CN114961556A - Crawler-type engineering machinery linear walking control method and device and engineering machinery - Google Patents
Crawler-type engineering machinery linear walking control method and device and engineering machinery Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
- E21B7/046—Directional drilling horizontal drilling
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Abstract
The invention provides a method and a device for controlling linear walking of crawler-type engineering machinery and the engineering machinery, wherein the method comprises the following steps: monitoring horizontal offset angle data of the engineering machinery when the engineering machinery is in a straight line walking mode; determining the current walking state of the engineering machinery based on the horizontal offset angle data; the operating current of the left control pump and/or the right control pump is adjusted based on the current walking state. Therefore, the walking state of the engineering machinery is mastered by monitoring the horizontal offset angle of the engineering machinery in real time, and the working current of the left control pump and/or the right control pump is adjusted in time, so that the engineering machinery is prevented from deviating, the workload of the manipulator is reduced, the walking is accurately controlled, and the working efficiency of the engineering machinery is guaranteed.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a crawler-type engineering machinery linear walking control method and device and engineering machinery.
Background
At present, the walking deviation phenomenon always occurs in the crawler-type engineering machinery such as a horizontal directional drilling machine and the like in the linear walking process, at the moment, an operator needs to manually adjust the speed of a left walking crawler and a right walking crawler on a display screen or accelerate and decelerate the walking speed of the left crawler and the right crawler through a button on a remote controller, the automation level is low, the adjusting effect seriously depends on the experience of the operator, and once the adjustment is not in time or the deviation amount of the deviation is too large, the risk of overturning is also generated when the engineering machinery gets on or off the board.
Disclosure of Invention
In view of this, the embodiment of the invention provides a method and a device for controlling linear traveling of a crawler-type engineering machine, and an engineering machine, so as to overcome the problem that in the prior art, linear traveling control of the crawler-type engineering machine depends heavily on experience of an operator, and control accuracy cannot be guaranteed while workload of the operator is increased.
According to a first aspect, the embodiment of the invention provides a linear walking control method for a crawler-type engineering machine, wherein the engineering machine comprises: the method comprises the following steps of:
monitoring horizontal offset angle data of the engineering machinery when the engineering machinery is in a straight line walking mode;
determining a current walking state of the construction machine based on the horizontal offset angle data;
adjusting the operating current of the left control pump and/or the right control pump based on the current walking state.
Optionally, the determining the current walking state of the working machine based on the horizontal offset angle data includes:
calculating an amount of change in the horizontal offset angle within a predetermined time based on the horizontal offset angle data;
judging whether the variation exceeds a preset angle threshold value or not;
when the variable quantity exceeds a preset angle threshold value, determining that the engineering machinery is in a deviation state;
and returning to the step of monitoring the horizontal deviation angle data of the engineering machinery when the variable quantity does not exceed a preset angle threshold.
Optionally, the adjusting the working current of the left control pump and/or the right control pump based on the current walking state includes:
when the engineering machinery is in a deviation state, extracting a current horizontal deviation angle from the horizontal deviation angle data;
determining a deviation direction based on the current horizontal deviation angle;
and adjusting the working current of the left control pump and/or the right control pump based on the deviation direction.
Optionally, the adjusting the working current of the left control pump and/or the right control pump based on the deviation direction includes:
when the deviation direction is leftward deviation, increasing the working current of the left control pump, and/or reducing the working current of the right control pump;
and when the deviation direction is rightward deviation, reducing the working current of the left control pump and/or increasing the working current of the right control pump.
Optionally, the adjusting the working current of the left control pump and/or the right control pump based on the deviation direction includes:
calculating a deviation angle between the deviation direction and an initial direction of the engineering machinery in a linear walking state;
calculating the working current adjustment amount of the left control pump and/or the right control pump based on the deviation angle;
and adjusting the working current of the left control pump and/or the right control pump according to the working current adjustment amount of the left control pump and/or the right control pump.
Optionally, the method further comprises:
acquiring a current operation instruction of the engineering machinery;
determining a current walking mode of the engineering machine based on the current operation instruction.
Optionally, the horizontal offset angle data is collected by a gyroscope disposed on the work machine.
According to a second aspect, the embodiment of the invention provides a linear walking control device for a crawler-type engineering machine, which comprises: the device is used for controlling the left control pump of the engineering machinery left walking mechanism and the right control pump for controlling the motion of the engineering machinery right walking mechanism, and comprises:
the monitoring module is used for monitoring the horizontal offset angle data of the engineering machinery when the engineering machinery is in a straight line walking mode;
the first processing module is used for determining the current walking state of the engineering machinery based on the horizontal offset angle data;
and the second processing module is used for adjusting the working current of the left control pump and/or the right control pump based on the current walking state.
