A skid steer loader control system and method

Abstract

The application provides a whole machine control system and method of a skid steer loader, the system comprising a whole machine controller and a combination instrument, an external sensor, an engine ECU and an alarm module in communication connection with the whole machine controller, the whole machine controller performing hydraulic unlocking and parking unlocking according to signals collected by the external sensor; the whole machine controller collecting an actual engine torque percentage in real time to realize anti-flameout control; the whole machine controller realizing bidirectional control of an implement flow through a bidirectional Hall switch; the whole machine controller realizing control of an engine speed according to data collected by a hand throttle and a foot throttle; the whole machine controller collecting and sending fault information in real time and alarming an engine abnormality by using the alarm module. The application can effectively improve the driving safety and working stability of the skid steer loader and meet the demand of whole machine multifunctional output.

Description

Technical Field

[0001] This invention relates to the field of skid steer loader technology, and more specifically, to a complete control system and method for a skid steer loader. Background Technology

[0002] Within the scope of electronic control development for skid steer loaders, a dual-throttle scheme is employed, meaning both manual and foot throttle are available. The electronic control components involved include the instrument cluster, the machine controller, and the engine ECU. Inappropriate throttle matching logic can prevent the machine from correctly determining the driver's current needs, resulting in incorrect power output and ultimately preventing the machine from meeting user requirements.

[0003] Within the scope of the development of the electronic control system for skid steer loaders, there are four components involved in communication: the engine ECU, the aftertreatment ACU, the overall controller, and the instrument cluster. An unreasonable functional layout can cause the overall logic to be chaotic, which can easily lead to misjudgments, incomplete or incorrect outputs. An unreasonable communication protocol or inappropriate internal parameter settings can cause attachment distortion, slow transmission rate, or abnormal data overload.

[0004] Within the scope of electronic control development for skid steer loaders, there are numerous types of machine malfunctions, especially when an engine is equipped with an aftertreatment device or has multi-functional outputs. The types of malfunctions can be very numerous. Inappropriate malfunction configurations can cause incomplete, incorrect, or chaotic malfunction outputs. This is particularly true for machines with complex functions, which can directly affect after-sales inspection and maintenance. 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 skid steer loaders. The present invention can effectively improve the driving safety and working stability of skid steer loaders and meet the needs of multi-functional output of the whole machine.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

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

[0008] Preferably, the machine controller of the skid steer loader will collect information from external sensors in real time: left safety bar activation signal, right safety bar activation signal, driver in-position switch activation signal, hydraulic unlocking rocker switch activation signal, and engine speed ≥800rpm signal. When the machine meets the above 5 conditions at the same time, the machine controller will enable the pilot solenoid valve of the working device to realize hydraulic unlocking.

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

[0010] Preferably, the engine controller collects the actual torque percentage of the engine in real time. When the engine torque is ≥90%, the engine controller determines that the engine is overloaded and starts to reduce the engine travel current. By reducing the engine travel current, the engine controller reduces the engine power load and keeps the real-time engine torque percentage below 95%, thus achieving anti-stalling control.

[0011] Preferably, the machine inputs the corresponding voltage value to the machine controller through a bidirectional Hall switch built into the right pilot handle. The Hall switch slides upward for positive control and slides downward for reverse control, thereby realizing bidirectional control of the attachment flow.

[0012] Preferably, the hand throttle and foot throttle respectively transmit the corresponding opening voltage values ​​to the engine controller. The engine controller first compares these two voltage values ​​and takes the larger value. Internally, it converts the voltage into throttle opening according to the voltage-throttle opening curve, and then converts the opening value into an engine speed value according to the throttle opening-engine speed curve. Finally, it transmits the value to the engine ECU to achieve engine speed control.

[0013] Preferably, the communication of the whole machine controller adopts CAN communication, which uses a total of 5 ID segments 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 communication of the combined instrument adopts CAN communication, which uses a total of 2 ID segments for loading user external input information and the current version number of the combined instrument.

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

[0015] External sensors are used to collect the switch-on signals of the skid steer loader, and the collected results are sent to the machine controller. The machine controller then performs hydraulic unlocking and parking unlocking based on the signals collected by the external sensors.

[0016] By collecting the actual torque percentage of the engine in real time through the whole machine controller, and reducing the overall machine power load by reducing the overall machine travel proportional current, the engine stall prevention control is achieved.

