Operation machine control method and device, operation machine and machine readable storage medium

Abstract

The invention discloses an operation machine control method and device, an operation machine and a machine readable storage medium, and relates to the technical field of operation machines. The method comprises the steps of obtaining first operation information of an operation machine; determining a first wheel rotating speed based on the current vehicle speed; determining whether the operation machine has an abnormal wheel in an abnormal working condition based on the first operation information and the first wheel rotating speed; determining an abnormality severity degree based on the first operation information and the first wheel rotation speed under the condition that the operation machine has the abnormal wheel; and based on the first operation information, the abnormal wheels and the abnormal severity degree, control parameters of the operation machine are adjusted, and the control parameters comprise the target whole vehicle speed and the target wheel motor torque. Operation parameters of the operation machine are monitored and analyzed in real time, and quick response and accurate control over abnormal working conditions are achieved. The safety and stability of the operation machine are improved, the operation efficiency is improved by optimizing control parameters, and the service life of the machine is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and particularly to a construction machinery control method, device, construction machinery, and machine-readable storage medium. Background Art

[0002] Construction machinery such as excavators, loaders, bulldozers, etc. are widely used in various complex working environments. However, in the face of complex and changeable road conditions, the prior art still has inaccurate judgments on the abnormal road conditions where construction machinery is located. Specifically, during the driving and operation of construction machinery, various abnormal situations such as road surface obstacles or potholes may be encountered. These obstacles or potholes may be caused by various factors, such as terrain undulations, construction residues, natural disasters, etc. If construction machinery cannot identify these abnormal situations in a timely or accurate manner, safety problems such as collisions with obstacles or being trapped in potholes and unable to escape may occur, thereby affecting the operation efficiency and the safety of the machinery itself. Therefore, there is an urgent need to further improve the automatic adjustment ability of construction machinery to cope with abnormal road conditions. To ensure that construction machinery can operate stably and safely under various road conditions, thereby further improving the operation efficiency and safety of construction machinery. Summary of the Invention

[0003] In view of the above deficiencies of the prior art, the purpose of the embodiments of the present application is to provide a construction machinery control method, device, construction machinery, and machine-readable storage medium.

[0004] To achieve the above purpose, the first aspect of the present application provides a construction machinery control method, including:

[0005] Obtain first operation information of the construction machinery, where the first operation information includes the current vehicle speed, current wheel speed, current wheel motor speed, current wheel motor torque, current wheel motor current, and the temperature difference of the wheel motor within a preset time range;

[0006] Determine a first wheel speed based on the current vehicle speed;

[0007] Determine whether there is an abnormal wheel in an abnormal working condition on the construction machinery based on the first operation information and the first wheel speed;

[0008] In the case where there is an abnormal wheel on the construction machinery, determine the severity of the abnormality based on the first operation information and the first wheel speed;

[0009] Adjust the control parameters of the construction machinery based on the first operation information, the abnormal wheel, and the severity of the abnormality, where the control parameters include the target vehicle speed and the target wheel motor torque.

[0010] In the embodiments of the present application, the abnormal working conditions include slipping abnormal working conditions. Determining whether there is an abnormal wheel of the working machine in the abnormal working condition based on the first operation information and the first wheel speed includes:

[0011] Obtain the preset wheel motor speed, preset wheel motor torque, and preset wheel motor current;

[0012] Determine the wheel speed difference between the current wheel speed and the first wheel speed, the wheel motor speed difference between the preset wheel motor speed and the current wheel motor speed, the motor torque difference between the preset wheel motor torque and the current wheel motor torque, and the motor current difference between the preset wheel motor current and the current wheel motor current;

[0013] Based on whether there is a wheel that meets the first preset condition, determine whether there is an abnormal wheel in a slipping state. The first preset condition includes that the wheel motor speed difference is greater than the slipping threshold, the absolute value of the wheel motor speed difference is greater than the motor speed threshold, the absolute value of the motor torque difference is greater than the motor torque threshold, the absolute value of the motor current difference is greater than the motor current threshold, and the absolute value of the wheel motor temperature difference is greater than the temperature threshold.

[0014] In the embodiments of the present application, the abnormal working conditions further include over-obstacle abnormal working conditions. Determining whether there is an abnormal wheel of the working machine in the abnormal working condition based on the first operation information includes:

[0015] Based on whether there is a wheel that meets the second preset condition, determine whether there is an abnormal wheel in an over-obstacle state. The second preset condition includes that the wheel motor speed difference is less than the over-obstacle threshold, the absolute value of the wheel motor speed difference is greater than the motor speed threshold, the absolute value of the motor torque difference is greater than the motor torque threshold, the absolute value of the motor current difference is greater than the motor current threshold, and the absolute value of the wheel motor temperature difference is greater than the temperature threshold.