According to a third aspect, an embodiment of the present invention provides a construction machine, including:
the left control pump is used for controlling the left travelling mechanism of the engineering machinery;
the right control pump is used for controlling the right walking mechanism of the engineering machinery to move;
the measuring equipment is arranged on the engineering machinery and used for acquiring horizontal offset angle data of the engineering machinery;
the controller is respectively connected with the left control pump, the right control pump and the measuring equipment;
the controller includes: a memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, and the processor performing the method of the first aspect, or any one of the optional embodiments of the first aspect, by executing the computer instructions.
Optionally, the work machine is a track-type work machine.
Optionally, the work machine is a horizontal directional drilling machine.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method of the first aspect, or any one of the optional implementation manners of the first aspect.
The technical scheme of the invention has the following advantages:
according to the crawler-type engineering machinery linear walking control method and device and the engineering machinery, when the engineering machinery is in a linear walking mode, the horizontal offset angle data of the engineering machinery is monitored; determining the current walking state of the engineering machinery based on the horizontal offset angle data; the operating current of the left control pump and/or the right control pump is adjusted based on the current walking state. Therefore, the walking state of the engineering machinery is mastered by monitoring the horizontal offset angle of the engineering machinery in real time, and the working current of the left control pump and/or the right control pump is adjusted in time, so that the engineering machinery is prevented from deviating, the workload of the manipulator is reduced, the walking is accurately controlled, and the working efficiency of the engineering machinery is guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural view of a construction machine according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for controlling linear travel of a track-type construction machine according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a crawler-type engineering machinery linear walking control specific working process according to an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a crawler-type engineering machinery linear walking control device according to an embodiment of the invention;
fig. 5 is a schematic structural diagram of a controller in a construction machine according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
At present, the phenomenon of walking deviation always occurs in the process of straight-line walking of crawler-type engineering machinery such as a horizontal directional drilling machine, at the moment, an operator needs to manually adjust the speed of a left walking crawler and a right walking crawler on a display screen or accelerate and decelerate the walking speed of the left and right crawlers through a button on a remote controller, the automation level is low, the adjusting effect seriously depends on the experience of the operator, and once the adjustment is not timely or the deviation amount of the deviation is too large, the risk of overturning is also generated when the engineering machinery gets on or off the board.
Based on the above problem, an embodiment of the present invention provides a method for controlling linear traveling of a crawler-type engineering machine, where as shown in fig. 1, the engineering machine provided by the embodiment of the present invention includes: a left control pump 11 for controlling the left travel mechanism of the construction machine; a right control pump 12 for controlling the movement of the right travel mechanism of the engineering machinery; a measuring device 14 provided on the construction machine for acquiring horizontal offset angle data of the construction machine; the controller 13, the controller 13 is connected with the left control pump 11, the right control pump 12 and the measuring device 14 respectively. Specifically, for the specific operation process of the controller 13, reference is made to the following description of the method embodiment, and details are not repeated here.
It should be noted that, in the embodiment of the present invention, the description is given by taking the working machine as a horizontal directional drilling machine, and in practical applications, the working machine may also be other crawler-type working machines, such as: crawler cranes, etc., to which the present invention is not limited. Specifically, as shown in fig. 1, the measuring device 14 is a gyroscope disposed on a cross beam of a chassis of the horizontal directional drilling machine to acquire a deviation angle value of the horizontal directional drilling machine in the horizontal direction in real time, in practical applications, the measuring device 14 may also be another type of angle sensor as long as it can implement horizontal angle measurement of the horizontal directional drilling machine, and the present invention is not limited thereto.
Specifically, for the horizontal directional drilling machine, the left traveling mechanism is a left traveling crawler of the horizontal directional drilling machine, and the right traveling mechanism is a right traveling crawler of the horizontal directional drilling machine.
Specifically, in an embodiment, as shown in fig. 1, the above-mentioned construction machine further includes: the remote controller 15 and the display screen 16, wherein an operator inputs an operation instruction to the engineering machine through the remote controller 15, and the controller 13 is connected with the remote controller 15 to receive the operation instruction of a user and analyze the operation instruction to obtain a walking mode of the engineering machine. The controller 13 may also display data such as the operation command and the operation state of the construction machine on the display screen 16.
