Hydraulic bulldozer control method, device and equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, and provides a hydraulic bulldozer control method, device and equipment and a storage medium. The method comprises the steps that under the condition that a large number of sensors are not installed, working condition identification is conducted on a working condition road spectrum of the hydraulic bulldozer, multiple material pushing working conditions are obtained, state identification is conducted on the hydraulic bulldozer based on working condition parameters of the multiple material pushing working conditions, and when it is confirmed that the hydraulic bulldozer conducts high-load bulldozing operation, the state of the hydraulic bulldozer is judged. The accelerator opening degree of the hand accelerator is automatically increased; and when it is confirmed that the hydraulic bulldozer runs in a high-speed no-load mode, the gear level of the reverse gear is automatically increased, the accelerator opening degree of the hand accelerator is automatically decreased, the power utilization rate of the whole vehicle is increased, high-efficiency operation is achieved, and the actual working condition requirement is met.

Description

Background Art

[0002] At present, the efficiency of hydraulic bulldozer operation depends largely on the personal skills of the operator. The same model has significant differences in output results under different operators and working conditions. Experienced drivers can achieve efficient operation by adjusting the coordination of throttle and gear, while inexperienced drivers may lead to reduced operation efficiency, increased time consumption and increased operation costs.

[0003] This reliance on the operator's personal skills increases the uncertainty and variables in the construction process. In order to improve overall operating efficiency and reduce costs, how to optimize the operating process of hydraulic bulldozers has become an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application provide a hydraulic bulldozer control method, device, equipment and storage medium to solve the problem of how to optimize the operating process of the hydraulic bulldozer and improve the overall operating efficiency.

[0005] In a first aspect, an embodiment of the present application provides a hydraulic bulldozer control method, comprising:

[0006] Based on the working condition road spectrum of the hydraulic bulldozer, the working condition of the hydraulic bulldozer is identified to obtain multiple pushing working conditions;

[0007] Based on the working condition parameters of each pushing working condition, the state of the hydraulic bulldozer is identified;

[0008] When it is confirmed that the hydraulic bulldozer is performing a high-load bulldozing operation, the throttle opening of the hand throttle is increased; when it is confirmed that the hydraulic bulldozer is performing a high-speed no-load driving, the gear level of the reverse gear is increased and the throttle opening of the hand throttle is decreased.

[0009] Optionally, the working condition of the hydraulic bulldozer is identified based on the working condition road spectrum of the hydraulic bulldozer, wherein a pushing working condition is obtained by performing the following operations:

[0010] Selecting a first cycle operating condition and a second cycle operating condition that meet cycle stage conditions from the operating condition road spectrum of the hydraulic bulldozer;

[0011] Based on the gear position signal, the change trend of acceleration over time, and the change trend of working resistance over time in the first cycle working condition, the bulldozing operation of the first cycle working condition is identified; and based on the gear position signal, the mean value of working resistance, and the change trend of vehicle speed over time in the second cycle working condition, the idling operation of the second cycle working condition is identified;

[0012] When it is confirmed that the first cycle operating condition is bulldozing operation and the second cycle operating condition is no-load driving, the first cycle operating condition and the second cycle operating condition occurring continuously are combined into one pushing operating condition.

[0013] Optionally, selecting the first cycle operating condition and the second cycle operating condition that meet the cycle stage conditions from the operating condition road spectrum of the hydraulic bulldozer includes:

[0014] The throttle opening of the hydraulic bulldozer is less than a set opening threshold as a cycle trigger condition, the hydraulic bulldozer is traveling at a speed greater than a set speed threshold and the driving time is greater than a first time threshold as a cycle continuation condition, and the throttle opening is less than the set opening threshold again as a cycle end condition, and the first cycle operating condition and the second cycle operating condition that meet the hit conditions are screened out from the operating condition road spectrum of the hydraulic bulldozer.

[0015] Optionally, the identifying the bulldozing operation of the first cycle working condition based on the gear position signal, the change trend of the acceleration over time, and the change trend of the operation resistance over time in the first cycle working condition includes:

[0016] When the gear signal in the first cycle operating condition is a forward signal, and in the first time interval of the first cycle operating condition, when the acceleration is continuously greater than or equal to the first acceleration threshold, the operating resistance shows a continuous increasing trend, and in the second time interval, when the acceleration is continuously less than the first acceleration threshold, the vehicle speed of the hydraulic bulldozer remains in a non-zero state, and in the third time interval, when the acceleration is continuously less than or equal to the second acceleration threshold, the operating resistance shows a continuous decreasing trend, it is confirmed that the first cycle operating condition is a bulldozer operation.

