Control method and control device for work machine, work machine, and storage medium

Abstract

The invention relates to the technical field of operation machine control, in particular to an operation machine control method and device, an operation machine and a storage medium, and the control method comprises the steps that driving part fault codes of a plurality of walking driving parts are obtained; determining the current working states of the plurality of walking driving parts according to the driving part fault codes; under the condition that the current working state of at least one walking driving part is the abnormal state, the walking driving part in the abnormal state is controlled to enter a driven mode, and the walking driving part in normal working is controlled to enter a fault-tolerant working mode; and the rotating speed of the walking driving part entering the fault-tolerant working mode is adjusted according to the obtained target running speed of the working machine and the obtained steering opening signal. By the adoption of the control method, it can be ensured that the multi-wheel independently-driven operation machine can still run normally when the driving part is abnormal.

Description

Technical Field

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

[0002] Construction machinery with four traveling motors has a wide range of application scenarios due to its characteristics of high efficiency, flexibility, and environmental protection. Currently, its control method is mostly that the operation handle processes signals through the VCU vehicle controller, and then transmits the control signals to the four independent motors, and the four independent motors respectively drive the four traveling wheels to travel.

[0003] During the driving process of existing multi-wheel independently driven construction machinery, if one of the traveling motors has an abnormality or a fault, it often causes the vehicle to break down, resulting in a decline in the vehicle's power performance and stability, making it difficult to drive normally. In severe cases, the vehicle will stop in place, thus triggering unnecessary accidents. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a control method, a control device, a construction machinery, and a storage medium for a construction machinery, so as to solve the technical problem in the prior art that the multi-wheel independently driven construction machinery cannot drive normally due to the failure of the driving components.

[0005] To achieve the above purpose, in the first aspect of the present application, a control method for a construction machinery is provided. The construction machinery includes a plurality of traveling driving components, and the control method includes:

[0006] Obtaining the driving component fault codes of the plurality of traveling driving components respectively;

[0007] Determining the current working states of the plurality of traveling driving components according to the driving component fault codes;

[0008] When the current working state of at least one traveling driving component is an abnormal state, controlling the traveling driving component in the abnormal state to enter the driven mode, and controlling the traveling driving components in normal working condition to enter the fault-tolerant working mode;

[0009] Adjusting the rotational speeds of the traveling driving components entering the fault-tolerant working mode according to the obtained target traveling speed and steering opening signal of the construction machinery.

[0010] In an embodiment of the present application, the work machine further includes a plurality of traveling wheels, and a plurality of traveling driving members are respectively and drivingly connected to the plurality of traveling wheels. The steps of adjusting the rotational speed of the traveling driving member entering the fault-tolerant working mode according to the obtained target traveling speed and steering opening signal of the work machine include: when there is one abnormal traveling driving member, determining the traveling driving member entering the driven mode as the first driving member, determining the traveling wheel drivingly connected to the first driving member as the first traveling wheel, determining the traveling wheels on the same side and the opposite side of the first traveling wheel as the second traveling wheels and the third traveling wheels respectively, the traveling driving member connected to the second traveling wheel as the second driving member, and the traveling driving member connected to the third traveling wheel as the third driving member; respectively determining the original target rotational speeds of the second driving member and the third driving member according to the target traveling speed and the steering opening signal; and adjusting the current rotational speeds of the second driving member and the third driving member according to the steering opening signal and the original target rotational speeds.

[0011] In an embodiment of the present application, the steps of adjusting the current rotational speeds of the second driving member and the third driving member according to the steering opening signal and the original target rotational speeds include: when the rotational speed opening signal is greater than a preset threshold, determining that the second driving member rotates at the original target rotational speed of the second driving member, and determining the adjusted target rotational speed of the third driving member according to the steering opening signal and the original target rotational speed of the third driving member; respectively controlling the second driving member and the third driving member to rotate at the adjusted target rotational speeds; and when the steering opening signal is the preset threshold, controlling the second driving member and the third driving member to rotate at the original target rotational speeds.

[0012] In an embodiment of the present application, the adjusted target rotational speed of the third driving member is calculated according to the following formula (1):

[0013] N’ = bN(1 - a / 4) (1)

[0014] Wherein, N’ is the adjusted target rotational speed of the third driving member, N is the original target rotational speed of the third driving member, b is an adjustment coefficient, the adjustment coefficient is proportional to the friction coefficient of the working ground of the work machine, a is the steering opening signal, and 0 ≤ a ≤ 1.

