Travel control method and system for work machine

Abstract

The invention relates to the technical field of large-scale operation machinery control, and discloses an operation machinery running control method and system. The method is applied to the hybrid-power-driven operation machine and comprises the steps that a detected target adjusting instruction is responded, and the target adjusting instruction is converted into a control instruction; converting the control instruction into control current corresponding to each wheel of the operation machine; and adjusting the rotating speed of each wheel based on the control current, and driving the operation machine to run under the target running working condition. The independent control current is distributed to each wheel through the digital control signal so as to accurately adjust the rotating speed of each wheel, so that the operation machine can still keep dynamic balance of each wheel speed under a complex working condition, the smoothness of variable speed control can be effectively improved, the operation machine can stably and safely run under various target running working conditions, and the working efficiency is improved. And the operation comfort of a driver can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of large-scale working machinery control, and in particular to a working machinery travel control method and a working machinery travel control system. Background Art

[0002] The transmission form of traditional fuel-powered operating machinery mainly relies on the engine to provide power, and the kinetic energy is transmitted in sequence through the torque converter, gearbox, drive shaft, and drive axle to realize the movement and reversing of the entire machine. The front and rear axles are mechanically connected through the drive shaft, and the entire machine is subjected to a large gear shift shock during the gear shifting process; for pure electric operating machinery, the transmission form mainly relies on batteries to provide power, and the power is transmitted in sequence through the lower-mounted travel motor, electric drive gearbox, drive shaft, and drive axle used to drive the hydraulic pump. Generally, a hydraulically or electronically controlled speed control valve is used to realize the gear shifting of the entire machine through high-pressure oil. There is also a large gear shift shock, resulting in poor comfort of speed control. Summary of the Invention

[0003] The purpose of the present invention is to overcome the problem of poor comfort of speed change control caused by large gear shift shock in the existing working machine driving control method, and to provide a working machine driving control method and system.

[0004] To achieve the above-mentioned object, the present invention provides a travel control method for a working machine, which is applied to a hybrid-powered working machine. The method comprises: In response to receiving the target adjustment instruction, converting the target adjustment instruction into a control instruction; converting the control instruction into a control current corresponding to each wheel of the working machine; The rotational speed of each wheel is adjusted based on the control current to drive the working machine to travel under the target driving condition.

[0005] Optionally, the target adjustment instruction includes a vehicle speed adjustment instruction and / or a wheel speed adjustment instruction, further comprising: a process of generating the target adjustment instruction, specifically comprising: In response to receiving the gear adjustment instruction, obtaining the real-time speed of the working machine; generating a vehicle speed adjustment instruction based on the real-time speed and the gear adjustment instruction; or, In response to receiving a signal that a speed difference between any two wheels of the work machine is greater than a preset speed difference threshold, a wheel speed adjustment instruction is generated based on the speed difference.

[0006] Optionally, the working machine is equipped with a wheel-side motor connected to each wheel, and generates a vehicle speed adjustment instruction based on the real-time speed and the gear adjustment instruction, including: In the manual shift mode, a target gear and a target throttle opening are determined based on the real-time speed and the gear adjustment instruction; the current value of each wheel-side motor is adjusted based on a first mapping relationship between a preset throttle opening corresponding to the target gear and a current value of the wheel-side motor, and the target throttle opening, and a vehicle speed adjustment instruction is generated using the current value of each wheel-side motor; In the automatic shifting mode, the target throttle opening is determined based on the real-time speed and the gear adjustment instruction; based on the second mapping relationship between the preset throttle opening and the current value of the wheel-side motor, and the target throttle opening, the current value of each wheel-side motor is adjusted, and the current value of each wheel-side motor is used to generate a vehicle speed adjustment instruction.

[0007] Optionally, the working machine is equipped with a wheel-side motor connected to each wheel, and the rotation speed of each wheel is adjusted based on the control current to drive the working machine to travel under the target driving condition, including: Determining the motor speed of each wheel-side motor based on the control current; The rotation speed of each wheel is adjusted based on the motor rotation speed of each wheel-side motor, and the working machine is driven to travel under the target driving condition.

[0008] Optionally, also include: During driving, in an automatic shifting mode, a target driving speed is obtained based on a target driving condition of the working machine; The gear position of the work machine is updated based on the target travel speed.

[0009] Optionally, in response to detecting that a speed difference between any two wheels of the working machine is greater than a preset speed difference threshold, generating a wheel speed adjustment instruction based on the speed difference includes: In response to detecting that a speed difference between any two wheels of the working machine is greater than a preset speed difference threshold, determining a slipping operating condition type; Obtaining the rotational speed of each wheel and the operating load of the operating machine; Based on the slip condition type, a wheel speed adjustment instruction is generated using the workload and the speed difference.

[0010] Optionally, the working machine is equipped with a wheel-side motor connected to each wheel, and a speed reducer is respectively configured between each wheel-side motor and the corresponding wheel; adjusting the rotation speed of each wheel based on the control current to drive the working machine to travel under the target driving condition includes: Determining the adjusted motor speed corresponding to each wheel-side motor based on the control current; Based on the motor speeds before and after adjustment corresponding to each wheel-side motor, the speed and torque of each reducer are determined; The rotational speed of the corresponding wheels is adjusted based on the rotational speed and torque of each reducer, so as to drive the working machine to travel under the target driving condition.