[0017] Optionally, based on the gear position signal, the working resistance mean and the change trend of the vehicle speed over time of the second working cycle, the idle running operation identification is performed on the second working cycle, including:

[0018] When the gear signal in the second cycle condition is a reverse signal, and the average operating resistance is less than a set resistance threshold, and the speed of the hydraulic bulldozer remains in a non-zero state, it is confirmed that the second cycle condition is no-load driving.

[0019] Optionally, the following operations are performed to confirm that the first cycle operating condition and the second cycle operating condition occur continuously:

[0020] When the opening change time from when the throttle opening in the first cycle condition is less than the set opening threshold again to when the throttle opening in the second cycle condition is greater than the set opening threshold is less than the second time threshold, it is confirmed that the first cycle condition and the second cycle condition are continuous conditions.

[0021] Optionally, the state identification of the hydraulic bulldozer based on the working condition parameters of each pushing working condition includes:

[0022] Based on the engine load rate signal and the speed signal of each pushing working condition, the hydraulic bulldozer is identified in a high-load bulldozing operation;

[0023] Furthermore, based on the gear position signals and engine speed signals of each pushing working condition, high-speed no-load driving of the hydraulic bulldozer is identified.

[0024] In a second aspect, the present application also provides a hydraulic bulldozer control device, including:

[0025] An identification unit, used for identifying the working condition of the hydraulic bulldozer based on the working condition road spectrum of the hydraulic bulldozer, and obtaining a plurality of pushing working conditions;

[0026] Based on the working condition parameters of each pushing working condition, the state of the hydraulic bulldozer is identified;

[0027] The control unit is used to increase the throttle opening of the hand throttle when it is confirmed that the hydraulic bulldozer is performing a high-load bulldozing operation; when it is confirmed that the hydraulic bulldozer is performing a high-speed no-load driving, increase the gear level of the reverse gear and decrease the throttle opening of the hand throttle.

[0028] Optionally, the identification unit obtains a pushing condition by performing the following operations:

[0029] Selecting a first cycle operating condition and a second cycle operating condition that meet cycle stage conditions from the operating condition road spectrum of the hydraulic bulldozer;

[0030] Based on the gear position signal, the change trend of acceleration over time, and the change trend of working resistance over time in the first cycle working condition, the bulldozing operation of the first cycle working condition is identified; and based on the gear position signal, the mean value of working resistance, and the change trend of vehicle speed over time in the second cycle working condition, the idling operation of the second cycle working condition is identified;

[0031] When it is confirmed that the first cycle operating condition is bulldozing operation and the second cycle operating condition is no-load driving, the first cycle operating condition and the second cycle operating condition occurring continuously are combined into one pushing operating condition.

[0032] Optionally, the identification unit is used to:

[0033] The throttle opening of the hydraulic bulldozer is less than a set opening threshold as a cycle trigger condition, the hydraulic bulldozer is traveling at a speed greater than a set speed threshold and the driving time is greater than a first time threshold as a cycle continuation condition, and the throttle opening is less than the set opening threshold again as a cycle end condition, and the first cycle operating condition and the second cycle operating condition that meet the hit conditions are screened out from the operating condition road spectrum of the hydraulic bulldozer.

[0034] Optionally, the identification unit is used to:

[0035] When the gear signal in the first cycle operating condition is a forward signal, and in the first time interval of the first cycle operating condition, when the acceleration is continuously greater than or equal to the first acceleration threshold, the operating resistance shows a continuous increasing trend, and in the second time interval, when the acceleration is continuously less than the first acceleration threshold, the vehicle speed of the hydraulic bulldozer remains in a non-zero state, and in the third time interval, when the acceleration is continuously less than or equal to the second acceleration threshold, the operating resistance shows a continuous decreasing trend, it is confirmed that the first cycle operating condition is a bulldozer operation.

[0036] Optionally, the identification unit is used to:

[0037] When the gear signal in the second cycle condition is a reverse signal, and the average operating resistance is less than a set resistance threshold, and the speed of the hydraulic bulldozer remains in a non-zero state, it is confirmed that the second cycle condition is no-load driving.

