Constant-speed cruising method and equipment for hydrostatic loader and storage medium

Abstract

The invention discloses a cruise control method and device for a hydrostatic loader and a storage medium, and the cruise control method comprises the steps: turning on a gear switch if a cruise control function is turned on and the gear switch is in a turned-off state, reading a set vehicle speed, calculating the rotating speed of an engine, the displacement of a walking pump and the displacement of a walking motor at the vehicle speed, and setting a cruise control function; controlling the hydrostatic loader to walk at a set vehicle speed; in the cruise running process, the loader does not quit the constant-speed cruise function by stepping on the brake pedal, and the brake pedal can make the hydrostatic loader decelerate or stop; the brake pedal is released, and the hydrostatic loader automatically recovers to the set vehicle speed; in the cruising running process, the brake pedal can make the hydrostatic loading machine decelerate or stop; when the brake pedal is released, the hydrostatic loader automatically recovers to the set vehicle speed, and the function that the loader does not exit the constant-speed cruise function when the brake pedal is stepped on is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of loaders, and in particular to a method, equipment and storage medium for cruise control of a hydrostatic loader. Background Art

[0002] A hydrostatic loader is a loader that relies on a hydrostatic system as a driving component, usually including a hydraulic pump, a hydraulic motor, a charge pump, and a control valve group. Compared with traditional mechanical transmission and hydromechanical transmission systems, the hydrostatic system has the advantages of high efficiency, wide range, flexible layout, and diverse control methods. It is highly efficient, energy-saving, fuel-saving, and worry-free, and is widely used in efficient operations in various harsh environments.

[0003] The Chinese invention patent with announcement number CN115610414A discloses a method for controlling the travel of a hydrostatic loader. This method enables the hydrostatic loader to have a cruise control function. When the hydrostatic loader is in cruise control, the method can be used to switch between the following two control modes based on the system pressure of the hydrostatic system: locking the engine speed and using a closed-loop control method to generate a control amount for maintaining the vehicle speed during cruise control; adjusting the engine speed and generating a control amount for maintaining the vehicle speed during cruise control based on the engine speed. Based on the above two control modes, when the hydrostatic loader is in cruise control, the engine speed can be kept within a suitable speed range for different load conditions of the hydrostatic loader, thereby reducing the fuel consumption of the hydrostatic loader under different load conditions. However, under normal circumstances, when the hydrostatic loader is in cruise control, when the brake pedal is stepped on, the vehicle will exit the cruise control. In actual operation of the hydrostatic loader, the brake pedal needs to be stepped on frequently, which seriously affects the cruise control of the hydrostatic loader. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a method, device and storage medium for cruise control of a hydrostatic loader. During the cruise driving process, the hydrostatic loader can be decelerated or stopped by pressing the brake pedal; when the brake pedal is released, the hydrostatic loader automatically returns to the set speed, so that the loader does not exit the cruise control function when the brake pedal is pressed. In order to achieve the above purpose, the present invention is implemented through the following technical solutions:

[0005] In a first aspect, the present invention provides a method for cruising a hydrostatic loader, comprising the following steps:

[0006] If the cruise control function is turned on and the gear switch is in the off state, turn on the gear switch, read the set vehicle speed, calculate the engine speed, travel pump displacement and travel motor displacement at the speed, and control the hydrostatic loader to travel at the set speed;

[0007] During cruising, the loader does not exit the cruise control function when the brake pedal is pressed, and the brake pedal can slow down or stop the hydrostatic loader; release the brake pedal and the hydrostatic loader automatically returns to the set speed.

[0008] As a further implementation method, when using cruise control, there is no need to step on the accelerator, shift into forward or reverse gear, and the hydrostatic loader will automatically accelerate to the set speed.

[0009] As a further implementation, the set vehicle speed can be reset at any time during cruise control.

[0010] As a further implementation method, if the cruise control function is turned on, but the gear switch is in the forward or reverse position and not in neutral, the cruise control function will not work. The forward or reverse gear must be returned to neutral and the gear must be re-engaged to enable the cruise control function.

[0011] As a further implementation method, if the current vehicle speed is insufficient to support the current operating condition and load, the vehicle speed can be automatically adjusted to a speed lower than the set speed. After the operating condition and load are reduced, the vehicle speed is restored to the set speed.

[0012] As a further implementation method, during cruise control, turn off the cruise control. If the accelerator is not pressed, the vehicle speed will gradually slow down to 0; if the accelerator is pressed, the vehicle speed will gradually change to the speed corresponding to the current accelerator.

[0013] As a further implementation method, when the cruise control function is not turned on, the accelerator and brake pedals cooperate to control the driving speed of the hydrostatic loader.

[0014] As a further implementation method, when the cruise control function is not turned on, if the gear switch is turned on, the accelerator and brake pedals cooperate to control the driving speed of the hydrostatic loader; if the gear switch is not turned on, the hydrostatic loader does not move.

