Hydraulic bulldozer control method, device, equipment and storage medium

Abstract

The application relates to the technical field of vehicles and provides a hydraulic bulldozer control method, device, equipment and storage medium. The method comprises the following steps: in the case that a large number of sensors are not installed, a plurality of pushing working conditions are obtained by identifying the working conditions of a working condition spectrum of a hydraulic bulldozer; the state of the hydraulic bulldozer is identified based on the working condition parameters of the plurality of pushing working conditions; when it is confirmed that the hydraulic bulldozer is used for high-load bulldozing operation, the opening degree of a hand throttle is automatically increased; when it is confirmed that the hydraulic bulldozer is used for high-speed empty-load driving, the gear level of a reverse gear is automatically increased and the opening degree of the hand throttle is automatically decreased, the power utilization rate of the whole vehicle is improved, efficient operation is realized, and the actual working condition demand is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and provides a hydraulic bulldozer control method, device, equipment and storage medium. BACKGROUND

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

[0003] This dependence on the personal skills of an operator increases the uncertainty and variables in the construction process. In order to improve the overall operation efficiency and reduce the cost, how to optimize the operation process of the hydraulic bulldozer becomes a problem to be solved. SUMMARY

[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 operation process of the hydraulic bulldozer and improve the overall operation efficiency.

[0005] In a first aspect, the embodiments of the present application provide 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, and a plurality of pushing material working conditions are obtained;

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

[0008] When it is confirmed that the hydraulic bulldozer is performing high-load bulldozing operation, the throttle opening of the throttle is adjusted to be high; when it is confirmed that the hydraulic bulldozer is performing high-speed empty running, the gear level of the reverse gear is adjusted to be high and the throttle opening of the throttle is adjusted to be low.

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

[0010] The first cycle working condition and the second cycle working condition meeting the cycle stage condition are screened out from the working condition road spectrum of the hydraulic bulldozer;

[0011] identify the first cycle working condition as a bulldozing operation based on the gear signal, the change trend of the acceleration over time, and the change trend of the working resistance over time in the first cycle working condition, and identify the second cycle working condition as an empty running operation based on the gear signal, the average working resistance, and the change trend of the vehicle speed over time in the second cycle working condition;

[0012] When it is confirmed that the first cycle working condition is a bulldozing operation and the second cycle working condition is an empty running, the first cycle working condition and the second cycle working condition occurring continuously are combined into one material pushing working condition.

[0013] Optionally, the first cycle working condition and the second cycle working condition meeting the cycle stage condition are screened from the working condition road spectrum of the hydraulic bulldozer, including:

[0014] The cycle trigger condition is that the throttle opening degree of the hydraulic bulldozer is less than a set opening degree threshold value, the cycle continuation condition is that the hydraulic bulldozer travels at a vehicle speed greater than a set vehicle speed threshold value and the travel time is greater than a first time threshold value, and the cycle end condition is that the throttle opening degree is less than the set opening degree threshold value again, and the first cycle working condition and the second cycle working condition meeting the conditions are screened from the working condition road spectrum of the hydraulic bulldozer.

[0015] Optionally, the first cycle working condition is identified as a bulldozing operation based on the gear signal, the change trend of the acceleration over time, and the change trend of the working resistance over time in the first cycle working condition, including:

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

[0017] Optionally, the second cycle working condition is identified as an empty running operation based on the gear signal, the average working resistance, and the change trend of the vehicle speed over time in the second cycle working condition, including:

[0018] When the gear signal in the second cycle working condition is a reverse signal, and when the average working resistance is less than a set resistance threshold value, the vehicle speed of the hydraulic bulldozer is kept in a non-zero state, it is confirmed that the second cycle working condition is an empty running.

[0019] Optionally, the first cycle working condition and the second cycle working condition are confirmed to occur continuously by performing the following operations:

[0020] When the opening degree variation time from the first cycle working condition in which the accelerator opening degree is less than the set opening degree threshold value again to the second cycle working condition in which the accelerator opening degree is greater than the set opening degree threshold value is less than the second time threshold value, it is confirmed that the first cycle working condition and the second cycle working condition are continuously occurring working conditions.

