Anti-skid control method and device for operation machine and storage medium

Abstract

The invention discloses an anti-skid control method and device for an operation machine and a storage medium. The method comprises the steps that a first operation parameter of the operation machine is acquired; determining a current working condition of the working machine according to the first operation parameter, wherein the current working condition comprises a shoveling working condition and a walking working condition; acquiring a second operation parameter of the working machine under the current working condition; determining whether the working machine slips or not under the current working condition according to the second operating parameter; under the condition that the operation machine slips, anti-slip control parameters of the operation machine under the current operation working condition are determined; and controlling the working machine according to the anti-slip control parameter to prevent the working machine from continuing to slip. By means of the technical scheme, the working conditions are divided into the loading working condition and the walking working condition to be subjected to slip judgment and anti-slip control respectively, the operation states of the operation machine under the different working conditions can be effectively controlled, the operation machine is prevented from continuing to slip in the operation process, and therefore the stability and safety of equipment are improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle anti-skid technology, and particularly relates to an anti-skid control method, device, working machine and storage medium for a working machine. Background Art

[0002] A loader is a working machine with a wide range of uses. At present, large-scale electric working machines generally adopt a distributed motor drive scheme of four-wheel independent drive plus hydraulic individual drive, and realize the walking operation of the vehicle by controlling the speed or torque of the motor. The working conditions of the working machine are harsh and the working mode is mostly loading operation. The poor road adhesion, the vertical load of the vehicle, and the drastic change of acceleration ultimately lead to the slipping of the vehicle tires. Vehicle slipping will greatly reduce the maximum power of the engine and cause rapid wear of the vehicle tires. In the prior art, the current anti-skid control research of working machines generally conducts control research with the slip ratio as the target. However, the slipping of working machines mostly occurs during the loading operation. During the loading operation stage, the vehicle speed of the working machine is relatively low, and the slip ratio is prone to fluctuate violently around zero. The method of judging whether slipping occurs by the slip ratio is not accurate. Moreover, for working road surfaces and vehicle models with different adhesions, different optimal slip ratio thresholds need to be set, which requires a lot of manpower and material resources. And using other intelligent algorithms for anti-skid control requires adding more sensors and has a higher cost. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide an anti-skid control method, device, working machine and storage medium for a working machine, so as to solve the technical problems of inaccurate slipping judgment of working machines and high anti-skid control cost in the prior art.

[0004] To achieve the above purpose, the first aspect of the present application provides an anti-skid control method for a working machine, and the control method includes:

[0005] Obtain the first operating parameter of the working machine;

[0006] Determine the current working condition of the working machine according to the first operating parameter, and the current working condition includes a loading operation condition and a walking condition;

[0007] Obtain the second operating parameter of the working machine under the current working condition;

[0008] Determine whether the working machine slips under the current working condition according to the second operating parameter;

[0009] In the case where the working machine slips, determine the anti-skid control parameter of the working machine under the current working condition;

[0010] Control the working machine according to the anti-skid control parameter to prevent the working machine from continuing to slip.

[0011] In an embodiment of the present application, the work machine includes a plurality of drive devices and a plurality of traveling wheels. The plurality of drive devices are drivingly connected to the plurality of traveling wheels in a one-to-one correspondence. Obtaining the second operating parameter of the work machine under the current operating condition includes: when the current operating condition is a loading operation condition, obtaining the rotational speed of each drive device at the current moment and the rotational speeds at a plurality of historical moments within a preset historical time period adjacent to the current moment; when the current operating condition is a traveling condition, obtaining the angular velocity of each traveling wheel at the current moment and the vehicle speed of the work machine at the current moment.

[0012] In an embodiment of the present application, determining whether the work machine slips under the current operating condition according to the second operating parameter includes: for each drive device, determining the acceleration of the drive device within any two consecutive moments according to the rotational speeds at any two consecutive moments among the current moment and the plurality of historical moments; determining the minimum value of the rotational speeds of all the drive devices at the current moment; when the current operating condition is a loading operation condition, and the acceleration of any drive device within all two consecutive moments within the preset historical time period is greater than or equal to a preset acceleration threshold, and the difference between the rotational speed of any drive device at the current moment and the minimum value is greater than a preset difference, determining that any drive device slips, causing the work machine to slip.

[0013] In an embodiment of the present application, determining whether the work machine slips according to the second operating parameter includes: obtaining the radius of each traveling wheel; determining the slip ratio of each traveling wheel according to the angular velocity, radius, and vehicle speed of each traveling wheel at the current moment; when the current operating condition is a traveling condition, and the slip ratio of any traveling wheel is greater than or equal to a preset slip ratio threshold, determining that any traveling wheel slips, causing the work machine to slip.