Through the cooperative cooperation of the components, the engineering machine provided by the embodiment of the invention grasps the walking state of the engineering machine by monitoring the horizontal offset angle of the engineering machine in real time, and adjusts the working current of the left control pump and/or the right control pump in time to prevent the engineering machine from deviating, thereby reducing the workload of the manipulator, realizing the accurate control of walking and ensuring the working efficiency of the engineering machine.
The embodiment of the invention also provides a linear walking control method of the crawler-type engineering machinery, which is applied to the controller 13 shown in fig. 1, and as shown in fig. 2, the linear walking control method of the crawler-type engineering machinery specifically comprises the following steps:
step S101: and when the engineering machinery is in a straight line walking mode, monitoring the horizontal offset angle data of the engineering machinery.
The horizontal deviation angle data of the engineering machinery can be acquired through the gyroscope rotation angle instrument.
Specifically, the current operation instruction of the engineering machinery can be obtained; and determining the current walking mode of the engineering machine based on the current operation instruction. The current operation instruction is an instruction sent by an operator or a controller to the engineering machinery to walk by the controller, illustratively, whether a left forward button and a right forward button are pressed by the operator or a left backward button and a right backward button are pressed by the operator at the same time is monitored, and if yes, the current walking mode of the horizontal directional drilling machine is a straight walking mode. Therefore, the walking mode of the engineering machinery is identified by monitoring the operation instruction of the engineering machinery in real time, the target walking state of the engineering machinery can be accurately reflected, and the accurate walking control of the engineering machinery is conveniently carried out subsequently.
Step S102: and determining the current walking state of the engineering machinery based on the horizontal offset angle data.
Specifically, since the horizontal offset angle of the construction machine should be relatively fixed and unchanged in the linear traveling mode, the real traveling state of the construction machine can be determined by detecting the horizontal offset angle to identify whether a deviation fault occurs or not.
Step S103: the operating current of the left control pump and/or the right control pump is adjusted based on the current walking state.
Specifically, if the current traveling state of the engineering machine is not the straight traveling state, the deviation of the engineering machine is shown in the traveling process, so that the deviation is corrected by adjusting the working currents of the left/right control pumps which control the left/right two traveling executing mechanisms on the engineering machine in real time, the engineering machine is guaranteed to keep the straight traveling state, the operating efficiency of the engineering machine is improved, and the operating quality is guaranteed.
By executing the steps, the crawler-type engineering machinery linear walking control method provided by the embodiment of the invention grasps the walking state of the engineering machinery by monitoring the horizontal deviation angle of the engineering machinery in real time, and adjusts the working current of the left control pump and/or the right control pump in time to prevent the engineering machinery from deviating, thereby reducing the workload of the manipulator, realizing the accurate control of walking and ensuring the working efficiency of the engineering machinery.
Specifically, in an embodiment, the step S102 specifically includes the following steps:
step S201: the amount of change in the horizontal offset angle in a predetermined time is calculated based on the horizontal offset angle data.
Wherein, this scheduled time can carry out nimble setting according to actual engineering machine tool to the requirement of straight line walking accuracy, and this preset time sets up littlely, and then crawler-type engineering machine tool straight line walking control's accuracy is higher, and the reaction is sensitive more, and on the contrary, preset time sets up greatly, and is bigger to engineering machine tool's off tracking tolerance, and concrete numerical value can set up in a flexible way, if: 1s, etc., the present invention is not limited thereto.
Step S202: and judging whether the variation exceeds a preset angle threshold value.
Wherein, should predetermine the angle threshold value and can carry out nimble setting according to actual engineering machine tool to the requirement of straight line walking accuracy, should predetermine the angle threshold value and set up littlely, then the accuracy nature of crawler-type engineering machine tool straight line walking control is higher, and the reaction is sensitive more, otherwise predetermines the angle threshold value and sets up greatly, and is bigger to engineering machine tool's off tracking tolerance, and concrete numerical value can set up in a flexible way, if: 5 deg., etc., to which the present invention is not limited.
Step S203: and when the variable quantity exceeds a preset angle threshold value, determining that the engineering machinery is in a deviation state.
Step S204: and returning to the step S101 to continuously monitor the horizontal offset angle data of the engineering machine when the variation does not exceed the preset angle threshold.
Specifically, by collecting data sent by a gyro-angle. If the gyro angle meter changes by more than b degrees within t seconds, the horizontal directional drilling machine is judged to be off tracking, and therefore the walking state of the horizontal directional drilling machine is accurately judged by utilizing the real-time horizontal deviation angle of the horizontal directional drilling machine.
Specifically, in an embodiment, the step S103 specifically includes the following steps:
step S301: and when the engineering machinery is in a deviation state, extracting the current horizontal deviation angle from the horizontal deviation angle data.
