Walking control method and device of engineering machinery, computer equipment and storage medium

Abstract

The invention relates to a walking control method and device of engineering machinery, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: in response to a driving control request for the engineering machinery, determining the whole machine driving speed of the engineering machinery according to the current driving parameters of the engineering machinery; according to the running speed of the whole machine and the expected running speed of the engineering machine, the average rotating speed of a driving motor corresponding to each crawler chassis included in the engineering machine is determined; and according to each average rotating speed, the load of each crawler chassis and the deflection angle of each crawler chassis, determining a target rotating speed of each driving motor corresponding to each crawler chassis. By adopting the method, the walking control accuracy of the engineering machinery in a complex driving environment can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a walking control method, device, computer equipment, computer-readable storage medium and computer program product of an engineering machinery. Background Art

[0002] With the advancement of electrification technology and the increasing demand for automation in construction machinery, electric-driven multi-tracked construction machinery and its control method are becoming one of the important technologies in the field of construction machinery. With the support of the electric drive system, electric-driven multi-tracked construction machinery has more precise power output and control capabilities, and it is necessary to develop an adaptive, efficient, and flexible new travel control method to further enhance the advantages of multi-tracks.

[0003] However, in the process of walking control of electric-driven multi-tracked engineering machinery using conventional technology, there is a problem of low walking control accuracy when facing a complex driving environment. Summary of the invention

[0004] Based on this, it is necessary to provide a walking control method, device, computer equipment, computer-readable storage medium and computer program product for engineering machinery that can improve the accuracy of walking control of engineering machinery in complex driving environments in order to address the above technical problems.

[0005] In a first aspect, the present application provides a walking control method for an engineering machine. The method comprises:

[0006] In response to a travel control request for the construction machinery, determining a whole machine travel speed of the construction machinery according to current travel parameters of the construction machinery;

[0007] Determining an average rotation speed of a drive motor corresponding to each crawler chassis included in the engineering machinery according to the whole machine travel speed and the expected travel speed of the engineering machinery;

[0008] The target rotation speed of each drive motor corresponding to each crawler chassis is determined according to each average rotation speed, the load of each crawler chassis and the deflection angle of each crawler chassis.

[0009] In one embodiment, each of the crawler chassis includes a first crawler and a second crawler, and determining the target speed of each drive motor corresponding to each crawler chassis according to each of the average speeds, the load of each crawler chassis, and the deflection angle of each crawler chassis includes:

[0010] For each of the crawler chassis, when the deflection angle is not zero, taking the expected deflection angle as a control target, and determining the speed difference between the first crawler and the second crawler according to a feedback control algorithm and the load;

[0011] The target speed is determined according to the speed difference and the average speed.

[0012] In one embodiment, each drive motor corresponding to the crawler chassis includes a first drive motor and a second drive motor, and determining the target speed according to the speed difference and the average speed includes:

[0013] Calculating a ratio of the rotation speed difference to the number of tracks in the track chassis;

[0014] The sum of the ratio and the average rotation speed is determined as the first rotation speed of the first driving motor, and the difference between the ratio and the average rotation speed is determined as the second rotation speed of the second driving motor.

[0015] In one embodiment, the driving parameter includes a rolling radius from any crawler in the engineering machinery to the center of a drive motor in the engineering machinery corresponding to the crawler, and determining the average rotation speed of the drive motors corresponding to each crawler chassis included in the engineering machinery according to the whole machine driving speed and the expected driving speed of the engineering machinery includes:

[0016] Calculating a second difference between the expected driving speed and the whole machine driving speed;

[0017] Obtaining a first correction value according to the second difference and a feedback control algorithm;

[0018] determining an initial average rotation speed according to the expected driving speed, the first correction value and the rolling radius;

[0019] The average rotation speed is determined according to the initial average rotation speed, the estimated slip ratio of each crawler in the engineering machinery and a preset target slip ratio estimated value.

[0020] In one embodiment, determining the average speed according to the initial average speed, the estimated slip rate of each track and a preset target slip rate estimated value includes:

[0021] calculating a third difference between each of the slip ratio estimated values ​​and a preset target slip ratio estimated value;

[0022] determining a second correction value according to the third difference and the feedback control algorithm;

[0023] The sum of the second correction value and the initial average rotation speed is determined as the average rotation speed.

[0024] In one embodiment, determining the initial average rotation speed according to the expected driving speed, the first correction value and the rolling radius includes:

[0025] calculating a ratio between the expected driving speed and the rolling radius;

[0026] The sum of the ratio and the first correction value is determined as an initial average rotation speed.

[0027] In a second aspect, the present application also provides a walking control device for an engineering machine. The device comprises:

[0028] A first determination module, configured to determine the whole machine travel speed of the engineering machinery in response to a travel control request for the engineering machinery and according to current travel parameters of the engineering machinery;

[0029] A second determination module is used to determine an average rotation speed of a drive motor corresponding to each crawler chassis included in the engineering machinery according to the whole machine driving speed and the expected driving speed of the engineering machinery;

[0030] The third determination module is used to determine the target speed of each drive motor corresponding to each crawler chassis according to each average speed, the load of each crawler chassis and the deflection angle of each crawler chassis. In a third aspect, the present application also provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the method described in the first aspect when executing the computer program.