[0011] Optionally, the working machine is equipped with a hybrid power module, which includes an engine and a generator, and the control current is provided by the hybrid power module.

[0012] Optionally, the hybrid power module further includes a power battery; and before adjusting the rotational speed of each wheel based on the control current, further includes: In response to detecting that the power battery has a charge less than a rated capacity, the hybrid power module is used to charge the power battery until the power battery has a charge reaching a rated capacity; the power battery is used to drive each wheel to rotate through the control current.

[0013] The second aspect of the present invention provides a driving control system for an operating machine, comprising a whole machine controller, a control module and a wheel-side motor module; wherein the whole machine controller is used to convert the target adjustment instruction into a control instruction in response to receiving the target adjustment instruction; the control module is used to convert the control instruction into a control current corresponding to each wheel of the operating machine; the wheel-side motor module is used to adjust the rotational speed of each wheel based on the control current, and drive the operating machine to travel under the target driving condition.

[0014] A third aspect of the present invention provides a working machine, a memory for storing executable instructions; The processor is used to call and run the executable instructions in the memory to execute the steps of the above-mentioned working machine travel control method.

[0015] A fourth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores program instructions. When the program instructions are executed by a processor, the steps of the above-mentioned working machine travel control method are implemented.

[0016] Compared with the existing technology, the beneficial effects of this solution are as follows: The present invention distributes independent control current to each wheel through digital control signals to accurately adjust the rotation speed of each wheel, so that the operating machinery can still maintain the dynamic balance of each wheel speed under complex working conditions, which can effectively improve the smoothness of speed change control, ensure that the operating machinery can travel stably and safely under various target driving conditions, and is conducive to improving the driver's operating comfort; at the same time, through the precise distribution of current, it can effectively avoid power waste and achieve a balance between operating efficiency and economy.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings: Figure 1 This is a schematic structural diagram of the operating machine travel control system of the present invention; Figure 2 This is a flow chart of the operating machine travel control method of the present invention; Figure 3 This is a schematic diagram of the control flow in the manual shift mode of the present invention; Figure 4 This is a schematic diagram of the control flow in the automatic shifting mode of the present invention; Figure 5 This is a schematic diagram of the anti-skid function control flow of the present invention; Figure 6 It is a schematic diagram of the operating mechanical structure of the present invention. DETAILED DESCRIPTION

[0019] The following is a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0021] In view of the problem that the existing driving control method of working machinery has poor comfort of speed change control due to large gear shifting shock, an embodiment of the present invention proposes a hybrid-powered working machinery, the driving control system of which mainly includes a hybrid power module, a whole machine controller, a control module and a wheel-side motor module connected in sequence.

[0022] The hybrid power module includes a coupled engine and generator, which are used to provide electrical energy to the control module and the wheel-side motor module. The engine generates kinetic energy by burning diesel and provides variable frequency current to the generator through a high-voltage cable to drive the generator to generate electricity. The generator is matched with the engine and outputs a portion of the electrical energy to the wheel-side motor module through the control module to drive the entire working machine to move through the wheel-side motor module. During this period, it ensures the stable output of sufficient electrical energy to ensure the normal operation of the working machine. At the same time, it outputs another portion of the electrical energy to the transfer case to drive the transfer case to operate. The transfer case is used to distribute the power of the engine to each pump through the hydraulic system. Each pump serves as a power element of the working machine's actuator to drive the working machine to operate. As a preferred example, the hybrid power module also includes a power battery for storing part of the electrical energy and energy recovery to provide electrical energy to the control module, drive the wheel-side motor module to work through the control module, and even recover the energy generated during the braking process to achieve charging and discharging functions.

[0023] The whole machine controller is used to detect the gear adjustment instructions input from the outside, the motor speed, wheel speed and other adjustment instructions fed back from the system, and in response to the detection of the target adjustment instruction, convert the target adjustment instruction into a control instruction and then transmit it to the control module.

[0024] The control module is used to realize the current drive control of the wheel-side motor module, the charge and discharge control of the power battery, and the thermal management control of the power battery.

[0025] The wheel-side motor module includes wheel-side motors for driving each wheel to rotate, and the number of wheel-side motors is equal to the number of wheels. It is used to receive electrical signals from the control module and drive the wheels of the working machine to rotate, so as to realize the movement and reversing of the whole machine. As a preferred example, the wheel-side motor module also includes a reducer for adjusting the wheel speed, and the reducer is arranged between each wheel-side motor and the corresponding wheel, that is, each wheel is equipped with a set of wheel-side motors and reducers, which can realize independent control of the speed of a single wheel. It can be seen that the transmission form of the hybrid-powered working machine provided by this embodiment is obviously different from that of traditional fuel-powered models and pure electric working machines. It mainly relies on the range extender assembly of the engine and generator to provide power. Since it is to replace the imported bridge box, the whole machine no longer realizes movement through the gearbox and drive shaft, but realizes movement through the wheel-side motors matched with each wheel, and each wheel-side motor is independently controlled without rigid connection, which is conducive to reducing the cost of the whole machine and the cost of subsequent maintenance.

