CN104594161A - Tire spreader and walking control system thereof - Google Patents
Tire spreader and walking control system thereof Download PDFInfo
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- CN104594161A CN104594161A CN201410715573.2A CN201410715573A CN104594161A CN 104594161 A CN104594161 A CN 104594161A CN 201410715573 A CN201410715573 A CN 201410715573A CN 104594161 A CN104594161 A CN 104594161A
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- wheel
- control system
- traveling control
- wheel speed
- signal
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/12—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for distributing granular or liquid materials
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Body Structure For Vehicles (AREA)
- Road Paving Machines (AREA)
Abstract
The invention discloses a tire spreader and a walking control system thereof. The system comprises a detection device for acquiring a current rear wheel walking signal; a controller for receiving the current rear wheel walking signal and outputting a rear wheel control signal to a rear-driving system; a front-driving auxiliary system; and a front-driving switch for selecting whether a front wheel working signal is outputted to the controller according to working conditions. The controller receives the front wheel working signal, simultaneously, outputs a front wheel control signal to the front-driving auxiliary system. The walking control system can meet demands of different spreading operations of the spreader, enlarges the driving force of the whole vehicle, and enhances the skid resistance ability of the whole vehicle.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of tire paver and traveling control system thereof.
Background technology
Paver is a kind of construction equipment being mainly used in basic unit and the various material paving operation of surface layer on road surface, and pavement spread homogenize material is distributed and paves on roadbed by control device by it, through operation procedures such as tamping, leveling and trowelings, completes making shaping.
Wherein, tire paver because of maneuverability good, transition is fast, and efficiency of construction high, is widely used.
At present, traveling control system many employings mechanical type of tire paver, full hydraulic is less, and full hydraulic is rear wheel drive.
In actual use, when tire paver is in and paves shelves work, because load change is frequent; paver trailing wheel and the friction factor on ground exist larger different; therefore, often there will be the situation causing rear wheels slip because driving force is inadequate, affect the normal work of paver.
In view of this, how to improve the traveling control system of tire paver, make it the demand meeting the different paving operation of paver, increasing car load driving force, and improve anti-skidding ability, is the current technical issues that need to address of those skilled in the art.
Summary of the invention
The object of this invention is to provide a kind of tire paver and traveling control system thereof, this system can meet the demand of the different paving operation of paver, increases car load driving force, and improves the anti-skidding ability of car load.
For solving the problems of the technologies described above, the invention provides a kind of traveling control system of tire paver, comprising:
Checkout gear, for obtaining when front and back wheel walk signal;
Controller, for receiving when front and back wheel walk signal, and exports trailing wheel and controls signal to rear drive system; Also comprise:
Forerunner's accessory system;
Whether forerunner's switch, export front-wheel working signal to described controller for selecting according to operating mode;
Described controller, also after reception front-wheel working signal, exports front-wheel simultaneously and controls signal to described forerunner's accessory system.
Compared with prior art, traveling control system provided by the invention adds forerunner's accessory system and forerunner's switch on the basis of rear drive system; Wherein, export or do not export front-wheel working signal to selecting property of forerunner's switch selectable, controller exports or does not export front-wheel accordingly and controls signal to forerunner's accessory system, that is, forerunner's accessory system can be communicated with controller, with rear drive system tire on the drive wheels paver simultaneously, also can not be communicated with controller, make the independent tire on the drive wheels paver of rear drive system; Thus tire paver is when paving shelves heavy duty operation, and operating personnel can pass through the switch activated forerunner's accessory system of forerunner, make forerunner's accessory system and rear drive system acting in conjunction, to increase car load driving force, improve the ability of the anti-skidding of car load; Tire paver walk operating mode or pave grade underloading operation time, operating personnel can close forerunner's accessory system by forerunner's switch, and only drive system drives rearward; This traveling control system can select operation according to different operating mode, improves the applicability of paver.
