CN114277877B - Control method for skid-steer loader, processor and skid-steer loader - Google Patents
Control method for skid-steer loader, processor and skid-steer loader Download PDFInfo
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- CN114277877B CN114277877B CN202111620077.5A CN202111620077A CN114277877B CN 114277877 B CN114277877 B CN 114277877B CN 202111620077 A CN202111620077 A CN 202111620077A CN 114277877 B CN114277877 B CN 114277877B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention relates to the field of engineering machinery, in particular to a control method and a processor for a skid steer loader and the skid steer loader. The method comprises the following steps: under the condition that the skid-steer loader is determined to be in a power-on state and the switch gear of the skid-steer loader is a preset gear, acquiring the state of an engine of the skid-steer loader; under the condition that the state of the engine is determined to meet the starting condition, outputting starting voltage to control the starter of the skid-steer loader to work; acquiring the rotating speed of an engine; and under the condition that the rotating speed of the engine is determined to meet the preset rotating speed condition, determining that the engine is started successfully and cutting off the output of the starting voltage. Through the technical scheme, the controller monitors all parts of the skid-steer loader and controls the skid-steer loader according to the data obtained by monitoring, so that potential safety hazards during operation of the skid-steer loader are reduced.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a control method and a processor for a skid steer loader and the skid steer loader.
Background
The skid-steer loader is a small-sized engineering machine with compact structure, flexible action and various functions, can work in construction sites, urban streets, garden farms and other narrow environments, and can meet specific operation requirements only by replacing different accessories. The compact structural design and the complex working condition environment of the vehicle make the safety performance of the whole vehicle controlled to influence the safety of the vehicle, the driver and the surrounding personnel to a certain extent.
In the present skid-steer loader, there are operating personnel to carry out the problem such as not having the protection in-process to skid-steer loader to for skid-steer loader's relevant safety protection control is not in place, has certain potential safety hazard risk.
Disclosure of Invention
The invention aims to solve the problem that safety protection control cannot be achieved in the prior art, and provides a control method for a skid-steer loader, a processor and the skid-steer loader.
In order to achieve the above object, an aspect of the present invention provides a control method for a skid steer loader, comprising: the method comprises the steps that under the condition that the skid-steer loader is determined to be in a power-on state and a switch gear of the skid-steer loader is a preset gear, the state of an engine of the skid-steer loader is obtained; under the condition that the state of the engine is determined to meet the starting condition, outputting starting voltage to control the starter of the skid-steer loader to work; acquiring the rotating speed of an engine; and under the condition that the rotating speed of the engine is determined to accord with the preset rotating speed condition, determining that the engine is started successfully and cutting off the output of the starting voltage.
In one embodiment of the present application, the start voltage is not output in a case where it is determined that the state of the engine does not meet the start condition.
In one embodiment of the present application, in a case where it is determined that the rotation speed of the engine does not meet the preset rotation speed condition, it is determined that the engine has failed to start and the output of the starting voltage is cut off.
In one embodiment of the present application, it is determined that the state of the engine meets the start condition in a case where the rotation speed of the engine is zero and the time interval from the previous start time of the engine is greater than or equal to a preset interval time.
In one embodiment of the application, the rotation speed of the engine is determined to meet the preset rotation speed condition under the condition that the working time length of the starter is within the preset time length and the rotation speed of the engine reaches the preset rotation speed.
In one embodiment of the application, a door state switch signal of the skid steer loader is acquired under the condition that the engine is determined to be in a starting state and the acquired braking state of the skid steer loader is a braking release state; determining the door state switch signal as an effective signal under the condition that the door state switch signal indicates that the door is in a closed state; allowing the hydraulic work valves of the skid steer loader to operate.
In one embodiment of the present application, the hydraulic working valve is prohibited from operating when it is determined that the engine is in a start state and it is acquired that the braking state of the skid steer loader is a brake unreleased state, or when the door state switch signal indicates that the door is in an open state.
In one embodiment of the application, under the condition that the engine is determined to be in a starting state and the braking state is a braking release state, a pilot pressure value of the skid-steer loader is obtained in real time; and under the condition that the pilot pressure value is greater than or equal to the preset pressure value, outputting a reversing starting voltage to start a reversing alarm.
In one embodiment of the present application, an input signal of a pressure sensor is obtained, and a pilot pressure value corresponding to the input signal is determined by using a characteristic curve of the pressure sensor.
