Work machine travel control method, control system, and work machine

Abstract

The application relates to the technical field of working machines, and provides a working machine walking control method, a walking control system and a working machine. The working machine walking control method comprises the following steps: in the case of driving on a flat road, a motor series connection mode is controlled to be started; in the motor series connection mode, a low-speed mode or a high-speed mode is controlled to be started based on the actual road condition of the flat road. In the motor series connection mode, a first motor and a second motor are connected in series. Through the walking control method, the motor series connection mode is started in the case of driving the working machine on the flat road. Therefore, when the working machine encounters an obstacle, the driving force of the wheels on both sides is the same, and the skidding phenomenon is not prone to occurring. Meanwhile, the driver can select the low-speed mode or the high-speed mode based on the actual road condition of the flat road, that is, the motor rotating speed can be flexibly adjusted and adapted based on the actual road condition of the flat road, so that the motor efficiency can be greatly improved.

Description

Technical Field

[0001] This invention relates to the field of construction machinery technology, and in particular to a method for controlling the movement of construction machinery, a control system, and construction machinery. Background Technology

[0002] Aerial work platforms are essential equipment for working at heights and are widely used in modern production and daily life. In existing technology, series motors drive the aerial work platform in high-speed mode, while parallel motors drive it in low-speed mode. However, in low-speed mode, when the aerial work platform encounters an obstacle, the pressurized oil flows to the side with lower pressure, making slippage likely. If the platform switches from low-speed to high-speed mode at this time, the motor driving the hydraulic pump rotates at a relatively high speed, far exceeding the motor's first energy efficiency operating range, resulting in lower energy efficiency. Summary of the Invention

[0003] This invention provides a method, control system, and working machinery for controlling the movement of work equipment, in order to solve or improve the problem that existing aerial work platforms are prone to slipping when encountering obstacles in low-speed driving mode, and that switching to high-speed driving mode in this state will lead to a reduction in motor energy efficiency.

[0004] According to a first aspect of the present invention, a method for controlling the movement of a work machine is provided, comprising the following steps:

[0005] When driving on flat roads, control the starter motor in series mode;

[0006] In the motor series mode, the low-speed mode or high-speed mode is controlled to be activated based on the actual road conditions of the flat road.

[0007] In the motor series connection mode, the first motor and the second motor are connected in series.

[0008] The method for controlling the movement of a work machine according to the present invention further includes:

[0009] When driving on an uphill slope, control the starter motor in parallel mode;

[0010] In the motor parallel mode, the first motor and the second motor are connected in parallel.

[0011] The method for controlling the movement of a work machine according to the present invention further includes:

[0012] When driving on a descending slope, control the starter motor in series mode;

[0013] In the motor series mode, the low-speed mode or the high-speed mode is activated based on the actual road conditions of the descending slope.

[0014] According to the present invention, a method for controlling the movement of a work machinery, after the step of controlling the activation of a low-speed mode or a high-speed mode, further includes: adjusting the travel speed of the low-speed mode, or the travel speed of the high-speed mode.

[0015] In the low-speed mode, the motor speed is within a first speed range, and in the high-speed mode, the motor speed is within a second speed range.

[0016] Wherein, the upper limit of the speed in the first speed range is less than the lower limit of the speed in the second speed range.

[0017] According to the present invention, a method for controlling the movement of a work machinery, the step of controlling the series mode of the starter motor specifically includes:

[0018] Switch the connection status control valve to the series connection position so that the oil inlet of the first motor is connected to the hydraulic pump, the oil outlet of the first motor is connected to the oil inlet of the second motor, and the oil outlet of the second motor is connected to the oil tank.

[0019] According to the present invention, a method for controlling the movement of a work machinery, the step of controlling the parallel mode of the starter motor specifically includes:

[0020] Switch the connection status control valve to the parallel connection position so that the oil inlet of the first motor is connected to the hydraulic pump, the oil outlet of the first motor is connected to the oil tank, the oil inlet of the second motor is connected to the hydraulic pump, and the oil outlet of the second motor is connected to the oil tank.

