Methods and systems for adjusting the electrical control system for tracked construction machinery to prevent belt misalignment

Abstract

This invention relates to the field of construction machinery, and provides a method, system, and tracked construction machinery for adjusting tracked machinery's deviation using electronic control. The method includes: displaying a target deviation adjustment interface for the tracked construction machinery; and, in response to an adjustment operation of a target proportional solenoid valve current adjustment control corresponding to the target deviation area in a preset deviation zone when deviation occurs, adjusting the maximum control current of the target proportional solenoid valve corresponding to the target deviation area in the interface, so that the adjusted maximum control current is less than the initial maximum control current stored in the target deviation area. The technical solution provided by this invention enables adjustment of the deviation of tracked construction machinery, and the deviation adjustment is simple and easy to operate.

Description

Technical Field

[0001] This invention relates to the field of construction machinery technology, and in particular to a method, system, and tracked construction machinery for adjusting the deviation of construction machinery by electronic control. Background Technology

[0002] Tracked construction machinery has been widely used in earthwork construction and other scenarios. Its straight-line movement affects the construction quality and efficiency of tracked construction machinery.

[0003] Among them, the deviation of tracked construction machinery is an important indicator for evaluating the straightness of its movement, and adjusting and correcting this deviation is of great significance. Therefore, how to adjust the deviation of tracked construction machinery is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This invention provides a method, system, and tracked work machinery for adjusting the deviation of tracked work machinery using electronic control, so as to achieve the adjustment of the deviation of tracked work machinery during travel.

[0005] This invention provides a method for electronically controlling and adjusting the deviation of machinery, comprising:

[0006] The target deviation control adjustment interface of the tracked machine is displayed. The target deviation control adjustment interface includes a proportional solenoid valve current adjustment control corresponding to the preset deviation zone.

[0007] When the tracked machine deviates from its designated path, the maximum control current of the target proportional solenoid valve corresponding to the target deviance zone is adjusted in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviance zone, so that the target maximum control current obtained after adjustment is less than the initial maximum control current stored in the target deviance zone.

[0008] The present invention provides a method for adjusting the electronic control of tracked machinery deviation, wherein the interface for displaying the target deviation adjustment of tracked machinery includes:

[0009] Upon detecting a high-speed adjustment command, the target deviation electronic control adjustment interface of the tracked work machinery is determined to be a high-speed deviation electronic control adjustment interface; the high-speed deviation electronic control adjustment interface includes the proportional solenoid valve current adjustment control corresponding to the preset deviation zone in the high-speed driving state; the high-speed driving state is a driving state in which the driving speed is greater than or equal to a preset speed threshold.

[0010] The interface for adjusting the high-speed deviation control system is displayed.

[0011] The present invention provides a method for adjusting the electronic control of tracked machinery deviation, wherein the interface for displaying the target deviation adjustment of tracked machinery includes:

[0012] Upon detecting a low-speed adjustment command, the target deviation electronic control adjustment interface of the tracked work machinery is determined to be a low-speed deviation electronic control adjustment interface; the low-speed deviation electronic control adjustment interface includes the proportional solenoid valve current adjustment control corresponding to the preset deviation zone in the low-speed driving state; the low-speed driving state is a driving state in which the driving speed is less than a preset speed threshold.

[0013] The low-speed deviation control adjustment interface is displayed.

[0014] The present invention provides a method for adjusting the electrical control of machinery deviation, which further includes:

[0015] If a termination instruction is detected indicating that the adjustment of the target deviation zone in the target deviation control adjustment interface has ended, the initial maximum control current stored in the target deviation zone corresponding to the target deviation control adjustment interface is updated to the target maximum control current finally adjusted under the target deviation control adjustment interface.

[0016] According to the present invention, a method for adjusting the electronic control of machinery deviation is provided, wherein adjusting the maximum control current of the target proportional solenoid valve corresponding to the target deviation area in response to an adjustment operation of a target proportional solenoid valve current adjustment control corresponding to the target deviation area includes:

[0017] In response to an adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone, the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone is adjusted once based on a preset current adjustment amount.

[0018] According to the present invention, a method for adjusting the electronic control of machinery deviation is provided. The proportional solenoid valve current adjustment control includes a current reduction control, and the preset current adjustment amount includes a first preset current adjustment amount. The step of adjusting the maximum control current of the target proportional solenoid valve corresponding to the target deviation area once, based on the preset current adjustment amount, in response to an adjustment operation of the target proportional solenoid valve current adjustment control facing the target deviation area, includes:

[0019] In response to an adjustment operation of the target current reduction control corresponding to the target deviation zone, the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone is reduced once based on the first preset current adjustment amount.

[0020] This invention provides a method for adjusting the electrical control of machinery deviation, wherein the proportional solenoid valve current adjustment control includes a current increase control; the method further includes:

[0021] For each of the preset deviation zones, if the maximum control current of the proportional solenoid valve corresponding to the deviation zone is less than the preset maximum control current in the initial state, in response to the adjustment operation of the current increase control corresponding to the deviation zone, the maximum control current of the proportional solenoid valve corresponding to the deviation zone is increased until the maximum control current of the proportional solenoid valve corresponding to the deviation zone is restored to the preset maximum control current.

[0022] The preset maximum control current is determined based on the maximum operating angle of the electric control foot pedal of the tracked machine.

[0023] The present invention also provides an electronic control adjustment system for machine deviation, comprising:

[0024] The display module is used to display the target deviation electronic control adjustment interface of the tracked machine. The target deviation electronic control adjustment interface includes a proportional solenoid valve current adjustment control corresponding to the preset deviation zone.

[0025] The adjustment control module is used to adjust the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone in the preset deviation zone when the tracked machine deviates. This adjustment is made in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone, so that the target maximum control current obtained after adjustment is less than the initial maximum control current stored in the target deviation zone.

[0026] The present invention also provides a tracked work machine, including a display screen, a memory, a controller, and a computer program stored in the memory and executable on the controller;

[0027] The display screen is used to display the target deviation electronic control adjustment interface of the tracked machine. The target deviation electronic control adjustment interface includes a proportional solenoid valve current adjustment control corresponding to the preset deviation zone.

[0028] When the controller executes the program, it performs the following steps:

[0029] When the tracked machine deviates from its designated path, the maximum control current of the target proportional solenoid valve corresponding to the target deviance zone is adjusted in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviance zone, so that the target maximum control current obtained after adjustment is less than the initial maximum control current stored in the target deviance zone.

[0030] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method for adjusting the deviation of working machinery by electronic control.