A second aspect of the present application provides a controller configured to perform a control method for a skid steer loader according to any one of the above.
A third aspect of the present application provides a skid steer loader comprising:
a rotational speed sensor;
a door state switch;
a pressure sensor; and the controller described above.
Through the technical scheme, the controller monitors all parts of the skid-steer loader and controls the skid-steer loader according to the data obtained by monitoring, so that potential safety hazards during operation of the skid-steer loader are reduced.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:
FIG. 1 schematically illustrates a flow chart of a control method for a skid steer loader according to an embodiment of the present application;
FIG. 2 schematically illustrates a flow chart of a control method for a skid steer loader according to an embodiment of the present application;
FIG. 3 schematically illustrates a flow chart of a control method for a skid steer loader according to an embodiment of the present application;
FIG. 4 schematically illustrates a flow chart of a control method for a skid steer loader according to an embodiment of the present application;
FIG. 5 schematically illustrates a flow chart of a control method for a skid steer loader according to an embodiment of the present application;
FIG. 6 schematically illustrates a block diagram of a skid steer loader according to an embodiment of the present application;
fig. 7 schematically shows an internal structure diagram of a computer device according to an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be made with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present application, are given by way of illustration and explanation only, and are not intended to limit the present application.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present application, the directional indications are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
As shown in fig. 1, a flow diagram schematically illustrating a control method for a skid steer loader according to an embodiment of the present application is shown. In one embodiment of the present application, as shown in fig. 1, a control method for a skid steer loader is provided, comprising the steps of:
102, under the condition that the state of the engine is determined to meet the starting condition, outputting starting voltage to control a starter of the skid-steer loader to work;
103, acquiring the rotating speed of the engine;
and 104, under the condition that the rotating speed of the engine is determined to meet the preset rotating speed condition, determining that the engine is started successfully and cutting off the output of the starting voltage.
The controller can judge the on-state of skid-steer loader, and when the controller confirmed that skid-steer loader is in the circumstances of on-state, can acquire the concrete gear of skid-steer loader's switch, whether the switch gear that detects skid-steer loader is for predetermineeing the gear, the controller can be with predetermineeing the gear and set up to the ST gear, and wherein the switch can be the key switch. When the operator adjusts the key switch to the ST position, the controller may determine that the switch position of the skid-steer loader is already in the preset gear position. The controller may now capture the state of the engine of the skid-steer loader.
After the controller acquires the state of the engine of the skid steer loader, the controller can detect the state of the engine and determine whether the acquired state of the engine meets the starting condition. When the controller determines that the state of the engine meets the starting condition, the controller can output a starting voltage to control the starter of the skid-steer loader to work. Specifically, under the condition that the controller of the skid-steer loader determines that the state of the engine meets the starting condition, the controller is started, the port outputs effective voltage, the starting relay is controlled by the effective voltage output by the port, and the starting relay outputs the effective voltage to the starter after attracting the effective voltage to control the motor to start.
In one embodiment, the state of the engine is determined to meet the starting condition in the case where the rotation speed of the engine is zero and the time interval from the previous starting time of the engine is greater than or equal to the preset interval time
The controller acquires the state of the engine, and in the case that the controller determines that the rotation speed of the engine at the moment is zero and the time interval from the previous engine start is greater than or equal to the preset interval time, the controller may determine that the state of the engine meets the start condition.
In one embodiment, in the case where it is determined that the state of the engine does not meet the start condition, the start voltage is not output.
If the controller detects the state of the engine, the controller may determine that the acquired state of the engine does not meet the starting condition if the controller detects that the rotation speed of the engine is not zero and/or the time interval from the previous engine start is less than the preset interval time, and at this time, the controller may not output the starting voltage.
After the controller controls the starter of the skid steer loader to start working, the rotating speed of the engine can be obtained through the rotating speed sensor of the engine. The controller can detect the rotating speed of the engine after acquiring the rotating speed of the engine, judge whether the rotating speed of the engine meets the preset rotating speed condition, and can determine that the engine of the skid steer loader is successfully started at the moment and cut off the output of the starting voltage under the condition that the controller determines that the rotating speed of the engine meets the preset condition.
In one embodiment, the rotation speed of the engine is determined to meet the preset rotation speed condition in the case that the operating time period of the starter is within the preset time period and the rotation speed of the engine reaches the preset rotation speed.
