Complete machine control system and method of skid steer loader

Abstract

The invention provides a complete machine control system and method for a skid steer loader, the system comprises a complete machine controller, and a combination instrument, an external sensor, an engine ECU and an alarm module which are in communication connection with the complete machine controller, and the complete machine controller performs hydraulic unlocking and parking unlocking according to signals collected by the external sensor; the whole machine controller collects the actual torque percentage of an engine in real time, and flameout prevention control is achieved; the complete machine controller realizes bidirectional control of accessory flow through a bidirectional Hall switch; the whole machine controller controls the rotating speed of the engine according to data collected by the hand accelerator and the foot accelerator. The whole machine controller collects and sends out fault information in real time, and an alarm module is used for giving an alarm about the abnormity of the engine. The driving safety and the working stability of the skid steer loader can be effectively improved, and the requirement for multifunctional output of the whole loader can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of skid steer loaders, and in particular to a whole machine control system and method for a skid steer loader. Background Art

[0002] In the scope of electronic control development of skid loader, a dual throttle solution is adopted, that is, the coexistence of hand throttle and foot throttle, and the electronic control components involved are the instrument cluster, the whole machine controller and the engine ECU. Unreasonable throttle matching logic will make the whole machine unable to correctly judge the current driver's needs, resulting in wrong power output, so that the whole machine cannot meet user needs.

[0003] In the scope of electronic control development of skid loader, there are four components involved in communication, namely engine ECU, post-processing ACU, whole machine controller and instrument cluster. Unreasonable functional arrangement will cause confusion in the whole machine logic, which may easily lead to misjudgment, incomplete or wrong output; unreasonable communication protocol or inappropriate setting of internal parameters will cause distortion of accessories, slow transmission rate or data overload abnormality.

[0004] In the scope of electronic control development of skid loader, the types of machine failures are complicated, especially when the engine is equipped with after-treatment devices and multi-function outputs, there will be many types of failures. Unreasonable fault configuration will cause incomplete, erroneous or confusing machine fault outputs, especially for machines equipped with complex functions, which will directly affect the after-sales inspection and maintenance of the whole machine. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention proposes a whole machine control system and method for a skid loader, which can effectively improve the driving safety and working stability of the skid loader and meet the requirements of multi-functional output of the whole machine.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A whole machine control system for a skid loader includes a whole machine controller and a combination instrument, an external sensor, an engine ECU, and an alarm module that are communicatively connected to the whole machine controller. The whole machine controller performs hydraulic unlocking and parking unlocking according to signals collected by the external sensor; the whole machine controller collects the actual torque percentage of the engine in real time to achieve anti-stall control; the whole machine controller achieves bidirectional control of the attachment flow through a bidirectional Hall switch; the whole machine controller controls the engine speed according to data collected by a hand accelerator and a foot accelerator; the whole machine controller collects and sends fault information in real time, and uses the alarm module to alarm for engine abnormalities.

[0008] Preferably, the whole machine controller of the skid loader will collect information from external sensors in real time: left safety bar conduction signal, right safety bar conduction signal, driver presence switch conduction signal, hydraulic unlocking rocker switch conduction signal and engine speed ≥ 800rpm signal. When the whole machine meets the above five conditions at the same time, the whole machine controller enables the pilot solenoid valve of the working device to achieve hydraulic unlocking.

[0009] Preferably, after the whole machine is hydraulically unlocked, the parking unlocking rocker switch is turned on, and the whole machine controller enables the parking brake release solenoid valve to achieve parking unlocking.

[0010] Preferably, the whole machine controller will collect the actual torque percentage of the engine in real time. When the engine torque is ≥90%, the whole machine controller will determine that the whole machine is overloaded and start to reduce the whole machine's running proportional current. The whole machine controller reduces the whole machine's power load by reducing the whole machine's running proportional current, so that the real-time percentage of the engine torque is limited to within 95%, thereby realizing anti-stall control.