[0031] The present invention provides a method, system, and tracked work machinery for adjusting tracked machinery deviation. By displaying a target deviation adjustment interface for the tracked work machinery, including a proportional solenoid valve current adjustment control corresponding to a preset deviation zone, the system provides users with proportional solenoid valve current adjustment functions for each deviation zone of the tracked work machinery. When the tracked work machinery deviates, in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone in the preset deviation zone, the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone is adjusted so that the adjusted target maximum control current is less than the initial maximum control current stored in the target deviation zone. At this time, when controlling the target proportional solenoid valve based on the target maximum control current, the travel speed of the target track (the track with the fastest travel speed between the left and right tracks) controlled by the target proportional solenoid valve is reduced, thereby reducing the deviation amount. In this way, when tracked machinery deviates from its course, the maximum control current of the proportional solenoid valve in the target deviation zone can be reduced in the target deviation electronic control adjustment interface to decrease the travel speed of the track with the fastest travel speed in the left and right tracks, thereby reducing the deviation amount. This achieves the purpose of adjusting the travel deviation of the tracked machinery, and the deviation adjustment is simple and easy to operate. Attached Figure Description

[0032] 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.

[0033] Figure 1 This is a flowchart illustrating the electronic control adjustment method for machine deviation provided in an embodiment of the present invention.

[0034] Figure 2 This is a schematic diagram of the preset deviation zone of the tracked working machinery in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram showing the correspondence between the control angle of the electric walking pedal handle and the control current of the proportional solenoid valve in an embodiment of the present invention.

[0036] Figure 4 This is one of the schematic diagrams of the target deviation electronic control adjustment interface in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram illustrating the adjustment principle of the maximum control current of the proportional solenoid valve in an embodiment of the present invention.

[0038] Figure 6 This is a second schematic diagram of the target deviation electronic control adjustment interface in an embodiment of the present invention;

[0039] Figure 7 This is the third schematic diagram of the target deviation electronic control adjustment interface in the embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram illustrating the adjustment principle of the electronic control adjustment method for machine deviation provided in this embodiment of the invention;

[0041] Figure 9 This is a schematic diagram of the overall electrical control principle of the machine based on the method for adjusting the deviation of working machinery provided in the embodiments of the present invention;

[0042] Figure 10 This is a schematic diagram of the structure of the electronic control adjustment system for machine deviation provided in an embodiment of the present invention;

[0043] Figure 11 This is a schematic diagram of the tracked work machinery provided in an embodiment of the present invention. Detailed Implementation

[0044] 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.

[0045] It should be noted that the serial numbers assigned to the objects described in this invention, such as "first" and "second", are only used to distinguish the objects being described and do not have any sequential or technical meaning.

[0046] The straightness of tracked work machinery can be quantified by the amount of deviation. Many factors influence this deviation, including uneven flow distribution between the left and right sides of the electronically controlled multi-way main valve, significant differences in load between the left and right sides, differences in the left and right travel motors, inconsistent control angles or signal transmissions of the left and right foot pedals, and dimensional deviations in the underframe mechanical structure. These are just a few examples, but not limited to these. Under the influence of various factors, tracked work machinery will exhibit a certain degree of deviation, but the deviation is limited to an acceptable range. When the deviation exceeds this range, rework and modification are required. However, rework and modification often require multiple attempts to meet the requirements, consuming significant manpower and resources.

[0047] Therefore, in related technologies, the problem of tracked machinery deviation can be solved by designing a corrective valve to achieve a uniform distribution of flow between left and right sides; alternatively, in a dual-pump hydraulic system, the left and right sides can be controlled separately by two pumps; or, a sensor can be used to detect deviation and then control it. These methods can improve the straightness of tracked machinery movement.

[0048] However, if deviation persists even after adjustments using these methods, further adjustments become difficult. The relevant technologies do not specify effective methods for correcting deviation in tracked machinery when it exhibits excessive deviation, especially for tracked machinery with single-pump load-sensitive hydraulic systems. Deviation correction may involve adjusting the flow distribution of the main valve and correcting dimensional deviations in the undercarriage, consuming significant manpower and time for rework. Furthermore, many factors influence deviation in tracked machinery. Improving only a few factors may not eliminate the problem, as many other factors remain uncontrollable.

[0049] Based on this, this invention proposes a simple and easy-to-operate electronic control method for adjusting tracked machinery with a single-pump load-sensitive hydraulic system. When tracked machinery deviates from its track, the maximum control current of the proportional solenoid valve in the target deviation zone is reduced in the target deviation electronic control adjustment interface of the tracked machinery to decrease the travel speed of the track with the fastest travel speed among the left and right tracks, thereby reducing the deviation amount. This process is repeated until the deviation meets the requirements, thus achieving the adjustment of the tracked machinery's travel deviation and providing assistance for the linearity control of tracked machinery.

[0050] The following is combined with Figures 1 to 9 The present invention describes an electronically controlled adjustment method for tracked work machinery to adjust tracked vehicle deviation. This method is applicable to tracked work machinery, particularly tracked work machinery with a single-pump load-sensitive hydraulic system, and can be implemented through a controller of the tracked work machinery, or software, hardware, or a combination of both within the controller. Tracked work machinery may include tracked excavators.

[0051] Figure 1 An exemplary flowchart illustrates the electronic control adjustment method for machine deviation provided in an embodiment of the present invention. (Refer to...) Figure 1 As shown, the electronic control adjustment method for machine deviation can include the following steps 110 to 120.

[0052] Step 110: Display the target deviation electronic control adjustment interface of the tracked machine.

[0053] The target deviation electronic control adjustment interface includes a proportional solenoid valve current adjustment control corresponding to the preset deviation zone.

[0054] Understandably, tracked work machinery includes two sets of tracks, namely left and right tracks, used to propel the entire machine. Pre-defined deviation zones can be established according to the forward and backward directions of the tracked work machinery, for example... Figure 2 An exemplary diagram of a pre-defined deviation zone for a tracked work machine is shown, with reference to... Figure 2 As shown, the preset deviation zone can be divided into four deviation zones: front left deviation zone, front right deviation zone, rear left deviation zone, and rear right deviation zone.

[0055] Understandable Figure 2 The deviation zones are named as follows: front left deviation zone, front right deviation zone, rear left deviation zone, and rear right deviation zone. Each deviation zone can also be named using identification information (such as letters, numbers, etc.) or coordinate quadrants. This invention does not limit this.