The controller obtains the rotating speed of the engine through the rotating speed sensor, and when the controller determines that the working time of the starter is within the preset time and the rotating speed of the engine reaches the preset rotating speed set by the controller, the controller can determine that the rotating speed of the engine meets the preset rotating speed condition.
In one embodiment, in the case where it is determined that the rotation speed of the engine does not meet the preset rotation speed condition, it is determined that the engine has failed to start and the output of the starting voltage is cut off.
After the controller obtains the rotating speed of the engine through a rotating speed sensor of the engine, if the rotating speed of the engine is determined to be not in accordance with a preset rotating speed condition set by the controller at the moment, namely the rotating speed of the engine does not reach the preset rotating speed within the preset duration of the working duration of the starter, the controller can determine that the engine of the skid steer loader fails to start and cut off the starting voltage output by the controller.
The controller may set the preset interval time to 10 seconds, the preset duration to 10 seconds, and the preset rotation speed to 650rpm. For example, assume that the operator has turned the key switch to the ST (start) position while the skid steer loader is in the powered on state, at which time the controller obtains the state of the engine of the skid steer loader. Assuming that the engine state obtained by the controller satisfies the condition that the rotating speed of the engine is zero and the time interval from the last start of the engine is greater than or equal to 10 seconds, the controller can control the port to output an effective voltage to control the starting relay. The starting relay attracts the effective voltage and outputs the effective voltage to a starting motor of the starter so as to control the starting motor to work. If the state of the engine does not satisfy the above condition, the controller does not control the port to output the effective voltage. After the starter begins to operate, if the controller determines that the engine speed is greater than or equal to 650rpm within 10 seconds of the start of the starter, the controller may determine that the skid steer loader has been successfully started and may shut off the output of the start voltage. If the engine speed does not reach 650rpm within 10 seconds of the start of the starter, the controller determines that the skid steer loader has failed to start and shuts off the output of the start voltage. It is not determined that the skid-steer loader can be restarted until the engine speed is zero and the time interval from the last start time is greater than or equal to 10 seconds. Through the technical scheme, the controller protects the start process of the skid-steer loader by acquiring the switch gear, the engine state and the rotating speed of the engine of the skid-steer loader, so that potential safety hazards in the start process of the skid-steer loader are avoided.
As shown in fig. 2, a flow diagram schematically illustrating a control method for a skid steer loader according to an embodiment of the present application is shown. As shown in fig. 2, in an embodiment of the present application, a control method for a skid steer loader is provided, comprising the steps of:
The controller may acquire a state of the engine, the controller may acquire a braking state of the skid steer loader if the engine is determined to be in the start state, and the controller may acquire a door state switch signal of the skid steer loader if the controller determines that the engine of the skid steer loader is in the start state and the braking has been released. And determining that the door state switch signal is an effective signal under the condition that the door state switch signal indicates that the door of the skid steer loader is in a closed state, and determining that the door state switch signal is an ineffective signal under the condition that the door state switch signal indicates that the door of the skid steer loader is in an open state.
When the controller acquires the door state switch signal of the skid-steer loader and determines that the door state switch signal is a valid signal, the interlock port of the controller may have an output, which may allow the hydraulic work valve of the skid-steer loader to operate.
In one embodiment, the hydraulic working valve is inhibited from operating when the engine is determined to be in the starting state and the braking state of the skid steer loader is determined to be the brake unreleased state or when the door state switch signal indicates that the door is in the open state.
When the controller determines that the engine of the skid steer loader is in a start state but the brake of the skid steer loader is not released, the controller prohibits the hydraulic work valve from operating. The controller may acquire the door state switch signal in a case where it is determined that the engine of the skid steer loader is in a start state and the brake has been released, and disable the hydraulic work valve by outputting no output from the interlock port of the controller if the acquired door state switch signal is an invalid signal, that is, the door state switch signal indicates that the door is in an open state.
For example, the controller may determine whether the brakes of the skid steer loader are released while an engine of the skid steer loader is in a start state. When the brake of the skid-steer loader is released, the interlocking port of the controller has no effective output, and the hydraulic working valve cannot work at the moment. The controller may collect the door state switch signal if the engine of the skid steer loader is in a start state and the brakes of the skid steer loader have also been released. When the door state switch signal is determined to be an invalid signal, indicating that the doors of the skid steer loader are in an unclosed state, the interlock port of the controller is not actively outputting. At the moment, the hydraulic working valve cannot work, and at the moment, the operation working handle, the movable arm, the bucket and the like of the skid steer loader cannot work normally.
