CN117227728A

CN117227728A - Electric control walking adjusting method, device, equipment and medium

Info

Publication number: CN117227728A
Application number: CN202311286204.1A
Authority: CN
Inventors: 贾维霞; 周磊; 李镪
Original assignee: Sunward Intelligent Equipment Co Ltd
Current assignee: Sunward Intelligent Equipment Co Ltd
Priority date: 2023-10-07
Filing date: 2023-10-07
Publication date: 2023-12-15

Abstract

The application discloses an electric control walking adjusting method, an electric control walking adjusting device, electric control walking adjusting equipment and an electric control walking adjusting medium, and relates to the technical field of electric control. The method comprises the steps that when an engine of the skid steer loader runs at a preset working rotating speed, real-time rotating speed and load information of the engine are collected according to a preset period, so that the current working condition of the skid steer loader is determined; when the power or torque of the whole vehicle exceeds the power or torque corresponding to the working rotation speed of the engine due to the fact that the skid steer loader is in a preset working condition, a first current value is output to reduce the displacement of the main hydraulic pump. According to the power calculation formula of the main hydraulic pump, when the displacement of the main hydraulic pump is reduced, the rotating speed of the engine can be increased, and the problem that the skid steer loader is out of pressure is avoided.

Description

Electric control walking adjusting method, device, equipment and medium

Technical Field

The application relates to the technical field of electric control, in particular to an electric control walking adjusting method, an electric control walking adjusting device, electric control walking adjusting equipment and an electric control walking adjusting medium.

Background

Currently, the running system of a vehicle mainly comprises a hydraulic control system and an electronic control system. The electronic control system is flexible to control, high in reaction speed and high in control precision, and is widely applied to skid steer loaders.

However, during actual operation of a skid steer loader provided with an electronic control system, the overall power or torque of the skid steer loader may exceed the corresponding power or torque of the operating speed of the engine, resulting in a stall of the engine, which is detrimental to the proper operation of the skid steer loader.

In view of the above, how to solve the problem that the skid steer loader using the electronic control system has a possibility of suppressing the pressure and extinguishing the skid steer loader is a urgent problem for those skilled in the art.

Disclosure of Invention

The application aims to provide an electronic control walking adjusting method, an electronic control walking adjusting device, electronic control walking adjusting equipment and an electronic control medium, so as to solve the problem that a skid loader applying an electronic control system currently has a possibility of pressure holding and flameout.

In order to solve the technical problems, the application provides an electric control walking adjusting method, which comprises the following steps:

when an engine of the skid steer loader runs at a preset working rotation speed, acquiring real-time rotation speed and load information of the engine according to a preset period;

judging whether the skid steer loader is in a preset working condition or not according to the load information;

if the skid steer loader is confirmed to be in the preset working condition, judging whether the real-time rotating speed of the engine is reduced to a threshold value from the preset working rotating speed; wherein the threshold is less than the preset operating speed;

and if the real-time rotating speed is confirmed to be reduced to the threshold value from the preset working rotating speed, confirming that the power of the current main hydraulic pump is out of limit, and outputting a first current value to a displacement control valve of the main hydraulic pump so as to reduce the displacement of the main hydraulic pump.

Preferably, after the output of the first current value to the displacement control valve of the main hydraulic pump, further includes:

judging whether the real-time rotating speed of the engine reaches a target rotating speed or not;

if yes, the opening degree of the displacement control valve of the main hydraulic pump is kept.

Preferably, the method further comprises:

receiving an operation signal of a left handle, a speed feedback signal corresponding to a left walking motor and a speed feedback signal corresponding to a right walking motor;

monitoring the walking state of the skid steer loader according to the operation signal;

when the walking state is confirmed to be linear walking, judging whether the linear walking of the skid steer loader is deviated or not according to the speed feedback signal corresponding to the left walking motor and the speed feedback signal corresponding to the right walking motor;

if yes, outputting a second current value to a displacement control valve of the hydraulic pump corresponding to the left traveling motor, and outputting a third current value to a displacement control valve of the hydraulic pump corresponding to the right traveling motor so as to control the skid steer loader to travel in a straight line.

