Differential lock control method and device and target walking machine

Abstract

The invention relates to the technical field of walking machines, in particular to a differential lock control method and device and a target walking machine. The current state of a target differential lock corresponding to the target walking machine is obtained; according to the current state of the target differential lock, obtaining a target walking parameter corresponding to the target walking machine; detecting whether the target walking parameter meets a preset requirement; and controlling the target differential lock according to the detection result. And the subjectivity and hysteresis problems of manual judgment are solved. The differential lock is controlled according to the detection result, automatic and accurate switching (locking during slipping and releasing during steering) of the differential lock is achieved, the mechanical operation efficiency and driving safety are guaranteed, the labor intensity of operators is lowered, and mechanical damage or safety risks caused by human errors are reduced. Effective control over the differential lock is achieved, and the problems that in the prior art, the judgment precision is insufficient, and the precise control requirement under the complex working condition is difficult to adapt are solved.

Description

Technical Field

[0001] This invention relates to the field of mobile machinery technology, specifically to differential lock control methods, devices, and target mobile machinery. Background Technology

[0002] Mobile construction machinery (such as graders) often operates in harsh and complex terrain environments, frequently encountering the problem of drive wheel slippage during operation. When wheel slippage occurs, the slipping wheel rotates at high speed because the ground resistance is less than the tangential traction provided by the transmission system, while the non-slipping wheel loses driving force due to the differential's working principle. This causes the construction machinery to lose its driving power and be unable to complete its tasks normally. In this situation, the difference in wheel speed becomes a key factor hindering the operation of the construction machinery, and it is urgent to use technical means to limit the speed of different wheels, making the speed of each wheel more uniform, in order to restore the normal driving capability of the machinery.

[0003] However, there is an inherent contradiction between the steering requirements and the anti-slip requirements of mobile machinery. During steering, the machinery needs multiple wheels to rotate at different speeds to achieve smooth steering. At this time, the difference in wheel speed is a necessary condition to ensure steering function, and the differential speed capability of the wheels must be preserved. To balance this contradiction, the industry generally adopts the solution of configuring limited-slip differentials or differential locks. Among them, limited-slip differentials can only partially restrict the rotation of high-speed wheels, which cannot completely solve the slippage problem and will hinder the differential speed of wheels during steering, affecting steering flexibility; while differential locks can force the associated wheels to rotate at the same speed when locked, which can solve the slippage problem to the greatest extent. When released, they can restore the differential speed function of the wheels and ensure smooth steering, thus becoming the better choice for mobile mobile machinery.

[0004] The ideal control logic for a differential lock is "lock when slipping and disengage when turning," but traditional manual control methods struggle to meet this precise requirement. The operation of machinery is inherently complex, requiring operators to focus intently on operational control, often neglecting differential lock control. If the differential lock fails to disengage in time during turning, it can be subjected to immense stress and damage, potentially leading to instability, rollover, or other safety accidents during high-speed turns. Furthermore, if the differential lock fails to lock in time under complex terrain conditions, the drive wheels may slip before the operator can manually intervene, causing tire wear and impacting operational efficiency.

[0005] To address the drawbacks of manual control, automatic control methods have emerged. Currently, there are two main approaches: one is to determine the accuracy based on a threshold sum of the articulated steering angle and the steering wheel angle, and the other is to determine the accuracy based on a threshold for the steering wheel turning radius. However, both approaches suffer from insufficient accuracy and are ill-suited to the precise control requirements under complex operating conditions.

[0006] Therefore, how to effectively control the differential lock has become an urgent problem to be solved. Summary of the Invention

[0007] This invention provides a differential lock control method, device, and target walking machinery to solve the problem of how to effectively control a differential lock.

[0008] In a first aspect, the present invention provides a differential lock control method applied to a target traveling machine. The method includes: acquiring the current state of a target differential lock corresponding to the target traveling machine; acquiring target traveling parameters corresponding to the target traveling machine based on the current state of the target differential lock; detecting whether the target traveling parameters meet preset requirements; and controlling the target differential lock based on the detection results.

[0009] The differential lock control method provided in this application acquires the current state of the target differential lock and clarifies the initial reference (lock / unlock), providing a premise for subsequent parameter acquisition and control logic, avoiding unfounded blind judgments, and reducing control errors. It acquires target travel parameters based on the current state, collecting core parameters (such as steering angle, current travel speed, and speed difference) as needed, avoiding redundant data acquisition, reducing controller computing power consumption, and ensuring accurate matching between parameters and state, providing reliable data support for subsequent judgments. It detects whether parameters meet preset requirements, quantifies the mechanical operating state (such as steering demand and slippage degree) through threshold comparison, and accurately identifies the locking / unlocking trigger conditions, solving the subjectivity and lag problems of manual judgment. It controls the differential lock according to the detection results, achieving automatic and precise switching of the differential lock (locking during slippage and unlocking during steering), ensuring mechanical operation efficiency and driving safety, reducing operator workload, and reducing mechanical damage or safety risks caused by human error. This achieves effective control of the differential lock, solving the problems of insufficient judgment accuracy in existing technologies and difficulty in adapting to the precise control requirements of complex working conditions.

[0010] In one optional implementation, based on the current state of the target differential lock, the target travel parameters corresponding to the target traveling machinery are obtained, including: if the current state of the target differential lock is the differential lock disengaged state, the left rear wheel speed and the right rear wheel speed corresponding to the target traveling machinery are obtained; correspondingly, whether the target travel parameters meet the preset requirements is detected, including: whether the absolute speed difference between the left rear wheel speed and the right rear wheel speed is greater than the preset speed difference threshold.

[0011] The differential lock control method provided in this application, if the current state of the target differential lock is the differential lock disengaged state, acquires the rotational speeds of the left and right rear wheels to accurately capture the actual speed difference of the drive wheels, directly reflecting whether slippage exists (the speed difference between the two sides will increase significantly when slipping), providing core data for subsequent judgment and ensuring real-time perception of the mechanical driving status. It detects whether the absolute speed difference between the left and right rear wheel speeds is greater than a preset speed difference threshold, judging the degree of slippage through quantified speed difference. When the difference exceeds the limit, the differential lock can be triggered to lock, avoiding the lag of manual judgment, promptly resolving the power loss problem caused by slippage, ensuring normal mechanical operation on complex terrain, and reducing excessive tire wear.

[0012] In one optional implementation, the target differential lock is controlled based on the detection results, including: if the absolute speed difference is greater than a preset speed difference threshold, the articulated steering angle, front wheel steering angle and current travel speed of the target traveling machinery are obtained; and the target differential lock is controlled based on the articulated steering angle, front wheel steering angle and current travel speed.

[0013] The differential lock control method provided in this application, if the absolute speed difference is greater than a preset speed difference threshold, acquires the articulated steering angle, front wheel steering angle, and current travel speed (after the absolute speed difference exceeds the limit). It supplements the acquisition of key parameters related to steering requirements and travel speed, avoiding blind locking based solely on speed differences. The steering angle reflects whether differential locking is needed, and travel speed relates to locking safety risks, providing comprehensive data support for precise control while balancing anti-slippage and steering safety. Combining three types of parameters to control the differential lock achieves a balance between "slippage requirements" and "steering / safety requirements," ensuring that power can be restored by locking the differential lock during slippage, while avoiding mechanical damage caused by locking during steering and instability risks caused by high-speed locking, thus improving control accuracy and mechanical operation safety.

[0014] In one optional implementation, the target differential lock is controlled based on the articulated steering angle, the front wheel steering angle, and the current travel speed. This includes calculating the absolute value of the sum of the articulated steering angle and the front wheel steering angle to obtain an absolute summation value; detecting whether the absolute summation value is less than a preset absolute summation value threshold and whether the current travel speed is less than a first preset current travel speed threshold; if the absolute summation value is less than the preset absolute summation value threshold and the current travel speed is less than the first preset current travel speed threshold, then calculating the left and right speed difference of the first differential lock based on a preset function; detecting whether the left and right speed difference of the first differential lock is less than a first differential lock left and right speed difference threshold; if the left and right speed difference of the first differential lock is less than the first differential lock left and right speed difference threshold, then controlling the target differential lock to lock.

