torque of the first front axle motor to the front axle motor and sending a rear axle braking signal including the braking torque of the first rear axle motor to the rear axle motor, the method further includes:

[0013] When the slope slipping state signal of the working machine is received again, the first rear axle motor braking torque of the rear axle motor is reduced to obtain a second rear axle motor braking torque, and the first front axle motor braking torque of the front axle motor is increased to obtain a second front axle motor braking torque, wherein the sum of the second front axle motor braking torque and the second rear axle motor braking torque is equal to the motor braking torque;

[0014] A front axle braking signal including the second front axle motor braking torque is sent to the front axle motor, and a rear axle braking signal including the second rear axle motor braking torque is sent to the rear axle motor.

[0015] A method for controlling parking on a hill of a working machine according to the present invention further includes:

[0016] Acquiring the temperature of the rear axle motor;

[0017] After the step of sending a front axle braking signal including the first front axle motor braking torque to the front axle motor and sending a rear axle braking signal including the first rear axle motor braking torque to the rear axle motor, the method further includes:

[0018] When the temperature of the rear axle motor is higher than a target preset temperature, reducing the first rear axle motor braking torque of the rear axle motor to obtain a third rear axle motor braking torque, and increasing the first front axle motor braking torque of the front axle motor to obtain a third front axle motor braking torque, wherein the sum of the third front axle motor braking torque and the third rear axle motor braking torque is equal to the motor braking torque;

[0019] A front axle braking signal including the third front axle motor braking torque is sent to the front axle motor, and a rear axle braking signal including the third rear axle motor braking torque is sent to the rear axle motor.

[0020] According to a hill parking control method for a working machine provided by the present invention, the target driving direction includes: an uphill direction in reverse gear; the step of determining a first front axle motor braking torque of a front axle motor of the working machine and a first rear axle motor braking torque of a rear axle motor of the working machine according to the target driving direction and the motor braking torque includes:

[0021] When the target driving direction is the reverse gear uphill direction, it is determined that the first front axle motor braking torque of the front axle motor is equal to the motor braking torque.

[0022] According to a method for controlling hill parking of a working machine provided by the present invention, after the steps of sending a front axle braking signal including the braking torque of the first front axle motor to the front axle motor and sending a rear axle braking signal including the braking torque of the first rear axle motor to the rear axle motor, the method further includes:

[0023] When the slope slipping state signal of the working machine is received again, the first front axle motor braking torque of the front axle motor is reduced to obtain a fourth front axle motor braking torque, and the first rear axle motor braking torque of the rear axle motor is increased to obtain a fourth rear axle motor braking torque, wherein the sum of the fourth front axle motor braking torque and the fourth rear axle motor braking torque is equal to the motor braking torque;

[0024] A front axle braking signal including the braking torque of the fourth front axle motor is sent to the front axle motor, and a rear axle braking signal including the braking torque of the fourth rear axle motor is sent to the rear axle motor.

[0025] A method for controlling parking on a hill of a working machine according to the present invention further includes:

[0026] Acquiring the temperature of the front axle motor;

[0027] After the step of sending a front axle braking signal including the first front axle motor braking torque to the front axle motor and sending a rear axle braking signal including the first rear axle motor braking torque to the rear axle motor, the method further includes:

[0028] When the temperature of the front axle motor is higher than a target preset temperature, reducing the first front axle motor braking torque of the front axle motor to obtain a fifth front axle motor braking torque, and increasing the first rear axle motor braking torque of the rear axle motor to obtain a fifth rear axle motor braking torque, wherein the sum of the fifth front axle motor braking torque and the fifth rear axle motor braking torque is equal to the motor braking torque;

[0029] A front axle braking signal including the braking torque of the fifth front axle motor is sent to the front axle motor, and a rear axle braking signal including the braking torque of the fifth rear axle motor is sent to the rear axle motor.

[0030] According to a hill parking control method for a working machine provided by the present invention, the front axle motor includes: a first front axle motor and a second front axle motor. When the target driving direction is the reverse gear uphill direction, the step of determining that the first front axle motor braking torque of the front axle motor is equal to the motor braking torque includes:

[0031] When the target driving direction is the reverse gear uphill direction, determining a sixth front axle motor braking torque of the first front axle motor and a seventh front axle motor braking torque of the second front axle motor, wherein the sum of the sixth front axle motor braking torque and the seventh front axle motor braking torque is equal to the motor braking torque;

[0032] The step of sending a front axle braking signal including the first front axle motor braking torque to the front axle motor, and sending a rear axle braking signal including the first rear axle motor braking torque to the rear axle motor, comprises:

[0033] A first front axle braking signal including the braking torque of the sixth front axle motor is sent to the first front axle motor, a second front axle braking signal including the braking torque of the seventh front axle motor is sent to the second front axle motor, and a rear axle braking signal including the braking torque of the first rear axle motor is sent to the rear axle motor.

[0034] A method for controlling parking on a hill of a working machine according to the present invention further includes:

[0035] acquiring a temperature of the first front axle motor and a temperature of the second front axle motor;

[0036] After the steps of sending a first front axle braking signal including the braking torque of the sixth front axle motor to the first front axle motor, sending a second front axle braking signal including the braking torque of the seventh front axle motor to the second front axle motor, and sending a rear axle braking signal including the braking torque of the first rear axle motor to the rear axle motor, the method further includes:

[0037] When the temperature of the first front axle motor is higher than a target preset temperature, the sixth front axle motor braking torque of the first front axle motor is reduced to obtain an eighth front axle motor braking torque, and the seventh front axle motor braking torque of the second front axle motor is increased to obtain a ninth front axle motor braking torque, wherein the sum of the eighth front axle motor braking torque and the ninth front axle motor braking torque is equal to the motor braking torque;

[0038] sending a first front axle braking signal including the braking torque of the eighth front axle motor to the first front axle motor, and sending a second front axle braking signal including the braking torque of the ninth front axle motor to the second front axle motor;

[0039] When the temperature of the first front axle motor and the temperature of the second front axle motor are both higher than a target preset temperature, the sixth front axle motor braking torque of the first front axle motor and the seventh front axle motor braking torque of the second front axle motor are reduced to obtain a tenth front axle motor braking torque and an eleventh front axle motor braking torque respectively, and the first rear axle motor braking torque of the rear axle motor is increased to obtain a sixth rear axle motor braking torque, wherein the sum of the tenth front axle motor braking torque, the eleventh front axle motor braking torque and the sixth rear axle motor braking torque is equal to the motor braking torque;

[0040] A first front axle braking signal including the braking torque of the tenth front axle motor is sent to the first front axle motor, a second front axle braking signal including the braking torque of the eleventh front axle motor is sent to the second front axle motor, and a rear axle braking signal including the braking torque of the sixth rear axle motor is sent to the rear axle motor.

