Loader gearbox gear control method and device, vehicle control unit and medium

Abstract

The present application relates to the technical field of vehicle control, and discloses a loader gearbox gear control method and device, a vehicle control unit and a medium. According to the present application, whether a current working gear of a gearbox matches a current working condition is detected, and when the current working gear does not match the current working condition, the gearbox is controlled to switch to a preset working gear that matches the current working condition for operation. The technical problem that the service life of a motor is shortened due to the fact that a driver tends to forget to switch to a corresponding gear is solved.

Description

Loader gearbox gear control method and device, vehicle controller and medium

[0001] The present application claims priority to the Chinese patent application No. 202410435460.0, filed on April 11, 2024, and entitled "Loader gearbox gear control method and device, vehicle controller and medium", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of vehicle control, in particular to a loader gearbox gear control method and device, vehicle controller and medium. BACKGROUND

[0003] The gearbox gear of an electric loader needs to be matched with the current working condition of the electric loader. For example, in a normal situation, when the loader is performing a transfer operation, the gearbox needs to be switched to second gear to provide a higher vehicle speed, and when the loader is performing a loading operation, the gearbox needs to be switched to first gear to provide a larger output torque.

[0004] In the related art, the driver usually performs non-standard operation when driving the loader, and is likely to forget to switch the gear. For example, the driver may directly perform loading with second gear or even higher gear, causing the walking motor to run in a low-efficiency interval of high speed and large torque for a long time, and the motor to overheat, which may cause the service life of the motor of the loader to be reduced or even damaged.

[0005] SUMMARY

[0006] The main purpose of the present application is to provide a loader gearbox gear control method and device, vehicle controller and medium, which aims to solve the technical problem that the driver is likely to forget to switch the corresponding gear when the vehicle is working, resulting in reduced service life of the motor.

[0007] To achieve the above purpose, in a first aspect, the present application provides a loader gearbox gear control method, the method comprising:

[0008] detecting whether the current working gear of the gearbox matches the current working condition;

[0009] if the current working gear does not match the current working condition, then controlling the gearbox to switch to a preset working gear that matches the current working condition.

[0010] Optionally, the controlling the gearbox to switch to the preset working gear that matches the current working condition comprises:

[0011] generating a first gear switching control instruction corresponding to the preset working gear; wherein the priority of the first gear switching control instruction is the highest priority;

[0012] determining the target working gear control instruction based on the priority of the first gear switching control instruction and the handle gear switching control instruction;

[0013] controlling the gearbox to operate based on the target working gear control instruction.

[0014] Optionally, in the case that the current working gear does not match the current working condition, after the gearbox is controlled to switch to the preset working gear matching the current working condition, the method further comprises:

[0015] generating a second gear switching control instruction if it is detected that the current working condition has changed and there is no preset working gear matching the changed working condition, wherein the second gear switching control instruction is used to control the gearbox to switch to a previous working gear of the preset working gear, and the priority of the second gear switching control instruction is lower than the priority of the handle gear switching control instruction;

[0016] determining the target working gear control instruction based on the priority of the second gear switching control instruction and the handle gear switching control instruction;

[0017] controlling the gearbox to operate based on the target working gear control instruction.

[0018] Optionally, before detecting whether the current working gear of the gearbox matches the current working condition, the method further comprises:

[0019] detecting the current working gear of the gearbox, motor speed information, motor torque information and motor winding temperature information of the upper-attachment motor of the loader, and motor speed information, motor torque information and motor winding temperature information of the traveling motor of the loader;

[0020] determining the current working condition of the loader based on the motor speed information, motor torque information and motor winding temperature information of the upper-attachment motor of the loader, and the motor speed information, motor torque information and motor winding temperature information of the traveling motor of the loader.

[0021] Optionally, determining the current working condition of the loader based on the motor speed information, motor torque information and motor winding temperature information of the upper-attachment motor of the loader, and the motor speed information, motor torque information and motor winding temperature information of the traveling motor of the loader comprises:

[0022] if the speed of the upper-attachment motor presents periodic variation, the average torque of the upper-attachment motor is greater than a first preset threshold value, and the average torque of the traveling motor is greater than a second preset threshold value, it is determined that the current working condition of the loader is a loading-and-digging working condition, wherein the preset working gear matching the loading-and-digging working condition is a first gear.

[0023] Optionally, based on the motor speed information, motor torque information and motor winding temperature information of the upper machine motor of the loader and the motor speed information, motor torque information and motor winding temperature information of the traveling motor of the loader, the current working condition of the loader is determined, comprising:

[0024] If the torque of the traveling motor is greater than the third preset threshold and the speed of the traveling motor is less than the fourth preset threshold for a continuous preset time period, it is determined that the current working condition of the loader is a motor locked-rotor condition, wherein the preset working gear position matched with the motor locked-rotor condition is a first gear position.

[0025] Optionally, based on the motor speed information, motor torque information and motor winding temperature information of the upper machine motor of the loader and the motor speed information, motor torque information and motor winding temperature information of the traveling motor of the loader, the current working condition of the loader is determined, comprising:

[0026] If the winding temperature of the traveling motor is greater than the fifth preset threshold, it is determined that the current working condition of the loader is a motor locked-rotor condition, wherein the preset working gear position matched with the motor locked-rotor condition is a first gear position.