[0026] Based on the configuration of the aforementioned operating machine's travel control system, the engine, generator, and power battery in this embodiment together form a range-extended hybrid system. This system primarily utilizes the engine and generator, forming a range extender, to work in tandem with the power battery to drive the wheel motors, which in turn drive the wheels. This system's power drive modes include pure electric drive mode, range extender direct drive mode, and hybrid drive mode. Among them, when the power battery is fully charged, the pure electric mode is started, and the power battery adjusts the current transmitted to each wheel-side motor to achieve stepless speed change and reversing, which can avoid hydraulic gear shifting shock; when the power battery is insufficient or high-load operation is in progress, the range extender direct drive mode is started, and the engine burns diesel to generate kinetic energy to drive the generator to generate electricity, so as to dynamically distribute electrical energy to the wheel-side motor. During the whole process, the engine always works in a state of high efficiency, which can realize dynamic matching of the range extender's power generation power and the motor's required power, thereby avoiding energy waste; when the instantaneous power demand exceeds the rated output power of the range extender (such as excavation operation), the hybrid drive mode is started, and electrical energy is output by the range extender and the power battery at the same time to make up for the insufficient output power of the range extender.

[0027] For example, Figure 1 The driving control system of the working machinery shown includes four wheels. The wheel-side motor module is equipped with four sets of wheel-side motors and reducers. Each front wheel and rear wheel is respectively equipped with an independent set of wheel-side motors and reducers. At the same time, the control module can send control current to each wheel-side motor separately to realize independent control of the speed of a single wheel.

[0028] Based on the above analysis, it can be known that the transmission process of the whole machine of the operating machinery mainly includes: generating electricity through the engine driving the generator, and storing the electric energy in the power battery, and outputting the excess electric energy to the wheel-side motor module through the control module, so as to drive the wheels of the entire operating machinery to rotate and travel through the wheel-side motor module. It should be stated that the operating machinery involved in the embodiment of the present invention generally refers to mechanical equipment in engineering scenarios that require high power output, long endurance or frequent start and stop, such as loaders, excavators, forklifts, road rollers, concrete pump trucks, etc. The present invention does not impose specific restrictions on the type of operating machinery. Any operating machinery that is equipped with the hybrid system proposed in the present invention and realizes travel control based on the concept of the operating machinery travel control method proposed in the present invention is within the scope of protection of the present invention.

[0029] The embodiment of the present invention is based on the driving control system of the hybrid-powered working machine, and proposes a driving control method for the working machine, such as Figure 2 As shown, the method is controlled and executed by the electronic control unit (ECU) of the working machine, and the processing flow specifically includes: Step 100: In response to receiving a target adjustment instruction, convert the target adjustment instruction into a control instruction.

[0030] Specifically, when a machine operator generates a target adjustment command through a control device (such as an accelerator pedal or joystick) or receives a target adjustment command from the system, the machine controller collects the physical signals of the target adjustment command (such as voltage changes or displacement) in real time through a sensor network. In response to the received physical signals, the system's built-in command parsing module classifies these raw signals into operational intent, such as speed adjustment, direction switching, or mode selection. These signals are then mapped to specific equipment control parameters based on pre-set control logic. For example, a 50% accelerator pedal stroke is converted into a digital command of 60% of the rated wheel motor speed. Safety constraints (such as maximum vehicle speed under grade restrictions and maximum steering under curvature restrictions) are also integrated to ultimately generate a control command containing the target parameters and execution sequence.

[0031] Step 200: Convert the control instruction into a control current corresponding to each wheel of the working machine.

[0032] Specifically, the control instructions are transmitted to the control module through the whole machine controller, and the control module performs current distribution calculations based on the independent driving characteristics of each wheel. First, the real-time operating status data of each wheel-side motor (including speed and torque, etc.) is read, and the optimal current distribution scheme that meets the target driving conditions is calculated in combination with the vehicle dynamics model. For example, under turning conditions, the inner wheel will receive a lower current value than the outer wheel. Then, the digital control instructions are converted into analog current signals corresponding to each wheel, and three-phase alternating current (i.e., control current) is output to each wheel-side motor via the inverter. Furthermore, the conversion process of this embodiment includes a dynamic compensation mechanism, which automatically adjusts the current output waveform when a sudden change in the load of a wheel-side motor is received to avoid the impact caused by sudden changes in speed or steering.

[0033] Step 300: Adjust the rotation speed of each wheel based on the control current to drive the working machine to travel under the target driving condition.

[0034] Specifically, after receiving independent control currents, each wheel-side motor adjusts the speed of the corresponding wheel. The coordinated change in the speed of each wheel of the work machine drives the entire vehicle into the target driving condition. This achieves a control process that converts control instructions into independent control currents for driving each wheel-side motor, and then uses the control currents of each wheel-side motor to drive the corresponding wheel movements, so that the work machine travels under the target driving condition. The target driving condition is any one of the pre-configured driving conditions (such as straight-line driving condition, cornering driving condition, slipping condition, uphill driving condition, etc.), including the wheel speed and direction corresponding to each driving condition.