[0015] The differential lock control method provided in this application detects whether the absolute summation value is less than a preset absolute summation value threshold and whether the current travel speed is less than a first preset current travel speed threshold. Through dual verification of "angle summation + vehicle speed," it filters out safe scenarios with small turns and low speeds, avoiding blind locking during large turns or high speeds, providing a basic safety prerequisite for locking. If the absolute summation value is less than the preset absolute summation value threshold and the current travel speed is less than the first preset current travel speed threshold, then the left and right rotational speed difference of the first differential lock is calculated based on a preset function. Quantifying the differential speed demand of the drive wheels based on the preset function is more accurate than simple angle / vehicle speed judgment, avoiding false locking in scenarios where surface parameters meet the standards but the actual differential speed demand is strong. Detecting whether the left and right rotational speed difference of the first differential lock is less than the first differential lock left and right rotational speed difference threshold further confirms a weak differential speed demand, ensuring that insufficient differential speed after locking will not cause steering obstruction or component damage, improving the scientific nature of the locking decision. If the left and right rotational speed difference of the first differential lock is less than the first differential lock left and right rotational speed difference threshold, then the target differential lock is controlled to lock. Precise locking in safe scenarios with low differential speed requirements effectively solves wheel slippage problems, restores mechanical power, and ensures efficiency in complex ground operations.

[0016] In one optional implementation, before detecting whether the absolute summation value is less than a preset absolute summation value threshold and whether the current walking speed is less than a first preset current walking speed threshold, the method further includes: acquiring the current lateral slope and the current longitudinal slope corresponding to the target walking machinery; calculating the preset absolute summation value threshold corresponding to the absolute summation value and the first preset current walking speed threshold corresponding to the current walking speed based on the current lateral slope and the current longitudinal slope; correspondingly, before detecting whether the left and right speed difference of the first differential lock is less than the first differential lock left and right speed difference threshold, the method further includes: calculating the first differential lock left and right speed difference threshold corresponding to the first differential lock left and right speed difference based on the current lateral slope and the current longitudinal slope.

[0017] The differential lock control method provided in this application obtains the current lateral and longitudinal slopes of the target walking machinery, captures key terrain slope parameters, solves the control deviation of fixed thresholds on flat ground in slope scenarios, provides data support for dynamically adjusting the judgment criteria, and adapts to the needs of complex terrain operations. Based on the current lateral and longitudinal slopes, a preset absolute summation threshold corresponding to the absolute summation value is calculated, as well as a first preset current walking speed threshold corresponding to the current walking speed. The basic judgment conditions for locking are dynamically optimized (the larger the slope, the stricter the threshold), avoiding false locking caused by fixed thresholds on slopes, reducing the risk of rollover and component damage during turning, and improving the safety of slope operations. Based on the current lateral and longitudinal slopes, a first differential lock left-right speed difference threshold corresponding to the first differential lock left-right speed difference is calculated. The judgment criteria for differential speed requirements are dynamically adjusted with the terrain, ensuring that the speed difference threshold on the slope matches the mechanical force characteristics, neither affecting the locking effect during slippage nor failing to accurately identify the differential speed requirements for turning on slopes, thus balancing operational efficiency and safety.

[0018] In one optional implementation, the target differential lock is controlled based on the articulated steering angle, the front wheel steering angle, and the current travel speed, including: if the absolute summation is greater than or equal to a preset absolute summation threshold, and / or the current travel speed is greater than or equal to a first preset current travel speed threshold, then the target differential lock is controlled not to lock, and a reason for not locking is output; if the left and right speed difference of the first differential lock is greater than or equal to a first differential lock left and right speed difference threshold, then the target differential lock is controlled not to lock, and a reason for not locking is output.

[0019] The differential lock control method provided in this application embodiment, if the absolute summation is greater than or equal to a preset absolute summation threshold, and / or the current walking speed is greater than or equal to a first preset current walking speed threshold, then the target differential lock is not locked, and a reason for not locking is output. Through "OR logic," scenarios unsuitable for locking, such as large steering or high speeds, are quickly eliminated, preventing locking from causing steering obstruction, mechanical instability, or component damage; simultaneously, the reason for the feedback is clearly stated, helping the operator quickly locate the problem and improving operational clarity and interactive experience. If the difference in left and right rotational speeds of the first differential lock is greater than or equal to a threshold value, the target differential lock is not locked, and a reason for not locking is output. The method accurately identifies the actual differential speed requirement caused by steering, and when the differential speed requirement reaches a critical value, locking is prohibited to ensure normal steering function; the reason is output synchronously, allowing the operator to understand the control logic, avoid misoperation, and balance anti-slip requirements with steering safety.

[0020] In one optional implementation, based on the current state of the target differential lock, the target travel parameters corresponding to the target traveling machinery are obtained, including: if the current state of the target differential lock is the differential lock locked state, then the articulated steering angle, the front wheel steering angle, and the current travel speed corresponding to the target traveling machinery are obtained; correspondingly, whether the target travel parameters meet preset requirements is detected, including: calculating the absolute value of the sum of the articulated steering angle and the front wheel steering angle to obtain an absolute sum value; detecting whether the absolute sum value is greater than or equal to a preset absolute sum value threshold, and / or whether the current travel speed is greater than or equal to a first preset current travel speed threshold.

[0021] The differential lock control method provided in this application, if the current state of the target differential lock is the differential lock locked state, acquires the articulated steering angle, front wheel steering angle, and current travel speed of the target traveling machinery. It accurately captures the core parameters affecting differential lock unlocking, directly linking steering needs and driving safety, providing comprehensive and real-time data support for subsequent unlocking judgments, and ensuring precise control over the mechanical operating state. The absolute value of the sum of the articulated steering angle and the front wheel steering angle is calculated to obtain an absolute summation value. Simplifying the two steering parameters to an "angle sum" reduces data dimensionality and computational complexity, adapting to the need for rapid judgment in the locked state and improving unlocking response efficiency. It detects whether the absolute summation value is greater than or equal to a preset absolute summation value threshold, and / or whether the current travel speed is greater than or equal to a first preset current travel speed threshold. Through "OR logic," it quickly identifies key scenarios requiring unlocking (such as obvious steering needs or high-speed driving), triggering unlocking in a timely manner, avoiding component damage and mechanical instability caused by steering in the locked state, and prioritizing steering function and driving safety.

[0022] In one optional implementation, the target differential lock is controlled based on the detection results, including: If the absolute summation value is greater than or equal to the preset absolute summation value threshold, and / or the current walking speed is greater than or equal to the first preset current walking speed threshold, then the target differential lock is unlocked. If the absolute summation value is less than the preset absolute summation value threshold, and the current walking speed is less than the first preset current walking speed threshold, then the left and right rotation speed difference of the first differential lock is calculated based on the preset function; it is then detected whether the left and right rotation speed difference of the first differential lock is greater than or equal to the left and right rotation speed difference threshold of the first differential lock; if the left and right rotation speed difference of the first differential lock is greater than or equal to the left and right rotation speed difference threshold of the first differential lock, then the target differential lock is unlocked.

[0023] The differential lock control method provided in this application unlocks the target differential lock if the absolute summation value is greater than or equal to a preset absolute summation value threshold, and / or the current travel speed is greater than or equal to a first preset current travel speed threshold. It quickly identifies scenarios requiring differential speed, such as large turns and high speeds, using "OR logic," and promptly releases the lock to avoid component damage and mechanical instability caused by steering while locked, prioritizing steering function and driving safety. If the absolute summation value is less than a preset absolute summation value threshold, and the current travel speed is less than a first preset current travel speed threshold, the left and right rotational speed difference of the first differential lock is calculated based on a preset function. For small turns and low-speed scenarios, the preset function quantifies the actual differential speed requirement of the drive wheels, which is more accurate than judging solely by angle and speed, avoiding ignoring potential differential speed requirements due to surface parameters meeting standards. It detects whether the left and right rotational speed difference of the first differential lock is greater than or equal to a threshold value. This further accurately determines the critical state of differential speed requirement, ensuring that unlocking is triggered when the differential speed requirement reaches the threshold, preventing continuous locking of the differential lock from causing tire wear and excessive load on the power system. If the speed difference between the left and right sides of the first differential lock is greater than or equal to the threshold value for the speed difference between the left and right sides of the first differential lock, then the target differential lock is unlocked. The final unlocking decision is made based on the core differential parameters, ensuring that the unlocking action is precisely matched with the actual operating state of the machinery. This prevents the recurrence of slippage caused by blind unlocking, and also avoids over-locking which would affect steering flexibility.