Alternatively, described checkout gear comprises trailing wheel speed detecting component, for obtaining when front and back wheel speed;
Described controller, according to when front and back wheel speed, calculates the front wheel speed matched, generates corresponding front-wheel speed control signal, and export described forerunner's accessory system to.
Alternatively, described forerunner's accessory system comprises front-wheel power source, the left and right motor of front-wheel, and is arranged on the load-sensitive valve between described front-wheel power source and the left and right motor of described front-wheel;
Described load-sensitive valve is used for the velocity magnitude controlling the left and right motor of described front-wheel according to the front-wheel speed control signal received.
Alternatively, described front-wheel power source is constant displacement pump.
Alternatively, described load-sensitive valve is also provided with pressure regulating part, with the power size regulating described load-sensitive valve to output to the left and right motor of described front-wheel.
Alternatively, described checkout gear also comprises and turns to detection part, for obtaining current steering wheel angle;
Described controller, according to the current steering wheel angle of given speed and reception, calculates trailing wheel target velocity, then according to trailing wheel target velocity and when front and back wheel speed export trailing wheel speed control signal extremely described after drive system.
Described rear drive system comprises left and right hydraulic pump and by the separately-driven left and right hydraulic motor of described left and right hydraulic pump, described left and right hydraulic pump is by the motor driven of described paver;
Described left and right hydraulic pump arranges left and right electromagnetic valve respectively, and described left and right electromagnetic valve regulates described left and right hydraulic pump to flow to the flow of described left and right hydraulic motor according to the trailing wheel speed control signal received.
Alternatively, described controller also comprises deviation rectification control unit, to adjust the linearity of described tire paver when straight line moving.
Alternatively, described deviation rectification control unit is preset with the fixed time, according to this fixed time with when front and back wheel speed, calculates the distance travelled difference of left and right trailing wheel in this fixed time, and control signal to described left electromagnetic valve accordingly according to the output of this difference, or described right electromagnetic valve.
The present invention also provides a kind of tire paver, comprises traveling control system, and described traveling control system is aforementioned described traveling control system.
Because aforementioned traveling control system has aforementioned techniques effect, so the tire paver comprising this traveling control system also has corresponding technique effect, repeat no more here.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the traveling control system of tire paver provided by the present invention;
Fig. 2 is the schematic diagram of the front-wheel assistant drive system of traveling control system in Fig. 1;
Fig. 3 is the schematic diagram of the rear wheel drive system of traveling control system in Fig. 1;
Fig. 4 shows the schematic diagram calculating trailing wheel target velocity.
In Fig. 1-3:
Controller 10, deviation rectification control unit 11;
Rear drive system 20, left hydraulic pump 21a, right hydraulic pump 21b, left hydraulic motor 22a, right hydraulic motor 22b, left electromagnetic valve 23a, right electromagnetic valve 23b;
Forerunner's accessory system 30, constant displacement pump 31, front-wheel left motor 32a, the right motor 32b of front-wheel, load-sensitive valve 33, forerunner's switch 34;
Checkout gear 40.
Detailed description of the invention
Core of the present invention is to provide a kind of tire paver and traveling control system thereof, and this system can meet the demand of the different paving operation of paver, increases car load driving force, and improves anti-skidding ability.
In order to make those skilled in the art person understand the present invention program better, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Please refer to Fig. 1, Fig. 1 is the structured flowchart of the traveling control system of tire paver provided by the present invention.
In this embodiment, described traveling control system comprises controller 10, rear drive system 20 and checkout gear 40.
Wherein, checkout gear 40 can obtain tire paver when front and back wheel walk signal, and exported to controller 10; Controller 10 works as front and back wheel walk signal according to what receive, exports trailing wheel and controls signal to rear drive system 20; Wheel speed after rear drive system 20 adjusts according to the trailing wheel control signal received, to realize the control to tire paver travel speed.
Described traveling control system also comprises forerunner's accessory system 30, and this forerunner's accessory system 30 is optionally communicated with controller 10 by forerunner's switch 34.