[0016] In the embodiments of the present application, when there is an abnormal wheel on the working machine, determining the severity of the abnormality based on the first operation information and the first wheel speed includes:

[0017] When there is an abnormal wheel on the working machine, determine the severity of the abnormality based on the wheel speed difference and multiple slipping thresholds corresponding to the preset severity levels, or determine the severity of the abnormality based on the wheel speed difference and multiple over-obstacle thresholds corresponding to the preset severity levels. The wheel speed difference is the difference between the current wheel speed and the first wheel speed;

[0018] Output an alarm prompt of the corresponding level based on the severity of the abnormality.

[0019] In the embodiments of the present application, the abnormal working conditions include slipping abnormal working conditions. Adjusting the control parameters of the working machine based on the first operation information, the abnormal wheel, and the severity of the abnormality includes:

[0020] When the abnormal condition is a slipping abnormal condition, determine the first control step size, the first torque adjustment coefficient, and the first vehicle speed adjustment coefficient based on the severity of the abnormality, and start accumulating the slipping duration;

[0021] Determine the target wheel motor torque of the abnormal wheel based on the current wheel motor torque, the first control step size, and the slipping duration;

[0022] Determine the target wheel motor torque of the other wheels based on the first torque adjustment coefficient and the preset wheel motor torque, where the other wheels are all the wheels included in the working machine except the abnormal wheel;

[0023] Determine the target vehicle speed based on the current vehicle speed of the whole vehicle and the first vehicle speed adjustment coefficient.

[0024] In the embodiments of the present application, the abnormal condition further includes an obstacle-crossing abnormal condition. Adjust the control parameters of the working machine based on the first operation information, the abnormal wheel, and the severity of the abnormality, including:

[0025] When the abnormal condition is an obstacle-crossing abnormal condition, determine the second control step size, the second torque adjustment coefficient, and the second vehicle speed adjustment coefficient based on the severity of the abnormality, and start accumulating the obstacle-crossing duration, where the second control step size is greater than the first control step size;

[0026] Determine the target wheel motor torque of the abnormal wheel based on the current wheel motor torque, the second control step size, and the obstacle-crossing duration;

[0027] Determine the target wheel motor torque of the other wheels based on the second torque adjustment coefficient and the preset wheel motor torque;

[0028] Determine the target vehicle speed based on the current vehicle speed of the whole vehicle and the second vehicle speed adjustment coefficient.

[0029] In the embodiments of the present application, the working machine control method further includes:

[0030] Obtain the second operation information of the working machine after the control parameters are adjusted based on the preset adjustment duration;

[0031] Determine whether there is still an abnormal wheel in the abnormal condition on the working machine based on the second operation information;

[0032] When there is still an abnormal wheel in the abnormal condition on the working machine, control the working machine to brake and output a warning message.

[0033] A second aspect of the present application provides a working machine control device, including:

[0034] A memory configured to store instructions;

[0035] A processor configured to call instructions from a memory and capable of implementing the work machine control method as described in the above embodiments when executing the instructions.

[0036] A third aspect of the present application provides a work machine, including:

[0037] The work machine control device as described in the above embodiments.

[0038] A fourth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to cause a machine to execute the work machine control method as described in the above embodiments.

[0039] Through the above technical solutions, first work information of the work machine is obtained, where the first work information includes the current vehicle speed, the current wheel speed, the current wheel motor speed, the current wheel motor torque, the current wheel motor current, and the wheel motor temperature difference within a preset time range; a first wheel speed is determined based on the current vehicle speed; whether there is an abnormal wheel in an abnormal working condition in the work machine is determined based on the first work information and the first wheel speed; in the case where there is an abnormal wheel in the work machine, the severity of the abnormality is determined based on the first work information and the first wheel speed; and the control parameters of the work machine are adjusted based on the first work information, the abnormal wheel, and the severity of the abnormality, where the control parameters include the target vehicle speed and the target wheel motor torque. The running parameters of the work machine are monitored and analyzed in real time, achieving a fast response and precise control of abnormal working conditions. It not only improves the safety and stability of the work machine, but also improves the working efficiency and extends the mechanical life by optimizing the control parameters.

[0040] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. They are used to explain the embodiments of the present application together with the following specific implementation, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0042] Figure 1 Schematically shows a flowchart of a work machine control method according to an embodiment of the present application;

[0043] Figure 2 Schematically shows a structural diagram of a work machine control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. It should be understood that the specific embodiments described here are only used to illustrate and explain the embodiments of this application, and are not used to limit the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts fall within the scope of protection of this application.

[0045] It should be noted that the acquisition, transmission, storage, use, processing, etc. of data in the technical solutions of this application all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, certain industry-existing solutions such as software, components, models, etc. may be mentioned. They should be regarded as exemplary, and their purpose is only to illustrate the feasibility in the implementation of the technical solutions of this application, but it does not mean that the applicant has already or necessarily used this solution.