[0024] In one optional implementation, the method further includes: receiving a forced locking command input by a user for the target differential lock; obtaining the current travel speed corresponding to the target traveling machinery; if the current travel speed is less than a second preset current travel speed threshold, controlling the target differential lock to lock, and controlling the target differential lock to unlock when the current travel speed is greater than or equal to the second preset current travel speed threshold; if the current travel speed is greater than or equal to the second preset current travel speed threshold, controlling the target differential lock not to lock, and outputting a reason for not locking.

[0025] The differential lock control method provided in this application receives a user's forced locking command: responding to manual needs in special scenarios (such as getting out of trouble, climbing hills), it provides locking options with higher priority than automatic control, compensating for the limitations of automatic logic and improving the flexibility of mechanical operation. It acquires the current travel speed: focusing on the core safety constraints of forced locking, it accurately collects vehicle speed data, providing a reliable basis for subsequent threshold judgments and avoiding forced locking without safety restrictions. It controls locking / unlocking according to vehicle speed thresholds: at low speeds, forced locking is executed to meet the needs of getting out of trouble; at high speeds, locking is automatically released / prohibited. Through the logic of "low speed allowed, high speed prohibited," it balances special operational needs with driving safety, preventing steering instability and component damage caused by high-speed locking. It outputs the reason for not locking at high speeds: clearly informing the user of the core factor prohibiting locking (vehicle speed exceeding the limit), helping the user quickly understand the control logic, avoiding misoperation, and improving human-machine interaction experience and operational safety.

[0026] Secondly, the present invention provides a differential lock control device for use in target mobile machinery, the device comprising: The first acquisition module is used to acquire the current state of the target differential lock corresponding to the target walking machinery; The second acquisition module is used to acquire the target travel parameters corresponding to the target traveling machinery based on the current state of the target differential lock. The detection module is used to detect whether the target's walking parameters meet the preset requirements; The control module is used to control the target differential lock based on the detection results.

[0027] Thirdly, the present invention provides a target walking machine, comprising: a walking machine body and a controller, the controller including a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the differential lock control method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0028] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of a target walking machine according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the first type of differential lock control method according to an embodiment of the present invention; Figure 3This is a schematic diagram of a second process for a differential lock control method according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the geometric relationship when the target is mechanically turning during travel, according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the third process of the differential lock control method according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the fourth process of the differential lock control method according to an embodiment of the present invention; Figure 7 This is a structural block diagram of a differential lock control device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the hardware structure of the controller according to an embodiment of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0032] According to an embodiment of the present invention, a differential lock control method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0033] This embodiment provides a differential lock control method, applied to target walking machinery, such as... Figure 1As shown, taking a grader as an example, other similar mechanical control methods can be similar or the same. The target walking machine 10 has a front unit 11, a rear unit 12, and an operable blade unit 20. The front unit 11 includes a front axle 14 with steering function and front wheels 15 mounted on the front axle 14. The left and right front wheels 15 are driven by a front wheel steering device 16 to rotate around axes F1 and F2 respectively, realizing the steering of the front wheels of the target walking machine 10. The rear unit 12 includes a rear axle 17, a target differential lock 18, rear wheels 19, and rear wheels 22. The rear axle 17 is a drive axle. The rear wheels 19 and 22 are mounted on both sides of the rear axle 17. The target differential lock 18 is inside the rear axle 17. The target differential lock 18 controls the differential speed and locking of the rear wheels 19 and 22. When the target differential lock 18 is locked, the rear wheels 19 and 22 are forcibly connected. When the target differential lock 18 is released, the rear wheels 19 and 22 are differentially connected.

[0034] The front unit 11 and the rear unit 12 are connected, and the articulated steering device 21 controls the front unit 11 and the rear unit 12 to rotate around axis A to achieve articulated steering of the target walking machine 10.

[0035] Furthermore, the target walking machine 10 has a controller 60.

[0036] Furthermore, the target mobile machinery 10 has a cab 13, inside which a display 31, a steering wheel 32, a handle 33, and a switch 34 are installed.

[0037] Furthermore, the target walking mechanism 10 is equipped with an articulation angle sensor 53, and the front axle 14 is equipped with a front wheel speed sensor 51 to detect the rotational speed of the front wheel 15 and a front wheel angle sensor 52 to detect the steering angle of the front wheel 15. Preferably, two front wheel speed sensors 51 and two front wheel angle sensors 52 are used to detect the rotational speed and steering angle of the front wheels 15 on both sides. Of course, only one front wheel speed sensor 51 and one front wheel angle sensor 52 can be used. The rear axle 17 is equipped with rear wheel speed sensors 55 and 56 to detect the rotational speed of the rear wheels 19 and 22, respectively. The articulation angle sensor 53, the front wheel speed sensors 51 and 52, and the rear wheel speed sensors 55 and 56 are connected to the controller 60 to transmit the detected data.

[0038] Switch 34 is connected to controller 60, and controller 60 is connected to target differential lock 18. Controller 60 controls the locking and unlocking of target differential lock 18 according to the state of switch 34 or according to the control program.

[0039] The steering wheel 32 is connected to the front wheel steering control device 16, which controls the front wheel steering device 16 and thus the rotation of the front wheels 15. The handle 33 can also further control the front wheel steering device 16 through the controller 60 to achieve rotation control of the front wheels 15.

[0040] The handle 33 controls the articulated steering device 21 to achieve articulated steering control of the target walking machine 10. If the handle 33 is mechanical, it can directly control the articulated steering device 21. If the handle 33 is an electric handle, it is connected to the controller 60, and the controller 60 further controls the articulated steering device 21.

[0041] The display 31 is connected to the controller 60.

[0042] The controller 60 acquires the detection data from the front wheel speed sensor 51 and calculates the corresponding current walking speed. Preferably, both wheels have speed sensors, so the average value is calculated. The controller 60 acquires the detection data γ (γ is the front wheel steering angle, denoted as positive for right and negative for left) from the front wheel angle sensor 52. (Its absolute value), preferably, the steering angles of multiple wheels are detected and cross-checked; if unreasonable, an error is reported on the display 31. The controller 60 acquires the detection data θ (θ is the articulated steering angle, assuming right is positive and left is negative) from the articulation angle sensor 53. (Its absolute value). The controller 60 acquires the detection data from the rear wheel speed sensors 55 and 56, i.e., the speed n of the rear wheel 19. L0 and the rotational speed n of the rear wheel 22 R0 .

[0043] This embodiment provides a differential lock control method. Figure 2 This is a flowchart of a method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S201: Obtain the current state of the target differential lock corresponding to the target walking machinery.

[0044] Specifically, the controller in the target walking machine can acquire the locking / unlocking electrical signal or mechanical position signal of the target differential lock in real time based on the communication connection with the built-in status sensor (such as electromagnetic locking signal device or mechanical position sensor) of the target differential lock, thereby determining the current state of the target differential lock corresponding to the target walking machine.

[0045] The current state can be divided into three categories: Released state: the differential lock is not locked, and the drive wheels can achieve differential speed through the differential (i.e., "initial release state", such as the default state after mechanical start-up, and the automatic release state when turning); Regular locked state: including "automatic locking" (rear wheel slippage is detected and the threshold condition is met) and "manual locking" (operator issues a switch command and the threshold condition is met), in which case the drive wheels are forced to rotate at the same speed; Forced locking state: triggered only in special escape scenarios (operator issues a forced command and the current walking speed is ≤V2), the display continuously shows the "forced locking" prompt, and it is not limited by the steering angle.