Preferably, the monitoring the walking state of the skid steer loader according to the operation signal includes:

and monitoring the walking state of the skid steer loader according to the X-axis signal value and the Y-axis signal value of the left handle.

judging whether the X-axis signal value of the left handle is in a first preset range or not, and judging whether the Y-axis signal value of the left handle is out of the first preset range or not;

if yes, the traveling state of the skid steer loader is confirmed to be straight traveling.

Preferably, the determining whether the linear travel of the skid steer loader deviates according to the speed feedback signal corresponding to the left travel motor and the speed feedback signal corresponding to the right travel motor includes:

judging whether the difference value between the signal value of the speed feedback signal corresponding to the left walking motor and the signal value of the speed feedback signal corresponding to the right walking motor is in a second preset range or not;

if yes, confirming that the linear travel of the skid steer loader does not deviate;

if not, confirming that the linear travel of the skid steer loader deviates.

Preferably, when confirming that the current power of the main hydraulic pump is over-limit, further comprising:

and outputting the prompt information of the power overrun of the main hydraulic pump.

In order to solve the technical problem, the application also provides an electric control walking adjusting device, which comprises:

the acquisition module is used for acquiring real-time rotating speed and load information of the engine according to a preset period when the engine of the skid steer loader runs at a preset working rotating speed;

the first judging module is used for judging whether the skid steer loader is in a preset working condition or not according to the load information; if yes, triggering a second judging module;

the second judging module is used for judging whether the real-time rotating speed of the engine is reduced to a threshold value from the preset working rotating speed; wherein the threshold is less than the preset operating speed; if yes, triggering a confirmation output module;

and the confirmation output module is used for confirming that the current power of the main hydraulic pump exceeds the limit and outputting a first current value to the displacement control valve of the main hydraulic pump so as to reduce the displacement of the main hydraulic pump.

a memory for storing a computer program;

and the processor is used for realizing the steps of the electric control walking adjustment method when executing the computer program.

In order to solve the technical problem, the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the electric control walking adjustment method when being executed by a processor.

According to the electric control walking adjusting method provided by the application, when the engine of the skid steer loader runs at a preset working rotating speed, the real-time rotating speed and load information of the engine are collected according to a preset period; judging whether the skid steer loader is in a preset working condition according to the load information; if the skid steer loader is confirmed to be in the preset working condition, judging whether the real-time rotating speed of the engine is reduced to a threshold value from the preset working rotating speed; wherein the threshold is less than a preset working speed; if the real-time rotating speed is confirmed to be reduced to the threshold value from the preset working rotating speed, the current power overrun of the main hydraulic pump is confirmed, and a first current value is output to a displacement control valve of the main hydraulic pump so as to reduce the displacement of the main hydraulic pump. It can be seen that the scheme monitors the real-time rotating speed of the engine; when the power or torque of the whole vehicle exceeds the power or torque corresponding to the working rotation speed of the engine due to the fact that the skid steer loader is in a preset working condition, a first current value is output to reduce the displacement of the main hydraulic pump. According to the power calculation formula of the main hydraulic pump, when the displacement of the main hydraulic pump is reduced, the rotating speed of the engine can be increased, and the problem that the skid steer loader is out of pressure is avoided.

In addition, the application also provides an electric control walking adjusting device, equipment and medium, and the effects are the same as the above.

Drawings

For a clearer description of embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

FIG. 1 is a flow chart of an electrically controlled walking adjustment method according to an embodiment of the present application;

FIG. 2 is a flow chart of another method for electronically controlled walk adjustment according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a graph of input current values versus displacement of a hydraulic pump displacement control valve according to an embodiment of the present application;

FIG. 4 is a schematic view of the left handle provided in the present application;

FIG. 5 is a graph showing the relationship between the pulling angle of the left handle and the output signal value according to the embodiment of the present application;

fig. 6 is a schematic diagram of an electronically controlled walking adjustment device according to an embodiment of the present application;

fig. 7 is a schematic diagram of an electrically controlled walking adjustment device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without making any inventive effort are within the scope of the present application.