The controller may collect the door state switch signal when an engine of the skid steer loader is in a start state and a brake of the skid steer loader has also been released. When the door state switch signal is determined to be active, indicating that the door of the skid-steer loader is in a closed state, the interlock port of the controller may have an output, thereby allowing the hydraulic work valve to work properly. At the moment, the operation working handle, the movable arm, the bucket and the like of the skid steer loader can work normally. Through the technical scheme, the controller detects the state of the door of the skid steer loader by acquiring the door state switch signal of the skid steer loader, and determines whether the hydraulic working valve can work or not according to the state of the door. The potential safety hazard of the skid-steer loader in the interlocking process is avoided.
As shown in fig. 3, a flow diagram schematically illustrating a control method for a skid steer loader according to an embodiment of the present application is shown. As shown in fig. 3, in an embodiment of the present application, a control method for a skid steer loader is provided, comprising the steps of:
and step 302, outputting a reversing starting voltage to start a reversing alarm under the condition that the pilot pressure value is greater than or equal to a preset pressure value.
The controller can acquire the braking state of the skid steer loader when the controller determines that the motive machine of the skid steer loader is in the starting state, and can acquire the pilot pressure value of the skid steer loader in real time when the skid steer loader is in the starting state and the braking state of the skid steer loader is in the braking release state. When the controller determines that the obtained pilot pressure value is larger than or equal to the preset pressure value, the controller can control the reversing control port to output reversing starting voltage, and the reversing starting voltage passes through the reversing relay so that the reversing alarm device is started.
In one embodiment, obtaining the pilot pressure value of the skid steer loader in real time comprises: and acquiring an input signal of the pressure sensor, and determining a pilot pressure value corresponding to the input signal by using a characteristic curve of the pressure sensor.
The controller can acquire the pilot pressure value of the skid-steer loader in real time. The controller can acquire an input signal of the pressure sensor installed in the pilot loop of the skid loader and convert the input signal into a pilot pressure value corresponding to the input signal through a characteristic curve of the pressure sensor.
The controller may set the preset pressure value to 5bar. For example, when the skid steer loader is in a starting state and the braking state of the skid steer loader is successfully released, assuming that an operator controls the skid steer loader to start backing up through the walking handle, at the moment, the controller can obtain a pilot pressure value of the skid steer loader by acquiring an input signal of a pressure sensor installed in a pilot loop of the skid steer loader and converting the input signal into a pilot pressure value corresponding to the input signal through a characteristic curve of the pressure sensor, when the pilot pressure value is smaller than 5bar, the controller can determine that the skid steer loader is not in a backing up mode at the moment, a backing up control port of the controller has no effective output, and a backing up alarm device of the skid steer loader, such as a backing up buzzer and a backing up video monitoring system, is not started.
When the pilot pressure value is greater than or equal to 5bar, the controller can determine that the skid steer loader is in a reversing mode at the moment, the reversing control port of the controller outputs effective voltage, and the effective voltage is output through the reversing relay, so that the reversing alarm device of the skid steer loader is started to remind surrounding pedestrians that vehicles are in a reversing state, and meanwhile, a monitoring picture of a surrounding vision blind area is provided for a driver to guarantee reversing safety. Through the technical scheme, the controller determines the safety of the skid steer loader in the reversing process by starting the reversing device when the skid steer loader performs reversing work by acquiring the state of the engine of the skid steer loader.
As shown in fig. 4, a flow chart diagram of a control method for a skid steer loader according to an embodiment of the present application is schematically shown. As shown in fig. 4, in an embodiment of the present application, a control method for a skid steer loader is provided, comprising the steps of:
and step 403, under the condition that the safety lever switch signal and the seat induction switch signal are both effective signals and the brake key signal is obtained, releasing the brake of the skid steer loader according to the brake key signal.
The controller can detect the power-on condition of the skid-steer loader, and under the condition that the power-on condition of the whole skid-steer loader is determined, the controller can acquire the state of the engine of the skid-steer loader and detect whether the engine of the skid-steer loader is in a starting state or not. When the controller determines that the skid steer loader is powered on and an engine of the skid steer loader is in a starting state, the controller can acquire a safety lever signal and a seat induction switch signal of the skid steer loader through the sensor.