[0046] Step S202: Based on the current state of the target differential lock, obtain the target travel parameters corresponding to the target traveling machinery.

[0047] Specifically, the controller can obtain the target travel parameters corresponding to the target traveling machinery based on the current state of the target differential lock.

[0048] This step will be explained in detail below.

[0049] Step S203: Detect whether the target walking parameters meet the preset requirements.

[0050] Specifically, the controller can determine the preset requirements corresponding to the target differential lock based on the current state of the target differential lock, and then detect whether the target travel parameters meet the preset requirements.

[0051] This step will be explained in detail below.

[0052] Step S204: Control the target differential lock based on the detection results.

[0053] Specifically, based on the detection results, the controller controls the target differential lock to lock or unlock.

[0054] The differential lock control method provided in this application acquires the current state of the target differential lock and clarifies the initial reference (lock / unlock), providing a premise for subsequent parameter acquisition and control logic, avoiding unfounded blind judgments, and reducing control errors. It acquires target travel parameters based on the current state, collecting core parameters (such as steering angle, current travel speed, and speed difference) as needed, avoiding redundant data acquisition, reducing controller computing power consumption, and ensuring accurate matching between parameters and state, providing reliable data support for subsequent judgments. It detects whether parameters meet preset requirements, quantifies the mechanical operating state (such as steering demand and slippage degree) through threshold comparison, and accurately identifies the locking / unlocking trigger conditions, solving the subjectivity and lag problems of manual judgment. It controls the differential lock according to the detection results, achieving automatic and precise switching of the differential lock (locking during slippage and unlocking during steering), ensuring mechanical operation efficiency and driving safety, reducing operator workload, and reducing mechanical damage or safety risks caused by human error. This achieves effective control of the differential lock, solving the problems of insufficient judgment accuracy in existing technologies and difficulty in adapting to the precise control requirements of complex working conditions.

[0055] This embodiment provides a differential lock control method, which can be used for the aforementioned target walking machinery. Figure 3 This is a flowchart of a method according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps: Step S301: Obtain the current state of the target differential lock corresponding to the target walking machinery.

[0056] Please refer to the above description of step S201 for details on this step, which will not be repeated here.

[0057] Step S302: Based on the current state of the target differential lock, obtain the target travel parameters corresponding to the target traveling machinery.

[0058] Specifically, step S302 above may include the following steps: Step S3021: If the current state of the target differential lock is the differential lock disengaged state, then obtain the speed of the left rear wheel and the speed of the right rear wheel corresponding to the target walking machinery.

[0059] Specifically, when the target differential lock is currently in the unlocked state (the left and right rear wheels can rotate freely at different speeds), the controller first collects the rotational speeds of the left and right rear wheels. These two parameters are the core basis for determining whether the target's walking machinery is slipping. During normal driving, the rotational speeds of the left and right rear wheels are similar; if one side slips (such as one wheel getting stuck in mud), there will be a significant difference in rotational speeds between the two sides.

[0060] Step S303: Detect whether the target walking parameters meet the preset requirements.

[0061] Specifically, step S303 above may include the following steps: Step S3031: Detect whether the absolute speed difference between the left rear wheel speed and the right rear wheel speed is greater than a preset speed difference threshold.

[0062] Specifically, the controller can calculate the absolute difference between the left and right speeds of the rear wheels (|rear wheel left rotation - rear wheel right rotation|) and compare it with a preset speed difference threshold.

[0063] The threshold is set according to the type of target mobile machinery (such as heavy trucks or tractors), for example, it is set to 200 r / min.

[0064] If the absolute speed difference is less than or equal to the preset speed difference threshold, the target traveling machinery will operate normally and there is no need to intervene in the differential lock status. If the absolute speed difference is greater than the preset speed difference threshold, there may be slippage on one side. Further judgment is needed to determine whether to lock the differential lock (by locking, the left and right wheels are forced to rotate synchronously, which improves the ability to get out of trouble).

[0065] Step S304: Control the target differential lock based on the detection results.

[0066] Specifically, step S304 above may include the following steps: Step S3041: If the absolute speed difference is greater than the preset speed difference threshold, then obtain the articulated steering angle, front wheel steering angle and current walking speed of the target walking machine.

[0067] Specifically, the controller can collect the articulated steering angle (steering angle at the articulation point of the multi-segment target mobile machinery body, such as an articulated truck), front wheel steering angle (front wheel deflection angle), and current travel speed (real-time travel speed of the target mobile machinery). These parameters are used to determine whether the target mobile machinery is in a state where "differential lock needs to be engaged".

[0068] Step S3042: Control the target differential lock based on the articulated steering angle, the front wheel steering angle, and the current travel speed.

[0069] Specifically, step S3042 above may include the following steps: Step a1: Calculate the absolute value of the sum of the articulated steering angle and the front wheel steering angle to obtain the absolute sum value.

[0070] Specifically, the controller can add the articulated steering angle and the front wheel steering angle, and then calculate the sum of the articulated steering angle and the front wheel steering angle. Next, the electronic equipment can calculate the absolute value of the sum of the articulated steering angle and the front wheel steering angle to obtain the absolute sum value.

[0071] For example, if the articulated steering angle is θ and the front wheel steering angle is γ, the controller calculates the absolute value of the sum of θ and γ, that is, the absolute summation value = |θ + γ|.

[0072] Step a2: Obtain the current lateral slope and current longitudinal slope of the target walking machine.

[0073] Specifically, the controller can collect the current lateral slope and the current longitudinal slope in real time through the tilt sensor (such as a MEMS accelerometer) mounted on the target walking machine.

[0074] Among them, the current lateral slope represents the tilt angle of the target walking machine in the left and right directions (e.g., a 3° lateral slope means the left side is lower and the right side is higher); the current longitudinal slope represents the tilt angle of the target walking machine in the front and rear directions (e.g., a 5° uphill slope means the front of the vehicle is higher than the rear of the vehicle).

[0075] Step a3: Based on the current lateral slope and the current longitudinal slope, calculate the preset absolute summation threshold corresponding to the absolute summation value, and the first preset current walking speed threshold corresponding to the current walking speed.

[0076] Specifically, the controller can obtain the base threshold corresponding to the absolute summation value when the terrain is flat (lateral / longitudinal slope = 0), and then calculate the preset absolute summation value threshold based on the base threshold when the terrain is flat (lateral / longitudinal slope = 0). The preset absolute summation value threshold decreases as the slope increases.

[0077] For example, the base threshold corresponding to the absolute summation value is T2, and the controller can adjust the threshold based on the current lateral slope. Calculate the current lateral slope Corresponding transverse slope function Based on the current longitudinal slope Calculate the current longitudinal slope Corresponding longitudinal slope function .

[0078] in, It can be a linear function, a piecewise function, or any other type of function.

[0079] Exemplary, preferred Set as a piecewise function, when the target traveling machine is in operation, the right side is set on top. Left side on top , , When they are the same, That is, when turning downhill, the thresholds are smaller than when turning uphill, and the target differential lock is easier to disengage.

[0080] Similarly, the controller can be based on the current longitudinal slope. Calculate the current longitudinal slope Corresponding longitudinal slope function .in, It can be a linear function, a piecewise function, or any other type of function.

[0081] Exemplary, preferred Set as a piecewise function, when the target walking machine is operating, the uphill setting is... Then downhill , , When they are the same, This means that the thresholds are lower when going downhill than when going uphill, making it easier to disengage the target differential lock. For example, , .

[0082] Specifically, the controller can be based on the lateral slope function. and longitudinal slope function Calculate a preset absolute summation threshold. For example, .

[0083] Similarly, the controller can obtain a base threshold (e.g., 20 km / h) corresponding to the current walking speed on flat ground (lateral / longitudinal slope = 0), and then use this base threshold for flat ground (lateral / longitudinal slope = 0) as a reference. Using 10° as a baseline, the controller can then adjust the current lateral slope accordingly. Calculate the current lateral slope Corresponding transverse slope function Based on the current longitudinal slope Calculate the current longitudinal slope Corresponding longitudinal slope function The controller is based on the lateral slope function. and longitudinal slope function Calculate a first preset current walking speed threshold. This first preset current walking speed threshold decreases as the slope increases. For example, .