[0056] Understandably, tracked work machinery includes one multi-way travel main valve and two travel motors. One travel motor operates on the left travel track (i.e., the left track), and the other travel motor operates on the right travel track (i.e., the right track). The travel module of the tracked work machinery uses two sections of the multi-way travel main valve. One section operates on the forward and backward travel directions of the left track, and the other section operates on the forward and backward travel directions of the right track. The travel control module of the tracked work machinery includes four proportional solenoid valves. Each proportional solenoid valve controls the opening of the main valve core of the multi-way travel main valve. The forward and backward movement of the left track is controlled by two proportional solenoid valves, and the forward and backward movement of the right track is controlled by the other two proportional solenoid valves. The proportional solenoid valves can control the opening of the main valve core of the corresponding travel main valve, thereby controlling the speed of the track corresponding to the corresponding travel motor. The maximum control current of each proportional solenoid valve corresponds to the maximum operating angle of the corresponding electric travel pedal, and the minimum control current corresponds to the minimum operating angle of the corresponding electric travel pedal. In this way, by adjusting the maximum control current of the proportional solenoid valve, the correspondence between the operating angle of the electric travel pedal and the control current of the proportional solenoid valve can be adjusted. When the operating angle of the electric travel pedal remains unchanged, if the maximum control current of the proportional solenoid valve is reduced, the control current of the proportional solenoid valve corresponding to that operating angle will also decrease, thereby reducing the travel speed of the corresponding track in the corresponding travel direction.

[0057] Specifically, Figure 3An exemplary diagram illustrates the correspondence between the operating angle of the electric walking pedal and the control current of the proportional solenoid valve. (Refer to...) Figure 3 As shown, assume the minimum control angle of the electronically controlled walking pedal is θ. min The maximum control angle is θ max Minimum control angle θ min The minimum control current I of the proportional solenoid valve min Maximum control angle θ max The maximum control current I of the corresponding proportional solenoid valve max The control current is I. min At this point, the secondary pressure of the proportional solenoid valve is exactly at the critical point where the opening area of ​​the main valve core of the corresponding travel main valve is 0, and the travel speed of the tracked machine is 0. Continuing to increase the control current of the proportional solenoid valve increases the opening area of ​​the main valve core, and the travel speed of the tracked machine increases proportionally. When the control current increases to the maximum, maximizing the opening area of ​​the main valve core, the travel speed of the tracked machine is the fastest. This control current can be determined as the maximum control current I of the proportional solenoid valve. max Alternatively, to ensure the main valve core of the traveling main valve is fully open, the control current corresponding to the maximum opening area of ​​the main valve core can be increased by a preset current increment, which can then be used as the maximum control current I of the proportional solenoid valve. max .

[0058] Based on this, the maximum control current I for each proportional solenoid valve can be set in the target deviation electronic control adjustment interface. max The adjustment function control allows for adjustment of the maximum control current I according to the needs of deviation correction. max This is to adjust for deviation. Considering the correspondence between the control current of the proportional solenoid valve and the operating angle of the electric walking pedal, the control current range of each proportional solenoid valve is limited to [I min I max ].

[0059] Specifically, for each deviation zone in the preset deviation zone, a corresponding proportional solenoid valve current adjustment control can be set, which can be used to adjust the maximum control current of the corresponding proportional solenoid valve. For example, Figure 4 One of the schematic diagrams of the target deviation electronic control adjustment interface is shown as an example. Figure 4 As shown, each deviation zone in the preset deviation zone is equipped with a corresponding proportional solenoid valve current adjustment control. This proportional solenoid valve current adjustment control can include a current reduction control, also known as a "current decrease" control. By triggering the current reduction control "current decrease", the maximum control current of the corresponding target proportional solenoid valve can be reduced.

[0060] Optionally, the proportional solenoid valve current adjustment control may also include a current increase control, such as... Figure 4 In the process of reducing the maximum control current of the target proportional solenoid valve by using the current reduction control "current decrease" to reduce the current, if the reduction is too large, the current increase control "current increase" can be used to appropriately increase the maximum control current of the target proportional solenoid valve. By combining the use of the current reduction control "current decrease" and the current increase control "current increase", the maximum control current of the target proportional solenoid valve can be matched with the deviation.

[0061] For example, combined Figure 2 When the travel speed of one track is greater than that of the other track, deviation will occur. This can be addressed by adjusting the maximum control current of the proportional solenoid valve corresponding to the track with the higher travel speed in the direction of travel. Specifically... Figure 5 An exemplary schematic diagram illustrating the adjustment principle of the maximum control current of a proportional solenoid valve is shown below. Figure 5 As shown, the right-hand deviation zone corresponds to the left track traveling faster than the right track when moving forward. The maximum control current I of the proportional solenoid valve controlling the forward movement of the left track can be adjusted. max1 The left deviation zone corresponds to the left track traveling faster than the right track when moving backward. The maximum control current I of the proportional solenoid valve controlling the left track's backward movement can be adjusted. max2 The left-hand deviation zone corresponds to the right track traveling faster than the left track when moving forward. The maximum control current I of the proportional solenoid valve controlling the forward movement of the right track can be adjusted. max3 The right deviation zone corresponds to the right track traveling faster than the left track when moving backward. The maximum control current I of the proportional solenoid valve controlling the right track's backward movement can be adjusted. max4 .

[0062] Combination Figure 5 The preset deviation zone can be displayed as the maximum control current information corresponding to each travel direction of the left and right tracks, forming a pattern like... Figure 6 The second schematic diagram of the target deviation electronic control adjustment interface is shown.

[0063] It is understandable that tracked construction machinery cannot simultaneously veer to both the left and right in its forward direction; it can only veer to one of them. Similarly, in its backward direction, it can only veer to either the right or the left. Based on this, combined with... Figure 5The adjustment principle is as follows: when adjusting for deviation, only one proportional solenoid valve's maximum control current can be adjusted in the forward direction, and only one proportional solenoid valve's maximum control current can be adjusted in the reverse direction. That is, only two of the four deviation zones' maximum control currents can be adjusted. The other two maximum control currents can remain in their current state or remain at the preset maximum control current in the initial state. For example, if it is not the preset maximum control current in the initial state, the maximum control current of the proportional solenoid valve corresponding to the deviation zone can be restored to the preset maximum control current in the initial state using the current increase control controls in the respective target deviation control adjustment interfaces.