[0046] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then such directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0047] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, then such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0048] Figure 1 A flowchart of a working machine control method according to an embodiment of this application is schematically shown. As Figure 1 shown, the embodiments of this application provide a working machine control method, and this method may include the following steps:

[0049] Step 100, obtain first working information of the working machine, where the first working information includes the current vehicle speed, the current wheel speed, the current wheel motor speed, the current wheel motor torque, the current wheel motor current, and the wheel motor temperature difference within a preset time range;

[0050] Step 200: Determine the first wheel speed based on the current vehicle speed of the whole vehicle;

[0051] In this embodiment, it should be noted that the first operation information includes the current vehicle speed of the whole vehicle, the current wheel speed, the current wheel motor speed, the current wheel motor torque, the current wheel motor current, and the temperature difference of the wheel motor within a preset time range. Among them, the current vehicle speed of the whole vehicle reflects the overall operating speed of the working machine and is the basic data for evaluating the operating efficiency and safety. The current wheel speed is directly related to the moving ability and stability of the working machine. The current wheel motor speed reflects the driving efficiency and state of the motor. The current wheel motor torque is a direct manifestation of the power generated by the motor and affects the driving force and acceleration performance of the wheel. The magnitude of the current wheel motor current is directly related to the load and efficiency of the motor, and abnormal current may indicate motor failure or overload. The temperature difference of the wheel motor within a preset time range reflects the temperature change of the motor during operation and helps to detect problems such as overheating or abnormal temperature rise. Based on the vehicle speed of the whole vehicle, the corresponding speed of each wheel, that is, the first wheel speed, can be reasonably calculated, providing a benchmark for subsequent abnormal detection. In this embodiment, the first wheel speed = the current vehicle speed of the whole vehicle / the tire circumference of the wheel.

[0052] Step 300: Determine whether there is an abnormal wheel in an abnormal working condition for the working machine based on the first operation information and the first wheel speed;

[0053] Step 400: When there is an abnormal wheel for the working machine, determine the severity of the abnormality based on the first operation information and the first wheel speed;

[0054] It should be noted that by comparing the first wheel speed, the current wheel speed, the current wheel motor speed, the current wheel motor torque, the current wheel motor current, and the temperature difference of the wheel motor with the expected values, parameters deviating from the normal range can be identified, thereby determining whether there is an abnormal wheel. The severity of the abnormality can be evaluated by comparing the deviation degree of the actual parameters from the normal range. The greater the deviation, the more serious the abnormality.

[0055] Step 500: Adjust the control parameters of the working machine based on the first operation information, the abnormal wheel, and the severity of the abnormality, where the control parameters include the target vehicle speed of the whole vehicle and the target wheel motor torque.

[0056] It should be noted that when there is an abnormal wheel, depending on the situation of the abnormal wheel, it may be necessary to reduce the vehicle speed to ensure safety. Or adjusting the motor torque can optimize the driving force distribution, reduce the burden on the abnormal wheel, or increase the driving force of other wheels to maintain the overall performance.

[0057] In this embodiment, the first operation information of the work machine is obtained, where the first operation information includes the current vehicle speed, the current wheel speed, the current wheel motor speed, the current wheel motor torque, the current wheel motor current, and the wheel motor temperature difference within a preset time range; the first wheel speed is determined based on the current vehicle speed; whether there is an abnormal wheel in the abnormal working condition is determined for the work machine based on the first operation information and the first wheel speed; in the case that there is an abnormal wheel in the work machine, the severity of the abnormality is determined based on the first operation information and the first wheel speed; the control parameters of the work machine are adjusted based on the first operation information, the abnormal wheel, and the severity of the abnormality, where the control parameters include the target vehicle speed and the target wheel motor torque. By monitoring and analyzing the operation parameters of the work machine in real time, a rapid response and precise control of the abnormal working condition are achieved. This not only improves the safety and stability of the work machine, but also enhances the operation efficiency and extends the mechanical life by optimizing the control parameters.

[0058] In one embodiment, the work machine control method further includes:

[0059] Obtain the second operation information of the work machine after the control parameters are adjusted based on a preset adjustment duration;

[0060] Determine whether there is still an abnormal wheel in the abnormal working condition for the work machine based on the second operation information;

[0061] In the case that there is still an abnormal wheel in the abnormal working condition for the work machine, control the work machine to brake and output a warning message.

