CN115352446A

CN115352446A - Wheel type working machine, and drive control method and drive control system thereof

Info

Publication number: CN115352446A
Application number: CN202210904190.4A
Authority: CN
Inventors: 李天富
Original assignee: Hunan Sany Zhongyi Machinery Co Ltd
Current assignee: Hunan Sany Zhongyi Machinery Co Ltd
Priority date: 2022-07-28
Filing date: 2022-07-28
Publication date: 2022-11-18
Also published as: WO2024021221A1

Abstract

The invention belongs to the technical field of engineering machinery, and particularly relates to a wheel type operation machine driving control method, a driving control system and a wheel type operation machine. The drive control method for a wheeled work machine includes: acquiring pressure state parameters of a rear wheel driving mechanism of the wheel type operation machine; determining the running condition of the wheeled operation machine according to the pressure state parameter; the output pressure of a front wheel driving mechanism of the wheeled operation machine is controlled according to the running condition. According to the technical scheme, the traditional driving mode is improved, the power distribution condition between the rear wheels and the front wheels is optimized, the driving force of the front wheels is adjusted and controlled according to different running working conditions of the wheeled operation machine, so that the driving function of the front wheels is fully exerted, the rear wheels are prevented from slipping, the operation continuity of the wheeled operation machine is guaranteed, the construction operation efficiency is improved, the energy consumption is reduced, and the abrasion condition of the front wheels is relieved.

Description

Wheeled work machine, and drive control method and drive control system for same

Technical Field

The invention belongs to the technical field of engineering machinery, and particularly relates to a driving control method and a driving control system for wheel type operation machinery and the wheel type operation machinery.

Background

At present, a wheel paver is one of common wheel type operation machines, has the characteristics of flexible construction, transition speed block and the like, and is more and more widely applied to the field of road construction. However, compared to a crawler-type paver, a wheel paver is often additionally provided with a front wheel driving device on the basis of rear wheel driving to increase driving force and prevent slipping because the adhesion between tires of the wheel paver and the ground is small, so that slipping is likely to occur during construction.

However, in many driving methods for wheel type working machines such as conventional wheel pavers, when a rear wheel has slipped, a front wheel drive is started, or a front wheel drive speed is set to be always higher than a rear wheel drive speed, so that a front wheel drive force is increased to drive a vehicle body to continue traveling. The former driving mode belongs to post-event control, and in practical application, once the rear wheels slip, the driving mode is restricted by site environment and road conditions, the driving force of the front wheels is difficult to be fully exerted, and the expected anti-slip effect is difficult to achieve; the driving force distribution of the latter driving mode is unreasonable, so that the energy consumption is increased, and the abrasion of the front wheels is easy to accelerate; meanwhile, the rear wheels slip to affect the continuity of the operation, which in turn affects the construction efficiency of the wheel type operation machine.

Disclosure of Invention

In view of the above, to improve at least one of the above problems in the prior art, the present invention provides a drive control method, a drive control system, and a wheeled work machine.

A first aspect of the present invention provides a drive control method for a wheeled work machine, including:

step S110: acquiring pressure state parameters of a rear wheel driving mechanism of the wheel type operation machine;

step S200: determining the running condition of the wheeled operation machine according to the pressure state parameters;

step S300: controlling the output pressure of a front wheel driving mechanism of the wheel type operation machine according to the running condition; wherein the pressure state parameter comprises a first pressure of the rear wheel drive mechanism.

The beneficial effects of the technical scheme of the invention are as follows:

the driving mode of the rear wheel and the front wheel of the wheeled operation machine is improved, the power distribution between the rear wheel and the front wheel is more reasonable, the driving force of the front wheel is increased before the rear wheel slips, the rear wheel and the front wheel are used as the driving wheel at the same time, the adhesive force between the tire and the road surface and the whole driving force of the wheeled operation machine are increased, the rear wheel is effectively prevented from slipping, the operation continuity of the wheeled operation machine is guaranteed, the construction operation efficiency is improved, meanwhile, the driving function of the front wheel can be fully exerted, the energy consumption is reduced, and the abrasion of the front wheel is relieved.