The controller can detect the obtained safety lever switch signal and the seat induction switch signal and judge whether the obtained safety lever switch signal and the seat induction switch signal are effective signals. When the controller determines that the safety lever switch signal and the seat induction switch signal are both effective signals, the controller can acquire a brake key signal of the skid steer loader. The controller can release the brake of the skid steer loader according to the brake key signal under the condition that the controller determines that the safety lever switch signal and the seat induction switch signal of the skid steer loader are both effective signals and obtains the brake key signal of the skid steer loader.
In one embodiment, in the event that the engine is determined to be in a stalled state and a brake key signal is acquired, disabling the skid steer loader from being braked according to the brake key signal.
When the controller determines that the skid steer loader is powered on but the engine is in a flameout state, the controller acquires a brake key signal of the skid steer loader, and the controller prohibits the skid steer loader from being braked according to the brake key signal.
In one embodiment, in the event that both the safety lever switch signal and the seat sensing switch signal are determined to be invalid and the brake button signal is acquired, disabling the skid steer loader from being braked based on the brake button signal.
The controller can acquire a safety lever switch signal and a seat induction switch signal through the sensor under the condition that the controller determines that the whole skid-steer loader is electrified and an engine of the skid-steer loader is in a starting state. When the controller determines that the acquired safety lever switch signal and the acquired seat sensing switch signal are both invalid signals, that is, the safety lever switch signal and/or the seat sensing switch signal do not indicate that the safety lever switch and/or the seat sensing switch are in the on state, and the off duration of the safety lever switch and/or the seat sensing switch is longer than the preset first time. The controller acquires the brake key signal and forbids to release the brake of the skid-steer loader according to the brake key signal.
In one embodiment, the safety lever switch signal and the seat sensing switch signal are both determined to be valid signals in a case where both the safety lever switch signal and the seat sensing switch signal are determined to be in the on state, or the safety lever switch signal and the seat sensing switch signal are both determined to be valid signals in a case where the safety lever switch signal indicates that the safety lever switch is in the off state and the off time is less than or equal to a first preset time and the seat sensing switch signal indicates that the seat sensing switch is in the off state and the off time is less than or equal to the first preset time.
The controller can acquire a safety lever switch signal and a seat induction switch signal through the sensor, and the controller can detect the signals after acquiring the safety lever switch signal and the seat induction switch signal of the skid steer loader and judge whether the signals are effective or not. When the controller determines that the safety lever switch signal and the seat induction switch signal both indicate the on state, that is, the safety lever switch signal indicates that the safety lever switch is the on state, and the seat induction switch signal indicates that the seat induction switch is the on state, the controller may determine that the safety lever switch signal and the seat induction switch signal are both valid signals at this time.
Or, when the controller detects that the safety lever switch signal indicates that the safety lever switch is turned off and the turn-off time is less than or equal to the first preset time set by the controller, and/or when the controller detects that the seat sensing switch signal indicates that the seat sensing switch is turned off and the turn-off time is less than or equal to the first preset time set by the controller. The controller may also determine that the safety lever switch signal and the seat sensing switch signal are both valid signals at this time.
The controller may set the first preset time to 3 seconds. For example, the controller determines that the whole skid-steer loader is powered on, the controller can acquire the state of an engine of the skid-steer loader, if the controller determines that the engine is in a flameout state, at the moment, an operator presses a brake button, the controller receives a brake button signal, the controller prohibits the brake of the skid-steer loader from being released, at the moment, all hydraulic systems on the skid-steer loader cannot work normally, the operator operates a walking handle, and the skid-steer loader cannot run.
When the controller determines that the whole skid-steer loader is electrified and the engine is in a starting state, the controller can acquire a safety lever switch signal and a seat induction switch signal through the sensor and judge the acquired safety lever switch signal and the acquired seat induction switch signal. When the controller determines that any one or both of the safety lever switch signal and the seat sensing switch signal are invalid, namely the safety lever switch signal and/or the seat sensing switch signal do not indicate that the safety lever switch and/or the seat sensing switch are in the on state, and the duration of the off state of the safety lever switch and/or the seat sensing switch is longer than 3 seconds, the operator presses the brake key at the moment, the controller receives the brake key signal, and the controller prohibits the brake of the skid steer loader from being released. At the moment, all hydraulic systems on the skid-steer loader cannot work normally, and the operation personnel operate the walking handle, so that the skid-steer loader cannot run.