[0062] In this embodiment, it should be noted that after adjusting the control parameters, such as adjusting the target vehicle speed and the target wheel motor torque, wait for the preset adjustment duration. The preset adjustment duration should be long enough for the work machine to operate stably under the new control parameters and reflect the effect of the adjustment. After the preset adjustment duration ends, obtain the operation information of the work machine again, including the current vehicle speed, wheel speed, wheel motor speed, wheel motor torque, wheel motor current, and wheel motor temperature, etc., as the second operation information. Compare and analyze the differences between the second operation information and the normal parameter range, as well as with the first operation information, to evaluate the effect after adjusting the control parameters. If the adjusted parameters still show that there is a wheel in the abnormal working condition, it is confirmed that there is still an abnormal wheel in the work machine. The abnormal working condition can include abnormal speed, large torque fluctuation, high current, or abnormal temperature, etc. If it is confirmed that there is still an abnormal wheel in the work machine after adjusting the control parameters, for safety, the work machine should be immediately controlled to brake and stop its operation. At the same time, output a warning message to the operator or the monitoring system. The warning message can include the specific position of the abnormal wheel, the type of abnormality, and the recommended countermeasures. Among them, the type of abnormality can include overheating, overload, failure, etc.; the countermeasures can include checking, repairing, or replacing relevant components, etc.

[0063] In this embodiment, by continuously monitoring and promptly responding to abnormal working conditions, it is ensured that the working machine operates in a safe and stable state. Meanwhile, outputting warning information can help the operator quickly locate the problem and take appropriate measures, improving the working efficiency and safety.

[0064] In one embodiment, the abnormal working condition includes a slipping abnormal working condition. Determining whether there is an abnormal wheel in an abnormal working condition of the working machine based on the first working information and the first wheel speed includes:

[0065] Obtain the preset wheel motor speed, preset wheel motor torque, and preset wheel motor current;

[0066] Determine the wheel speed difference between the current wheel speed and the first wheel speed, the wheel motor speed difference between the preset wheel motor speed and the current wheel motor speed, the motor torque difference between the preset wheel motor torque and the current wheel motor torque, and the motor current difference between the preset wheel motor current and the current wheel motor current;

[0067] Based on whether there is a wheel that meets the first preset condition, determine whether there is an abnormal wheel in a slipping state. Wherein, the first preset condition includes that the absolute value of the wheel motor speed difference is greater than the slipping threshold, the absolute value of the wheel motor speed difference is greater than the motor speed threshold, the absolute value of the motor torque difference is greater than the motor torque threshold, the absolute value of the motor current difference is greater than the motor current threshold, and the absolute value of the wheel motor temperature difference is greater than the temperature threshold.

[0068] In this embodiment, it should be noted that for the slipping abnormal working condition, multiple parameters can be comprehensively considered to determine whether the wheel is in an abnormal slipping state. The preset wheel motor speed is the speed that the wheel motor should reach during normal operation. The preset wheel motor torque is the torque that the wheel motor should generate during normal operation. The preset wheel motor current is the current that the wheel motor should consume during normal operation. The above preset parameters can be set according to the specific model, working environment, and load conditions of the working machine. Calculate the difference between the current wheel speed and the first wheel speed to obtain the wheel speed difference. Calculate the difference between the preset wheel motor speed and the current wheel motor speed to obtain the wheel motor speed difference. Calculate the difference between the preset wheel motor torque and the current wheel motor torque to obtain the motor torque difference. Calculate the difference between the preset wheel motor current and the current wheel motor current to obtain the motor current difference.

[0069] It should be noted that the first preset condition includes that the rotational speed difference of the wheel motor is greater than the slip threshold, the absolute value of the rotational speed difference of the wheel motor is greater than the motor rotational speed threshold, the absolute value of the motor torque difference is greater than the motor torque threshold, the absolute value of the motor current difference is greater than the motor current threshold, and the absolute value of the wheel motor temperature difference is greater than the temperature threshold. When the rotational speed difference of the wheel motor is greater than the slip threshold, it indicates that the actual rotational speed of the wheel exceeds the critical value of slipping. When the absolute value of the rotational speed difference of the wheel motor is greater than the motor rotational speed threshold, it indicates that the difference between the actual rotational speed and the preset rotational speed of the wheel motor exceeds the allowable range. When the absolute value of the motor torque difference is greater than the motor torque threshold, it means that in the case of slipping, the motor needs to generate a greater torque to try to maintain the traction of the wheel. At this time, the torque of the wheel motor may increase, which can be used to detect an abnormal decrease in torque. When the absolute value of the motor current difference is greater than the motor current threshold, it indicates that the wheel motor may require more current to overcome the resistance, so the current may increase during slipping. The absolute value of the wheel motor temperature difference being greater than the temperature threshold is also a characteristic of slipping because slipping will cause the wheel motor to overheat, so the temperature difference is also an important indicator for judging abnormal slipping. If the information corresponding to a certain wheel satisfies all of the first preset conditions, it is determined that the wheel is in a slipping state. Among them, the slip threshold, the motor rotational speed threshold, the motor torque threshold, the motor current threshold, and the temperature threshold can be set according to the specific situation of the working machine and can be adjusted according to the actual operation data.