[0015] In a second aspect, the present invention provides an electronic device, comprising at least one processor, and a memory communicatively connected to the at least one processor;

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the cruise control method for a hydrostatic loader described in the first aspect.

[0017] In a third aspect, the present invention provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement the cruise control method for a hydrostatic loader as described in the first aspect when executed.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. During the cruising process, the brake pedal of the present invention can slow down or stop the hydrostatic loader; when the brake pedal is released, the hydrostatic loader automatically returns to the set speed, so that the loader does not exit the cruise control function when the brake pedal is pressed. Even if the brake pedal is pressed frequently, the cruise control of the hydrostatic loader is not affected.

[0020] 2. In view of the fact that the hydrostatic loader is an engineering machinery, the present invention requires that the "cruise control switch" be turned on first and then the forward or reverse gear be engaged to enable the cruise control function in order to ensure the surrounding safety. If the gear switch is in the forward or reverse position and not in neutral, the cruise control function will not work. The forward or reverse gear needs to be returned to neutral and the gear needs to be engaged again to enable the cruise control function. This prevents the vehicle from starting suddenly when the cruise control function is operated.

[0021] 3. In the present invention, if the current vehicle speed is insufficient to support the current working condition and load, the vehicle speed can be automatically adjusted to travel below the set speed. After the working condition and load are reduced, the vehicle speed is restored to the set speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0023] Figure 1 It is a flow chart of the cruise control method of a static hydraulic loader in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0025] Embodiment 1

[0026] refer to Figure 1 As shown, the present invention provides a typical implementation method, and the hydrostatic loader itself has the following characteristics: the vehicle idle speed can be 0km / h, that is, the vehicle does not move forward when the forward or reverse gear is engaged and the accelerator is not pressed. In order to implement the cruise control method of this embodiment, the hydrostatic loader needs to be provided with a "cruise control function switch" and a "vehicle speed setting knob"; the cruise control function can be turned on or off through the "cruise control function switch"; the cruise speed can be set through the "vehicle speed setting knob", and the speed can also be changed during the cruise. The knob is not an addition or subtraction button, but a speed setting knob, which can directly set the speed, and the speed can be set to 0-36km / h (the loader has a small speed range).

[0027] The "cruise control switch" is not turned on, and the accelerator pedal controls the loader's driving speed.

[0028] Turn on the "cruise control switch" to enable the cruise mode, and drive at a constant speed with the set vehicle speed as the target value.

[0029] The present embodiment provides a method for cruise control of a hydrostatic loader, comprising the following steps:

[0030] Get on the vehicle and check the cruise control function and the gear switch status. If the cruise control function is turned on and the gear switch is in the off state, turn on the gear switch, read the set vehicle speed, calculate the engine speed, travel pump displacement and travel motor displacement at the vehicle speed, and control the hydrostatic loader to travel at the set vehicle speed.

[0031] During cruising, the loader does not exit the cruise control function when the brake pedal is pressed, and the brake pedal can slow down or stop the hydrostatic loader; release the brake pedal and the hydrostatic loader automatically returns to the set speed.

[0032] The working principle of the loader not exiting the cruise control function when the brake pedal is pressed is as follows:

[0033] Speed ​​of hydrostatic loader:

[0034] in:

[0035] q 马达 : Motor displacement, ml / r;

[0036] q 泵 : Pump displacement, ml / r;

[0037] i 桥 : The speed ratio of the bridge box;

[0038] n 发动机 : Engine output speed, r / min;

[0039] D: wheel rolling diameter, m;

[0040] That is, for a certain hydrostatic loader (wheel diameter and axle box speed ratio have been finalized), the vehicle speed is:

[0041]

[0042] When the vehicle is cruising at a set speed under a certain load, the speed v has been set. After calculation by the controller, a group is selected, n 发动机 ,q 泵 ,q 马达 value, you can maintain a constant speed.

[0043] The sensor on the brake pedal can transmit the current brake pedal opening signal to the controller. The controller is equipped with a "corresponding curve between brake pedal opening and vehicle speed limit" to calculate the current required vehicle speed based on the brake pedal opening.

[0044] When the brake pedal is pressed, the controller reads the brake pedal opening as a%, which is converted into a speed limit of b% of the current set speed. The actual required speed is:

[0045] v 需求 = b%*v 巡航

[0046] According to the required speed v 需求 , after the controller calculates, a new set of n' is selected 发动机 ,q' 泵 ,q' 马达 The value of v 需求 Driving speed.

[0047] When the load remains unchanged and the brake pedal is released, n' 发动机 ,q' 泵 ,q' 马达 Recovery to n 发动机 ,q 泵 ,q 马达 , you can restore to the original set speed.

[0048] If the cruise control function is turned on, but the gear switch is in the forward or reverse position and not in neutral, the cruise control function will not work. You need to shift the forward or reverse gear back to neutral and re-engage the gear to enable the cruise control function.

