Control method, device and equipment of skid loader, medium and loader

Abstract

The embodiment of the invention provides a control method, device and equipment of a skid steer loader, a medium and the loader. The method comprises the steps that firstly, when it is determined that steering of the skid steer loader is finished, the first wheel speed of wheels on the inner side of the skid steer loader is obtained, and the second wheel speed of wheels on the outer side of the skid steer loader is obtained; then, the wheel speed difference between the first wheel speed and the second wheel speed is calculated; then, when the wheel speed difference is smaller than or equal to a preset threshold value, the first wheel speed of the inner side wheel and the second wheel speed of the outer side wheel are controlled based on a first control strategy; and finally, when the wheel speed difference is larger than the preset threshold value, the first wheel speed of the inner side wheel and the second wheel speed of the outer side wheel are controlled based on a second control strategy. According to the method, the stability and the response speed of vehicle control are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular to a control method, device, equipment, medium and loader for a skid steer loader. Background Art

[0002] Steering control of a loader is crucial for ensuring operational performance, improving efficiency, and ensuring safety. Steering control precisely adjusts the speed difference between the inner and outer wheels, ensuring good maneuverability and flexibility in confined or complex operating environments. Skid-steer loaders, in particular, can achieve on-the-spot steering or tight-radius turns, significantly improving operational efficiency and maneuverability. Furthermore, proper wheel speed control can effectively reduce tire wear and drivetrain shock, extending machine life and reducing maintenance costs. By minimizing ineffective slip and energy consumption, it improves the overall machine's economical operation. Therefore, proper steering control is not only essential for achieving basic loader control but also directly impacts its operational efficiency, safety, reliability, and economical operation.

[0003] In the prior art, the control method for skid steer loaders is usually to achieve differential steering by setting sensors in the hydraulic system to collect key data including hydraulic pressure and wheel speed in real time, and dynamically adjust the flow of the hydraulic valve in combination with the vehicle's driving status to achieve control.

[0004] However, the control method in the prior art has the problems of slow response speed and poor adaptability. Summary of the Invention

[0005] The embodiments of the present application provide a control method, device, equipment, medium and loader for a skid steer loader, so as to solve the problems of slow response speed and poor adaptability in the prior art.

[0006] In a first aspect, an embodiment of the present application provides a control method for a skid steer loader, comprising:

[0007] When it is determined that the skid steer loader has finished turning, obtaining a first wheel speed of an inner wheel of the skid steer loader and obtaining a second wheel speed of an outer wheel;

[0008] calculating a wheel speed difference between the first wheel speed and the second wheel speed;

[0009] When the wheel speed difference is less than or equal to a preset threshold, controlling the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on a first control strategy;

[0010] When the wheel speed difference is greater than the preset threshold, the first wheel speed of the inner wheel and the second wheel speed of the outer wheel are controlled based on a second control strategy.

[0011] In one possible implementation, controlling the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the first control strategy includes:

[0012] Acquire a handle signal, the handle signal including handle angle information and handle stroke information, the handle angle information being rotation direction information of the inner wheel and the outer wheel, and the handle stroke information being rotation speed information of the inner wheel and the outer wheel;

[0013] determining a rated speed corresponding to the handle action according to the handle angle information and the handle stroke information in the handle signal;

[0014] According to a preset S-shaped acceleration curve, the inner wheel and the outer wheel are controlled to accelerate synchronously to the rated speed.

[0015] In a possible implementation, controlling the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the second control strategy includes:

[0016] Based on the PID algorithm and the wheel speed difference, the target wheel speed of the inner wheel and the target wheel speed of the outer wheel are calculated to dynamically control the inner wheel to gradually increase the speed and the outer wheel to gradually decrease the speed until the wheel speed difference is less than or equal to the preset threshold.

[0017] In one possible implementation, calculating the target wheel speed of the inner wheel and the target wheel speed of the outer wheel based on the PID algorithm and the wheel speed difference includes:

[0018] Based on the PID algorithm and the wheel speed difference, calculating the wheel speed difference accumulation sum and the wheel speed difference change speed in real time;

[0019] Calculating a target wheel speed of the inner wheel and a target wheel speed of the outer wheel according to the wheel speed difference, the accumulated sum of the wheel speed differences, and the speed of change of the wheel speed difference;

[0020] controlling a first wheel speed of the inner wheel according to a target wheel speed of the inner wheel;

[0021] The second wheel speed of the outer wheel is controlled according to the target wheel speed of the outer wheel.