[0041] According to a method for controlling parking on a slope of a working machine provided by the present invention, the step of obtaining a target driving direction of the working machine includes:

[0042] If the gear position signal obtained for the working machine traveling on a slope is a forward gear, the speed direction of the working machine is the same as the vehicle head direction, the throttle opening at a previous moment is greater than the current moment, and the vehicle speed at a previous moment corresponding to each of the throttle openings is greater than the current moment, the target driving direction is determined to be a forward gear uphill direction;

[0043] If the gear signal obtained for the working machine traveling on a slope is the reverse gear, the speed direction signal of the working machine is opposite to the direction of the vehicle head, the throttle opening at the previous moment is greater than the opening at the current moment, and the vehicle speed at the previous moment corresponding to the throttle opening is greater than the vehicle speed at the current moment, it is determined that the target driving direction is the reverse gear uphill direction.

[0044] According to a method for controlling parking on a slope of a working machine provided by the present invention, the step of obtaining a slope sliding state signal of the working machine includes:

[0045] Determining that the working machine is parked on a slope with the forward gear uphill as the target driving direction, obtaining a brake release signal and a vehicle speed direction signal of the working machine, determining that the vehicle speed direction corresponding to the vehicle speed direction signal is opposite to the vehicle head direction of the working machine, and obtaining a slope sliding state signal of the working machine; or

[0046] Determine that the working machine is parked on a slope with the reverse gear uphill as the target driving direction, obtain the brake release signal and vehicle speed direction signal of the working machine, determine that the vehicle speed direction corresponding to the vehicle speed direction signal is the same as the front direction of the working machine, and obtain the slope sliding status signal of the working machine.

[0047] The present invention also provides a hill parking control device for a working machine, comprising:

[0048] An acquisition module is used to obtain the target driving direction and slope status signal of the operating machinery;

[0049] a response module, configured to determine a motor braking torque of the working machine in response to the slope slipping state signal with a target vehicle speed of zero;

[0050] a determination module, configured to determine a first front axle motor braking torque of a front axle motor of the working machine and a first rear axle motor braking torque of a rear axle motor of the working machine according to the target driving direction and the motor braking torque;

[0051] A sending module is used to send a front axle braking signal containing the first front axle motor braking torque to the front axle motor, and to send a rear axle braking signal containing the first rear axle motor braking torque to the rear axle motor.

[0052] The present invention also provides a working machine, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned working machine slope parking control method when executing the program.

[0053] The present invention provides a method, device, and apparatus for controlling parking on a slope of a work machine. When the work machine is in a rolling slope state, the motor braking torque of the work machine is determined with a target vehicle speed of zero. That is, the total output braking torque of all motors of the work machine is calculated with the goal of enabling the work machine to stably brake and park on a slope. The first front axle motor braking torque of the front axle motor and the first rear axle motor braking torque of the rear axle motor of the work machine are determined based on the target driving direction and the motor braking torque. Thus, the main force point of the work machine on the slope can be determined based on the target driving direction, and the total output braking torque is distributed based on the main force point. The braking torque of the front axle motor and the rear axle motor are reasonably controlled, and then corresponding braking torque braking signals are sent to the front axle motor and the rear axle motor to achieve braking parking control. Therefore, by controlling the braking torque distribution of the front axle motor and the rear axle motor of the work machine, the present invention can adapt to the main force point of the work machine on the slope, thereby improving the braking parking effect on the slope, effectively preventing the work machine from rolling on the slope, and improving safety and reliability.

[0054] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. 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.

[0056] Figure 1 This is one of the flow charts of the slope parking control method for a working machine provided by the present invention;

[0057] Figure 2 This is the second flow chart of the slope parking control method for a working machine provided by the present invention;

[0058] Figure 3 This is the third flow chart of the slope parking control method for an operating machine provided by the present invention;

[0059] Figure 4 It is a structural schematic diagram of the slope parking control device for a working machine provided by the present invention;

[0060] Figure 5 It is a structural schematic diagram of the operating machinery provided by the present invention.

[0061] Reference numerals:

[0062] 401: Acquisition module; 402: Response module;

[0063] 403: Confirmation module; 404: Sending module;

[0064] 501: processor; 502: communication interface;

[0065] 503: memory; 504: communication bus. DETAILED DESCRIPTION

[0066] 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.

[0067] In the description of the embodiments of the present invention, it should be noted that the terms "upper," "lower," "front," "back," "top," "bottom," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the embodiments of the present invention and to simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0068] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0069] The following combination Figure 1-Figure 5 The present invention describes a method and device for hill parking control of a working machine and a working machine.

[0070] According to an embodiment of the first aspect of the present invention, referring to Figure 1 As shown, the hill parking control method for a working machine provided by an embodiment of the present invention mainly includes the following steps:

[0071] S100: Acquire a target driving direction and a slope slipping status signal of the working machine.

[0072] In order to realize the hill parking control of the operating machinery, it is necessary to first determine the target driving direction of the operating machinery. Specifically, the step of obtaining the target driving direction may include: if the gear signal of the operating machinery traveling on the slope is the forward gear, the speed direction of the operating machinery is the same as the speed direction signal of the vehicle head direction, the throttle opening at the previous moment is greater than the opening at the current moment, and the vehicle speed at the previous moment corresponding to the throttle opening is greater than the vehicle speed at the current moment, then the target driving direction is determined to be the forward gear uphill direction; if the gear signal of the operating machinery traveling on the slope is the reverse gear, the speed direction of the operating machinery is opposite to the speed direction of the vehicle head direction, the throttle opening at the previous moment is greater than the opening at the current moment, and the vehicle speed at the previous moment corresponding to the throttle opening is greater than the vehicle speed at the current moment, then the target driving direction is determined to be the reverse gear uphill direction.