[0014] In an embodiment of the present application, determining the anti-slip control parameter of the work machine under the current operating condition includes: when the operating condition is a loading operation condition, determining the anti-slip control parameter as the rotational speed of the slipping drive device; controlling the work machine according to the anti-slip control parameter includes: when the current operating condition is a loading operation condition, predicting the predicted rotational speed of the non-slipping drive device at the next moment of the current moment according to the rotational speed of the non-slipping drive device at the current moment and the rotational speeds at a plurality of historical moments; controlling the slipping drive device to continuously operate at the predicted rotational speed until the acceleration of the slipping drive device is less than a preset acceleration threshold.

[0015] In an embodiment of the present application, determining the anti-slip control parameter of the work machine under the current working condition includes: when the current working condition is the traveling condition, determining the anti-slip control parameter as the output torque of the slipping drive device; controlling the work machine according to the anti-slip control parameter includes: when the current working condition is the traveling condition, controlling the output torque of the slipping drive device to decrease until the slip ratio of the traveling wheel corresponding to the slipping drive device is less than the preset slip ratio threshold.

[0016] In an embodiment of the present application, the work machine includes a drive device, a working device, a solenoid valve connected to the working device, and a hydraulic system. The first operating parameters include the switching frequency of the solenoid valve, the vehicle speed of the work machine, the output torque of the drive device, and the working pump pressure of the hydraulic system. Determining the current working condition of the work machine according to the first operating parameters includes: when the switching frequency is greater than or equal to the preset frequency threshold, the vehicle speed is less than the preset vehicle speed threshold, the output torque is greater than the preset torque threshold and the duration is greater than the first preset duration, and the working pump pressure is greater than the preset pressure threshold and the duration is greater than the second preset duration, determining that the current working condition of the work machine is the loading operation condition; when the switching frequency is less than the preset frequency threshold and the vehicle speed is greater than or equal to the preset vehicle speed threshold, determining that the current working condition of the work machine is the traveling condition.

[0017] A second aspect of the present application provides an anti-slip control device for a work machine, including:

[0018] A memory configured to store instructions;

[0019] A processor configured to call the instructions from the memory and be capable of implementing the anti-slip control method for a work machine according to the above when executing the instructions.

[0020] A third aspect of the present application provides a work machine including the anti-slip control device for a work machine according to the above.

[0021] A fourth aspect of the present application provides a machine-readable storage medium, characterized in that instructions are stored on the machine-readable storage medium, and the instructions are used to cause a machine to execute the anti-slip control method for a work machine according to the above.

[0022] Through the above technical solutions, the working conditions of the work machine are divided into two working conditions, namely the loading operation and the traveling operation, for slip judgment and anti-slip control respectively. For different working conditions, the running state of the work machine under different working conditions can be effectively controlled according to the corresponding anti-slip control parameters, preventing the work machine from continuing to slip during the operation, thereby improving the stability and safety of the work machine.

[0023] 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

[0024] The drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not limit the embodiments of the present application. In the drawings:

[0025] Figure 1 Schematically shows a flowchart of an anti-slip control method for a working machine according to an embodiment of the present application;

[0026] Figure 2 Schematically shows a schematic diagram of a working machine control system according to an embodiment of the present application;

[0027] Figure 3 Schematically shows an interface schematic diagram of an anti-slip control device for a working machine according to an embodiment of the present application

[0028] Figure 4 Schematically shows a schematic diagram of the structure of a computer device according to an embodiment of the present application.

[0029] Description of Reference Numerals

[0030] 101 Left front motor 202 Hydraulic pump

[0031] 102 Right front motor 301 Walking pedal

[0032] 103 Left rear motor 302 Pilot handle

[0033] 104 Right rear motor 401 Whole machine controller

[0034] 201 Multi-way solenoid valve Detailed Description of the Embodiments

[0035] 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 embodiments described herein are only used to illustrate and explain the embodiments of the present application, and do not 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 shall fall within the scope of protection of the present application.

[0036] It should be noted that if there are directional indications (such as up, down, left, right, front, rear...) involved in the embodiments of the present application, 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 drawings). If the specific posture changes, the directional indications will also change accordingly.

[0037] In addition, if descriptions such as "first" and "second" are involved in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may 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 the present application.

[0038] Figure 1 Schematically shows a flowchart of an anti-slip control method for a work machine according to an embodiment of the present application. As Figure 1 shown, an embodiment of the present application provides an anti-slip control method for a work machine, and the method may include the following steps.

[0039] S102, obtain a first operating parameter of the work machine.

[0040] S104, determine the current operating condition of the work machine according to the first operating parameter, and the current operating condition includes a loading operation condition and a traveling condition.

[0041] S106, obtain a second operating parameter of the work machine under the current operating condition.

[0042] S108, determine whether the work machine slips under the current operating condition according to the second operating parameter.

[0043] S110, in the case where the work machine slips, determine the anti-slip control parameter of the work machine under the current operating condition.

[0044] S112, control the work machine according to the anti-slip control parameter to prevent the work machine from continuing to slip.