[0022] In one possible implementation, the method further includes:

[0023] When the target wheel speed of the inner wheel is greater than a preset wheel speed upper threshold value, determining the preset wheel speed upper threshold value as the target wheel speed of the inner wheel;

[0024] When the target wheel speed of the outer wheel is less than a preset wheel speed threshold lower limit, the preset wheel speed threshold lower limit is determined as the target wheel speed of the outer wheel.

[0025] In one possible implementation, the process of determining that the skid steer loader has completed steering includes:

[0026] Get the handle signal;

[0027] When the handle signal indicates that the handle has returned to the center, it is determined that the steering of the skid steer loader has ended.

[0028] In a second aspect, an embodiment of the present application provides a control device for a skid steer loader, comprising:

[0029] an acquisition module, configured to acquire a first wheel speed of an inner wheel of the skid steer loader and a second wheel speed of an outer wheel of the skid steer loader when it is determined that the skid steer loader has finished turning;

[0030] a calculation module, configured to calculate a wheel speed difference between the first wheel speed and the second wheel speed;

[0031] a first control module, configured to control a first wheel speed of the inner wheel and a second wheel speed of the outer wheel based on a first control strategy when the wheel speed difference is less than or equal to a preset threshold;

[0032] The second control module is configured to control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on a second control strategy when the wheel speed difference is greater than the preset threshold.

[0033] In a possible implementation manner, the first control module is specifically configured to:

[0034] Acquire a handle signal, the handle signal including handle angle information and handle stroke information, the handle angle information being rotation direction information of the inner wheel and the outer wheel, and the handle stroke information being rotation speed information of the inner wheel and the outer wheel;

[0035] determining a rated speed corresponding to the handle action according to the handle angle information and the handle stroke information in the handle signal;

[0036] According to a preset S-shaped acceleration curve, the inner wheel and the outer wheel are controlled to accelerate synchronously to the rated speed.

[0037] In a possible implementation manner, the second control module is specifically configured to:

[0038] Based on the PID algorithm and the wheel speed difference, the target wheel speed of the inner wheel and the target wheel speed of the outer wheel are calculated to dynamically control the inner wheel to gradually increase the speed and the outer wheel to gradually decrease the speed until the wheel speed difference is less than or equal to the preset threshold.

[0039] In a possible implementation manner, the second control module is specifically configured to:

[0040] Based on the PID algorithm and the wheel speed difference, calculating the wheel speed difference accumulation sum and the wheel speed difference change speed in real time;

[0041] Calculating a target wheel speed of the inner wheel and a target wheel speed of the outer wheel according to the wheel speed difference, the accumulated sum of the wheel speed differences, and the speed of change of the wheel speed difference;

[0042] controlling a first wheel speed of the inner wheel according to a target wheel speed of the inner wheel;

[0043] The second wheel speed of the outer wheel is controlled according to the target wheel speed of the outer wheel.

[0044] In a possible implementation, the skid steer loader control device further includes a determination module configured to:

[0045] When the target wheel speed of the inner wheel is greater than a preset wheel speed upper threshold value, determining the preset wheel speed upper threshold value as the target wheel speed of the inner wheel;

[0046] When the target wheel speed of the outer wheel is less than a preset wheel speed threshold lower limit, the preset wheel speed threshold lower limit is determined as the target wheel speed of the outer wheel.

[0047] In a possible implementation, the acquisition module is further configured to:

[0048] Get the handle signal;

[0049] When the handle signal indicates that the handle has returned to the center, it is determined that the steering of the skid steer loader has ended.

[0050] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor;

[0051] The memory stores computer-executable instructions;

[0052] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0053] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementation methods of the first aspect.