[0021] Optionally, the state of the hydraulic bulldozer is identified based on the working condition parameters of each pushing working condition.

[0022] The high-load bulldozing operation of the hydraulic bulldozer is identified based on the engine load rate signal and the rotation speed signal of each pushing working condition.

[0023] The high-speed empty running of the hydraulic bulldozer is identified based on the gear signal and the engine rotation speed signal of each pushing working condition.

[0024] In a second aspect, the embodiments of the present application further provide a hydraulic bulldozer control device, comprising:

[0025] An identification unit is configured to identify the working conditions of the hydraulic bulldozer based on the working condition road spectrum of the hydraulic bulldozer, and obtain a plurality of pushing working conditions.

[0026] The state of the hydraulic bulldozer is identified based on the working condition parameters of each pushing working condition.

[0027] A control unit is configured to increase the opening degree of the hand throttle when it is confirmed that the hydraulic bulldozer is in high-load bulldozing operation, and increase the gear level of the reverse gear and decrease the opening degree of the hand throttle when it is confirmed that the hydraulic bulldozer is in high-speed empty running.

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

[0029] The first cycle working condition and the second cycle working condition that meet the cycle stage condition are selected from the working condition road spectrum of the hydraulic bulldozer.

[0030] The bulldozing operation of the first cycle working condition is identified based on the gear signal, the change trend of the acceleration over time, and the change trend of the operation resistance over time, and the empty running operation of the second cycle working condition is identified based on the gear signal, the average operation resistance, and the change trend of the vehicle speed over time.

[0031] When it is confirmed that the first cycle working condition is bulldozing operation and the second cycle working condition is empty running, the continuously occurring first cycle working condition and the second cycle working condition are combined into one pushing working condition.

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

[0033] The cycle triggering condition is that the accelerator opening degree of the hydraulic bulldozer is less than a set opening degree threshold, the cycle continuation condition is that the hydraulic bulldozer travels at a vehicle speed greater than a set vehicle speed threshold and a travel time is greater than a first time threshold, and the cycle ending condition is that the accelerator opening degree is less than the set opening degree threshold again, and the first cycle working condition and the second cycle working condition meeting the conditions are filtered from a working condition map of the hydraulic bulldozer.

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

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

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

[0037] When the gear signal in the second cycle working condition is a reverse signal, and when the average work resistance is less than a set resistance threshold, the vehicle speed of the hydraulic bulldozer is kept in a non-zero state, the second cycle working condition is confirmed as an empty load travel.

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

[0039] When the opening degree variation time from the accelerator opening degree being less than the set opening degree threshold in the first cycle working condition to the accelerator opening degree being greater than the set opening degree threshold in the second cycle working condition is less than a second time threshold, the first cycle working condition and the second cycle working condition are confirmed as continuously occurring working conditions.

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

[0041] The hydraulic bulldozer is identified for high-load bulldozing operation based on the engine load rate signal and the speed signal of each bulldozing working condition;

[0042] And the hydraulic bulldozer is identified for high-speed empty load travel based on the gear signal and the engine speed signal of each bulldozing working condition.

[0043] In a third aspect, the embodiments of the present application further provide an electronic device, comprising a processor and a memory, wherein the memory stores program code, which, when executed by the processor, causes the processor to perform the steps of any of the hydraulic bulldozer control methods described above.

[0044] In a fourth aspect, the embodiments of the present application further provide a computer-readable storage medium comprising program code, which, when the program product is run on an electronic device, is used to cause the electronic device to perform the steps of any of the hydraulic bulldozer control methods described above.

[0045] The present application has the following beneficial effects:

[0046] The embodiments of the present application provide a hydraulic bulldozer control method, device, equipment and storage medium, the method comprising: without installing a large number of sensors, a plurality of pushing material working conditions are obtained by identifying the working conditions of the working condition spectrum of the hydraulic bulldozer, and the state of the hydraulic bulldozer is identified based on the working condition parameters of the plurality of pushing material working conditions; when it is confirmed that the hydraulic bulldozer is performing high-load bulldozing operation, the throttle opening of the hand throttle is automatically adjusted to be high; and when it is confirmed that the hydraulic bulldozer is performing high-speed empty running, the gear level of the reverse gear is automatically adjusted to be high and the throttle opening of the hand throttle is automatically adjusted to be low, so as to improve the power utilization rate of the whole vehicle, realize high-efficiency operation, and meet the actual working condition demand.