[0084] Step a4: Detect whether the absolute summation value is less than a preset absolute summation value threshold, and whether the current walking speed is less than a first preset current walking speed threshold.

[0085] Specifically, the controller can compare the absolute summation value with a preset absolute summation value threshold, and compare the current walking speed with a first preset current walking speed threshold. Then, based on the comparison results, it can detect whether the absolute summation value is less than the preset absolute summation value threshold, and whether the current walking speed is less than the first preset current walking speed threshold.

[0086] Step a5: If the absolute summation value is less than the preset absolute summation value threshold and the current walking speed is less than the first preset current walking speed threshold, then calculate the left and right rotation speed difference of the first differential lock based on the preset function.

[0087] Specifically, if the absolute summation value is less than a preset absolute summation value threshold, and the current walking speed is less than a first preset current walking speed threshold, the controller calculates the left and right speed difference of the first differential lock based on a preset function.

[0088] Specifically, such as Figure 4 The diagram shows the geometric relationship when the target walking machine 10 turns. When the target walking machine 10 turns, the turning radius R of the rear axle center can be obtained through the geometric relationship. The electronic equipment calculates the speed difference between wheel 19 and wheel 20 based on the turning radius R of the rear axle center according to the following formula (1), and further obtains the speed difference between the two sides of the target differential lock 18.

[0089] (1) (2) (3) in, The rear wheel track is 19 or 22. R: Center turning radius of rear axle 17; L: The distance between the front axle axis and the hinge center; M: The distance between the hinge center and the center axis of the rear axle 17; A: The distance between the front wheel 15 pivot axle and the center of the front axle; θ: Hinged steering angle, with rightward rotation being positive and leftward rotation being negative. Its absolute value; γ: Front wheel steering angle, positive for right and negative for left. Its absolute value; v L The theoretical linear velocity of the left rear wheel is 19. v R The theoretical linear velocity of the left rear wheel is 22. n L Theoretical speed on the left side of the differential lock; n R Theoretical speed on the right side of the differential lock; i: The speed ratio from the differential lock to the wheels; r: Wheel rolling radius; v: Target walking machine's travel speed 10; The current travel speed v of the target mobile machinery 10 can be directly obtained from the current travel speed ground sensor, or calculated by the front wheel speed sensor 51. If there is no current travel speed ground sensor and no front wheel sensor, it can be calculated from the average value of the rear wheel speed sensors 55 and 56. Alternatively, it can be calculated by using relevant speed sensors installed on the gearbox.

[0090] When the target walking machine 10 turns, and Theoretically they are not equal. If the target differential lock 18 is in the locked state, forced... This causes the wheels to slip, and the target differential lock 18 is subjected to a significant force. Theoretically, the absolute value of the speed difference between the two sides of the target differential lock 18... When the threshold F1 is exceeded, in order to protect the target differential lock 18 and reduce tire wear, it is necessary to control the target differential lock 18 to be released.

[0091] The first preset function is obtained by integrating the above formulas (1)-(3). The controller 60 calculates the following based on the articulated steering angle, front wheel steering angle, and current walking speed obtained from the sensors, using them as input into the first preset function. The speed difference between the left and right sides of the first differential lock is calculated.

[0092] In one optional embodiment of this application, the controller may further input the articulated steering angle, the front wheel steering angle, and the current walking speed into a second preset function. The speed difference between the left and right sides of the first differential lock is calculated.

[0093] in,

[0094] Very small , , Meanwhile, A is very small relative to R.

[0095] therefore,

[0096] therefore, Where C is a constant for the target walking machine 10.

[0098] Step a6: Based on the current lateral slope and the current longitudinal slope, calculate the threshold value of the left and right speed difference of the first differential lock corresponding to the left and right speed difference value of the first differential lock.

[0099] Specifically, the controller can obtain the base threshold corresponding to the left and right speed difference of the first differential lock when the ground is flat (lateral / longitudinal slope = 0), and then calculate the left and right speed difference threshold of the first differential lock based on the base threshold when the ground is flat (lateral / longitudinal slope = 0). The left and right speed difference threshold of the first differential lock decreases as the slope increases.

[0100] For example, the base threshold corresponding to the speed difference between the left and right sides of the first differential lock is F1, and the controller can adjust the threshold based on the current lateral slope. Calculate the current lateral slope Corresponding transverse slope function Based on the current longitudinal slope Calculate the current longitudinal slope Corresponding longitudinal slope function The calculation process can be described as shown in step a3 above, and will not be repeated here.

[0101] Specifically, the controller can be based on the lateral slope function. and longitudinal slope function Calculate the threshold value for the speed difference between the left and right sides of the first differential lock. For example, .

[0102] In one optional embodiment of this application, the preset speed difference threshold is greater than or equal to the left and right speed difference threshold of the first differential lock.

[0103] Step a7: Detect whether the speed difference between the left and right sides of the first differential lock is less than the threshold value for the speed difference between the left and right sides of the first differential lock.

[0104] Specifically, the controller compares the left and right speed difference of the first differential lock with the left and right speed difference threshold of the first differential lock, and based on the comparison result, detects whether the left and right speed difference of the first differential lock is less than the left and right speed difference threshold of the first differential lock.

[0105] Step a8: If the speed difference between the left and right sides of the first differential lock is less than the threshold value of the speed difference between the left and right sides of the first differential lock, then control the target differential lock to lock.

[0106] Specifically, if the speed difference between the left and right sides of the first differential lock is less than the threshold value for the speed difference between the left and right sides of the first differential lock, the controller will lock the target differential lock.

[0107] Step a9: If the absolute summation is greater than or equal to the preset absolute summation threshold, and / or the current walking speed is greater than or equal to the first preset current walking speed threshold, then the target differential lock is not locked, and the reason for not locking is output.

[0108] Specifically, if the absolute summation value is greater than or equal to the preset absolute summation value threshold, and / or the current walking speed is greater than or equal to the first preset current walking speed threshold, the controller will prevent the differential lock from locking, keep it in the unlocked state, and output the reason based on the display (such as "steering angle too large" or "current walking speed exceeds the limit").

[0109] Step a10: If the speed difference between the left and right sides of the first differential lock is greater than or equal to the threshold value of the speed difference between the left and right sides of the first differential lock, then control the target differential lock not to lock and output the reason for not locking.

[0110] Specifically, if the speed difference between the left and right sides of the first differential lock is greater than or equal to the threshold value of the speed difference between the left and right sides of the first differential lock, the controller will prohibit the differential lock from locking, keep it in the unlocked state, and output the reason based on the display (such as the theoretical speed difference being too large, not meeting the locking condition).

[0111] The differential lock control method provided in this application, if the current state of the target differential lock is the differential lock disengaged state, acquires the rotational speeds of the left and right rear wheels to accurately capture the actual speed difference of the drive wheels, directly reflecting whether slippage exists (the speed difference between the two sides will increase significantly when slipping), providing core data for subsequent judgment and ensuring real-time perception of the mechanical driving status. It detects whether the absolute speed difference between the left and right rear wheel speeds is greater than a preset speed difference threshold, judging the degree of slippage through quantified speed difference. When the difference exceeds the limit, the differential lock can be triggered to lock, avoiding the lag of manual judgment, promptly resolving the power loss problem caused by slippage, ensuring normal mechanical operation on complex terrain, and reducing excessive tire wear.

[0112] If the absolute speed difference exceeds the preset speed difference threshold, the articulated steering angle, front wheel steering angle, and current travel speed are acquired (after the absolute speed difference exceeds the limit). This supplements the collection of key parameters related to steering requirements and travel speed, avoiding blind locking based solely on speed differences. The steering angle reflects whether differential braking is needed, and travel speed is associated with locking safety risks, providing comprehensive data support for precise control while balancing anti-slip and steering safety.