[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 throttle and foot throttle are used to transmit the corresponding opening voltage values ​​to the main controller, which then controls the engine speed based on the collected data.

[0019] The system controller collects and sends out fault information, and the alarm module is used to alert the system to any abnormalities in the engine.

[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 steer loader of the present invention are achieved by the machine controller outputting a high level to the corresponding reversing solenoid valve. The machine is started to work and move through reasonable logic matching, which improves driving safety.

[0022] 2. The skid steer loader of this invention uses a proportional solenoid valve to precisely regulate the flow rate of the whole machine controller, so as to achieve a flow balance between travel and heavy load, prevent the real-time power from exceeding the rated power of the engine, avoid abnormal engine stalling, and improve the stability of operation.

[0023] 3. This invention uses a proportional solenoid valve to perform precise flow control in the whole machine controller, so as to meet the different flow requirements of users with different attachments, establish a reasonable flow level distribution and specific flow value matching, so as to meet the functional output of the whole machine with different attachments. Attached Figure Description

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

[0025] Figure 1 This is a block diagram of the overall control system of the skid steer loader of the present invention;

[0026] Figure 2 This is a schematic diagram of the electrical design for the hydraulic unlocking mechanism of this invention.

[0027] Figure 3 This invention relates to a schematic diagram of the electrical design of a flow meter.

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

[0029] Figure 5This is a flowchart of the overall control method for the skid steer loader of the present invention. Detailed Implementation

[0030] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0031] Specifically, the present invention provides a complete control system for a skid steer loader, such as... Figure 1 As shown, the system includes a main unit controller 1 and a combination instrument 2, external sensors 3, an engine ECU 4, and an alarm module 5 that are communicatively connected to the main unit controller 1.

[0032] like Figure 2 As shown, the machine controller of the skid steer loader will collect information from external sensor 3 in real time: left safety bar conduction signal, right safety bar conduction signal, driver in position switch conduction signal, hydraulic unlocking rocker switch conduction signal, and engine speed ≥800rpm signal. When the machine meets the above 5 conditions at the same time, the machine controller will enable the pilot solenoid valve of the working device to realize 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 will the whole machine controller enable the parking brake release solenoid valve to realize parking unlock.

[0034] The engine controller collects the actual torque percentage of the engine in real time. When the engine torque is ≥90%, the engine controller determines that the engine is overloaded and begins to reduce the engine's proportional current. By reducing the proportional current, the engine controller reduces the engine's power load, keeping the real-time engine torque percentage below 95%, thus preventing engine stall.

[0035] like Figure 3 As shown, the machine inputs the corresponding voltage value to the main controller through a bidirectional Hall switch built into the right pilot handle. The Hall switch, the forward attachment flow proportional solenoid valve, and the reverse attachment flow proportional solenoid valve in the right pilot handle are connected to the main controller via hard wiring. The Hall switch is bidirectional; sliding the switch upwards activates forward control, and sliding the switch downwards activates reverse control, thus achieving bidirectional control of the attachment flow.

[0036] like Figure 4As shown, the hand throttle and foot throttle are hard-wired to the engine controller, while the engine ECU 4 is connected to the engine controller via CAN communication. The hand throttle and foot throttle transmit their corresponding activation voltage values ​​to the engine controller. The engine controller first compares these two voltage values ​​and takes the larger value. Internally, it converts the voltage into throttle opening based on the voltage-throttle opening curve, then converts the opening value into an engine speed value based on the throttle opening-engine speed curve, and finally transmits this value to the engine ECU, thereby controlling the engine speed.

[0037] The overall controller uses CAN communication, employing 5 ID segments for overall signal acquisition, solenoid valve enabling, loading overall operating status data, and loading the current version number of the overall controller. The instrument cluster uses CAN communication, employing 2 ID segments for loading user input information and the current version number of the instrument cluster. The overall fault communication protocol is collected and transmitted separately by the overall controller, mainly including fault level, fault list, current fault number, and total number of faults.

[0038] Alarm module 5 establishes dual alarms for fuel level and urea hydraulic pressure based on different fluid levels. When the fuel level is ≤10%, the alarm indicator light remains on and a text message is displayed; when the level is ≤5%, the alarm indicator light flashes, a text message is displayed, and a buzzer sounds at a frequency of 1kHz. Similarly, when the urea level is ≤15%, the alarm indicator light remains on and a text message is displayed; when the level is ≤5%, the alarm indicator light flashes, a text message is displayed, and a buzzer sounds at a frequency of 1kHz.