[0047] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the written description and claims, and the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0048] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the specification and illustrate illustrative embodiments of the present application and together with the description serve to explain the present application. In the drawings:

[0049] FIG. 1A A flowchart of dynamically adjusting the throttle opening and the gear level based on different running states of the hydraulic bulldozer is provided for the embodiments of the present application;

[0050] FIG. 1B A logic diagram of dynamically adjusting the throttle opening and the gear level based on different running states of the hydraulic bulldozer is provided for the embodiments of the present application;

[0051] FIG. 1C A flowchart of obtaining a pushing material working condition is provided for the embodiments of the present application;

[0052] FIG. 1DA logic diagram for obtaining a pushing condition is provided for the embodiments of the present application.

[0053] FIG. 2 A structural diagram of a hydraulic bulldozer control device is provided for the embodiments of the present application.

[0054] FIG. 3 A structural diagram of an electronic device is provided for the embodiments of the present application.

[0055] FIG. 4 A structural diagram of a computing device is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0056] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments described in the present application document, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the technical solutions of the present application.

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

[0058] 1. Condition: refers to the working state of a device, system or industrial process under specific conditions. In the fields of automotive engineering, mechanical manufacturing, power systems, etc., the condition usually involves various parameters during operation, such as load size, speed, ambient temperature, pressure, etc. Understanding and analyzing the condition is crucial for performance evaluation, design optimization, fault diagnosis and energy saving and emission reduction, etc. For example, when discussing an automobile engine, different conditions may refer to the performance and efficiency of the engine under different operating conditions such as idle speed, full speed driving, climbing, etc.

[0059] 2. Condition map: also known as working cycle map, is a commonly used term in engineering and mechanical fields, 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 a device during actual use. These data usually include speed, acceleration, load, temperature, vibration, etc., for simulating and analyzing the performance of the device under different conditions.

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

[0061] 4、Vehicle Control Unit (VCU): A type of electronic control unit specifically designed to manage and coordinate various systems and functions of a bulldozer. VCU usually works in conjunction with ECU, but its responsibilities are more extensive, covering multiple aspects of the entire vehicle.

[0062] 5、Hand throttle: A device controlled manually by the operator, usually a knob, lever or button, installed near the dashboard or control lever inside the cab, allowing the operator to adjust the engine speed more precisely to meet different operating needs.

[0063] 6、Foot throttle: A device controlled by the operator's foot to control the engine speed in response to unexpected situations or the need for rapid power increase.

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

[0065] The design idea of the embodiments of the present application is briefly introduced as follows:

[0066] Currently, the operating efficiency of hydraulic bulldozers depends largely on the individual skills of the operator. The same vehicle model under different operators and working conditions will have significant differences in output. Experienced drivers can achieve efficient operation by adjusting the coordination of throttle and gear, while inexperienced drivers may result in lower operating efficiency, increased time consumption and rising operating costs.

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

[0068] Therefore, the embodiments of the present application provide 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 conditions of the working condition spectrum of the hydraulic bulldozer, obtaining a plurality of pushing material working conditions, based on the working condition parameters of the plurality of pushing material working conditions, identifying the state of the hydraulic bulldozer, when confirming that the hydraulic bulldozer is performing high-load bulldozing operation, automatically adjusting the throttle opening of the hand throttle to a high level; when confirming that the hydraulic bulldozer is performing high-speed empty running, automatically adjusting the gear level of the reverse gear to a high level and adjusting the throttle opening of the hand throttle to a low level, improving the power utilization rate of the whole vehicle, realizing efficient operation and meeting the actual working condition requirements.

[0069] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, 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, and the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0070] In conjunction with FIG. 1A-1B The schematic diagram shows 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 spectrum of the hydraulic bulldozer, the working condition of the hydraulic bulldozer is identified to obtain a plurality of pushing material working conditions.

