Paver control methods, paver travel system, paver

Abstract

This invention relates to the field of construction machinery technology, providing a paver control method, a paver travel system, a paver, and electronic equipment. The paver control method includes acquiring the current discharge pressure of the travel pump; determining that the current discharge pressure of the travel pump is greater than a preset pressure, where the preset pressure is less than the design discharge pressure of the travel pump; and controlling at least one of the speed and acceleration of the paver's travel mechanism to decrease until the current discharge pressure of the travel pump is determined to be less than or equal to the preset pressure. The paver control method provided by this invention addresses the defect in existing technologies where sudden stop of the travel mechanism leads to rollover. By controlling the discharge pressure of the travel pump, it ensures that the travel pump operates stably, providing stable driving force to the travel mechanism, thus achieving controllable paver movement.

Description

Technical Field

[0001] This invention relates to the field of construction machinery technology, and in particular to a control method for a paver, a paver's walking system, a paver, and electronic equipment. Background Technology

[0002] A paver is a construction device mainly used for paving various materials for the base and surface layers of highways. A paver includes various systems such as a traveling system, a hydraulic system, and a material distribution system, all of which work together to complete the paving operation.

[0003] The stability of the paver's travel system directly affects the stability of the screed, which in turn affects the smoothness of the road surface. Furthermore, the controllability of the travel system during site transfers is also crucial for the safety of the equipment and personnel.

[0004] The travel system includes traveling mechanisms located on the left and right sides of the paver. During travel, there is a possibility that the traveling mechanisms may suddenly stop. If the traveling mechanism on one side suddenly stops, the traveling mechanism on the other side will continue to operate, which may cause the paver to overturn and affect the controllability of the paver. Summary of the Invention

[0005] This invention provides a control method for a paver to solve the defect of sudden stop of the traveling mechanism causing rollover in the prior art. By controlling the discharge pressure of the traveling pump, the traveling pump is kept in a stable operating state, and the traveling pump stably provides driving force to the traveling mechanism, thereby realizing the controllability of the paver's movement.

[0006] This invention provides a control method for a paver, comprising:

[0007] Obtain the current discharge pressure of the travel pump;

[0008] The current discharge pressure of the travel pump is determined to be greater than the preset pressure, and the preset pressure is less than the design discharge pressure of the travel pump.

[0009] Control the speed and acceleration of the paver's traveling mechanism to decrease until it is determined that the current discharge pressure of the traveling pump is less than or equal to the preset pressure.

[0010] According to a paver control method provided by the present invention, the step of controlling at least one of the speed and acceleration of the paver's traveling mechanism to decrease until it is determined that the current discharge pressure of the traveling pump is less than or equal to the preset pressure includes:

[0011] If the traveling mechanism is determined to be moving at a constant speed, then the speed of the traveling mechanism is controlled to decrease until the current discharge pressure of the traveling pump is determined to be less than or equal to the preset pressure;

[0012] or,

[0013] If it is determined that the walking mechanism is accelerating, then the acceleration of the walking mechanism is controlled to decrease until the current discharge pressure of the travel pump is determined to be less than or equal to the preset pressure.

[0014] According to a paver control method provided by the present invention, the step of controlling the acceleration of the traveling mechanism to decrease until it is determined that the current discharge pressure of the traveling pump is less than or equal to the preset pressure includes:

[0015] The traveling mechanism is controlled to decrease from its current acceleration by at least a preset acceleration until it is determined that the current discharge pressure of the traveling pump is less than or equal to the preset pressure.

[0016] According to a paver control method provided by the present invention, the step of controlling the traveling mechanism to decrease from the current acceleration by at least one preset acceleration includes:

[0017] Obtain the current load of the paver, and determine the calculated acceleration of the paver corresponding to the current load and the preset pressure of the travel pump;

[0018] The difference between the current acceleration and the calculated acceleration is obtained, and the preset acceleration is controlled to be greater than or equal to the difference.