[0054] In a fifth aspect, an embodiment of the present application provides a skid steer loader, the skid steer loader including a vehicle body, a memory, and a processor;

[0055] The memory stores computer-executable instructions;

[0056] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0057] The control method, apparatus, device, medium, and loader provided by the present application detect the end of a turn by acquiring a first wheel speed of the inner wheel and a second wheel speed of the outer wheel in real time. Based on the actual wheel speeds of both wheels, the control method determines whether the vehicle has truly completed the turn, avoiding misjudgments caused by relying solely on handle return or hydraulic signals, thereby improving the accuracy and reliability of the judgment. By calculating the wheel speed difference between the inner and outer wheels, the control method accurately reflects whether the vehicle still has residual steering state, providing a basis for subsequent control. When the wheel speed difference is less than or equal to a preset threshold, indicating that the vehicle has basically resumed straight driving, the first control strategy simultaneously increases the inner and outer wheels to the target speed, allowing the vehicle to smoothly and naturally return to normal driving, improving driving comfort and safety, and avoiding vehicle body shaking or instability caused by sudden acceleration. When the wheel speed difference is greater than the preset threshold, indicating that the vehicle has not yet completed the turn, the second control strategy dynamically adjusts the inner and outer wheel speeds to ensure that the wheel speed difference smoothly converges to within the set threshold. This improves the vehicle's handling accuracy, straight driving stability, and tire life, and achieves precise recovery and smooth control of the skid loader after the end of the turn under complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0059] Figure 1 Schematic diagram of the control method of the skid steer loader provided in the embodiment of the present application Figure 1 ;

[0060] Figure 2 Schematic diagram of the control method of the skid steer loader provided in the embodiment of the present application Figure 2 ;

[0061] Figure 3A schematic structural diagram of a control device for a skid steer loader provided in an embodiment of the present application;

[0062] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0063] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0064] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0065] Steering control of a loader is crucial for ensuring operational performance, improving efficiency, and ensuring safety. Steering control precisely adjusts the speed difference between the inner and outer wheels, ensuring good maneuverability and flexibility in confined or complex operating environments. Skid-steer loaders, in particular, can achieve on-the-spot steering or tight-radius turns, significantly improving operational efficiency and maneuverability. Furthermore, proper wheel speed control can effectively reduce tire wear and drivetrain shock, extending machine life and reducing maintenance costs. By minimizing ineffective slip and energy consumption, it improves the overall machine's economical operation. Therefore, proper steering control is not only essential for achieving basic loader control but also directly impacts its operational efficiency, safety, reliability, and economical operation.

[0066] In the prior art, the control method for skid steer loaders is usually to achieve differential steering by setting sensors in the hydraulic system to collect key data including hydraulic pressure and wheel speed in real time, and dynamically adjust the flow of the hydraulic valve in combination with the vehicle's driving status to achieve control.

[0067] However, the preset pressure curves in the control methods in the existing technology are usually based on standard or ideal working conditions, which makes it difficult to fully cover the actual complex and changeable working environment. For example, under different road conditions, load changes or ground adhesion changes, the steering effect may not be able to maintain the best, resulting in reduced controllability and stability; in addition, the hydraulic system itself has certain hysteresis and inertia, and relies on sensor data feedback and valve adjustment for steering control, which has a certain response delay.

[0068] Based on this, the present application proposes a control method for a skid loader. Taking into account that traditional steering control methods are usually based on standard or ideal working conditions, it is difficult to adapt to the complex dynamic environment caused by changes in road conditions, load fluctuations or differences in ground adhesion during actual operations, and it is easy to have problems such as poor steering effect, poor controllability and decreased stability. In addition, the hydraulic system itself has lag and inertia, resulting in a slow response speed and an inability to complete steering recovery in a timely and accurate manner. Based on the above problems, the technical concept of this solution is to use real-time monitoring of the wheel speed difference between the inner and outer wheels of the vehicle as a direct physical criterion for the steering state, and use the wheel speed difference to reflect whether the vehicle is still in a steering state, thereby abandoning the traditional preset curve and indirect signal, and proposing a phased wheel speed control strategy. When the wheel speed difference is greater than the preset threshold, the wheel speed difference is smoothly converged to the set threshold by accelerating one side and decelerating the other side, accurately eliminating the residual steering effect; after the wheel speed difference is less than or equal to the preset threshold, the wheels on both sides are simultaneously increased to the target speed, ensuring that the process of the vehicle resuming straight driving is smoother and more natural, improving the vehicle's controllability, stability and driving comfort, and effectively solving the problems of poor adaptability to complex working conditions and slow response in existing technologies.

[0069] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0070] Figure 1 Schematic diagram of the control method of the skid steer loader provided in the embodiment of the present application Figure 1 ;like Figure 1 As shown, the method includes:

[0071] S101. When it is determined that the skid steer loader has finished turning, obtain a first wheel speed of an inner wheel of the skid steer loader and obtain a second wheel speed of an outer wheel.