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

[0073] Among them, in conjunction with FIG. 1C-1D The schematic diagram shows the process of obtaining a pushing material working condition as follows:

[0074] S1011: The first cycle working condition and the second cycle working condition meeting the cycle stage condition are selected from the working condition spectrum of the hydraulic bulldozer.

[0075] The cycle stage condition includes a cycle trigger condition, a cycle duration condition and a cycle end condition. The present application takes the throttle opening of the hydraulic bulldozer being less than a set opening threshold as the cycle trigger condition, the hydraulic bulldozer driving at a speed greater than a set speed threshold and the driving time being greater than a first time threshold as the cycle duration condition, and the throttle opening being less than the set opening threshold again as the cycle end condition. The first cycle working condition and the second cycle working condition meeting the above three conditions are selected from the working condition spectrum of the hydraulic bulldozer.

[0076] Among them, the calculation formula of the speed is r is the wheel radius of the hydraulic bulldozer, n2 is the input speed of the gearbox, i g is the speed ratio of the gearbox of the hydraulic bulldozer, i0 is the total speed ratio of the axle and the wheel edge.

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

[0078] S1012: Based on the gear signal, the change trend of acceleration over time, and the change trend of work resistance over time in the first cycle working condition, bulldozing operation identification is performed on the first cycle working condition, and based on the gear signal, the average work resistance, and the change trend of vehicle speed over time in the second cycle working condition, empty running operation identification is performed on the second cycle working condition.

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

[0080] The specific determination method is that when the opening degree change time from the throttle opening degree being less than the set opening degree threshold value again in the first cycle working condition to the throttle opening degree being greater than the set opening degree threshold value in the second cycle working condition is less than the second time threshold value, it is confirmed that the first cycle working condition and the second cycle working condition are continuously occurring working conditions.

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

[0082] When the gear signal in the first cycle working condition is a forward signal, and in the first time interval of the first cycle working condition, when the acceleration is continuously greater than or equal to the first acceleration threshold value, the work resistance shows a continuously increasing trend, and in the second time interval, when the acceleration is continuously less than the first acceleration threshold value, the vehicle speed of the hydraulic bulldozer is maintained 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 value, the work resistance shows a continuously decreasing trend, it is confirmed that the first cycle working condition is a bulldozing operation.

[0083] For example, the gear signal β1>0 is a forward signal, and the change trend of acceleration and work resistance over time is started to be counted from the throttle opening degree being greater than the set opening degree threshold value a0=10%, wherein the acceleration is obtained based on the vehicle speed v1 of the hydraulic bulldozer, and the work resistance F0 is calculated based on the force balance equation F t is the total vehicle traction of the hydraulic bulldozer, m is the total 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, and F0 is the work resistance. The total vehicle traction F t is also obtained by using the formula The calculated v1 is the vehicle speed of the hydraulic bulldozer, n is the engine speed, T is the engine torque, and δ is the transmission efficiency, which is preferably 0.6.

[0084] When the acceleration is continuously greater than or equal to the first acceleration threshold value for the first 5 s, the work resistance shows a continuously increasing trend, and when the acceleration is continuously less than the first acceleration threshold value at t0=(5, 15], the vehicle speed of the hydraulic bulldozer is maintained at a non-zero state, and when the acceleration is continuously less than or equal to the second acceleration threshold value for the third time interval, the work resistance shows a continuously decreasing trend, it is confirmed that the first cycle working condition is a dozing operation.

[0085] When the gear signal in the second cycle working condition is a reverse signal, and the average work resistance is less than the set resistance threshold value, and the vehicle speed of the hydraulic bulldozer is maintained at a non-zero state, it is confirmed that the second cycle working condition is an empty load driving.

[0086] For example, the gear signal β2<0 is a reverse signal, and the average work resistance in the entire second cycle working condition is less than the set resistance threshold value F1=50 kN,

[0087] S1013: When it is confirmed that the first cycle working condition is a dozing operation and the second cycle working condition is an empty load driving, the continuously occurring first cycle working condition and the second cycle working condition are combined into one material pushing working condition.