[0019] According to a paver control method provided by the present invention, the step of controlling the acceleration of the traveling mechanism to decrease until it is determined that the current discharge pressure of the traveling pump is less than or equal to the preset pressure includes:

[0020] Determine that the paver turns towards the first side relative to the direction of travel;

[0021] The acceleration of the first traveling mechanism located on the first side is reduced until it is determined that the current discharge pressure of the first traveling pump is less than the preset pressure;

[0022] The acceleration of the second traveling mechanism located on the second side is reduced until the current discharge pressure of the second traveling pump is determined to be equal to the preset pressure;

[0023] The paver includes a first traveling mechanism, a second traveling mechanism, a first travel pump, and a second travel pump. The first travel pump drives the first traveling mechanism to move, and the second travel pump drives the second traveling mechanism to move. The first side is one of the left and right sides, and the second side is the other of the left and right sides.

[0024] According to a paver control method provided by the present invention, the step of obtaining the current discharge pressure of the travel pump includes:

[0025] Based on the paver's speed being greater than the set speed, the current discharge pressure of the travel pump is obtained;

[0026] And / or, based on the fact that the paver's acceleration is greater than a set acceleration, obtain the current discharge pressure of the travel pump.

[0027] According to a paver control method provided by the present invention, the step of reducing at least one of the speed and acceleration of the paver's traveling mechanism includes:

[0028] The input current of the control motor is reduced.

[0029] The present invention also provides a paver travel system for performing the paver control method described in any of the above claims, comprising: a travel pump, a travel mechanism, a pressure sensor, and a controller, wherein the travel pump and the travel mechanism are connected, the pressure sensor is used to detect the current discharge pressure of the travel pump, and the travel mechanism, the pressure sensor, and the controller are connected.

[0030] The present invention also provides a paver, including the walking system of the paver as described above.

[0031] The paver provided by this invention has a pressure sensor connected to the outlet of the travel pump.

[0032] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method of the paver as described above.

[0033] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method of the paver as described above.

[0034] The paver control method provided by this invention obtains the current discharge pressure of the travel pump. If the current discharge pressure of the travel pump is greater than the preset pressure, the driving force required by the traveling mechanism is reduced by reducing the speed or acceleration, thereby reducing the current discharge pressure of the travel pump until the current discharge pressure of the travel pump is reduced to below the preset pressure. This ensures the safe and stable operation of the travel pump, improves the overall operational stability of the paver, and solves the problem of pump overflow caused by excessively high discharge pressure of the travel pump during travel.

[0035] Furthermore, when the paver's speed exceeds the set speed and / or the paver's acceleration exceeds the set acceleration, the current discharge pressure of the travel pump can be obtained, and the travel pump pressure information can be collected in a targeted manner, which can reduce the number of travel pump checks.

[0036] Furthermore, when the paver is turning, the current discharge pressure on the inner side can be reduced to below the preset pressure, while the current discharge pressure on the outer side is maintained at the preset pressure to ensure stable operation during turning. Specifically, when turning to the left, the left side is the inner side, and when turning to the right, the right side is the inner side. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a flowchart illustrating the control method for the paver provided by the present invention.

[0039] Figure 2 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] The paver has traveling mechanisms on both sides. A sudden stop of one traveling mechanism can lead to loss of control. Research has shown that excessively high discharge pressure from the traveling pump can cause it to suddenly stop, subsequently halting the traveling mechanism. To address this issue of loss of control due to a sudden stop of the traveling mechanism on one side of the paver, this invention proposes a paver control method.

[0042] An embodiment of the first aspect of the present invention is described below. Figure 1 As shown, a method for controlling a paver is provided, including:

[0043] Step 110: Obtain the current discharge pressure of the driving pump;

[0044] The current discharge pressure of the travel pump can be understood as the pressure of the fluid discharged by the travel pump.

[0045] It should be noted that the current discharge pressure of the travel pump can be collected in real time, but is not limited to real-time data. The actual situation of the current discharge pressure of the travel pump can also be determined based on the speed and acceleration of the paver. For example, if the speed of the paver is greater than or equal to the set speed, the current discharge pressure of the travel pump can be obtained, and / or if the acceleration of the paver is greater than or equal to the set acceleration, the current discharge pressure of the travel pump can be obtained, and so on.