[0038] Optionally, the identification unit confirms that the first cycle operating condition and the second cycle operating condition occur continuously by performing the following operations:

[0039] When the opening change time from when the throttle opening in the first cycle condition is less than the set opening threshold again to when the throttle opening in the second cycle condition is greater than the set opening threshold is less than the second time threshold, it is confirmed that the first cycle condition and the second cycle condition are continuous conditions.

[0040] Optionally, the identification unit is used to:

[0041] Based on the engine load rate signal and the speed signal of each pushing working condition, the hydraulic bulldozer is identified in a high-load bulldozing operation;

[0042] Furthermore, based on the gear position signals and engine speed signals of each pushing working condition, high-speed no-load driving of the hydraulic bulldozer is identified.

[0043] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a processor and a memory, wherein the memory stores program code, and when the program code is executed by the processor, the processor executes the steps of any one of the above-mentioned hydraulic bulldozer control methods.

[0044] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which includes a program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of any one of the above-mentioned hydraulic bulldozer control methods.

[0045] The beneficial effects of this application are as follows:

[0046] The embodiment of the present application provides a hydraulic bulldozer control method, device, equipment and storage medium, the method comprising: without installing a large number of sensors, obtaining multiple pushing conditions by performing working condition identification on the working condition road spectrum of the hydraulic bulldozer, and performing state identification on the hydraulic bulldozer based on the working condition parameters of the multiple pushing conditions; when it is confirmed that the hydraulic bulldozer is performing a high-load bulldozing operation, the throttle opening of the hand throttle is automatically increased; when it is confirmed that the hydraulic bulldozer is performing a high-speed no-load driving, the gear level of the reverse gear is automatically increased and the throttle opening of the hand throttle is lowered, so as to improve the power utilization rate of the whole vehicle, realize high-efficiency operation, and meet the actual working condition requirements.

[0047] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0049] Figure 1A A schematic diagram of a process for dynamically adjusting the throttle opening and the gear level based on different operating states of the hydraulic bulldozer provided in an embodiment of the present application;

[0050] Figure 1B A logic diagram of dynamically adjusting the throttle opening and gear level based on different operating states of the hydraulic bulldozer provided in an embodiment of the present application;

[0051] Figure 1C A schematic diagram of a process for obtaining a material pushing working condition provided in an embodiment of the present application;

[0052] Figure 1DA logical schematic diagram for obtaining a material pushing working condition provided in an embodiment of the present application;

[0053] Figure 2 A schematic diagram of the structure of a hydraulic bulldozer control device provided in an embodiment of the present application;

[0054] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0055] Figure 4 Schematic diagram of the structure of a computing device in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the technical solution of the present application, rather than all of the embodiments. Based on the embodiments recorded in the application documents, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the technical solution of the present application.

[0057] Some of the terms used in the embodiments of the present application are explained below to facilitate understanding by those skilled in the art.

[0058] 1. Operating conditions: refers to the working state of a device, system or industrial process under specific conditions. In many fields such as automotive engineering, machinery manufacturing, and power systems, operating conditions usually involve various parameters during operation, such as load size, speed, ambient temperature, pressure, etc. Understanding and analyzing operating conditions is crucial for evaluating performance, optimizing design, fault diagnosis, and energy conservation and emission reduction. For example, when discussing automobile engines, different operating conditions may refer to the performance and efficiency of the engine under different operating conditions such as idling, full speed driving, and climbing.

[0059] 2. Working cycle spectrum: Also known as working cycle spectrum, it is a commonly used term in the fields of engineering and machinery, especially in the design and testing of vehicles, engineering machinery and power systems. It refers to a data set that records and describes the various working conditions and environmental parameters experienced by the equipment during actual use. These data usually include speed, acceleration, load, temperature, vibration, etc., and are used to simulate and analyze the performance of the equipment under different working conditions.

[0060] 3. Electronic Control Unit (ECU): It is an integrated electronic system responsible for monitoring and controlling various key functions of the bulldozer, such as controlling the hand and foot accelerators of the hydraulic bulldozer and adjusting the engine speed and power output according to the operator's needs and working conditions.

[0061] 4. Vehicle Control Unit (VCU): An electronic control unit that is specifically designed to manage and coordinate the various systems and functions of a bulldozer. The VCU typically works in conjunction with the ECU, but its responsibilities are broader, covering multiple aspects of the entire vehicle.