[0064] In one example embodiment, considering that the degree of deviation of the tracked work machinery may differ in the same deviation zone under high-speed and low-speed driving conditions, the system can switch between a high-speed deviation control adjustment interface corresponding to the high-speed driving state and a low-speed deviation control adjustment interface corresponding to the low-speed driving state. This allows for adjustment of the maximum control current of the proportional solenoid valves corresponding to each deviation zone under both high-speed and low-speed driving states, resulting in more accurate deviation adjustment. Accordingly, the target deviation control adjustment interface may include either a high-speed deviation control adjustment interface or a low-speed deviation control adjustment interface, and the display content of the high-speed and low-speed deviation control adjustment interfaces can be identical.

[0065] For example, it can form such as Figure 7 The third schematic diagram of the target deviation electronic control adjustment interface is shown below. Figure 7 As shown, you can switch between the high-speed and low-speed deviation control adjustment interfaces.

[0066] It is understood that the proportional solenoid valve current adjustment control in the above-mentioned target deviation electronic control adjustment interface is illustrated in the form of a touch button. In actual applications, the proportional solenoid valve current adjustment control can also be any form of progress bar control, bar control, ring control, etc. This embodiment of the invention does not limit this, as long as it can achieve the increase and decrease of the maximum control current.

[0067] Step 120: For the target deviation zone in the preset deviation zone corresponding to the tracked machine deviation, in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone, adjust the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone so that the target maximum control current obtained after adjustment is less than the initial maximum control current stored in the target deviation zone.

[0068] When tracked machinery deviates from its course, the target deviation area can be manually determined. Alternatively, the target deviation area can be determined based on the direction of travel and the travel speeds of the left and right tracks, and a prompt message about the target deviation area can be displayed on the screen.

[0069] After determining the target deviation zone, the user can adjust the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone through the target proportional solenoid valve current adjustment control in the target deviation electronic control adjustment interface, so that the target maximum control current obtained after adjustment is less than the initial maximum control current saved in the target deviation zone.

[0070] The initial maximum control current is the target maximum control current saved after the previous adjustment of the target deviation area, or, in the initialization state, the preset maximum control current in the initialization state. This preset maximum control current is determined based on the maximum operating angle of the electric control travel pedal of the tracked machine. For details, please refer to... Figure 3 The principle illustrated was demonstrated through experiments, where the electronically controlled walking pedals were manipulated to their minimum control angle θ. min and maximum control angle θ max To obtain the minimum control angle θ min The corresponding minimum control current and maximum operating angle θ of the proportional solenoid valve max The maximum control current of the corresponding proportional solenoid valve is used to obtain the preset maximum control current and preset minimum control current under the initial state. This can be determined through one or more experiments. If multiple experiments are conducted, the average of the maximum control currents from each experiment can be determined as the preset maximum control current, and the average of the minimum control currents from each experiment can be determined as the preset minimum control current.

[0071] After obtaining the target maximum control current, the target proportional solenoid valve can be controlled based on this target maximum control current. This will reduce the travel speed of the target track controlled by the target proportional solenoid valve, thereby reducing deviation. The target track is the fastest-moving track among the left and right tracks of the tracked machine.

[0072] For example, suppose a tracked work machine includes proportional solenoid valve 1, proportional solenoid valve 2, proportional solenoid valve 3, and proportional solenoid valve 4. Proportional solenoid valve 1 controls the forward left travel direction, proportional solenoid valve 2 controls the rear left travel direction, proportional solenoid valve 3 controls the forward right travel direction, and proportional solenoid valve 4 controls the rear right travel direction. Figure 4Taking the target deviation electronic control adjustment interface as an example, if the target deviation area is the front right deviation area, the current reduction control "current reduction" corresponding to the front right deviation area can be adjusted in the target deviation electronic control adjustment interface. That is, a touch operation can reduce the maximum control current of the proportional solenoid valve 1 corresponding to the front left travel direction. This reduces the control current range of the proportional solenoid valve corresponding to the control angle range of the first electronic control travel pedal for controlling the left track in the forward direction. In this way, when the first electronic control travel pedal and the second electronic control travel pedal for controlling the right track are operated at the same control angle to control the tracked machine to travel in the forward direction, the travel speed of the faster left track can be reduced, thus reducing the difference in travel speed between the left and right tracks and reducing the deviation.

[0073] For example, assuming the target deviation area is the rear left deviation area, the "Current Decrease" control corresponding to the rear left deviation area can be adjusted in the target deviation electronic control adjustment interface. This is a point-touch operation, which can reduce the maximum control current of the proportional solenoid valve 2 corresponding to the rear left travel direction. This reduces the control current range of the proportional solenoid valve corresponding to the control angle range of the first electronic travel pedal handle controlling the backward direction. In this way, when the first and second electronic travel pedal handles are operated at the same control angle to control the tracked machine to travel in the backward direction, the travel speed of the faster left track can be reduced, thus reducing the difference in travel speed between the left and right tracks and reducing the deviation amount.

[0074] In this way, the deviation is continuously adjusted by reducing the current corresponding to the target deviation zone until it is determined that the tracked machine is no longer deviating. At this point, the adjustment of the target deviation zone can be stopped. Afterwards, the final target maximum control current obtained after adjusting the target deviation zone can be saved. That is, the saved initial maximum control current corresponding to the target deviation zone is updated to the final adjusted target maximum control current. Based on this target maximum control current, the tracked machine can maintain good straight-line travel. For example, in... Figure 4 , Figure 6 and Figure 7 In the target deviation electronic control adjustment interface shown, after the adjustment is completed, you can click the "Parameter Save" control. At this time, the controller of the tracked machine can save the target maximum control current obtained after adjusting the target deviation area.

[0075] The mechanical deviation adjustment method provided in this invention displays a target deviation adjustment interface for tracked machinery. This interface includes a proportional solenoid valve current adjustment control corresponding to a preset deviation zone, providing users with proportional solenoid valve current adjustment functions for each deviation zone of the tracked machinery. When the tracked machinery deviates, in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone in the preset deviation zone, the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone is adjusted so that the adjusted target maximum control current is less than the initial maximum control current stored in the target deviation zone. At this time, when controlling the target proportional solenoid valve based on the target maximum control current, the travel speed of the target track (i.e., the track with the fastest travel speed among the left and right tracks of the tracked machinery) controlled by the target proportional solenoid valve is reduced, thereby reducing the deviation amount. In this way, when tracked machinery experiences deviation, the maximum control current of the proportional solenoid valve in the affected deviation area can be reduced in the target deviation control adjustment interface. This decreases the travel speed of the fastest-moving track between the left and right tracks, thereby reducing the deviation and achieving the goal of adjusting the tracked machinery's travel deviation. The deviation adjustment is simple and easy to operate; only the maximum control current of the proportional solenoid valve in the affected deviation area needs to be modified in the displayed target deviation control adjustment interface. Simultaneously, it reduces the need for rework due to deviation in tracked machinery, effectively saving labor and time costs.