[0035] In this embodiment, an independent control current is allocated to each wheel through a digital control signal to accurately adjust the rotational speed of each wheel, so that the operating machine can still maintain a dynamic balance of wheel speeds under complex working conditions, which can effectively improve the smoothness of the speed change control, ensure that the operating machine can travel stably and safely under various target driving conditions, and is conducive to improving the driver's operating comfort; at the same time, through the precise distribution of current, it can effectively avoid power waste and achieve a balance between operating efficiency and economy.

[0036] In a preferred embodiment, the working machine is equipped with a wheel-side motor connected to each wheel. In step 300, the rotation speed of each wheel is adjusted based on the control current to drive the working machine to travel under the target driving condition, including: Step 310: Determine the motor speed of each wheel-side motor based on the control current.

[0037] Specifically, the system calculates the actual speed of each wheel motor based on the control current input to each in-wheel motor, combined with the motor characteristic curve (including the mapping between motor current, speed, and torque) and real-time feedback data (such as motor speed and torque). Because the speed and current of a wheel motor have a nonlinear relationship, the control module dynamically adjusts the speed of each in-wheel motor by taking into account factors such as current voltage, magnetic field strength, and mechanical resistance. For example, when climbing a hill with a heavy load, the system automatically increases the current to compensate for the additional load, ensuring that the in-wheel motor maintains the preset speed. Furthermore, a speed sensor monitors the actual speed of each in-wheel motor in real time and compares it with the theoretical target speed of each in-wheel motor to ensure that the speed error is within a preset accuracy range.

[0038] Step 320: Adjust the rotation speed of each wheel based on the motor rotation speed of each wheel-side motor, and drive the working machine to travel under the target driving condition.

[0039] Specifically, the system uses the speed of each wheel-mounted motor to drive the corresponding wheel. The system then adjusts the overall driving state based on the coordinated changes in wheel speed, driving the machine to the target operating condition. For example, in a curve, the inner motor speed decreases while the outer motor speed increases, allowing the machine to smoothly negotiate the corner. In a straight line, the wheel speeds remain synchronized to prevent deviation.

[0040] In this embodiment, the motor speed of each wheel-side motor is precisely controlled by controlling the current, and the speed of each wheel is further adjusted to drive the working machine to travel under the target driving conditions. This control mechanism can achieve intelligent matching of motor speed and wheel speed, which is beneficial to ensure the smoothness of power output, so that the whole vehicle can greatly improve the driving stability and control accuracy of the working machine while maintaining operating efficiency, thereby maintaining the dynamic balance of the working machine during driving.

[0041] In a preferred embodiment, the target adjustment instruction includes a vehicle speed adjustment instruction and / or a wheel speed adjustment instruction, and further includes step 400: a process of generating the target adjustment instruction. When the target adjustment instruction is a vehicle speed adjustment instruction, step 410 is executed, specifically as follows: In response to receiving the gear adjustment instruction, the real-time speed of the working machine is acquired; and a vehicle speed adjustment instruction is generated based on the real-time speed and the gear adjustment instruction.

[0042] Specifically, the system collects the current actual driving speed in real time through the speed sensors installed on the wheels. When the operator of the operating machine operates the gear shift device, the whole machine controller responds to the received gear adjustment instruction, and the system compares and analyzes the received real-time speed with the standard speed range corresponding to the target gear. If the real-time speed does not match the target gear (such as switching to a low-speed gear under high-speed state), the target speed value of each wheel is calculated based on the real-time speed and the gear adjustment instruction, taking into account the constraints of acceleration limit and buffer time, using the motor power distribution algorithm to generate a vehicle speed adjustment instruction that matches each wheel, and at the same time control the engine and generator to perform smooth power switching to ensure that there will be no power interruption or mechanical shock during the gear conversion process.

[0043] As a preferred example, the working machine is equipped with wheel-side motors connected to each wheel. In manual shifting mode, the target gear and target throttle opening are determined based on the real-time speed and the gear adjustment instruction; based on the first mapping relationship between the preset throttle opening corresponding to the target gear and the current value of the wheel-side motor, and the target throttle opening, the current value of each wheel-side motor is adjusted, and the current value of each wheel-side motor is used to generate a vehicle speed adjustment instruction.