[0072] In one achievable manner, a handle signal is first acquired; and then when the handle signal indicates that the handle has returned to the center, it is determined that the steering of the skid steer loader has ended.

[0073] Among them, the handle signal is obtained through the handle angle sensor; the wheel speed is collected in real time through the speed sensors (such as Hall sensors) installed on the inner and outer wheels.

[0074] It should be understood that in this application, the wheel speed adjustment mechanism is triggered by multiple signals, not solely relying on whether the joystick is centered, but rather by obtaining the actual wheel speeds of the inner and outer wheels. Because there is inevitably a difference in wheel speeds during steering, real-time monitoring of the inner and outer wheel speeds (first and second wheel speeds) accurately reflects whether the vehicle is turning or moving straight ahead. This judgment mechanism avoids misjudgments caused by relying solely on joystick centering or hydraulic signals, allowing for a more objective and accurate determination of the actual vehicle state, improving control accuracy and reliability.

[0075] S102: Calculate the wheel speed difference between the first wheel speed and the second wheel speed.

[0076] It is understandable that when the vehicle is traveling straight, the inner and outer wheel speeds should be consistent, but there will be a significant difference when turning; and the wheel speed difference = inner wheel speed (first wheel speed) - outer wheel speed (second wheel speed); this difference directly reflects whether the vehicle still has residual steering, providing a data basis for subsequent wheel speed control.

[0077] S103: When the wheel speed difference is less than or equal to a preset threshold, control a first wheel speed of the inner wheel and a second wheel speed of the outer wheel based on a first control strategy.

[0078] In one feasible method, the handle signal is first obtained; then, the rated speed corresponding to the handle action is determined based on the handle angle information and handle stroke information in the handle signal; finally, according to the preset S-shaped acceleration curve, the inner wheel and the outer wheel are controlled to accelerate synchronously to the rated speed.

[0079] The handle signal includes handle angle information and handle stroke information. The handle angle information is the rotation direction information of the inner wheel and the outer wheel, and the handle stroke information is the rotation speed information of the inner wheel and the outer wheel.

[0080] It should be noted that the S-shaped curve has a low acceleration at the start, linear acceleration in the middle, and a gradual slowing down towards the target in the latter part. This curve controls the synchronous acceleration of the inner and outer wheels to ensure a smooth transition during acceleration and avoid sudden changes that may cause vibration, impact, or slippage.

[0081] It should be understood that when the wheel speed difference is less than or equal to a preset threshold (e.g., ±5 revolutions per minute (RPM)), it indicates that the vehicle has essentially returned to a straight-ahead state and no longer requires residual steering. At this point, the first control strategy can be employed, employing an S-shaped acceleration curve to synchronously accelerate the inner and outer wheels to the target speed. This ensures a linear and smooth acceleration process and avoids vehicle body sway or sideways slippage caused by sudden changes. Furthermore, by acquiring handle angle information and handle stroke information from the handle signal (this angle information reflects the driver's intended direction for the vehicle), and handle travel information (which reflects the driver's intended wheel speed), the rated speed (e.g., 1500 RPM) corresponding to the current handle angle and handle stroke information is determined through a table lookup or function calculation. Then, a preset S-shaped acceleration curve (with an adjustable acceleration gradient of 0.5-2.0 m / s²) is used to synchronously accelerate the inner and outer wheels to the rated speed.

[0082] It can be understood that this method can achieve the smooth return of the vehicle to a straight-ahead state, improve driving comfort and ride smoothness, and avoid unstable driving or mechanical wear caused by sudden changes in speed.

[0083] S104: When the wheel speed difference is greater than a preset threshold, control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the second control strategy.

[0084] In one achievable method, based on the PID algorithm and the wheel speed difference, the target wheel speed of the inner wheel and the target wheel speed of the outer wheel are calculated to dynamically control the inner wheel to gradually increase the speed and the outer wheel to gradually decrease the speed until the wheel speed difference is less than or equal to a preset threshold.

[0085] It should be understood that when the wheel speed difference exceeds the preset threshold, it indicates that the wheel speeds are not fully balanced after the turn, and there is a risk of vehicle drag or deviation. In this case, the second control strategy is adopted. Based on the PID algorithm, the target speeds of the inner and outer wheels are dynamically adjusted, gradually accelerating one wheel and decelerating the other wheel, so that the wheel speed difference converges smoothly to within the set threshold, eliminating the residual effect of the turn and preventing the vehicle from dragging or unstable driving.