[0027] Optionally, based on the motor speed information, motor torque information and motor winding temperature information of the upper machine motor of the loader and the motor speed information, motor torque information and motor winding temperature information of the traveling motor of the loader, the current working condition of the loader is determined, comprising:

[0028] If the traveling distance of the loader is greater than a preset distance, the average slope of the traveling path of the loader is greater than the sixth preset threshold and the average torque of the traveling motor is greater than the seventh preset threshold, it is determined that the current working condition of the loader is a long-distance climbing condition, wherein the preset working gear position matched with the long-distance climbing condition is a first gear position.

[0029] In a second aspect, to achieve the above object, the present application further provides a loader gearbox gear control device, comprising:

[0030] A detection module is configured to detect whether the current working gear position of the gearbox matches the current working condition.

[0031] A gear control module is configured to control the gearbox to switch to a preset working gear position matching the current working condition if the current working gear position does not match the current working condition.

[0032] In a third aspect, to achieve the above object, the present application further provides a vehicle controller, comprising a processor, a memory and a loader gearbox gear control program stored in the memory, wherein the loader gearbox gear control program is run by the processor to implement the steps of the above-mentioned loader gearbox gear control method.

[0033] Fourthly, in order to achieve the above-mentioned purpose, the present application continues to provide a computer-readable storage medium, on which a loader transmission gear control program is stored. When the loader transmission gear control program is executed by the processor, the above-mentioned loader transmission gear control method is implemented.

[0034] In the fifth aspect, in order to achieve the above-mentioned purpose, the present application continues to provide a chip, which includes a memory and a processor. The memory stores code and data. The memory is coupled to the processor. The processor runs the program in the memory so that the chip is used to execute the above-mentioned loader gearbox gear control method.

[0035] In a sixth aspect, in order to achieve the above-mentioned purpose, the present application continues to provide a program product, including: a computer program, which, when the program product is run on a computer, enables the computer to execute the above-mentioned loader transmission gear control method.

[0036] In a seventh aspect, in order to achieve the above-mentioned purpose, the present application continues to provide a computer program, which, when executed by a processor, is used to execute the above-mentioned loader transmission gear control method.

[0037] The present application detects whether the current working gear of the loader's gearbox matches the current working conditions. When the current working gear does not match the current working conditions, the application controls the gearbox to switch to a preset working gear that matches the current working conditions. This can achieve intelligent and efficient control and management of the gearbox, ensure the best coordination between engine speed, torque output and vehicle speed, optimize the loader's power performance, reduce mechanical wear, extend the service life of the gearbox, and prevent the driver from forgetting to switch the loader gear and causing it to not match the current working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG1 is a schematic diagram of the structure of the vehicle controller of the present application;

[0039] FIG2 is a flow chart of a first embodiment of a method for controlling a gearbox position of a loader according to the present invention;

[0040] FIG3 is a schematic flow chart of a first embodiment of a method for controlling a gearbox gear position of a loader according to the present invention;

[0041] FIG4 is a detailed flowchart of step S400 of the first embodiment of the loader transmission gear position control method of the present application;

[0042] FIG5 is a detailed flowchart of step S200 of the first embodiment of the loader transmission gear position control method of the present application;

[0043] FIG6 is a schematic diagram of an implementation method after step S200 of the first embodiment of the loader transmission gear position control method of the present application;

[0044] Fig. 7 is a structural schematic diagram of an embodiment of the present application.

[0045] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0046] The term "and / or" in the embodiments of the present application describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0048] It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0049] The working conditions of the electric loader are complex and diverse. For example, under normal circumstances, when the loader is performing a transfer operation, the gearbox needs to be switched to second gear to provide a higher vehicle speed, and when the loader is performing a loading operation, the gearbox needs to be switched to first gear to provide a larger output torque.

[0050] Currently, the driver usually performs non-standard operation when driving the loader, such as using second gear for loading operation or using second gear for long-distance uphill operation, which causes the walking motor to run in a low-efficiency range of high speed and large torque for a long time, which can cause the service life of the loader motor to be reduced or even damaged.

[0051] In view of the technical problem that the driver is easy to forget to switch to first gear when the vehicle is working, which can cause the service life of the motor to be reduced, the present application provides a loader gearbox gear control method, and the general idea is as follows:

[0052] Detect whether the current working gear of the gearbox matches the current working condition; and in the case that the current working gear does not match the current working condition, control the gearbox to switch to a preset working gear that matches the current working condition.

[0053] It can be seen that, by matching the current working gear of the loader gearbox with the current working condition, in the case that the current working gear does not match the current working condition, the gearbox is switched to the preset working gear matching the current working condition, the intelligent and efficient control management of the gearbox can be realized, the best matching between the engine speed, torque output and vehicle speed is ensured, the power performance of the loader is optimized, the mechanical wear is reduced, the service life of the gearbox is prolonged, the overall driving experience of the driver is improved, and the driver is prevented from forgetting to switch the loader gear and matching the current working condition.

[0054] In the following embodiments of the present application, the loader gearbox gear control method applied in the technical implementation of the present application will be described.