[0011] Preferably, the whole machine inputs the corresponding voltage value to the whole machine controller through the built-in bidirectional Hall switch on the right pilot handle. The Hall switch slides upward for forward control; the Hall switch slides downward for reverse control, thereby realizing bidirectional control of the accessory flow.

[0012] Preferably, the hand throttle and foot throttle respectively transmit the corresponding opening voltage values ​​to the whole machine controller, which first compares the two voltage values ​​and takes the larger value, converts the voltage into the throttle opening according to the voltage-throttle opening curve internally, and then converts the opening value into a speed value according to the throttle opening-engine speed curve, and finally transmits it to the engine ECU, thereby realizing the control of the engine speed.

[0013] Preferably, the whole machine controller communicates using CAN communication, using a total of 5 ID segments, which are used for whole machine signal acquisition, solenoid valve enabling, loading whole machine working status data and loading the current version number of the whole machine controller; the combination instrument communication adopts CAN communication, using a total of 2 ID segments, which are used to load user external input information and the current version number of the combination instrument.

[0014] Furthermore, the present invention also provides a whole machine control method of a skid loader, comprising the following steps:

[0015] The switch conduction signal of the skid loader is collected by using an external sensor, and the collected result is sent to the whole machine controller, and the whole machine controller performs hydraulic unlocking and parking unlocking according to the signal collected by the external sensor;

[0016] The actual torque percentage of the engine is collected in real time through the whole machine controller, and the whole machine power load is reduced by reducing the running proportional current of the whole machine to achieve anti-stall control;

[0017] The machine inputs the corresponding voltage value to the machine controller through the built-in bidirectional Hall switch on the right pilot handle to achieve bidirectional control of the attachment flow;

[0018] The hand accelerator and foot accelerator are used to transmit the corresponding opening voltage values ​​to the whole machine controller, and the whole machine controller controls the engine speed according to the collected data;

[0019] Fault information is collected and sent out through the whole machine controller, and the alarm module is used to alarm the engine abnormality.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The hydraulic unlocking of the working device and the parking hydraulic unlocking of the skid loader of the present invention are achieved by the whole machine controller outputting a high level to the corresponding reversing solenoid valve, and the whole machine is started to work and travel through reasonable logic matching, thereby improving driving safety.

[0022] 2. The skid loader of the present invention uses a proportional solenoid valve to accurately adjust the flow rate of the whole machine controller to achieve a flow balance between walking and heavy loads, prevent the real-time power from exceeding the rated power of the engine, avoid abnormal flameout, and improve working stability.

[0023] 3. The present invention is a whole machine controller that uses a proportional solenoid valve to perform precise flow control to meet the different flow requirements of users when equipping different accessories, establish a reasonable flow level distribution and specific flow value matching to meet the functional output of the whole machine equipped with different accessories. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0025] Figure 1 This is a structural block diagram of the whole machine control system of the skid loader of the present invention;

[0026] Figure 2 This is the electrical design schematic diagram of the hydraulic unlocking of the present invention;

[0027] Figure 3 This is the flow electrical design principle diagram of the present invention;

[0028] Figure 4 This is the electrical design schematic diagram of the dual throttle solution of the present invention;

[0029] Figure 5The present invention is a flowchart of the whole machine control method of the skid loader. DETAILED DESCRIPTION

[0030] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0031] Specifically, the present invention provides a whole machine control system of a skid loader, such as Figure 1 As shown, the system includes a whole machine controller 1, a combination meter 2, an external sensor 3, an engine ECU 4, and an alarm module 5 which are communicatively connected to the whole machine controller 1.

[0032] like Figure 2 As shown, the whole machine controller of the skid loader will collect information from the external sensor 3 in real time: the left safety lever conduction signal, the right safety lever conduction signal, the driver's position switch conduction signal, the hydraulic unlocking rocker switch conduction signal and the engine speed ≥ 800rpm signal. When the whole machine meets the above five conditions at the same time, the whole machine controller enables the pilot solenoid valve of the working device to achieve hydraulic unlocking.