When the controller determines that the skid-steer loader is powered on, the state of the engine can be detected. When the controller determines that the skid steer loader is powered on and the engine is in a start state, the acquired safety lever switch signal and the seat sensing switch signal can be detected. And determining that the skid steer loader is electrified, the engine is in a starting state and the safety lever switch signal and the seat induction switch signal acquired by the controller are effective signals by the processor. That is to say, the safety lever switch signal and the seat sensing switch signal indicate that the safety lever switch and the seat sensing switch are both in an on state, or the safety lever switch signal and/or the seat sensing switch signal indicate that the duration of the disconnection of the safety lever switch and/or the seat sensing switch is less than or equal to 3 seconds, the controller determines that the acquired safety lever switch signal and the acquired seat sensing switch signal are valid signals. At the moment, the operator presses the brake key, the controller receives a brake key signal, and the controller releases the brake of the skid-steer loader. The operator can normally control the normal operation of the skid-steer loader by operating the walking handle. Through the technical scheme, the controller determines whether the skid steer loader can be braked and removed or not by acquiring the safety lever switch and the seat induction switch signal of the skid steer loader, so that the safety of the skid steer loader is ensured.
As shown in fig. 5, a flow chart diagram of a control method for a skid steer loader according to an embodiment of the present application is schematically shown. As shown in fig. 5, in an embodiment of the present application, a control method for a skid steer loader is provided, comprising the steps of:
and 503, allowing the hydraulic working valve of the skid-steer loader to work normally and forbidding the hydraulic brake valve to work under the condition that the exceeding interlocking key signal is determined to meet the preset condition.
In one embodiment, the preset conditions include: the duration of the override interlock key signal is detected to be greater than or equal to a second preset time.
The controller may acquire a door state switch signal, a safety lever switch signal, and a seat sensing switch signal of the skid steer loader through the sensor in a case where it is determined that an engine of the skid steer loader is in a start state. And acquiring an override interlock key signal under the condition that the acquired door state switch signal, the acquired safety lever switch signal and the acquired seat induction switch signal are all effective signals. Wherein the gate state switch signal indicates that the gate is active when in the closed state. Under the condition that the safety lever switch signal and the seat induction switch signal both indicate the on state, that is to say, the safety lever switch signal indicates that the safety lever switch is the on state, and under the condition that the seat induction switch signal indicates that the seat induction switch is the on state, the controller can confirm that the safety lever switch signal and the seat induction switch signal are effective signals at this moment.
The controller acquires the override interlock key signal and can judge whether the override interlock key signal meets a preset condition. Wherein the preset condition may include: the duration of the override interlock key signal is detected to be greater than or equal to a second preset time. The controller may allow the hydraulic work valve of the skid-steer loader to operate normally and prohibit the hydraulic brake valve from operating when the controller determines that the acquired override interlock key signal meets a preset condition.
In one embodiment, the hydraulic work valve of the skid steer loader is inhibited from operating and the hydraulic brake valve is inhibited from operating upon a determination that the override interlock key signal does not meet a preset condition.
The controller acquires the override interlock key signal and can judge whether the override interlock key signal meets a preset condition. And when the controller determines that the obtained override interlocking key signal does not meet the preset condition, the controller prohibits a hydraulic working valve of the skid-steer loader from working normally and also prohibits a hydraulic brake valve from working.
In one embodiment, under the condition that the door state switch signal is determined to be effective, and either one of the safety lever switch signal and the seat induction switch signal is determined to be an ineffective signal, and the obtained override interlock key signal is determined to meet the preset condition, allowing a hydraulic working valve of the skid-steer loader to normally work and forbidding a hydraulic brake valve to work; and under the condition that the door state switch is determined to be effective, any one of the safety lever switch signal and the seat induction switch signal is determined to be an invalid signal, and the obtained override interlock key signal is determined not to accord with the preset condition, the hydraulic working valve of the skid-steer loader is forbidden to normally work, and the hydraulic brake valve is forbidden to work.