[0070] In this embodiment, the wheel slip is identified through the first preset condition to more accurately determine whether the working machine is in an abnormal slipping condition and take timely measures to ensure the safety and efficiency of the operation.

[0071] In one embodiment, the abnormal condition further includes an abnormal obstacle-crossing condition. Determining whether there is an abnormal wheel of the working machine in the abnormal condition based on the first operation information includes:

[0072] Determining whether there is an abnormal wheel in the obstacle-crossing based on whether there is a wheel that satisfies the second preset condition, where the second preset condition includes that the rotational speed difference of the wheel motor is less than the obstacle-crossing threshold, the absolute value of the rotational speed difference of the wheel motor is greater than the motor rotational speed threshold, the absolute value of the motor torque difference is greater than the motor torque threshold, the absolute value of the motor current difference is greater than the motor current threshold, and the absolute value of the wheel motor temperature difference is greater than the temperature threshold.

[0073] It should be noted that when monitoring the abnormal working conditions of a working machine, in addition to the slipping abnormal working condition, the obstacle-crossing abnormal working condition is also an important consideration. After determining the wheel speed difference, the wheel motor speed difference, the motor torque difference, and the motor current difference, it is determined whether there is an abnormal wheel in the obstacle-crossing state based on whether there is a wheel that meets the following second preset condition. Specifically, when the wheel motor speed difference is less than the obstacle-crossing threshold, it indicates that the actual speed of the wheel is lower than the critical value when encountering an obstacle, usually meaning that the wheel may encounter a large resistance or obstacle, resulting in a decrease in speed. When the absolute value of the wheel motor speed difference is greater than the motor speed threshold, similar to the slipping abnormality, it is used to detect whether the difference between the actual speed and the preset speed of the wheel motor exceeds the allowable range. When the absolute value of the motor torque difference is greater than the motor torque threshold, it can be understood that when encountering an obstacle, the motor is blocked, and the torque of the wheel motor increases because the motor needs to overcome additional resistance, so it can be used to detect the torque abnormality. When the absolute value of the motor current difference is greater than the motor current threshold, it can be understood that when encountering an obstacle, the wheel motor may require more current to provide sufficient torque to overcome the obstacle, so the current may increase. When the absolute value of the wheel motor temperature difference is greater than the temperature threshold, it can be understood that when encountering an obstacle and trying to overcome it, the wheel motor may overheat because the motor needs to provide more power in a short time, and the temperature difference can be used to detect this overheating situation.

[0074] If a certain wheel meets all of the above second preset conditions at the same time, it can be determined that the wheel is crossing an obstacle. The obstacle-crossing threshold, the motor speed threshold, the motor torque threshold, the motor current threshold, and the temperature threshold are set according to the specific situation of the working machine and can be adjusted according to the actual operation data. The setting of these thresholds should be able to reflect the typical responses of the wheels and motors when encountering obstacles.

[0075] In this embodiment, the second preset condition is used to identify whether the wheel encounters an obstacle, so as to more accurately judge whether the working machine is in the abnormal working condition of crossing an obstacle and take timely measures to ensure the safety and efficiency of the operation.

[0076] In one embodiment, when there is an abnormal wheel in the working machine, the abnormal severity is determined based on the first operation information and the first wheel speed, including:

[0077] When there is an abnormal wheel in the working machine, the abnormal severity is determined based on multiple slipping thresholds corresponding to the wheel speed difference and the preset severity levels, or based on multiple obstacle-crossing thresholds corresponding to the wheel speed difference and the preset severity levels, where the wheel speed difference is the difference between the current wheel speed and the first wheel speed;

[0078] An alarm prompt of the corresponding level is output based on the abnormal severity.

[0079] In this embodiment, it should be noted that when there are abnormal wheels in the construction machinery, determining the severity of the abnormality is a crucial step, which helps the operator quickly understand and take appropriate countermeasures.

[0080] For the skidding abnormality, multiple skidding thresholds are preset, and these thresholds correspond to different severity levels of the abnormality. Calculate the difference between the current wheel speed and the first wheel speed, and use this difference as the wheel speed difference. After determining the wheel speed difference, compare the calculated wheel speed difference with each skidding threshold. If the wheel speed difference exceeds a certain skidding threshold but does not reach the next higher threshold, then the severity level corresponding to this threshold is determined as the current severity of the abnormality. For example, three skidding thresholds can be set: a slight skidding threshold, a moderate skidding threshold, and a severe skidding threshold. If the wheel speed difference exceeds the slight skidding threshold but does not reach the moderate skidding threshold, then the severity of the abnormality is slight skidding.