[0044] Specifically, in manual shift mode, when the driver operates the shift lever to issue a gear adjustment command, the system obtains the real-time speed of the work machine through the vehicle speed sensor and matches the real-time speed with the speed range corresponding to each gear. If the target gear selection is reasonable (e.g., the current speed is within the normal operating range of the gear), the system calculates the appropriate target throttle opening based on the gear characteristic curve (including the mapping relationship between gear and speed range) and the power mode of the work machine (e.g., hybrid mode, pure electric mode). Based on a first mapping relationship between the preset throttle opening corresponding to the target gear and the current value of the wheel-side motor, as well as the target throttle opening, the system adjusts the current value of each wheel-side motor and uses the current value of each wheel-side motor to generate a vehicle speed adjustment command that balances power response smoothness and fuel economy. If a serious mismatch between gear and speed is received (e.g., a request for overspeeding in a low-speed gear), the system triggers a protection mechanism, prioritizes maintaining the current gear, and prompts the driver to adjust the operation. Among them, the first mapping relationship between the preset throttle opening and the current value of the wheel-side motor refers to the mapping relationship between the throttle opening preset for each gear in the manual shift mode and the current value of the wheel-side motor, specifically: within the throttle opening range corresponding to each gear, as the throttle opening increases, the current value of the wheel-side motor also increases linearly, thereby controlling the speed of the travel motor to increase linearly, and finally the speed of the whole machine is accelerated to the maximum speed of the corresponding gear. At this time, even if the accelerator is continued to be stepped on, the current of the wheel-side motor will no longer change, and it will always maintain the maximum speed of the corresponding gear for driving. It can be seen that by pre-constructing the shift control logic corresponding to each gear in this embodiment, the vehicle speed acceleration can be optimized, the most suitable acceleration performance can be adapted, and the operating efficiency of the whole machine can be improved.

[0045] For example, Figure 3As shown, the working machine is equipped with a manual shift lever. In manual shift mode, when the driver manually shifts the shift lever to forward gear I, an electrical signal corresponding to the target adjustment command for forward gear I is transmitted to the machine controller. The machine controller converts the target adjustment command into a control command, and transmits the electrical signal corresponding to the control command to the control module. The control module, based on the control command, converts the electrical energy provided by the generator into a control current corresponding to each wheel, and transmits each control current to the corresponding wheel-side motor. Based on the set initial speed of each wheel-side motor, after the driver steps on the accelerator, the control current transmitted to each wheel-side motor increases as the accelerator increases, thereby controlling the speed of the wheel-side motor to increase until the vehicle speed reaches the maximum speed set for gear I. At this point, even if the accelerator is further pressed, the control current will not change, and the vehicle speed will always be maintained at the maximum speed of gear I. As can be seen, the control logic in the manual shift mode of this embodiment can optimize the speed of the working machine, adapt to the most appropriate speed regulation performance, and thus improve the operating efficiency of the whole machine. Similarly, the control logic in this manual shift mode can be used to control the vehicle speed and acceleration performance corresponding to the machine's forward gears II, III, and V, as well as each reverse gear. It's easy to understand that when adjusting the reverse gear, the direction of the control current and, therefore, the rotation direction of each wheel-side motor can be adjusted to control the reverse movement of the machine.

[0046] Compared with the hydraulic and electro-hydraulic shift control logic of existing gearboxes, the control logic in the manual shift mode in this embodiment has no hydraulic shock when shifting and reversing the electric turbine-type operating machinery, and the size of the control current can be adjusted steplessly. The shift shock, reversing shock, and start-stop shock of the entire machine are smaller, and the controllability and comfort are better.

[0047] As another preferred example, the working machine is equipped with wheel-side motors connected to each wheel. In the automatic shifting mode, the target throttle opening is determined based on the real-time speed and the gear adjustment instruction; based on the second mapping relationship between the preset throttle opening and the current value of the wheel-side motor, and the target throttle opening, the current value of each wheel-side motor is adjusted, and the current value of each wheel-side motor is used to generate a vehicle speed adjustment instruction.

[0048] Specifically, the whole machine is controlled to enter the automatic shifting mode through the enabling switch. In the automatic shifting mode, the system obtains the real-time speed of the operating machine through the vehicle speed sensor. When the whole machine controller receives the gear adjustment instruction, the system calculates the adapted target throttle opening according to the power mode of the operating machine (such as hybrid power mode, pure electric power mode), and adjusts the current value of each wheel-side motor based on the second mapping relationship between the preset throttle opening and the current value of the wheel-side motor, as well as the target throttle opening. The current value of each wheel-side motor is used to generate a vehicle speed adjustment instruction that matches the current operating status of the vehicle and the driver's operating intention using the current value of each wheel-side motor. The entire process does not require manual intervention in gear selection, and adaptive stepless adjustment of the vehicle speed can be achieved only through changes in the throttle opening. Among them, the second mapping relationship between the preset throttle opening and the current value of the wheel-side motor refers to the mapping relationship between the throttle opening and the current value of the wheel-side motor pre-set for the automatic shift mode. Specifically, as the throttle opening increases, the current value of the wheel-side motor also increases linearly, thereby controlling the speed of the travel motor to increase linearly until the set maximum vehicle speed is reached. At this time, even if the throttle is continued to be stepped on, the current of the wheel-side motor will no longer change, and the maximum vehicle speed will always be maintained. It can be seen that compared to the manual shift mode, in the automatic shift mode, the speed change range corresponding to the same throttle opening is larger. By adjusting the throttle opening, the conversion from zero speed to the maximum safe driving speed of the entire machine can be achieved.

[0049] Furthermore, in the automatic shifting mode, after driving the working machine to travel under the target driving condition, it also includes: obtaining a target driving speed based on the target driving condition of the working machine; and updating the gear position of the working machine based on the target driving speed.