The application provides an electronic control walking adjusting method, an electronic control walking adjusting device, electronic control walking adjusting equipment and an electronic control medium, and aims to solve the problem that a slipping loader applying an electronic control system currently has a possibility of pressure holding and flameout.

In order to better understand the aspects of the present application, the present application will be described in further detail with reference to the accompanying drawings and detailed description.

Currently, the running system of a vehicle mainly comprises a hydraulic control system and an electronic control system. The electronic control system is flexible to control, high in reaction speed and high in control precision, and is widely applied to skid steer loaders. However, during actual operation of a skid steer loader provided with an electronic control system, the overall power or torque of the skid steer loader may exceed the corresponding power or torque of the operating speed of the engine, resulting in a stall of the engine, which is detrimental to the proper operation of the skid steer loader. Therefore, the application provides an electric control walking adjusting method to solve the problem that the skid steer loader applying an electronic control system currently has pressure holding and flameout.

Fig. 1 is a flowchart of an electric control walking adjustment method according to an embodiment of the present application. As shown in fig. 1, the method includes:

s10: when the engine of the skid steer loader runs at a preset working rotation speed, the real-time rotation speed and load information of the engine are collected according to a preset period.

It is understood that the predetermined operating speed is the speed at which the engine of the skid steer loader is operating in the predetermined gear. When the engine runs at a preset working rotation speed, the real-time rotation speed and load information of the engine are collected according to a preset period, so that the real-time rotation speed and load information of the engine are monitored. It should be noted that the preset period is not limited in this embodiment, and depends on the specific implementation.

In addition, the load information refers to the current load condition of the skid steer loader; the working conditions of the skid steer loader, such as idle speed, walking, climbing, loading and the like, can be obtained through the load information.

S11: and judging whether the skid steer loader is in a preset working condition according to the load information. If yes, the process proceeds to step S12.

Further, whether the skid steer loader is in a preset working condition is judged according to the load information. It should be noted that the preset working conditions in this embodiment refer in particular to working conditions that enable the power/torque of the whole vehicle to exceed the power/torque corresponding to the working speed of the engine, such as climbing, loading, etc.

If the skid steer loader is confirmed to be in the preset working condition, the step S12 is carried out, and the real-time rotating speed condition of the engine is judged. If the skid steer loader is not in the preset working condition, the real-time rotating speed and load information of the engine are continuously monitored.

S12: and judging whether the real-time rotating speed of the engine is reduced to a threshold value from the preset working rotating speed. If yes, the process proceeds to step S13.

Wherein the threshold is less than a preset operating speed.

S13: and confirming that the current power of the main hydraulic pump exceeds the limit, and outputting a first current value to a displacement control valve of the main hydraulic pump so as to reduce the displacement of the main hydraulic pump.

When the skid steer loader is confirmed to be in the preset working condition, the whole power/torque exceeds the power/torque corresponding to the working speed of the engine, and the engine speed is gradually reduced. Therefore, in this embodiment, it is further determined whether the real-time rotation speed of the engine is reduced from the preset operation rotation speed to the threshold value. It will be appreciated that the threshold is less than the preset operating speed. The threshold value is not limited in this embodiment, and depends on the specific implementation.

When the real-time rotation speed is not reduced to the threshold value from the preset working rotation speed, the real-time rotation speed of the engine is continuously monitored, and when the real-time rotation speed is reduced to the threshold value, the step S13 is executed. If the real-time rotating speed is confirmed to be reduced to the threshold value from the preset working rotating speed, the fact that the power of the current main hydraulic pump is over-limit and the risk of pressure holding and flameout exists when the rotating speed of the engine is reduced is confirmed. In order to prevent the engine from flameout, a first current value is further output to a displacement control valve of the main hydraulic pump, and the displacement of the main hydraulic pump is adjusted and reduced according to the first current value. As known from the main hydraulic pump power calculation formula (power=pressure×displacement×rotation speed), when the power exceeds the limit, the displacement can be reduced by adjusting the displacement control valve, and the limitation of the power is realized, thereby increasing the rotation speed of the engine.