[0073] The present invention can identify the target driving direction based on the operating parameters of the working machinery. The operating parameters mainly include: gear position, vehicle speed direction, vehicle speed size and throttle opening, etc. The target driving direction mainly includes the uphill direction of the forward gear and the uphill direction of the reverse gear.

[0074] For example, when the gear signal of the operating machine is forward gear (D gear) when traveling on a slope, the vehicle speed direction is positive, and the vehicle speed decreases when the accelerator is released, then the target driving direction of the operating machine is D gear uphill direction; when the gear signal of the operating machine is reverse gear (R gear) when traveling on a slope, the vehicle speed direction is negative, and the vehicle speed decreases when the accelerator is released, then the target driving direction of the operating machine is R gear uphill direction.

[0075] In addition to obtaining the target driving direction, it is easy to understand that the hill parking control is when the working machine slides down the slope. Therefore, obtaining the slope sliding state signal of the working machine described in this article refers to obtaining the slope sliding state signal of the working machine.

[0076] In a specific embodiment, the step of obtaining the rolling hill status signal of the working machine may include: determining that the working machine is parked on the slope with the forward gear uphill direction as the target driving direction, obtaining the brake release signal and vehicle speed direction signal of the working machine, determining that the vehicle speed direction corresponding to the vehicle speed direction signal is opposite to the front direction of the working machine, and obtaining the rolling hill status signal of the working machine; or, determining that the working machine is parked on the slope with the reverse gear uphill direction as the target driving direction, obtaining the brake release signal and vehicle speed direction signal of the working machine, determining that the vehicle speed direction corresponding to the vehicle speed direction signal is the same as the front direction of the working machine, and obtaining the rolling hill status signal of the working machine.

[0077] The present invention can identify the slope slipping state signal of the operating machinery according to the operating parameters of the operating machinery. The operating parameters mainly include: target driving direction, brake pedaling status, vehicle speed direction, etc.

[0078] For example, when the operating machine is parked on a slope and is going uphill in the forward gear (D gear), the vehicle speed is negative after the brake is released, and it is recognized that the operating machine is sliding down the slope; or, when the operating machine is parked on a slope and is going uphill in the reverse gear (R gear), the vehicle speed is positive after the brake is released, and it is recognized that the operating machine is sliding down the slope.

[0079] S200 : In response to a slope sliding state signal, determine a motor braking torque of the working machine with a target vehicle speed of zero.

[0080] Specifically, when it is detected that the operating machine is in a sliding slope state, that is, a sliding slope state signal is obtained, the total output braking torque of all motors of the operating machine, that is, the motor braking torque, is calculated with the goal of enabling the operating machine to stably brake and park on the slope; all motors of the operating machine include front axle motors and rear axle motors, so that the calculated total output braking torque can be reasonably distributed to the front axle motors and rear axle motors, thereby improving the braking and parking effect.

[0081] S300 : Determine a first front axle motor braking torque of a front axle motor of the working machine and a first rear axle motor braking torque of a rear axle motor of the working machine according to the target driving direction and the motor braking torque.

[0082] S400: Send a front axle braking signal including a first front axle motor braking torque to the front axle motor, and send a rear axle braking signal including a first rear axle motor braking torque to the rear axle motor.

[0083] For example, when the target driving direction of the working machine is an uphill direction in a forward gear, it is determined that the first rear axle motor braking torque of the rear axle motor is equal to the motor braking torque.

[0084] Specifically, when the target travel direction of the work machine is uphill in forward gear (D gear), the vehicle's primary traction point is on the rear wheels, which have high adhesion. The D gear uphill hold function is activated, distributing all of the work machine's motor braking torque to the rear axle motor. This controls the rear axle motor's output braking torque to the calculated total output braking torque of the work machine, causing the rear axle motor to enter a stalled state to brake the work machine. This effectively improves the braking effect. At this point, the first front axle motor braking torque included in the front axle brake signal sent to the front axle motor is zero.

[0085] For another example, when the target driving direction of the working machine is an uphill direction in reverse gear, it is determined that the first front axle motor braking torque of the front axle motor is equal to the motor braking torque.

[0086] Specifically, when the work machine's target travel direction is uphill in reverse gear (R gear), the vehicle's primary focus is on the front wheels, which have high adhesion. The R gear uphill hold function is activated, distributing all of the work machine's motor braking torque to the front axle motor. This controls the front axle motor's output braking torque to the calculated total output braking torque of the work machine, causing the front axle motor to enter a stalled state and brake the work machine. This effectively improves the braking effect. At this point, the rear axle brake signal sent to the rear axle motor contains a first rear axle motor braking torque of zero.

[0087] The embodiments of the present invention take into account that the primary application point of the working machine on a slope can affect the braking and parking performance. Therefore, the present invention determines the primary application point of the working machine on a slope based on the target travel direction. A control strategy for hill parking brake torque distribution is then implemented based on this primary application point. This strategy rationally distributes the braking torque of the front and rear axle motors of the working machine, adapting to the primary application point of the working machine on a slope. This improves the braking and parking performance on a slope, effectively preventing the working machine from sliding down the slope, and enhancing safety and reliability.

[0088] According to one embodiment of the present invention, referring to Figure 2 As shown, the hill parking control method for a working machine provided by an embodiment of the present invention mainly includes the following steps:

[0089] Step S110: obtaining the target driving direction and slope slipping status signal of the working machine.

[0090] Step S120 , in response to the slope slipping state signal, determining the motor braking torque of the working machine with the target vehicle speed being zero.

[0091] For details of step S110 and step S120, please refer to Figure 1 The description of step S100 and step S200 will not be repeated here.

[0092] In step S130 , it is determined whether the target driving direction of the working machine is the forward gear (D gear) uphill direction. If so, step S140 is executed; if not, step S210 is executed.

[0093] Step S140 , determining that the first rear axle motor braking torque of the rear axle motor is equal to the motor braking torque.

[0094] In step S150 , a front axle braking signal including a first front axle motor braking torque is sent to the front axle motor, and a rear axle braking signal including a first rear axle motor braking torque is sent to the rear axle motor.