[0113] Then, the current lateral and longitudinal slopes of the target mobile machinery are obtained, key terrain slope parameters are captured, and control deviations of fixed thresholds on flat ground in slope scenarios are resolved. This provides data support for dynamically adjusting the judgment criteria and adapts to the needs of complex terrain operations. Based on the current lateral and longitudinal slopes, a preset absolute summation threshold corresponding to the absolute summation value and a first preset current walking speed threshold corresponding to the current walking speed are calculated. The basic judgment conditions for locking are dynamically optimized (the larger the slope, the stricter the threshold), avoiding false locking caused by fixed thresholds on slopes, reducing the risk of rollover and component damage during turns, and improving the safety of slope operations. It is checked whether the absolute summation value is less than the preset absolute summation threshold and whether the current walking speed is less than the first preset current walking speed threshold. Through dual verification of "angle summation + vehicle speed", safe scenarios with small turns and low speeds are selected to avoid blind locking during large turns or high speeds, providing a basic safety premise for locking. If the absolute summation value is less than the preset absolute summation threshold and the current walking speed is less than the first preset current walking speed threshold, the left and right speed difference of the first differential lock is calculated based on a preset function. Based on a preset function, the differential speed demand of the drive wheels is quantified, which is more accurate than simply judging the angle / speed, avoiding accidental locking in scenarios where surface parameters meet the standards but the actual differential speed demand is strong. Based on the current lateral and longitudinal slopes, the threshold value corresponding to the left and right speed difference of the first differential lock is calculated. This allows the differential speed demand judgment standard to dynamically adjust with the terrain, ensuring that the speed difference threshold on the slope matches the mechanical force characteristics. This ensures that the locking effect is not affected during slippage, while accurately identifying the differential speed demand for steering on slopes, balancing operational efficiency and safety. The system checks whether the left and right speed difference of the first differential lock is less than the threshold value to further confirm a weak differential speed demand, ensuring that insufficient differential speed after locking will not cause steering obstruction or component damage, improving the scientific nature of the locking decision. If the left and right speed difference of the first differential lock is less than the threshold value, the target differential lock is locked. Precise locking in safe scenarios with low differential speed demand effectively solves wheel slippage problems, restores mechanical power, and ensures efficiency in complex terrain operations.

[0114] If the absolute summation is greater than or equal to a preset absolute summation threshold, and / or the current walking speed is greater than or equal to a first preset current walking speed threshold, then the target differential lock is not locked, and the reason for not locking is output. This "OR logic" quickly eliminates scenarios unsuitable for locking, such as large turns or high speeds, preventing locking from causing steering obstruction, mechanical instability, or component damage. Simultaneously, it clearly provides feedback on the reason, helping operators quickly locate problems and improving operational clarity and user experience. If the difference in speed between the left and right sides of the first differential lock is greater than or equal to a threshold, then the target differential lock is not locked, and the reason for not locking is output. This accurately identifies the actual differential speed requirement caused by steering; when the differential speed requirement reaches a critical value, locking is prohibited to ensure normal steering function. The reason is output synchronously, allowing the operator to understand the control logic, avoid misoperation, and balance anti-slip requirements with steering safety.

[0115] This embodiment provides a differential lock control method, which can be used for the aforementioned target walking machinery. Figure 5 This is a flowchart of a method according to an embodiment of the present invention, such as... Figure 5 As shown, the process includes the following steps: Step S401: Obtain the current state of the target differential lock corresponding to the target walking machinery.

[0116] Please refer to the above description of step S301 for details on this step, which will not be repeated here.

[0117] Step S402: Based on the current state of the target differential lock, obtain the target travel parameters corresponding to the target traveling machinery.

[0118] Specifically, step S402 above may include the following steps: Step S4021: If the current state of the target differential lock is the differential lock locked state, then obtain the articulated steering angle, front wheel steering angle and current travel speed of the target traveling machinery.

[0119] Specifically, if the target differential lock is currently in the locked state, the controller can collect the articulated steering angle (steering angle at the articulation point of the multi-segment target vehicle body, such as an articulated truck), front wheel steering angle (front wheel deflection angle), and current travel speed (real-time travel speed of the target vehicle). These parameters are used to determine whether the target vehicle is in a state where "the differential lock needs to be locked".

[0120] Step S403: Detect whether the target walking parameters meet the preset requirements.

[0121] Specifically, step S403 above may include the following steps: Step S4031: Calculate the absolute value of the sum of the articulated steering angle and the front wheel steering angle to obtain the absolute sum value.

[0122] Specifically, the controller can add the articulated steering angle and the front wheel steering angle, and then calculate the sum of the articulated steering angle and the front wheel steering angle. Next, the electronic equipment can calculate the absolute value of the sum of the articulated steering angle and the front wheel steering angle to obtain the absolute sum value.

[0123] For example, if the articulated steering angle is θ and the front wheel steering angle is γ, the controller calculates the absolute value of the sum of θ and γ, that is, the absolute summation value = |θ + γ|.

[0124] Step S4032: Detect whether the absolute summation value is greater than or equal to a preset absolute summation value threshold, and / or whether the current walking speed is greater than or equal to a first preset current walking speed threshold.

[0125] Specifically, the controller can compare the absolute summation value with a preset absolute summation value threshold, and compare the current walking speed with a first preset current walking speed threshold. Then, based on the comparison results, it can detect whether the absolute summation value is greater than or equal to the preset absolute summation value threshold, and / or whether the current walking speed is greater than or equal to the first preset current walking speed threshold.

[0126] It should be noted that the controller can obtain the current lateral slope and current longitudinal slope of the target walking machine. Then, based on the current lateral slope and current longitudinal slope, it calculates a preset absolute summation threshold corresponding to the absolute summation value, and a first preset current walking speed threshold corresponding to the current walking speed. For a detailed explanation of this step, please refer to the above text, which will not be repeated here.

[0127] Step S404: Control the target differential lock based on the detection results.

[0128] Specifically, step S404 above may include the following steps: Step S4041: If the absolute summation value is greater than or equal to a preset absolute summation value threshold, and / or the current walking speed is greater than or equal to a first preset current walking speed threshold, then the target differential lock is unlocked.

[0129] If the absolute summation value is greater than or equal to a preset absolute summation value threshold, and / or the current travel speed is greater than or equal to a second preset current travel speed threshold, the controller sends an "unlock command" to the target differential lock, driving the internal mechanical structure of the target differential lock (such as de-energizing the electromagnetic clutch) to release the lock and restore the differential function of the drive wheels (allowing the wheels on both sides to rotate at different speeds). The controller synchronously displays "Differential lock unlocked" on the cab display, and indicates the reason for unlocking (such as "Angle and over-limit unlock" or "Current travel speed too high unlock"), so that the operator is clearly aware of the unlocking logic.

[0130] Step S4042: If the absolute summation value is less than the preset absolute summation value threshold and the current walking speed is less than the first preset current walking speed threshold, then calculate the left and right rotation speed difference of the first differential lock based on the preset function.

[0131] Specifically, if the absolute summation value is less than a preset absolute summation value threshold, and the current travel speed is less than a second preset current travel speed threshold, the controller substitutes the articulated steering angle, the front wheel steering angle, and the current travel speed into the first preset function and / or the second preset function to calculate the left and right speed difference of the first differential lock. For the specific process of “substituting the articulated steering angle, the front wheel steering angle, and the current travel speed into the first preset function and / or the second preset function to calculate the left and right speed difference of the first differential lock,” please refer to the description of step a5 above, which will not be repeated here.

[0132] Step S4043: Detect whether the speed difference between the left and right sides of the first differential lock is greater than or equal to the speed difference threshold between the left and right sides of the first differential lock.

[0133] Specifically, the controller can compare the left and right speed difference of the first differential lock with the left and right speed difference threshold of the first differential lock, and based on the comparison result, detect whether the left and right speed difference of the first differential lock is greater than or equal to the left and right speed difference threshold of the first differential lock.