[0031] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0032] In a fifth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0033] In the above-mentioned construction machinery travel control method, device, computer equipment, computer-readable storage medium and computer program product, the controller in the construction machinery first responds to the travel control request for the construction machinery, and determines the whole machine travel speed of the construction machinery according to the current travel parameters of the construction machinery. Since the whole machine travel speed is determined according to the current travel parameters, the real-time and accuracy of the determined whole machine travel speed of the construction machinery can be improved. Then, according to the whole machine travel speed and the expected travel speed of the construction machinery, the average speed of the drive motors corresponding to the crawler chassis included in the construction machinery is determined, which can improve the real-time and accuracy of the determined whole machine travel speed. The accuracy of the average speed of the drive motor corresponding to each track chassis is determined, and then the target speed of each drive motor corresponding to each track chassis is determined according to the average speed, the load of each track chassis and the deflection angle of each track chassis. Since in the process of determining the target speed, the speed of the drive motor corresponding to each track chassis can be feedback-adjusted according to the average speed, the load of each track chassis and the angle of each track chassis, the automatic correction effect of the offset track can be achieved, thereby improving the precise control of each track during the walking process of the engineering machinery, and further improving the accuracy of the walking control of the engineering machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] FIG1 is an application environment diagram of a walking control method for an engineering machine according to an embodiment;

[0036] FIG2 is a schematic flow chart of a method for controlling the movement of an engineering machine in one embodiment;

[0037] FIG3 is a schematic diagram of an electric drive four-chassis multi-track engineering machinery walking system in one embodiment;

[0038] FIG4 is a schematic diagram of a flow chart of step 203 in one embodiment;

[0039] FIG5 is a schematic diagram of a flow chart of step 402 in one embodiment;

[0040] FIG6 is a schematic diagram of a flow chart of step 202 in one embodiment;

[0041] FIG7 is a schematic diagram of a flow chart of step 603 in one embodiment;

[0042] FIG8 is a schematic diagram of a flow chart of step 604 in one embodiment;

[0043] FIG9 is a block diagram of a walking control device for an engineering machine according to an embodiment;

[0044] FIG. 10 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] Tracked construction machinery is usually used in various types of heavy machinery such as construction, mining, forestry operations, etc. Compared with traditional internal combustion engine drive systems, electric drive systems have higher energy efficiency, lower noise and exhaust emissions. Therefore, the research and development of electric drive construction machinery is in line with the strategic direction of sustainable development. The multi-track system provides good ground contact and stability, can effectively disperse the weight of the construction machinery, reduce the pressure on the ground, is suitable for complex terrain and harsh environments, and can significantly improve the passability and operating capacity of construction machinery. With the advancement of engineering machinery electrification technology and the increase in automation needs, electric-driven multi-tracked construction machinery and its control method are becoming one of the important technologies in the field of construction machinery. With the support of the electric drive system, electric-driven multi-tracked construction machinery has more precise power output and control capabilities. It is necessary to develop an adaptive, efficient and flexible new walking control method to further enhance the advantages of multi-tracks.

[0047] Among the control methods for linear walking of crawler-type engineering machinery in the prior art, most of them focus on the traditional chassis of a single crawler, and fail to make full use of the advantages of the multi-crawler system, resulting in a lack of sufficient stability and traction when driving on complex terrain or uneven ground, and the performance in heavy loads or extreme environments has not been fully verified, limiting its applicability in the fields of mining and heavy construction; or, the existing control methods fail to fully consider the impact of environmental factors and load changes, and the lack of adaptive control makes the engineering machinery in dynamic adjustment and complex task execution The effect is not good. Although the prior art involves the adjustment of power output, the system integration of high-precision motor control is still insufficient, and traditional electronic control hydraulic control is difficult to achieve more refined power distribution and response, thereby affecting the walking accuracy and flexibility. Based on this, there is a problem in the prior art that the accuracy of walking control of electric-driven multi-crawler engineering machinery is low when facing a complex driving environment. Therefore, the present application proposes a walking control method for engineering machinery to improve the accuracy of walking control of engineering machinery in a complex driving environment.

[0048] The walking control method of the engineering machinery provided in the embodiment of the present application can be applied to the application environment shown in Figure 1. Among them, the controller 102 integrated in the engineering machinery communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. The controller 102 responds to the driving control request of the server 104 for the engineering machinery, and determines the whole machine driving speed of the engineering machinery according to the current driving parameters of the engineering machinery. Then, the controller 102 determines the average speed of the drive motor corresponding to each crawler chassis included in the engineering machinery according to the whole machine driving speed and the expected driving speed of the engineering machinery. Then, the controller 102 determines the target speed of each drive motor corresponding to each crawler chassis according to each average speed, the load of each crawler chassis and the deflection angle of each crawler chassis. Among them, the controller can be but is not limited to a vehicle controller (Vehicle Control Unit, VCU), an engine controller (Engine Control Unit, ECU), and a motor controller (Microcontroller Unit, MCU). The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0049] In an exemplary embodiment, as shown in FIG. 2 , a walking control method for an engineering machine is provided, which is described by taking the method applied to the controller 102 in FIG. 1 as an example, and includes the following steps:

[0050] Step 201 , in response to a travel control request for a construction machine, the whole travel speed of the construction machine is determined according to the current travel parameters of the construction machine.