Note that the first current value is a current value for adjusting the opening degree of the displacement control valve of the main hydraulic pump, and the magnitude of the first current value is not limited in this embodiment, depending on the specific implementation.

In addition, in order to timely remind the driver of the power overrun of the current main hydraulic pump, in some embodiments, when the power overrun of the current main hydraulic pump is confirmed, a prompt message of the power overrun of the main hydraulic pump may also be output.

In the embodiment, when an engine of the skid steer loader runs at a preset working rotation speed, real-time rotation speed and load information of the engine are collected according to a preset period; judging whether the skid steer loader is in a preset working condition according to the load information; if the skid steer loader is confirmed to be in the preset working condition, judging whether the real-time rotating speed of the engine is reduced to a threshold value from the preset working rotating speed; wherein the threshold is less than a preset working speed; if the real-time rotating speed is confirmed to be reduced to the threshold value from the preset working rotating speed, the current power overrun of the main hydraulic pump is confirmed, and a first current value is output to a displacement control valve of the main hydraulic pump so as to reduce the displacement of the main hydraulic pump. It can be seen that the scheme monitors the real-time rotating speed of the engine; when the power or torque of the whole vehicle exceeds the power or torque corresponding to the working rotation speed of the engine due to the fact that the skid steer loader is in a preset working condition, a first current value is output to reduce the displacement of the main hydraulic pump. According to the power calculation formula of the main hydraulic pump, when the displacement of the main hydraulic pump is reduced, the rotating speed of the engine can be increased, and the problem that the skid steer loader is out of pressure is avoided.

On the basis of the above-described embodiments, in some embodiments, after outputting the first current value to the displacement control valve of the main hydraulic pump, further includes:

s14: and judging whether the real-time rotating speed of the engine reaches the target rotating speed. If yes, the process proceeds to step S15.

S15: the opening degree of the displacement control valve of the current main hydraulic pump is maintained.

In a specific implementation, after the first current value is output to the displacement control valve of the main hydraulic pump, the engine speed gradually rises due to a decrease in the displacement of the main hydraulic pump. In order to maintain the current power of the main hydraulic pump and prevent the engine from stalling, the embodiment further judges whether the real-time rotating speed of the engine reaches the target rotating speed. It will be appreciated that the magnitude of the target rotational speed should be greater than the threshold. In this embodiment, the target rotation speed is not limited, and depends on the specific implementation.

When the real-time rotating speed of the engine is confirmed to reach the target rotating speed, the rotating speed of the engine is considered to be recovered, and the opening degree of the displacement control valve of the current main hydraulic pump is kept for preventing the engine from dropping again, so that the current power of the main hydraulic pump is maintained, and the engine is prevented from dropping and flameout.

Currently, in the actual running process of a skid steer loader provided with an electronic control system, the linear running process of the skid steer loader may deviate due to operation errors or device errors. Fig. 2 is a flowchart of another method for electrically controlling walking adjustment according to an embodiment of the present application. In order to solve the problem of deviation of the skid steer loader, as shown in fig. 2, in this embodiment, the method further includes:

s16: and receiving an operation signal of the left handle, a speed feedback signal corresponding to the left walking motor and a speed feedback signal corresponding to the right walking motor.

Specifically, the left handle of the skid steer loader is a control device for manipulating the travel of the loader. The left walking motor and the right walking motor are walking devices of the skid steer loader, and the running and steering of the skid steer loader are realized through the rotation of the two walking motors. In this embodiment, the controller of the skid steer loader is capable of receiving the operation signal of the left hand grip, the speed feedback signal corresponding to the left travel motor, and the speed feedback signal corresponding to the right travel motor. It should be noted that the operation signal is a signal for controlling the traveling motor of the skid steer loader. In addition, the speed feedback signal corresponding to the left/right travel motor can be fed back by a speed sensor provided at the left/right travel motor.