[0055] Referring to FIG. 1, FIG. 1 is a structural schematic diagram of a vehicle controller of a hardware running environment related to the embodiments of the present application.

[0056] As shown in FIG. 1, the vehicle controller can include a processor 1001, such as a CPU, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 can include a voice pickup module, such as a microphone array, and the optional user interface 1003 can also be a display, an input unit such as a keyboard, etc. The memory 1005 can be a high-speed RAM memory, or a stable memory such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0057] It can be understood that the vehicle controller can also include a network interface 1004. Optionally, the network interface 1004 can include a standard wired interface, a wireless interface (such as a WI-FI interface). Optionally, the vehicle controller can also include an RF (Radio Frequency, radio frequency) circuit, a sensor, an audio circuit, a WiFi module, etc.

[0058] Those skilled in the art can understand that the vehicle controller structure shown in FIG. 1 does not constitute a limitation on the vehicle controller, and can include more or fewer components than shown, or combine certain components, or different component arrangements.

[0059] Based on the hardware structure of the vehicle controller described above but not limited to the hardware structure described above, the present application provides a first embodiment of a loader gearbox gear control method. Referring to FIG. 2, FIG. 2 shows a flowchart of the first embodiment of the loader gearbox gear control method of the present application.

[0060] It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in an order different from that shown here.

[0061] In this embodiment, the loader gearbox gear control method comprises:

[0062] Step S100, detecting whether the current working gear of the gearbox matches the current working condition of the loader.

[0063] In this embodiment, the execution subject of the loader gearbox gear control method is the vehicle controller (VCU) of the loader. The vehicle controller realizes the detection of whether the current working gear of the gearbox matches the current working condition of the loader.

[0064] Specifically, the vehicle controller can obtain the working data of the loader through sensors and the like, and determine the current working condition of the loader, such as starting acceleration, climbing, shovel operation, downhill sliding, etc. At the same time, the vehicle controller can obtain the current working gear information of the gearbox. After confirming the current working condition of the loader and learning the current gear of the gearbox, the vehicle controller can make a logical judgment to detect whether the current working gear of the gearbox matches the current working condition of the loader.

[0065] That is, in this embodiment, before detecting whether the current working gear of the gearbox matches the current working condition, the current working gear of the gearbox and the current working condition of the loader need to be detected first.

[0066] As an embodiment, referring to FIG. 3, before step S100, it further comprises:

[0067] Step S300, detecting the current working gear of the gearbox, the motor speed information, the motor torque information and the motor winding temperature information of the upper loader motor, and the motor speed information, the motor torque information and the motor winding temperature information of the walking motor of the loader.

[0068] Step S400, determining the current working condition of the loader based on the motor speed information, the motor torque information and the motor winding temperature information of the upper loader motor, and the motor speed information, the motor torque information and the motor winding temperature information of the walking motor of the loader.

[0069] In this embodiment, the vehicle controller can obtain the current working gear information of the gearbox in the gearbox controller. The detection of the current working gear of the gearbox is to understand the current transmission ratio and working efficiency of the gearbox. Different gears correspond to different torque output and speed range, which is crucial for matching the current working condition of the loader.

[0070] According to the working characteristics of the loader, the vehicle controller can acquire and detect the running parameters of the traveling motor and the upper-attachment motor of the loader in real time through relevant sensors, so as to realize accurate judgment and management of the current working condition of the loader.

[0071] Specifically, the motor speed of the upper-attachment motor reflects the actual running speed and working efficiency of the upper-attachment part (such as a bucket, a boom, etc.) of the loader, the motor torque of the upper-attachment motor represents the driving force generated by the motor, which is directly related to the power and response speed of the upper-attachment action, and the winding temperature of the upper-attachment motor is an important indicator of the health condition of the motor, and an excessively high temperature can affect the performance and service life of the motor.

[0072] Similarly, the speed information of the traveling motor determines the driving speed of the loader, the torque information affects the traction and climbing ability, and the winding temperature information is a prerequisite for ensuring the normal operation of the motor.

[0073] By detecting and comprehensively analyzing the above information, the vehicle controller can comprehensively master the overall running state of the loader under the current operation, such as the action condition of the loader, the walking speed and traction, and the working load and thermal state of the motor, so as to accurately judge the current working condition of the loader, such as starting acceleration, climbing, bucket loading operation, downhill sliding, etc.

[0074] In the embodiment, the loader has a suitable and matched gear position of the transmission for each working condition, and by confirming whether the gear position of the transmission corresponding to the current working condition of the loader is the same as the current gear position of the transmission, it can be determined whether the current gear position of the transmission matches the current working condition of the loader.

[0075] Further, referring to FIG. 4, as a specific embodiment, step S400 includes:

[0076] In step S410, if the speed of the upper-attachment motor changes periodically, the average torque of the upper-attachment motor is greater than a first preset threshold, and the average torque of the traveling motor is greater than a second preset threshold, it is determined that the current working condition of the loader is a bucket loading working condition.

[0077] The preset working gear position matched with the bucket loading working condition is a first gear position.