[0076] Tracked work machinery can operate at either high speed or low speed. High speed refers to a speed greater than or equal to a preset speed threshold, while low speed refers to a speed less than the preset speed threshold. Considering that the degree of deviation within the same deviation zone may differ between high-speed and low-speed states, in one exemplary embodiment of the invention, the high-speed deviation electronic control adjustment interface corresponding to the high-speed state and the low-speed deviation electronic control adjustment interface corresponding to the low-speed state can be switched. This allows for adjustment of the maximum control current of the proportional solenoid valves corresponding to each deviation zone in both high-speed and low-speed states, resulting in more accurate deviation adjustment.

[0077] Specifically, based on Figure 1 The method for adjusting the electrical control of tracked machinery deviation in a corresponding embodiment, for example, may include displaying the target deviation adjustment interface for tracked machinery, which may include:

[0078] Upon detecting a high-speed adjustment command, the target misalignment control interface for the tracked work machinery is determined to be the high-speed misalignment control interface; the high-speed misalignment control interface is then displayed. This interface includes a proportional solenoid valve current adjustment control corresponding to a preset misalignment zone under high-speed driving conditions.

[0079] Alternatively, the target deviation electronic control adjustment interface for tracked work machinery may include:

[0080] Upon detecting a low-speed adjustment command, the target misalignment control interface for the tracked work machinery is determined to be the low-speed misalignment control interface; the low-speed misalignment control interface is then displayed. This interface includes a proportional solenoid valve current adjustment control corresponding to a preset misalignment zone under low-speed driving conditions.

[0081] For example, refer to Figure 7 As shown, when it is necessary to adjust the tracked work machinery's deviation during high-speed travel, the user can click the "High-Speed" switch menu on the interface to trigger the first switch operation. At this time, the tracked work machinery's controller can detect the high-speed adjustment command information and switch the target deviation electronic control adjustment interface to the high-speed deviation electronic control adjustment interface. The user can adjust the target proportional solenoid valve current adjustment control corresponding to the target deviation area in the high-speed deviation electronic control adjustment interface by clicking the corresponding control, thus achieving deviation adjustment during high-speed travel.

[0082] When it is necessary to adjust the tracked work machinery for deviation during low-speed operation, the user can click the "Low Speed" switch menu on the interface to trigger a second switching operation. At this time, the controller of the tracked work machinery can detect the low-speed adjustment command information and switch the target deviation adjustment interface to the low-speed deviation adjustment interface. The user can then adjust the target proportional solenoid valve current adjustment control corresponding to the target deviation area in the high-speed deviation adjustment interface by clicking on the control, thus achieving deviation adjustment during low-speed operation.

[0083] Based on this Figure 8 An exemplary diagram illustrates the adjustment principle of the electronic control adjustment method for machine deviation provided in an embodiment of the present invention. (Refer to...) Figure 8 As shown, it can be combined with Figure 3 The principle illustrated was demonstrated through experiments, where the electronically controlled walking pedals were manipulated to their minimum control angle θ. min and maximum control angle θ max To obtain the minimum control angle θ min The corresponding minimum control current and maximum control angle θ maxThe corresponding maximum control current is used to obtain the preset maximum and minimum control currents of each proportional solenoid valve in the initial state. The controller of the tracked work machinery can communicate with the display screen, for example, using a Controller Area Network (CAN) bus communication connection, or a display screen that integrates display and control functions, displaying images and acting as a controller to execute the control program for the tracked work machinery. The target deviation electronic control adjustment interface displayed on the screen can be based on... Figure 5 The adjustment principle shown can be used for design, for example, it is possible to design something like... Figure 4 , Figure 6 and Figure 7 The system supports switching between high-speed and low-speed driving modes in either interface, allowing adjustment of the maximum control current of each proportional solenoid valve in both modes. When deviation occurs, the maximum control current of the proportional solenoid valve corresponding to the target deviation zone can be adjusted in the target deviation control adjustment interface. Deviation adjustment is a continuous cyclical process. Small-scale current adjustments can be made using the "current decrease" control. Each adjustment sends the target maximum control current to the controller to drive the proportional solenoid valve corresponding to the target deviation zone. The straight-line performance of the tracked machine is then verified. If deviation persists, the current is adjusted again using the "current decrease" control, and the straight-line performance is verified once more. This process is repeated until deviation is eliminated. If the current adjustment is too large, the "current increase" and "current decrease" controls can be used in combination for comprehensive adjustment to ensure the maximum control current of the proportional solenoid valve matches the deviation.

[0084] For example, the proportional solenoid valve can be driven in the form of pulse width modulation (PWM). The controller can determine the corresponding proportional solenoid valve based on the duty cycle of the PWM and the corresponding drive signal output by the maximum control current of the proportional solenoid valve.

[0085] It is understandable that the interface content of the high-speed lane deviation electronic control adjustment interface can be presented in various ways. Figure 4 , Figure 6 and Figure 7 The interface content of the low-speed deviation electronic control adjustment interface can be displayed in any of the shown formats. Figure 4 , Figure 6 and Figure 7 Any of the display formats shown. The interface content of the high-speed deviation electronic control adjustment interface and the low-speed deviation electronic control adjustment interface can be the same or different, but both can achieve the adjustment of the maximum control current of the proportional solenoid valve corresponding to each deviation zone.

[0086] For example, the method for adjusting the mechanical deviation of the machine may further include: when a termination instruction is detected indicating that the adjustment of the target deviation area in the target deviation adjustment interface has ended, the initial maximum control current stored in the target deviation area corresponding to the target deviation adjustment interface is updated to the target maximum control current finally adjusted under the target deviation adjustment interface.

[0087] The target deviation control adjustment interface may include the low-speed deviation control adjustment interface or the high-speed deviation control adjustment interface mentioned above.