[0046] Step 120: Determine that the current discharge pressure of the travel pump is greater than the preset pressure, and the preset pressure is less than the design discharge pressure of the travel pump;

[0047] The preset pressure can be understood as close to the design discharge pressure of the pump, but not limited to the design discharge pressure.

[0048] The design discharge pressure of the travel pump can be understood as the discharge pressure at which the travel pump stops, the upper limit of the travel pump's discharge pressure. If the current discharge pressure of the travel pump reaches the design discharge pressure, the travel pump will stop. Therefore, setting the upper limit of the current discharge pressure of the travel pump to be less than the preset pressure can prevent the current discharge pressure of the travel pump from exceeding the design discharge pressure and can also prevent the travel pump from stopping due to excessive discharge pressure.

[0049] The preset pressure can be a multiple of the design discharge pressure, with the set multiple being less than 1, such as 0.9, 0.8, etc.; the preset pressure can also be the design discharge pressure minus the set value, with the set value being a positive number, such as 0.1 MPa, 0.5 MPa, etc.; there are various ways to set the preset pressure, which can be selected according to needs.

[0050] Step 130: Control the speed and acceleration of the paver's traveling mechanism to decrease until it is determined that the current discharge pressure of the traveling pump is less than or equal to the preset pressure.

[0051] By reducing the speed, the driving power required by the paver can be reduced, thereby reducing the discharge pressure of the travel pump, so that the current discharge pressure of the travel pump is less than or equal to the preset pressure; the acceleration can also be reduced, which can also reduce the demand on the discharge pressure of the travel pump, thereby reducing the discharge pressure of the travel pump, so that the current discharge pressure of the travel pump is less than or equal to the preset pressure.

[0052] The paver control method of this invention adds a step of detecting the current discharge pressure of the travel pump. When the current discharge pressure of the travel pump is greater than the preset pressure, the current discharge pressure of the travel pump can be reduced to less than or equal to the preset pressure by adjusting at least one of the speed and acceleration of the paver. This avoids the travel pump from stopping due to the current discharge pressure reaching its maximum load capacity, and also avoids the problem of pump overflow caused by excessively high discharge pressure. This helps to extend the service life of the travel pump and travel motor, and improve the controllability of the travel system.

[0053] In some embodiments, step 130, namely, controlling at least one of the speed and acceleration of the paver's travel mechanism to decrease until it is determined that the current discharge pressure of the travel pump is less than or equal to a preset pressure, includes:

[0054] Step 131: If the traveling mechanism is determined to be moving at a constant speed, then the speed of the traveling mechanism is controlled to decrease until the current discharge pressure of the traveling pump is determined to be less than or equal to the preset pressure.

[0055] or,

[0056] Step 132: If the traveling mechanism is determined to accelerate, then the acceleration of the traveling mechanism is controlled to decrease until the current discharge pressure of the traveling pump is determined to be less than or equal to the preset pressure.

[0057] The traveling mechanism can travel at a constant speed or accelerate. During constant speed travel, the speed of the traveling mechanism can be reduced to decrease the current discharge pressure of the travel pump; during acceleration travel, the acceleration of the traveling mechanism can be reduced to decrease the current discharge pressure of the travel pump. Steps 131 and 132 correspond to different traveling modes and are independent solutions, with no sequential relationship.

[0058] It should be noted that reducing the speed or acceleration of the traveling mechanism can be achieved automatically via the controller, by user input, or a combination of both. When the controller automatically controls the speed or acceleration of the traveling mechanism, it means that when the controller receives a signal indicating that the current discharge pressure is greater than the preset pressure, it automatically controls the speed or acceleration of the traveling mechanism. When the user inputs the speed or acceleration of the traveling mechanism, it means that when the paver issues an indication signal reminding the user that "the current discharge pressure is greater than the preset pressure," the user can manually control the paver to reduce its speed or acceleration, such as by inputting the reduced speed or reduced acceleration. This reduces the current discharge pressure of the traveling pump, keeping it in a safe operating state and preventing pump shutdown.

