Work machine traveling control method and control system, and work machine

Abstract

Provided are a work machine traveling control method and traveling control system, and a work machine. The work machine traveling control method comprises the following steps: when running on a level road, controlling to start a motor tandem-connection mode; and in the motor tandem-connection mode, controlling to start a low-speed mode or a high-speed mode on the basis of the actual road condition of the level road. In the motor tandem-connection mode, a first motor (600) and a second motor (700) are connected in tandem. By means of such traveling control method, the motor tandem-connection mode is started when the work machine is running on the level road. Therefore, when the work machine encounters an obstacle, the driving force of wheels on two sides of the work machine is the same, so that slipping is not prone to occurrence. In addition, a driver can select to start the low-speed mode or the high-speed mode on the basis of the actual road condition of the level road, and can flexibly and adaptively adjust the rotational speed of a motor (200) on the basis of the actual road condition of the level road, thereby greatly improving the energy efficiency of the motor (200).

Description

Working machine travel control method, control system and working machine

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311665006.6, filed on December 6, 2023, entitled “Walking control method, control system and working machinery for operating machinery”, which is incorporated herein by reference in its entirety. Technical Field

[0003] The present application relates to the technical field of operating machinery, and in particular to a traveling control method and control system for an operating machinery, and an operating machinery. Background Art

[0004] Aerial work platforms are important equipment for aerial work and have been widely used in modern production and life. In the prior art, in high-speed driving mode, a series motor is used to drive the aerial work platform to move; in low-speed driving mode, a parallel motor is used to drive the aerial work platform to move. However, when the aerial work platform encounters an obstacle in low-speed driving mode, it is prone to slippage because the pressure oil will flow to the side with lower pressure. If the low-speed driving mode is switched to the high-speed driving mode at this time, the speed of the motor used to drive the hydraulic pump is relatively high, far exceeding the first energy-efficient operating range of the motor, resulting in low energy efficiency.

[0005] Summary of the Invention

[0006] The present application provides a travel control method, a control system and a work machine for solving or improving the problem that the existing aerial work platform is prone to slipping when encountering obstacles in low-speed driving mode, and switching to high-speed driving mode in this state will cause the motor energy efficiency to decrease.

[0007] According to a first aspect of the present application, a method for controlling the travel of a working machine is provided, comprising the following steps:

[0008] When driving on a flat road, control the starter motor in series mode;

[0009] In the motor series mode, based on the actual road conditions of the flat road, control is performed to start the low speed mode or the high speed mode.

[0010] Wherein, in the motor series mode, the first motor and the second motor are connected in series.

[0011] According to the present application, a method for controlling the movement of an operating machine further includes:

[0012] When driving on an ascending slope, the starter motor is controlled in parallel mode;

[0013] In the motor parallel mode, the first motor and the second motor are connected in parallel.

[0014] According to the present application, a method for controlling the movement of an operating machine further includes:

[0015] When driving on a descending slope, the starter motor is controlled in series mode;

[0016] In the motor series mode, the low speed mode or the high speed mode is controlled to be activated based on the actual road condition of the descending slope.

[0017] According to a working machine travel control method provided in the present application, after the step of controlling to start the low-speed mode or the high-speed mode, it also includes: adjusting the driving speed of the low-speed mode, or the driving speed of the high-speed mode.

[0018] In the low-speed mode, the rotational speed of the motor is within a first rotational speed range, and in the high-speed mode, the rotational speed of the motor is within a second rotational speed range.

[0019] The upper speed limit of the first speed range is smaller than the lower speed limit of the second speed range.

[0020] According to a working machine travel control method provided by the present application, the step of controlling the starting motor series mode specifically includes:

[0021] Switch the connection status control valve to the series connection position so that the oil inlet of the first motor is connected to the hydraulic pump, the oil outlet of the first motor is connected to the oil inlet of the second motor, and the oil outlet of the second motor is connected to the oil tank.