[0095] Of course, in this case, the braking torque of the first front axle motor is zero, and the braking torque of the first rear axle motor is the motor braking torque.

[0096] Step S160, determining whether the slope slipping state signal of the working machine is received again, if not, executing step S170, and if so, executing step S180.

[0097] Step S170: Keep the first rear axle motor braking torque of the rear axle motor unchanged.

[0098] Step S180, reduce the first rear axle motor braking torque of the rear axle motor to obtain the second rear axle motor braking torque, and increase the first front axle motor braking torque of the front axle motor to obtain the second front axle motor braking torque, wherein the sum of the second front axle motor braking torque and the second rear axle motor braking torque is equal to the motor braking torque.

[0099] Step S190, a front axle braking signal including the braking torque of the second front axle motor is sent to the front axle motor, and a rear axle braking signal including the braking torque of the second rear axle motor is sent to the rear axle motor, and the front axle motor and the rear axle motor enter a stalled condition to brake the vehicle.

[0100] When it is determined that the target driving direction of the working machine is not the uphill direction in the forward gear (D gear), but the uphill direction in the reverse gear (R gear), the following steps are performed:

[0101] Step S210 , determining that the first front axle motor braking torque of the front axle motor is equal to the motor braking torque.

[0102] In step S220 , a front axle braking signal including a first front axle motor braking torque is sent to the front axle motor, and a rear axle braking signal including a first rear axle motor braking torque is sent to the rear axle motor.

[0103] Of course, in this case, the first front axle motor braking torque is the motor braking torque, and the first rear axle motor braking torque is zero.

[0104] Step S230, determining whether the slope sliding state signal of the working machine is received again, if not, executing step S240, and if so, executing step S250.

[0105] Step S240: maintaining the first front axle motor braking torque of the front axle motor unchanged.

[0106] Step S250, reduce the first front axle motor braking torque of the front axle motor to obtain the fourth front axle motor braking torque, and increase the first rear axle motor braking torque of the rear axle motor to obtain the fourth rear axle motor braking torque, wherein the sum of the fourth front axle motor braking torque and the fourth rear axle motor braking torque is equal to the motor braking torque.

[0107] Step S260: Send a front axle braking signal containing the fourth front axle motor braking torque to the front axle motor, and send a rear axle braking signal containing the fourth rear axle motor braking torque to the rear axle motor. The front axle motor and the rear axle motor enter a stalled state to brake the vehicle.

[0108] Specifically, after the operating machine activates the D gear uphill parking function to control the operating machine to perform stall braking for a certain period of time, if it is again identified that the operating machine is in a sliding state, part of the braking torque of the rear axle motor can be transferred to the front axle motor, reducing the braking torque distribution of the rear axle motor and increasing the braking torque distribution of the front axle motor, that is, reducing the output braking torque of the rear axle motor and increasing the output braking torque of the front axle motor until the operating machine no longer slides.

[0109] Similarly, when the operating machine activates the R gear uphill parking function to control the operating machine to perform stall braking for a certain period of time, if the operating machine is identified again as being in a sliding state, part of the braking torque of the front axle motor can be transferred to the rear axle motor at this time, reducing the braking torque distribution of the front axle motor and increasing the braking torque distribution of the rear axle motor. That is, reducing the output braking torque of the front axle motor and increasing the output braking torque of the rear axle motor until the operating machine no longer slides.

[0110] Therefore, the embodiment of the present invention can reasonably distribute the motor braking torque, so that the front axle motor and the rear axle motor can brake and park at the same time, effectively improving the braking and parking effect, thereby avoiding the slope slip phenomenon when the working machine is parked on a slope.

[0111] Moreover, each time the sliding slope status signal of the operating machine is received subsequently, a braking torque staged control strategy can be adopted, including: when the sliding slope status signal of the operating machine is received again, the first front axle motor braking torque of the front axle motor can be reduced by a preset change amount, and the first rear axle motor braking torque of the rear axle motor can be increased by a preset change amount; or, the first rear axle motor braking torque of the rear axle motor can be reduced by a preset change amount, and the first front axle motor braking torque of the front axle motor can be increased by a preset change amount.

[0112] The embodiment of the present invention can accurately control the braking and parking effect in continuous stages, thereby avoiding the problem of poor user experience caused by large-scale sudden braking.

[0113] According to one embodiment of the present invention, referring to Figure 3 As shown, the hill parking control method for a working machine provided by an embodiment of the present invention mainly includes the following steps:

[0114] Step S310 , obtaining the target driving direction of the working machine, a slope slipping state signal, the temperature of the front axle motor, and the temperature of the rear axle motor.

[0115] Step S320 : In response to the slope slipping state signal, the motor braking torque of the working machine is determined with the target vehicle speed being zero.

[0116] For details on obtaining the target driving direction and the slope status signal in step S310 and the details on step S320, please refer to Figure 1 The description of step S100 and step S200 will not be repeated here.

[0117] In step S330 , it is determined whether the target driving direction of the working machine is the forward gear (D gear) uphill direction. If so, step S340 is executed; if not, step S410 is executed.

[0118] Step S340 , determining that the first rear axle motor braking torque of the rear axle motor is equal to the motor braking torque.

[0119] Step S350: sending a front axle braking signal including a first front axle motor braking torque to the front axle motor, and sending a rear axle braking signal including a first rear axle motor braking torque to the rear axle motor.

[0120] Of course, in this case, the braking torque of the first front axle motor is zero, and the braking torque of the first rear axle motor is the motor braking torque.

[0121] Step S360 , determining whether the temperature of the rear axle motor is higher than the target preset temperature, if not, executing step S370 , and if so, executing step S380 .

[0122] Step S370: Keep the first rear axle motor braking torque of the rear axle motor unchanged.

[0123] Step S380, reduce the first rear axle motor braking torque of the rear axle motor to obtain the third rear axle motor braking torque, and increase the first front axle motor braking torque of the front axle motor to obtain the third front axle motor braking torque, wherein the sum of the third front axle motor braking torque and the third rear axle motor braking torque is equal to the motor braking torque.

[0124] Step S390: Send a front axle braking signal containing the third front axle motor braking torque to the front axle motor, and send a rear axle braking signal containing the third rear axle motor braking torque to the rear axle motor. The front axle motor and the rear axle motor enter a stalled condition to brake the vehicle.