S17: and monitoring the walking state of the skid steer loader according to the operation signal.

Further, the running state of the skid steer loader is monitored according to the operation signal. It will be appreciated that the travel conditions of a skid steer loader include forward, reverse, steer, in-situ rotate, etc., wherein both forward and reverse travel are straight. In this embodiment, the specific process of monitoring the running state of the skid steer loader according to the operation signal is not limited, and depends on the specific implementation.

When it is confirmed that the walking state is straight walking, the process advances to step S18. When the walking state is confirmed to be not straight walking, the walking state of the skid steer loader is continuously monitored according to the operation signal.

S18: when the walking state is confirmed to be linear walking, judging whether the linear walking of the skid steer loader is deviated or not according to a speed feedback signal corresponding to the left walking motor and a speed feedback signal corresponding to the right walking motor; if yes, the process proceeds to step S19.

S19: and outputting a second current value to a displacement control valve of the hydraulic pump corresponding to the left traveling motor, and outputting a third current value to a displacement control valve of the hydraulic pump corresponding to the right traveling motor so as to control the skid steer loader to travel in a straight line.

Further, when the walking state is confirmed to be linear walking, judging whether the linear walking of the skid steer loader is deviated or not according to the speed feedback signal corresponding to the left walking motor and the speed feedback signal corresponding to the right walking motor; if yes, the process proceeds to step S19. If not, continuously receiving and monitoring the speed feedback signal corresponding to the left walking motor and the speed feedback signal corresponding to the right walking motor. It should be noted that, in this embodiment, the specific process of determining whether the linear travel of the skid steer loader is deviated is not limited, and depends on the specific implementation.

When it is confirmed that the linear travel of the skid steer loader is deviated, the deviation thereof needs to be corrected. It should be noted that the hydraulic pump functions to convert and output the received mechanical energy of the engine into hydraulic energy of the travel motor. Fig. 3 is a schematic diagram of a graph of a displacement relation between an input current value and a displacement of a hydraulic pump displacement control valve according to an embodiment of the present application. As shown in fig. 3, the hydraulic pump displacement V can be estimated from the curve of fig. 3, i.e., v=mk. Where m is the coefficient of the displacement control valve input current value and the displacement curve, and k is the current value of the controller output.

Therefore, in order to correct the linear traveling deviation, the skid steer loader is prevented from continuing to deviate, the second current value is specifically output to the displacement control valve of the hydraulic pump corresponding to the left traveling motor, and the third current value is output to the displacement control valve of the hydraulic pump corresponding to the right traveling motor, so that the output displacement of the two hydraulic pumps is respectively adjusted to control the linear traveling of the skid steer loader. It should be noted that, in the present embodiment, the magnitude of the second current value and the third current value and the magnitude relation between the two are not limited, and depend on the specific implementation.

In the embodiment, the operation signal of the left handle, the speed feedback signal corresponding to the left walking motor and the speed feedback signal corresponding to the right walking motor are received; monitoring the walking state of the skid steer loader according to the operation signal; when the walking state is confirmed to be linear walking, and the linear walking of the skid-steer loader is confirmed to deviate according to the speed feedback signal corresponding to the left walking motor and the speed feedback signal corresponding to the right walking motor, a second current value is output to a displacement control valve of a hydraulic pump corresponding to the left walking motor, and a third current value is output to a displacement control valve of the hydraulic pump corresponding to the right walking motor, so that the skid-steer loader is controlled to linearly walk, and the skid-steer loader is prevented from walking deviation.

Based on the above embodiments, in some embodiments, monitoring the walking state of the skid steer loader according to the operation signal includes:

s170: and monitoring the walking state of the skid steer loader according to the X-axis signal value and the Y-axis signal value of the left handle.