[0078] In the embodiment, whether the loader is in the bucket loading working condition can be determined according to the speed change condition of the upper-attachment motor of the loader, the torque change condition of the upper-attachment motor, and the torque change condition of the traveling motor.

[0079] Specifically, the periodic change of the rotation speed of the upper machine means that the upper part of the loader (e.g. a bucket or a boom) is performing a lifting or lowering action, which is a typical behavior of the loader when it is performing a loading operation. The average torque of the upper machine being greater than the first preset threshold means that the upper part is loaded and the upper machine is providing sufficient power to overcome the load weight and other resistances to complete the loading operation.

[0080] Similarly, the average torque of the traveling motor being greater than the second preset threshold means that the traveling motor is under a high load, which can be caused by the loader performing a loading operation or moving on a complex ground condition, requiring more driving power to maintain stable travel or make small position adjustments. In combination with the working condition of the upper machine, it can be determined that the loader is currently in the "loading condition".

[0081] It can be understood that, after confirming that the current condition of the loader is the loading condition, in order to ensure sufficient traction and torque output, and considering that the loading operation usually does not require a high travel speed, the gearbox is switched to a preset working gear (first gear) that matches the "loading condition" at this time. Selecting the first gear can provide the maximum torque amplification ratio to ensure sufficient power for effective and stable loading operation in the loading condition.

[0082] As can be seen, the present embodiment identifies whether the loader is in a loading operation state by monitoring the rotation speed and torque changes of the upper machine and the traveling motor of the loader in real time, and automatically adjusts the gearbox to run in the first gear according to the actual working condition requirements. This gear control strategy based on condition matching can effectively improve the operation efficiency and stability of the loader under heavy load or complex conditions, ensure sufficient driving power when loading materials, and thus optimize the working performance and durability of the loader as a whole, reduce equipment wear and tear, improve work efficiency and improve the driving experience.

[0083] As another specific embodiment, step S400 comprises:

[0084] Step S420, if the torque of the traveling motor is greater than the third preset threshold and the rotation speed of the traveling motor is less than the fourth preset threshold for a continuous preset period of time, it is determined that the current condition of the loader is a motor stall condition.

[0085] The preset working gear that matches the motor stall condition is the first gear.

[0086] In the present embodiment, whether the loader is in the motor stall condition can be determined according to the torque change and the rotation speed change of the traveling motor.

[0087] Specifically, if the torque of the traveling motor is greater than the third preset threshold value and the rotating speed of the traveling motor is less than the fourth preset threshold value for a preset period of time, it indicates that the traveling motor outputs a large and continuous driving force for a period of time, and the traveling speed of the loader does not increase despite the large and continuous driving force output by the traveling motor.

[0088] Generally, if the loader is normally traveling or working, the torque and rotating speed of the motor are maintained at a certain normal level. However, if the torque exceeds the preset threshold value for a long time at a relatively low traveling speed (i.e., the rotating speed of the traveling motor does not reach the set speed threshold value), it may be because the vehicle encounters serious resistance, such as being stuck in mud and unable to rotate normally. At this time, if the power of the motor is not effectively converted into the traveling kinetic energy of the vehicle for a certain period of time, it may cause the motor to be blocked. Therefore, when the torque of the traveling motor of the loader is greater than the third preset threshold value, the rotating speed of the traveling motor is less than the fourth preset threshold value, and these conditions last for a certain period of time, it can be determined that the loader is in the "motor blocked working condition".

[0089] In the motor blocked working condition, the transmission is switched to the first gear position, so that the loader can provide a greater torque output and get rid of the current abnormal working state, thereby avoiding overheating, burning and other faults caused by long-time blocking of the motor, and thus ensuring the safety of the equipment and prolonging the service life.

[0090] As another specific embodiment, step S400 includes:

[0091] Step S430, if the winding temperature of the traveling motor is greater than the fifth preset threshold value, it is determined that the current working condition of the loader is the motor blocked working condition.

[0092] The preset working gear position matched with the motor blocked working condition is the first gear position.

[0093] In this embodiment, whether the loader is in the motor blocked working condition can be determined according to the motor winding temperature of the traveling motor.

[0094] Specifically, if the winding temperature of the traveling motor is greater than the fifth preset threshold value, it indicates that the heat generated by the traveling motor during operation exceeds the normal range. According to the signal of abnormal temperature rise, it is determined that the loader is in the "motor blocked working condition".

[0095] In the motor blocked working condition, the transmission is switched to the first gear position, so as to avoid overheating, burning and other faults caused by long-time blocking of the motor, thereby ensuring the safety of the equipment and prolonging the service life.

[0096] As still another specific embodiment, step S400 includes:

[0097] Step S440, if the walking distance of the loader is greater than the preset distance, the average slope of the walking path of the loader is greater than the sixth preset threshold, and the average torque of the walking motor is greater than the seventh preset threshold, it is determined that the current working condition of the loader is the long-distance climbing condition.

[0098] The preset working gear position matched with the long-distance climbing condition is a first gear position.

[0099] In the embodiment, whether the loader is in the long-distance climbing condition is judged according to the average slope of the walking path of the loader and the torque change of the walking motor of the loader.