[0033] The parking unlock rocker switch is turned on, and the whole machine must be hydraulically unlocked first. Only when the whole machine meets the above two conditions at the same time, the whole machine controller enables the parking brake release solenoid valve to achieve parking unlock.

[0034] The whole machine controller will collect the actual engine torque percentage in real time. When the engine torque is ≥90%, the whole machine controller will determine that the whole machine is overloaded and start to reduce the whole machine running proportional current. The whole machine controller reduces the whole machine power load by reducing the whole machine running proportional current, so that the real-time percentage of the engine torque is limited to within 95%, thereby achieving the effect of preventing flameout.

[0035] like Figure 3 As shown in the figure, the whole machine inputs the corresponding voltage value to the whole machine controller through the built-in bidirectional Hall switch on the right pilot handle. The Hall switch in the right pilot handle, the forward attachment flow proportional solenoid valve, the reverse attachment flow proportional solenoid valve and the whole machine controller are hard-wired. The Hall switch is a bidirectional type. When the switch slides upward, it is used as a forward control; when the switch slides downward, it is used as a reverse control, thereby realizing bidirectional control of the attachment flow.

[0036] like Figure 4As shown, the hand throttle and foot throttle are connected to the whole machine controller by hard wire, and the engine ECU 4 is connected to the whole machine controller by CAN communication. The hand throttle and foot throttle transmit the corresponding opening voltage values ​​to the whole machine controller respectively. The whole machine controller first compares the two voltage values ​​and takes the larger value, and converts the voltage into the throttle opening according to the voltage-throttle opening curve, and then converts the opening value into the speed value according to the throttle opening-engine speed curve, and finally transmits it to the engine ECU, thereby realizing the control of the engine speed.

[0037] The whole machine controller communication adopts CAN communication, using a total of 5 IDs, which are used for whole machine signal acquisition, solenoid valve enablement, loading whole machine working status data and loading the current version number of the whole machine controller; the combination instrument communication adopts CAN communication, using a total of 2 IDs, which are used to load user external input information and the current version number of the combination instrument. The whole machine fault communication protocol is collected and sent separately by the whole machine controller, mainly including fault level, fault list, current fault sequence number and total fault number.

[0038] Alarm module 5, in which the fuel level and urea hydraulic pressure establish dual alarms according to different liquid levels, that is, when the fuel level is ≤10%, the alarm indicator light is always on and text prompts are given; when the level is ≤5%, the alarm indicator light flashes, text prompts are given, and the buzzer sounds at a frequency of 1kHz. Similarly, when the urea level is ≤15%, the alarm indicator light is always on and text prompts are given; when the level is ≤5%, the alarm indicator light flashes, text prompts are given, and the buzzer sounds at a frequency of 1kHz.

[0039] Furthermore, the present invention also provides a whole machine control method of a skid loader, such as Figure 5 As shown, the method comprises the following steps:

[0040] S1: Use an external sensor to collect the switch conduction signal of the skid loader, and send the collected result to the whole machine controller. The whole machine controller performs hydraulic unlocking and parking unlocking according to the signal collected by the external sensor;

[0041] S2: The actual torque percentage of the engine is collected in real time through the whole machine controller, and the whole machine power load is reduced by reducing the whole machine running proportional current to achieve anti-stall control;

[0042] S3: The machine inputs the corresponding voltage value to the machine controller through the built-in bidirectional Hall switch on the right pilot handle to achieve bidirectional control of the flow of the attachment;

[0043] S4: Use the hand accelerator and the foot accelerator to transmit the corresponding opening voltage values ​​to the whole machine controller, and the whole machine controller controls the engine speed according to the collected data;

[0044] S5: The fault information is collected and sent out through the whole machine controller, and the alarm module is used to alarm the abnormality of the engine.