[0062] 5. Hand throttle: A device manually controlled by the operator, usually a knob, lever or button, installed on the dashboard or near the joystick in the cab, allowing the operator to adjust the engine speed more accurately to suit different operating requirements.

[0063] 6. Foot throttle: A device that controls the engine speed by the operator's stepping on it to cope with emergencies or the need to quickly increase power.

[0064] 7. Throttle opening: refers to the angle or position of the throttle valve opening, usually expressed as a percentage, for example, 0% means completely closed, and 100% means completely open. It directly affects the engine's air intake, fuel injection volume, and final speed and power output.

[0065] The following is a brief introduction to the design concept of the embodiment of the present application:

[0066] At present, the efficiency of hydraulic bulldozer operation depends largely on the personal skills of the operator. The same model has significant differences in output results under different operators and working conditions. Experienced drivers can achieve efficient operation by adjusting the coordination of throttle and gear, while inexperienced drivers may lead to reduced operation efficiency, increased time consumption and increased operation costs.

[0067] This reliance on the operator's personal skills increases the uncertainty and variables in the construction process. In order to improve overall operating efficiency and reduce costs, how to optimize the operating process of hydraulic bulldozers has become an urgent problem to be solved.

[0068] In view of this, the embodiment of the present application provides a hydraulic bulldozer control method, device, equipment and storage medium. The method specifically includes: without installing a large number of sensors, by identifying the working condition of the working condition road spectrum of the hydraulic bulldozer, multiple pushing working conditions are obtained, and based on the working condition parameters of the multiple pushing working conditions, the state of the hydraulic bulldozer is identified, when it is confirmed that the hydraulic bulldozer is performing a high-load bulldozing operation, the throttle opening of the hand throttle is automatically increased; when it is confirmed that the hydraulic bulldozer is driving at a high speed without load, the gear level of the reverse gear is automatically increased and the throttle opening of the hand throttle is reduced, so as to improve the power utilization of the whole vehicle, realize high-efficiency operation, and meet the actual working condition requirements.

[0069] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0070] Combination Figure 1A-1B The schematic diagram shown specifically introduces how to dynamically adjust the throttle opening and gear level of the hydraulic bulldozer according to different operating states of the hydraulic bulldozer.

[0071] S101: Based on the working condition road spectrum of the hydraulic bulldozer, the working condition of the hydraulic bulldozer is identified to obtain multiple pushing working conditions.

[0072] The working condition spectrum records and describes the data set of various working conditions and environmental parameters experienced by the hydraulic bulldozer during actual use, which can not only help understand and optimize the design of the equipment, but also improve the reliability and service life of the equipment. This application obtains multiple pushing conditions of the hydraulic bulldozer by analyzing the working condition spectrum.

[0073] Among them, combined Figure 1C-1D The schematic diagram shown shows that the process of obtaining a push material condition is as follows:

[0074] S1011: Filter out a first cycle operating condition and a second cycle operating condition that meet cycle stage conditions from the operating condition road spectrum of the hydraulic bulldozer.

[0075] The cycle stage conditions include cycle trigger conditions, cycle continuation conditions and cycle end conditions. In this application, the throttle opening of the hydraulic bulldozer is less than the set opening threshold as the cycle trigger condition, the hydraulic bulldozer is traveling at a speed greater than the set speed threshold and the driving time is greater than the first time threshold as the cycle continuation condition, and the throttle opening is again less than the set opening threshold as the cycle end condition. The first cycle operating condition and the second cycle operating condition that hit the above three conditions are selected from the operating condition road spectrum of the hydraulic bulldozer.

[0076] The calculation formula of vehicle speed is: r is the wheel radius of the hydraulic bulldozer, n2 is the gearbox input speed, i g is the gearbox speed ratio of the hydraulic bulldozer, and i0 is the total speed ratio of the axle and wheel side.

[0077] For example, the operating condition road spectrum in which the throttle opening is less than the set opening threshold a0=10%, the vehicle speed v1 is greater than the set vehicle speed threshold v0=0km / h, and the driving time is greater than the first time threshold t1=20s, and the throttle opening is again less than the set opening threshold a0=10% is obtained as the first cycle operating condition, and the above steps are repeated to obtain the second cycle operating condition.