[0021] According to the present invention, a method for controlling the movement of a work machinery, wherein the step of controlling the parallel mode of the starter motor when traveling on an uphill slope specifically includes:

[0022] When the tilt angle of the chassis of the working machinery is greater than or equal to the preset tilt angle, confirm that the working machinery is traveling on the rising slope.

[0023] When traveling on the uphill slope, the control valve automatically switches to the parallel connection position.

[0024] According to the present invention, a method for controlling the movement of a work machinery, wherein the step of controlling the series mode of the starter motor when traveling on a descending slope specifically includes:

[0025] When the tilt angle of the chassis of the operating machinery continues to decrease within a first preset time, it is confirmed that the operating machinery is traveling on the descending slope.

[0026] When driving on the descending slope, the control connection status control valve automatically switches to the series connection position.

[0027] According to a second aspect of the present invention, a machine tool walking control system is provided, comprising a hydraulic pump, a motor, a motor control handle, a first motor, a second motor, a connection status control valve, a tilt angle detection device, a control module, and an oil tank.

[0028] The motor is connected to the hydraulic pump. The motor control handle is connected to the motor. The motor control handle is used to control the motor to switch between low-speed mode and high-speed mode, and to adjust the driving speed in the low-speed mode and the driving speed in the high-speed mode.

[0029] The hydraulic pump supplies oil to the first motor and / or the second motor. The oil tank provides oil return to the first motor and / or the second motor. The first motor is connected to the second motor via the connection status control valve. The connection status control valve controls the switching between a series connection mode and a parallel connection mode for the first motor and the second motor.

[0030] The tilt angle detection device is connected to the chassis of the operating machinery. The control module is connected to the tilt angle detection device and the connection status control valve, and is used to control the working state of the connection status control valve based on the detection result of the tilt angle detection device.

[0031] According to a third aspect of the present invention, a working machine is provided, wherein the working machine travel is controlled by the working machine travel control method described above, or, the working machine travel control system described above is provided.

[0032] The machine travel control method provided by this invention includes the following steps: When traveling on a flat road, controlling the starter motors in series mode. In the series motor mode, controlling the starter motors in either a low-speed or high-speed mode based on the actual road conditions. For example, when the tilt angle of the machine chassis is within a preset range for the tilt angle of a flat road, it is determined that the machine is traveling on a flat road. During travel on a flat road, the first motor and the second motor are connected in series. During this process, the driver can flexibly choose to start either the low-speed or high-speed mode based on the actual road conditions. In the high-speed mode, the motor speed driving the hydraulic pump is relatively high, while in the low-speed mode, the motor speed driving the hydraulic pump is relatively low. In both the high-speed and low-speed modes, the motor speed adjustment is proportional speed regulation.

[0033] This travel control method ensures that the motors operate in series when the machinery is traveling on flat roads. Therefore, when the machinery encounters obstacles, the driving force on both wheels is equal, reducing the likelihood of slippage. Simultaneously, the operator can select between low-speed and high-speed modes based on the actual road conditions, meaning the motor speed can be flexibly adjusted to suit the specific road conditions, thus significantly improving motor efficiency. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in this invention or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a partial flowchart of the machine travel control method provided by the present invention;

[0036] Figure 2 This is a system schematic diagram of the machine travel control system provided by the present invention;

[0037] Figure label:

[0038] 100. Hydraulic pump; 200. Motor; 300. Oil tank; 400. Directional control valve; 500. Connection status control valve; 600. First motor; 700. Second motor. Detailed Implementation

[0039] 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.

[0040] In the description of the embodiments of the present invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0042] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0044] The following is combined with Figure 1 and Figure 2 This invention describes a method for controlling the movement of a work machinery, a control system, and the work machinery itself. It should be understood that the following description is merely an illustrative embodiment of the invention and does not constitute any particular limitation on the invention.

[0045] An embodiment of the first aspect of the present invention provides a method for controlling the movement of a work machine, such as... Figure 1 As shown, it includes the following steps:

[0046] When driving on flat roads, control the starter motor in series mode;

[0047] In motor series mode, the control will start either low-speed mode or high-speed mode based on the actual road conditions on flat roads.