It should be noted that the wheeled working machine described in the present invention includes, but is not limited to, a wheeled paver, and may be other working machines having front wheels and rear wheels, such as a dump truck.

In one possible implementation, step S200: determining a driving condition of the wheeled work machine based on the pressure state parameter, comprising:

step S211: judging whether the first pressure is greater than or equal to a first pressure threshold value or not, and generating a first judgment result;

if the first determination result is yes, step S212 is executed: determining a running working condition as a first working condition;

if the first determination result is negative, execute step S213: judging whether the first pressure is smaller than or equal to a second pressure threshold value or not, and generating a second judgment result;

if the second determination result is yes, step S214 is executed: determining the running working condition as a second working condition;

if the second determination result is negative, go to step S215: determining the running working condition as a third working condition;

wherein the first pressure threshold is greater than the second pressure threshold.

In one possible implementation, step S300: the output pressure of the front wheel driving mechanism controlled according to the running condition comprises:

when the driving condition is the first condition, step S310 is executed: controlling the front wheel driving mechanism to work at a first target pressure;

when the running condition of the wheeled working machine is the second condition, executing step S320: controlling the front wheel driving mechanism to work at a second target pressure;

when the running condition of the wheeled work machine is the third condition, step S330 is executed: controlling the front wheel driving mechanism to work at the current pressure;

wherein the first target pressure is greater than the second target pressure.

In one possible implementation, the first target pressure is a maximum output pressure of the front wheel drive mechanism; the second target pressure is within a first range, and a maximum value of the first range is less than the first target pressure.

In one possible implementation, step S320: controlling the front wheel drive mechanism to operate at the second target pressure, comprising:

step S321: acquiring a second pressure of the front wheel driving mechanism;

step S322: judging whether the second pressure is in the first range or not, and generating a third judgment result;

if the third determination result is yes, go to step S322 again;

if the third determination result is negative, execute step S323: the second pressure is adjusted to a second target pressure.

In one possible implementation, the second target pressure is within a second range; wherein the second range is within the first range.

In one possible implementation, the output pressure of the front wheel drive is controlled by adjusting the multi-way valve operating current of the front wheel drive.

Further, when the multi-way valve working current is adjusted, the adjustment amount of the multi-way valve working current each time is within the first current adjustment range.

The second aspect of the present invention also provides a drive control system including: a rear wheel drive mechanism; a front wheel drive mechanism; the rear wheel detection assembly is used for detecting pressure state parameters of the rear wheel driving mechanism; the front wheel detection assembly is used for detecting the output pressure of the front wheel driving mechanism; and the controller is in communication connection with the rear wheel driving mechanism, the front wheel driving mechanism, the rear wheel detection assembly and the front wheel detection assembly so as to control the rear wheel driving mechanism and the front wheel driving mechanism to work, and the driving control method of the wheeled operation machine in any one of the first aspect is realized. Wherein the pressure state parameter includes, but is not limited to, a first pressure of the rear wheel drive mechanism.

In one possible implementation, the rear wheel drive mechanism includes: the input end of the rear wheel drive pump is suitable for being in transmission connection with a power system of the wheel type operation machine; the rear wheel driving motor is connected with the rear wheel driving pump through a hydraulic pipeline, and the output end of the rear wheel driving motor is in transmission connection with the rear wheel;

the front wheel drive mechanism includes: the input end of the front wheel drive pump is suitable for being in transmission connection with a power system; the output end of the front wheel driving motor is in transmission connection with the front wheel; the different valve ports of the front wheel multi-way valve are respectively connected with the front wheel driving pump and the front wheel driving motor through hydraulic pipelines so as to control the oil supply amount of the front wheel driving pump for supplying oil to the front wheel driving motor;

the rear wheel detection assembly includes: the rear wheel pressure sensor is arranged in a hydraulic pipeline between the rear wheel drive motor and the rear wheel drive pump;

the front wheel detection assembly includes: and the front wheel pressure sensor is arranged in a hydraulic pipeline between the front wheel driving motor and the front wheel multi-way valve.