[0059] In some embodiments, step 130, namely the step of reducing at least one of the speed and acceleration of the paver's traveling mechanism, includes:

[0060] The input current of the control motor is reduced.

[0061] If the current discharge pressure of the travel pump is determined to be greater than the preset pressure, the controller reduces the input current of the travel motor to decrease the current discharge pressure of the travel pump. Since the input current of the travel motor is negatively correlated with its displacement (i.e., a decrease in the input current increases the displacement), and given a fixed load, the displacement of the travel motor is also negatively correlated with the discharge pressure of the travel pump (an increase in displacement decreases the current discharge pressure), the current discharge pressure of the travel pump can be controlled by adjusting the input current of the travel motor.

[0062] In some embodiments, step 132, during the process of the paver accelerating forward, that is, controlling the acceleration of the travel mechanism to decrease until it is determined that the current discharge pressure of the travel pump is less than or equal to a preset pressure, includes:

[0063] Step 133: Control the traveling mechanism to decrease from the current acceleration by at least a preset acceleration until it is determined that the current discharge pressure of the traveling pump is less than or equal to the preset pressure;

[0064] It is understood that if the traveling mechanism decreases from the current acceleration by a preset acceleration, and the current discharge pressure of the travel pump is detected to be less than or equal to the preset pressure, then the acceleration reduction will stop. If the traveling mechanism decreases from the current acceleration by a preset acceleration, and the current discharge pressure of the travel pump is still greater than the preset pressure, then one or more preset accelerations will be reduced again until the current discharge pressure of the travel pump is less than the preset pressure.

[0065] The preset acceleration can be a pre-set value or a value calculated according to a preset formula. The preset acceleration can be a fixed value or a variable value. It can be understood that the first preset acceleration and the second preset acceleration of the traveling mechanism from the current acceleration can be the same value (in which case the preset acceleration is a fixed value) or different values ​​(in which case the preset acceleration is a variable value).

[0066] It should be noted that after the acceleration is reduced for a preset time, the current discharge pressure of the travel pump is then detected. The preset time is the reaction time reserved for the travel pump to avoid inaccurate detection that could cause the discharge pressure of the travel pump to drop too much, thus ensuring the stability of the paver's movement.

[0067] In some embodiments, step 133, the step of controlling the walking mechanism to decrease from the current acceleration by at least one preset acceleration, includes:

[0068] Step 134: Obtain the current load of the paver and determine the calculated acceleration of the paver corresponding to the current load and the preset pressure of the travel pump;

[0069] The preset pressure is a safe parameter for the travel pump to operate stably, and the calculated acceleration is the acceleration for safe travel, which is a theoretical value derived from calculations. The calculated acceleration can be understood as the design acceleration that the travel pump can withstand under the current load, or as the maximum, safe acceleration.

[0070] Step 135: Obtain the difference between the current acceleration and the calculated acceleration, and control the preset acceleration to be greater than or equal to the difference.

[0071] If the current acceleration is close to the calculated acceleration, or if the current acceleration is greater than the calculated acceleration, reducing the current acceleration by the difference between the two will reduce the acceleration to the calculated acceleration, thus meeting the safety requirements of the traveling pump. The calculation method is simple and can simplify the adjustment of acceleration.

[0072] It should be noted that when the difference between the current acceleration and the calculated acceleration is greater than 0, the preset acceleration is set to be greater than or equal to the difference to ensure that the reduced acceleration is less than or equal to the calculated acceleration, thus ensuring the paver travels stably. When the difference between the current acceleration and the calculated acceleration is 0, and the discharge pressure of the travel pump is greater than or equal to the preset pressure, the acceleration can be adjusted in other ways, such as reducing the current acceleration by a fixed value. The method of adjusting the current discharge pressure of the travel pump is not limited to any one method.