[0081] For the obstacle-crossing abnormality, multiple obstacle-crossing thresholds are preset, and these thresholds correspond to different severity levels of the abnormality. Compare the calculated wheel speed difference with each obstacle-crossing threshold. Determine the current severity of the abnormality based on the comparison result of the wheel speed difference and the obstacle-crossing threshold. For example, three obstacle-crossing thresholds can be set: a slight obstacle-crossing threshold, a moderate obstacle-crossing threshold, and a severe obstacle-crossing threshold. If the wheel speed difference exceeds the slight obstacle-crossing threshold but does not reach the moderate obstacle-crossing threshold, then the severity of the abnormality is slight obstacle-crossing.

[0082] The skidding thresholds and the obstacle-crossing thresholds need to be set according to the specific situation of the construction machinery and can be adjusted according to the actual operation data. These thresholds should be able to reflect the typical responses of the wheels and the motor at different severity levels.

[0083] In this embodiment, it should be noted that the alarm prompt can help the operator quickly identify and respond to potential safety risks. In this embodiment, the severity of the abnormality is graded: Level 1 is a minor abnormality, such as a minor slip or a small obstacle, which has little impact on the operation of the operating machinery; Level 2 is a medium abnormality, such as a moderate slip or a medium-sized obstacle, which requires the operator to pay attention and take certain measures. Level 3 is a serious abnormality, such as a serious slip, a large obstacle or a mechanical failure, which requires immediate parking and measures. According to the abnormality level, the prompt information on the display screen can be distinguished from small to large according to the flashing frequency. For example, at level 1, the relevant prompt information on the display screen flashes at a lower frequency; at level 2, the flashing frequency increases; at level 3, the flashing frequency reaches the highest, and may be accompanied by a change in the color of the text or icon to attract the attention of the operator. The sound and light alarm can also be adjusted according to the abnormality level. At level 1, only a light alarm may be performed, such as a flashing light; at level 2, a sound alarm is added, but the sound volume is moderate; at level 3, a sound and light combined alarm is performed, the sound volume reaches the maximum, and the light flashing frequency is also the highest.

[0084] In this embodiment, the safety and reliability of the operating machinery are improved through real-time monitoring of abnormal working conditions and graded alarm prompts.

[0085] In this embodiment, the severity of the slippage or obstacle crossing anomalies encountered by the operating machine during operation is determined by the slippage threshold and the obstacle crossing threshold, and a prompt can be output to take measures to ensure the safety and efficiency of the operation.

[0086] In one embodiment, the abnormal working condition includes a slipping abnormal working condition, and adjusting the control parameters of the working machine based on the first working information, the abnormal wheel, and the severity of the abnormality includes:

[0087] In the case where the abnormal operating condition is a slipping abnormal operating condition, a first control step length, a first torque adjustment coefficient, and a first vehicle speed adjustment coefficient are determined based on the severity of the abnormality, and the slipping duration is accumulated;

[0088] determining a target wheel motor torque of the abnormal wheel based on the current wheel motor torque, the first control step length, and the slip duration;

[0089] determining a target wheel motor torque of other wheels based on the first torque adjustment coefficient and the preset wheel motor torque, wherein the other wheels are all wheels of the working machine except the abnormal wheel;

[0090] A target vehicle speed is determined based on the current vehicle speed and the first speed adjustment coefficient.

[0091] In this embodiment, it should be noted that the first control step size represents the time or the number of iterations adjusted each time in the control algorithm; the first torque adjustment coefficient is a proportionality coefficient used to adjust the torque of the abnormal wheel motor; the first vehicle speed adjustment coefficient is a proportionality coefficient used to adjust the vehicle speed of the whole vehicle. Starting from the moment when the slip is detected, the duration of the slip is recorded and accumulated, that is, the slip duration. The slip duration can be used for subsequent calculations and adjustments to reflect the continuous impact of the slip.

[0092] Using the current wheel motor torque, the first control step size, and the slip duration as inputs, the target wheel motor torque of the abnormal wheel is calculated through a certain algorithm. Specifically, in this embodiment, the target wheel motor torque of the abnormal wheel can be calculated through the following recurrence formula:

[0093] T1(k) = T1(k - 1) * e -t1ta

[0094] Wherein, T1(k) represents the target wheel motor torque of the abnormal wheel at time k; T1(k - 1) represents the target wheel motor torque of the abnormal wheel at time k - 1; t1 represents the slip duration; ta represents the first control step size.

[0095] For all wheels other than the abnormal wheel in the working machine, the target wheel motor torque is calculated using the first torque adjustment coefficient and the preset wheel motor torque. The first torque adjustment coefficient may be used to decrease or increase the motor torque of these wheels to compensate for the slip effect of the abnormal wheel and maintain the stability and balance of the whole vehicle. In this embodiment, the target wheel motor torque of the other wheels can be calculated through the following formula:

[0096] T2 = T * h

[0097] Wherein, T2 represents the target wheel motor torque of the other wheels; T represents the preset wheel motor torque; h represents the first torque adjustment coefficient.