Fig. 4 is a schematic view illustrating the manipulation of the left handle provided in the present application. In an implementation, as shown in fig. 4, the manipulation of the left handle has an X-axis direction and a Y-axis direction. The X-axis direction represents the left direction and the right direction of the skid steer loader, and the Y-axis direction represents the front direction and the back direction of the skid steer loader. Therefore, the walking state of the skid steer loader can be monitored according to the X-axis signal value and the Y-axis signal value of the left handle.

s171: judging whether the X-axis signal value of the left handle is in a first preset range or not, and judging whether the Y-axis signal value of the left handle is out of the first preset range or not; if so, the traveling state of the skid steer loader is confirmed to be straight traveling.

FIG. 5 is a graph showing the relationship between the pulling angle of the left handle and the output signal value according to the embodiment of the present application. As shown in fig. 5, even if the left handle has a pull angle, an output current value for driving the skid steer loader to change the traveling direction cannot be generated within a certain range. That is, there is a certain error in monitoring the running state of the skid steer loader according to the operation signal of the left hand grip.

Therefore, to better determine the walking state of the skid steer loader, when the walking state of the skid steer loader is monitored, it is determined whether the X-axis signal value of the left hand grip is within a first predetermined range and the Y-axis signal value of the left hand grip is outside the first predetermined range. It should be noted that, in this embodiment, the first preset range is not limited, and depends on the specific implementation. For example, the first preset range is set to (-5, 5), and when the X-axis signal value of the left handle is within the first preset range (-5, 5) and the Y-axis signal value of the left handle is outside the first preset range (-5, 5), the traveling state of the skid steer loader is confirmed to be straight traveling. Therefore, accurate judgment of linear walking of the skid steer loader is realized.

On the basis of the above embodiments, in some embodiments, determining whether the deviation occurs in the linear travel of the skid steer loader according to the speed feedback signal corresponding to the left travel motor and the speed feedback signal corresponding to the right travel motor includes:

s180: and judging whether the difference value between the signal value of the speed feedback signal corresponding to the left walking motor and the signal value of the speed feedback signal corresponding to the right walking motor is in a second preset range. If yes, confirming that the linear travel of the skid steer loader does not deviate; if not, the deviation of the linear travel of the skid steer loader is confirmed.

In order to judge whether the linear travel of the skid steer loader is deviated, whether the difference value between the signal value of the speed feedback signal corresponding to the left travel motor and the signal value of the speed feedback signal corresponding to the right travel motor is in a second preset range is specifically judged. It will be appreciated that when the skid steer loader is traveling straight, the rotational speeds of the left/right travel motors should be approximately equal, the signal values of the speed feedback signals of the two should be approximately equal, and the difference between the two signal values should be approximately 0.

In consideration of errors of both the left/right travel motors, when traveling straight, a difference between the signal value of the speed feedback signal corresponding to the left travel motor and the signal value of the speed feedback signal corresponding to the right travel motor should be within a second preset range. Therefore, when the difference value is within the second preset range, confirming that the linear travel of the skid steer loader does not deviate; and when the difference value is not in the second preset range, confirming that the linear travel of the skid steer loader is deviated.

It should be noted that, in this embodiment, the second preset range is not limited, and depends on the specific implementation. Thus, the judgment of the linear travel deviation of the skid steer loader is realized.

In the above embodiments, the electric control walking adjustment method is described in detail, and the application also provides a corresponding embodiment of the electric control walking adjustment device.