[0050] Specifically, in the automatic shifting mode, when the working machine reaches the target driving condition, the wheel-side motors corresponding to the front and rear wheels will feed back the motor speed to the whole machine controller, and the whole machine controller will convert the motor speed corresponding to the front and rear wheels into the target driving speed of the working machine, and according to the target driving speed and the current gear, the gear of the working machine will be updated in real time to the gear corresponding to the target driving speed, so that the working machine can maintain a stable and safe driving state, and the target driving speed will be displayed on the whole machine display screen configured for the working machine to improve the driver's visual operation experience of the working machine.

[0051] For example, Figure 4As shown, the machine is equipped with both manual and automatic shift modes. The enabling switch allows the machine to switch from manual to automatic shift mode. The shifting principle in automatic shift mode is similar to that in manual mode, with the main difference being that the vehicle speed can be adjusted simply by pressing the accelerator, without triggering the manual shift lever. Furthermore, after reaching the target speed, the gear position is promptly updated to match the target speed. This entire process requires no manual intervention in gear selection; the vehicle speed is adaptively and continuously adjusted simply by changing the throttle position, making it simple to operate.

[0052] In another preferred embodiment, the process of generating the target adjustment instruction, when the target adjustment instruction is a wheel speed adjustment instruction, executes step 420, specifically as follows: In response to detecting that a speed difference between any two wheels of the work machine is greater than a preset speed difference threshold, a wheel speed adjustment command is generated based on the speed difference.

[0053] Specifically, the work machine's driving control system dynamically monitors wheel speeds at a preset frequency using high-precision speed sensors installed on each wheel. When the machine controller detects a speed difference between any two wheels exceeding a preset safety speed difference threshold, or when the speed difference between the wheel-mounted motors corresponding to any two wheels exceeds a preset safety speed difference threshold, it indicates that the work machine is slipping. The system determines the slip condition based on the position of the two wheels corresponding to the speed difference and immediately triggers the corresponding differential speed adjustment mechanism. The system first analyzes the cause of the speed difference (such as unilateral slip, rear wheel slip, steering slip, or uneven road surface). Then, based on the current throttle opening, steering angle, and vehicle tilt, it calculates the torque distribution scheme required to compensate and generates wheel speed adjustment commands. For example, the system appropriately reduces motor output current for wheels with excessive speed and proportionally increases driving force for wheels with insufficient speed until the system confirms that the speed difference is within the preset safety threshold. This prevents abnormal tire wear and steering deviation while maintaining overall machine stability, effectively improving the work machine's operating efficiency.

[0054] For example, Figure 5 As shown, when the rear wheels of a work machine slip during shoveling operations, the machine controller detects that the speed difference between the wheel-mounted motors corresponding to the front and rear wheels exceeds a preset safe motor speed difference threshold, indicating that the work machine's rear wheels are slipping, and immediately triggers the differential adjustment mechanism. The control module maintains the control current transmitted to the front wheel-mounted motors while reducing the electrical signal strength corresponding to the control current transmitted to the rear wheel-mounted motors, thereby reducing the rear wheel speed, thereby increasing the rear wheel traction and preventing the work machine's rear wheels from slipping.

[0055] As a preferred example, in step 420, in response to detecting that a speed difference between any two wheels of the working machine is greater than a preset speed difference threshold, generating a wheel speed adjustment instruction based on the speed difference includes: Step 421: In response to detecting that the speed difference between any two wheels of the working machine is greater than a preset speed difference threshold, determining the type of the slipping condition.

[0056] Specifically, when the operating machinery control system detects that the speed difference between any two wheels of the operating machinery exceeds a preset threshold, the system first combines the two wheel positions corresponding to the speed difference, and even the steering angle, throttle opening and body posture sensor data to intelligently identify the type of slip condition, mainly including: if the speed of a single wheel suddenly increases and is accompanied by a steering operation, it is determined to be a speed difference caused by the steering condition. If the speed difference is too large, it is considered that steering slip has occurred; if the speed of the coaxial wheels on both sides fluctuates abnormally and the operating load changes suddenly, it is determined to be a slip caused by insufficient road adhesion; if the speed difference between the front and rear wheels is large, it is determined to be a slip caused by slope driving or heavy load operation.

[0057] Step 422: Obtain the rotational speed of each wheel and the operating load of the operating machine.

[0058] Specifically, the system collects the rotation speed data of each wheel in real time through wheel speed sensors, and obtains the operating load in real time based on the hydraulic system and engine output power.

[0059] Step 423: Based on the slip condition type, using the operating load and the speed difference, generate a wheel speed adjustment instruction.

[0060] Specifically, based on the determined slip condition type, the system generates wheel speed adjustment commands by invoking a preset control strategy that matches that slip condition type. For example, for a steering slip condition, the system determines the speed difference range that needs to be corrected based on the vehicle's driving speed and a reasonable speed difference threshold between the inner and outer wheel speeds. The wheel speed adjustment command is then generated based on this speed difference range. For a slip condition caused by insufficient adhesion, the system determines the torque reduction value for the slipping wheel based on the workload data and the speed difference. The wheel speed adjustment command is then generated based on this torque reduction value. For rear wheel slip caused by excessive workload during shoveling operations, the system generates a wheel speed adjustment command based on the workload and the speed difference between the front and rear wheels.