[0086] It should be noted that the detailed process of dynamically adjusting the target speed of the inner and outer wheels using the PID algorithm is described in this application. Figure 2 The embodiments are described in detail and will not be repeated here.

[0087] The control method for a skid-steer loader provided in an embodiment of the present application detects the end of a turn by acquiring a first wheel speed of the inner wheel and a second wheel speed of the outer wheel in real time. Based on the actual wheel speeds of both wheels, the method determines whether the vehicle has truly completed the turn, avoiding misjudgments caused by relying solely on handle return or hydraulic signals, and improving judgment accuracy and reliability. By calculating the wheel speed difference between the inner and outer wheels, the method accurately reflects whether the vehicle still has residual steering state, providing a basis for subsequent control. When the wheel speed difference is less than or equal to a preset threshold, indicating that the vehicle has basically resumed straight driving, a first control strategy is used to simultaneously increase the inner and outer wheels to target speeds, allowing the vehicle to smoothly and naturally return to normal driving, improving driving comfort and safety, and avoiding vehicle body shaking or instability caused by sudden acceleration. When the wheel speed difference is greater than the preset threshold, indicating that the vehicle has not yet resolved residual steering, a second control strategy is used to dynamically adjust the inner and outer wheel speeds so that the wheel speed difference smoothly converges to within a set threshold. This improves vehicle handling accuracy, straight driving stability, and tire life, and achieves precise recovery and smooth control of a skid-steer loader after the end of a turn under complex working conditions.

[0088] Figure 2 Schematic diagram of the control method of the skid steer loader provided in the embodiment of the present application Figure 2 ,like Figure 2 As shown, this embodiment Figure 1 Based on the embodiment, a process of calculating the target wheel speed of the inner wheel and the target wheel speed of the outer wheel using a PID algorithm and a wheel speed difference is described in detail. The method includes:

[0089] S201. Based on the PID algorithm and the wheel speed differences, calculate the accumulated sum of the wheel speed differences and the speed of change of the wheel speed differences in real time.

[0090] The accumulated sum of wheel speed differences is the integral term in the PID algorithm, specifically:

[0091]

[0092]

[0093] Where, e(t) is the wheel speed difference; is the current speed of the inner wheel (unit: RPM); is the current speed of the outer wheel (unit: RPM); integral is the accumulated historical error.

[0094] The wheel speed difference change rate is the differential term in the PID algorithm, specifically:

[0095]

[0096] Where derivative is the speed of change of the wheel speed difference; e(t) is the wheel speed difference.

[0097] It can be understood that by calculating the accumulated sum of the wheel speed differences and the speed of change of the wheel speed differences in real time, a data basis is provided for the subsequent calculation of the target wheel speeds of the inner wheel and the target wheel speeds of the outer wheel.

[0098] S202: Calculate the target wheel speed of the inner wheel and the target wheel speed of the outer wheel according to the wheel speed difference, the accumulated sum of the wheel speed differences, and the speed of change of the wheel speed difference.

[0099] It should be noted that the specific calculation formula is:

[0100]

[0101] Where u(t) is the speed value that needs to be compensated, Kp is the proportional gain, Ki is the integral gain, Kd is the derivative gain, error is the wheel speed difference, integral is the accumulated wheel speed difference, and derivative is the speed of change of the wheel speed difference.

[0102] It should be understood that the inner and outer wheels are dynamically adjusted based on the calculated speed value u(t) that needs to be compensated. When u(t) is greater than 0, u(t) is increased for the inner wheel to obtain the target wheel speed of the inner wheel; u(t) is decreased for the outer wheel to obtain the target wheel speed of the outer wheel; that is, the inner wheel is accelerated and the outer wheel is decelerated. When u(t) is less than 0, u(t) is increased for the inner wheel to obtain the target wheel speed of the inner wheel; u(t) is decreased for the outer wheel to obtain the target wheel speed of the outer wheel; that is, the inner wheel is decelerated and the outer wheel is accelerated. The two gradually balance, the wheel speed difference converges, and the vehicle resumes straight travel.

[0103] S203: Control a first wheel speed of the inner wheel according to the target wheel speed of the inner wheel.

[0104] S204: Control the second wheel speed of the outer wheel according to the target wheel speed of the outer wheel.