[0051] It should be noted that a construction machinery may include a single multi-track chassis or multiple multi-track chassis. The embodiment of the present application takes an electric-driven four-chassis multi-track construction machinery as an example to describe the control method of the construction machinery. Among them, the walking system of the electric-driven four-chassis multi-track construction machinery is shown in Figure 3. In Figure 3, the walking system includes 4 crawler chassis, each crawler chassis includes 2 crawlers, and each crawler is equipped with 2 sets of drive motors and their reduction transmission systems at the front and rear, respectively, with a total of 16 sets of drive transmission systems. The multi-track chassis structure enables the walking system of the construction machinery to have an overload capacity. A ball head-ball seat structure is connected to the upper part of each crawler chassis and an angle encoder is installed, so that each crawler chassis has a 360° rotation capability relative to the main body of the construction machinery, which is convenient for automatic deviation correction detection and control during walking.

[0052] In order to improve the accuracy of walking control of engineering machinery, a controller can be integrated in the engineering machinery to receive walking control instructions sent by the user through the server, and to control the speed of the drive motor of each track, so as to accurately control the walking speed of the whole machine of the engineering machinery. Optionally, a controller can be integrated in the engineering machinery to control the drive motor in each track, or multiple controllers can be integrated in the engineering machinery, wherein the multiple controllers can adopt a hierarchical structure, and the hierarchical structure can include a top-level controller, multiple chassis controllers and multiple bottom-level controllers, the top-level controller is used to receive walking control instructions, so as to plan the walking speed of each track chassis during the walking process according to the walking control instructions, and send the planned walking speed to each chassis controller; the chassis controller is used to control the walking speed of each track according to the received walking speed plan, so as to determine the speed of the drive motor of each track, and send the determined speed of the drive motor to the corresponding bottom-level controller; the bottom-level controller is used to control the front and rear drive motors of each track. It is understandable that in the same travel control system, the travel speeds of the various crawler chassis may be different, the speeds of the various crawler tracks belonging to the same crawler chassis may also be different, and the rotation speeds of the drive motors belonging to the same crawler track may be the same.

[0053] The driving control request is a command sent by the user to the controller of the engineering machinery to instruct the controller to control the actual walking speed of the engineering machinery according to the expected walking speed. The current formal parameters of the engineering machinery refer to the real-time driving parameters of the engineering machinery during the walking process. For example, the driving parameters may include the actual speed of each driving motor in the engineering machinery, the inertial navigation signal of the engineering machinery, the torque, the load of each crawler chassis, the force signal of each crawler chassis articulation, etc.

[0054] In this embodiment, the controller in the engineering machinery can receive a travel control request through the network, then obtain the current travel parameters through the sensors integrated in the engineering machinery, and then calculate the whole machine travel speed of the engineering machinery according to the current travel parameters in response to the travel control request. The calculation process of the whole machine travel speed can be expressed as:

[0055]

[0056] in, is the travel speed of the construction machinery, is the actual speed of the driving motor of the ith crawler at time n. For example, a crawler chassis including four crawlers, each crawler chassis including two crawlers, the value of i ranges from 1 to 8. is the rolling radius of the track to the center of the drive motor corresponding to the track, is the longitudinal acceleration of the construction machinery at time n, is the signal sampling interval, is the estimated weight of the whole machine acceleration estimation, is the estimated weight of the motor speed, where and It can be determined based on the reliability of the controller.

[0057] Step 202: Determine the average rotation speed of the drive motors corresponding to the crawler chassis included in the engineering machinery according to the whole machine travel speed and the expected travel speed of the engineering machinery.

[0058] Among them, the expected driving speed is the walking speed sent by the user to the controller through the server, and the average speed of the drive motors corresponding to each track chassis refers to the average speed of all drive motors in each track chassis. For example, if each track chassis includes 4 drive motors, the average speed refers to the average value of the sum of the speeds of the 4 drive motors.

[0059] In this embodiment, the controller can determine the correction value required for the whole machine's driving speed based on the difference between the expected driving speed and the whole machine's driving speed, and then use the correction value to correct the actual rotational speed of the drive motor corresponding to each track chassis to obtain the corrected rotational speed, thereby obtaining the average rotational speed of the drive motor corresponding to each track chassis based on the corrected rotational speed.

[0060] Step 203 , determining the target speed of each drive motor corresponding to each crawler chassis according to each average speed, the load of each crawler chassis and the deflection angle of each crawler chassis.

[0061] Among them, the load of each crawler chassis refers to the maximum weight that each crawler chassis can carry in the working state. The load-bearing capacity of the crawler chassis is related to the specific vehicle model, chassis structure and design quality. The deflection angle of each crawler chassis refers to the angle change caused by the different speeds of the left and right crawlers when the crawler chassis turns. In the crawler differential chassis, turning can be achieved by changing the speed difference of the left and right crawlers. The target speed refers to the speed after the speed of the drive motor of the construction machinery is corrected according to the expected driving speed of the construction machinery during the actual walking process.