[0015] In an embodiment of the present application, the steps of determining the working states of the plurality of traveling driving members according to the driving member fault codes include: obtaining the fault level table of the traveling driving members; determining the fault level of each traveling driving member according to the comparison result; when the fault level is lower than the first preset level, determining that the traveling driving member has no abnormality; when the fault level is higher than or equal to the second preset level, determining that the traveling driving member has a fault, and controlling the work machine to stop; and when the fault level is higher than or equal to the first preset level and lower than the second preset level, determining that the traveling driving member enters an abnormal state.

[0016] In an embodiment of the present application, the work machine includes a plurality of traveling wheels, and a plurality of traveling driving members are drivingly connected to the plurality of traveling wheels in one-to-one correspondence. After determining the current working states of the plurality of traveling driving members according to the driving member fault codes, the control method further includes: when any one of the traveling driving members is abnormal, determining the traveling wheel corresponding to the abnormal traveling driving member as the fourth traveling wheel; controlling the traveling driving members corresponding to the fourth traveling wheel and the traveling wheels on the opposite side of the fourth traveling wheel to enter the driven mode, and controlling the remaining traveling wheels to enter the fault-tolerant working mode; adjusting the rotational speeds of the traveling driving members entering the fault-tolerant working mode according to the obtained target traveling speed and steering opening signal of the work machine.

[0017] In an embodiment of the present application, the work machine includes a plurality of traveling wheels, and a plurality of traveling driving members are drivingly connected to the plurality of traveling wheels in one-to-one correspondence. After determining the current working states of the plurality of traveling driving members according to the driving member fault codes, the control method further includes: when any two of the traveling driving members are abnormal, determining the two abnormal traveling driving members as the fifth driving members; determining the traveling wheels corresponding to the fifth driving members as the fifth traveling wheels; when the two fifth traveling wheels are the two traveling wheels on the opposite sides, controlling the two fifth driving members to enter the driven mode, and controlling the remaining traveling wheels to enter the fault-tolerant working mode; adjusting the rotational speeds of the traveling driving members entering the fault-tolerant working mode according to the obtained target traveling speed and steering opening signal of the work machine.

[0018] A second aspect of the present application provides a control device for a work machine, including: a memory configured to store instructions; and a processor configured to call instructions from the memory and capable of implementing the above control method for the work machine when executing the instructions.

[0019] A third aspect of the present application provides a work machine, including: a plurality of traveling driving members; and the above control device for the work machine.

[0020] 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 above control method for the work machine.

[0021] In the above technical solution, a control method for a work machine is provided. By acquiring and analyzing the fault codes of multiple travel drive components in real time, the current working state of each travel can be determined according to the fault codes. When the current working state of at least one travel drive component is an abnormal state, the travel drive component in the abnormal state is controlled to enter the slave mode, while the travel drive components in normal operation enter the fault-tolerant operation mode. This control strategy ensures that the work machine can still maintain a certain driving ability and stability when some drive components fail, effectively avoiding the problem of the entire vehicle failure caused by the abnormality of a single drive component. Further, this control method also takes into account the dynamic adjustment requirements of the work machine during the steering process. When the work machine needs to turn, the rotational speed of the travel drive components entering the fault-tolerant operation mode is adjusted according to the steering opening signal and the target travel speed to ensure that the work machine can complete the turning action smoothly and accurately.

[0022] 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

[0023] 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:

[0024] Figure 1 A schematic flowchart of the control method for a work machine according to an embodiment of the present application is shown;

[0025] Figure 2 A schematic block diagram of the control system according to an embodiment of the present application is shown;

[0026] Figure 3 It is a flowchart of the control process of the work machine when the TM1 motor is abnormal;

[0027] Figure 4 It is an internal structure diagram of a computer device provided according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiments of the present application, and is not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0029] It should be noted that in the technical solution of this application, the acquisition, transmission, storage, use, processing, etc. of data 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. The purpose is only to illustrate the feasibility in the implementation of the technical solution of this application, but it does not mean that the applicant has already or necessarily used this solution.

[0030] 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, movement conditions, etc. between components in a certain specific posture (as shown in the drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0031] 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.

[0032] Figure 1 A flowchart of a control method for a work machine according to an embodiment of the present application is schematically shown. As Figure 1 shown, the control method for a work machine provided in the embodiment of the present application may include the following steps:

[0033] S101, respectively obtain the drive part fault codes of a plurality of travel drive parts.

[0034] S102, determine the current working states of the plurality of travel drive parts according to the drive part fault codes.