[0045] Specifically, construction machinery refers to mechanical equipment used to complete specific engineering, agricultural, or industrial tasks. Specifically, it can refer to a loader, which is a widely used construction engineering machine. Currently, large electric loaders generally adopt a distributed motor drive scheme with four-wheel independent drive plus hydraulic individual drive. The vehicle's traveling operation is achieved by controlling the speed or torque of the motor. The first operating parameter refers to various real-time data generated during the operation of construction machinery, including but not limited to the traveling speed, acceleration, steering angle, engine speed, braking pressure, etc. of the construction machinery. These data can comprehensively reflect the operating state of the construction machinery and provide a basis for subsequent working condition judgment and anti-slip control. By real-time monitoring and analysis of these parameters, the system can accurately determine whether the construction machinery is in a stable working state. Determine the current working condition of the construction machinery according to the first operating parameter. The current working condition includes a loading operation condition and a traveling condition. The working conditions of construction machinery are harsh, and the working mode is mostly loading operation. Poor road adhesion, the vehicle's vertical load, and the drastic change in the acceleration of the motor speed ultimately lead to tire slippage of the vehicle. Vehicle slippage will greatly reduce the maximum power of the engine and cause rapid wear of the vehicle tires. In actual working conditions, when the construction machinery is performing a loading operation, the vehicle speed is relatively low, the vehicle's vertical load and the acceleration of the motor speed change drastically, and slippage is more likely to occur during the traveling operation. During the traveling operation, the vehicle speed is stable, the vehicle's vertical load and acceleration are stable, and the vehicle is not likely to slip. The current research on anti-slip control of construction machinery generally focuses on the slip ratio as the target. However, slippage of construction machinery mostly occurs in the loading operation condition. In the loading operation condition, the vehicle speed of the construction machinery is relatively low, and the slip ratio is prone to fluctuate violently around zero. At the same time, due to the occurrence of the slippage phenomenon, there will also be deviations in vehicle speed calculation, and algorithm control is more likely to deviate. In order to accurately determine whether the construction machinery has slipped, obtain the corresponding second operating parameter according to the current working condition of the construction machinery. For example, in the case of the loading operation condition, the second operating parameter includes the operating data of the drive device of the construction machinery. In the case where the current working condition is the traveling condition, the second operating parameter includes the operating data of the chassis of the construction machinery, the vehicle speed of the whole vehicle, etc. Then, it can be determined whether the construction machinery has slipped under the current working condition according to the second operating parameter. On the other hand, when the construction machinery slips in different working conditions, corresponding anti-slip solutions can be adopted to prevent the construction machinery from slipping further. Specifically, the construction machinery can be prevented from slipping through the anti-slip control parameters corresponding to the current working condition. The anti-slip control parameter refers to the control parameter set to prevent the construction machinery from slipping under different working conditions. These parameters are obtained through comprehensive analysis and calculation based on the specific working conditions of the construction machinery, such as loading operation or traveling operation, and the real-time operating data of the construction machinery, such as the operating data of the drive device, the operating data of the chassis, the vehicle speed of the whole vehicle, etc. For example, in the case of the loading operation condition, the anti-slip control parameter includes the rotational speed of the drive device of the construction machinery.When the current operating condition of the work machine is the traveling condition, the anti-slip control parameters include the output torque of the drive device of the work machine, etc. By adjusting these anti-slip control parameters, when the work machine slips, the work machine can be controlled according to the anti-slip control parameters, effectively controlling the operating state of the work machine under different conditions, preventing the work machine from continuing to slip during operation, and thus improving the stability and safety of the work machine.

[0046] Through the above technical solution, the operating conditions of the work machine are divided into two conditions: loading operation and traveling operation, and slip judgment and anti-slip control are carried out respectively. For different conditions, the operating state of the work machine under different conditions can be effectively controlled according to the corresponding anti-slip control parameters, preventing the work machine from continuing to slip during operation, and thus improving the stability and safety of the work machine.

[0047] In the embodiment of the present application, the work machine includes a drive device, a working device, and a solenoid valve and a hydraulic system connected to the working device. The first operating parameters include the switching frequency of the solenoid valve, the vehicle speed of the work machine, the output torque of the drive device, and the working pump pressure of the hydraulic system. Determining the current operating condition of the work machine according to the first operating parameters includes: when the switching frequency is greater than or equal to the preset frequency threshold, the vehicle speed is less than the preset vehicle speed threshold, the output torque is greater than the preset torque threshold and the duration is greater than the first preset duration, and the working pump pressure is greater than the preset pressure threshold and the duration is greater than the second preset duration, determining that the current operating condition of the work machine is the loading operation condition; when the switching frequency is less than the preset frequency threshold and the vehicle speed is greater than or equal to the preset vehicle speed threshold, determining that the current operating condition of the work machine is the traveling condition.