[0022] According to a working machine travel control method provided by the present application, the step of controlling the starting motor parallel mode specifically includes:

[0023] Switch the connection status control valve to the parallel connection position so that the oil inlet of the first motor is connected to the hydraulic pump, the oil outlet of the first motor is connected to the oil tank, the oil inlet of the second motor is connected to the hydraulic pump, and the oil outlet of the second motor is connected to the oil tank.

[0024] According to a working machine travel control method provided by the present application, the step of controlling the start motor parallel mode when traveling on an ascending slope specifically includes:

[0025] When the inclination angle of the working machine chassis is greater than or equal to the preset inclination angle, confirm that the working machine is traveling on an ascending slope;

[0026] When traveling on the ascending slope, the control connection state control valve is automatically switched to the parallel connection position.

[0027] According to a working machine travel control method provided by the present application, the step of controlling the starter motor series mode when traveling on a descending slope specifically includes:

[0028] When the inclination angle of the chassis of the working machine continues to decrease within the first preset time, it is confirmed that the working machine is traveling on a descending slope;

[0029] When driving on the descending slope, the control valve is automatically switched to the series connection position.

[0030] According to a second aspect of the present application, a working machine travel control system is provided, including a hydraulic pump, a motor, a motor control handle, a first motor, a second motor, a connection status control valve, an inclination detection device, a control module and an oil tank.

[0031] The motor is connected to the hydraulic pump. The motor control handle is connected to the motor. The motor control handle is used to control the motor to switch between a low-speed mode and a high-speed mode, and to adjust the driving speed in the low-speed mode and the driving speed in the high-speed mode.

[0032] The hydraulic pump is used to supply oil to the first motor and / or the second motor. The oil tank is used to return oil to the first motor and / or the second motor. The first motor is connected to the second motor via the connection state control valve. The connection state control valve is used to control the switching between the first motor and the second motor in a series motor mode and a parallel motor mode.

[0033] The tilt detection device is connected to the chassis of the working machine. The control module is connected to the tilt detection device and the connection state control valve, and is used to control the working state of the connection control valve based on the detection result of the tilt detection device.

[0034] According to a third aspect of the present application, a working machine is provided, which controls the travel of the working machine using the working machine travel control method as described above, or includes the working machine travel control system as described above.

[0035] The travel control method of the working machine provided in the present application includes the following steps: when driving on a flat road, controlling the start of the motor series mode. In the motor series mode, based on the actual road conditions of the flat road, controlling the start of the low-speed mode or the high-speed mode. For example, when the inclination angle of the working machine chassis is within the preset range of the flat road inclination angle, it is determined that it is in the situation of driving on a flat road. During driving on a flat road, the first motor and the second motor are connected in series. In this process, the driver can flexibly choose to start the low-speed mode or the high-speed mode based on the actual road conditions of the flat road. Among them, in the high-speed mode, the speed of the motor used to drive the hydraulic pump is relatively large, and in the low-speed mode, the speed of the motor used to drive the hydraulic pump is relatively small. In both the high-speed mode and the low-speed mode, the speed regulation of the motor is proportional speed regulation.

[0036] This travel control method enables the machine to operate in series motor mode even when traveling on flat roads. Consequently, when the machine encounters an obstacle, the driving force on both wheels is equal, reducing the risk of slippage. Furthermore, the driver can choose between low-speed and high-speed modes based on actual road conditions. This allows for flexible adjustment of motor speed based on actual road conditions, significantly improving motor energy efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] FIG1 is a partial flow chart of a method for controlling the travel of an operating machine provided in this application;

[0039] FIG2 is a system schematic diagram of a travel control system for an operating machine provided in this application;

[0040] Reference numerals: 100 , hydraulic pump; 200 , motor; 300 , oil tank; 400 , directional control valve; 500 , connection state control valve; 600 , first motor; 700 , second motor. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0042] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0043] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0044] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0045] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0046] The following describes a travel control method, control system, and work machine provided by the present application in conjunction with Figures 1 and 2. It should be understood that the following description is merely an illustrative embodiment of the present application and does not constitute any particular limitation to the present application.