[0100] Specifically, the average slope of the walking path of the loader in a preset distance can be detected and calculated in real time by using the vehicle-mounted slope sensor. If the walking distance of the loader is greater than the preset distance and the average slope of the walking path of the loader in the preset distance exceeds the sixth preset threshold, it indicates that the loader may be walking on a continuous and steep climbing path. At the same time, by detecting the average torque output of the walking motor in this distance, if the average torque exceeds the seventh preset threshold, it indicates that the walking motor is providing a large degree of power output in order to overcome the uphill resistance. At this time, it can be determined that the loader is currently in the "long-distance climbing condition".

[0101] It can be understood that in the long-distance climbing condition, the gear position of the gearbox is switched to the first gear position, which can ensure sufficient driving force and prevent problems such as overloading of the walking motor or climbing difficulty due to insufficient power, thereby ensuring work efficiency, effectively protecting the equipment, and prolonging the service life.

[0102] Step S200, in the case that the current working gear position does not match the current working condition, the gearbox is controlled to switch to the preset working gear position matched with the current working condition.

[0103] Specifically, the current working condition of the loader can be detected first, and then the gear position matched with the current working condition is confirmed. Subsequently, it is detected whether the current gear position of the loader is the same as the gear position matched with the current working condition. If not, the gearbox of the loader is controlled to shift gears.

[0104] It can be understood that by matching the current working gear position of the loader with the current working condition, in the case that the current working gear position does not match the current working condition, the gearbox is controlled to switch to the preset working gear position matched with the current working condition, which can realize intelligent and efficient control and management of the gearbox, ensure the best cooperation between the engine speed, torque output and vehicle speed, optimize the power performance of the loader, reduce mechanical wear, prolong the service life of the gearbox, improve the overall driving experience of the driver, and avoid the situation that the driver forgets to switch the gear position of the loader and the current working condition does not match.

[0105] Further, referring to FIG. 5, as a specific embodiment, step S200 includes:

[0106] Step S210, generating a first gear shift control instruction corresponding to a preset working gear position; wherein the priority of the first gear shift control instruction is the highest priority.

[0107] Step S220, determining a target working gear position control instruction based on the priority of the first gear shift control instruction and the handle gear shift control instruction.

[0108] Step S230, controlling the gearbox to operate based on the target working gear position control instruction.

[0109] In the embodiment, the first gear shift control instruction is a related instruction generated by the vehicle controller according to the current working condition. After generating the first gear shift control instruction, the first gear shift control instruction can be set as the highest priority. The handle gear shift control instruction is a related instruction generated when the driver manually shifts the gear position by operating the loader handle, for example, when the driver switches the loader handle to the corresponding position of gear one, gear two or other gear positions, the corresponding handle gear shift control instruction is generated.

[0110] It can be understood that setting the first gear shift control instruction as the highest priority means that the priority of the first gear shift control instruction is higher than that of the handle gear shift control instruction, and the first gear shift control instruction will be executed first. That is, when shifting the gear position, if the first gear shift control instruction is received, the gear shift control instruction is taken as the target working gear position control instruction, and the gearbox is controlled to operate according to the target working gear position control instruction.

[0111] For the convenience of understanding, in an example, a working condition recognition module is built in the vehicle controller, which can identify the current working condition of the loader and judge whether the current working condition of the loader matches the current working gear position. If not, the first gear shift control instruction matching the current working condition is generated, and the first gear shift control instruction is set as the highest priority. If the driver manually shifts the gear position by operating the loader handle, the vehicle controller will receive the handle gear shift control instruction, and at this time the vehicle controller will set the handle gear shift control instruction as the second priority.

[0112] The vehicle controller sends the first gear shift control instruction as the target working gear position control instruction to the gearbox controller according to the priority of the first gear shift control instruction, and the gearbox controller executes the first gear shift control instruction to control the gearbox to shift to the gear position matching the current working condition.

[0113] In one case, while the working condition recognition module generates the first gear switching control instruction according to the current working condition, the vehicle controller receives the handle gear switching control instruction generated by the driver through the operation of the loader handle. Since the priority of the handle gear switching control instruction is lower than that of the first gear switching control instruction, the vehicle controller takes the first gear switching control instruction as the target working gear control instruction and sends the target working gear control instruction to the gearbox controller, so that the gearbox controller controls the gearbox to switch to the working gear corresponding to the target working gear control instruction.

[0114] In another case, when the current working condition does not match the preset working gear, the working condition recognition module generates the first gear switching control instruction according to the current working condition. Then, the vehicle controller takes the first gear switching control instruction as the target working gear control instruction and sends the target working gear control instruction to the gearbox controller, so that the gearbox controller controls the gearbox to switch to the working gear corresponding to the target working gear control instruction. That is, during the duration of the current working condition, the gearbox controller has switched the working gear of the gearbox to the gear matching the current working condition according to the target working gear control instruction. At this time, if the vehicle controller receives the handle gear switching control instruction, since the current working condition has not changed, the vehicle controller still needs to determine the priority of the first gear switching control instruction and the handle gear switching control instruction. That is, since the priority of the received handle gear switching control instruction is lower than that of the first gear switching control instruction, the vehicle controller does not take the handle gear switching control instruction as the target working gear control instruction and send it to the gearbox controller. That is, the working gear of the gearbox remains the same as the preset working gear matching the current working condition.