[0062] In this embodiment, the controller can determine the correction value for correcting the rotational speed of each drive motor based on the deflection angle of each track chassis and the load of each track chassis, and then use the correction value and the average rotational speed to determine the corrected rotational speed of each track, thereby determining the corrected rotational speed as the target rotational speed of each drive motor.

[0063] In the above-mentioned walking control method of engineering machinery, the controller in the engineering machinery first responds to the driving control request for the engineering machinery, and determines the whole machine driving speed of the engineering machinery according to the current driving parameters of the engineering machinery. Since the whole machine driving speed is determined according to the current driving parameters, the real-time and accuracy of the determined whole machine driving speed of the engineering machinery can be improved. Then, according to the whole machine driving speed and the expected driving speed of the engineering machinery, the average speed of the drive motor corresponding to each crawler chassis included in the engineering machinery is determined, which can improve the accuracy of the average speed of the drive motor corresponding to each crawler chassis. Then, according to each average speed, the load of each crawler chassis and the deflection angle of each crawler chassis, the target speed of each drive motor corresponding to each crawler chassis is determined. Since in the process of determining the target speed, the speed of the drive motor corresponding to each crawler chassis can be feedback-adjusted according to each average speed, the load of each crawler chassis and the angle of each crawler chassis, the effect of automatic correction of the offset crawler can be achieved, thereby improving the precise control of each crawler during the walking process of the engineering machinery, and further improving the accuracy of the walking control of the engineering machinery.

[0064] In an exemplary embodiment, each crawler chassis includes a first crawler and a second crawler, as shown in FIG4 . This embodiment relates to a process of how a controller determines a target speed of each drive motor corresponding to each crawler chassis according to each average speed, a load of each crawler chassis, and a deflection angle of each crawler chassis. The above step 203 includes:

[0065] Step 401, for each crawler chassis, when the deflection angle is not 0, the desired deflection angle is used as the control target, and the speed difference between the first crawler and the second crawler is determined according to the feedback control algorithm and the load.

[0066] It should be noted that, in this embodiment, the engineering machinery is a multi-track engineering machinery, and the process of controlling the walking of the engineering machinery is described by taking each crawler chassis including two crawlers as an example. The two crawlers included in each crawler chassis are respectively referred to as the first crawler and the second crawler. The process of determining the target speed of each drive motor corresponding to each crawler chassis is described in detail below for each crawler chassis.

[0067] Among them, the deflection angle refers to the deviation angle of the crawler in the crawler chassis relative to the reference direction during walking. For example, the reference direction can be a direction parallel to the curb. It is understandable that if the crawler slips, it may cause the whole machine to deviate, or the deflection angle of the crawler deviates from the expected deflection angle, resulting in different walking speeds of the two crawlers in the same crawler chassis, which ultimately affects the walking speed of the whole machine of the engineering machinery. Therefore, the speed of the drive motor of the crawler can be adjusted to make the walking speed of the two crawlers consistent. For example, if the deflection angle is not 0 when the engineering machinery is walking in a straight line, the speed of the drive motor of the crawler chassis can be adjusted.

[0068] Among them, the expected deflection angle refers to the deflection angle that is consistent with the actual walking state of the engineering machinery. For example, if the engineering machinery is walking in a straight line, the expected deflection angle is 0. If the engineering machinery is turning, the expected deflection angle can be the turning angle. Feedback control algorithm is a control method that measures the output signal, compares it with the expected signal, generates an error signal, and then adjusts the input according to the error signal to achieve the control target. Optionally, the feedback control algorithm can be a PID control algorithm, a sliding mode control algorithm, a fuzzy control algorithm, etc., which is not limited in this embodiment. Among them, the speed difference between the first track and the second track refers to the speed difference between the speed of the drive motor corresponding to the first track and the speed of the drive motor corresponding to the second track.

[0069] In this embodiment, the controller can obtain the deflection angle from the angular deflection of each track chassis. If it is detected that the deflection angle is not 0, the deflection angle of 0 can be used as a control target, and the feedback control algorithm can be used to calculate and load to determine the speed of the drive motor corresponding to the first track and the speed of the drive motor corresponding to the second track, and the difference between the speed of the drive motor corresponding to the first track and the speed of the drive motor corresponding to the second track is determined as the speed difference.

[0070] When the rotation speed of the driving motor corresponding to the first crawler and the rotation speed of the driving motor corresponding to the second crawler are obtained, the mutual relationship control rule between the control parameters of the feedback control algorithm and the load can be determined based on the crawler chassis simulation model. Taking the feedback control algorithm as a PID control algorithm as an example, the mutual relationship control rule can be expressed as:

[0071]

[0072]

[0073] in, represents the load of the ith chassis, , and Indicates the PID adaptive control parameters of chassis correction, , and Represents the adaptive control parameters of the sliding mode control for chassis correction.