[0047] The embodiment of the first aspect of the present application provides a method for controlling the travel of a working machine, as shown in FIG1 , comprising the following steps:

[0048] When driving on a flat road, control the starter motor in series mode;

[0049] In the motor series mode, the control starts the low-speed mode or high-speed mode based on the actual road conditions on the flat road.

[0050] In the motor series mode, the first motor 600 and the second motor 700 are connected in series.

[0051] The travel control method for a working machine provided in the present application includes the following steps: when driving on a flat road, controlling the start of the motor series mode. In the motor series mode, controlling the start of the low-speed mode or the high-speed mode based on the actual road conditions of the flat road. For example, when the inclination angle of the working machine chassis is within the preset range of the flat road inclination angle, it is determined that the working machine is currently driving on a flat road. During driving on a flat road, the first motor 600 and the second motor 700 are connected in series, that is, the oil outlet of the first motor 600 is connected to the oil inlet of the second motor 700. In this process, the driver can flexibly choose to start the low-speed mode or the high-speed mode based on the actual road conditions of the flat road. In the high-speed mode, the rotation speed of the motor 200 used to drive the hydraulic pump 100 is relatively high, and in the low-speed mode, the rotation speed of the motor 200 used to drive the hydraulic pump 100 is relatively low. In both the high-speed mode and the low-speed mode, the speed regulation of the motor 200 is proportional speed regulation.

[0052] This travel control method allows the machine to operate in series motor mode even when traveling on flat roads. Consequently, when the machine encounters an obstacle, the driving force on both wheels is equal, reducing the risk of slippage. Furthermore, the driver can choose to activate low-speed or high-speed mode based on actual road conditions. This allows the driver to flexibly adjust the speed of motor 200 based on the actual road conditions, significantly improving the energy efficiency of motor 200.

[0053] In one embodiment of the present application, the working machine travel control method further includes:

[0054] When driving on an ascending slope, the starter motor is controlled in parallel mode;

[0055] In the motor parallel mode, the first motor 600 and the second motor 700 are connected in parallel.

[0056] Furthermore, in one embodiment of the present application, the working machine travel control method further includes:

[0057] When driving on a descending slope, the starter motor is controlled in series mode;

[0058] In the motor series mode, the control starts the low speed mode or the high speed mode based on the actual road conditions on the descending slope.

[0059] For example, when the operating machine needs to travel uphill, it requires sufficient driving force. At this time, the control starts the motor parallel mode. In the motor parallel mode, the first motor 600 and the second motor 700 are connected in parallel, that is, the oil inlet of the first motor 600 and the oil inlet of the second motor 700 are both connected to the pressure oil source, and the oil return port of the first motor 600 and the oil return port of the second motor 700 are both connected to the return oil circuit, such as the oil tank 300. When the operating machine travels downhill, the driving force it requires is relatively small. At this time, in order to prevent the operating machine from sliding abnormally, the driving motor series mode is controlled. In the motor series mode, the driver can control the start of low-speed mode or high-speed mode according to the actual road conditions.

[0060] More specifically, in one embodiment of the present application, after the step of controlling to start the low-speed mode or the high-speed mode, it further includes: adjusting the driving speed of the low-speed mode, or the driving speed of the high-speed mode.

[0061] In the low-speed mode, the rotational speed of the motor 200 is within a first rotational speed range, and in the high-speed mode, the rotational speed of the motor 200 is within a second rotational speed range.

[0062] The upper speed limit of the first speed range is smaller than the lower speed limit of the second speed range.

[0063] In one embodiment of the present application, the step of controlling the starter motor series mode specifically includes:

[0064] The connection state control valve 500 is switched to the series connection position, so that the oil inlet of the first motor 600 is connected to the hydraulic pump 100, and the oil outlet of the first motor 600 is connected to the oil inlet of the second motor 700. The oil outlet of the second motor 700 is connected to the oil tank 300.