[0048] Specifically, the working device of the construction machine is used for loading operations. The working device includes, but is not limited to, a bucket, a bucket cylinder, a boom, a boom cylinder, a steering platform, and a steering cylinder. These working devices control operations through solenoid valves. During the loading operation condition, the vehicle speed of the construction machine is low, the output speed of the motor decreases, the output torque of the motor increases, the multi-way solenoid valve switches frequently, and the hydraulic system pressure rises rapidly. During the traveling operation, the vehicle speed of the entire construction machine is greater than that during the loading operation, and the working device does not perform operations. Therefore, technicians can set corresponding thresholds for the switching frequency of the solenoid valve, the vehicle speed of the entire vehicle, the output torque of the driving device and its duration, and the working pump pressure of the hydraulic system and its duration, as a basis for determining whether the current operation condition is the loading operation condition. Then, when the switching frequency is greater than or equal to the preset frequency threshold, the vehicle speed is less than the preset vehicle speed threshold, the output torque is greater than the preset torque threshold and the duration is greater than the first preset duration, and the working pump pressure is greater than the preset pressure threshold and the duration is greater than the second preset duration, it can be determined that the current operation condition of the construction machine is the loading operation condition. When the switching frequency is less than the preset frequency threshold and the vehicle speed is greater than or equal to the preset vehicle speed threshold, it can be determined that the current operation condition of the construction machine is the traveling condition.

[0049] In an embodiment of the present application, the construction machine includes a plurality of driving devices and a plurality of traveling wheels. The plurality of driving devices are drivingly connected to the plurality of traveling wheels one by one. Obtaining the second operating parameter of the construction machine under the current operation condition includes: when the current operation condition is the loading operation condition, obtaining the rotational speed of each driving device at the current moment and the rotational speeds at a plurality of historical moments within a preset historical time period adjacent to the current moment; when the current operation condition is the traveling condition, obtaining the angular velocity of each traveling wheel at the current moment and the vehicle speed of the construction machine at the current moment.

[0050] In an embodiment of the present application, determining whether the construction machine slips under the current operation condition according to the second operating parameter includes: for each driving device, determining the acceleration of the driving device within any two consecutive moments according to the rotational speeds at the current moment and any two consecutive moments among the plurality of historical moments; determining the minimum value of the rotational speeds of all the driving devices at the current moment; when the current operation condition is the loading operation condition, the acceleration of any driving device within all two consecutive moments within the preset historical time period is greater than or equal to the preset acceleration threshold, and the difference between the rotational speed of any driving device at the current moment and the minimum value is greater than the preset difference, it is determined that any driving device slips, causing the construction machine to slip.

[0051] Specifically, the driving device can be an engine or a motor. In the case where the current operating condition is a loading operation condition, obtain the rotational speed of each driving device at the current moment k, and the rotational speeds at a plurality of historical moments k-1, k-2, k-3, etc. within a preset historical time period s adjacent to the current moment. For each driving device, according to the rotational speeds at any two consecutive moments among the current moment and the plurality of historical moments, the acceleration of the driving device within the two consecutive moments can be determined. Specifically, the acceleration can be calculated according to the following formula (2):

[0052]

[0053] where a refers to the acceleration of each driving device from the moment k-1 to the moment k, v k refers to the rotational speed of each driving device at the moment k, v k-1 refers to the rotational speed of each driving device at the moment k-1, and Δt refers to the duration from the moment k-1 to the moment k.

[0054] When the bucket scoops into the material, the acceleration of the rotational speed of the driving device is negative. During normal loading, the acceleration of the rotational speed of the driving device fluctuates around 0. The preset acceleration threshold is a threshold preset by the technician for the acceleration of the rotational speed of the driving device. The preset acceleration threshold can be set to 0 or a value greater than 0. In the case where the current operating condition is a loading operation condition, if there is a driving device whose rotational speed acceleration is continuously positive, and the rotational speed of the driving device at the current moment is significantly higher than the rotational speeds of other driving devices, that is, the difference between the rotational speed of the driving device at the current moment and the minimum value is greater than the preset difference, it is determined that any driving device slips, causing the working machine to slip.

[0055] In the embodiments of the present application, determining whether the working machine slips according to the second operating parameter includes: obtaining the radius of each traveling wheel; determining the slip ratio of each traveling wheel according to the angular velocity, radius, and vehicle speed of each traveling wheel at the current moment; and in the case where the current operating condition is a traveling condition and the slip ratio of any traveling wheel is greater than the preset slip ratio threshold, determining that any traveling wheel slips, causing the working machine to slip.

[0056] Specifically, during traveling operations, when the vehicle speed is stable and the vertical load of the vehicle and the acceleration of the rotational speed of the driving device are stable, the vehicle is not likely to slip. In the case where the current operating condition is a loading operation condition, the slip ratio S of each traveling wheel can be calculated by the vehicle speed and the angular velocity of the traveling wheel. When the slip ratio is greater than or equal to the preset slip ratio threshold, it is determined that any traveling wheel slips, causing the working machine to slip. Specifically, the preset slip ratio threshold can be set to 0.2.

[0057] In the embodiments of the present application, the slip ratio of each traveling wheel is determined according to formula (1):

[0058]

[0059] Among them, \(s_i\) refers to the slip ratio of the \(i\)-th driving wheel, \(\omega_i\) refers to the angular velocity of the \(i\)-th driving wheel at the current moment, \(r_i\) refers to the radius of the \(i\)-th driving wheel, and \(V\) refers to the vehicle speed of the working machine at the current moment.