Step S302: determining a deviation direction based on the current horizontal offset angle.
If the current horizontal offset angle is an angle offset leftward, it indicates that the off tracking direction of the off tracking engineering machinery is off tracking leftward, and if the current horizontal offset angle is an angle offset rightward, it indicates that the off tracking direction of the off tracking engineering machinery is off tracking rightward.
Step S303: and adjusting the working current of the left control pump and/or the right control pump based on the deviation direction.
Specifically, in one embodiment, when the deviation direction is leftward deviation, the working current of the left control pump is increased, and/or the working current of the right control pump is decreased; and when the deviation direction is rightward deviation, reducing the working current of the left control pump and/or increasing the working current of the right control pump.
Specifically, in another alternative embodiment, the deviation angle between the deviation direction and the initial direction of the engineering machinery in the linear walking state can be calculated; calculating the working current adjustment quantity of the left control pump and/or the right control pump based on the deviation angle; and adjusting the working current of the left control pump and/or the right control pump according to the working current adjustment amount of the left control pump and/or the right control pump.
In practical application, the working currents of the left control pump and the right control pump can be adjusted simultaneously, so that the deviation rectifying time is shortened, and quick deviation rectifying is realized.
For example, the relation between the off tracking angle of the engineering machinery and the adjustment amount of the working current of the left control pump and/or the right control pump is established in advance, and then the off tracking angle calculated in real time is used for determining the current of the left control pump and/or the right control pump needing to be adjusted, such as: how much current needs to be increased or at most a large current needs to be increased, etc., and the present invention is not limited thereto.
The method for controlling linear travel of the crawler-type construction machine according to the embodiment of the present invention will be described in detail with reference to specific application examples.
As shown in fig. 3, the specific implementation process is as follows:
1. judging whether the walking operation state of the drilling machine walks in a straight line or not by judging whether a left forward button and a right forward button on a remote controller are pressed simultaneously or whether a left backward button and a right backward button are pressed simultaneously;
2. the controller is connected with a gyro angle indicator, the gyro angle indicator is installed on a cross beam of a chassis of the drilling machine, and the controller collects data sent by the gyro angle indicator. If the change of the gyro angle indicator exceeds b degrees within t seconds, judging that the drilling machine deviates;
3. when the walking deviation fault is detected, the controller can change the current values of the left walking main pump and the right walking main pump. If the drilling machine deviates to the left, the right traveling current value is reduced; and if the drilling machine deviates to the right, reducing the left traveling current value.
Therefore, the left walking distance and the right walking distance are balanced by correcting the given current values of the left walking main pump and the right walking main pump, the deviation fault of the walking of the drilling machine is eliminated, the workload of the manipulator is reduced, and the working efficiency is improved.
By executing the steps, the crawler-type engineering machinery linear walking control method provided by the embodiment of the invention grasps the walking state of the engineering machinery by monitoring the horizontal offset angle of the engineering machinery in real time, and adjusts the working current of the left control pump and/or the right control pump in time to prevent the engineering machinery from deviating, thereby reducing the workload of the manipulator, realizing accurate walking control and ensuring the working efficiency of the engineering machinery.
The embodiment of the invention also provides a crawler-type engineering machinery linear walking control device, which is applied to the controller 13 shown in fig. 1, and as shown in fig. 4, the crawler-type engineering machinery linear walking control device specifically comprises:
the monitoring module 101 is configured to monitor horizontal offset angle data of the engineering machine when the engineering machine is in a straight-line walking mode. For details, refer to the related description of step S101 in the above method embodiment, and no further description is provided here.
The first processing module 102 is configured to determine a current walking state of the construction machine based on the horizontal offset angle data. For details, refer to the related description of step S102 in the above method embodiment, and no further description is provided here.
And the second processing module 103 is used for adjusting the working current of the left control pump and/or the right control pump based on the current walking state. For details, refer to the related description of step S103 in the above method embodiment, and details are not repeated herein.
The crawler-type engineering machinery linear walking control device provided by the embodiment of the invention is used for executing the crawler-type engineering machinery linear walking control method provided by the embodiment, the implementation mode and the principle are the same, and the detailed content refers to the relevant description of the method embodiment and is not repeated.
Through the cooperative cooperation of the components, the crawler-type engineering machinery linear walking control device provided by the embodiment of the invention grasps the walking state of the engineering machinery by monitoring the horizontal deviation angle of the engineering machinery in real time, and timely adjusts the working current of the left control pump and/or the right control pump so as to prevent the engineering machinery from deviating, thereby reducing the workload of the manipulator, realizing the accurate control of walking and ensuring the working efficiency of the engineering machinery.