[0048] In the motor series mode, the first motor 600 and the second motor 700 are connected in series.

[0049] The machine travel control method provided by this invention includes the following steps: When traveling on a flat road, the system controls the starter motors in series mode. In the series mode, based on the actual road conditions, the system controls the start of either a low-speed mode or a high-speed mode. For example, when the tilt angle of the machine chassis is within a preset range for the tilt angle of a flat road, it is determined that the machine is traveling on a flat road. During travel on a flat road, the first motor 600 and the second motor 700 are connected in series, that is, the oil outlet of the first motor 600 is connected to the oil inlet of the second motor 700. During this process, the driver can flexibly choose to start either the low-speed mode or the high-speed mode based on the actual road conditions. In the high-speed mode, the motor 200 used to drive the hydraulic pump 100 rotates at a relatively high speed, while in the low-speed mode, the motor 200 used to drive the hydraulic pump 100 rotates at a relatively low speed. In both the high-speed and low-speed modes, the speed adjustment of the motor 200 is proportional speed regulation.

[0050] This travel control method ensures that the motors operate in series when the machinery is traveling on flat roads. Therefore, when the machinery encounters obstacles, the driving force on both wheels is equal, reducing the likelihood of slippage. Simultaneously, the operator can select between low-speed and high-speed modes based on the actual road conditions, meaning the motor speed can be flexibly adjusted to suit the specific road conditions, thus significantly improving motor efficiency.

[0051] In one embodiment of the present invention, the machine travel control method further includes:

[0052] When driving on an uphill slope, control the starter motor in parallel mode;

[0053] In the parallel motor mode, the first motor 600 and the second motor 700 are connected in parallel.

[0054] Furthermore, in one embodiment of the present invention, the machine travel control method further includes:

[0055] When driving on a descending slope, control the starter motor in series mode;

[0056] In motor series mode, the control activates either low-speed or high-speed mode based on the actual road conditions of the descending slope.

[0057] For example, when the machinery needs to climb a slope, it requires sufficient driving force. In this case, the starter motors are controlled in parallel mode. In parallel mode, the first motor 600 and the second motor 700 are connected in parallel; that is, the oil inlets of both motors 600 and 700 are connected to a pressurized oil source, and the oil return ports of both motors 600 and 700 are connected to a return oil circuit, such as the oil tank 300. When the machinery is traveling downhill, the required driving force is relatively small. In this case, to prevent the machinery from slipping abnormally, the drive motors are controlled in series mode. In series mode, the operator can control the starter motors to operate in either low-speed or high-speed mode according to the actual road conditions.

[0058] More specifically, in one embodiment of the present invention, after the step of controlling the activation of low-speed mode or high-speed mode, the method further includes: adjusting the driving speed of low-speed mode or the driving speed of high-speed mode.

[0059] In low-speed mode, the speed of motor 200 is within the first speed range, and in high-speed mode, the speed of motor 200 is within the second speed range.

[0060] The upper limit of the speed in the first speed range is less than the lower limit of the speed in the second speed range.

[0061] In one embodiment of the present invention, the step of controlling the series mode of the starter motor specifically includes:

[0062] Switch the connection status control valve 500 to the series connection position so that the oil inlet of the first motor 600 is connected to the hydraulic pump 100, and the oil outlet of the first motor 600 is connected to the oil inlet of the second motor 700. The oil outlet of the second motor 700 is connected to the oil tank 300.

[0063] In one embodiment of the present invention, the step of controlling the parallel mode of the starter motor specifically includes:

[0064] Switch the connection status control valve 500 to the parallel connection position so that the oil inlet of the first motor 600 is connected to the hydraulic pump 100, the oil outlet of the first motor 600 is connected to the oil tank 300, the oil inlet of the second motor 700 is connected to the hydraulic pump 100, and the oil outlet of the second motor 700 is connected to the oil tank 300.

[0065] Furthermore, in one embodiment of the present invention, the step of controlling the parallel mode of the starter motor when driving on an uphill slope specifically includes:

[0066] When the tilt angle of the chassis of the working machinery is greater than or equal to the preset tilt angle, confirm that the working machinery is traveling on the rising slope.