[0035] S103, when the current working state of at least one travel drive part is an abnormal state, control the travel drive part in the abnormal state to enter the slave mode, and control the travel drive parts in normal operation to enter the fault-tolerant operation mode.

[0036] S104, adjust the rotation speeds of the travel drive parts entering the fault-tolerant operation mode according to the obtained target travel speed and steering opening signal of the work machine.

[0037] For a multi-wheel independently-driven working machine in the prior art, when one of the traveling motors fails, it will cause problems such as a decrease in stability when the vehicle performs operations such as turning, and the driver cannot precisely control the vehicle, making it prone to accidents. The embodiment of the present application provides a control method for a working machine, which can execute corresponding control strategies when at least one traveling drive of the working machine fails to avoid the occurrence of the above situation.

[0038] Specifically, during the vehicle driving process, drive fault codes of multiple traveling drives can be respectively obtained, and the current working state of each traveling drive can be determined according to the drive fault codes. Among them, the drive fault code can reflect the abnormal working condition of the traveling drive. When the drive fault code of the traveling drive shows an abnormality, it indicates that there may be a problem with the traveling drive. When the current working state of at least one traveling drive is an abnormal state, the traveling drive in the abnormal state can be controlled to enter the driven mode, and the normally working traveling drives can be controlled to enter the fault-tolerant mode. In the fault-tolerant mode, the rotational speed of the traveling drive is adjusted according to the target traveling speed and the steering opening signal of the working machine.

[0039] In the first specific embodiment, the working machine includes four independently controlled traveling drives, and each traveling drive drives a traveling wheel to move. According to the drive component fault code, when one of the traveling drives of the working machine enters an abnormal state, the traveling drive in the abnormal state is controlled to enter the driven mode, and the other three traveling drives drive the traveling drive in the abnormal state to move. The other three traveling drives enter the fault-tolerant mode, and the rotational speed of the traveling drive in the fault-tolerant mode is adjusted according to the target traveling speed and the steering opening signal of the working machine. In the above situation, the working machine can be precisely controlled during both turning and straight-line driving.

[0040] In the second specific embodiment, the working machine includes four independently controlled traveling drives, and each traveling drive drives a traveling wheel to move. According to the drive component fault code, when two of the traveling drives of the working machine enter an abnormal state, it is determined whether the traveling wheels driven by the two abnormal traveling drives are on different sides. When the traveling wheels driven by the two abnormal traveling drives are on different sides, the traveling wheels driven by the two abnormal traveling drives can be controlled to enter the driven mode, and the other two traveling wheels enter the fault-tolerant mode. The rotational speed of the traveling drive in the fault-tolerant mode is adjusted according to the target traveling speed and the steering opening signal of the working machine. In the above situation, the working machine can be precisely controlled during both turning and straight-line driving.

[0041] In a third specific embodiment, the construction machine includes four independently controlled travel drive members, and each travel drive member drives a travel wheel to move respectively. According to the drive member fault code, when two of the travel drive members of the construction machine enter an abnormal state, it is determined whether the travel wheels driven by the two abnormal travel drive members are on different sides. When the travel wheels driven by the two abnormal travel drive members are on the same side, the travel wheels driven by the two abnormal travel drive members can be controlled to enter the driven mode, and the other two travel drive wheels enter the fault-tolerant mode. In this particular case, instability in steering control may be encountered when operating the construction machine. Therefore, once it is confirmed that the travel wheels driven by the two abnormal travel drive members are on the same side, the construction machine will not perform a steering action but continue to drive straight.

[0042] The above control method can ensure that the construction machine still maintains a certain degree of power performance and stability when facing at least one abnormal drive member, thereby improving the safety and reliability of the construction machine. In addition, the control method also fully considers the dynamic adjustment requirements of the construction machine during the steering process. By accurately adjusting the rotational speed of the travel drive members entering the fault-tolerant working mode according to the steering opening signal and the target travel speed, it can ensure that the construction machine can maintain stability during steering, thereby avoiding the accident risk caused by unstable steering.

[0043] In one embodiment, the construction machine further includes a plurality of travel wheels, and a plurality of travel drive members are drivingly connected to the plurality of travel wheels in one-to-one correspondence. The step of adjusting the rotational speed of the travel drive members entering the fault-tolerant working mode according to the obtained target travel speed and steering opening signal of the construction machine includes: when there is one travel drive member in an abnormal state, determining the travel drive member entering the driven mode as the first drive member, the travel wheel drivingly connected to the first drive member as the first travel wheel, determining the travel wheels on the same side and the opposite side of the first travel wheel as the second travel wheel and the third travel wheel respectively, the travel drive member connected to the second travel wheel as the second drive member, and the travel drive member connected to the third travel wheel as the third drive member; respectively determining the original target rotational speeds of the second drive member and the third drive member according to the target travel speed and the steering opening signal; adjusting the current rotational speeds of the second drive member and the third drive member according to the steering opening signal and the original target rotational speed.