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

[0089] Based on the engine load rate signal and the speed signal of each material pushing working condition, high-load dozing operation of the hydraulic bulldozer is identified; and based on the gear signal and the engine speed signal of each material pushing working condition, high-speed empty 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 material pushing working condition, the average engine load rate μ e and the average engine speed signal n e are calculated. When the average engine load rate μ e is greater than the set load rate threshold value μ0=60%, and the average engine speed signal n e is less than the first speed threshold value n1=1500 rpm, it is confirmed that the hydraulic bulldozer is in high-load dozing operation.

[0091] Based on the engine speed signal n of each material pushing working condition, the average engine speed signal n e is calculated. When the average engine speed signal n eWhen the second rotation speed threshold n2=1800 rpm is greater than the first rotation speed threshold n1=1500 rpm, and the gear signal β2 of each pushing condition is greater than the gear threshold β0=-2 (the current default three reverse gears), it is confirmed that the hydraulic bulldozer is in high-speed empty running.

[0092] S103: When it is confirmed that the hydraulic bulldozer is in high-load dozing operation, the throttle opening of the hand throttle is adjusted to be high; when it is confirmed that the hydraulic bulldozer is in high-speed empty running, the gear level of the reverse gear is adjusted to be high and the throttle opening of the hand throttle is adjusted to be low.

[0093] When it is confirmed that the hydraulic bulldozer is in high-load dozing operation, the throttle opening of the hand throttle is adjusted to be high by the engine ECU (such as being raised to ); when it is confirmed that the hydraulic bulldozer is in high-speed empty running, the gear level of the reverse gear is adjusted to be high by the vehicle VCU, and the throttle opening of the hand throttle is adjusted to be low by the engine ECU (such as being maintained at ). In the hydraulic bulldozer, the foot throttle and the hand throttle are both devices for controlling the engine speed. The foot throttle is usually used for fast response operation requirements, and the hand throttle is used for setting a relatively stable engine working 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, and to optimize fuel economy and reduce mechanical wear, the original throttle opening of the hand throttle is restored.

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

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

[0096] An identification unit 201 is configured to identify the working conditions of the hydraulic bulldozer based on a working condition road map of the hydraulic bulldozer, and obtain a plurality of pushing conditions.

[0097] The state of the hydraulic bulldozer is identified based on the working condition parameters of each pushing condition.

[0098] The control unit 202 is configured to increase the hand throttle opening degree when it is determined that the hydraulic bulldozer is in high-load bulldozing operation, and to increase the reverse gear level and decrease the hand throttle opening degree when it is determined that the hydraulic bulldozer is in high-speed empty running.

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

[0100] The identification unit 201 filters the first cycle working condition and the second cycle working condition meeting the cycle stage condition from the working condition road spectrum of the hydraulic bulldozer.

[0101] The identification unit 201 identifies the first cycle working condition as bulldozing operation based on the gear signal, the change trend of acceleration over time, and the change trend of working resistance over time in the first cycle working condition, and identifies the second cycle working condition as empty running based on the gear signal, the average working resistance, and the change trend of vehicle speed over time in the second cycle working condition.

[0102] When it is determined that the first cycle working condition is bulldozing operation and the second cycle working condition is empty running, the identification unit 201 combines the first cycle working condition and the second cycle working condition occurring continuously into one pushing working condition.

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

[0104] The identification unit 201 filters the first cycle working condition and the second cycle working condition meeting the hit condition from the working condition road spectrum of the hydraulic bulldozer, wherein the cycle trigger condition is that the throttle opening degree of the hydraulic bulldozer is less than a set opening degree threshold, the cycle continuation condition is that the hydraulic bulldozer runs at a vehicle speed greater than a set vehicle speed threshold and the running time is greater than a first time threshold, and the cycle end condition is that the throttle opening degree is less than the set opening degree threshold again.

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

[0106] The identification unit 201 determines that the first cycle working condition is bulldozing operation when the gear signal in the first cycle working condition is a forward signal, and in the first time interval of the first cycle working condition, when the acceleration is continuously greater than or equal to a first acceleration threshold, the working resistance shows a continuously 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 is kept in a non-zero state, and in the third time interval, when the acceleration is continuously less than or equal to a second acceleration threshold, the working resistance shows a continuously decreasing trend.