[0067] When traveling on the uphill slope, the control connection status control valve 500 automatically switches to the parallel connection position.

[0068] Furthermore, in one embodiment of the present invention, the step of controlling the starter motor in series mode when driving on a descending slope specifically includes:

[0069] If the tilt angle of the chassis of the operating machinery continues to decrease within a first preset time, it is confirmed that the operating machinery is traveling on the descending slope.

[0070] When driving on a descending slope, the control connection status control valve 500 automatically switches to the series connection position.

[0071] For example, combining Figure 2 As described above, an embodiment of the second aspect of the present invention also provides a working machinery walking control system, including a hydraulic pump 100, a motor 200, a motor 200 control handle, a first motor 600, a second motor 700, a connection status control valve 500, a tilt angle detection device, a control module, and an oil tank 300.

[0072] The motor 200 is connected to the hydraulic pump 100, and the motor 200 control handle is connected to the motor 200. The motor 200 control handle is used to control the motor 200 to switch between low-speed mode and high-speed mode, and to adjust the driving speed in low-speed mode and high-speed mode.

[0073] Hydraulic pump 100 supplies oil to the first motor 600 and / or the second motor 700. Oil tank 300 supplies oil return to the first motor 600 and / or the second motor 700. The first motor 600 is connected to the second motor 700 via connection status control valve 500. Connection status control valve 500 controls the switching between series connection mode and parallel connection mode of the first motor 600 and the second motor 700.

[0074] The tilt detection device is connected to the chassis of the operating machinery. The control module is connected to the tilt detection device and the connection status control valve 500, and is used to control the working status of the connection status control valve based on the detection results of the tilt detection device.

[0075] The walking control system also includes a directional control valve 400. One working port of the directional control valve 400 can be connected to the hydraulic pump 100 and the oil tank 300, while the other working port can be connected to the inlet of the first motor 600 and the return port of the second motor 700. The return port of the first motor 600 is connected to a connection state control valve 500, which is also connected to the inlet of the second motor 700, which is further connected to the directional control valve 400. The directional control valve 400 controls the rotation direction of the first motor 600 and the second motor 700. The connection state control valve 500 adjusts the connection mode of the first motor 600 and the second motor 700. The connection state control valve 500 can switch between a series connection position and a parallel connection position. When switched to the series connection position, the first motor 600 and the second motor 700 switch to series mode, and the return port of the first motor 600 is connected to the inlet port of the second motor 700 through the status connection control valve. When switched to the parallel connection position, the first motor 600 and the second motor 700 switch to parallel mode, and the inlets of both the first motor 600 and the second motor 700 are connected to the hydraulic pump 100 or the oil tank 300 through the directional control valve 400. The return ports of both the first motor 600 and the second motor 700 are also connected to the oil tank 300 or the hydraulic pump 100 through the directional control valve 400.

[0076] The motor 200 drives the hydraulic pump 100 to rotate. Different motor speeds correspond to different flow rates from the hydraulic pump 100, and consequently, different motor speeds. Therefore, by adjusting the speed of the motor 200, the speeds of the first motor 600 and the second motor 700 can be adjusted, meaning the travel speed of the working machinery can be controlled. The motor 200 is equipped with a control handle. This control handle not only allows the working machinery, or the motor 200, to switch between high-speed and low-speed modes, but also allows for proportional adjustment of the specific speed in high-speed mode and the specific speed in low-speed mode.

[0077] During actual operation, when controlling the low-speed or high-speed mode, the motor 200's speed can only be limited to a certain speed range. That is, when low-speed mode is activated, the motor 200 is limited to operating within a first speed range; when high-speed mode is activated, the motor 200 is limited to operating within a second speed range. The operator can flexibly adjust the motor 200's speed using the motor 200 control handle in both low-speed and high-speed modes.