[0049] Since the hydrostatic loader is an engineering machinery, in order to ensure the surrounding safety, you must first turn on the "cruise control switch" and then shift the forward or reverse gear to enable the cruise control function. If the gear switch is in the forward or reverse position and not in neutral, the cruise control function will not work. You need to shift the forward or reverse gear back to neutral and shift the gear again to enable the cruise control function. This will prevent the vehicle from starting suddenly when operating the cruise control function.

[0050] During cruise control, the vehicle speed is controlled by the "vehicle speed setting knob". There is no need to step on the accelerator, shift into forward or reverse gear, and the hydrostatic loader will automatically accelerate to the set speed.

[0051] During cruise control, the vehicle speed can be reset at any time by turning the "vehicle speed setting knob" to change the current vehicle speed.

[0052] During cruise control, turn off cruise control. If the accelerator is not pressed, the vehicle speed will gradually slow down to 0; if the accelerator is pressed, the vehicle speed will gradually change to the speed corresponding to the current accelerator.

[0053] If the current vehicle speed is insufficient to support the current operating conditions and load, the vehicle speed can be automatically adjusted to a speed lower than the set speed. When the operating conditions and load are reduced, the vehicle speed is restored to the set speed.

[0054] Get on the vehicle and check the cruise control function and gear switch status. When the cruise control function is not turned on, the accelerator and brake pedals work together to control the driving speed of the hydrostatic loader.

[0055] Specifically, when the cruise control function is not turned on, if the gear switch is on, the accelerator and brake pedals work together to control the speed of the hydrostatic loader; if the gear switch is not on, the hydrostatic loader does not move. By reading the throttle opening, calculating the speed requirement, and calculating the engine speed, travel pump displacement and travel motor displacement at the speed, the hydrostatic loader is controlled to move at the speed corresponding to the current throttle.

[0056] During cruising, the vehicle speed is controlled by the "vehicle speed setting knob". Deeply pressing the accelerator will not change the vehicle speed, but will only increase the engine speed. The hydrostatic travel system adjusts the vehicle speed by reducing the pump displacement to keep the vehicle speed unchanged.

[0057] Embodiment 2

[0058] This embodiment provides an electronic device, including at least one processor, and a memory communicatively connected to the at least one processor;

[0059] The memory stores a computer program executable by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the cruise control method for a hydrostatic loader described in the first embodiment.

[0060] Embodiment 3

[0061] This embodiment provides a computer-readable storage medium, which stores computer instructions. The computer instructions are used to enable a processor to implement the cruise control method for a hydrostatic loader described in the above embodiment when executed.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for cruising a hydrostatic loader, characterized in that: The following steps are involved: If the cruise control function is turned on and the gear switch is in the off state, turn on the gear switch, read the set vehicle speed, calculate the engine speed, travel pump displacement and travel motor displacement at the speed, and control the hydrostatic loader to travel at the set speed; During cruising, the loader does not exit the cruise control function when the brake pedal is pressed, and the brake pedal can slow down or stop the hydrostatic loader; release the brake pedal and the hydrostatic loader automatically returns to the set speed.

2. A method for controlling cruising speed of a hydrostatic loader according to claim 1, characterized in that: When using cruise control, there is no need to step on the accelerator, shift into forward or reverse gear, and the hydrostatic loader will automatically accelerate to the set speed.

3. A method for controlling cruising speed of a hydrostatic loader according to claim 1, characterized in that: During cruise control, the set speed can be reset at any time.

4. A method for controlling cruising speed of a hydrostatic loader according to claim 1, characterized in that: If the cruise control function is turned on, but the gear switch is in the forward or reverse position and not in neutral, the cruise control function will not work. You need to shift the forward or reverse gear back to neutral and re-engage the gear to enable the cruise control function.

5. A method for controlling cruise speed of a hydrostatic loader according to claim 1, characterized in that: If the current vehicle speed is insufficient to support the current operating conditions and load, the vehicle speed can be automatically adjusted to a speed lower than the set speed. When the operating conditions and load are reduced, the vehicle speed is restored to the set speed.

6. A method for controlling cruise speed of a hydrostatic loader according to claim 1, characterized in that: During cruise control, turn off cruise control. If the accelerator is not pressed, the vehicle speed will gradually slow down to 0; if the accelerator is pressed, the vehicle speed will gradually change to the speed corresponding to the current accelerator.

7. A method for controlling cruise speed of a hydrostatic loader according to claim 1, characterized in that: When the cruise control function is not turned on, the accelerator and brake pedals work together to control the driving speed of the hydrostatic loader.

8. A method for controlling cruise speed of a hydrostatic loader according to claim 7, characterized in that: When the cruise control function is not turned on, if the gear switch is on, the accelerator and brake pedals cooperate to control the driving speed of the hydrostatic loader; if the gear switch is not on, the hydrostatic loader will not move.

9. An electronic device, characterized in that: comprising at least one processor, and a memory communicatively connected to the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the hydrostatic loader cruise control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the cruise control method for a hydrostatic loader according to any one of claims 1 to 8 when executed.

Images