[0134] Optionally, the controller can calculate the threshold value for the left and right speed differences of the first differential lock, corresponding to the current lateral and longitudinal slopes. For a detailed description of this step, please refer to the description of step a6 above; it will not be repeated here.

[0135] Step S4044: If the speed difference between the left and right sides of the first differential lock is greater than or equal to the threshold value of the speed difference between the left and right sides of the first differential lock, then control the target differential lock to unlock.

[0136] Specifically, if the speed difference between the left and right sides of the first differential lock is greater than or equal to the threshold value, the controller sends an "unlock command" to the target differential lock, driving the internal mechanical structure of the target differential lock (such as de-energizing the electromagnetic clutch) to release the lock and restore the differential function of the drive wheels (allowing the wheels on both sides to rotate at different speeds). The controller synchronously displays "Differential lock unlocked" on the cab display, and indicates the reason for unlocking (such as the speed difference between the left and right sides of the differential lock being too large), so that the operator is clearly aware of the unlocking logic.

[0137] The differential lock control method provided in this application, if the current state of the target differential lock is the differential lock locked state, acquires the articulated steering angle, front wheel steering angle, and current travel speed of the target traveling machinery. It accurately captures the core parameters affecting differential lock unlocking, directly linking steering needs and driving safety, providing comprehensive and real-time data support for subsequent unlocking judgments, and ensuring precise control over the mechanical operating state. The absolute value of the sum of the articulated steering angle and the front wheel steering angle is calculated to obtain an absolute summation value. Simplifying the two steering parameters to an "angle sum" reduces data dimensionality and computational complexity, adapting to the need for rapid judgment in the locked state and improving unlocking response efficiency. It detects whether the absolute summation value is greater than or equal to a preset absolute summation value threshold, and / or whether the current travel speed is greater than or equal to a first preset current travel speed threshold. Through "OR logic," it quickly identifies key scenarios requiring unlocking (such as obvious steering needs or high-speed driving), triggering unlocking in a timely manner, avoiding component damage and mechanical instability caused by steering in the locked state, and prioritizing steering function and driving safety.

[0138] If the absolute summation value is greater than or equal to a preset absolute summation value threshold, and / or, the current travel speed is greater than or equal to a first preset current travel speed threshold, then the target differential lock is unlocked. Through "OR logic," scenarios requiring differential speed, such as large turns and high speeds, are quickly identified, and the locking state is promptly released to avoid component damage and mechanical instability caused by steering while locked, prioritizing steering function and driving safety. If the absolute summation value is less than a preset absolute summation value threshold, and the current travel speed is less than a first preset current travel speed threshold, then the left and right rotational speed difference of the first differential lock is calculated based on a preset function. For small turns and low-speed scenarios, the actual differential speed requirement of the drive wheels is quantified through a preset function, which is more accurate than judging solely by angle and vehicle speed, avoiding ignoring potential differential speed requirements due to surface parameters meeting standards. The left and right rotational speed difference of the first differential lock is checked to see if it is greater than or equal to a threshold. This further accurately determines the critical state of differential demand, ensuring that unlocking is triggered when the differential demand reaches the threshold, avoiding tire wear and excessive load on the powertrain caused by continuous differential lock engagement. If the speed difference between the left and right sides of the first differential lock is greater than or equal to the threshold value for the speed difference between the left and right sides of the first differential lock, then the target differential lock is unlocked. The final unlocking decision is made based on the core differential parameters, ensuring that the unlocking action precisely matches the actual operating state of the machinery. This prevents slippage caused by blind unlocking and avoids over-locking that could affect steering flexibility. In one optional embodiment of this application, such as Figure 6 As shown, the above differential lock control method may further include the following steps: Step S601: Receive the forced locking command input by the user for the target differential lock.

[0139] Specifically, the controller can receive a "forced locking command" issued by the user (operator) for the target differential lock, triggering the locking control process in special scenarios. This forced locking command has a higher priority than automatic locking and manual normal locking, and is only limited by the current walking speed threshold. It is used to solve "getting out of trouble" needs that cannot be covered by conventional control logic.

[0140] For example, users can issue a forced locking command through a preset dedicated operation to ensure that the "forced locking" is not triggered by mistake. Common methods include: dedicated physical switch: set up an independent "differential lock forced locking switch" in the cab (different from the conventional manual locking switch 34), and the user can issue the command by pressing it.

[0141] Combination operation: Forced command can be triggered by pressing and holding the regular lock switch (e.g., pressing and holding the switch for more than 343 seconds), without the need for additional hardware.

[0142] After receiving a forced lockout command, the controller first performs a "command validity check." It determines whether the signal is a preset forced lockout signal (such as a voltage signal or a pulse signal in a specific format) to avoid false triggering caused by switch malfunction or signal interference. After the verification is successful, the controller marks "Entering forced lock-up control process", suspends the normal lock-up / unlock logic (such as speed difference judgment and steering angle judgment for automatic lock-up), and prioritizes responding to forced commands.

[0143] Step S602: Obtain the current walking speed of the target walking machine.

[0144] Specifically, the controller can obtain the current walking speed of the target walking machine based on the communication connection with the current walking speed sensor.

[0145] Step S603: If the current walking speed is less than the second preset current walking speed threshold, the target differential lock is locked, and when the current walking speed is greater than or equal to the second preset current walking speed threshold, the target differential lock is unlocked.

[0146] Specifically, the controller can calculate a second preset current walking speed threshold. The second preset current walking speed threshold may be the same as or different from the second preset current walking speed threshold. This application embodiment does not specifically limit the second preset current walking speed threshold.

[0147] Then, the controller compares the current travel speed with a second preset current travel speed threshold. If the current travel speed is less than the second preset current travel speed threshold, the controller sends a "forced locking command" to the target differential lock, driving the internal mechanical structure of the differential lock (such as the engagement of the electromagnetic clutch) to lock, forcing the left and right drive wheels to rotate at the same speed. The cab display continuously shows "Differential lock has been forcibly locked" (different from conventional locking, a more prominent reminder), reminding the user that the current locking state is special and that caution should be exercised when turning (such as decelerating or turning at small angles). By forcibly locking to distribute driving force, the problem of insufficient power caused by slippage of one wheel is solved (such as when one wheel slips in mud, after forced locking, both wheels receive power, helping the machine get out of trouble).

[0148] If the differential lock is currently locked (e.g., it was previously forcibly locked, and the current walking speed is greater than or equal to the second preset current walking speed threshold), the controller immediately sends an "unlock command" to forcibly release the differential lock and restore the differential function. If the differential lock is currently unlocked: no locking operation is performed, and the unlocked state remains. The display shows "Current walking speed exceeds the limit, forced lock released" or "Current walking speed exceeds the limit, forced lock cannot be performed," clearly indicating the reason to the user.

[0149] Step S604: If the current walking speed is greater than or equal to the second preset current walking speed threshold, control the target differential lock to not lock and output the reason for not locking.

[0150] Specifically, if the current walking speed is greater than or equal to the second preset current walking speed threshold, the controller maintains the target differential lock in the released state (or releases the existing lock state), does not perform forced locking, and outputs a clear reason for not locking through the display, such as "Current walking speed = XXkm / h, exceeds the maximum current walking speed V3 (XXkm / h) for forced locking, and cannot perform forced locking". At the same time, a buzzer can be sounded softly (optional) to remind the user to pay attention to the current walking speed.

[0151] The differential lock control method provided in this application receives a user's forced locking command: responding to manual needs in special scenarios (such as getting out of trouble, climbing hills), it provides locking options with higher priority than automatic control, compensating for the limitations of automatic logic and improving the flexibility of mechanical operation. It acquires the current travel speed: focusing on the core safety constraints of forced locking, it accurately collects vehicle speed data, providing a reliable basis for subsequent threshold judgments and avoiding forced locking without safety restrictions. It controls locking / unlocking according to vehicle speed thresholds: at low speeds, forced locking is executed to meet the needs of getting out of trouble; at high speeds, locking is automatically released / prohibited. Through the logic of "low speed allowed, high speed prohibited," it balances special operational needs with driving safety, preventing steering instability and component damage caused by high-speed locking. It outputs the reason for not locking at high speeds: clearly informing the user of the core factor prohibiting locking (vehicle speed exceeding the limit), helping the user quickly understand the control logic, avoiding misoperation, and improving human-machine interaction experience and operational safety.