[0044] The working machine may include a plurality of traveling wheels, wherein the second traveling wheel is located on the same side of the first traveling wheel, and the third traveling wheel is located on the opposite side of the first traveling wheel. For example, when the working machine has four traveling wheels, the working machine may include two traveling wheels on each of the left and right sides. In this case, the number of the second traveling wheel and the second driving member is both one, and the number of the third traveling wheel and the third driving member is both two; when the working machine includes six traveling wheels, the working machine may include three traveling wheels on each of the left and right sides. In this case, the number of the second traveling wheel and the second driving member is both two, and the number of the third traveling wheel and the third driving member is both three.

[0045] When the first driving member enters an abnormal state, both the second driving member and the third driving member enter a fault-tolerant working mode. However, the traveling wheels driven by the second driving member and the third driving member are on different sides, and the moving speeds of the traveling wheels on different sides are different during steering. Therefore, the original target rotational speeds of the second driving member and the third driving member need to be determined respectively according to the target traveling speed and the steering opening signal, and then the current rotational speeds of the second driving member and the third driving member are adjusted respectively based on the steering opening signal and the original target rotational speeds. By adopting the above control method, it can be ensured that when one traveling driving member of the working machine fails, the other normally working traveling driving members can be dynamically adjusted according to the actual situation, so as to maintain the stability and traveling ability of the working machine.

[0046] When determining the original target rotational speeds of the second driving member and the third driving member, a comprehensive analysis can be performed based on the target traveling speed and the steering opening signal of the working machine. For example, when the working machine needs to accelerate, the original target rotational speeds of the second driving member and the third driving member can be appropriately increased; when the working machine needs to decelerate, the original target rotational speeds of the second driving member and the third driving member can be appropriately decreased. In addition, when determining the current rotational speeds of the second driving member and the third driving member, the influence of the steering opening signal also needs to be considered. By real-time monitoring and analysis of the steering opening signal, precise adjustment of the current rotational speeds of the second driving member and the third driving member can be achieved. Through such a control strategy, the working machine can still maintain a high level of stability when facing an abnormality of one traveling driving member, thereby improving the safety and reliability of the working machine.

[0047] In one embodiment, the steps of adjusting the current rotational speeds of the second driving member and the third driving member according to the steering opening signal and the original target rotational speeds include: when the rotational speed opening signal is greater than a preset threshold, determining that the second driving member rotates at the original target rotational speed of the second driving member, and determining the adjusted target rotational speed of the third driving member according to the steering opening signal and the original target rotational speed of the third driving member; respectively controlling the second driving member and the third driving member to rotate at the adjusted target rotational speeds; when the steering opening signal is the preset threshold, controlling the second driving member and the third driving member to rotate at the original target rotational speeds.

[0048] When the opening signal is greater than the preset threshold, the construction machine will perform a steering driving operation. During the steering process, since the steering power on the abnormal side of the construction machine is lower than the steering power during normal operation, it is necessary to increase the rotation speed of the second driving member or decrease the rotation speed of the third driving member to ensure a smooth steering process. Such an adjustment strategy fully considers the power abnormality caused by the abnormality of the first driving member during the steering process of the construction machine, enabling the construction machine to maintain better stability and controllability during the steering process. When the opening signal is equal to the preset threshold, the construction machine will perform a straight driving operation. During the straight driving process, the driving force of the walking wheels of the construction machine is uniform, and there is no need to compensate the power of the second driving member or reduce the power of the third driving member. Therefore, the second driving member and the third driving member can be controlled to run at the original target speed. By adopting the above control method, it can be ensured that the construction machine can maintain a smooth operation during both steering and straight driving, improving the safety and reliability of the construction machine. During specific implementation, the setting of the preset threshold can be adjusted according to the specific type and steering requirements of the construction machine. For example, for a construction machine that needs to perform frequent steering operations, the preset threshold can be set relatively low to enter the steering control strategy earlier; while for a construction machine with less steering requirements, the preset threshold can be set relatively high to reduce unnecessary steering adjustments and improve the driving efficiency. In another specific embodiment, the preset threshold is zero.