When forerunner's switch 34 is opened, front-wheel working signal can be exported to controller 10, after controller 10 receives front-wheel working signal, after output trailing wheel controls signal to while drive system 20, also export front-wheel and control signal to forerunner's accessory system 30, that is, now after drive system 20 and forerunner's accessory system 30 acting in conjunction provide driving force for tire paver; When forerunner's switch 34 cuts out, do not export front-wheel working signal, controller 10 exports trailing wheel and controls signal to rear drive system 20, and that is, now, only, drive system 20 provides driving force for tire paver.
Setting like this, when tire paver is in the shelves heavy duty operation that paves, driving force is not enough, during rear wheels slip, can, by opening forerunner's switch 34, forerunner's accessory system 30 be communicated with controller 10, forerunner's accessory system 30 and the acting in conjunction of rear drive system 20, thus increase car load driving force, improve the ability of the anti-skidding of car load; When tire paver is when paving grade underloading operation or walking operating mode, when the driving force that rear drive system 20 provides is enough, can close forerunner's switch 34, cut-out forerunner accessory system 30 is communicated with control 10, and only drive system 20 provides driving force rearward.Visible, this traveling control system can select operation according to different operating mode, improves service behaviour and the applicability of tire paver.
Introduce the control principle of forerunner's accessory system 30 below.Can understand with reference to figure 2 in the lump, Fig. 2 is the schematic diagram of forerunner's accessory system of traveling control system in Fig. 1.
In concrete scheme, checkout gear 40 comprises trailing wheel speed detecting component, for obtaining when front and back wheel speed.
Particularly, trailing wheel speed detecting component can be set to rear wheel speed sensor.
Here, rear wheel speed sensor comprises the left rear wheel velocity sensor obtaining left rear wheel speed, and obtains the off hind wheel velocity sensor of off hind wheel speed; Correspondingly, when front and back wheel speed comprises current left rear wheel speed and current off hind wheel speed.
In hereafter describing, relate to rear wheel speed and control signal thereof, include left rear wheel and off hind wheel, similarly, relate to front wheel speed and control signal thereof, also include the near front wheel and off-front wheel; Unless stated otherwise, otherwise all take this as the standard.
When being appreciated that actual setting, other detection parts also can being set and directly or indirectly obtaining when front and back wheel speed, as utilized photoelectric code disk to measure.
Controller 10, according to when front and back wheel speed, calculates the front wheel speed matched, generates corresponding front-wheel speed control signal, and export forerunner's accessory system 30 to.
In reality, the front-wheel of tire paver and the diameter of trailing wheel there are differences, but front-wheel and trailing wheel should have identical linear velocity, can work as front and back wheel speed accordingly, calculate mated front wheel speed by what recorded.
Forerunner's accessory system 30 is according to wheel speed before the front-wheel speed control signal regulation and control received.
In concrete scheme, forerunner's accessory system 30 comprises front-wheel power source, the left motor 32a of front-wheel, the right motor 32b of front-wheel, and is arranged on front-wheel power source and the load-sensitive valve 33 between front-wheel left motor 32a, the right motor 32b of front-wheel; The front-wheel speed control signal that this load-sensitive valve 33 exports for receiving controller 10, and the velocity magnitude controlling front-wheel left motor 32a, the right motor 32b of front-wheel according to this front-wheel speed control signal, thus wheel speed before controlling.
It is convenient, reliable that this forerunner's accessory system 30 controls, and be easy to realize.
Particularly, described front-wheel power source can be set to constant displacement pump 31, constant displacement pump 31 outputting power to load-sensitive valve 33, by this load-sensitive valve 33 by power transmission to front-wheel left motor 32a, the right motor 32b of front-wheel; The device that other can provide power can certainly be set to.
More specifically, load-sensitive valve 33 can arrange pressure regulating part, export the power size of front-wheel left motor 32a, the right motor 32b of front-wheel in order to regulating load sensitive valve 33 to.