[0061] In this embodiment, by accurately determining the type of slip condition, combining wheel speed and load data, and generating customized wheel speed adjustment commands, the system can quickly identify and correct abnormal wheel slip, significantly improving the operating stability and safety of the machine in complex conditions such as slippery roads, slopes, and heavy loads. Furthermore, through dynamic torque distribution, tire wear is minimized while maintaining traction, extending component life and improving energy efficiency, ensuring that the machine maintains optimal power performance and control safety in various operating environments.

[0062] In a preferred embodiment, a speed reducer is respectively configured between each wheel-side motor and the corresponding wheel; and in step 300, the rotation speed of each wheel is adjusted based on the control current to drive the working machine to travel under the target driving condition, further comprising: Step 330: Based on the control current, determine the adjusted motor speed corresponding to each wheel-side motor.

[0063] Specifically, the system dynamically calculates and outputs the adjusted motor speed based on the real-time control current input to each wheel-side motor, combined with the motor load characteristics, temperature and efficiency curve. For example, when the working machine is inserted into a pile of materials, the front wheels are under greater pressure. When the ground friction is greater than the traction of the entire machine, the set traction can still be output. However, since the rear wheels have less adhesion than the front wheels and are not rigidly connected to the front wheels, slipping is likely to occur. When slipping occurs, this embodiment reduces the control current output to the wheel-side motor corresponding to the rear wheel, thereby reducing the motor speed of the wheel-side motor corresponding to the rear wheel, while avoiding mechanical wear caused by the large difference between the speeds of the front and rear wheels.

[0064] Step 340: Determine the speed and torque of each reducer based on the motor speeds before and after adjustment corresponding to each wheel-side motor.

[0065] Specifically, the system compares the speed changes of each wheel motor before and after adjustment, and calculates the speed and torque output by the reducer based on its transmission ratio and mechanical efficiency. Simultaneously, based on the reducer's torque-speed characteristic curve and the machine's workload (such as a fully loaded bucket or climbing a slope), the system dynamically adjusts the reducer's output torque, ensuring the required driving force is met without damaging transmission components due to overload.

[0066] Step 350: Based on the speed and torque of each reducer, adjust the speed of the corresponding wheel.

[0067] Specifically, the final output speed and torque of the reducer are applied directly to the wheels. The system ensures vehicle stability by monitoring the speed differential and torque distribution between each wheel in real time. For example, when turning, the inner reducer is controlled to output a lower speed and torque, while the outer reducer outputs a higher speed and torque to assist steering. When driving in a straight line, the speeds of all wheels remain synchronized to prevent deviation or abnormal tire wear caused by inconsistent speeds. If slippage is detected on a wheel (e.g., a sudden increase in speed), the system dynamically adjusts the motor current and the reducer's speed and torque to quickly restore stable driving, ultimately achieving precise control of the vehicle's motion.

[0068] In a preferred embodiment, the hybrid power module further includes a power battery; and before adjusting the rotational speed of each wheel based on the control current in step 300, step 500 is further included, specifically as follows: In response to detecting that the power battery has a charge less than a rated capacity, the hybrid power module is used to charge the power battery until the power battery has a charge reaching a rated capacity; the power battery is used to drive each wheel to rotate through the control current.

[0069] Specifically, when the hybrid work machine's battery management system detects that the remaining charge in the power battery falls below a preset rated capacity threshold, the system immediately activates the hybrid module's charging function, converting mechanical energy into electrical energy through the engine-driven generator or regenerative braking system, and replenishing the power battery with energy at the optimal charging current. During this process, the system monitors parameters such as battery temperature, voltage, and charging rate in real time, dynamically adjusting the generator's output power to ensure charging safety and efficiency until the power battery's charge returns to the rated operating capacity range. This ensures that the control current required to drive each wheel can be stably output, safeguarding the vehicle's power performance and operational continuity.

[0070] Based on the above embodiment, the present invention also provides a working machine, whose principle block diagram can be shown as follows: Figure 6 As shown. The above-mentioned working machine includes a processor, a memory, a network interface and a display screen connected through a system bus. Among them, the processor of the working machine is used to provide computing and control capabilities. The memory of the working machine includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a working machine travel control program. The internal memory provides an environment for the operating system in the non-volatile storage medium and the operation based on the working machine travel control program. The network interface of the working machine is used to communicate with an external working machine through a network connection. When the working machine travel control program is executed by the processor, the steps of any one of the above-mentioned working machine travel control methods are implemented. The display screen of the working machine can be a liquid crystal display or an electronic ink display.

[0071] Those skilled in the art will understand that Figure 6 The principle block diagram shown in the figure is only a block diagram of a partial structure related to the scheme of the present invention, and does not constitute a limitation on the working machinery to which the scheme of the present invention is applied. The specific working machinery may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0072] In one embodiment, a working machine is provided, which includes a memory, a processor, and a working machine travel control program stored in the memory and executable on the processor. When the working machine travel control program is executed by the processor, the steps of any one of the working machine travel control methods provided in the embodiments of the present invention are implemented.

[0073] An embodiment of the present invention also provides a computer-readable storage medium, on which a working machine travel control program is stored. When the working machine travel control program is executed by a processor, the steps of any one of the working machine travel control methods provided in the embodiment of the present invention are implemented.