[0125] When it is determined that the target driving direction of the working machine is not the uphill direction in the forward gear (D gear), but the uphill direction in the reverse gear (R gear), the following steps are performed:

[0126] Step S410 , determining that the first front axle motor braking torque of the front axle motor is equal to the motor braking torque.

[0127] Step S420 , sending a front axle braking signal including a first front axle motor braking torque to the front axle motor, and sending a rear axle braking signal including a first rear axle motor braking torque to the rear axle motor.

[0128] Of course, in this case, the first front axle motor braking torque is the motor braking torque, and the first rear axle motor braking torque is zero.

[0129] Step S430 , determining whether the temperature of the front axle motor is higher than the target preset temperature, if not, executing step S440 , and if so, executing step S450 .

[0130] Step S440: maintaining the first front axle motor braking torque of the front axle motor unchanged.

[0131] Step S450, reduce the first front axle motor braking torque of the front axle motor to obtain the fifth front axle motor braking torque, and increase the first rear axle motor braking torque of the rear axle motor to obtain the fifth rear axle motor braking torque, wherein the sum of the fifth front axle motor braking torque and the fifth rear axle motor braking torque is equal to the motor braking torque.

[0132] Step S460: Send a front axle braking signal containing the fifth front axle motor braking torque to the front axle motor, and send a rear axle braking signal containing the fifth rear axle motor braking torque to the rear axle motor. The front axle motor and the rear axle motor enter a stalled condition to brake the vehicle.

[0133] Specifically, when a working machine activates the D gear uphill parking function and the rear axle motor enters a stalled state to brake the working machine, the rear axle motor may overheat due to stalling, which can easily damage the rear axle motor and cause the parking brake to fail. The present invention transfers part of the rear axle motor's braking torque to the front axle motor when the rear axle motor stalls and overheats, reducing the amount of braking torque distributed to the rear axle motor. This reduces the output braking torque of the rear axle motor, thereby lowering the rear axle motor's temperature and enabling both the front and rear axle motors to brake and park simultaneously, effectively improving the braking effect.

[0134] Similarly, when the uphill parking function in R gear is activated on a working machine, and the front axle motor enters a stalled state to brake the working machine, the front axle motor may overheat due to stalling, which can easily damage the front axle motor and cause the parking brake to fail. The present invention transfers part of the front axle motor's braking torque to the rear axle motor when the front axle motor is stalled and overheated, reducing the amount of braking torque distributed to the front axle motor, that is, reducing the output braking torque of the front axle motor, thereby reducing the temperature of the front axle motor and allowing the front and rear axle motors to brake and park simultaneously, effectively improving the braking effect.

[0135] Therefore, when the operating machinery of the embodiment of the present invention is in a ramp parking motor stalled and overheating condition, the motor temperature can be reduced by transferring the braking torque, the hill parking function is optimized, and the motor stalled and overheated protection is realized when parking on a slope, thereby avoiding failure of hill parking due to motor overheating and improving parking safety and reliability.

[0136] According to one embodiment of the present invention, the front axle motor includes: a first front axle motor and a second front axle motor, that is, the front axle motor is a dual motor; when the target driving direction of the working machine is an uphill direction in reverse gear (R gear), the step of determining that the braking torque of the first front axle motor of the front axle motor is equal to the motor braking torque includes:

[0137] When the target driving direction is the uphill direction of the reverse gear, the braking torque of the sixth front axle motor of the first front axle motor and the braking torque of the seventh front axle motor of the second front axle motor are determined, and the sum of the braking torque of the sixth front axle motor and the braking torque of the seventh front axle motor is equal to the motor braking torque; and the braking torque of the sixth front axle motor and the braking torque of the seventh front axle motor can be further distributed according to the adhesion of the left front wheel driven by the first front axle motor and the adhesion of the right front wheel driven by the second front axle motor, and the greater the adhesion, the greater the distributed braking torque;

[0138] The step of sending a front axle braking signal including a first front axle motor braking torque to the front axle motor and sending a rear axle braking signal including a first rear axle motor braking torque to the rear axle motor comprises:

[0139] A first front axle braking signal including the braking torque of the sixth front axle motor is sent to the first front axle motor, a second front axle braking signal including the braking torque of the seventh front axle motor is sent to the second front axle motor, and a rear axle braking signal including the braking torque of the first rear axle motor is sent to the rear axle motor.

[0140] Furthermore, the hill parking control method for a working machine according to an embodiment of the present invention further includes:

[0141] Acquire the temperature of the first front axle motor and the temperature of the second front axle motor;

[0142] After the steps of sending a first front axle braking signal including the braking torque of the sixth front axle motor to the first front axle motor, sending a second front axle braking signal including the braking torque of the seventh front axle motor to the second front axle motor, and sending a rear axle braking signal including the braking torque of the first rear axle motor to the rear axle motor, the method further includes:

[0143] When the temperature of the first front axle motor is higher than the target preset temperature, the sixth front axle motor braking torque of the first front axle motor is reduced to obtain the eighth front axle motor braking torque, and the seventh front axle motor braking torque of the second front axle motor is increased to obtain the ninth front axle motor braking torque, wherein the sum of the eighth front axle motor braking torque and the ninth front axle motor braking torque is equal to the motor braking torque;

[0144] sending a first front axle braking signal including a braking torque of the eighth front axle motor to the first front axle motor, and sending a second front axle braking signal including a braking torque of the ninth front axle motor to the second front axle motor;

[0145] When the temperature of the first front axle motor and the temperature of the second front axle motor are both higher than the target preset temperature, the sixth front axle motor braking torque of the first front axle motor and the seventh front axle motor braking torque of the second front axle motor are reduced to obtain the tenth front axle motor braking torque and the eleventh front axle motor braking torque respectively, and the first rear axle motor braking torque of the rear axle motor is increased to obtain the sixth rear axle motor braking torque, wherein the sum of the tenth front axle motor braking torque, the eleventh front axle motor braking torque and the sixth rear axle motor braking torque is equal to the motor braking torque;

[0146] A first front axle braking signal containing the tenth front axle motor braking torque is sent to the first front axle motor, a second front axle braking signal containing the eleventh front axle motor braking torque is sent to the second front axle motor, and a rear axle braking signal containing the sixth rear axle motor braking torque is sent to the rear axle motor.