Under the condition that the controller determines that the engine of the skid steer loader is in a starting state, the controller can acquire a door state switch signal, a safety lever switch signal and a seat induction switch signal of the skid steer loader through the sensors and detect the acquired signals so as to judge whether the signals are effective or not. When the controller determines that the door state switch signal is an active signal, that is, the door of the skid steer loader is in a closed state. Either one of the safety lever switch signal and the seat sensing switch signal is an invalid signal, that is, when the controller determines that either one or both of the safety lever switch signal and the seat sensing switch signal are invalid, that is, the safety lever switch signal and/or the seat sensing switch signal do not indicate that the safety lever switch and/or the seat sensing switch are in the on state, and the duration of the safety lever switch and/or the seat sensing switch being off is greater than the preset first time. And under the condition that the controller determines that the obtained exceeding interlocking key signal meets the preset condition, the controller allows a hydraulic working valve of the skid-steer loader to normally work and forbids the hydraulic brake valve to work.
If the obtained safety lever switch signal is valid and any one of the seat induction switch signals is an invalid signal, the controller prohibits the hydraulic working valve of the skid-steer loader from working normally and prohibits the hydraulic brake valve from working if the exceeding interlock key signal obtained by the controller does not meet the preset condition.
That is to say, whether the safety lever switch signal and the seat sensing switch signal are effective or not does not affect the controller to acquire the overrun interlock key signal of the skid-steer loader, and as long as the controller determines that the door state switch signal is effective and the acquired overrun interlock key signal of the skid-steer loader meets the preset condition, the controller can control the skid-steer loader to perform the related work of overrun interlock.
The controller may set the second preset time to 10 seconds. For example, the controller may obtain a door state switch signal, determine whether the door state switch signal is valid, obtain a safety lever switch signal and a seat sensing switch signal simultaneously, and obtain an override interlock key signal when it is determined that the obtained signals are both satisfied, in a case where it is determined that an engine of the skid steer loader is in a start state. It is assumed that the operator presses the override interlock key for less than a second preset time, i.e., 10 seconds. The controller disables the hydraulic work valve and the brake valve is disabled. However, if the operator presses the override interlock key for greater than or equal to 10 seconds, the controller may allow the hydraulic work valve to operate normally and the brake valve to operate. At the moment, an operator operates an operation working handle of the skid steer loader, the movable arm and the bucket can work normally, and the skid steer loader still is in a braking state and cannot walk by operating a walking handle.
When the controller determines that the door state switch signal of the skid-steer loader is an effective signal and the safety lever switch signal and the seat sensing switch signal do not reach the condition of the effective signal at the same time, the controller can also directly acquire an override interlock key signal, when the time for an operator to press the override interlock key meets a second preset time, namely is more than or equal to 10 seconds, the interlock port of the controller can output, so that the skid-steer loader is controlled to execute relevant functions of override interlock, at the moment, the operator operates an operating handle of the skid-steer loader, the movable arm and the bucket can normally work, and operates a walking handle, and the skid-steer loader still is in a braking state and cannot walk. However, when the time for the operator to press the override interlock key does not meet the second preset time, that is, less than 10 seconds, the controller cannot control the skid-steer loader to perform the override interlock function, that is, the hydraulic working valve is prohibited from working, and the brake valve is also inoperative. Namely, the operation working handle and the walking handle of the skid steer loader can not realize normal functions.
In one embodiment, as shown in FIG. 6, a skid steer loader 600 is schematically illustrated, comprising: a rotation speed sensor 601 configured to acquire a rotation speed of the engine; a door state switch 602; a pressure sensor 603 configured to output a pilot pressure value; and a controller 604 for performing any of the above-described control methods for skid steer loader safety protection.
In one embodiment, as shown in FIG. 6, a skid steer loader 600 is schematically illustrated, further comprising: a safety sensor switch 605; a seat sensing switch 606; a brake button 607; override interlock key 608.