[0115] It can be understood that by setting the first gear switching control instruction as the highest priority, it can be ensured that when the actual working condition of the loader does not match the gear of the gearbox, the first gear switching control instruction corresponding to the current working condition is generated as the target working gear control instruction and executed, so as to realize automatic gear switching matching in different working conditions and improve the convenience and accuracy of operation.

[0116] Further, referring to FIG. 6, as a specific embodiment, after step S200, the method further comprises:

[0117] Step S500: If it is detected that the current working condition has changed and there is no preset working gear matching the changed working condition, a second gear switching control instruction is generated.

[0118] Step S600: Based on the priority of the second gear switching control instruction and the handle gear switching control instruction, a target working gear control instruction is determined.

[0119] Step S700, controlling the gearbox to operate based on the target working gear control instruction.

[0120] The second gear switching control instruction is used to control the gear of the gearbox to switch to a working gear preceding the preset working gear, and the priority of the second gear switching control instruction is lower than the priority of the handle gear switching control instruction.

[0121] In the embodiment, the second gear switching control instruction is a gear switching control instruction generated after the current working condition changes and there is no preset working gear matching the changed working condition, and the second gear switching control instruction is used to control the gear of the gearbox to switch to a working gear preceding the preset working gear, i.e., to control the gear of the gearbox to switch to a working gear preceding the working gear matching the working condition before the change.

[0122] It can be understood that setting the priority of the second gear control instruction to be lower than the priority of the handle gear switching control instruction means that the handle gear switching control instruction will be executed in priority to the second gear control instruction. That is, when performing gear control, if the second gear switching control instruction and the handle gear switching control instruction are received at the same time, the handle gear switching control instruction is taken as the target working gear control instruction, and the gearbox is controlled to operate according to the target working gear control instruction.

[0123] It can be understood that after the working gear of the loader gearbox is switched to the working gear matching the current working condition by using the first gear switching control instruction, if it is detected that the working condition of the loader changes, the working gear of the loader gearbox at this time may not match the changed working condition. In this case, if there is a preset working gear matching the changed working condition, a first gear switching control instruction corresponding to the preset working gear is generated to control the working gear of the gearbox to match the changed working condition, and if there is no preset working gear matching the changed working condition, a second gear switching control instruction is generated, and the priority of the second gear switching control instruction is set to be lower than the priority of the handle gear switching control instruction.

[0124] For the convenience of understanding, in a specific example, the preset working gears of the loader gearbox do not have a working gear matching the working condition of the loader in the transition state.

[0125] In the present example, the loader is first in the loading condition, at this time, due to the driver not performing the gear shifting operation, the working gear of the transmission of the loader is in the second gear, when the working condition recognition module detects that the current working condition (loading condition) does not match the working gear (second gear) of the transmission of the loader, it records the current working gear (second gear) and generates a first gear switching control instruction matched with the loading condition, and the vehicle controller sends the first gear switching control instruction as the target working gear control instruction to the transmission controller, so that the transmission controller controls the working gear of the transmission to switch to the gear (first gear) matched with the loading condition.

[0126] When the loader ends the loading operation and enters the scene changing operation, since the working condition recognition module cannot detect the preset working gear matched with the scene changing condition, it cannot generate the first gear switching control instruction, at this time, the working condition recognition module generates a second gear switching control instruction corresponding to the second gear according to the recorded working gear (second gear), and sets the priority of the second gear switching control instruction as the third priority (the priority of the first gear switching control instruction is the highest priority, the priority of the handle gear switching control instruction is the second priority, and the priority of the second gear switching control instruction is the third priority).

[0127] In one case, the driver realizes that the current working condition has changed, and manually switches the gear to the gear (second gear) matched with the current scene changing condition, at this time, the vehicle controller receives the handle gear switching control instruction and the second gear switching control instruction at the same time, since the priority of the handle gear switching control instruction is higher than that of the second gear switching control instruction, the vehicle controller sends the handle gear switching control instruction as the target working gear control instruction to the transmission controller, so that the transmission controller controls the gear of the transmission.

[0128] In another case, the driver does not manually switch the gear to the gear (second gear) matched with the current scene changing condition, at this time, since there is no preset working gear matched with the scene changing condition, the vehicle controller sends the second gear switching control instruction as the target working gear control instruction to the transmission controller, so that the transmission controller controls the gear of the transmission. During the duration of the scene changing condition, if the driver manually switches the gear to the gear matched with the current scene changing condition, the vehicle controller sends the handle gear switching control instruction generated by the driver's manual gear switching as the target working gear control instruction to the transmission controller, so that the transmission controller controls the gear of the transmission to switch to the gear matched with the scene changing condition. Of course, it can be understood that, in the present example, since the gear (second gear) corresponding to the second gear switching control instruction is the same as the gear (second gear) corresponding to the handle gear switching control instruction, the transmission controller does not need to repeatedly control the transmission to switch gears.