As shown in fig. 5, the controller 13 of the construction machine according to the embodiment of the present invention includes: a processor 901 and a memory 902, wherein the processor 901 and the memory 902 may be connected by a bus or other means, and fig. 5 illustrates an example of a connection by a bus.
The memory 902, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the methods in the above-described method embodiments. The processor 901 executes various functional applications and data processing of the processor by executing non-transitory software programs, instructions and modules stored in the memory 902, that is, implements the methods in the above-described method embodiments.
The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 901, and the like. Further, the memory 902 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 902 may optionally include memory located remotely from the processor 901, which may be connected to the processor 901 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in the memory 902, which when executed by the processor 901 performs the methods in the above-described method embodiments.
The details of the controller 13 may be understood by referring to the corresponding related descriptions and effects in the above method embodiments, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, and the implemented program can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A linear walking control method for a crawler-type engineering machine comprises the following steps: the method is characterized by comprising the following steps of:
monitoring horizontal offset angle data of the engineering machinery when the engineering machinery is in a straight line walking mode;
determining a current walking state of the engineering machinery based on the horizontal offset angle data;
adjusting the working current of the left control pump and/or the right control pump based on the current walking state.
2. The method of claim 1, wherein determining the current travel state of the work machine based on the horizontal offset angle data comprises:
calculating an amount of change in the horizontal offset angle within a predetermined time based on the horizontal offset angle data;
judging whether the variation exceeds a preset angle threshold value or not;
when the variable quantity exceeds a preset angle threshold value, determining that the engineering machinery is in a deviation state;
and returning to the step of monitoring the horizontal offset angle data of the engineering machinery when the variation does not exceed a preset angle threshold.
3. The tracked work machine straight-line walking control method according to claim 1, wherein said adjusting the operating current of the left control pump and/or the right control pump based on the current walking state comprises:
when the engineering machinery is in a deviation state, extracting a current horizontal deviation angle from the horizontal deviation angle data;
determining a deviation direction based on the current horizontal deviation angle;
and adjusting the working current of the left control pump and/or the right control pump based on the deviation direction.
4. The method for controlling linear walking of a crawler-type construction machine according to claim 3, wherein said adjusting the operating current of the left control pump and/or the right control pump based on the deviation direction comprises:
when the deviation direction is leftward deviation, increasing the working current of the left control pump, and/or reducing the working current of the right control pump;
and when the deviation direction is rightward deviation, reducing the working current of the left control pump and/or increasing the working current of the right control pump.
5. The method for controlling linear walking of a crawler-type construction machine according to claim 3, wherein said adjusting the operating current of the left control pump and/or the right control pump based on the deviation direction comprises:
calculating a deviation angle between the deviation direction and an initial direction of the engineering machinery in a linear walking state;
calculating the working current adjustment quantity of the left control pump and/or the right control pump based on the deviation angle;
and adjusting the working current of the left control pump and/or the right control pump according to the working current adjustment amount of the left control pump and/or the right control pump.
6. The method for controlling linear traveling of a crawler-type construction machine according to claim 1, further comprising:
acquiring a current operation instruction of the engineering machinery;
determining a current walking mode of the engineering machine based on the current operation instruction.
7. The method for controlling linear traveling of a crawler-type construction machine according to claim 1, wherein the horizontal offset angle data is collected by a gyro angle provided on the construction machine.
8. A linear walking control device for crawler-type engineering machinery, wherein the engineering machinery comprises: the device is characterized by comprising a left control pump for controlling the engineering machinery left walking mechanism and a right control pump for controlling the motion of the engineering machinery right walking mechanism, and the device comprises:
the monitoring module is used for monitoring the horizontal offset angle data of the engineering machinery when the engineering machinery is in a straight line walking mode;
the first processing module is used for determining the current walking state of the engineering machinery based on the horizontal deviation angle data;
and the second processing module is used for adjusting the working current of the left control pump and/or the right control pump based on the current walking state.
9. A work machine, comprising:
the left control pump is used for controlling the left travelling mechanism of the engineering machinery;
the right control pump is used for controlling the right walking mechanism of the engineering machinery to move;
the measuring equipment is arranged on the engineering machinery and used for acquiring horizontal offset angle data of the engineering machinery;
the controller is respectively connected with the left control pump, the right control pump and the measuring equipment;
the controller includes: a memory and a processor communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the method of any of claims 1-7.
10. A computer-readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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