[0065] In one embodiment of the present application, the step of controlling the parallel mode of the starter motors specifically includes:

[0066] Switch the connection status control valve 500 to the parallel connection position so that the oil inlet of the first motor 600 is connected to the hydraulic pump 100, the oil outlet of the first motor 600 is connected to the oil tank 300, the oil inlet of the second motor 700 is connected to the hydraulic pump 100, and the oil outlet of the second motor 700 is connected to the oil tank 300.

[0067] Furthermore, in one embodiment of the present application, when the vehicle is traveling on an ascending slope, the step of controlling the starter motor parallel mode specifically includes:

[0068] When the inclination angle of the working machine chassis is greater than or equal to the preset inclination angle, confirm that the working machine is traveling on an ascending slope;

[0069] When driving on the ascending slope, the control connection state control valve 500 is automatically switched to the parallel connection position.

[0070] Furthermore, in one embodiment of the present application, when driving on a descending slope, the step of controlling the starter motor in series mode specifically includes:

[0071] When the inclination angle of the chassis of the working machine continues to decrease within the first preset time, it is confirmed that the working machine is traveling on a descending slope.

[0072] When traveling on a descending slope, the control connection state control valve 500 is automatically switched to the series connection position.

[0073] For example, described in conjunction with Figure 2, an embodiment of the second aspect of the present application also provides a working machinery walking control system, including a hydraulic pump 100, a motor 200, a motor 200 control handle, a first motor 600, a second motor 700, a connection status control valve 500, an inclination detection device, a control module and an oil tank 300.

[0074] The motor 200 is connected to the hydraulic pump 100, and the motor 200 control handle is connected to the motor 200. The motor 200 control handle is used to control the motor 200 to switch between low speed mode and high speed mode, and adjust the driving speed in low speed mode and the driving speed in high speed mode.

[0075] The hydraulic pump 100 is used to supply oil to the first motor 600 and / or the second motor 700. The oil tank 300 is used to return oil from the first motor 600 and / or the second motor 700. The first motor 600 is connected to the second motor 700 via a connection state control valve 500. The connection state control valve 500 is used to control the switching between the first motor 600 and the second motor 700 between motor series mode and motor parallel mode.

[0076] The tilt detection device is connected to the chassis of the working machine. The control module is connected to the tilt detection device and the connection state control valve 500 and is used to control the working state of the connection control valve based on the detection result of the tilt detection device.

[0077] The travel control system also includes a directional control valve 400. One working oil port of the directional control valve 400 can be connected to the hydraulic pump 100 and the oil tank 300. The other working oil port of the directional control valve 400 can be connected to the oil inlet of the first motor 600 and the oil return port of the second motor 700. The oil return port of the first motor 600 is connected to the connection state control valve 500, which is connected to the oil inlet of the second motor 700. The oil inlet of the second motor 700 is also connected to the directional control valve 400. The directional control valve 400 is used to control the rotation direction of the first motor 600 and the second motor 700. The connection state control valve 500 is used to adjust the connection mode of the first motor 600 and the second motor 700. The connection state control valve 500 can switch between a series connection position and a parallel connection position. When it is switched to the series connection position, the first motor 600 and the second motor 700 are switched to the series mode, and the oil return port of the first motor 600 is connected to the oil inlet of the second motor 700 through the state connection control valve. When it is switched to the parallel connection position, the first motor 600 and the second motor 700 are switched to the parallel mode, and the oil inlet of the first motor 600 and the oil inlet of the second motor 700 are both connected to the hydraulic pump 100 or the oil tank 300 through the directional control valve 400. The oil return port of the first motor 600 and the oil return port of the second motor 700 are both connected to the oil tank 300 or the hydraulic pump 100 through the directional control valve 400.

[0078] The motor 200 is used to drive the hydraulic pump 100. Different motor 200 speeds correspond to different hydraulic pump 100 flow outputs, and thus, different motor speed outputs. Thus, by adjusting the speed of the motor 200, the speeds of the first motor 600 and the second motor 700 can be adjusted, that is, the travel speed of the working machine can be adjusted. The motor 200 is equipped with a motor 200 control handle. The motor 200 control handle not only switches the working machine, or the motor 200, between high-speed mode and low-speed mode, but also proportionally adjusts the specific speed in high-speed mode and the specific speed in low-speed mode.