The third aspect of the present invention also provides a wheeled work machine comprising: a vehicle body; the running mechanism is connected with the vehicle body and comprises rear wheels and front wheels; the drive control system according to any one of the second aspect is provided on the vehicle body, wherein the rear wheel drive mechanism is in transmission connection with the rear wheel, and the front wheel drive mechanism is in transmission connection with the front wheel.

A fourth aspect of the present invention also provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method for controlling the driving of a wheeled work machine as described in any one of the first aspects.

A fifth aspect of the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of drive control for a wheeled work machine as in any one of the first aspects above.

Drawings

Fig. 1 is a schematic flow chart illustrating a method for controlling the driving of a wheeled work machine according to an embodiment of the present invention.

Fig. 2 is a schematic flowchart illustrating a method for controlling the driving of a wheeled work machine according to an embodiment of the present invention.

Fig. 3 is a schematic flow chart of a method for controlling the driving of a wheeled work machine according to an embodiment of the present invention.

Fig. 4 is a schematic flowchart of a method for controlling the driving of a wheeled work machine according to an embodiment of the present invention.

Fig. 5 is a schematic flow chart illustrating a method for controlling the driving of a wheeled work machine according to an embodiment of the present invention.

Fig. 6 is a schematic block diagram of a drive control system according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of a drive control system in an assembled state according to an embodiment of the present invention.

Fig. 8 is a schematic block diagram of a wheeled work machine according to an embodiment of the present invention.

Detailed Description

In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. In the embodiment of the present application, all directional indicators (such as up, down, left, right, front, rear, top, bottom \8230;) are used only to explain the relative positional relationship between the components, the motion, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The following provides some embodiments of a method for controlling the drive of a wheeled work machine, a drive control system and a wheeled work machine according to the invention.

The wheeled work machine described in the following embodiments of the present invention includes, but is not limited to, a wheeled paver, and may be other work machines having a front wheel driving mechanism and a rear wheel driving mechanism, such as a dump truck.

In an embodiment of a first aspect of the present invention there is provided a method of controlling drive of a wheeled work machine, as shown in figure 1, comprising:

step S200: determining the running condition of the wheeled operation machine according to the pressure state parameter;

step S300: controlling the output pressure of a front wheel driving mechanism of the wheel type operation machine according to the running condition;

wherein the pressure state parameter comprises a first pressure of the rear wheel drive mechanism. In the driving control method of the wheeled working machine in the present embodiment, through steps S110 to S200, the driving force output state of the rear wheels is determined according to the pressure state parameter of the rear wheel driving mechanism, and the current driving condition of the wheeled working machine is further determined; then, through step S300, for a specific driving condition of the wheeled working machine, a corresponding control operation is performed on a front wheel driving mechanism of the wheeled working machine to drive the front wheel to operate at a corresponding pressure, so that the driving force of the front wheel matches with the driving force of the rear wheel, and reasonable distribution of the driving force is achieved. The pressure state parameter includes a first pressure of the rear wheel drive mechanism, that is, an output pressure value of the rear wheel drive mechanism, and of course, the pressure state parameter may also include other parameters or indexes related to the output pressure of the rear wheel drive mechanism, such as a pressure change trend, a pressure change value, and the like.

For example, when the wheeled working machine is in a normal driving condition, the pressure of the rear wheels is in a normal range, and at this time, the wheeled working machine can be driven by the rear wheels to drive, and the front wheels can be controlled to operate at a lower pressure; when the pressure of the rear wheel exceeds the normal range, the possibility of the rear wheel slipping is increased, and at the moment, the front wheel can be controlled to run at a larger pressure so as to increase the driving force of the front wheel and the adhesive force of the tire to drive the wheeled operation machine to normally run, and meanwhile, the load of the rear wheel is reduced, so that the rear wheel slipping phenomenon can be prevented.

The method of controlling the drive of the wheel type working machine according to the present embodiment can be applied to a wheel type working machine having a rear wheel drive mechanism and a front wheel drive mechanism for controlling the drive of the rear wheels and the front wheels of the wheel type working machine. In this case, the wheel type working machine of the present embodiment uses the rear wheels as the main driving wheels and the front wheels as the auxiliary driving wheels, similarly to the conventional wheel type working machine.