[0073] In some embodiments, step 110, namely the step of obtaining the current discharge pressure of the driving pump, includes:

[0074] Based on the paver's speed being greater than the set speed, the current discharge pressure of the travel pump is obtained;

[0075] The set speed can be used as a parameter to determine whether the paver is traveling at high speed. If the paver's speed is greater than the set speed, it is considered that the paver is traveling at high speed. If the paver's speed is less than or equal to the set speed, it is considered that the paver is not traveling at high speed.

[0076] The current discharge pressure of the travel pump is positively correlated with the travel speed of the traveling mechanism. Given a fixed paver load, the higher the current discharge pressure of the travel pump, the higher the travel speed. This means that if the travel speed exceeds the set speed, the current discharge pressure of the travel pump will only approach its design discharge pressure when the paver is traveling at high speed. In other words, if the travel pump's discharge pressure approaches its design upper limit, the paver may stop. Therefore, to avoid travel pump stoppage, the paver can be slowed down when the current discharge pressure of the travel pump exceeds the preset pressure. This reduces the demand on the current discharge pressure of the travel pump, thus reducing the driving force provided to the travel pump.

[0077] When the paver is confirmed to be traveling at high speed, the current discharge pressure of the travel pump is higher and closer to the preset pressure. This can easily lead to problems with the operation of the travel pump. Therefore, checking the current discharge pressure only after confirming that the paver is traveling at high speed can reduce the number of times the discharge pressure is checked, thereby reducing the load and power consumption of the paver.

[0078] And / or, in some embodiments, step 110, namely the step of obtaining the current discharge pressure of the driving pump, includes:

[0079] The current discharge pressure of the travel pump is obtained based on the fact that the paver's acceleration is greater than the set acceleration.

[0080] Similarly, acceleration is set as a parameter to determine whether the paver is accelerating too fast. If the paver's acceleration is greater than the set acceleration, the paver is considered to be in a state of rapid acceleration. If the paver's acceleration is less than or equal to the set acceleration, the paver is considered to be in a state of slow acceleration.

[0081] The current discharge pressure of the travel pump is positively correlated with its acceleration. Given a fixed paver load, the greater the paver's acceleration, the greater the discharge pressure required from the travel pump. Therefore, if the paver's acceleration exceeds the set acceleration, it indicates that the paver is in a state of rapid acceleration, resulting in a higher current discharge pressure. This current discharge pressure is closer to the preset pressure, which can easily lead to problems with the travel pump's operation. Therefore, it is advisable to check the current discharge pressure only after confirming that the paver is in a state of rapid acceleration. This reduces the frequency of discharge pressure checks and decreases the load and power consumption of the paver.

[0082] In some embodiments, step 130, that is, the step of controlling the acceleration of the paver's traveling mechanism to decrease, includes:

[0083] Step 136: Determine that the paver is turning towards the first side relative to the direction of travel;

[0084] Along the paver's direction of travel, the paver includes a first side and a second side. The first side is one of the left and right sides, and the second side is the other of the left and right sides. The paver includes a first traveling mechanism, a second traveling mechanism, a first travel pump, and a second travel pump. The first travel pump drives the first traveling mechanism, which is located on the first side. The second travel pump drives the second traveling mechanism, which is located on the second side. For example, the first traveling mechanism may be located on the left side of the paver, and the second traveling mechanism may be located on the right side. The first travel pump and the first traveling mechanism are located on the left side of the paver, and the second travel pump and the second traveling mechanism are located on the right side. When the paver turns towards the first side (taking the first side as the left side as an example), this step can be understood as the paver turning to the left when the current discharge pressure of the travel pump is greater than a preset pressure.

[0085] Step 137: Control the acceleration of the first traveling mechanism located on the first side to decrease until it is determined that the current discharge pressure of the first traveling pump on the first side is less than the preset pressure;

[0086] Step 138: Control the acceleration of the second traveling mechanism located on the second side to decrease until the current discharge pressure of the second traveling pump on the second side is determined to be equal to the preset pressure.