[0147] Specifically, when the working machine activates the R gear uphill parking function, the motor braking torque of the working machine is completely distributed to the first front axle motor and the second front axle motor, that is, the braking torque output by the two front axle motors is controlled to be the calculated total motor braking torque of the working machine, and the front axle dual motors enter the stall condition to brake the working machine.

[0148] Moreover, when the R gear uphill parking function is activated and the first and second front axle motors enter the stalled braking operation, if the temperature of one of the front axle motors is too high, for example, the temperature of the first front axle motor is too high, part of the braking torque of the first front axle motor will be transferred to the second front axle motor, reducing the output braking torque of the first front axle motor, thereby reducing the temperature of the first front axle motor; if the temperatures of both front axle motors are too high, part of the braking torque of the two front axle motors will be transferred to the rear axle motor, reducing the output braking torque of the two front axle motors, thereby reducing the temperatures of the two front axle motors, and the two front axle motors and rear axle motors can be used to brake and park at the same time, effectively improving the hill parking effect.

[0149] In an embodiment of the present invention, when the target driving direction of the working machine is an uphill direction in the forward gear (D gear), the hill parking control method of the working machine in the embodiment of the present invention further includes:

[0150] Get the temperature of the rear axle motor;

[0151] After the steps of sending a first front axle braking signal including the braking torque of the sixth front axle motor to the first front axle motor, sending a second front axle braking signal including the braking torque of the seventh front axle motor to the second front axle motor, and sending a rear axle braking signal including the braking torque of the first rear axle motor to the rear axle motor, the method further includes:

[0152] determining whether the temperature of the rear axle motor is higher than a target preset temperature; if not, maintaining the first rear axle motor braking torque of the rear axle motor unchanged; if so, reducing the first rear axle motor braking torque of the rear axle motor to obtain the seventh rear axle motor braking torque, and increasing the sixth front axle motor braking torque of the first front axle motor to obtain the twelfth front axle motor braking torque, wherein the sum of the twelfth front axle motor braking torque and the seventh rear axle motor braking torque is equal to the motor braking torque; sending a first front axle braking signal including the twelfth front axle motor braking torque to the first front axle motor, and sending a rear axle braking signal including the seventh rear axle motor braking torque to the rear axle motor;

[0153] Then, determining whether the temperature of the first front axle motor is higher than the target preset temperature, and if not, maintaining the twelfth front axle motor braking torque of the first front axle motor and the seventh rear axle motor braking torque of the rear axle motor unchanged;

[0154] If so, reduce the twelfth front axle motor braking torque of the first front axle motor to obtain the thirteenth front axle motor braking torque, and increase the seventh front axle motor braking torque of the second front axle motor to obtain the fourteenth front axle motor braking torque, wherein the sum of the thirteenth front axle motor braking torque, the fourteenth front axle motor braking torque and the seventh rear axle motor braking torque is equal to the motor braking torque; send a first front axle braking signal containing the thirteenth front axle motor braking torque to the first front axle motor, send a second front axle braking signal containing the fourteenth front axle motor braking torque to the second front axle motor, and send a rear axle braking signal containing the seventh rear axle motor braking torque to the rear axle motor.

[0155] Specifically, when the operating machine activates the D gear uphill parking function, the motor braking torque of the operating machine is fully distributed to the rear axle motor, that is, the braking torque output by the rear axle motor is controlled to be the calculated total motor braking torque of the operating machine. When the rear axle motor enters the stall condition to brake the operating machine, if the temperature of the rear axle motor is too high, part of the braking torque of the rear axle motor is transferred to the first front axle motor to reduce the output braking torque of the rear axle motor, thereby reducing the temperature of the rear axle motor; if the temperature of the first front axle motor is too high, part of the braking torque of the first front axle motor is transferred to the second front axle motor to reduce the output braking torque of the first front axle motor, thereby reducing the temperature of the first front axle motor, and the two front axle motors and the rear axle motor can be used for braking and parking at the same time, effectively improving the slope parking effect.

[0156] In addition, when the temperatures of the first front axle motor, the second front axle motor and the rear axle motor are too high, the speed of the cooling water pump and the cooling fan of the operating machinery can be controlled to increase the cooling capacity, reduce the temperature and improve the reliability of hill parking.

[0157] Therefore, the control method for hill braking and parking of a working machine and motor stall overheat protection according to the embodiment of the present invention can be applied to dual-motor or multi-motor drive systems and has a wide range of applications.

[0158] For example, the working machine of the present invention may be an electric loader with an integrated electric drive axle, primarily comprising: dual front axle motors and a single rear axle motor, the dual front axle motors driving the front two wheels, and the single rear axle motor driving the rear two wheels. The loader of the present invention can employ the hill-holding control method of the above-described embodiment.

[0159] The working machine hill parking control device provided by the present invention is described below. The working machine hill parking control device described below and the working machine hill parking control method described above can be referred to each other.

[0160] According to an embodiment of the second aspect of the present invention, referring to Figure 4 As shown, the present invention also provides a hill-holding control device for a work machine, which mainly includes: an acquisition module 401, a response module 402, a determination module 403, and a transmission module 404. The acquisition module 401 is used to acquire a target driving direction and a slope-slipping status signal of the work machine; the response module 402 is used to determine the motor braking torque of the work machine with a target vehicle speed of zero in response to the slope-slipping status signal; the determination module 403 is used to determine a first front axle motor braking torque of the front axle motor of the work machine and a first rear axle motor braking torque of the rear axle motor of the work machine based on the target driving direction and the motor braking torque; and the transmission module 404 is used to send a front axle braking signal containing the first front axle motor braking torque to the front axle motor, and to send a rear axle braking signal containing the first rear axle motor braking torque to the rear axle motor.

[0161] The slope parking control device for an operating machine provided in an embodiment of the present invention can adapt to the main fulcrum of the operating machine on the slope by reasonably controlling the braking torque of the front axle motor and the rear axle motor of the operating machine, thereby improving the braking parking effect on the slope, effectively preventing the operating machine from sliding down the slope, and improving safety and reliability.