So, can according to actual job demand, the power size that adjustment quantitative pump 31 exports, makes the better adaptability of traveling control system.
The control principle of drive system 20 after introducing below, can understand with reference to figure 3 in the lump, Fig. 3 is the schematic diagram of the rear drive system of traveling control system in Fig. 1.
In concrete scheme, checkout gear 40 also comprises and turns to detection part, for obtaining current steering wheel angle.
Particularly, detection part is turned to be set to rotation direction sensor described in.
It is pointed out that, in reality, steering wheel angle is directly reflected on front-wheel, so when arranging, rotation direction sensor can be set on front-wheel, to obtain front wheel steering angle, i.e. steering wheel angle.Here, rotation direction sensor can be arranged on the near front wheel or be arranged on off-front wheel, and when being arranged on the near front wheel, the steering angle of off-front wheel can be calculated by the angle relation of left and right front-wheel.
Controller 10, according to the current steering wheel angle of given speed and reception, calculates trailing wheel target velocity, then according to trailing wheel target velocity with when front and back wheel speed, exports trailing wheel speed control signal to rear drive system 20.
Rear drive system 20 is according to wheel speed after the trailing wheel speed control signal regulation and control received.
During operation, operating personnel can set a given speed according to real work needs, accordingly travel speed are adjusted to this given speed to traveling control system, carry out correspondingly operation.In reality, the signal Negotiation speed potentiometer of given speed is passed to controller 10 by the speed adjustment knob on console by operating personnel.
Usually, given speed does not distinguish left rear wheel and off hind wheel, it is a value, that is, left rear wheel is consistent with the given speed of off hind wheel, so when arranging, also need according to current steering wheel angle, trailing wheel target velocity (comprising left rear wheel target velocity and off hind wheel target velocity) could be obtained.
When being appreciated that actual setting, current steering wheel angle, except utilizing rotation direction sensor and obtaining, also directly or indirectly obtains by other detection parts.
The Computing Principle of trailing wheel target velocity can be understood with reference to figure 4.
Particularly, tire paver when turning to, employing be " half Eight characters turns to pattern " as shown in Figure 4.To turn left to explanation in Fig. 4.
Accordingly can founding mathematical models, utilize the near front wheel rotation direction sensor to obtain the near front wheel steering angle α, simultaneously in conjunction with known wheelbase S, utilize trigonometric function theorem, can obtain the turning radius that tire paver is respectively taken turns easily, in figure, O is turning center point.
When only adopting rear drive system 20 to drive, differential during rear-axle steering, than the ratio of linear velocity equaling left rear wheel and off hind wheel, because both angular velocity are identical, therefore equals the ratio of both turning radius.
When drive system 20 and forerunner's accessory system 30 drive after adopting simultaneously, left and right front-wheel can be obtained equally, the differential ratio of left and right trailing wheel; Utilize above data, what just can realize tire paver turns to differential control; Trailing wheel target velocity can be calculated in conjunction with given speed.
Certainly, during practical operation, other account forms also can be adopted to calculate trailing wheel target velocity.
In concrete scheme, in controller 10, PID control unit can be set, carry out closed-loop control to when front and back wheel speed; Particularly, with trailing wheel target velocity for control objectives, Negotiation speed sensor can obtain when front and back wheel speed, relatively trailing wheel target velocity and the difference when front and back wheel speed, according to this difference, closed-loop control is carried out to rear wheel speed, generate corresponding trailing wheel speed control signal, and be passed to rear drive system 20, be tending towards trailing wheel target velocity gradually to make rear wheel speed.
Closed-loop control is realized by PID control unit, simple and practical easy to adjust again.Certainly, also other control modes can be adopted in reality.
In concrete scheme, rear drive system 20 comprises left hydraulic pump 21a, right hydraulic pump 21b, and by the separately-driven left hydraulic motor 22a of left hydraulic pump 21a, right hydraulic pump 21b, right hydraulic motor 22b.