[0079] During actual driving, when the low-speed mode or high-speed mode is activated, the motor 200's speed is limited to a certain speed range. That is, when the low-speed mode is activated, the motor 200 is limited to operating within a first speed range; when the high-speed mode is activated, the motor 200 is limited to operating within a second speed range. The operator can flexibly adjust the motor 200's speed in both low-speed and high-speed modes using the motor 200 control handle.

[0080] In low-speed mode, the speed of the motor 200 is within the first speed range, and in high-speed mode, the speed of the motor 200 is within the second speed range. The upper speed limit of the first speed range is less than the lower speed limit of the second speed range. Specifically, in a preferred embodiment of the present application, the first speed range is 1800-2200rpm, and the second speed range is 3500-4200rpm. After experimental verification, compared with the prior art, reducing the speed range in low-speed mode to 1800-2200rpm can optimize the motor 200 from the original third energy efficiency zone to the first energy efficiency zone, and the flow of series-controlled hydraulic oil is reduced by nearly half.

[0081] The inclination detection device installed on the chassis of the working machine can determine the state of the road surface on which the working machine is traveling based on its detection results. For example, in a more preferred embodiment, when the inclination detection device detects that the inclination angle of the working machine chassis is within 6°, it is determined that the working machine is traveling on a flat road. When the inclination detection device detects that the inclination angle of the working machine chassis is greater than 6°, it is determined that the working machine is traveling on an ascending slope. In addition, the inclination detection device can also detect the changing trend of the inclination angle of the working machine chassis. For example, when the inclination angle of the working machine chassis is in a continuously decreasing state within a certain period of time, such as 2 seconds, it is determined that the working machine is in a state of traveling on a descending slope.

[0082] The control module is connected to the connection state control valve 500, and the control module automatically adjusts the working position of the connection state control valve 500 based on the detection results of the inclination detection device. For example, when the inclination detection device detects that the inclination angle of the working machine chassis is within 6°, the control module controls the connection state control valve 500 to switch to the series connection position, and the driver adjusts the position of the motor 200 control handle based on the specific road conditions, thereby adjusting the speed of the motor 200. When the inclination detection device detects that the inclination angle of the working machine chassis is greater than 6°, the control module controls the connection state control valve 500 to switch to the parallel connection position. When the inclination detection device detects that the inclination angle of the working machine chassis is in a state of continuous decrease within 2 seconds, the control module controls the connection state control valve 500 to switch to the parallel connection position, and the driver adjusts the position of the motor 200 control handle based on the specific downhill road conditions, thereby adjusting the speed of the motor 200.

[0083] As long as the slope does not exceed the maximum load capacity of motor 200, both the high-speed and low-speed travel drive motors are connected in series. This effectively controls the speed of motor 200 to a large extent within the high-efficiency range, achieving energy savings and effectively improving the vehicle's ability to navigate obstacles. Upon entering a ramp, adaptive acceleration and deceleration are performed based on the inclination detection results to ensure a smooth and gentle transition. This automatically switches to a parallel connection mode with two drive motors. This utilizes the high torque output of the dual parallel motors to meet the needs of climbing steep slopes, simplifying the repeated high- and low-speed switching between different travel conditions.

[0084] After testing and verification, when the AC asynchronous motor 200 is configured in the above-mentioned walking control system, the energy efficiency Hurd cycle number can be increased by 15.3%, and when the permanent magnet synchronous motor 200 is configured, the energy efficiency Hurd cycle number can be increased by 24.5%.

[0085] An embodiment of the third aspect of the present application provides a working machine, which controls the walking of the working machine using the working machine walking control method as described above, or includes the working machine walking control system as described above.

[0086] For example, in one embodiment of the present application, the above-mentioned working machine includes an aerial work platform or a scissor-type aerial work machine.

[0087] It should be noted that the above embodiment is merely an illustrative embodiment of the present application and does not constitute any limitation on the present application. That is, the above-mentioned work machinery includes, but is not limited to, aerial work platforms. Other work machinery that uses the above-mentioned travel control method to control the movement of work machinery, or that includes the above-mentioned travel control system, shall fall within the scope of protection of the present application.