[0129] It can be understood that the optimal matching of gear and working condition can be achieved by automatically or manually adjusting the gear position of the gearbox when the working condition changes. The system monitors the working condition change in real time, and preferentially executes the preset gear position switching matching the new working condition. If there is no matching gear position, the gear position is restored to the working gear position before the gear position matching, which can improve the robustness of the intelligent control of the gearbox gear position. The driver's manual gear shifting has higher priority, which ensures the dominant right of human-computer interaction and avoids the problem that the working gear position before the gear position matching still does not match the current working condition. Through the clear instruction priority setting, the system logic is clear and the response is rapid, avoiding disordered switching and ensuring operation continuity and equipment life.

[0130] Referring to FIG. 7, in order to enable those skilled in the art to better understand the present application, the following will be described in detail through specific implementation examples in specific application scenarios:

[0131] In this example, the driver operating handle switches the gear position, and the gear shifting signal issued is set to the second priority. The working condition recognition module monitors the speed information, torque information and motor winding temperature information of the walking motor of the loader in real time, and detects the speed information, torque information and slope signal of the slope sensor of the upper-mounted motor in real time.

[0132] Every fixed time period, the speed change of the upper-mounted motor is detected. If the speed of the upper-mounted motor changes periodically in a certain fixed time period, and the average torque output of the upper-mounted motor is greater than a set threshold A, and the average torque output of the walking motor is greater than a set threshold B, the working condition recognition module determines that the current vehicle is in a loading operation state, and the working condition recognition module issues a gear shifting control instruction for the gearbox to switch to first gear and sets it to the highest priority.

[0133] The torque information and speed information change of the walking motor are detected in real time. When the torque of the walking motor is greater than a set threshold C, the motor speed is less than a set threshold D, and this condition lasts for a duration of t1, the working condition recognition module determines that the current walking motor is in a motor stall working condition. At this time, the working condition recognition module issues a gear shifting control instruction for the gearbox to switch to first gear and sets it to the highest priority.

[0134] The temperature change of the motor winding temperature is detected in real time. If the winding temperature of the walking motor is greater than T degrees, and this condition lasts for a duration of t1, the working condition recognition module determines that the current walking motor is in a motor stall working condition. At this time, the working condition recognition module issues a gear shifting control instruction for the gearbox to switch to first gear and sets it to the highest priority.

[0135] The walking condition of the loader is detected by the slope sensor, when the walking distance of the loader is greater than a set threshold E, and the average value of the detected slope in the distance is greater than a set threshold F, and the average torque of the walking motor is greater than a set threshold G, the working condition recognition module determines that the current walking motor is in a long-distance uphill state, the working condition recognition module sends a gear shifting control instruction for the gearbox to shift to first gear, and sets the highest priority.

[0136] The gearbox controller will determine how the gear of the gearbox is shifted through the received gear shifting control instruction. That is, when the working condition recognition module does not receive the gear shifting control instruction, the gearbox controller shifts the gear based on the driver's handle operation, and sends a handle gear shifting control instruction for gear shifting control, when the gear shifting control instruction is received, the gear shifting control instruction is executed preferentially.

[0137] As can be seen, the present example realizes the matching of the real-time working condition and the real-time gear through the working condition recognition module, so that the loader can automatically switch the gear of the gearbox according to the real-time working condition of the vehicle, avoid the vehicle to carry out the loading operation and the long-distance uphill operation in an unsuitable gear, and avoid the motor to run in the high-speed and high-torque low-efficiency interval for a long time, avoid the motor to be blocked and heated, and protect the motor and the electronic control system.

[0138] Based on the same inventive concept, the present application also provides a loader gearbox gear control device, which comprises:

[0139] The detection module is configured to detect whether the current working gear of the gearbox matches the current working condition.

[0140] The gear control module is configured to control the gearbox to switch to a preset working gear matching the current working condition when the current working gear does not match the current working condition.

[0141] It should be noted that the various embodiments of the loader gearbox gear control device in the present embodiment can refer to the various embodiments of the loader gearbox gear control method in the foregoing embodiments for the technical effects achieved thereby, which will not be described here.

[0142] Further, the embodiment of the present application also provides a computer storage medium, and the computer storage medium stores a loader gearbox gear control method program. The loader gearbox gear control method program is executed by a processor to implement the steps of the loader gearbox gear control method. Therefore, the steps will not be repeated here. In addition, the beneficial effects of the same method will not be repeated. For the technical details of the computer readable storage medium embodiments involved in the present application, please refer to the description of the method embodiments of the present application. It is determined that the program instructions can be deployed to execute on one computing device, or on multiple computing devices located in one place, or on multiple computing devices distributed in multiple places and interconnected through a communication network.

[0143] The embodiment of the present application also provides a chip, which comprises a memory and a processor. The memory stores codes and data, and is coupled to the processor. The processor executes the program in the memory, so that the chip is used to execute the loader gearbox gear control method in the above-mentioned method embodiments.

[0144] The embodiment of the present application also provides a program product, which comprises a computer program. When the program product is executed on a computer, the computer executes the loader gearbox gear control method in the above-mentioned method embodiments.

[0145] The embodiment of the present application also provides a computer program, which is executed by a processor to execute the loader gearbox gear control method in the above-mentioned method embodiments.

[0146] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The above-mentioned program can be stored in a computer readable storage medium. When the program is executed, the program can include the processes of the above-mentioned method embodiments. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM) or a random access memory (RAM).