[0078] S1012: Based on the gear signal, acceleration change trend over time, and working resistance change trend over time in the first cycle working condition, the bulldozer operation is identified for the first cycle working condition; and based on the gear signal, working resistance average and vehicle speed change trend over time in the second cycle working condition, the idling operation is identified for the second cycle working condition.

[0079] The hydraulic bulldozer performs two operations in a pushing condition, the first is forward pushing operation, and the second is backward idling operation. Therefore, it is necessary to first determine whether the continuity between the two cycle conditions meets the requirements of the pushing condition.

[0080] The specific judgment method is that when the throttle opening is less than the set opening threshold again in the first cycle condition and the opening change time when the throttle opening is greater than the set opening threshold in the second cycle condition is less than the second time threshold, it is confirmed that the first cycle condition and the second cycle condition are continuous conditions.

[0081] For example, when the throttle opening is again less than the set opening threshold a0=10% in the first cycle condition and the opening change time from the throttle opening being greater than the set opening threshold a0=10% in the second cycle condition is less than the second time threshold t2=10s, it is confirmed that the two cycle conditions are continuous conditions.

[0082] When the gear signal in the first cycle operating condition is a forward signal, and within the first time interval of the first cycle operating condition, when the acceleration is continuously greater than or equal to the first acceleration threshold, the operating resistance shows a continuous increasing trend, and within the second time interval, when the acceleration is continuously less than the first acceleration threshold, the speed of the hydraulic bulldozer remains in a non-zero state, and within the third time interval, when the acceleration is continuously less than or equal to the second acceleration threshold, the operating resistance shows a continuous decreasing trend, it is confirmed that the first cycle operating condition is a bulldozer operation.

[0083] For example, the gear position signal β1>0 is a forward signal. When the throttle opening is greater than the set opening threshold a0=10%, the change trend of acceleration and working resistance over time is counted. It is obtained based on the speed v1 of the hydraulic bulldozer, and the operating resistance F0 is based on the force balance equation Calculated, F t is the vehicle traction of the hydraulic bulldozer, m is the vehicle weight, f is the rolling resistance coefficient, φ is the slope angle of the slope where the hydraulic bulldozer is located, γ is the rotation mass conversion coefficient, is the acceleration, F0 is the operating resistance. t The formula is used again It is calculated that v1 is the speed of the hydraulic bulldozer, n is the engine speed, T is the engine torque, and δ is the transmission efficiency, which can be taken as 0.6.

[0084] In the first 5 seconds, when the acceleration is continuously greater than or equal to the first acceleration threshold When the operating resistance shows a continuous increasing trend, and at t0=(5,15], when the acceleration is continuously less than the first acceleration threshold , the speed of the hydraulic bulldozer remains in a non-zero state, and in the third time interval, when the acceleration is continuously less than or equal to the second acceleration threshold When the operating resistance shows a continuous decreasing trend, it is confirmed that the first cycle operating condition is bulldozing operation.

[0085] When the gear signal in the second cycle condition is a reverse signal, and when the average operating resistance is less than the set resistance threshold, and the speed of the hydraulic bulldozer remains in a non-zero state, it is confirmed that the second cycle condition is no-load driving.

[0086] For example, the gear signal β2<0 is a backward signal. In the entire second cycle condition, the average working resistance is less than the set resistance threshold F1=50kN.

[0087] S1013: When it is confirmed that the first cycle operating condition is bulldozing and the second cycle operating condition is no-load driving, the first cycle operating condition and the second cycle operating condition occurring consecutively are combined into one pushing operating condition.

[0088] S102: Based on the working condition parameters of each pushing working condition, the state of the hydraulic bulldozer is identified.

[0089] Based on the engine load rate signal and speed signal of each pushing condition, the high-load bulldozing operation of the hydraulic bulldozer is identified; and based on the gear signal and engine speed signal of each pushing condition, the high-speed no-load driving of the hydraulic bulldozer is identified.

[0090] Specifically, based on the engine load rate signal μ0 and the speed signal n of each pushing condition, the engine load rate average μ is calculated. e And the mean value of the engine speed signal n e , when the engine load rate average μ e is greater than the set load rate threshold μ0 = 60%, and the engine speed signal mean value n e When the speed is less than the first rotation speed threshold n1 = 1500 rpm, it is confirmed that the hydraulic bulldozer is performing a high-load bulldozing operation.