[0088] Furthermore, in the working machine provided in the present application, since the working machine travel is controlled by the working machine travel control method as described above, or includes the working machine travel control system as described above, it also has the advantages as described above.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling the travel of an operating machine, comprising the following steps: When driving on a flat road, control the starter motor in series mode; In the motor series mode, based on the actual road conditions of the flat road, control to start the low speed mode or the high speed mode; Wherein, in the motor series mode, the first motor and the second motor are connected in series.

2. The working machine travel control method according to claim 1, wherein: The working machine travel control method further includes: When driving on an ascending slope, the starter motor is controlled in parallel mode; In the motor parallel mode, the first motor and the second motor are connected in parallel.

3. The working machine travel control method according to claim 2, wherein: The working machine travel control method further includes: When driving on a descending slope, the starter motor is controlled in series mode; In the motor series mode, based on the actual road condition of the descending slope, control is performed to start the low speed mode or the high speed mode.

4. The working machine travel control method according to claim 3, wherein: After the step of controlling to start the low-speed mode or the high-speed mode, the method further includes: adjusting the driving speed of the low-speed mode or the high-speed mode; In the low speed mode, the rotation speed of the motor is within a first rotation speed range, and in the high speed mode, the rotation speed of the motor is within a second rotation speed range. The upper speed limit of the first speed range is smaller than the lower speed limit of the second speed range.

5. The working machine travel control method according to claim 4, wherein: The step of controlling the series starter motor mode specifically includes: Switch the connection state control valve to the series connection position so that the oil inlet of the first motor is connected to the hydraulic pump, the oil outlet of the first motor is connected to the oil inlet of the second motor, and the oil outlet of the second motor is connected to the oil tank.

6. The working machine travel control method according to claim 5, wherein: The step of controlling the parallel mode of the starting motors specifically includes: Switch the connection state control valve to the parallel connection position so that the oil inlet of the first motor is connected to the The hydraulic pump is connected, the oil outlet of the first motor is connected to the oil tank, the oil inlet of the second motor is connected to the hydraulic pump, and the oil outlet of the second motor is connected to the oil tank.

7. The working machine travel control method according to claim 6, wherein: When driving on an ascending slope, the step of controlling the starter motor parallel mode specifically includes: When the inclination angle of the operating machine chassis is greater than or equal to the preset inclination angle, confirm that the operating machine is traveling on an ascending slope; When traveling on the ascending slope, the control connection state control valve is automatically switched to the parallel connection position.

8. The working machine travel control method according to claim 7, wherein: When driving on a descending slope, the step of controlling the starter motor series mode specifically includes: When the inclination angle of the chassis of the working machine continues to decrease within the first preset time, it is confirmed that the working machine is traveling on a descending slope; When driving on the descending slope, the control connection state control valve is automatically switched to the series connection position.

9. A travel control system for an operating machine, comprising a hydraulic pump, a motor, a motor control handle, a first motor, a second motor, a connection state control valve, an inclination detection device, a control module and an oil tank, The motor is connected to the hydraulic pump, the motor control handle is connected to the motor, and the motor control handle is used to control the motor to switch between a low-speed mode and a high-speed mode, and to adjust the driving speed in the low-speed mode and the driving speed in the high-speed mode; The hydraulic pump is used to supply oil to the first motor and / or the second motor, the oil tank is used to return oil to the first motor and / or the second motor, the first motor is connected to the second motor through the connection state control valve, and the connection state control valve is used to control the first motor and the second motor to switch between a motor series mode and a motor parallel mode. The inclination detection device is connected to the chassis of the working machine, and the control module is connected to the inclination detection device and the connection status control valve, and is used to control the working state of the status connection control valve based on the detection result of the inclination detection device. 10 . A working machine, wherein the working machine travel is controlled by the working machine travel control method according to claim 1 , or the working machine travel control system according to claim 9 .

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