[0060] In an embodiment of the present application, determining the anti-slip control parameter of the working machine under the current working condition includes: when the working condition is a loading operation condition, determining the anti-slip control parameter as the rotational speed of the driving device that slips; controlling the working machine according to the anti-slip control parameter includes: when the current working condition is a loading operation condition, predicting the predicted rotational speed of the non-slip driving device at the next moment of the current moment according to the rotational speed of the non-slip driving device at the current moment and the rotational speeds at multiple historical moments; controlling the slipping driving device to continuously operate at the predicted rotational speed until the acceleration of the slipping driving device is less than a preset acceleration threshold.

[0061] Specifically, when the working condition is a loading operation condition, the working machine can be prevented from continuing to slip by controlling the rotational speed of the driving device that slips. For the control of the rotational speed of the driving device that slips, the predicted rotational speed of the non-slip driving device at the next moment of the current moment can be predicted by the rotational speed of the non-slip driving device at the current moment and the rotational speeds at multiple historical moments. Specifically, the linear interpolation method can be used to determine the predicted rotational speed. The linear interpolation method is a simple and effective method. It predicts the rotational speed at the next moment according to the historical rotational speed data of the non-slip driving device, so as to achieve precise control of the slipping driving device. Specifically, the predicted rotational speed of the non-slip driving device at the next moment is used as the target rotational speed of the slipping driving device, and the slipping driving device is controlled to continuously operate at the predicted rotational speed, and the rotational speed of the slipping driving device is adjusted to a rotational speed close to that of the non-slip driving device to maintain the stability and safety of the working machine. This control process will continue until the acceleration of the slipping driving device is reduced below the preset acceleration threshold. By solving the slipping problem through rotational speed following control, the energy loss and tire wear of the working machine can be effectively reduced.

[0062] In an embodiment of the present application, determining the anti-slip control parameter of the working machine under the current working condition includes: when the current working condition is a traveling condition, determining the anti-slip control parameter as the output torque of the driving device that slips; controlling the working machine according to the anti-slip control parameter includes: when the current working condition is a traveling condition, controlling the output torque of the driving device that slips to decrease until the slip ratio of the driving wheel corresponding to the driving device that slips is less than a preset slip ratio threshold.

[0063] Specifically, when the operating condition is the traveling condition, the output torque of the driving device that slips can be controlled to prevent the construction machine from slipping further. Specifically, the output torque of the slipping driving device can be controlled by a logical threshold value. When the slip ratio of the traveling wheel corresponding to the slipping driving device is greater than or equal to the preset slip ratio threshold, the output torque of the slipping driving device is controlled to decrease until the slip ratio of the traveling wheel corresponding to the slipping driving device is less than the preset slip ratio threshold, thereby limiting the slipping of the construction machine. When the construction machine is traveling, the slipping phenomenon occurs less frequently. The tire slipping is judged by the preset slip ratio threshold, and the output torque of the slipping driving device is limited to solve the slipping problem, without the need to add more sensors, nor to set different optimal slip ratio thresholds for different working road surfaces and vehicle models with different adhesion forces, reducing the consumption of manpower and material resources.

[0064] Figure 2 Schematically shows a schematic diagram of a control system for a construction machine according to an embodiment of the present application. As Figure 2 shown, the embodiment of the present application provides a control system for a construction machine, including: a left front motor 101, a right front motor 102, a left rear motor 103, a right rear motor 104, a multi-way solenoid valve 201, a hydraulic pump 202, a traveling foot pedal 301, a pilot handle 302, and a whole machine controller 401. The user operates the vehicle through the traveling foot pedal 301 and the pilot handle 302 and communicates with the whole machine controller 401 through the CAN bus. The whole machine controller controls the vehicle to perform loading operations and traveling operations by controlling the hydraulic pump, the multi-way solenoid valve 201, and the distributed motors. In actual working conditions, when the construction machine performs loading operations, the vertical load and acceleration of the vehicle change violently, and the vehicle is more likely to slip than during traveling operations. Therefore, during loading operations, the slipping state of the wheels is judged by the rotational speed and rotational speed acceleration changes of the left front motor 101, the right front motor 102, the left rear motor 03, and the right rear motor 104, and the wheel slipping is limited through speed following control. During traveling operations, the slipping situation is judged by the slip ratio. A slipping reminder message is sent and the vehicle slipping is limited by controlling with a logical threshold value.

[0065] The anti-slip control method for a construction machine according to an embodiment of the present application can be applied to a control system for a construction machine as Figure 2 shown. Specifically, the method for judging the current operating condition of the construction machine includes the following steps:

[0066] S21. The traveling foot pedal 301 sends a vehicle acceleration instruction to the vehicle controller 401 through the CAN bus to control the vehicle to accelerate or decelerate.