[0091] Based on the engine speed signal n of each pushing condition, calculate the average engine speed signal n e , when the engine speed signal mean value n eWhen the speed is greater than the second speed threshold n2=1800rpm, and the gear signals β2 of each pushing working condition are greater than the gear threshold β0=-2 (currently the default three reverse gears), it is confirmed that the hydraulic bulldozer is running at a high speed and without load.

[0092] S103: When it is confirmed that the hydraulic bulldozer is performing a high-load bulldozing operation, the throttle opening of the hand throttle is increased; when it is confirmed that the hydraulic bulldozer is performing a high-speed no-load driving, the gear level of the reverse gear is increased and the throttle opening of the hand throttle is decreased.

[0093] When the hydraulic bulldozer is confirmed to be performing high-load bulldozing operations, the throttle opening of the hand throttle is increased through the engine ECU. (If upgraded to ); When it is confirmed that the hydraulic bulldozer is running at high speed and without load, the gear level of the reverse gear is increased through the vehicle VCU, and the throttle opening of the hand throttle is decreased through the engine ECU (If maintained at ). In a hydraulic bulldozer, both the foot throttle and the hand throttle are devices used to control the engine speed. The foot throttle is usually used to quickly respond to operational requirements, while the hand throttle is used to set a relatively stable engine operating state. When the throttle opening of the foot throttle changes rapidly, in order to ensure the stability, consistency and safety of the bulldozer during operation, while optimizing fuel economy and reducing mechanical wear, the original throttle opening of the hand throttle is restored.

[0094] Suppose the operator is using a bulldozer to level the ground, and the hand throttle has been set to a stable speed suitable for the operation. If the operator needs to increase power quickly at a certain moment (for example, encountering a piece of hard soil), he may quickly step on the foot throttle. Once this high-load work is completed and the foot throttle is released, the system will automatically return to the throttle opening set by the hand throttle to ensure that the operation continues in a predetermined stable state.

[0095] Based on the same inventive concept as the above method embodiment, the present application embodiment also provides a structural schematic diagram of a hydraulic bulldozer device. Figure 2 As shown, the hydraulic bulldozer control device 200 may include:

[0096] The identification unit 201 is used to identify the working condition of the hydraulic bulldozer based on the working condition road spectrum of the hydraulic bulldozer to obtain multiple pushing working conditions;

[0097] Based on the working condition parameters of each pushing working condition, the state of the hydraulic bulldozer is identified;

[0098] The control unit 202 is used to increase the throttle opening of the hand throttle when it is confirmed that the hydraulic bulldozer is performing a high-load bulldozing operation; when it is confirmed that the hydraulic bulldozer is performing a high-speed no-load driving, increase the gear level of the reverse gear and decrease the throttle opening of the hand throttle.

[0099] Optionally, the identification unit 201 obtains a material pushing condition by performing the following operations:

[0100] Selecting a first cycle operating condition and a second cycle operating condition that meet cycle stage conditions from the operating condition road spectrum of the hydraulic bulldozer;

[0101] Based on the gear position signal, the change trend of acceleration over time, and the change trend of working resistance over time in the first cycle working condition, the bulldozing operation of the first cycle working condition is identified; and based on the gear position signal, the mean value of working resistance, and the change trend of vehicle speed over time in the second cycle working condition, the idling operation of the second cycle working condition is identified;

[0102] When it is confirmed that the first cycle operating condition is bulldozing operation and the second cycle operating condition is no-load driving, the first cycle operating condition and the second cycle operating condition occurring continuously are combined into one pushing operating condition.

[0103] Optionally, the identification unit 201 is used to:

[0104] The throttle opening of the hydraulic bulldozer is less than a set opening threshold as a cycle trigger condition, the hydraulic bulldozer is traveling at a speed greater than a set speed threshold and the driving time is greater than a first time threshold as a cycle continuation condition, and the throttle opening is less than the set opening threshold again as a cycle end condition, and the first cycle operating condition and the second cycle operating condition that meet the hit conditions are screened out from the operating condition road spectrum of the hydraulic bulldozer.