According to the driving control method of the wheeled operation machine in the embodiment, the driving modes of the rear wheels and the front wheels of the wheeled operation machine are improved, and the pressure of the front wheel driving mechanism is adjusted according to different running working conditions of the wheeled operation machine, so that the power distribution between the rear wheels and the front wheels is more reasonable; the driving force of the front wheel can be adjusted before the rear wheel slips, so that the rear wheel and the front wheel are simultaneously used as driving wheels to increase the adhesive force between the tire and the road surface and the overall driving force of the wheeled operation machine, thereby effectively preventing the rear wheel from slipping, ensuring the operation continuity of the wheeled operation machine and being beneficial to improving the construction operation efficiency; meanwhile, the driving function of the front wheel can be fully exerted, the energy consumption is reduced, and the abrasion of the front wheel is relieved.

In one embodiment of the present invention, a method for controlling the drive of a wheeled work machine is provided. As shown in fig. 2, the drive control method for a wheeled work machine includes:

if the second determination result is yes, go to step S214: determining the running working condition as a second working condition;

step S300: the output pressure of a front wheel drive mechanism of the wheeled work machine is controlled according to the running condition.

Wherein the pressure state parameter comprises a first pressure of the rear wheel drive mechanism, and the first pressure threshold is greater than the second pressure threshold.

In the present embodiment, step S200 is further modified on the basis of the above-described embodiment. Dividing three pressure intervals by taking the first pressure threshold value and the second pressure threshold value as critical values, and representing the warning value of the rear wheel close to the slipping state by using the first pressure threshold value; accordingly, the wheeled work machine has three driving conditions; the magnitude relation between the first pressure and the first pressure threshold and the magnitude relation between the first pressure and the second pressure threshold are compared in steps S211 and S213, and the travel mode of the wheeled work machine is determined from the pressure zone in which the first pressure exists in steps S212, S214, and S215.

The first working condition corresponds to the condition that the first pressure is greater than the first pressure threshold value, and the first pressure of the rear wheel driving mechanism exceeds the warning value, and if the pressure continues to increase, the rear wheel can slip; the second working condition corresponds to the condition that the first pressure is smaller than or equal to the second pressure threshold value, and the first pressure of the rear wheel driving mechanism is in a normal pressure range, the possibility of slipping of the rear wheel is low, the wheeled operation machine still uses the rear wheel as a main driving wheel at the moment, and the front wheel outputs a small driving force; the third operating mode is a transition operating mode, corresponding to a transition interval between the first pressure threshold and the second pressure threshold, at which time there are two different pressure variation states: in the first case, the first pressure is increased from a certain pressure value smaller than or equal to the second pressure threshold value to be larger than the second pressure threshold value, namely the first pressure enters the transition region in the ascending state; in the second case, the first pressure is reduced from a pressure value greater than the first pressure threshold to a pressure value less than or equal to the first pressure threshold, i.e. the first pressure enters the transition region in the descending state. Through the step S300, different control operations are respectively performed on the front wheel driving mechanism according to the three working conditions, for example, the output pressure of the front wheel driving mechanism is increased under the first working condition, the output pressure of the front wheel driving mechanism is reduced under the second working condition, and the output pressure of the front wheel driving mechanism is maintained under the third working condition, so that the dynamic pressure adjustment of the front wheel and the rear wheel is realized, the optimization of the driving force distribution is facilitated, the driving efficiency is improved, and the rear wheel is prevented from slipping.

The ascending state includes a continuous ascending state and an overall trend in ascending state, and the descending state also includes a continuous descending state and an overall trend in descending state, that is, fluctuation is allowed in the changing process.

In particular, the first pressure threshold may be between 200bar and 230bar, preferably the first pressure threshold is 200bar; the second pressure threshold may be 150bar to 160bar, preferably the second pressure threshold is 150bar.

In one embodiment of the present invention, there is provided a method for controlling the drive of a wheeled work machine, as shown in fig. 3, the method for controlling the drive of a wheeled work machine including:

if the second determination result is negative, step S215 is executed: determining the running working condition as a third working condition;

when the driving condition is the second condition, executing step S320: controlling the front wheel driving mechanism to work at a second target pressure;

when the driving condition is the third condition, step S330 is executed: and controlling the front wheel driving mechanism to work at the current output pressure.