[0087] The acceleration of the first traveling mechanism on the left is reduced, and the current discharge pressure of the first traveling pump is reduced to below a preset pressure. The acceleration of the second traveling mechanism on the right is reduced, and the current discharge pressure of the second traveling pump is reduced to equal to the preset pressure. In other words, the current discharge pressure of the first traveling pump is less than the current discharge pressure of the second traveling pump, so that the acceleration on the right is greater than that on the left, thus achieving a turn.

[0088] Similarly, step 130, that is, the step of controlling the speed of the paver's traveling mechanism to decrease, includes:

[0089] Step 136: Determine that the paver is turning towards the first side relative to the direction of travel;

[0090] Step 139: Control the speed of the first traveling mechanism to decrease until it is determined that the current discharge pressure of the first traveling pump is less than the preset pressure;

[0091] Step 140: Control the speed of the second traveling mechanism to decrease until the current discharge pressure of the second traveling pump is equal to the preset pressure.

[0092] The speed of the first traveling mechanism on the left is reduced, and the current discharge pressure of the first traveling pump is reduced to below a preset pressure. The speed of the second traveling mechanism on the right is reduced, and the current discharge pressure of the second traveling pump is reduced to equal to the preset pressure. In other words, the current discharge pressure of the first traveling pump is less than the current discharge pressure of the second traveling pump, so that the speed on the right is greater than that on the left, thus achieving a turn.

[0093] Based on step 110 above, if the paver is traveling at high speed, it is necessary to collect and control the discharge pressure of the travel pump. High-speed travel includes various forms such as high-speed straight travel, high-speed turning travel, high-speed constant speed travel, and high-speed acceleration travel.

[0094] During high-speed straight-line driving and acceleration, the displacement of the drive motor decreases. When the current discharge pressure reaches a critical value (preset pressure), the acceleration on both sides is reduced simultaneously. If the current discharge pressure continues to increase, acceleration stops, and the vehicle maintains its current speed. During high-speed straight-line driving and turning, when the current discharge pressure reaches a critical value (preset pressure), the speed on both sides is reduced, maintaining the pressure on the outer side (right side for left turns; left side for right turns) at the critical value (preset pressure). After the turn is completed, the original speed is returned. During high-speed straight-line driving, if the current discharge pressure reaches a critical value (preset pressure), the speed on both sides is reduced simultaneously.

[0095] The paver in the above embodiments includes a travel handle and a steering handle. The travel handle and steering handle control input travel signals. For example, based on the input signal from the steering handle, it is determined that the paver is in a turning motion. Based on the input signals from the travel handle and steering handle, it is determined that the paver is in a state of straight-line constant speed travel, straight-line acceleration travel, turning constant speed travel, turning acceleration travel, etc. The paver also includes a steering potentiometer, which is used to detect the steering status during the turning process.

[0096] The paver includes the aforementioned travel pump, which is connected to a travel motor. The travel pump and travel motor work together to control the travel drive. The travel motor is equipped with a motor speed sensor, which detects the rotational speed of the travel motor, thereby indicating the speed of the paver and ensuring travel stability.

[0097] A second aspect of the present invention provides a paver travel system for executing the paver control method described above, comprising: a travel pump, a travel mechanism, a pressure sensor, and a controller. The travel pump and the travel mechanism are connected, the pressure sensor is used to detect the current discharge pressure of the travel pump, and the travel mechanism, the pressure sensor, and the controller are connected. When the paver travel system executes the above-described paver control method, it has the aforementioned beneficial effects, as detailed above, and will not be repeated here.

[0098] The travel pump is connected to the travel motor and works in conjunction to provide propulsion power to the traveling mechanism, which can be a tracked traveling mechanism. The current discharge pressure in the above embodiment can be detected by a pressure sensor.

[0099] The pressure sensor is connected to the outlet of the travel pump for accurate detection. Alternatively, the pressure sensor can also be connected to the discharge line of the travel pump, depending on the specific requirements. Furthermore, the pressure sensor can be connected to the line between the travel pump and the travel motor; the pressure of the fluid within this line indicates the current discharge pressure of the travel pump.