[0098] It should be noted that the first vehicle speed adjustment coefficient is usually determined according to the severity of the abnormal slip condition and is used to adjust the vehicle speed of the whole vehicle to ensure the stability and safety of the working machine. If the slip condition is severe, the first vehicle speed adjustment coefficient will be small, resulting in a decrease in the target vehicle speed to reduce the risk brought by the slip.

[0099] In this embodiment, based on the severity of the abnormality, the control parameters of the working machine are adjusted, and the working machine can effectively adjust the wheel motor under the abnormal slip condition to achieve a more precise control effect.

[0100] In one embodiment, the abnormal condition further includes an abnormal obstacle-crossing condition. Based on the first operation information, the abnormal wheel, and the severity of the abnormality, the control parameters of the working machine are adjusted, including:

[0101] When the abnormal condition is the obstacle-crossing abnormal condition, determine the second control step length, the second torque adjustment coefficient, and the second vehicle speed adjustment coefficient based on the severity of the abnormality, and start accumulating the obstacle-crossing duration, where the second control step length is greater than the first control step length;

[0102] Determine the target wheel motor torque of the abnormal wheel based on the current wheel motor torque, the second control step length, and the obstacle-crossing duration;

[0103] Determine the target wheel motor torque of the other wheels based on the second torque adjustment coefficient and the preset wheel motor torque;

[0104] Determine the target vehicle speed based on the current vehicle speed of the whole vehicle and the second vehicle speed adjustment coefficient.

[0105] In this embodiment, it should be noted that the second control step length is usually greater than the first control step length in the skidding abnormal condition because it may take longer to handle the obstacle-crossing; the second torque adjustment coefficient is a proportional coefficient used to adjust the abnormal wheel motor torque; the second vehicle speed adjustment coefficient is a proportional coefficient used to adjust the vehicle speed of the whole vehicle. From the moment the obstacle is detected, record and accumulate the duration of crossing the obstacle, that is, the obstacle-crossing duration. The obstacle-crossing duration can be used for subsequent calculations and adjustments to reflect the impact of crossing the obstacle on the working machine.

[0106] Use the current wheel motor torque, the second control step length, and the obstacle-crossing duration as inputs, and calculate the target wheel motor torque of the abnormal wheel through a certain algorithm. For all wheels except the abnormal wheel in the working machine, use the second torque adjustment coefficient and the preset wheel motor torque to calculate the target wheel motor torque. The second torque adjustment coefficient may be used to decrease or increase the motor torque of these wheels to compensate for the additional load generated by the abnormal wheel due to obstacle avoidance or to maintain the stability and balance of the whole vehicle. Use the current vehicle speed of the whole vehicle and the second vehicle speed adjustment coefficient to calculate the target vehicle speed. The second vehicle speed adjustment coefficient may be used to reduce the vehicle speed to bypass or overcome the obstacle more safely. It can be understood that in the obstacle-crossing abnormal condition, the calculations of the target wheel motor torque of the abnormal wheel, the target wheel motor torque of the other wheels, and the target vehicle speed can all refer to the calculation methods in the skidding abnormal condition, which will not be elaborated here.

[0107] In this embodiment, adjust the control parameters of the working machine based on the severity of the abnormality, and the working machine can effectively adjust the wheel motor in the obstacle-crossing abnormal condition to achieve a more precise control effect.

[0108] Figure 2 Schematically shows a structural block diagram of a control device for a working machine according to an embodiment of the present application. As Figure 2As shown, an embodiment of the present application provides a work machine control device, which may include:

[0109] A memory X10 configured to store instructions;

[0110] A processor X20 configured to call instructions from the memory X10 and capable of implementing the above work machine control method when executing the instructions.

[0111] An embodiment of the present application further provides a work machine, including:

[0112] The work machine control device as described in the above embodiment.

[0113] An embodiment of the present application further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to cause a machine to execute the above work machine control method.

[0114] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0115] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0116] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide for implementing the steps in the process Figure 1 a process or processes and / or blocks Figure 1 steps for the functions specified in a block or blocks.

[0118] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0119] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

[0120] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for storing information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0121] It should also be noted that the term "comprises", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0122] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for controlling a working machine, characterized in that: include: Acquire first operation information of the operation machine, wherein the first operation information includes a current vehicle speed, a current wheel speed, a current wheel motor speed, a current wheel motor torque, a current wheel motor current, and a wheel motor temperature difference within a preset time range; Determine a first wheel speed based on the current vehicle speed; determining whether the working machine has an abnormal wheel in an abnormal working condition based on the first working information and the first wheel speed; In the case where the working machine has the abnormal wheel, determining the severity of the abnormality based on the first working information and the first wheel speed; The control parameters of the working machine are adjusted based on the first working information, the abnormal wheel and the severity of the abnormality, wherein the control parameters include a target vehicle speed and a target wheel motor torque.