[0162] According to an embodiment of the third aspect of the present invention, referring to Figure 5As shown, the present invention further provides a work machine, comprising: a processor 501, a communications interface 502, a memory 503, and a communications bus 504, wherein the processor 501, the communications interface 502, and the memory 503 communicate with each other via the communications bus 504. The processor 501 can call logic instructions in the memory 503 to execute a hill parking control method for the work machine, the method comprising: obtaining a target driving direction and a slope slipping status signal of the work machine; determining a motor braking torque of the work machine with a target vehicle speed of zero in response to the slope slipping status signal; determining a first front axle motor braking torque of a front axle motor of the work machine and a first rear axle motor braking torque of a rear axle motor of the work machine based on the target driving direction and the motor braking torque; and sending a front axle braking signal containing the first front axle motor braking torque to the front axle motor, and sending a rear axle braking signal containing the first rear axle motor braking torque to the rear axle motor.

[0163] The specific type of the working machine of the present invention is not particularly limited. For example, the working machine can be a working vehicle such as a crane, an excavator, or a loader.

[0164] Since the working machine of the embodiment of the present invention includes the working machine hill parking control method of any of the above embodiments, it has the technical effects of the working machine hill parking control method of any of the above embodiments, which will not be described in detail here.

[0165] In addition, the logic instructions in the above-mentioned memory 503 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.

[0166] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the operating machinery slope parking control method provided by the above methods, the method including: obtaining the target driving direction and the slope status signal of the operating machinery; in response to the slope status signal, determining the motor braking torque of the operating machinery with the target vehicle speed being zero; determining the first front axle motor braking torque of the front axle motor of the operating machinery and the first rear axle motor braking torque of the rear axle motor of the operating machinery according to the target driving direction and the motor braking torque; sending a front axle braking signal containing the first front axle motor braking torque to the front axle motor, and sending a rear axle braking signal containing the first rear axle motor braking torque to the rear axle motor.

[0167] 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 hill parking control method for an operating machine provided by the above-mentioned methods, the method comprising: obtaining the target driving direction and the slope sliding status signal of the operating machine; determining the motor braking torque of the operating machine with the target vehicle speed being zero in response to the slope sliding status signal; determining the first front axle motor braking torque of the front axle motor of the operating machine and the first rear axle motor braking torque of the rear axle motor of the operating machine according to the target driving direction and the motor braking torque; sending a front axle braking signal containing the first front axle motor braking torque to the front axle motor, and sending a rear axle braking signal containing the first rear axle motor braking torque to the rear axle motor.

[0168] 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.

[0169] 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.

[0170] 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 parking of a working machine on a slope, characterized in that: include: Obtain the target driving direction and slope status signal of the operating machinery; In response to the slope slipping state signal, determining a motor braking torque of the working machine with a target vehicle speed of zero; determining a first front axle motor braking torque of a front axle motor of the working machine and a first rear axle motor braking torque of a rear axle motor of the working machine according to the target driving direction and the motor braking torque; Sending a front axle braking signal including the first front axle motor braking torque to the front axle motor, and sending a rear axle braking signal including the first rear axle motor braking torque to the rear axle motor; The target driving direction includes: a forward gear uphill direction; the step of determining the first front axle motor braking torque of the front axle motor of the working machine and the first rear axle motor braking torque of the rear axle motor of the working machine according to the target driving direction and the motor braking torque includes: When the target driving direction is the forward gear uphill direction, determining that the first rear axle motor braking torque of the rear axle motor is equal to the motor braking torque; After the step of sending a front axle braking signal including the first front axle motor braking torque to the front axle motor and sending a rear axle braking signal including the first rear axle motor braking torque to the rear axle motor, the method further includes: When the slope slipping state signal of the working machine is received again, the first rear axle motor braking torque of the rear axle motor is reduced to obtain a second rear axle motor braking torque, and the first front axle motor braking torque of the front axle motor is increased to obtain a second front axle motor braking torque, wherein the sum of the second front axle motor braking torque and the second rear axle motor braking torque is equal to the motor braking torque; A front axle braking signal including the second front axle motor braking torque is sent to the front axle motor, and a rear axle braking signal including the second rear axle motor braking torque is sent to the rear axle motor.

2. The hill parking control method for a working machine according to claim 1, characterized in that: Also includes: Acquiring the temperature of the rear axle motor; After the step of sending a front axle braking signal including the first front axle motor braking torque to the front axle motor and sending a rear axle braking signal including the first rear axle motor braking torque to the rear axle motor, the method further includes: When the temperature of the rear axle motor is higher than a target preset temperature, reducing the first rear axle motor braking torque of the rear axle motor to obtain a third rear axle motor braking torque, and increasing the first front axle motor braking torque of the front axle motor to obtain a third front axle motor braking torque, wherein the sum of the third front axle motor braking torque and the third rear axle motor braking torque is equal to the motor braking torque; A front axle braking signal including the third front axle motor braking torque is sent to the front axle motor, and a rear axle braking signal including the third rear axle motor braking torque is sent to the rear axle motor.

3. The hill parking control method for a working machine according to claim 1, characterized in that: The target driving direction includes an uphill direction in reverse gear. The step of determining a first front axle motor braking torque of a front axle motor of the working machine and a first rear axle motor braking torque of a rear axle motor of the working machine according to the target driving direction and the motor braking torque includes: When the target driving direction is the reverse gear uphill direction, it is determined that the first front axle motor braking torque of the front axle motor is equal to the motor braking torque.

4. The hill parking control method for a working machine according to claim 3, characterized in that: After the step of sending a front axle braking signal including the first front axle motor braking torque to the front axle motor and sending a rear axle braking signal including the first rear axle motor braking torque to the rear axle motor, the method further includes: When the slope slipping state signal of the working machine is received again, the first front axle motor braking torque of the front axle motor is reduced to obtain a fourth front axle motor braking torque, and the first rear axle motor braking torque of the rear axle motor is increased to obtain a fourth rear axle motor braking torque, wherein the sum of the fourth front axle motor braking torque and the fourth rear axle motor braking torque is equal to the motor braking torque; A front axle braking signal including the braking torque of the fourth front axle motor is sent to the front axle motor, and a rear axle braking signal including the braking torque of the fourth rear axle motor is sent to the rear axle motor.