[0074] An embodiment of the present application further provides a computer program product comprising instructions, which, when executed by a computer, enables the computer to implement the method in the above method embodiment.

[0075] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. It should be understood that the serial number size of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0076] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0077] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0078] The units described as separate components may or may not be physically separate, and the 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.

[0079] In addition, each functional unit in each embodiment of the present application 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.

[0080] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A method for controlling the travel of a working machine, characterized in that: Applied to a hybrid-powered working machine, the method comprises: In response to receiving the target adjustment instruction, converting the target adjustment instruction into a control instruction; converting the control instruction into a control current corresponding to each wheel of the working machine; The rotational speed of each wheel is adjusted based on the control current to drive the working machine to travel under the target driving condition.

2. The working machine travel control method according to claim 1, characterized in that: The target adjustment instruction includes a vehicle speed adjustment instruction and / or a wheel speed adjustment instruction, and further includes: a process of generating the target adjustment instruction, specifically including: In response to receiving the gear adjustment instruction, obtaining the real-time speed of the working machine; generating a vehicle speed adjustment instruction based on the real-time speed and the gear adjustment instruction; or, In response to receiving a signal that a speed difference between any two wheels of the work machine is greater than a preset speed difference threshold, a wheel speed adjustment instruction is generated based on the speed difference.

3. The working machine travel control method according to claim 2, characterized in that: The working machine is equipped with a wheel-side motor connected to each wheel, and generates a vehicle speed adjustment instruction based on the real-time speed and the gear adjustment instruction, including: In the manual shift mode, a target gear and a target throttle opening are determined based on the real-time speed and the gear adjustment instruction; the current value of each wheel-side motor is adjusted based on a first mapping relationship between a preset throttle opening corresponding to the target gear and a current value of the wheel-side motor, and the target throttle opening, and a vehicle speed adjustment instruction is generated using the current value of each wheel-side motor; In the automatic shifting mode, the target throttle opening is determined based on the real-time speed and the gear adjustment instruction; based on the second mapping relationship between the preset throttle opening and the current value of the wheel-side motor, and the target throttle opening, the current value of each wheel-side motor is adjusted, and the current value of each wheel-side motor is used to generate a vehicle speed adjustment instruction.

4. The working machine travel control method according to claim 1, characterized in that: The working machine is equipped with a wheel-side motor connected to each wheel, and the rotation speed of each wheel is adjusted based on the control current to drive the working machine to travel under the target driving condition, including: Determining the motor speed of each wheel-side motor based on the control current; The rotation speed of each wheel is adjusted based on the motor rotation speed of each wheel-side motor, and the working machine is driven to travel under the target driving condition.

5. The working machine travel control method according to claim 3, characterized in that: Also includes: During driving, in an automatic shifting mode, a target driving speed is obtained based on a target driving condition of the working machine; The gear position of the work machine is updated based on the target travel speed.

6. The working machine travel control method according to claim 2, characterized in that: In response to detecting that a speed difference between any two wheels of the working machine is greater than a preset speed difference threshold, generating a wheel speed adjustment instruction based on the speed difference includes: In response to detecting that a speed difference between any two wheels of the working machine is greater than a preset speed difference threshold, determining that the working machine is in a slipping state, and determining the type of slipping condition based on the positions of the two wheels corresponding to the speed difference; Obtaining the rotational speed of each wheel and the operating load of the operating machine; Based on the slip condition type, a wheel speed adjustment instruction is generated using the workload and the speed difference.

7. The working machine travel control method according to claim 1, characterized in that: The working machine is equipped with a wheel-side motor connected to each wheel, and a speed reducer is respectively configured between each wheel-side motor and the corresponding wheel; the speed of each wheel is adjusted based on the control current to drive the working machine to travel under the target driving condition, including: Determining the adjusted motor speed corresponding to each wheel-side motor based on the control current; Based on the motor speeds before and after adjustment corresponding to each wheel-side motor, the speed and torque of each reducer are determined; The rotational speed of the corresponding wheels is adjusted based on the rotational speed and torque of each reducer, so as to drive the working machine to travel under the target driving condition.

8. The working machine travel control method according to claim 1, characterized in that: The working machine is equipped with a hybrid power module including an engine and a generator, and the control current is provided by the hybrid power module.

9. The working machine travel control method according to claim 8, characterized in that: The hybrid power module further includes a power battery; and before adjusting the rotational speed of each wheel based on the control current, further includes: In response to detecting that the power battery has a charge less than a rated capacity, the hybrid power module is used to charge the power battery until the power battery has a charge reaching a rated capacity; the power battery is used to drive each wheel to rotate through the control current.

10. A travel control system for an operating machine, characterized in that: It includes the whole machine controller, control module and wheel side motor module; among which, The whole machine controller is used for converting the target adjustment instruction into a control instruction in response to receiving the target adjustment instruction; The control module is used to convert the control instruction into a control current corresponding to each wheel of the working machine; The wheel-side motor module is used to adjust the rotation speed of each wheel based on the control current, and drive the working machine to travel under the target driving condition.

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