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

[0108] When the gear signal in the second cycle working condition is a reverse signal, and the average operating resistance is less than the set resistance threshold, and the vehicle speed of the hydraulic bulldozer is kept in a non-zero state, it is determined that the second cycle working condition is empty running.

[0109] Optionally, the identification unit 201 determines that the first cycle working condition and the second cycle working condition are continuously occurring by performing the following operations:

[0110] When the opening degree of the accelerator in the first cycle working condition is less than the set opening degree threshold again, and the opening degree of the accelerator in the second cycle working condition is greater than the set opening degree threshold, the opening degree change time is less than the second time threshold, it is determined that the first cycle working condition and the second cycle working condition are continuously occurring working conditions.

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

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

[0113] and based on the gear signal and the engine speed signal of each pushing condition, the hydraulic bulldozer is identified for high-speed empty running.

[0114] After introducing the hydraulic bulldozer control method and device of the exemplary embodiments 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 can understand that each aspect of the present application can be implemented as a system, a method or a program product. Therefore, each aspect of the present application can be specifically implemented as a complete hardware embodiment, a complete software embodiment (including firmware, microcode, etc.), or an embodiment combined with hardware and software, which can be collectively referred to as "circuit", "module" or "system" here.

[0116] Based on the same inventive concept as the above method embodiments, an electronic device is also provided in the present embodiment, as shown in FIG. 3 The electronic device 300 can at least include 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 hydraulic bulldozer control methods. For example, the processor 301 can execute the steps as shown in FIG. 1A .

[0117] The computing device 400 according to this embodiment of the present application will be described below with reference to FIG. 4 . FIG. 4The computing device 400 is merely an example and should not limit the functionality and scope of use of the embodiments of the present application.

[0118] like FIG. 4 As shown, computing device 400 is implemented as a general-purpose computing device. Components of 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 various system components (including storage unit 402 and 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, and a processor or 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] Computing device 400 may also communicate with one or more external devices 404 (e.g., a keyboard, pointing device, etc.), one or more devices that enable a user to interact with computing device 400, and / or any device that enables computing device 400 to communicate with one or more other computing devices (e.g., a router, modem, etc.). Such communication may occur via input / output (I / O) interface 405. Furthermore, 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 network adapter 406. As shown, network adapter 406 communicates with other modules of computing device 400 via bus 403. It should be understood that, although not shown, other hardware and / or software modules may be used in conjunction with 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 method embodiments described above, the various aspects of the hydraulic bulldozer control method provided by the present application can also be implemented in the form of a program product, which includes program code for causing an electronic device to perform the steps of the hydraulic bulldozer control method according to various exemplary embodiments of the present application described above in the specification, when the program product is run on the electronic device, for example, the electronic device can perform the steps as shown in FIG. 8. FIG. 1A

[0124] The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, 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 disc 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 can make additional changes and modifications to these embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all the preferred embodiments and all the changes and modifications falling within the scope of the present application.

[0126] Obviously, those skilled in the art can make various modifications and variations 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 equivalent technologies, the present application also intends to include these modifications and variations.​

Claims

1. A hydraulic bulldozer control method characterized by, The method comprises the following steps: Based on the working condition spectrum of the hydraulic bulldozer, the working condition of the hydraulic bulldozer is identified, and a plurality of pushing working conditions are obtained; 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 high-load dozing operation, the opening degree of the hand throttle is increased; when it is confirmed that the hydraulic bulldozer is performing high-speed empty running, the gear level of the reverse gear is increased and the opening degree of the hand throttle is decreased; Wherein, one pushing working condition is obtained by performing the following operations: From the working condition spectrum of the hydraulic bulldozer, the first cycle working condition and the second cycle working condition that meet the cycle stage condition are selected; When the gear signal in the first cycle working condition is a forward signal, and in the first time interval of the first cycle working condition, when the acceleration is continuously greater than or equal to the first acceleration threshold value, the operation resistance shows a continuous increasing trend, and in the second time interval, when the acceleration is continuously less than the first acceleration threshold value, the speed of the hydraulic bulldozer is kept 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 value, the operation resistance shows a continuous decreasing trend, it is confirmed that the first cycle working condition is dozing operation; Based on the gear signal, the average operation resistance and the change trend of the speed of the hydraulic bulldozer with time of the second cycle working condition, the second cycle working condition is identified as empty running operation; When it is confirmed that the first cycle working condition is dozing operation and the second cycle working condition is empty running, the first cycle working condition and the second cycle working condition that occur continuously are combined into one pushing working condition.