[0039] Furthermore, the present invention also provides a method for overall control of a skid steer loader, such as... Figure 5 As shown, the method includes the following steps:

[0040] S1: The external sensor is used to collect the switch conduction signal of the skid steer loader and the collected result is sent to the machine controller. The machine controller performs hydraulic unlocking and parking unlocking according to the signal collected by the external sensor.

[0041] S2: By collecting the actual torque percentage of the engine in real time through the whole machine controller, the power load of the whole machine is reduced by reducing the proportional current of the whole machine travel, so as to realize the anti-stalling control;

[0042] S3: 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 to realize bidirectional control of the attachment flow.

[0043] S4: The hand throttle and foot throttle are used to transmit the corresponding opening voltage values ​​to the main controller, and the main controller controls the engine speed based on the collected data;

[0044] S5: Collects and sends out fault information through the whole machine controller, and uses the alarm module to alarm for engine abnormalities.

[0045] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A complete control system for a skid steer loader, characterized in that, The system includes a main controller and a combination instrument cluster, external sensors, an engine ECU, and an alarm module that are communicatively connected to the main controller. The main controller performs hydraulic unlocking and parking unlocking based on signals collected by the external sensors. The main controller collects the actual torque percentage of the engine in real time to achieve anti-stalling control. The main controller achieves bidirectional control of attachment flow through a bidirectional Hall switch. The main controller controls the engine speed based on data collected from the hand throttle and foot throttle. The main controller collects and issues fault information in real time and uses the alarm module to alarm for engine abnormalities. The main controller of the skid steer loader collects information from external sensors in real time: left safety lever activation signal, right safety lever activation signal, driver in-position switch activation signal, hydraulic unlocking rocker switch activation signal, and engine speed ≥800rpm signal. When the main controller meets all five conditions simultaneously, it enables the pilot solenoid valve of the working device to achieve hydraulic unlocking.

2. The overall control system of the skid steer loader according to claim 1, characterized in that, After the machine is hydraulically unlocked, the parking unlock rocker switch is turned on, and the machine controller enables the parking brake release solenoid valve to achieve parking unlock.

3. The overall control system of the skid steer loader according to claim 1, characterized in that, The engine controller collects the actual torque percentage of the engine in real time. When the engine torque is ≥90%, the engine controller will determine that the engine is overloaded and start to reduce the engine travel current. By reducing the engine travel current, the engine controller reduces the engine power load and keeps the real-time engine torque percentage below 95%, thus achieving anti-stalling control.

4. The overall control system of the skid steer loader according to claim 1, characterized in that, The machine inputs the corresponding voltage value to the machine controller through the bidirectional Hall switch built into the right pilot handle. The Hall switch slides upward for positive control and slides downward for reverse control, thereby realizing bidirectional control of the attachment flow.

5. The overall control system of the skid steer loader according to claim 1, characterized in that, The hand throttle and foot throttle respectively transmit the corresponding opening voltage values ​​to the engine controller. The engine controller first compares these two voltage values ​​and takes the larger value. Internally, it converts the voltage into throttle opening based on the voltage-throttle opening curve, and then converts the opening value into an engine speed value based on the throttle opening-engine speed curve. Finally, it transmits the value to the engine ECU to achieve engine speed control.

6. The overall control system of the skid steer loader according to claim 1, characterized in that, The overall controller uses CAN communication, which uses 5 ID segments for overall signal acquisition, solenoid valve enabling, loading overall operating status data, and loading the current version number of the overall controller; the instrument cluster uses CAN communication, which uses 2 ID segments for loading user external input information and the current version number of the instrument cluster.

7. A method for controlling a skid steer loader, characterized in that, The method includes the following steps: External sensors are used to collect the switch-on signals of the skid steer loader, and the collected results are sent to the machine controller. The machine controller then performs hydraulic unlocking and parking unlocking based on the signals collected by the external sensors. By collecting the actual torque percentage of the engine in real time through the whole machine controller, and reducing the overall machine power load by reducing the overall machine travel proportional current, the engine stall prevention control is achieved. 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 throttle and foot throttle are used to transmit the corresponding opening voltage values ​​to the main controller, which then controls the engine speed based on the collected data. The system controller collects and sends out fault information, and the alarm module is used to alert the system to any abnormalities in the engine.

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