[0088] by Figure 7 For example, when the target deviation electronic control adjustment interface is switched to the low-speed deviation electronic control adjustment interface, assuming the target deviation area to be adjusted is the front right deviation area, combined with... Figure 8 As can be seen from the principle of track misalignment adjustment, the adjustment of the target misalignment area is a continuous cyclical process. Users can adjust the maximum control current of the corresponding proportional solenoid valve using the "current decrease" control for the front right misalignment area, or by combining the "current decrease" and "current increase" controls, until it is determined that the tracked machine no longer misaligns when moving forward. This ends the adjustment of the front right misalignment area in low-speed travel. Users can click the "parameter save" control. At this time, the tracked machine's controller can detect the end command information for adjusting the front right misalignment area in the low-speed misalignment electronic control adjustment interface. It will then retain the first target maximum control current obtained from the final adjustment of the front right misalignment area and set this first target maximum control current as the initial maximum control current corresponding to the front right misalignment area in low-speed travel. In other words, the currently saved initial maximum control current for the front right misalignment area in low-speed travel will be updated to this first target maximum control current.

[0089] When the target deviation control adjustment interface is switched to the high-speed deviation control adjustment interface, assuming that the target deviation area to be adjusted is also the front right deviation area, the same method as in the low-speed deviation control adjustment interface can be used to adjust the deviation of the front right deviation area in the high-speed driving state. After the deviation adjustment is completed, the initial maximum control current currently saved in the front right deviation area in the low-speed driving state is updated to the second target maximum control current obtained by the final adjustment.

[0090] It is understandable that for each deviation zone, the initial maximum control current of the corresponding proportional solenoid valve can include the first target maximum control current corresponding to the low-speed driving state and the second target maximum control current corresponding to the high-speed driving state.

[0091] The mechanical deviation adjustment method provided in this invention allows for switching between a high-speed deviation adjustment interface for high-speed driving and a low-speed deviation adjustment interface for low-speed driving. The high-speed deviation adjustment interface is used to adjust the deviation area in high-speed driving, while the low-speed deviation adjustment interface is used to adjust the deviation area in low-speed driving, thus adapting to the needs of deviation adjustment at different driving speeds.

[0092] Based on the above embodiments of the mechanical deviation control adjustment method, in one example embodiment, the proportional solenoid valve current adjustment control in the target deviation control adjustment interface includes a current increase control. When it is necessary to restore the maximum control current of the proportional solenoid valve corresponding to any deviation zone to the preset maximum control current in the initial state, the current increase control corresponding to the deviation zone can be used to increase the maximum control current of the proportional solenoid valve corresponding to the deviation zone to the preset maximum control current.

[0093] Specifically, the electronic control adjustment method for the machine's deviation may also include:

[0094] For each of the preset deviation zones, if the maximum control current of the proportional solenoid valve corresponding to the deviation zone is less than the preset maximum control current in the initial state, in response to the adjustment operation of the current increase control corresponding to the deviation zone, the maximum control current of the proportional solenoid valve corresponding to the deviation zone is increased until the maximum control current of the proportional solenoid valve corresponding to the deviation zone returns to the preset maximum control current; wherein, the preset maximum control current is determined based on the maximum operating angle of the electric travel pedal handle of the tracked machine.

[0095] In this way, the maximum control current of the proportional solenoid valve corresponding to each deviation zone can be initialized simply by performing a simple operation on the current increase control in the target deviation control adjustment interface.

[0096] based on Figure 1 In one example embodiment of the method for adjusting the electrical control of machinery deviation in a corresponding embodiment, in response to an adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation area, adjusting the maximum control current of the target proportional solenoid valve corresponding to the target deviation area may include:

[0097] In response to an adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone, the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone is adjusted once based on the preset current adjustment amount.

[0098] The preset current adjustment amount is the granularity of a single operation (e.g., a single click) on the target proportional solenoid valve current adjustment control. It can be a fixed parameter pre-set in the program or configured by the user. For example, the preset current adjustment amount can range from 1 to 5 milliamps (mA).

[0099] For example, when an instruction for configuring current adjustment granularity is detected, a current adjustment granularity configuration interface is displayed. This interface may include prompts for selectable current adjustment granularity and a current adjustment granularity configuration control. In response to a configuration operation directed to the current adjustment granularity configuration control, a preset current adjustment amount is determined.

[0100] Combination Figure 5 In one example embodiment, the adjustment principle involves only reducing the current while increasing the current, which helps to maintain the maximum travel speed of the tracked machine. Regardless of the cause of the misalignment, it will manifest as an inconsistency in the travel speed of the two tracks. Therefore, slowing down the track with the fastest speed to make the speeds of both tracks equal will correct the misalignment.

[0101] Based on this, the proportional solenoid valve current adjustment control may include a current reduction control, and the preset current adjustment amount may include a first preset current adjustment amount; correspondingly, in response to an adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone, adjusting the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone once based on the preset current adjustment amount may include:

[0102] In response to an adjustment operation of the target current reduction control corresponding to the target deviation zone, the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone is reduced once based on the first preset current adjustment amount.

[0103] In one example embodiment, during the process of adjusting deviation using "current reduction", the adjustment amount of current may be too large. In this case, current reduction control and current increase control can be used in combination to make the maximum control current match the deviation.

[0104] The mechanical deviation adjustment method provided in this invention only requires modifying the maximum control current of the proportional solenoid valve that causes deviation in the displayed target deviation adjustment interface to achieve the purpose of deviation adjustment. The deviation adjustment is simple and easy to operate, and can effectively reduce deviation repairs, saving labor and time costs.

[0105] Based on the above embodiments, Figure 9 An exemplary diagram illustrates the overall electrical control principle of the machine based on the mechanical deviation adjustment method provided in this embodiment of the invention. (Refer to...) Figure 9 As shown, the controller of the tracked work machinery can determine the control current of each proportional solenoid valve for left travel based on the operating angle of the left electric travel pedal for controlling the left track, and determine the control current of each proportional solenoid valve for right travel based on the operating angle of the right electric travel pedal for controlling the right track. The control current of each proportional solenoid valve can control the opening degree of the main valve core of the travel master valve. The size of the main valve core opening is positively correlated with the speed of the travel motor. This allows for further control of the left travel motor for controlling the left track movement and the right travel motor for controlling the right track movement, thereby driving the entire tracked work machinery. It can be understood that when the operating angles of the left and right electric travel pedals are aligned, the tracked work machinery can be controlled to travel in a straight line. During straight-line driving, straightness can be determined to identify whether the vehicle is veering off course. If no veering occurs, no adjustment is needed. If veering occurs, the machine veering electronic control adjustment method provided in this embodiment can be used to adjust the maximum control current of the proportional solenoid valve corresponding to the veering zone in the veering electronic control adjustment interface displayed on the screen until veering stops. If veering occurs at high speed, the maximum control current can be adjusted in the high-speed veering electronic control adjustment interface; if veering occurs at low speed, the maximum control current can be adjusted in the low-speed veering electronic control adjustment interface.