5. The hill parking control method for a working machine according to claim 3, characterized in that: Also includes: Acquiring the temperature of the front axle motor; After the step of sending a front axle braking signal including the first front axle motor braking torque to the front axle motor and sending a rear axle braking signal including the first rear axle motor braking torque to the rear axle motor, the method further includes: When the temperature of the front axle motor is higher than a target preset temperature, reducing the first front axle motor braking torque of the front axle motor to obtain a fifth front axle motor braking torque, and increasing the first rear axle motor braking torque of the rear axle motor to obtain a fifth rear axle motor braking torque, wherein the sum of the fifth front axle motor braking torque and the fifth rear axle motor braking torque is equal to the motor braking torque; A front axle braking signal including the braking torque of the fifth front axle motor is sent to the front axle motor, and a rear axle braking signal including the braking torque of the fifth rear axle motor is sent to the rear axle motor.

6. The hill parking control method for a working machine according to claim 3, characterized in that: The front axle motor includes: a first front axle motor and a second front axle motor. When the target driving direction is the reverse gear uphill direction, the step of determining that the first front axle motor braking torque of the front axle motor is equal to the motor braking torque includes: When the target driving direction is the reverse gear uphill direction, determining a sixth front axle motor braking torque of the first front axle motor and a seventh front axle motor braking torque of the second front axle motor, wherein the sum of the sixth front axle motor braking torque and the seventh front axle motor braking torque is equal to the motor braking torque; The step of sending a front axle braking signal including the first front axle motor braking torque to the front axle motor, and sending a rear axle braking signal including the first rear axle motor braking torque to the rear axle motor, comprises: A first front axle braking signal including the braking torque of the sixth front axle motor is sent to the first front axle motor, a second front axle braking signal including the braking torque of the seventh front axle motor is sent to the second front axle motor, and a rear axle braking signal including the braking torque of the first rear axle motor is sent to the rear axle motor.

7. The hill parking control method for a working machine according to claim 6, characterized in that: Also includes: acquiring a temperature of the first front axle motor and a temperature of the second front axle motor; After the steps of sending a first front axle braking signal including the braking torque of the sixth front axle motor to the first front axle motor, sending a second front axle braking signal including the braking torque of the seventh front axle motor to the second front axle motor, and sending a rear axle braking signal including the braking torque of the first rear axle motor to the rear axle motor, the method further includes: When the temperature of the first front axle motor is higher than a target preset temperature, the sixth front axle motor braking torque of the first front axle motor is reduced to obtain an eighth front axle motor braking torque, and the seventh front axle motor braking torque of the second front axle motor is increased to obtain a ninth front axle motor braking torque, wherein the sum of the eighth front axle motor braking torque and the ninth front axle motor braking torque is equal to the motor braking torque; sending a first front axle braking signal including the braking torque of the eighth front axle motor to the first front axle motor, and sending a second front axle braking signal including the braking torque of the ninth front axle motor to the second front axle motor; When the temperature of the first front axle motor and the temperature of the second front axle motor are both higher than a target preset temperature, the sixth front axle motor braking torque of the first front axle motor and the seventh front axle motor braking torque of the second front axle motor are reduced to obtain a tenth front axle motor braking torque and an eleventh front axle motor braking torque respectively, and the first rear axle motor braking torque of the rear axle motor is increased to obtain a sixth rear axle motor braking torque, wherein the sum of the tenth front axle motor braking torque, the eleventh front axle motor braking torque and the sixth rear axle motor braking torque is equal to the motor braking torque; A first front axle braking signal including the braking torque of the tenth front axle motor is sent to the first front axle motor, a second front axle braking signal including the braking torque of the eleventh front axle motor is sent to the second front axle motor, and a rear axle braking signal including the braking torque of the sixth rear axle motor is sent to the rear axle motor.

8. The hill parking control method for a working machine according to any one of claims 1 to 7, characterized in that: The step of obtaining the target driving direction of the working machine includes: If the gear position signal obtained for the working machine traveling on a slope is a forward gear, the speed direction of the working machine is the same as the vehicle head direction, the throttle opening at a previous moment is greater than the current moment, and the vehicle speed at a previous moment corresponding to each of the throttle openings is greater than the current moment, the target driving direction is determined to be a forward gear uphill direction; If the gear signal obtained for the working machine traveling on a slope is the reverse gear, the speed direction signal of the working machine is opposite to the direction of the vehicle head, the throttle opening at the previous moment is greater than the opening at the current moment, and the vehicle speed at the previous moment corresponding to the throttle opening is greater than the vehicle speed at the current moment, it is determined that the target driving direction is the reverse gear uphill direction.

9. The hill parking control method for a working machine according to claim 8, characterized in that: The step of obtaining the slope slipping state signal of the working machine includes: Determining that the working machine is parked on a slope with the forward gear uphill as the target driving direction, obtaining a brake release signal and a vehicle speed direction signal of the working machine, determining that the vehicle speed direction corresponding to the vehicle speed direction signal is opposite to the vehicle head direction of the working machine, and obtaining a slope sliding state signal of the working machine; or Determine that the working machine is parked on a slope with the reverse gear uphill as the target driving direction, obtain the brake release signal and vehicle speed direction signal of the working machine, determine that the vehicle speed direction corresponding to the vehicle speed direction signal is the same as the front direction of the working machine, and obtain the slope sliding status signal of the working machine.

10. A hill parking control device for a working machine, characterized in that: The method for controlling parking on a hill of a working machine according to any one of claims 1 to 9 comprises: An acquisition module is used to obtain the target driving direction and slope status signal of the operating machinery; a response module, configured to determine a motor braking torque of the working machine in response to the slope slipping state signal with a target vehicle speed of zero; a determination module, configured to determine a first front axle motor braking torque of a front axle motor of the working machine and a first rear axle motor braking torque of a rear axle motor of the working machine according to the target driving direction and the motor braking torque; A sending module is used to send a front axle braking signal containing the first front axle motor braking torque to the front axle motor, and to send a rear axle braking signal containing the first rear axle motor braking torque to the rear axle motor.

11. A working machine 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 hill parking control method for a working machine as described in any one of claims 1 to 9 is implemented.

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