Wherein, left hydraulic pump 21a, right hydraulic pump 21b are by the motor driven of tire paver.
Wherein, left hydraulic pump 21a, right hydraulic pump 21b are respectively arranged with left electromagnetic valve 23a, right electromagnetic valve 23b; This left electromagnetic valve 23a receives the left rear wheel speed control signal that controller 10 exports, and regulates left hydraulic pump 21a to flow to the flow of left hydraulic motor 22a accordingly, thus regulates the speed of left rear wheel; This right electromagnetic valve 23b receives the off hind wheel speed control signal that controller 10 exports, and regulates right hydraulic pump 21b to flow to the flow of right hydraulic motor 22b accordingly, thus regulates the speed of off hind wheel.
This rear drive system 20 adopts the drive form of two pump two motors, and rear wheel speed all adopts pid algorithm to control, and can reach fixed speed control demand.
Particularly, left hydraulic pump 21a, right hydraulic pump 21b can select Variable plunger pump, and its compact conformation, efficiency are high and Flow-rate adjustment convenient; Certainly, the actual hydraulic pump also can selecting other types when arranging, as gear pump, vane pump etc.
Further, controller 10 also comprises deviation rectification control unit 11, and this deviation rectification control unit 11 is for adjusting the linearity of tire paver when straight line moving.
In reality, during tire paver straight line moving, the travel speed of left rear wheel and off hind wheel may be made to differ, cause tire paver sideslip by various factors affects, arranging of deviation rectification control unit 11 can avoid this type of phenomenon to occur.
Judge by current steering wheel angle, whether tire paver is in straight line moving state; When the current steering wheel angle that rotation direction sensor obtains is zero, can think that tire paver is in straight line moving state, start deviation rectification control unit 11, to regulate the linearity of car load.
In concrete scheme, deviation rectification control unit 11 is preset with the fixed time, according to this fixed time with when front and back wheel speed, the distance travelled difference of left and right trailing wheel in the fixed time can be calculated, and control signal to left electromagnetic valve 23a or right electromagnetic valve 23b accordingly according to the output of this difference, to adjust the flow of left hydraulic motor 22a or right hydraulic motor 22b, until the distance travelled difference of left and right trailing wheel levels off to zero.
Actual when arranging, the described fixed time can set according to control needs, as one minute, and two minutes etc.
Certainly, deviation rectification control unit 11 can also adjust the linearity of tire paver when straight line moving by other control modes.
As, deviation rectification control unit 11 can not preset the fixed time, directly calculates the difference of left and right trailing wheel present speed, adjusts the flow of left hydraulic motor 22a or right hydraulic motor 22b, until the speed of left and right trailing wheel is consistent with this.But more difficult operation in this kind of mode reality, can preferred aforementioned schemes.
Except above-mentioned traveling control system, the present invention also provides a kind of tire paver, comprises traveling control system, and described traveling control system is aforementioned described traveling control system.
Because aforementioned traveling control system has aforementioned techniques effect, so the tire paver comprising this traveling control system also has corresponding technique effect, repeat no more here.
Above tire paver provided by the present invention and traveling control system thereof are all described in detail.Apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improve and modify and also fall in the protection domain of the claims in the present invention.
Claims (10)
1. the traveling control system of tire paver, comprising:
Checkout gear (40), for obtaining when front and back wheel walk signal;
Controller (10), for receiving when front and back wheel walk signal, and exports trailing wheel and controls signal to rear drive system (20); It is characterized in that, also comprise:
Forerunner's accessory system (30);
Whether forerunner's switch (34), export front-wheel working signal to described controller (10) for selecting according to operating mode;
Described controller (10), also after reception front-wheel working signal, exports front-wheel simultaneously and controls signal to described forerunner's accessory system (30).