[0045] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A whole machine control system of a skid loader, characterized in that: The system includes a whole machine controller and a combination instrument, an external sensor, an engine ECU, and an alarm module that are communicatively connected to the whole machine controller. The whole machine controller performs hydraulic unlocking and parking unlocking according to the signal collected by the external sensor; the whole machine controller collects the actual torque percentage of the engine in real time to realize anti-stall control; the whole machine controller realizes bidirectional control of the accessory flow through a bidirectional Hall switch; the whole machine controller controls the engine speed according to the data collected by the hand throttle and the foot throttle; the whole machine controller collects and sends fault information in real time, and uses the alarm module to alarm the abnormality of the engine.

2. The whole machine control system of the skid loader according to claim 1, characterized in that: The whole machine controller of the skid loader will collect information from external sensors in real time: left safety bar conduction signal, right safety bar conduction signal, driver presence switch conduction signal, hydraulic unlocking rocker switch conduction signal and engine speed ≥ 800rpm signal. When the whole machine meets the above five conditions at the same time, the whole machine controller enables the working device pilot solenoid valve to achieve hydraulic unlocking.

3. The whole machine control system of the skid loader according to claim 2, characterized in that: After the whole machine is hydraulically unlocked, the parking unlock rocker switch is turned on, and the whole machine controller enables the parking brake release solenoid valve to achieve parking unlocking.

4. The whole machine control system of the skid loader according to claim 1, characterized in that: The whole machine controller will collect the actual torque percentage of the engine in real time. When the engine torque is ≥90%, the whole machine controller will determine that the whole machine is overloaded and start to reduce the whole machine's running proportional current. The whole machine controller reduces the whole machine's power load by reducing the whole machine's running proportional current, so that the real-time percentage of the engine torque is limited to within 95%, thereby realizing anti-stall control.

5. The whole machine control system of the skid loader according to claim 1, characterized in that: The whole machine inputs the corresponding voltage value to the whole machine controller through the built-in bidirectional Hall switch on the right pilot handle. The Hall switch slides upward for forward control; the Hall switch slides downward for reverse control, thereby realizing bidirectional control of the accessory flow.

6. The whole machine control system of the skid loader according to claim 1, characterized in that: The hand throttle and foot throttle respectively transmit the corresponding opening voltage values ​​to the whole machine controller, which first compares the two voltage values ​​and takes the larger value, converts the voltage into the throttle opening according to the voltage-throttle opening curve internally, and then converts the opening value into the speed value according to the throttle opening-engine speed curve, and finally transmits it to the engine ECU, thereby realizing the control of the engine speed.

7. The whole machine control system of the skid loader according to claim 1, characterized in that: The whole machine controller communication adopts CAN communication, using a total of 5 ID segments, which are used for whole machine signal acquisition, solenoid valve enabling, loading whole machine working status data and loading the current version number of the whole machine controller; the combination instrument communication adopts CAN communication, using a total of 2 ID segments, which are used to load user external input information and the current version number of the combination instrument.

8. A whole machine control method for a skid loader, characterized in that: The method comprises the following steps: The switch conduction signal of the skid loader is collected by using an external sensor, and the collected result is sent to the whole machine controller, and the whole machine controller performs hydraulic unlocking and parking unlocking according to the signal collected by the external sensor; The actual torque percentage of the engine is collected in real time through the whole machine controller, and the whole machine power load is reduced by reducing the running proportional current of the whole machine to achieve anti-stall control; The machine inputs the corresponding voltage value to the machine controller through the built-in bidirectional Hall switch on the right pilot handle to achieve bidirectional control of the attachment flow; The hand accelerator and foot accelerator are used to transmit the corresponding opening voltage values ​​to the whole machine controller, and the whole machine controller controls the engine speed according to the collected data; Fault information is collected and sent out through the whole machine controller, and the alarm module is used to alarm the engine abnormality.

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