[0074] The speed difference between the first track and the second track can be expressed as:

[0075]

[0076] in, is the speed difference between the first track and the second track in the i-th track chassis, is the speed of the driving motor corresponding to the first crawler, is the rotation speed of the driving motor corresponding to the second crawler.

[0077] Step 402, determining a target speed according to the speed difference and the average speed.

[0078] It is understandable that after obtaining the speed difference between the two tracks in the same track chassis, the target speed of each drive motor in the track chassis can be determined according to the different relationships between the two tracks and the center of the track chassis. The two drive motors corresponding to the first track can be used as the first drive motors, and the two drive motors corresponding to the second track can be used as the second drive motors, so as to calculate the first speed corresponding to the first drive motor and the second speed corresponding to the second drive motor.

[0079] In a possible implementation, as shown in FIG. 5 , this embodiment relates to a process of how the controller determines the target speed according to the speed difference and the average speed. The above step 402 may include:

[0080] Step 501, calculating the ratio of the rotation speed difference to the number of tracks in the track chassis.

[0081] In this embodiment, the number of tracks in the track chassis is 2, and the ratio between the rotation speed difference and 2 can be calculated, and the ratio can be expressed as: .

[0082] Step 502: The sum of the ratio and the average speed is determined as the first speed of the first drive motor, and the difference between the ratio and the average speed is determined as the second speed of the second drive motor.

[0083]

[0084] in, is the first speed of the first driving motor, is the second speed of the second driving motor, is the average speed of the drive motor corresponding to the i-th track chassis.

[0085] In this embodiment, for each track chassis, when the deflection angle is not 0, the controller takes the expected deflection angle as the control target, determines the speed difference between the first track and the second track according to the feedback control algorithm and the load, and then determines the target speed according to the speed difference and the average speed. Since the speed difference between the first track and the second track is adaptively corrected by using the control rule of the mutual relationship between the feedback control algorithm and the load, a corrected speed difference is obtained, and then the speed difference and the average speed are used to determine the target speed, that is, the first speed of the first drive motor and the second speed of the second drive motor are determined, so that the engineering machinery can timely correct the slipping track according to the first speed of the first drive motor and the second speed of the second drive motor, and then achieve the correction control of the whole machine through the correction control of each track.

[0086] In an exemplary embodiment, the driving parameter includes a rolling radius from any crawler in the engineering machinery to the center of the driving motor corresponding to the crawler in the engineering machinery, as shown in FIG6 . This embodiment relates to a process of how the controller determines the average speed of the driving motor corresponding to each crawler chassis included in the engineering machinery according to the driving speed of the whole machine and the expected driving speed of the engineering machinery. The above step 202 includes:

[0087] Step 601, calculating a second difference between the expected driving speed and the whole machine driving speed.

[0088] In this embodiment, the controller can obtain the expected driving speed from the driving control request, and then calculate the second difference between the expected driving speed and the whole machine driving speed. The second difference can be expressed as:

[0089]

[0090] in, is the second difference, is the expected driving speed.

[0091] Step 602: Obtain a first correction value according to the second difference and a feedback control algorithm.

[0092] The first correction value refers to a correction value for correcting the actual rotation speed of the driving motor.

[0093] In this embodiment, the control parameter and the second difference in the feedback control algorithm can be used to determine the first correction value, which can be expressed as:

[0094]

[0095] in, is the first correction value, , and They are walking speed PID control parameters respectively.

[0096] Step 603: determining an initial average rotation speed according to the expected driving speed, the first correction value and the rolling radius.

[0097] The initial average speed refers to the average speed of the drive motor corresponding to each crawler chassis without considering the crawler slippage.

[0098] As a possible implementation, as shown in FIG. 7 , the above step 603 may include:

[0099] Step 701, calculating the ratio between the expected driving speed and the rolling radius.

[0100] This ratio can be expressed as: .

[0101] Step 702: determine the sum of the ratio and the first correction value as the initial average rotation speed.

[0102] The initial average speed can be expressed as:

[0103]

[0104] in, is the initial average speed.

[0105] Step 604 , determining an average rotation speed according to the initial average rotation speed, the estimated slip ratio of each track in the engineering machine and a preset target slip ratio estimated value.

[0106] It should be noted that during the walking process, the track may slip, causing the whole machine to deviate and the chassis walking speed. Therefore, the initial average speed can be corrected by using the sliding mode controller and the PID controller according to the situation where the track slips, so that the initial average speed after the slip correction is used as the average speed, which effectively reduces the problems of unstable walking and deviation caused by track slippage, thereby ensuring the stability of the whole machine during the walking process of the construction machinery.

[0107] When it is detected that the track of the i-th chassis is slipping, as a possible implementation, as shown in FIG8 , the above step 604 may include:

[0108] Step 801: Calculate a third difference between each slip ratio estimation value and a preset target slip ratio estimation value.

[0109] The third difference can be expressed as:

[0110]

[0111] in, is the third difference, The estimated value of the target slip ratio to maintain the stable movement of the whole machine. is the estimated value of slip ratio.

[0112] Step 802: Determine a second correction value according to the third difference and a feedback control algorithm.

[0113] The second correction value can be expressed as:

[0114]

[0115] in, is the second correction value, , and are slip rate PID control parameters respectively.