Fig. 6 is a schematic diagram of an electrically controlled walking adjustment device according to an embodiment of the present application. As shown in fig. 6, the apparatus includes:

the acquisition module 10 is used for acquiring real-time rotating speed and load information of the engine according to a preset period when the engine of the skid steer loader operates at a preset working rotating speed;

the first judging module 11 is used for judging whether the skid steer loader is in a preset working condition according to the load information; if yes, triggering a second judging module 12;

a second judging module 12, configured to judge whether the real-time rotation speed of the engine is reduced from the preset working rotation speed to a threshold value; wherein the threshold is less than a preset working speed; if yes, triggering the confirmation output module 13;

and a confirmation output module 13 for confirming that the current power of the main hydraulic pump is over-limit and outputting a first current value to a displacement control valve of the main hydraulic pump so as to reduce the displacement of the main hydraulic pump.

In this embodiment, the electronic control walking adjusting device includes an acquisition module, a first judgment module, a second judgment module, and a confirmation output module. The electric control walking adjusting device can realize all the steps of the electric control walking adjusting method when in operation. When an engine of the skid steer loader runs at a preset working rotation speed, acquiring real-time rotation speed and load information of the engine according to a preset period; judging whether the skid steer loader is in a preset working condition according to the load information; if the skid steer loader is confirmed to be in the preset working condition, judging whether the real-time rotating speed of the engine is reduced to a threshold value from the preset working rotating speed; wherein the threshold is less than a preset working speed; if the real-time rotating speed is confirmed to be reduced to the threshold value from the preset working rotating speed, the current power overrun of the main hydraulic pump is confirmed, and a first current value is output to a displacement control valve of the main hydraulic pump so as to reduce the displacement of the main hydraulic pump. It can be seen that the scheme monitors the real-time rotating speed of the engine; when the power or torque of the whole vehicle exceeds the power or torque corresponding to the working rotation speed of the engine due to the fact that the skid steer loader is in a preset working condition, a first current value is output to reduce the displacement of the main hydraulic pump. As can be seen from the power calculation formula (power=pressure×displacement×rotation speed) of the main hydraulic pump, when the displacement of the main hydraulic pump is reduced, the rotation speed of the engine can be increased, and the problem that the skid steer loader is out of pressure is avoided.

Fig. 7 is a schematic diagram of an electrically controlled walking adjustment device according to an embodiment of the present application. As shown in fig. 7, the electronically controlled walk adjusting apparatus includes:

a memory 20 for storing a computer program;

a processor 21 for implementing the steps of the electronically controlled walk adjustment method as mentioned in the above embodiments when executing a computer program.

The electronic control walking adjustment device provided in this embodiment may include, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.

Processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 may be implemented in hardware in at least one of a digital signal processor (Digital Signal Processor, DSP), a Field programmable gate array (Field-Programmable Gate Array, FPGA), a programmable logic array (Programmable Logic Array, PLA). The processor 21 may also comprise a main processor, which is a processor for processing data in an awake state, also called central processor (Central Processing Unit, CPU), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 may be integrated with a graphics processor (Graphics Processing Unit, GPU) for use in connection with rendering and rendering of content to be displayed by the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (Artificial Intelligence, AI) processor for processing computing operations related to machine learning.

Memory 20 may include one or more computer-readable storage media, which may be non-transitory. Memory 20 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used for storing a computer program 201, where the computer program, when loaded and executed by the processor 21, can implement the relevant steps of the electronically controlled walk adjustment method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may further include an operating system 202, data 203, and the like, where the storage manner may be transient storage or permanent storage. The operating system 202 may include Windows, unix, linux, among others. The data 203 may include, but is not limited to, data related to electronically controlled walk adjustment methods.

In some embodiments, the electronically controlled walk adjusting device may further include a display 22, an input/output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

It will be appreciated by those skilled in the art that the configuration shown in fig. 7 is not limiting of the electronically controlled walk-adjusting apparatus and may include more or fewer components than illustrated.