[0147] In addition, it should be noted that the apparatus embodiments described above are merely exemplary, and units described as separate components can or can not be physically separate, and components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments. In addition, the connection between the modules in the apparatus embodiments provided in the present application indicates that there is a communication connection between them, which can be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement it without creative labor.

[0148] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary general hardware, and of course can also be realized by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. Generally, functions completed by computer programs can be easily realized by corresponding hardware, and specific hardware structures for realizing the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of software products, which are stored in readable storage media, such as computer floppy disks, U disks, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic or optical disks, etc., including a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods of various embodiments of the present application.

[0149] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A loader gearbox gear control method, wherein: The method comprises: Check whether the current working gear of the transmission matches the current working conditions; In the case that the current working gear does not match the current working condition, the transmission is controlled to switch to a preset working gear that matches the current working condition.

2. The loader transmission gear position control method according to claim 1, wherein: The step of controlling the transmission to switch to a preset working gear that matches the current working condition includes: generating a first gear switching control instruction corresponding to the preset working gear; wherein the priority of the first gear switching control instruction is the highest priority; Determining a target working gear control instruction based on the priority of the first gear switching control instruction and the handle gear switching control instruction; The transmission is controlled to operate based on the target working gear control instruction.

3. The loader gearbox gear control method according to claim 1 or 2, wherein: When the current working gear does not match the current working condition, after controlling the transmission to switch to a preset working gear that matches the current working condition, the method further includes: If it is detected that the current working condition has changed and there is no preset working gear that matches the changed working condition, a second gear switching control instruction is generated; wherein the second gear switching control instruction is used to control the gear of the transmission to switch to the working gear before the preset working gear, and the priority of the second gear switching control instruction is lower than the priority of the handle gear switching control instruction; determining the target working gear control instruction based on the priority of the second gear switching control instruction and the handle gear switching control instruction; The transmission is controlled to operate based on the target working gear control instruction.

4. The loader transmission gear position control method according to any one of claims 1 to 3, wherein: Before detecting whether the current working gear of the transmission matches the current working condition, the method further includes: Detecting the current working gear of the gearbox, the motor speed information, motor torque information and motor winding temperature information of the upper motor of the loader, and the motor speed information, motor torque information and motor winding temperature information of the travel motor of the loader; The current working condition of the loader is determined based on the motor speed information, motor torque information and motor winding temperature information of the upper motor of the loader and the motor speed information, motor torque information and motor winding temperature information of the travel motor of the loader.

5. The loader transmission gear position control method according to claim 4, wherein: The determining of the current operating condition of the loader based on the motor speed information, motor torque information, and motor winding temperature information of the upper motor of the loader and the motor speed information, motor torque information, and motor winding temperature information of the travel motor of the loader includes: If the rotational speed of the upper motor changes periodically, the average torque of the upper motor is greater than a first preset threshold, and the average torque of the travel motor is greater than a second preset threshold, it is determined that the current working condition of the loader is a shoveling working condition, wherein the preset working gear matching the shoveling working condition is the first gear.

6. The loader transmission gear position control method according to claim 4, wherein: The determining of the current operating condition of the loader based on the motor speed information, motor torque information, and motor winding temperature information of the upper motor of the loader and the motor speed information, motor torque information, and motor winding temperature information of the travel motor of the loader includes: If the torque of the travel motor is greater than the third preset threshold and the speed of the travel motor is less than the fourth preset threshold for a continuous preset time period, it is determined that the current operating condition of the loader is a motor stall condition, wherein the preset working gear matching the motor stall condition is the first gear.

7. The loader transmission gear position control method according to claim 4, wherein: The determining of the current operating condition of the loader based on the motor speed information, motor torque information, and motor winding temperature information of the upper motor of the loader and the motor speed information, motor torque information, and motor winding temperature information of the travel motor of the loader includes: If the temperature of the travel motor winding is greater than a fifth preset threshold, it is determined that the current operating condition of the loader is a motor stall condition, wherein the preset working gear matching the motor stall condition is the first gear.

8. The loader transmission gear position control method according to claim 4, wherein: The determining of the current operating condition of the loader based on the motor speed information, motor torque information, and motor winding temperature information of the upper motor of the loader and the motor speed information, motor torque information, and motor winding temperature information of the travel motor of the loader includes: If the walking distance of the loader is greater than the preset distance, the average slope of the walking path of the loader is greater than the sixth preset threshold and the average torque of the walking motor is greater than the seventh preset threshold, it is determined that the current working condition of the loader is a long-distance climbing condition, wherein the preset working gear matching the long-distance climbing condition is the first gear.

9. A gear control device for a loader transmission, wherein: The loader gearbox gear control device comprises: A detection module is used to detect whether the current working gear of the transmission matches the current working condition; The gear control module is used to control the transmission to switch to a preset working gear that matches the current working condition when the current working gear does not match the current working condition.

10. A vehicle controller, wherein: include: A processor, a memory, and a loader transmission gear control program stored in the memory, wherein the loader transmission gear control program, when executed by the processor, implements the steps of the loader transmission gear control method according to any one of claims 1 to 8.

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