[0067] S22. The pilot handle 302 sends a loading instruction to the vehicle controller 401 through the CAN bus to control the vehicle to perform loading operations.

[0068] S23. The left front motor 101, right front motor 102, left rear motor 103, and right rear motor 104 send the motor speed and torque information to the vehicle controller 401 via the CAN bus.

[0069] S24. During the loading operation, the vehicle speed is low, the output speed of the motor decreases, the output torque increases, the multi-way solenoid valve switches frequently, and the pressure of the hydraulic system rises rapidly.

[0070] Specifically, the method for judging the slip of the working machine in the working condition includes the following steps:

[0071] S31. The left front motor 101, right front motor 102, left rear motor 03, and right rear motor 104 send the motor speed and torque information to the vehicle controller 401 via the CAN bus.

[0072] S32. During the loading operation, the vehicle speed of the whole vehicle is low and the vertical load and acceleration of the vehicle change violently. The vehicle is prone to slipping, and it is impossible to accurately judge the vehicle slip situation through the conversion rate. Then, the acceleration of each motor speed can be calculated by formula (2). When the bucket scoops into the material, the acceleration of the motor speed is negative. During normal loading, the acceleration of the motor speed fluctuates around 0. When the motor slips, the acceleration of the motor speed is continuously positive, and the speed of the slipping motor is significantly higher than that of the non-slipping motor.

[0073]

[0074] Among them, a refers to the acceleration of each driving device from the (k - 1)th moment to the kth moment, v k refers to the speed of each driving device at the kth moment, v k-1 refers to the speed of each driving device at the (k - 1)th moment, and Δt refers to the time duration from the (k - 1)th moment to the kth moment.

[0075] During the traveling operation, the vehicle speed is stable and the vertical load and acceleration of the vehicle are stable. The vehicle is not prone to slipping. The tire slip ratio S can be calculated by the vehicle speed and the angular velocity of the tire. When the slip ratio is greater than 0.2, the vehicle is in a slipping state.

[0076]

[0077] Among them, is the slip ratio of the i-th traveling wheel, is the angular velocity of the i-th traveling wheel at the current moment, is the radius of the i-th traveling wheel, and V is the vehicle speed of the working machine at the current moment

[0078] Specifically, the anti-slip control strategies for the loading operation and the traveling operation are as follows: When slipping occurs during the loading operation, the rotational speed of the non-slipping motor is relatively low. The target rotational speed is obtained by linearly interpolating the rotational speed of the non-slipping motor, and the output rotational speed of the slipping motor is controlled to follow the output rotational speed of the non-slipping motor, reducing the maximum power loss of the engine and the wear of the vehicle tires. When the rotational speed acceleration of the motor is less than the threshold value, the speed following is exited. When traveling, when the vehicle slips, the vehicle controller reduces the torque output of the slipping wheels and controls the slip ratio to the non-slipping state.

[0079] Figure 1 It is a schematic flow chart of an anti-slip control method for a working machine in an embodiment. It should be understood that although Figure 1 the steps in the flow chart are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 1 at least a part of the steps in

[0080] Figure 3 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these sub-steps or stages is not necessarily sequential either, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps. Figure 3 As shown, an embodiment of the present application provides an anti-slip control device for a working machine, which may include:

[0081] A memory configured to store instructions;

[0082] A processor configured to call instructions from the memory and be capable of implementing the above-mentioned anti-slip control method for a working machine when executing the instructions.

[0083] Specifically, in the embodiment of the present application, the processor may be configured to:

[0084] Obtain the first operating parameter of the working machine;

[0085] Determine the current working condition of the working machine according to the first operating parameter, and the current working condition includes a loading operation condition and a traveling condition;

[0086] Obtain the second operating parameter of the working machine under the current working condition;

[0087] Determine whether the working machine slips under the current working condition according to the second operating parameter;

[0088] In the case where the construction machine slips, determine the anti-slip control parameters of the construction machine under the current working condition;

[0089] Control the construction machine according to the anti-slip control parameters to prevent the construction machine from slipping continuously.

[0090] In an embodiment of the present application, the construction machine includes a plurality of driving devices and a plurality of traveling wheels. The plurality of driving devices are drivingly connected to the plurality of traveling wheels in a one-to-one correspondence. Obtaining the second operating parameters of the construction machine under the current working condition includes: in the case where the current working condition is a loading operation condition, obtaining the rotational speed of each driving device at the current moment and the rotational speeds at a plurality of historical moments within a preset historical time period adjacent to the current moment; in the case where the current working condition is a traveling condition, obtaining the angular velocity of each traveling wheel at the current moment and the vehicle speed of the construction machine at the current moment.

[0091] In an embodiment of the present application, determining whether the construction machine slips according to the second operating parameters includes: for each driving device, determining the acceleration of the driving device within any two consecutive moments according to the rotational speeds at the current moment and any two consecutive moments among the plurality of historical moments; determining the minimum value of the rotational speeds of all the driving devices at the current moment; in the case where the current working condition is a loading operation condition, the acceleration within any two consecutive moments of any driving device within the preset historical time period is greater than or equal to the preset acceleration threshold, and the difference between the rotational speed of any driving device at the current moment and the minimum value is greater than the preset difference, determining that any driving device slips and causes the construction machine to slip.