[0152] This embodiment also provides an apparatus for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0153] This embodiment provides a device, such as Figure 7 As shown, it includes: The first acquisition module 701 is used to acquire the current state of the target differential lock corresponding to the target walking machinery; The second acquisition module 702 is used to acquire the target travel parameters corresponding to the target travel machinery based on the current state of the target differential lock. Detection module 703 is used to detect whether the target's walking parameters meet the preset requirements; The control module 704 is used to control the target differential lock based on the detection results.

[0154] The apparatus provided in this embodiment of the invention can execute the method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the various modules and units described above are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0155] Figure 8 This is a schematic diagram of the structure of a controller provided in an embodiment of the present invention.

[0156] The following is a detailed reference. Figure 8The diagram illustrates a structural schematic suitable for implementing a controller in an embodiment of the present invention. The controller may include a processor (e.g., a central processing unit, a graphics processing unit, etc.) *01, which can perform various appropriate actions and processes based on a program stored in a read-only memory (ROM) *02 or a program loaded from memory *08 into random access memory (RAM) *03. The RAM *03 also stores various programs and data required for controller operation. The processor *01, ROM *02, and RAM *03 are interconnected via a bus *04. An input / output (I / O) interface *05 is also connected to the bus *04.

[0157] Typically, the following devices can be connected to the I / O interface*05: input devices*06 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices*07 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; memory*08 including, for example, magnetic tape, hard disk, etc.; and communication devices*09. The communication device*09 allows the controller to communicate wirelessly or wiredly with other devices to exchange data. Although the figure* shows a controller with various devices, it should be understood that it is not required to implement or have all the devices shown; alternatively, more or fewer devices may be implemented or included.

[0158] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device *09, or installed from a memory *08, or installed from a ROM *02. When the computer program is executed by a processor *01, it performs the functions defined in the methods of the embodiments of the present invention.

[0159] Figure 8 The controller shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0160] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0161] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0162] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A differential lock control method, characterized in that, Applied to target walking machinery, the method includes: Obtain the current state of the target differential lock corresponding to the target walking machinery; Based on the current state of the target differential lock, obtain the target travel parameters corresponding to the target traveling machinery; Detect whether the target walking parameters meet the preset requirements; Based on the test results, the target differential lock is controlled.

2. The method according to claim 1, characterized in that, The step of obtaining the target travel parameters corresponding to the target traveling machinery based on the current state of the target differential lock includes: If the current state of the target differential lock is the differential lock disengaged state, then obtain the left rear wheel speed and the right rear wheel speed corresponding to the target walking machinery; Correspondingly, detecting whether the target walking parameters meet the preset requirements includes: Detect whether the absolute speed difference between the left rear wheel speed and the right rear wheel speed is greater than a preset speed difference threshold.

3. The method according to claim 2, characterized in that, The step of controlling the target differential lock based on the detection results includes: If the absolute speed difference is greater than the preset speed difference threshold, then the articulated steering angle, front wheel steering angle and current walking speed of the target walking machine are obtained. The target differential lock is controlled based on the articulated steering angle, the front wheel steering angle, and the current travel speed.

4. The method according to claim 3, characterized in that, Based on the articulated steering angle, the front wheel steering angle, and the current travel speed, the target differential lock is controlled, including: Calculate the absolute value of the sum of the articulated steering angle and the front wheel steering angle to obtain the absolute sum value; Detect whether the absolute summation value is less than a preset absolute summation value threshold, and whether the current walking speed is less than a first preset current walking speed threshold; If the absolute summation value is less than the preset absolute summation value threshold, and the current walking speed is less than the first preset current walking speed threshold, then the left and right rotation speed difference of the first differential lock is calculated based on the preset function. Detect whether the speed difference between the left and right sides of the first differential lock is less than the threshold value for the speed difference between the left and right sides of the first differential lock; If the difference in rotational speed between the left and right sides of the first differential lock is less than the threshold value for the difference in rotational speed between the left and right sides of the first differential lock, then the target differential lock is locked.

5. The method according to claim 4, characterized in that, Before detecting whether the absolute summation value is less than a preset absolute summation value threshold and whether the current walking speed is less than a first preset current walking speed threshold, the method further includes: Obtain the current lateral slope and current longitudinal slope corresponding to the target walking machine; Based on the current lateral slope and the current longitudinal slope, calculate the preset absolute summation threshold corresponding to the absolute summation value, and the first preset current walking speed threshold corresponding to the current walking speed; Correspondingly, before detecting whether the speed difference between the left and right sides of the first differential lock is less than the threshold value for the speed difference between the left and right sides of the first differential lock, the method further includes: Based on the current lateral slope and the current longitudinal slope, calculate the threshold value of the left and right speed difference of the first differential lock corresponding to the left and right speed difference value of the first differential lock.

6. The method according to claim 4, characterized in that, The step of controlling the target differential lock based on the articulated steering angle, the front wheel steering angle, and the current travel speed includes: If the absolute summation is greater than or equal to the preset absolute summation threshold, and / or the current walking speed is greater than or equal to the first preset current walking speed threshold, then the target differential lock is controlled not to lock, and the reason for not locking is output. If the difference in rotational speed between the left and right sides of the first differential lock is greater than or equal to the threshold value of the difference in rotational speed between the left and right sides of the first differential lock, then the target differential lock is controlled not to lock, and the reason for not locking is output.

7. The method according to claim 1, characterized in that, The step of obtaining the target travel parameters corresponding to the target traveling machinery based on the current state of the target differential lock includes: If the current state of the target differential lock is the differential lock locked state, then obtain the articulated steering angle, front wheel steering angle and current travel speed corresponding to the target walking machinery; Correspondingly, detecting whether the target walking parameters meet the preset requirements includes: Calculate the absolute value of the sum of the articulated steering angle and the front wheel steering angle to obtain the absolute sum value; Detect whether the absolute summation value is greater than or equal to a preset absolute summation value threshold, and / or whether the current walking speed is greater than or equal to a first preset current walking speed threshold.

8. The method according to claim 7, characterized in that, The step of controlling the target differential lock based on the detection results includes: If the absolute summation value is greater than or equal to the preset absolute summation value threshold, and / or the current walking speed is greater than or equal to the first preset current walking speed threshold, then the target differential lock is unlocked. If the absolute summation value is less than the preset absolute summation value threshold, and the current walking speed is less than the first preset current walking speed threshold, then the left and right rotation speed difference of the first differential lock is calculated based on the preset function. Detect whether the speed difference between the left and right sides of the first differential lock is greater than or equal to the threshold value for the speed difference between the left and right sides of the first differential lock; If the difference in rotational speed between the left and right sides of the first differential lock is greater than or equal to the threshold value for the difference in rotational speed between the left and right sides of the first differential lock, then the target differential lock is unlocked.

9. The method according to claim 1, characterized in that, The method further includes: Receives a forced locking command input by the user for the target differential lock; Obtain the current walking speed of the target walking machine; If the current walking speed is less than the second preset current walking speed threshold, the target differential lock is locked, and when the current walking speed is greater than or equal to the second preset current walking speed threshold, the target differential lock is unlocked. If the current walking speed is greater than or equal to the second preset current walking speed threshold, the target differential lock is controlled not to lock, and the reason for not locking is output.

10. A differential lock control device, characterized in that, The device, applied to target walking machinery, includes: The first acquisition module is used to acquire the current state of the target differential lock corresponding to the target walking machinery; The second acquisition module is used to acquire the target travel parameters corresponding to the target traveling machinery based on the current state of the target differential lock. The detection module is used to detect whether the target walking parameters meet the preset requirements; The control module is used to control the target differential lock based on the detection results.

11. A target-walking machine, characterized in that, include: A walking mechanical body and a controller, the controller including a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the differential lock control method according to any one of claims 1 to 9.

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