[0100] According to a third aspect of the present invention, a paver is provided, which includes the paver's walking system as described above. The paver then has the aforementioned beneficial effects, which can be referred to in detail above and will not be repeated here.

[0101] A paver also includes a material distribution system, a driver's cab, etc.

[0102] Figure 2 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 2 As shown, the electronic device may include a processor 810, a communications interface 820, a memory 830, and a communication bus 840. The processor 810, communications interface 820, and memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions from the memory 830 to execute any of the paver control methods described above.

[0103] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0104] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, and when the program instructions are executed by a computer, the computer is able to execute the paver control method provided by the above methods.

[0105] In another aspect, 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 perform the control methods of the pavers provided above.

[0106] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0107] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a paver, characterized in that, include: Based on the paver's speed being greater than the set speed, the current discharge pressure of the travel pump is obtained; And / or, based on the fact that the paver's acceleration is greater than a set acceleration, obtain the current discharge pressure of the travel pump; The current discharge pressure of the travel pump is determined to be greater than the preset pressure, and the preset pressure is less than the design discharge pressure of the travel pump. Control the speed and acceleration of the paver's traveling mechanism to decrease until it is determined that the current discharge pressure of the traveling pump is less than or equal to the preset pressure.

2. The paver control method according to claim 1, characterized in that, The step of reducing at least one of the speed and acceleration of the paver's traveling mechanism until it is determined that the current discharge pressure of the traveling pump is less than or equal to the preset pressure includes: If the traveling mechanism is determined to be moving at a constant speed, then the speed of the traveling mechanism is controlled to decrease until the current discharge pressure of the traveling pump is determined to be less than or equal to the preset pressure; or, If it is determined that the walking mechanism is accelerating, then the acceleration of the walking mechanism is controlled to decrease until the current discharge pressure of the travel pump is determined to be less than or equal to the preset pressure.

3. The paver control method according to claim 2, characterized in that, The step of controlling the acceleration of the walking mechanism to decrease until the current discharge pressure of the travel pump is determined to be less than or equal to the preset pressure includes: The traveling mechanism is controlled to decrease from its current acceleration by at least a preset acceleration until it is determined that the current discharge pressure of the traveling pump is less than or equal to the preset pressure.

4. The paver control method according to claim 3, characterized in that, The step of controlling the walking mechanism to decrease from the current acceleration by at least one preset acceleration includes: Obtain the current load of the paver, and determine the calculated acceleration of the paver corresponding to the current load and the preset pressure of the travel pump; The difference between the current acceleration and the calculated acceleration is obtained, and the preset acceleration is controlled to be greater than or equal to the difference.

5. The paver control method according to claim 2, characterized in that, The step of controlling the acceleration of the walking mechanism to decrease until the current discharge pressure of the travel pump is determined to be less than or equal to the preset pressure includes: Determine that the paver turns towards the first side relative to the direction of travel; The acceleration of the first traveling mechanism located on the first side is reduced until it is determined that the current discharge pressure of the first traveling pump is less than the preset pressure; The acceleration of the second traveling mechanism located on the second side is reduced until the current discharge pressure of the second traveling pump is determined to be equal to the preset pressure; The paver includes a first traveling mechanism, a second traveling mechanism, a first travel pump, and a second travel pump. The first travel pump drives the first traveling mechanism to move, and the second travel pump drives the second traveling mechanism to move. The first side is one of the left and right sides, and the second side is the other of the left and right sides.

6. The control method for a paver according to claim 1, characterized in that, The step of reducing at least one of the speed and acceleration of the paver's traveling mechanism includes: The input current of the control motor is reduced.

7. A travel system for a paver used to execute the control method for a paver as described in any one of claims 1 to 6, characterized in that, include: The system includes a travel pump, a travel mechanism, a pressure sensor, and a controller. The travel pump and the travel mechanism are connected. The pressure sensor is used to detect the current discharge pressure of the travel pump. The travel mechanism, the pressure sensor, and the controller are connected.

8. A paver, characterized in that, Includes the walking system of the paver as described in claim 7.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method for the paver as described in any one of claims 1 to 6.

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