[0049] In one embodiment, the adjusted target speed of the third driving member is calculated according to the following formula (1):

[0050] N’ = bN(1 - a / 4) (1)

[0051] Where N’ is the adjusted target speed of the third driving member, N is the original target speed of the third driving member, b is an adjustment coefficient, the adjustment coefficient is proportional to the friction coefficient of the working ground of the construction machine, a is the steering opening signal, and 0 ≤ a ≤ 1. By adopting the above formula (1), the precise adjustment of the current speed of the third driving member can be achieved. During the steering process, since the first driving member enters the driven mode, the steering power of the construction machine will be affected. Therefore, it is necessary to adjust the speed of the third driving member to maintain the steering stability. The adjustment coefficient b in formula (1) can be set according to the friction coefficient of the working ground to ensure that the adjusted speed can adapt to different working environments. The steering opening signal a reflects the steering requirements of the construction machine. By real-time monitoring and analysis of a, the dynamic adjustment of the speed of the third driving member can be achieved. Through such a control strategy, it can be ensured that the construction machine maintains a smooth operation during the steering process, avoiding the accident risk caused by unstable steering.

[0052] In one embodiment, the steps of determining the working states of multiple traveling driving components according to the driving component fault codes include: obtaining a fault level table of the traveling driving components; comparing each driving component fault code with the fault level table to determine the working state of each traveling driving component. The fault level table may include different fault codes and corresponding fault levels, where the fault levels may include normal, slightly abnormal, severely abnormal, slightly faulty, severely faulty, etc. By comparing the obtained driving component fault codes with the fault level table, the working state of each traveling driving component can be determined, such as normal, slightly faulty or severely faulty, etc. After determining the working state of the traveling driving component, corresponding control strategies can be adopted according to the fault level. Through such a fault determination and control method, effective management and control of the faults of the traveling driving components of the work machine can be achieved, improving the operating efficiency and safety of the work machine.

[0053] In one embodiment, the steps of comparing each driving component fault code with the fault level table to determine the working state of each traveling driving component include: determining the fault level of each traveling driving component according to the comparison result; when the fault level is lower than the first preset level, determining that the traveling driving component has no abnormality; when the fault level is higher than or equal to the second preset level, determining that the traveling driving component has a fault and controlling the work machine to stop; when the fault level is higher than or equal to the first preset level and lower than the second preset level, determining that the traveling driving component enters an abnormal state.

[0054] The first preset level may be the slightly abnormal level, and the second preset level may be the severely faulty level. Through such settings, accurate classification of the fault levels of the traveling driving components can be achieved, and corresponding control strategies can be adopted according to different fault levels. For example, when the fault level is higher than the slightly abnormal level and lower than the severely faulty level, it can be considered that the traveling driving component can still work normally, but certain monitoring and maintenance are required, and the traveling driving component can be controlled to enter the slave mode to make the vehicle continue to work; when the fault level is higher than the severely faulty level, it can be determined that there is a situation where the driving component needs to be immediately stopped for repair, and the traveling driving component can be controlled to stop immediately to avoid more serious consequences caused by the further deterioration of the fault. Through such a control method, it can be ensured that the work machine can take reasonable countermeasures when facing abnormalities or faults of the traveling driving components, improving the safety and reliability of the work machine.

[0055] In one embodiment, the control method further includes: during driving, obtaining in real time the drive fault code of the walking drive member in an abnormal state; when it is determined that the abnormal condition of the walking drive member in the abnormal state has been eliminated, controlling the walking drive member in the abnormal state to exit the slave mode, and controlling the walking drive members operating normally to exit the fault-tolerant operation mode. During driving, it is very important to obtain in real time the drive fault code of the walking drive member in an abnormal state. Once it is detected that the drive fault code of the walking drive member in the abnormal state has changed and this change indicates that the abnormal condition has been eliminated, the system can immediately control this walking drive member to exit the slave mode and at the same time control the walking drive members in the fault-tolerant operation mode to exit the fault-tolerant operation mode. In this way, the construction machine can return to the normal driving state without the need for fault-tolerant control anymore, thereby improving the driving efficiency and driving experience.

[0056] In addition, when implementing the above control strategy, it is necessary to ensure the accuracy and real-time nature of the detection of the drive fault code so as to make correct control decisions in a timely manner. At the same time, it is also necessary to appropriately monitor and maintain the walking drive members that have exited the slave mode and the fault-tolerant operation mode to ensure that they can operate normally and avoid abnormal conditions from occurring again. Through such a comprehensive control strategy, it can be ensured that the construction machine can respond quickly and take corresponding measures when facing faults of the walking drive members, maintaining a high operating efficiency and safety.