The embodiment of the application provides a processor for running a program, wherein the program executes the control method for the skid steer loader during running.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the control of the skid-steer loader is realized by adjusting kernel parameters.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer apparatus includes a processor a01, a network interface a02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Wherein the processor a01 of the computer device is arranged to provide computing and control capabilities. The memory of the computer apparatus includes an internal memory a03 and a nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory a03 provides an environment for running the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing the collected relevant data of the engineering machinery. The network interface a02 of the computer apparatus is used for communicating with an external terminal through a network connection. The computer program B02 is executed by the processor a01 to implement a control method for a skid steer loader.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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 a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A control method for a skid steer loader, the control method comprising:
under the condition that the skid-steer loader is determined to be in a power-on state and the switch gear of the skid-steer loader is a preset gear, acquiring the state of an engine of the skid-steer loader;
under the condition that the state of the engine is determined to meet the starting condition, outputting a starting voltage to control the starter of the skid steer loader to work;
acquiring the rotating speed of the engine;
under the condition that the rotating speed of the engine is determined to accord with a preset rotating speed condition, determining that the engine is started successfully and cutting off the output of the starting voltage;
under the condition that the engine is determined to be in a starting state and the braking state of the skid steer loader is obtained to be a braking release state, obtaining a door state switch signal of the skid steer loader;
under the condition that the engine is determined to be in a starting state and the braking state of the skid steer loader is obtained to be a braking unreleased state, or under the condition that the door state switch signal indicates that the door is in an opening state, the hydraulic working valve is forbidden to work;
the hydraulic working valve is used for controlling a working handle, a movable arm and a bucket of the skid steer loader to normally work.
2. The control method according to claim 1, characterized by further comprising: the starting voltage is not output in a case where it is determined that the state of the engine does not comply with the starting condition.
3. The control method according to claim 1, characterized by further comprising:
and under the condition that the rotation speed of the engine is determined not to meet the preset rotation speed condition, determining that the engine fails to start and cutting off the output of the starting voltage.
4. The control method according to claim 1, characterized by further comprising:
and determining that the state of the engine meets the starting condition under the condition that the rotating speed of the engine is zero and the time interval between the rotating speed of the engine and the starting time of the previous engine is greater than or equal to the preset interval time.
5. The control method according to claim 1, characterized by further comprising:
and under the conditions that the working time of the starter is within a preset time and the rotating speed of the engine reaches a preset rotating speed, determining that the rotating speed of the engine meets a preset rotating speed condition.
6. The control method according to claim 1, characterized by further comprising:
determining that the door state switch signal is a valid signal when the door state switch signal indicates that the door is in a closed state;
allowing the hydraulic work valve of the skid steer loader to operate.
7. The control method according to claim 1, characterized by further comprising:
under the condition that the engine is determined to be in a starting state and the braking state is determined to be a braking release state, acquiring a pilot pressure value of the skid steer loader in real time;
and under the condition that the pilot pressure value is greater than or equal to the preset pressure value, outputting a reversing starting voltage to start reversing alarm.
8. The control method of claim 7, wherein the obtaining the pilot pressure value of the skid steer loader in real time comprises:
the method comprises the steps of obtaining an input signal of a pressure sensor, and determining a pilot pressure value corresponding to the input signal by using a characteristic curve of the pressure sensor.
9. A controller, characterized by being configured to perform the control method for a skid steer loader according to any one of claims 1 to 8.
10. A skid steer loader, comprising:
a rotational speed sensor configured to acquire a rotational speed of the engine;
a door state switch;
a pressure sensor configured to output a pilot pressure value; and
the controller of claim 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111620077.5A CN114277877B (en) | 2021-12-23 | 2021-12-23 | Control method for skid-steer loader, processor and skid-steer loader |
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| CN202111620077.5A CN114277877B (en) | 2021-12-23 | 2021-12-23 | Control method for skid-steer loader, processor and skid-steer loader |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH11257114A (en) * | 1998-03-17 | 1999-09-21 | Hitachi Ltd | Engine automatic stopping and starting device |
| JP5215338B2 (en) * | 2009-11-26 | 2013-06-19 | 日立建機株式会社 | Gate lock circuit for construction machinery |
| CN202325867U (en) * | 2011-11-09 | 2012-07-11 | 中联重科股份有限公司 | Engine starting gear and engineering machinery |
| CN107035545B (en) * | 2016-12-01 | 2018-07-20 | 长沙科达智能装备股份有限公司 | Mobile concrete jet robot engine start and stop protective device and method |
| JP7038516B2 (en) * | 2017-09-29 | 2022-03-18 | 日立建機株式会社 | Wheel loader |
| JP6781182B2 (en) * | 2018-03-23 | 2020-11-04 | 株式会社日立建機ティエラ | Construction machinery |
| CN110106937A (en) * | 2019-05-14 | 2019-08-09 | 三一重机有限公司 | Low oil consumption control method and device |
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