The pressure state parameter comprises a first pressure of the rear wheel driving mechanism, the first pressure threshold value is larger than a second pressure threshold value, and the first target pressure is larger than a second target pressure.

In the present embodiment, step S300 is further modified on the basis of the above-described embodiment. According to different running conditions of the wheeled operation machinery, different control measures are adopted for the front wheel driving mechanism. Specifically, when the wheeled working machine is in the first operating condition, the pressure of the rear wheels is already higher than the warning value (the first pressure threshold), and then, through step S310, the front wheel driving mechanism is controlled to increase the operating pressure and operate at the first target pressure, so that the driving force of the front wheels is fully exerted, the driving force ratio of the front wheels is increased, the wheeled working machine is driven together with the rear wheels, so as to share the driving force demand of the wheeled working machine on the rear wheels, and the pressure of the rear wheels is reduced, thereby preventing the rear wheels from slipping. When the wheeled operation machine is in the second working condition, the pressure of the rear wheels is in the normal range, the rear wheels are used as main driving force at the moment, the front wheels only output smaller driving force, and the front wheel driving mechanism is controlled to adjust the working pressure and work at the second target pressure through the step S320.

When the wheeled work machine is in the third operating condition, the first pressure enters the transition zone. If the first pressure is increased from a certain pressure value smaller than or equal to the second pressure threshold value to a value larger than the second pressure threshold value in the ascending state, it indicates that the running condition is changed from the second working condition to a third working condition, the wheeled working machine is in the second working condition before that, for example, the wheeled working machine just enters the running state, and the current output pressure of the front wheel driving mechanism should be in a lower pressure value, for example, a second target pressure; at this time, the pressure of the rear wheel is still within the normal range, and the pressure of the front wheel is also within an acceptably low pressure range, and at this time, the pressure adjustment operation is not performed on the front wheel driving mechanism in step S330, so that the front wheel driving mechanism operates at the current output pressure, and the work machine still mainly travels by the rear wheel driving wheel type work machine. If the first pressure is reduced from a certain pressure value larger than the first pressure threshold value to be smaller than the first pressure threshold value in the descending state, the running condition is changed from the first condition to a third condition, the wheeled working machine is in the first condition before, for example, the wheeled working machine is in a construction working state, and the current output pressure of the front wheel driving mechanism is in a higher pressure value, for example, a first target pressure; at this time, although the pressure of the rear wheel enters the normal range, the pressure state is still unstable and may fluctuate, that is, the first pressure may increase to a state larger than the first pressure threshold value, and in step S330, the output pressure of the front wheel driving mechanism is not adjusted for the moment, so that the front wheel still operates at the first target pressure, the frequency of pressure adjustment of the front wheel driving mechanism can be reduced, and the stability and continuity of the construction work of the wheel type working machine can be ensured.

It can be understood that the rear wheel driving mechanism and the front wheel driving mechanism of the wheel type working machine are generally driven and controlled by adopting a hydraulic system, and frequent pressure adjustment operation is not beneficial to the stable operation of the hydraulic system, so that the normal construction operation of the wheel type working machine can be influenced. The driving control method of the wheeled operation machine in the embodiment can effectively alleviate the problems by setting the transitional third working condition.

In one embodiment of the present invention, there is provided a method for controlling the drive of a wheeled work machine, as shown in fig. 4, the method for controlling the drive of a wheeled work machine including:

step S221: judging whether the first pressure is in an ascending state or a descending state according to the pressure change trend;

when the first pressure is in the rising state, step S222 is performed: judging whether the first pressure is greater than a third pressure threshold value or not, and generating a third judgment result;

if the third determination result is yes, step S223 is executed: determining a running working condition as a first working condition;

if the third determination result is negative, go to step S224: determining the running working condition as a second working condition;

when the first pressure is in the falling state, step S225 is performed: judging whether the first pressure is less than or equal to a fourth pressure threshold value or not, and generating a fourth judgment result;

if the fourth determination result is yes, step S224 is executed: determining the running working condition as a second working condition;

if the fourth determination result is negative, execute step S226: judging whether the first pressure is greater than a third pressure threshold value or not, and generating a fifth judgment result;

if the fifth determination result is yes, step S223 is executed: determining a running working condition as a first working condition;

if the fifth determination result is negative, go to step S227: determining the running working condition as a third working condition;

when the running condition is the third condition, executing step S330: and controlling the front wheel driving mechanism to work at the current output pressure.