[0116] Step 803: determine the sum of the second correction value and the initial average rotation speed as the average rotation speed.

[0117] The average speed can be expressed as:

[0118]

[0119] in, is the average speed, is the initial average speed, is the second correction value.

[0120] In this embodiment, the controller first calculates the second difference between the expected driving speed and the whole machine driving speed, and then, according to the second difference and the feedback control algorithm, a first correction value for the rotation speed of the crawler chassis can be obtained, and then, according to the expected driving speed, the first correction value and the rolling radius, the initial average rotation speed is determined, and the average rotation speed can be determined according to the initial average rotation speed, the estimated slip rate of each crawler in the engineering machinery and the preset target slip rate estimated value. In the process of determining the average rotation speed, the feedback control algorithm can be used to correct the rotation speed of the crawler chassis to obtain the initial average rotation speed, thereby improving the initial average rotation speed and the average rotation speed determined by the slip rate estimated value, thereby avoiding the walking instability and deviation problems caused by crawler slippage, and improving the adaptability and stability of engineering machinery in complex terrain.

[0121] To facilitate understanding by those skilled in the art, the walking control method of the engineering machinery provided by the present application is described in detail below. The method may include:

[0122] S1, in response to a travel control request for the construction machinery, determining the whole travel speed of the construction machinery according to current travel parameters of the construction machinery.

[0123] S2, calculating a second difference between the expected driving speed and the whole machine driving speed.

[0124] S3, obtaining a first correction value according to the second difference and a feedback control algorithm.

[0125] S4, calculating the ratio between the expected driving speed and the rolling radius.

[0126] S5, determining the sum of the ratio and the first correction value as the initial average rotation speed.

[0127] S6, calculating a third difference between each slip ratio estimated value and a preset target slip ratio estimated value.

[0128] S7, determining a second correction value according to the third difference and a feedback control algorithm.

[0129] S8, determining the sum of the second correction value and the initial average rotation speed as the average rotation speed.

[0130] S9, for each crawler chassis, when the deflection angle is not 0, taking the expected deflection angle as the control target, and determining the rotation speed difference between the first crawler and the second crawler according to the feedback control algorithm and the load.

[0131] S10, calculating the ratio of the rotation speed difference to the number of tracks in the track chassis.

[0132] S11, determining the sum of the ratio and the average rotation speed as the first rotation speed of the first drive motor, and determining the difference between the ratio and the average rotation speed as the second rotation speed of the second drive motor.

[0133] It should be noted that for the descriptions in the above S1-S11, reference may be made to the relevant descriptions in the above embodiments, and the effects are similar, so this embodiment will not be repeated here.

[0134] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0135] Based on the same inventive concept, the embodiment of the present application also provides a walking control device for an engineering machine for implementing the walking control method for an engineering machine involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of one or more walking control devices for engineering machines provided below can refer to the limitations of the walking control method for engineering machines above, and will not be repeated here.

[0136] In one embodiment, as shown in FIG. 9 , a walking control device for an engineering machine is provided, comprising: a first determination module 901 , a second determination module 902 and a third determination module 903 , wherein:

[0137] The first determination module 901 is used to determine the whole machine travel speed of the engineering machinery according to the current travel parameters of the engineering machinery in response to the travel control request for the engineering machinery;

[0138] The second determination module 902 is used to determine the average rotation speed of the drive motors corresponding to each crawler chassis included in the engineering machinery according to the whole machine driving speed and the expected driving speed of the engineering machinery;

[0139] The third determination module 903 is used to determine the target rotation speed of each drive motor corresponding to each crawler chassis according to each average rotation speed, the load of each crawler chassis and the deflection angle of each crawler chassis.

[0140] The walking control device of the engineering machinery provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0141] In one embodiment, each track chassis includes a first track and a second track, and the third determination module 903 includes:

[0142] A first determination unit is used for determining, for each crawler chassis, a rotation speed difference between the first crawler and the second crawler according to a feedback control algorithm and a load, taking a desired deflection angle as a control target when the deflection angle is not zero;

[0143] The second determination unit is used to determine the target speed according to the speed difference and the average speed.

[0144] The walking control device of the engineering machinery provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0145] In one embodiment, the second determining unit is specifically configured to:

[0146] Calculate the ratio of the speed difference to the number of tracks in the track chassis;

[0147] The sum of the ratio and the average rotation speed is determined as the first rotation speed of the first drive motor, and the difference between the ratio and the average rotation speed is determined as the second rotation speed of the second drive motor.

[0148] The walking control device of the engineering machinery provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0149] In one embodiment, the driving parameter includes a rolling radius from any crawler in the engineering machine to the center of a driving motor corresponding to the crawler in the engineering machine, and the second determination module 902 includes:

[0150] A calculation unit, used for calculating a second difference between the expected driving speed and the whole machine driving speed;

[0151] An acquisition unit, configured to obtain a first correction value according to the second difference and a feedback control algorithm;

[0152] a third determining unit, configured to determine an initial average rotation speed according to the expected driving speed, the first correction value and the rolling radius;

[0153] The fourth determining unit is used to determine the average rotation speed according to the initial average rotation speed, the estimated value of the slip ratio of each crawler in the engineering machinery and the preset target slip ratio estimated value.