[0057] In one embodiment, the construction machine includes a plurality of walking drive members and a plurality of walking wheels, and the plurality of walking drive members are drivingly connected to the plurality of walking wheels in a one-to-one correspondence. After determining the current working state of the plurality of walking drive members according to the drive fault code, the control method includes: when any one of the walking drive members is abnormal, determining the walking drive member with the abnormality as the corresponding walking wheel being the fourth walking wheel. Controlling the fourth walking wheel and the walking drive member corresponding to the walking wheel on the opposite side of the fourth walking wheel to enter the slave mode. Controlling the fourth walking wheel and the walking drive member corresponding to the walking wheel on the opposite side of the fourth walking wheel to enter the slave mode, and controlling the remaining walking wheels to enter the fault-tolerant operation mode. Adjusting the rotational speed of the walking drive members entering the fault-tolerant operation mode according to the obtained target driving speed and steering opening signal of the construction machine. For example, the construction machine includes four walking wheels and four walking drive members. When the walking drive member corresponding to the right front walking wheel enters an abnormal state, this walking drive member and the walking drive member corresponding to the left front walking wheel enter the slave mode, and the walking drive members corresponding to the two rear walking wheels are controlled to enter the fault-tolerant mode, that is, the construction machine changes from a four-wheel drive mode to a rear-wheel drive mode. Such a control method is simple and effective, easy to implement, and can significantly improve the coping ability of the construction machine when facing faults of the walking drive members.

[0058] In one embodiment, a control method for a work machine is provided. The work machine includes a plurality of travel drive members and a plurality of travel wheels. The plurality of travel drive members are drivingly connected to the plurality of travel wheels in a one-to-one correspondence. After determining the current working states of the plurality of travel drive members according to drive fault codes, the control method includes: when any two travel drive members are abnormal, determining the two abnormal travel drive members as the fifth drive members, and determining the travel wheels corresponding to the fifth drive members as the fifth travel wheels. Determining the relative position relationship between the two fifth travel wheels. When the two fifth travel wheels are two travel wheels on different sides, controlling the travel drive members corresponding to the fifth travel wheels to enter the driven mode, and controlling the remaining travel wheels to enter the fault-tolerant working mode. Adjusting the rotational speeds of the travel drive members entering the fault-tolerant working mode according to the obtained target travel speed and steering opening signal of the work machine. For example, the work machine includes four travel wheels and four travel drive members. When the travel drive members corresponding to the left front travel wheel and the right rear travel wheel both enter the abnormal state, these two travel drive members are regarded as the fifth drive members, and the travel wheels corresponding to them are regarded as the fifth travel wheels. At this time, the travel drive members corresponding to the left front travel wheel and the right rear travel wheel enter the driven mode, while the travel drive members corresponding to the left rear travel wheel and the right front travel wheel enter the fault-tolerant working mode. By adopting the above control method, the work machine changes from the four-wheel drive mode to the diagonal drive mode, that is, it is only driven by the left rear and right front travel wheels. Through such a control strategy, even if two travel drive members are abnormal, the work machine can still maintain a certain driving ability and stability, thereby improving the fault tolerance and safety of the work machine. When implementing this control method, it is necessary to accurately judge the relative position relationship of the fifth travel wheels and make reasonable control decisions accordingly to ensure the smooth operation of the work machine.

[0059] When at least one travel drive member of the work machine is abnormal, the method provided by the embodiment of the present invention can respond quickly, and dynamically adjust the rotational speeds of other travel drive members according to parameters such as steering requirements and the friction coefficient of the working ground to maintain the stability and controllability of the work machine. Such a control strategy not only improves the safety and reliability of the work machine, but also ensures the operation efficiency. At the same time, through the flexible setting of preset thresholds and the precise division of the fault level table, accurate response to different fault situations can be achieved, further improving the operation efficiency and safety of the work machine. In addition, by obtaining in real time the drive fault codes of the travel drive members in the abnormal state and controlling the travel drive members to exit the driven mode and the fault-tolerant working mode after determining that the abnormal situation has been eliminated, the work machine can quickly return to the normal driving state, improving the driving efficiency and driving experience.

[0060] In one embodiment, a control device for a work machine is provided, including: a memory configured to store instructions; and a processor configured to call instructions from the memory and capable of implementing the above-described control method for the work machine when executing the instructions.