[0092] In an embodiment of the present application, determining whether the construction machine slips according to the second operating parameters includes: obtaining the radius of each traveling wheel; determining the slip ratio of each traveling wheel according to the angular velocity, radius, and vehicle speed of each traveling wheel at the current moment; in the case where the current working condition is a traveling condition and the slip ratio of any traveling wheel is greater than or equal to the preset slip ratio threshold, determining that any traveling wheel slips and causes the construction machine to slip.

[0093] In an embodiment of the present application, the slip ratio of each traveling wheel is determined according to formula (1):

[0094]

[0095] wherein, refers to the slip ratio of the i-th traveling wheel, refers to the angular velocity of the i-th traveling wheel at the current moment, refers to the radius of the i-th traveling wheel, and V refers to the vehicle speed of the construction machine at the current moment.

[0096] In an embodiment of the present application, determining the anti-slip control parameter of the work machine under the current working condition includes: when the working condition is a loading operation condition, determining the anti-slip control parameter as the rotational speed of the driving device that slips; controlling the work machine according to the anti-slip control parameter includes: when the current working condition is a loading operation condition, predicting the predicted rotational speed of the non-slip driving device at the next moment based on the rotational speed of the non-slip driving device at the current moment and the rotational speeds at multiple historical moments; controlling the slipping driving device to continuously operate at the predicted rotational speed until the acceleration of the slipping driving device is less than a preset acceleration threshold.

[0097] In an embodiment of the present application, determining the anti-slip control parameter of the work machine under the current working condition includes: when the current working condition is a traveling condition, determining the anti-slip control parameter as the output torque of the slipping driving device; controlling the work machine according to the anti-slip control parameter includes: when the current working condition is a traveling condition, controlling the output torque of the slipping driving device to decrease until the slip ratio of the driving wheel corresponding to the slipping driving device is less than a preset slip ratio threshold.

[0098] In an embodiment of the present application, the work machine includes a working device and a solenoid valve connected to the working device. The first operating parameter includes the switching frequency of the solenoid valve and the vehicle speed of the work machine. Determining the current working condition of the work machine according to the first operating parameter includes: the work machine includes a driving device, a working device, a solenoid valve connected to the working device, and a hydraulic system. The first operating parameter includes the switching frequency of the solenoid valve, the vehicle speed of the work machine, the output torque of the driving device, and the working pump pressure of the hydraulic system. Determining the current working condition of the work machine according to the first operating parameter includes: when the switching frequency is greater than or equal to a preset frequency threshold, the vehicle speed is less than a preset vehicle speed threshold, the output torque is greater than a preset torque threshold and the duration is greater than a first preset duration, and the working pump pressure is greater than a preset pressure threshold and the duration is greater than a second preset duration, determining that the current working condition of the work machine is a loading operation condition; when the switching frequency is less than the preset frequency threshold and the vehicle speed is greater than or equal to the preset vehicle speed threshold, determining that the current working condition of the work machine is a traveling condition.

[0099] Through the above technical solution, the working conditions of the construction machinery are divided into two working conditions: loading operation and traveling operation, and the slip judgment and anti-slip control are carried out respectively. Aiming at the problem of large calculation error of the slip ratio in the loading operation, the slip state is judged by the motor speed and the motor speed acceleration, and the slip problem is solved by the speed following control, which can effectively reduce the energy loss and tire wear of the construction machinery. When the construction machinery is traveling, the slip phenomenon is less. The tire slip is judged by the preset slip ratio threshold, and the output torque of the driving device with slip is limited to solve the slip problem, without adding more sensors, and without setting different optimal slip ratio thresholds for different working road surfaces and vehicle models with different adhesions, reducing the consumption of manpower and material resources.

[0100] The embodiment of the present application also provides a construction machinery, including the anti-slip control device for construction machinery according to the above.

[0101] In the embodiment of the present application, the construction machinery further includes a plurality of driving devices and a plurality of traveling wheels, and the plurality of driving devices are in one-to-one driving connection with the plurality of traveling wheels.

[0102] The embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to make a machine execute the above anti-slip control method for construction machinery.

[0103] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 4 shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data for the anti-slip control method of construction machinery. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, it realizes an anti-slip control for construction machinery.

[0104] Those skilled in the art can understand, Figure 4The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0105] Those skilled in the art should understand that the embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, this application 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.) containing computer-usable program code.

[0106] This 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 this application. 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, so that the instructions executed by the processor of the computer or other programmable data processing devices generate for implementing in the process Figure 1 a process or multiple processes and / or blocks Figure 1 a device for the functions specified in one block or multiple blocks.

[0107] 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 in the process Figure 1 a process or multiple processes and / or blocks Figure 1 a device for the functions specified in one block or multiple blocks.