[0105] It should be noted that if the target wheel speed of the inner wheel is greater than the preset wheel speed threshold upper limit, the preset wheel speed threshold upper limit is determined as the target wheel speed of the inner wheel; if the target wheel speed of the outer wheel is less than the preset wheel speed threshold lower limit, the preset wheel speed threshold lower limit is determined as the target wheel speed of the outer wheel.

[0106] It should be noted that to ensure vehicle safety and prevent rollover, the speeds of the inner and outer wheels also need to be limited. For the inner wheel, to prevent negative wheel speeds (reversing) or values ​​abnormally less than 0, the target speed is limited to 0. Furthermore, to prevent overacceleration and exceeding the safe speed range, when the target wheel speed of the inner wheel is greater than the preset upper speed threshold, the preset upper speed threshold is used as the target wheel speed of the inner wheel. For the outer wheel, to prevent the outer wheel speed from being too low (causing the vehicle to brake or the tire to slip and become unstable), when the target wheel speed of the outer wheel is less than the preset lower speed threshold, the preset lower speed threshold is used as the target wheel speed of the outer wheel. Similarly, when the target wheel speed of the outer wheel is greater than the preset upper speed threshold, the preset upper speed threshold is used as the target wheel speed of the outer wheel.

[0107] It can be understood that by setting upper and lower limits for the wheel speed target value, the control calculation results are prevented from exceeding a reasonable range, ensuring that the wheel speed adjustment process is always carried out within a safe, reasonable and controllable range, thereby improving the stability and safety of the control system.

[0108] Figure 3 A schematic diagram of the structure of the control device of the skid steer loader provided in an embodiment of the present application; Figure 3 As shown, the device includes:

[0109] An acquisition module 301 is configured to acquire a first wheel speed of an inner wheel of the skid steer loader and a second wheel speed of an outer wheel of the skid steer loader when it is determined that the skid steer loader has completed turning.

[0110] A calculation module 302 is configured to calculate a wheel speed difference between a first wheel speed and a second wheel speed;

[0111] A first control module 303 is configured to control a first wheel speed of the inner wheel and a second wheel speed of the outer wheel based on a first control strategy when the wheel speed difference is less than or equal to a preset threshold;

[0112] The second control module 304 is configured to control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on a second control strategy when the wheel speed difference is greater than a preset threshold.

[0113] In a possible implementation, the first control module 303 is specifically configured to:

[0114] Obtaining a handle signal, which includes handle angle information and handle travel information. The handle angle information is the rotation direction information of the inner wheel and the outer wheel, and the handle travel information is the speed information of the inner wheel and the outer wheel;

[0115] Determine the rated speed corresponding to the handle action based on the handle angle information and handle stroke information in the handle signal;

[0116] According to the preset S-shaped acceleration curve, the inner and outer wheels are controlled to accelerate synchronously to the rated speed.

[0117] In a possible implementation, the second control module 304 is specifically configured to:

[0118] Based on the PID algorithm and the wheel speed difference, the target wheel speed of the inner wheel and the target wheel speed of the outer wheel are calculated to dynamically control the inner wheel to gradually increase the speed and the outer wheel to gradually decrease the speed until the wheel speed difference is less than or equal to the preset threshold.

[0119] In a possible implementation, the second control module 304 is specifically configured to:

[0120] Based on the PID algorithm and wheel speed difference, the accumulated sum of wheel speed difference and the speed of change of wheel speed difference are calculated in real time;

[0121] Calculating the target wheel speed of the inner wheel and the target wheel speed of the outer wheel based on the wheel speed difference, the accumulated sum of the wheel speed differences, and the speed of change of the wheel speed difference;

[0122] controlling a first wheel speed of the inner wheel according to a target wheel speed of the inner wheel;

[0123] The second wheel speed of the outer wheel is controlled based on the target wheel speed of the outer wheel.

[0124] In a possible implementation, the skid steer loader control device further includes a determination module configured to:

[0125] When the target wheel speed of the inner wheel is greater than the preset wheel speed upper threshold value, determining the preset wheel speed upper threshold value as the target wheel speed of the inner wheel;

[0126] When the target wheel speed of the outer wheel is less than the preset wheel speed threshold lower limit, the preset wheel speed threshold lower limit is determined as the target wheel speed of the outer wheel.