2. The working machine control method according to claim 1, characterized in that: The abnormal working condition includes a slipping abnormal working condition, and determining whether the working machine has an abnormal wheel in an abnormal working condition based on the first working information and the first wheel speed includes: Obtaining a preset wheel motor speed, a preset wheel motor torque, and a preset wheel motor current; Determine a wheel speed difference between the current wheel speed and the first wheel speed, a wheel motor speed difference between the preset wheel motor speed and the current wheel motor speed, a motor torque difference between the preset wheel motor torque and the current wheel motor torque, and a motor current difference between the preset wheel motor current and the current wheel motor current; Based on whether there is a wheel that meets the first preset condition, it is determined whether there is an abnormal wheel in slipping, wherein the first preset condition includes that the wheel motor speed difference is greater than the slip threshold and the absolute value of the wheel motor speed difference is greater than the motor speed threshold and the absolute value of the motor torque difference is greater than the motor torque threshold and the absolute value of the motor current difference is greater than the motor current threshold and the absolute value of the wheel motor temperature difference is greater than the temperature threshold.

3. The working machine control method according to claim 2, characterized in that: The abnormal working condition further includes an abnormal working condition of passing an obstacle, and determining whether the working machine has an abnormal wheel in an abnormal working condition based on the first working information includes: Based on whether there is a wheel that meets the second preset condition, it is determined whether there is an abnormal wheel that is in the process of passing an obstacle, wherein the second preset condition includes that the wheel motor speed difference is less than the obstacle passing threshold and the absolute value of the wheel motor speed difference is greater than the motor speed threshold and the absolute value of the motor torque difference is greater than the motor torque threshold and the absolute value of the motor current difference is greater than the motor current threshold and the absolute value of the wheel motor temperature difference is greater than the temperature threshold.

4. The working machine control method according to claim 1, characterized in that: When the working machine has the abnormal wheel, determining the severity of the abnormality based on the first working information and the first wheel speed includes: In the case where the working machine has the abnormal wheel, the severity of the abnormality is determined based on a plurality of slip thresholds corresponding to the wheel speed difference and preset severity levels, or the severity of the abnormality is determined based on a plurality of obstacle crossing thresholds corresponding to the wheel speed difference and preset severity levels, wherein the wheel speed difference is the difference between the current wheel speed and the first wheel speed; An alarm prompt of a corresponding level is output based on the severity of the abnormality.

5. The working machine control method according to claim 1, characterized in that: The abnormal working condition includes a slipping abnormal working condition, and the adjusting the control parameters of the working machine based on the first working information, the abnormal wheel and the severity of the abnormality includes: In the case where the abnormal operating condition is a slipping abnormal operating condition, determining a first control step length, a first torque adjustment coefficient, and a first vehicle speed adjustment coefficient based on the severity of the abnormality, and starting to accumulate a slipping duration; determining a target wheel motor torque of the abnormal wheel based on the current wheel motor torque, the first control step length, and the slip duration; determining a target wheel motor torque of other wheels based on the first torque adjustment coefficient and a preset wheel motor torque, wherein the other wheels are all wheels included in the working machine except the abnormal wheel; A target vehicle speed is determined based on the current vehicle speed and the first vehicle speed adjustment coefficient.

6. The working machine control method according to claim 5, characterized in that: The abnormal working condition also includes an abnormal working condition of passing an obstacle, and the adjusting the control parameters of the working machine based on the first working information, the abnormal wheel and the severity of the abnormality includes: In the case where the abnormal operating condition is an obstacle-passing abnormal operating condition, determining a second control step length, a second torque adjustment coefficient, and a second vehicle speed adjustment coefficient based on the severity of the abnormality, and starting to accumulate obstacle-passing time, wherein the second control step length is greater than the first control step length; determining a target wheel motor torque of the abnormal wheel based on the current wheel motor torque, the second control step length, and the obstacle-passing time length; determining the target wheel motor torque of the other wheels based on the second torque adjustment coefficient and a preset wheel motor torque; A target vehicle speed is determined based on the current vehicle speed and the second vehicle speed adjustment coefficient.

7. The working machine control method according to claim 1, characterized in that: Also includes: Acquiring second operation information of the operation machine after the control parameters are adjusted based on a preset adjustment time; determining whether the working machine still has an abnormal wheel in an abnormal working condition based on the second working information; In the case that the working machine still has an abnormal wheel in an abnormal working condition, the working machine is controlled to brake and a warning message is output.

8. A working machine control device, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the working machine control method according to any one of claims 1 to 7 when executing the instructions.

9. A working machine, characterized in that: include: The working machine control device according to claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the working machine control method according to any one of claims 1 to 7.

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