[0078] In low-speed mode, the rotational speed of motor 200 is within a first speed range, and in high-speed mode, the rotational speed of motor 200 is within a second speed range. The upper limit of the speed in the first speed range is less than the lower limit of the speed in the second speed range. Specifically, in a preferred embodiment of the present invention, the first speed range is 1800–2200 rpm, and the second speed range is 3500–4200 rpm. Experimental verification shows that, compared with existing technologies, reducing the speed range in low-speed mode to 1800–2200 rpm optimizes the operation of motor 200 from the original third energy efficiency zone to the first energy efficiency zone, and reduces the series control hydraulic oil flow by nearly half.

[0079] An inclination detection device installed on the chassis of the work machinery can determine the road surface condition on which the work machinery is traveling. For example, in a preferred embodiment, if the inclination detection device detects that the inclination angle of the work machinery chassis is within 6°, it determines that the work machinery is traveling on a flat road. When the inclination detection device detects that the inclination angle of the work machinery chassis is greater than 6°, it determines that the work machinery is traveling on an uphill slope. In addition, the inclination detection device can also detect the trend of change in the inclination angle of the work machinery chassis. For example, if the inclination angle of the work machinery chassis is continuously decreasing within a certain period of time, such as 2 seconds, it is determined that the work machinery is traveling on a downhill slope.

[0080] The control module is connected to the connection status control valve 500. Based on the detection results from the tilt angle detection device, the control module automatically adjusts the operating position of the connection status control valve 500. For example, when the tilt angle detection device detects that the tilt angle of the work machinery chassis is within 6°, the control module controls the connection status control valve 500 to switch to the series connection position, and the driver adjusts the position of the motor 200 control handle based on the specific road conditions, thereby adjusting the speed of the motor 200. When the tilt angle detection device detects that the tilt angle of the work machinery chassis is greater than 6°, it controls the connection status control valve 500 to switch to the parallel connection position. When the tilt angle detection device detects that the tilt angle of the work machinery chassis is continuously decreasing within 2 seconds, it controls the connection status control valve 500 to switch to the parallel connection position. Simultaneously, the driver adjusts the position of the motor 200 control handle based on the specific downhill road conditions, thereby adjusting the speed of the motor 200.

[0081] When the slope does not exceed the maximum load capacity of the motor (200), both the high-speed and low-speed drive motors are connected in series. This effectively keeps the motor speed (200) within a high-efficiency range, achieving energy savings and improving the machine's passability, i.e., its ability to overcome obstacles. Upon entering a slope, adaptive acceleration and deceleration are performed based on the tilt angle detection results to smoothly transition into a parallel connection mode for the two drive motors. The high torque output of the dual motors in parallel meets the needs of climbing steep slopes, simplifying the repeated high-speed / low-speed switching operations under different walking conditions.

[0082] Through testing and verification, configuring an AC asynchronous motor 200 in the above-mentioned walking control system can improve the energy efficiency Henderson cycle count by 15.3%, and configuring a permanent magnet synchronous motor 200 can improve the energy efficiency Henderson cycle count by 24.5%.

[0083] A third aspect of the present invention provides a working machine that controls the movement of the working machine using the working machine movement control method described above, or includes the working machine movement control system described above.

[0084] For example, in one embodiment of the present invention, the above-mentioned working machinery includes an aerial work platform or a scissor lift aerial work platform.

[0085] It should be noted that the above embodiments are merely illustrative examples of the present invention and do not constitute any limitation on the present invention. That is to say, the above-mentioned working machinery includes, but is not limited to, aerial work platforms; other working machinery that controls its movement using the movement control method described above, or that includes the movement control system described above, should all be within the protection scope of the present invention.

[0086] Furthermore, in the working machinery provided by the present invention, since the working machinery movement is controlled by the working machinery movement control method described above, or includes the working machinery movement control system described above, it also possesses the advantages described above.