2. traveling control system according to claim 1, is characterized in that, described checkout gear (40) comprises trailing wheel speed detecting component, for obtaining when front and back wheel speed;
Described controller (10), according to when front and back wheel speed, calculates the front wheel speed matched, generates corresponding front-wheel speed control signal, and export described forerunner's accessory system (30) to.
3. traveling control system according to claim 2, it is characterized in that, described forerunner's accessory system (30) comprises front-wheel power source, the left and right motor of front-wheel, and is arranged on the load-sensitive valve (33) between described front-wheel power source and the left and right motor of described front-wheel;
Described load-sensitive valve (33) is for controlling the velocity magnitude of the left and right motor of described front-wheel according to the front-wheel speed control signal received.
4. traveling control system according to claim 3, is characterized in that, described front-wheel power source is constant displacement pump (31).
5. traveling control system according to claim 4, it is characterized in that, described load-sensitive valve (33) is also provided with pressure regulating part, with the power size regulating described load-sensitive valve (33) to output to the left and right motor of described front-wheel.
6. traveling control system according to claim 2, is characterized in that, described checkout gear (40) also comprises and turns to detection part, for obtaining current steering wheel angle;
Described controller (10), according to the current steering wheel angle of given speed and reception, calculates trailing wheel target velocity, then according to trailing wheel target velocity and when front and back wheel speed export trailing wheel speed control signal extremely described after drive system (20).
7. traveling control system according to claim 6, it is characterized in that, described rear drive system (20) comprises left and right hydraulic pump and by the separately-driven left and right hydraulic motor of described left and right hydraulic pump, described left and right hydraulic pump is by the motor driven of described paver;
Described left and right hydraulic pump arranges left and right electromagnetic valve respectively, and described left and right electromagnetic valve regulates described left and right hydraulic pump to flow to the flow of described left and right hydraulic motor according to the trailing wheel speed control signal received.
8. traveling control system according to claim 7, is characterized in that, described controller (10) also comprises deviation rectification control unit (11), to adjust the linearity of described tire paver when straight line moving.
9. traveling control system according to claim 8, it is characterized in that, described deviation rectification control unit (11) is preset with the fixed time, according to this fixed time with when front and back wheel speed, calculate the distance travelled difference of left and right trailing wheel in this fixed time, and control signal to described left electromagnetic valve (23a) accordingly according to the output of this difference, or described right electromagnetic valve (23b).
10. tire paver, comprises traveling control system, it is characterized in that, described traveling control system is the traveling control system described in any one of claim 1 to 9.
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| CN201410715573.2A CN104594161B (en) | 2014-11-28 | 2014-11-28 | Tire paver and traveling control system thereof |
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| CN201410715573.2A CN104594161B (en) | 2014-11-28 | 2014-11-28 | Tire paver and traveling control system thereof |
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| CN107371562A (en) * | 2016-05-16 | 2017-11-24 | 南京德朔实业有限公司 | Power tool, hay mover and its control method |
| CN108223468A (en) * | 2018-01-17 | 2018-06-29 | 广西柳工机械股份有限公司 | Land leveller front-wheel drive control system |
| CN110955253A (en) * | 2019-12-30 | 2020-04-03 | 农业农村部南京农业机械化研究所 | Crawler type orchard harvesting platform walking control system and method thereof |
| CN113276672A (en) * | 2021-05-27 | 2021-08-20 | 山推工程机械股份有限公司 | Multi-wheel walking driving system and electronic anti-slip method |
| CN110955253B (en) * | 2019-12-30 | 2024-06-07 | 农业农村部南京农业机械化研究所 | Crawler-type orchard harvesting platform walking control system and crawler-type orchard harvesting platform walking control method |
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| CN110955253B (en) * | 2019-12-30 | 2024-06-07 | 农业农村部南京农业机械化研究所 | Crawler-type orchard harvesting platform walking control system and crawler-type orchard harvesting platform walking control method |
| CN113276672A (en) * | 2021-05-27 | 2021-08-20 | 山推工程机械股份有限公司 | Multi-wheel walking driving system and electronic anti-slip method |
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