[0154] The walking control device of the engineering machinery provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0155] In one embodiment, the fourth determining unit is specifically configured to:

[0156] calculating a third difference between each slip ratio estimation value and a preset target slip ratio estimation value;

[0157] Determining a second correction value according to the third difference and a feedback control algorithm;

[0158] The sum of the second correction value and the initial average rotation speed is determined as the average rotation speed.

[0159] The walking control device of the engineering machinery provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0160] In one embodiment, the third determining unit is specifically configured to:

[0161] Calculate the ratio between the expected driving speed and the rolling radius;

[0162] The sum of the ratio and the first correction value is determined as the initial average rotation speed.

[0163] The walking control device of the engineering machinery provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0164] Each module in the above-mentioned walking control device of the engineering machinery can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0165] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG10. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the walking control data of the engineering machinery. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a walking control method for an engineering machinery is implemented.

[0166] Those skilled in the art will understand that the structure shown in FIG. 10 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0167] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0168] In response to a travel control request for the construction machinery, determining a whole machine travel speed of the construction machinery according to current travel parameters of the construction machinery;

[0169] Determine the average speed of the drive motors corresponding to each crawler chassis included in the engineering machinery according to the driving speed of the whole machine and the expected driving speed of the engineering machinery;

[0170] According to each average rotation speed, the load of each crawler chassis and the deflection angle of each crawler chassis, the target rotation speed of each drive motor corresponding to each crawler chassis is determined.

[0171] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0172] For each crawler chassis, when the deflection angle is not 0, the desired deflection angle is used as the control target, and the speed difference between the first crawler and the second crawler is determined according to the feedback control algorithm and the load;

[0173] The target speed is determined based on the speed difference and the average speed.

[0174] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0175] Calculate the ratio of the speed difference to the number of tracks in the track chassis;

[0176] The sum of the ratio and the average rotation speed is determined as the first rotation speed of the first drive motor, and the difference between the ratio and the average rotation speed is determined as the second rotation speed of the second drive motor.

[0177] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0178] calculating a second difference between the expected travel speed and the travel speed of the whole machine;

[0179] Obtaining a first correction value according to the second difference and a feedback control algorithm;

[0180] determining an initial average rotation speed according to the expected driving speed, the first correction value and the rolling radius;

[0181] The average rotation speed is determined based on the initial average rotation speed, the estimated slip ratio of each crawler in the construction machinery and the preset target slip ratio estimated value.

[0182] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0183] calculating a third difference between each slip ratio estimation value and a preset target slip ratio estimation value;

[0184] Determining a second correction value according to the third difference and a feedback control algorithm;

[0185] The sum of the second correction value and the initial average rotation speed is determined as the average rotation speed.

[0186] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0187] Calculate the ratio between the expected driving speed and the rolling radius;

[0188] The sum of the ratio and the first correction value is determined as the initial average rotation speed.

[0189] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0190] In response to a travel control request for the construction machinery, determining a whole machine travel speed of the construction machinery according to current travel parameters of the construction machinery;

[0191] Determine the average speed of the drive motors corresponding to each crawler chassis included in the engineering machinery according to the driving speed of the whole machine and the expected driving speed of the engineering machinery;

[0192] According to each average rotation speed, the load of each crawler chassis and the deflection angle of each crawler chassis, the target rotation speed of each drive motor corresponding to each crawler chassis is determined.

[0193] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0194] For each crawler chassis, when the deflection angle is not 0, the desired deflection angle is used as the control target, and the speed difference between the first crawler and the second crawler is determined according to the feedback control algorithm and the load;

[0195] The target speed is determined based on the speed difference and the average speed.

[0196] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0197] Calculate the ratio of the speed difference to the number of tracks in the track chassis;

[0198] The sum of the ratio and the average rotation speed is determined as the first rotation speed of the first drive motor, and the difference between the ratio and the average rotation speed is determined as the second rotation speed of the second drive motor.

[0199] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0200] calculating a second difference between the expected travel speed and the travel speed of the whole machine;

[0201] Obtaining a first correction value according to the second difference and a feedback control algorithm;

[0202] determining an initial average rotation speed according to the expected driving speed, the first correction value and the rolling radius;

[0203] The average rotation speed is determined based on the initial average rotation speed, the estimated slip ratio of each crawler in the construction machinery and the preset target slip ratio estimated value.

[0204] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0205] calculating a third difference between each slip ratio estimation value and a preset target slip ratio estimation value;

[0206] Determining a second correction value according to the third difference and a feedback control algorithm;

[0207] The sum of the second correction value and the initial average rotation speed is determined as the average rotation speed.

[0208] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0209] Calculate the ratio between the expected driving speed and the rolling radius;

[0210] The sum of the ratio and the first correction value is determined as the initial average rotation speed.