[0061] In one embodiment, a work machine is provided, including: a plurality of traveling drive members; and the above-described control device for the work machine.

[0062] In one embodiment, the work machine further includes, as Figure 2 shown in the control system. The control system includes a processor, controllers for four traveling drive members, a hydraulic motor controller, and a BMS power battery system. The processor is communicatively connected to the controllers of the plurality of traveling drive members via a CAN bus, and the controllers of the traveling drive members control the movement of the four traveling drive members. Among them, the processor is a VCU vehicle controller, the controllers of the four traveling drive members are respectively an MCU1 motor controller, an MCU2 motor controller, an MCU3 motor controller, and an MCU4 motor controller, the four traveling drive members can be respectively a TM1 motor, a TM2 motor, a TM3 motor, and a TM4 motor, and the hydraulic motor controller can be an MCU5 motor controller. The VCU vehicle controller is also connected to the hydraulic motor controller via a CAN bus, and the hydraulic motor controller controls the movement of the TM5 hydraulic motor. The VCU vehicle controller can also be connected to the BMS power battery system via a CAN bus. By adopting the above-described work machine, effective management and control of each component of the work machine can be achieved, and the operation efficiency and safety of the work machine are improved.

[0063] In a specific embodiment, as Figure 3As shown, it is a control process flow chart of a working machine when the TM1 motor is abnormal. The driving wheels connected to TM1 and TM2 are located on the first side of the working machine, and the driving wheels connected to TM3 and TM4 are located on the second side of the working machine. After the TM1 motor fails, the VCU vehicle controller receives the TM1 drive component fault code to determine whether the TM1 motor enters the abnormal state. After determining that the TM1 motor is abnormal, an abnormal signal is sent to the control panel to remind the operator. The VCU vehicle controller sends the TM1 motor enable signal and the zero speed signal to control the TM1 motor to enter the driven mode. The VCU vehicle controller can determine whether to control the vehicle to turn according to the control handle signal. After receiving the handle signal, it detects the size of the steering opening, and can determine the original target speeds of TM2, TM3, and TM4 according to the size of the opening and the current driving speed of the vehicle. The VCU vehicle controller determines that the TM2 motor moves according to the original target speed, and determines that the target speeds of TM3 and TM4 are appropriately reduced. The specific calculation method of the target speeds of TM3 and TM4 will not be elaborated here. The VCU vehicle controller sends an instruction signal to control the motor operation until the abnormality is eliminated or the operator manually controls through the control panel to exit the driven mode of TM1 and the fault-tolerant operation modes of TM2, TM3, and TM4, and makes the four motors move in the normal control mode.

[0064] In a specific embodiment, after determining that the TM1 motor is abnormal, an abnormal signal is sent to the control panel, and the operator determines whether to control the TM1 motor to enter the driven mode and control TM2, TM3, and TM4 to enter the fault-tolerant working mode by sending an instruction to the control panel. This design ensures that the operator can flexibly respond to motor failures and improves the reliability and safety of the working machine during driving.

[0065] In one embodiment, a machine-readable storage medium is provided, and instructions are stored on the machine-readable storage medium for causing the machine to execute the above control method of the working machine.

[0066] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 4 shown. The computer device includes a processor, a network interface, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory and a non-volatile storage medium. The non-volatile storage medium stores an operating system, a computer program, and a database (not shown in the figure). The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it realizes the control method for the straight-line walking of the working machine.

[0067] Those skilled in the art will understand that the embodiments of the present invention can be provided as a method, a system or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0068] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows 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, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0069] 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, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0070] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0071] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0072] 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). The memory is an example of a computer-readable medium.

[0073] A computer-readable medium includes permanent and non-permanent, removable and non-removable media and can implement information storage by any method or technology. 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 disc (DVD) or other optical storage, magnetic cassette tapes, disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information accessible by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0074] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover 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 an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0075] In the description of the present invention, it should be understood that the terms "first", "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0076] In the present invention, unless otherwise clearly defined and limited, terms such as "installed", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection or communicable with each other; it can be directly connected or indirectly connected through an intermediate medium, and can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0078] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling a working machine, characterized in that: The working machine includes a plurality of travel drive components, and the control method includes: respectively obtaining the driving component fault codes of the plurality of travel driving components; Determining the current working status of the plurality of travel drive components according to the drive component fault code; When the current working state of at least one of the travel drive components is abnormal, the travel drive component in the abnormal state is controlled to enter a slave mode, and the travel drive component in normal working state is controlled to enter a fault-tolerant working mode; The rotation speed of the travel drive component entering the fault-tolerant working mode is adjusted according to the acquired target travel speed and steering opening signal of the working machine.