[0108] 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 steps for implementing the functions specified in Figure 1 a process or multiple processes and / or blocks Figure 1 a device for the functions specified in one block or multiple blocks.

[0109] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0110] 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 RAM. The memory is an example of computer-readable media.

[0111] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can store information 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 cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transitory 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.

[0112] 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 apparatus 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 apparatus. 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 apparatus comprising the element.

[0113] The above are only embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modifications, equivalent replacements, improvements, 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. An anti-skid control method for a working machine, characterized in that: The control method comprises: Acquiring a first operating parameter of the operating machine; Determining a current operating condition of the operating machine according to the first operating parameter, the current operating condition including a shoveling operating condition and a walking operating condition; Acquiring a second operating parameter of the operating machine under the current operating condition; determining whether the operating machine is slipping under the current operating condition according to the second operating parameter; In the event that the operating machine slips, determining anti-skid control parameters of the operating machine under the current operating condition; The working machine is controlled according to the anti-skid control parameter to prevent the working machine from continuing to skid.

2. The anti-skid control method for a working machine according to claim 1, characterized in that: The operating machine includes a plurality of driving devices and a plurality of running wheels, wherein the plurality of driving devices are drivingly connected to the plurality of running wheels in a one-to-one correspondence, and the obtaining of the second operating parameter of the operating machine under the current operating condition includes: When the current working condition is the shoveling working condition, obtaining the rotation speed of each driving device at the current moment and the rotation speeds at multiple historical moments within a preset historical time period close to the current moment; When the current working condition is the walking condition, the angular velocity of each walking wheel at the current moment and the vehicle speed of the working machine at the current moment are obtained.

3. The anti-skid control method for a working machine according to claim 2, characterized in that: Determining whether the operating machine is slipping under the current operating condition according to the second operating parameter includes: For each driving device, determining the acceleration of the driving device within any two consecutive moments according to the rotation speeds at the current moment and any two consecutive moments among the multiple historical moments; Determining a minimum value of the rotational speeds of all drive devices at the current moment; When the current operating condition is the shoveling operating condition, the acceleration of any driving device in all two consecutive moments within the preset historical time period is greater than or equal to the preset acceleration threshold, and the difference between the rotational speed of any driving device at the current moment and the minimum value is greater than the preset difference, it is determined that the slip of any driving device causes the operating machine to slip.

4. The anti-skid control method for a working machine according to claim 2, characterized in that: Determining whether the working machine is slipping according to the second operating parameter includes: Get the radius of each walking wheel; Determine the slip rate of each running wheel according to the angular velocity of each running wheel at the current moment, the radius and the vehicle speed; When the current working condition is the walking condition and the slip rate of any walking wheel is greater than or equal to a preset slip rate threshold, it is determined that the slip of any walking wheel causes the working machine to slip.

5. The anti-skid control method for a working machine according to claim 2, characterized in that: Determining the anti-skid control parameters of the operating machine under the current operating condition includes: When the working condition is the shoveling working condition, determining the anti-skid control parameter to be the rotation speed of the driving device where skidding occurs; The controlling the working machine according to the anti-slip control parameter comprises: When the current working condition is the shoveling working condition, predicting the predicted speed of the non-slip driving device at a moment next to the current moment according to the speed of the non-slip driving device at the current moment and the speeds at the multiple historical moments; The slipping driving device is controlled to continuously run according to the predicted rotation speed until the acceleration of the slipping driving device is less than a preset acceleration threshold.

6. The anti-skid control method for a working machine according to claim 2, characterized in that: Determining the anti-skid control parameters of the working machine under the current working condition includes: When the current working condition is the walking condition, determining the anti-skid control parameter to be the output torque of the slipping driving device; The controlling the working machine according to the anti-slip control parameter comprises: When the current operating condition is the walking condition, the output torque of the slipping driving device is controlled to decrease until the slip rate of the walking wheel corresponding to the slipping driving device is less than a preset slip rate threshold.

7. The anti-skid control method for a working machine according to claim 1, characterized in that: The working machine includes a driving device, a working device, and a solenoid valve and a hydraulic system connected to the working device. The first operating parameter includes a switching frequency of the solenoid valve, a speed of the working machine, an output torque of the driving device, and a working pump pressure of the hydraulic system. Determining the current working condition of the working machine according to the first operating parameter includes: When the switching frequency is greater than or equal to the preset frequency threshold, the vehicle speed is less than the preset vehicle speed threshold, the output torque is greater than the preset torque threshold and the duration is greater than the first preset duration, and the working pump pressure is greater than the preset pressure threshold and the duration is greater than the second preset duration, it is determined that the current working condition of the working machine is a shoveling working condition; When the switching frequency is less than the preset frequency threshold and the vehicle speed is greater than or equal to the preset vehicle speed threshold, it is determined that the current operating condition of the operating machine is the walking condition.

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

9. A working machine, characterized in that: The invention comprises an anti-skid 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 anti-skid control method for a working machine according to any one of claims 1 to 7.

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