[0087] 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 method for controlling the movement of a work machinery, characterized in that, Includes the following steps: When driving on a flat road, the starter motor is controlled in series mode. When the working machinery encounters an obstacle, the driving force of the wheels on both sides is the same, and it is not easy for slippage to occur. In the motor series mode, the low-speed mode or high-speed mode is controlled to be activated based on the actual road conditions of the flat road. In the motor series connection mode, the first motor and the second motor are connected in series. After the step of controlling the activation of low-speed mode or high-speed mode, the method further includes: adjusting the driving speed of the low-speed mode, or the driving speed of the high-speed mode. In the low-speed mode, the motor speed is within a first speed range; in the high-speed mode, the motor speed is within a second speed range. Wherein, the upper limit of the speed in the first speed range is less than the lower limit of the speed in the second speed range; the motor control handle controls the motor to switch between the low speed mode and the high speed mode, and adjusts the driving speed in the low speed mode and the driving speed in the high speed mode; The method for controlling the movement of the operating machinery also includes: When driving on an uphill slope, control the starter motor in parallel mode; In the motor parallel mode, the first motor and the second motor are connected in parallel; The method for controlling the movement of the operating machinery also includes: When driving on a descending slope, control the starter motor in series mode to prevent the machinery from slipping abnormally. In the motor series mode, the low-speed mode or the high-speed mode is activated based on the actual road conditions of the descending slope. The steps for controlling the parallel mode of the starter motor when driving on an uphill slope specifically include: When the tilt angle of the chassis of the working machinery is greater than or equal to the preset tilt angle, confirm that the working machinery is traveling on the rising slope. When driving on the uphill slope, the control valve automatically switches to the parallel connection position. The steps for controlling the starter motor in series mode when driving on a descending slope specifically include: When the tilt angle of the chassis of the operating machinery continues to decrease within a first preset time, it is confirmed that the operating machinery is traveling on the descending slope. When driving on the descending slope, the control connection status control valve automatically switches to the series connection position; Under the condition that the slope does not exceed the maximum load of the motor, the high-speed and low-speed walking drive motors are connected in series, which can effectively control the motor speed in a large proportion of the high-efficiency range to achieve energy saving, and effectively improve the overall passability, that is, the ability to cross obstacles. After entering the slope, the vehicle adaptively accelerates and decelerates based on the tilt angle detection results to smoothly and automatically switch to the parallel connection mode of the two drive motors. The high torque output of the dual motors in parallel meets the needs of climbing steep slopes, simplifying the repeated high and low speed switching operations under different walking conditions.

2. The method for controlling the movement of construction machinery according to claim 1, characterized in that, The steps for controlling the series mode of the starter motor specifically include: Switch the connection status control valve to the series connection position so that the oil inlet of the first motor is connected to the hydraulic pump, the oil outlet of the first motor is connected to the oil inlet of the second motor, and the oil outlet of the second motor is connected to the oil tank.

3. The method for controlling the movement of construction machinery according to claim 2, characterized in that, The steps for controlling the parallel mode of the starter motor specifically include: Switch the connection status control valve to the parallel connection position so that the oil inlet of the first motor is connected to the hydraulic pump, the oil outlet of the first motor is connected to the oil tank, the oil inlet of the second motor is connected to the hydraulic pump, and the oil outlet of the second motor is connected to the oil tank.

4. A machine travel control system for executing the machine travel control method as described in any one of claims 1 to 3, characterized in that, Includes a hydraulic pump, motor, motor control handle, first motor, second motor, connection status control valve, tilt angle detection device, control module, and oil tank. The motor is connected to the hydraulic pump, and the motor control handle is connected to the motor. The motor control handle is used to control the motor to switch between low speed mode and high speed mode, and to adjust the driving speed in the low speed mode and the driving speed in the high speed mode. The hydraulic pump supplies oil to the first motor and / or the second motor, and the oil tank supplies oil return to the first motor and / or the second motor. The first motor is connected to the second motor via the connection status control valve, which controls the switching between a series connection mode and a parallel connection mode for the first motor and the second motor. The tilt angle detection device is connected to the chassis of the working machinery, and the control module is connected to the tilt angle detection device and the connection status control valve, and is used to control the working status of the connection status control valve based on the detection result of the tilt angle detection device.

5. A type of operating machinery, characterized in that, The machine travel is controlled by the machine travel control method as described in any one of claims 1 to 3, or it includes the machine travel control system as described in claim 4.

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