[0106] For example, permission verification for deviation adjustment can be set. Specifically, upon detecting a deviation adjustment command, a permission verification interface is output, which may include a permission verification input control; in response to an input operation to the permission verification input control, permission verification information is determined; permission verification is performed based on the permission verification information, and if the permission verification is successful, the target deviation electronic control adjustment interface is displayed. The permission verification input control may include a permission password input control, or a permission password input control and a username input control. Correspondingly, the permission verification information may include a permission password, or a permission password and a username.

[0107] This allows only authorized users to adjust the tracked machinery for deviation, preventing accidental modification of the maximum control current of the proportional solenoid valves in the tracked machinery and ensuring the safety of the tracked machinery.

[0108] The mechanical deviation adjustment method provided in this invention can be applied to tracked machinery with a single-pump load-sensitive hydraulic system. Regardless of the cause of deviation, it can convert the deviation into a misalignment of the two tracks' travel speeds. By slowing down the faster track, the speeds of both tracks are brought closer together, achieving the goal of deviation adjustment. This method is applicable to deviation caused by various factors. Furthermore, when deviation occurs in tracked machinery, the maximum control current of the proportional solenoid valve corresponding to the deviation area is simply modified in the displayed target deviation adjustment interface. This method is simple and easy to operate, effectively reducing rework and saving labor and time costs. Moreover, it can provide targeted deviation control currents for each tracked machinery with different deviation issues, enabling diverse deviation adjustments. The deviation adjustment is adaptable to each tracked machinery and highly targeted. In addition, it allows switching between a high-speed deviation adjustment interface for high-speed driving and a low-speed deviation adjustment interface for low-speed driving. The high-speed deviation adjustment interface is used to adjust the deviation area in high-speed driving, while the low-speed deviation adjustment interface is used to adjust the deviation area in low-speed driving. This adapts to the needs of deviation adjustment at different driving speeds and improves the accuracy of deviation adjustment.

[0109] The following describes the mechanical deviation control and adjustment system provided by the present invention. The mechanical deviation control and adjustment system described below can be referred to in correspondence with the mechanical deviation control and adjustment method described above.

[0110] Figure 10 An exemplary schematic diagram of the electronic control adjustment system for tracked machinery deviation provided in an embodiment of the present invention is shown. This electronic control adjustment system for tracked machinery deviation can be applied to tracked machinery. (Refer to...) Figure 10 As shown, the mechanical deviation control and adjustment system may include:

[0111] Display module 1010 is used to display the target deviation control adjustment interface of tracked machinery. The target deviation control adjustment interface includes a proportional solenoid valve current adjustment control corresponding to the preset deviation zone.

[0112] The adjustment control module 1020 is used to adjust the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone in the preset deviation zone when the tracked machine deviates. This adjustment is made in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone, so that the target maximum control current obtained after adjustment is less than the initial maximum control current stored in the target deviation zone.

[0113] In one example embodiment, the display module 1010 includes: a first determining unit, configured to determine, upon detecting a high-speed adjustment command information, that the target misalignment control adjustment interface of the tracked work machinery is a high-speed misalignment control adjustment interface; and a first display unit, configured to display the high-speed misalignment control adjustment interface. The high-speed misalignment control adjustment interface includes a proportional solenoid valve current adjustment control corresponding to a preset misalignment zone in a high-speed driving state; the high-speed driving state is a driving state where the driving speed is greater than or equal to a preset speed threshold.

[0114] In one example embodiment, the display module 1010 includes: a second determining unit, configured to determine, upon detecting a low-speed adjustment command, that the target deviation control adjustment interface of the tracked work machinery is a low-speed deviation control adjustment interface; and a second display unit, configured to display the low-speed deviation control adjustment interface. The low-speed deviation control adjustment interface includes a proportional solenoid valve current adjustment control corresponding to a preset deviation zone in a low-speed driving state; the low-speed driving state is a driving state where the driving speed is less than a preset speed threshold.

[0115] In one example embodiment, the mechanical deviation control adjustment system further includes a storage module, which, upon detecting a termination instruction message indicating the end of adjustment of the target deviation area in the target deviation control adjustment interface, updates the initial maximum control current stored in the target deviation area of ​​the target deviation control adjustment interface to the target maximum control current finally adjusted under the target deviation control adjustment interface.

[0116] In one example embodiment, the adjustment control module 1020 may be specifically used to: adjust the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone once based on a preset current adjustment amount in response to an adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone.

[0117] In one example embodiment, the proportional solenoid valve current adjustment control includes a current reduction control, and the preset current adjustment amount includes a first preset current adjustment amount. Accordingly, when the adjustment control module 1020 adjusts the maximum control current of the target proportional solenoid valve corresponding to the target deviation area once based on the preset current adjustment amount in response to an adjustment operation of the target current reduction control corresponding to the target deviation area, it can specifically be used to: reduce the maximum control current of the target proportional solenoid valve corresponding to the target deviation area once based on the first preset current adjustment amount.

[0118] In one example embodiment, the proportional solenoid valve current adjustment control includes a current increase control. Correspondingly, the mechanical deviation control adjustment system further includes: an initialization adjustment module, configured to, for each deviation zone in the preset deviation zones, when the maximum control current of the proportional solenoid valve corresponding to the deviation zone is less than the preset maximum control current in the initial state, increase the maximum control current of the proportional solenoid valve corresponding to the deviation zone in response to an adjustment operation on the current increase control corresponding to the deviation zone, until the maximum control current of the proportional solenoid valve corresponding to the deviation zone returns to the preset maximum control current; wherein the preset maximum control current is determined based on the maximum operating angle of the electric travel pedal of the tracked mechanical work machine.

[0119] Figure 11 An example is a schematic diagram of the structure of a tracked work machine, such as... Figure 11 As shown, the tracked work machine may include: a controller 1110, a display screen 1150, a memory 1130, and a communication bus 1140. For example, it may also include a communication interface 1120. The controller 1110, display screen 1150, communication interface 1120, and memory 1130 can communicate with each other via the communication bus 1140.

[0120] The display screen 1150 is used to display the target deviation control adjustment interface of the tracked machine. The target deviation control adjustment interface includes a proportional solenoid valve current adjustment control corresponding to the preset deviation zone.

[0121] The controller 1110 can call the logic instructions in the memory 1130 to perform the following steps: for the target deviation zone in the preset deviation zone corresponding to the tracked machine deviation, in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone, adjust the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone, so that the target maximum control current obtained after adjustment is less than the initial maximum control current stored in the target deviation zone.