2. The control method of the working machine according to claim 1, characterized in that: The working machine further comprises a plurality of traveling wheels, and the plurality of traveling driving members are drivingly connected to the plurality of traveling wheels in a one-to-one correspondence. The step of adjusting the rotation speed of the traveling driving member entering the fault-tolerant working mode according to the acquired target driving speed and steering opening signal of the working machine comprises: When there is only one travel drive member in an abnormal state, the travel drive member that enters the driven mode is determined as the first drive member, the travel wheel drivingly connected to the first drive member is determined as the first travel wheel, the travel wheels located on the same side and the opposite side of the first travel wheel are respectively determined as the second travel wheel and the third travel wheel, the travel drive member connected to the second travel wheel is the second drive member, and the travel drive member connected to the third travel wheel is the third drive member; Determine original target rotation speeds of the second driving member and the third driving member respectively according to the target driving speed and the steering opening signal; The current rotation speeds of the second driving member and the third driving member are adjusted according to the steering opening signal and the original target rotation speed.

3. The control method of the working machine according to claim 2, characterized in that: The step of adjusting the current rotation speeds of the second driving member and the third driving member according to the steering opening signal and the original target rotation speed comprises: When the speed opening signal is greater than a preset threshold, determining that the second driving member rotates according to the original target speed of the second driving member, and determining the adjusted target speed of the third driving member according to the steering opening signal and the original target speed of the third driving member; respectively controlling the second driving member and the third driving member to rotate according to the adjusted target speed; When the steering opening signal is the preset threshold, the second driving member and the third driving member are controlled to rotate according to the original target rotation speed.

4. The control method of the working machine according to claim 3, characterized in that: The adjusted target speed of the third driving member is calculated according to the following formula (1): N'=bN(1-a / 4) (1) Among them, N' is the adjusted target speed of the third driving member, N is the original target speed of the third driving member, b is the adjustment coefficient, the adjustment coefficient is proportional to the friction coefficient of the working ground of the working machine, a is the steering opening signal, 0≤a≤1.

5. The control method of the working machine according to claim 1, characterized in that: The step of determining the working status of the plurality of travel drive components according to the drive component fault code comprises: Obtaining a fault level table of the travel drive component; Determining the fault level of each of the travel drive components according to the comparison result; When the fault level is lower than the first preset level, determining that there is no abnormality in the travel drive component; When the fault level is higher than or equal to a second preset level, determining that the travel drive component has a fault, and controlling the operating machine to stop; When the fault level is higher than or equal to the first preset level and lower than the second preset level, it is determined that the travel drive component enters an abnormal state.

6. The control method of the working machine according to claim 1, characterized in that: The working machine further comprises a plurality of traveling wheels, and the plurality of traveling driving members are drivingly connected to the plurality of traveling wheels in a one-to-one correspondence. After determining the current working status of the plurality of traveling driving members according to the driving member fault code, the control method further comprises: In the case that any one of the travel driving components is abnormal, determining that the travel wheel corresponding to the travel driving component having the abnormality is the fourth travel wheel; Control the fourth traveling wheel and the traveling driving member corresponding to the traveling wheel located on the opposite side of the fourth traveling wheel to enter the driven mode, and control the remaining traveling wheels to enter the fault-tolerant working mode; The rotation speed of the travel drive component entering the fault-tolerant working mode is adjusted according to the acquired target travel speed and steering opening signal of the working machine.

7. The control method of the working machine according to claim 1, characterized in that: The working machine further comprises a plurality of traveling wheels, and the plurality of traveling driving members are drivingly connected to the plurality of traveling wheels in a one-to-one correspondence. After determining the current working status of the plurality of traveling driving members according to the driving member fault code, the control method further comprises: In the case that any two of the travel driving members are abnormal, the travel wheels corresponding to the two travel driving members with the abnormalities are determined to be the fifth driving members; Determine that the running wheel corresponding to the fifth driving member is the fifth running wheel; In the case where the two fifth running wheels are two running wheels on different sides, the two fifth driving members are controlled to enter the driven mode, and the remaining running wheels are controlled to enter the fault-tolerant working mode; The rotation speed of the travel drive component entering the fault-tolerant working mode is adjusted according to the acquired target travel speed and steering opening signal of the working machine.

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

9. A working machine, characterized in that: include: Multiple travel drive parts; as well as, A control device for a working machine 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 control method for a working machine according to any one of claims 1 to 7.

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