[0211] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0212] In response to a travel control request for the construction machinery, determining a whole machine travel speed of the construction machinery according to current travel parameters of the construction machinery;

[0213] Determine the average speed of the drive motors corresponding to each crawler chassis included in the engineering machinery according to the driving speed of the whole machine and the expected driving speed of the engineering machinery;

[0214] According to each average rotation speed, the load of each crawler chassis and the deflection angle of each crawler chassis, the target rotation speed of each drive motor corresponding to each crawler chassis is determined.

[0215] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0216] For each crawler chassis, when the deflection angle is not 0, the desired deflection angle is used as the control target, and the speed difference between the first crawler and the second crawler is determined according to the feedback control algorithm and the load;

[0217] The target speed is determined based on the speed difference and the average speed.

[0218] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0219] Calculate the ratio of the speed difference to the number of tracks in the track chassis;

[0220] The sum of the ratio and the average rotation speed is determined as the first rotation speed of the first drive motor, and the difference between the ratio and the average rotation speed is determined as the second rotation speed of the second drive motor.

[0221] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0222] calculating a second difference between the expected travel speed and the travel speed of the whole machine;

[0223] Obtaining a first correction value according to the second difference and a feedback control algorithm;

[0224] determining an initial average rotation speed according to the expected driving speed, the first correction value and the rolling radius;

[0225] The average rotation speed is determined based on the initial average rotation speed, the estimated slip ratio of each crawler in the construction machinery and the preset target slip ratio estimated value.

[0226] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0227] calculating a third difference between each slip ratio estimation value and a preset target slip ratio estimation value;

[0228] Determining a second correction value according to the third difference and a feedback control algorithm;

[0229] The sum of the second correction value and the initial average rotation speed is determined as the average rotation speed.

[0230] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0231] Calculate the ratio between the expected driving speed and the rolling radius;

[0232] The sum of the ratio and the first correction value is determined as the initial average rotation speed.

[0233] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0234] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0235] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A walking control method for an engineering machine, characterized in that: The method comprises: In response to a travel control request for the engineering machinery, determining a whole machine travel speed of the engineering machinery according to current travel parameters of the engineering machinery; Determining an average rotation speed of a drive motor corresponding to each crawler chassis included in the engineering machinery according to the whole machine travel speed and the expected travel speed of the engineering machinery; The target rotation speed of each drive motor corresponding to each crawler chassis is determined according to each average rotation speed, the load of each crawler chassis and the deflection angle of each crawler chassis.

2. The method according to claim 1, characterized in that Each of the crawler chassis includes a first crawler and a second crawler, and determining a target speed of each drive motor corresponding to each crawler chassis according to each of the average speeds, the load of each crawler chassis, and the deflection angle of each crawler chassis includes: For each of the crawler chassis, when the deflection angle is not zero, taking the expected deflection angle as a control target, and determining the speed difference between the first crawler and the second crawler according to a feedback control algorithm and the load; The target speed is determined according to the speed difference and the average speed.

3. The method according to claim 2, characterized in that Each drive motor corresponding to the crawler chassis includes a first drive motor and a second drive motor, and determining the target speed according to the speed difference and the average speed includes: Calculating a ratio of the rotation speed difference to the number of tracks in the track chassis; The sum of the ratio and the average rotation speed is determined as the first rotation speed of the first driving motor, and the difference between the ratio and the average rotation speed is determined as the second rotation speed of the second driving motor.

4. The method according to claim 1, characterized in that: The driving parameter includes a rolling radius from any crawler in the engineering machinery to the center of a drive motor in the engineering machinery corresponding to the crawler. The average rotation speed of the drive motors corresponding to each crawler chassis included in the engineering machinery is determined according to the whole machine driving speed and the expected driving speed of the engineering machinery, including: Calculating a second difference between the expected driving speed and the whole machine driving speed; Obtaining a first correction value according to the second difference and a feedback control algorithm; determining an initial average rotation speed according to the expected driving speed, the first correction value and the rolling radius; The average rotation speed is determined according to the initial average rotation speed, the estimated slip ratio of each crawler in the engineering machinery and a preset target slip ratio estimated value.

5. The method according to claim 4, characterized in that Determining the average speed according to the initial average speed, the estimated slip ratio of each track and a preset target slip ratio estimated value includes: calculating a third difference between each of the slip ratio estimated values ​​and a preset target slip ratio estimated value; Determining a second correction value according to the third difference and the feedback control algorithm; The sum of the second correction value and the initial average rotation speed is determined as the average rotation speed.

6. The method according to claim 4 or 5, characterized in that: The step of determining the initial average rotation speed according to the expected driving speed, the first correction value and the rolling radius includes: calculating a ratio between the expected driving speed and the rolling radius; The sum of the ratio and the first correction value is determined as an initial average rotation speed.

7. A travel control device for an engineering machine, characterized in that: The device comprises: A first determination module, configured to determine the whole machine travel speed of the engineering machinery in response to a travel control request for the engineering machinery and according to current travel parameters of the engineering machinery; A second determination module is used to determine an average rotation speed of a drive motor corresponding to each crawler chassis included in the engineering machinery according to the whole machine driving speed and the expected driving speed of the engineering machinery; The third determination module is used to determine the target rotation speed of each drive motor corresponding to each crawler chassis according to each average rotation speed, the load of each crawler chassis and the deflection angle of each crawler chassis.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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