[0105] Optionally, the identification unit 201 is used to:

[0106] When the gear signal in the first cycle operating condition is a forward signal, and in the first time interval of the first cycle operating condition, when the acceleration is continuously greater than or equal to the first acceleration threshold, the operating resistance shows a continuous increasing trend, and in the second time interval, when the acceleration is continuously less than the first acceleration threshold, the vehicle speed of the hydraulic bulldozer remains in a non-zero state, and in the third time interval, when the acceleration is continuously less than or equal to the second acceleration threshold, the operating resistance shows a continuous decreasing trend, it is confirmed that the first cycle operating condition is a bulldozer operation.

[0107] Optionally, the identification unit 201 is used to:

[0108] When the gear signal in the second cycle condition is a reverse signal, and the average operating resistance is less than a set resistance threshold, and the speed of the hydraulic bulldozer remains in a non-zero state, it is confirmed that the second cycle condition is no-load driving.

[0109] Optionally, the identification unit 201 confirms that the first cycle operating condition and the second cycle operating condition occur continuously by performing the following operations:

[0110] When the opening change time from when the throttle opening in the first cycle condition is less than the set opening threshold again to when the throttle opening in the second cycle condition is greater than the set opening threshold is less than the second time threshold, it is confirmed that the first cycle condition and the second cycle condition are continuous conditions.

[0111] Optionally, the identification unit 201 is used to:

[0112] Based on the engine load rate signal and the speed signal of each pushing working condition, the hydraulic bulldozer is identified in a high-load bulldozing operation;

[0113] Furthermore, based on the gear position signals and engine speed signals of each pushing working condition, high-speed no-load driving of the hydraulic bulldozer is identified.

[0114] After introducing the hydraulic bulldozer control method and device according to the exemplary embodiment of the present application, next, an electronic device according to another exemplary embodiment of the present application is introduced.

[0115] Those skilled in the art will appreciate that various aspects of the present application may be implemented as a system, method or program product. Therefore, various aspects of the present application may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to as "circuit", "module" or "system" herein.

[0116] Based on the same inventive concept as the above method embodiment, an electronic device is also provided in the embodiment of the present application, referring to Figure 3 As shown, the electronic device 300 may include at least a processor and a memory, wherein the memory stores a program code, and when the program code is executed by the processor, the processor executes any of the steps of the above-mentioned hydraulic bulldozer control method. For example, the processor 301 may execute the following Figure 1A Steps shown.

[0117] Refer to the following Figure 4 hereinafter, a computing device 400 according to this embodiment of the present application is described. Figure 4The computing device 400 is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0118] like Figure 4 As shown, the computing device 400 is in the form of a general computing device. The components of the computing device 400 may include but are not limited to: at least one processing unit 401, at least one storage unit 402, and a bus 403 connecting different system components (including the storage unit 402 and the processing unit 401).

[0119] Bus 403 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, or a local bus using any of a variety of bus architectures.

[0120] The storage unit 402 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 4021 and / or a cache memory unit 4022 , and may further include a read-only memory (ROM) 4023 .

[0121] The storage unit 402 may also include a program / utility 4025 having a set (at least one) of program modules 4024, such program modules 4024 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0122] The computing device 400 may also communicate with one or more external devices 404 (e.g., keyboards, pointing devices, etc.), one or more devices that enable a user to interact with the computing device 400, and / or any device that enables the computing device 400 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 405. In addition, the computing device 400 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 406. As shown, the network adapter 406 communicates with other modules for the computing device 400 via a bus 403. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the computing device 400, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0123] Based on the same inventive concept as the above method embodiment, various aspects of the hydraulic bulldozer control method provided in the present application can also be implemented in the form of a program product, which includes a program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the hydraulic bulldozer control method according to various exemplary embodiments of the present application described above in this specification. For example, the electronic device can execute the following steps: Figure 1A Follow the steps shown in .

[0124] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0125] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0126] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A hydraulic bulldozer control method, characterized in that: include: Based on the working condition road spectrum of the hydraulic bulldozer, the working condition of the hydraulic bulldozer is identified to obtain multiple pushing working conditions; Based on the working condition parameters of each pushing working condition, the state of the hydraulic bulldozer is identified; When it is confirmed that the hydraulic bulldozer is performing a high-load bulldozing operation, the throttle opening of the hand throttle is increased; when it is confirmed that the hydraulic bulldozer is performing a high-speed no-load driving, the gear level of the reverse gear is increased and the throttle opening of the hand throttle is decreased.