In this embodiment, the electronically controlled walk adjusting device includes a memory and a processor. The memory is used for storing a computer program; the processor is adapted to carry out the steps of the electronically controlled walk adjustment method as mentioned in the above embodiments when executing a computer program. When an engine of the skid steer loader runs at a preset working rotation speed, acquiring real-time rotation speed and load information of the engine according to a preset period; judging whether the skid steer loader is in a preset working condition according to the load information; if the skid steer loader is confirmed to be in the preset working condition, judging whether the real-time rotating speed of the engine is reduced to a threshold value from the preset working rotating speed; wherein the threshold is less than a preset working speed; if the real-time rotating speed is confirmed to be reduced to the threshold value from the preset working rotating speed, the current power overrun of the main hydraulic pump is confirmed, and a first current value is output to a displacement control valve of the main hydraulic pump so as to reduce the displacement of the main hydraulic pump. It can be seen that the scheme monitors the real-time rotating speed of the engine; when the power or torque of the whole vehicle exceeds the power or torque corresponding to the working rotation speed of the engine due to the fact that the skid steer loader is in a preset working condition, a first current value is output to reduce the displacement of the main hydraulic pump. As can be seen from the power calculation formula (power=pressure×displacement×rotation speed) of the main hydraulic pump, when the displacement of the main hydraulic pump is reduced, the rotation speed of the engine can be increased, and the problem that the skid steer loader is out of pressure is avoided.

Finally, the application also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps as described in the method embodiments above.

It will be appreciated that the methods of the above embodiments, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored on a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium for performing all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In this embodiment, a computer program is stored on a computer readable storage medium, and when the computer program is executed by a processor, the steps described in the above method embodiments are implemented. When an engine of the skid steer loader runs at a preset working rotation speed, acquiring real-time rotation speed and load information of the engine according to a preset period; judging whether the skid steer loader is in a preset working condition according to the load information; if the skid steer loader is confirmed to be in the preset working condition, judging whether the real-time rotating speed of the engine is reduced to a threshold value from the preset working rotating speed; wherein the threshold is less than a preset working speed; if the real-time rotating speed is confirmed to be reduced to the threshold value from the preset working rotating speed, the current power overrun of the main hydraulic pump is confirmed, and a first current value is output to a displacement control valve of the main hydraulic pump so as to reduce the displacement of the main hydraulic pump. It can be seen that the scheme monitors the real-time rotating speed of the engine; when the power or torque of the whole vehicle exceeds the power or torque corresponding to the working rotation speed of the engine due to the fact that the skid steer loader is in a preset working condition, a first current value is output to reduce the displacement of the main hydraulic pump. As can be seen from the power calculation formula (power=pressure×displacement×rotation speed) of the main hydraulic pump, when the displacement of the main hydraulic pump is reduced, the rotation speed of the engine can be increased, and the problem that the skid steer loader is out of pressure is avoided.

The application provides an electric control walking adjusting method, an electric control walking adjusting device and an electric control walking adjusting medium. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.

It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims

1. An electronically controlled walk adjustment method, comprising:

2. The electrically controlled walk adjusting method according to claim 1, further comprising, after the outputting of the first current value to the displacement control valve of the main hydraulic pump:

3. The electrically controlled walk adjustment method of claim 1, further comprising:

4. The electrically controlled walk adjustment method of claim 3, wherein the monitoring the walk state of the skid steer loader according to the operation signal comprises:

5. The electrically controlled walk adjustment method of claim 4, wherein the monitoring the walk state of the skid steer loader according to the operation signal comprises:

6. The electrically controlled walking adjustment method of claim 3, wherein said determining whether the linear walking of the skid steer loader is offset according to the speed feedback signal corresponding to the left walking motor and the speed feedback signal corresponding to the right walking motor comprises:

if not, confirming that the linear travel of the skid steer loader deviates.

7. The electrically controlled traveling regulating method according to claim 1 or 2, characterized by further comprising, when confirming that the current power of the main hydraulic pump is over-limit:

8. An electrically controlled walking adjustment device, comprising:

9. An electrically controlled walk adjusting apparatus, comprising:

a memory for storing a computer program;

a processor for implementing the steps of the electronically controlled walk adjustment method according to any one of claims 1 to 7 when executing said computer program.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the electrically controlled walk adjustment method according to any one of claims 1 to 7.