[0127] In a possible implementation, the acquisition module 301 is further configured to:

[0128] Get the handle signal;

[0129] When the handle signal indicates that the handle has returned to the center, it is determined that the steering of the skid steer loader has been completed.

[0130] The control device for the skid loader provided in the embodiment of the present application can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and will not be described in detail in this embodiment.

[0131] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 4As shown, the electronic device 40 provided in this embodiment includes: at least one processor 401 and a memory 402. Optionally, the device 40 further includes a communication component 403. The processor 401, the memory 402 and the communication component 403 are connected via a bus 404.

[0132] In a specific implementation process, at least one processor 401 executes the computer-executable instructions stored in the memory 402, so that the at least one processor 401 performs the above method.

[0133] The specific implementation process of the processor 401 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0134] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASICs), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules within the processor.

[0135] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage.

[0136] A bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0137] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0138] The readable storage medium may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0139] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0140] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0141] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0142] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0143] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0144] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0145] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A control method for a skid steer loader, characterized in that: include: When it is determined that the skid steer loader has finished turning, obtaining a first wheel speed of an inner wheel of the skid steer loader and obtaining a second wheel speed of an outer wheel; calculating a wheel speed difference between the first wheel speed and the second wheel speed; When the wheel speed difference is less than or equal to a preset threshold, controlling the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on a first control strategy; When the wheel speed difference is greater than the preset threshold, the first wheel speed of the inner wheel and the second wheel speed of the outer wheel are controlled based on a second control strategy.

2. The method according to claim 1, characterized in that The controlling the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the first control strategy includes: Acquire a handle signal, the handle signal including handle angle information and handle stroke information, the handle angle information being rotation direction information of the inner wheel and the outer wheel, and the handle stroke information being rotation speed information of the inner wheel and the outer wheel; determining a rated speed corresponding to the handle action according to the handle angle information and the handle stroke information in the handle signal; According to a preset S-shaped acceleration curve, the inner wheel and the outer wheel are controlled to accelerate synchronously to the rated speed.

3. The method according to claim 1, characterized in that The controlling the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the second control strategy includes: Based on the PID algorithm and the wheel speed difference, the target wheel speed of the inner wheel and the target wheel speed of the outer wheel are calculated to dynamically control the inner wheel to gradually increase the speed and the outer wheel to gradually decrease the speed until the wheel speed difference is less than or equal to the preset threshold.

4. The method according to claim 3, characterized in that The calculating the target wheel speed of the inner wheel and the target wheel speed of the outer wheel based on the PID algorithm and the wheel speed difference includes: Based on the PID algorithm and the wheel speed difference, calculating the wheel speed difference accumulation sum and the wheel speed difference change speed in real time; Calculating a target wheel speed of the inner wheel and a target wheel speed of the outer wheel according to the wheel speed difference, the accumulated sum of the wheel speed differences, and the speed of change of the wheel speed difference; controlling a first wheel speed of the inner wheel according to a target wheel speed of the inner wheel; The second wheel speed of the outer wheel is controlled according to the target wheel speed of the outer wheel.

5. The method according to claim 4, characterized in that The method further comprises: When the target wheel speed of the inner wheel is greater than a preset wheel speed upper threshold value, determining the preset wheel speed upper threshold value as the target wheel speed of the inner wheel; When the target wheel speed of the outer wheel is less than a preset wheel speed threshold lower limit, the preset wheel speed threshold lower limit is determined as the target wheel speed of the outer wheel.

6. The method according to claim 1, characterized in that The process of determining the end of steering of the skid steer loader includes: Get the handle signal; When the handle signal indicates that the handle has returned to the center, it is determined that the steering of the skid steer loader has ended.

7. A control device for a skid steer loader, characterized in that: include: an acquisition module, configured to acquire a first wheel speed of an inner wheel of the skid steer loader and a second wheel speed of an outer wheel of the skid steer loader when it is determined that the skid steer loader has finished turning; a calculation module, configured to calculate a wheel speed difference between the first wheel speed and the second wheel speed; a first control module, configured to control a first wheel speed of the inner wheel and a second wheel speed of the outer wheel based on a first control strategy when the wheel speed difference is less than or equal to a preset threshold; The second control module is configured to control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on a second control strategy when the wheel speed difference is greater than the preset threshold.

8. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A loader, characterized in that: including a vehicle body, a memory, and a processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to perform the method according to any one of claims 1 to 6.

Images