2. The method according to claim 1, characterized in that Based on the working condition road spectrum of the hydraulic bulldozer, the working condition of the hydraulic bulldozer is identified, wherein a pushing working condition is obtained by performing the following operations: Selecting a first cycle operating condition and a second cycle operating condition that meet cycle stage conditions from the operating condition road spectrum of the hydraulic bulldozer; Based on the gear position signal, the change trend of acceleration over time, and the change trend of working resistance over time in the first cycle working condition, the bulldozing operation of the first cycle working condition is identified; and based on the gear position signal, the mean value of working resistance, and the change trend of vehicle speed over time in the second cycle working condition, the idling operation of the second cycle working condition is identified; When it is confirmed that the first cycle operating condition is bulldozing operation and the second cycle operating condition is no-load driving, the first cycle operating condition and the second cycle operating condition occurring continuously are combined into one pushing operating condition.

3. The method according to claim 2, characterized in that The step of selecting the first cycle operating condition and the second cycle operating condition that meet the cycle stage conditions from the operating condition road spectrum of the hydraulic bulldozer includes: The throttle opening of the hydraulic bulldozer is less than a set opening threshold as a cycle trigger condition, the hydraulic bulldozer is traveling at a speed greater than a set speed threshold and the driving time is greater than a first time threshold as a cycle continuation condition, and the throttle opening is less than the set opening threshold again as a cycle end condition, and the first cycle operating condition and the second cycle operating condition that meet the hit conditions are screened out from the operating condition road spectrum of the hydraulic bulldozer.

4. The method according to claim 2, characterized in that The identifying of the bulldozing operation of the first cycle working condition based on the gear position signal, the change trend of the acceleration over time, and the change trend of the operation resistance over time in the first cycle working condition includes: When the gear signal in the first cycle operating condition is a forward signal, and in the first time interval of the first cycle operating condition, when the acceleration is continuously greater than or equal to the first acceleration threshold, the operating resistance shows a continuous increasing trend, and in the second time interval, when the acceleration is continuously less than the first acceleration threshold, the vehicle speed of the hydraulic bulldozer remains in a non-zero state, and in the third time interval, when the acceleration is continuously less than or equal to the second acceleration threshold, the operating resistance shows a continuous decreasing trend, it is confirmed that the first cycle operating condition is a bulldozer operation.

5. The method according to claim 2, characterized in that Based on the gear position signal, the working resistance mean value and the change trend of the vehicle speed over time of the second cycle working condition, the idle running operation is identified for the second cycle working condition, including: When the gear signal in the second cycle condition is a reverse signal, and the average operating resistance is less than a set resistance threshold, and the speed of the hydraulic bulldozer remains in a non-zero state, it is confirmed that the second cycle condition is no-load driving.

6. The method according to claim 4 or 5, characterized in that By performing the following operations, it is confirmed that the first cycle operating condition and the second cycle operating condition occur continuously: When the opening change time from when the throttle opening in the first cycle condition is less than the set opening threshold again to when the throttle opening in the second cycle condition is greater than the set opening threshold is less than the second time threshold, it is confirmed that the first cycle condition and the second cycle condition are continuous conditions.

7. The method according to claim 1, characterized in that The state identification of the hydraulic bulldozer based on the working condition parameters of each pushing working condition includes: Based on the engine load rate signal and the speed signal of each pushing working condition, the hydraulic bulldozer is identified in a high-load bulldozing operation; Furthermore, based on the gear position signals and engine speed signals of each pushing working condition, high-speed no-load driving of the hydraulic bulldozer is identified.

8. A hydraulic bulldozer control device, characterized in that: include: An identification unit, used for identifying the working condition of the hydraulic bulldozer based on the working condition road spectrum of the hydraulic bulldozer, and obtaining a plurality of pushing working conditions; Based on the working condition parameters of each pushing working condition, the state of the hydraulic bulldozer is identified; The control unit is used to increase the throttle opening of the hand throttle when it is confirmed that the hydraulic bulldozer is performing a high-load bulldozing operation; when it is confirmed that the hydraulic bulldozer is performing a high-speed no-load driving, increase the gear level of the reverse gear and decrease the throttle opening of the hand throttle.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores program codes, and when the program codes are executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: It includes program codes. When the program codes are run on an electronic device, the program codes are used to enable the electronic device to execute the steps of the method according to any one of claims 1 to 7.

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