[0122] Furthermore, the logical instructions in the aforementioned memory 1130 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, in essence, 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.

[0123] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a 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 mechanical deviation adjustment method provided in any of the above method embodiments.

[0124] In another aspect, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a controller, is implemented to perform the mechanical deviation adjustment method provided in any of the above method embodiments.

[0125] For example, computer-readable storage media include non-transitory computer-readable storage media.

[0126] 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.

[0127] 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.

[0128] 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 electronically controlling and adjusting the deviation of working machinery, characterized in that, include: The target deviation electronic control adjustment interface of the tracked work machinery is displayed. The target deviation electronic control adjustment interface includes proportional solenoid valve current adjustment controls corresponding to four preset deviation zones. The four preset deviation zones are divided into front left deviation zone, front right deviation zone, rear left deviation zone, and rear right deviation zone based on the combination of the forward and backward travel directions of the tracked work machinery and the left and right tracks. Each preset deviation zone is equipped with an independent proportional solenoid valve current adjustment control. The maximum control current of the proportional solenoid valve is determined based on the maximum operating angle of the electronic control travel foot pedal of the tracked work machinery. When the tracked work machinery deviates from its designated path, the maximum control current of the target proportional solenoid valve corresponding to the target deviance zone is adjusted in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviance zone. This adjustment results in a target maximum control current that is less than the initial maximum control current stored in the target deviance zone, and the adjusted target maximum control current still maintains a corresponding relationship with the maximum operating angle of the electric travel pedal handle. If a termination instruction is detected that the adjustment of the target deviation zone in the target deviation electronic control adjustment interface is terminated, the initial maximum control current stored in the target deviation zone corresponding to the target deviation electronic control adjustment interface is updated to the target maximum control current finally adjusted under the target deviation electronic control adjustment interface. Upon detecting a high-speed adjustment command, the target deviation electronic control adjustment interface of the tracked work machinery is determined to be the high-speed deviation electronic control adjustment interface. The high-speed deviation electronic control adjustment interface includes the proportional solenoid valve current adjustment control corresponding to the preset deviation zone in the high-speed driving state; the high-speed driving state is the driving state in which the driving speed is greater than or equal to the preset speed threshold. The high-speed deviation electronic control adjustment interface is displayed; Upon detecting a low-speed adjustment command, the target deviation electronic control adjustment interface of the tracked work machinery is determined to be the low-speed deviation electronic control adjustment interface. The low-speed deviation control adjustment interface includes the proportional solenoid valve current adjustment control corresponding to the preset deviation zone in the low-speed driving state; the low-speed driving state is the driving state where the driving speed is less than the preset speed threshold; the low-speed deviation control adjustment interface is displayed.

2. The method for adjusting the deviation of machinery by electronic control according to claim 1, characterized in that, The adjustment operation in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone, adjusting the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone, includes: In response to an adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone, the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone is adjusted once based on a preset current adjustment amount.

3. The method for adjusting the deviation of machinery by electronic control according to claim 2, characterized in that, The proportional solenoid valve current adjustment control includes a current reduction control, and the preset current adjustment amount includes a first preset current adjustment amount; the step of responding to an adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone by adjusting the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone once based on the preset current adjustment amount includes: In response to an adjustment operation of the target current reduction control corresponding to the target deviation zone, the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone is reduced once based on the first preset current adjustment amount.

4. The method for adjusting the deviation of operating machinery by electronic control according to claim 1, characterized in that, The proportional solenoid valve current adjustment control includes a current increase control; the method further includes: For each of the preset deviation zones, if the maximum control current of the proportional solenoid valve corresponding to the deviation zone is less than the preset maximum control current in the initial state, in response to the adjustment operation of the current increase control corresponding to the deviation zone, the maximum control current of the proportional solenoid valve corresponding to the deviation zone is increased until the maximum control current of the proportional solenoid valve corresponding to the deviation zone is restored to the preset maximum control current. The preset maximum control current is determined based on the maximum operating angle of the electric control foot pedal of the tracked machine.

5. A machine deviation electronic control adjustment system for implementing the machine deviation electronic control adjustment method according to any one of claims 1 to 3, characterized in that, include: The display module is used to display the target deviation electronic control adjustment interface of the tracked work machinery. The target deviation electronic control adjustment interface includes proportional solenoid valve current adjustment controls corresponding to four preset deviation zones. The four preset deviation zones are the front left deviation zone, the front right deviation zone, the rear left deviation zone, and the rear right deviation zone. Each preset deviation zone is equipped with an independent proportional solenoid valve current adjustment control. The maximum control current of the proportional solenoid valve is determined based on the maximum operating angle of the electronic control travel foot pedal of the tracked work machinery. The adjustment control module is used to adjust the maximum control current of the target proportional solenoid valve corresponding to the target deviation zone in the preset deviation zone when the tracked work machinery deviates. This adjustment is made in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviation zone, so that the target maximum control current obtained after adjustment is less than the initial maximum control current stored in the target deviation zone, and the target maximum control current after adjustment still maintains a corresponding relationship with the maximum operating angle of the electric travel pedal handle.

6. A tracked work machine for implementing the electronic control adjustment method for work machine deviation according to any one of claims 1 to 3, characterized in that, Includes a display screen, a memory, a controller, and a computer program stored in the memory and executable on the controller; The display screen is used to display the target deviation electronic control adjustment interface of the tracked work machinery. The target deviation electronic control adjustment interface includes proportional solenoid valve current adjustment controls corresponding to four preset deviation zones. The four preset deviation zones are the front left deviation zone, the front right deviation zone, the rear left deviation zone, and the rear right deviation zone. Each preset deviation zone is equipped with an independent proportional solenoid valve current adjustment control. The maximum control current of the proportional solenoid valve is determined based on the maximum operating angle of the electronic control travel pedal handle of the tracked work machinery. When the controller executes the program, it performs the following steps: When the tracked work machinery deviates from its designated path, the maximum control current of the target proportional solenoid valve corresponding to the target deviance zone is adjusted in response to the adjustment operation of the target proportional solenoid valve current adjustment control corresponding to the target deviance zone. This adjustment ensures that the target maximum control current obtained after adjustment is less than the initial maximum control current stored in the target deviance zone, and the adjusted target maximum control current still maintains a corresponding relationship with the maximum operating angle of the electric travel pedal handle.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the electronic control adjustment method for machine deviation as described in any one of claims 1 to 4.

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