2. The method of claim 1, wherein, The first cycle working condition and the second cycle working condition that meet the cycle stage condition are selected from the working condition spectrum of the hydraulic bulldozer, which comprises: The opening degree of the hydraulic bulldozer is less than the set opening threshold value as the cycle trigger condition, the hydraulic bulldozer travels at a speed greater than the set speed threshold value and the travel time is greater than the first time threshold value as the cycle continuation condition, and the opening degree of the hydraulic bulldozer is less than the set opening threshold value again as the cycle end condition, the first cycle working condition and the second cycle working condition that meet the hit condition are selected from the working condition spectrum of the hydraulic bulldozer.

3. The method of claim 1, wherein, Based on the gear signal, the average operation resistance and the change trend of the speed of the hydraulic bulldozer with time of the second cycle working condition, the second cycle working condition is identified as empty running operation, which comprises: When the gear signal in the second cycle working condition is a reverse signal, and the average operation resistance is less than the set resistance threshold value, the speed of the hydraulic bulldozer is kept in a non-zero state, it is confirmed that the second cycle working condition is empty running.

4. The method of claim 3, wherein, By performing the following operations, it is confirmed that the first cycle working condition and the second cycle working condition are continuously occurring: When the opening degree change time from the opening degree of the first cycle working condition being less than the set opening threshold value again to the opening degree of the second cycle working condition being greater than the set opening threshold value is less than the second time threshold value, it is confirmed that the first cycle working condition and the second cycle working condition are continuously occurring working conditions.

5. The method of claim 1, wherein, The state of the hydraulic bulldozer is identified based on the working condition parameters of each pushing working condition, which comprises: The hydraulic bulldozer is identified as high-load dozing operation based on engine load rate signals and rotation speed signals of each pushing condition; The hydraulic bulldozer is identified as high-speed empty running based on gear signals and engine rotation speed signals of each pushing condition.

6. A hydraulic bulldozer control apparatus characterized by, The method comprises: An identification unit identifies the hydraulic bulldozer based on a working condition profile of the hydraulic bulldozer to obtain multiple pushing conditions; The hydraulic bulldozer is identified as a state based on working condition parameters of each pushing condition; A control unit increases the throttle opening of the hand throttle when the hydraulic bulldozer is identified as high-load dozing operation, and increases the gear level of the reverse gear and decreases the throttle opening of the hand throttle when the hydraulic bulldozer is identified as high-speed empty running. The identification unit obtains a pushing condition by performing the following operations: First and second cycle conditions that meet cycle stage conditions are selected from the working condition profile of the hydraulic bulldozer; When the gear signal in the first cycle condition is a forward signal, and in the first time interval of the first cycle condition, when the acceleration is continuously greater than or equal to a first acceleration threshold, the work resistance shows a continuously 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 is maintained in a non-zero state, and in the third time interval, when the acceleration is continuously less than or equal to a second acceleration threshold, the work resistance shows a continuously decreasing trend, the first cycle condition is identified as dozing operation; The second cycle condition is identified as empty running operation based on the gear signal, the average work resistance, and the change trend of the vehicle speed with time of the second cycle condition; When the first cycle condition is identified as dozing operation and the second cycle condition is identified as empty running, the first cycle condition and the second cycle condition that occur continuously are combined into one pushing condition.

7. An electronic device, comprising: The device comprises 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 the method of any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The device comprises program code, and when the program code runs on the electronic device, the program code is used to make the electronic device execute the steps of the method of any one of claims 1-5.

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