The pressure state parameters comprise a first pressure and a pressure change trend of the rear wheel driving mechanism, the third pressure threshold value is larger than the fourth pressure threshold value, and the first target pressure is larger than the second target pressure.

In the present embodiment, step S200 is further modified on the basis of the above-described embodiment. Firstly, through step S221, the change state of the first pressure is determined according to the pressure change trend, that is, whether the first pressure is in an ascending state or a descending state is determined, so as to adopt different judgment criteria for the first pressure when the driving condition is determined according to different pressure change trends, thereby adopting more flexible control operation. Wherein the third pressure threshold value is indicative of the rear wheel being close to the warning value for the slip condition.

When the first pressure is in a rising state, the third pressure threshold value is used as a critical value to divide two intervals which respectively correspond to the first working condition and the second working condition. The magnitude of the first pressure of the rear wheel drive mechanism is compared with the magnitude of the third pressure threshold value, thereby determining whether the pressure state of the rear wheels is close to the slip state, through step S221. If the first pressure is greater than the third pressure threshold, it indicates that the pressure of the rear wheel driving mechanism has exceeded the warning value, and if the pressure continues to increase, the rear wheel may slip, through step S223, the running condition of the wheeled work machine is marked as the first condition, so that the pressure of the front wheel driving mechanism is subsequently adjusted according to the pressure state of the rear wheel, the driving force distribution condition between the front wheel and the rear wheel is optimized, and the rear wheel is prevented from slipping. If the first pressure is less than or equal to the third pressure threshold, it indicates that the rear wheel is within the normal pressure range, and the possibility of slipping is not high, in this case, through step S224, the driving condition is marked as the second condition, the wheel type working machine still uses the rear wheel as the main driving wheel, and the front wheel outputs a small driving force.

When the first pressure is in a descending state, dividing three sections by taking a third pressure threshold value and a fourth pressure threshold value as critical values (the fourth pressure threshold value is smaller than the third pressure threshold value), wherein the three sections respectively correspond to a first working condition, a second working condition and a third working condition; and the interval between the third pressure threshold and the fourth pressure threshold is a transition interval and corresponds to a third working condition. Further through step S225, comparing the first pressure with a fourth pressure threshold, if the first pressure is less than or equal to the fourth pressure threshold, executing step S224, marking the running condition of the wheeled work machine as a second condition, otherwise executing step S226, further comparing the magnitude relationship between the first pressure and the third pressure threshold, if the first pressure is greater than the third pressure threshold, executing step S223, marking the running condition as a first condition; if the first pressure is less than the third pressure threshold, the driving condition is flagged as a third condition, via step S227.

Furthermore, the front wheel driving mechanism is correspondingly adjusted according to the pressure conditions of the rear wheels under the first working condition, the second working condition and the third working condition respectively, and the front wheel driving mechanism is controlled to work at the corresponding pressure through the steps S310, S320 and S330 so as to enable the front wheels to output the corresponding driving force, so that different driving force distribution schemes are adopted according to the different pressure conditions of the rear wheels to be matched with the running conditions of the wheeled operation machine, the energy consumption is reduced, the efficiency is improved, and meanwhile, the abrasion of the front wheels can be effectively relieved.

In particular, the third pressure threshold may be between 200bar and 230bar, preferably the third pressure threshold is 200bar; the fourth pressure threshold may be 150bar to 160bar, preferably the fourth pressure threshold is 150bar.

It can be understood that, when the first pressure is in the rising state, the wheeled working machine may be just entering the running state from the initial state, and is just in the process that the pressure of the rear wheel gradually rises, and the third pressure threshold is used as a critical value for distinguishing the first working condition and the second working condition of the wheeled working machine, so that the pressure of the rear wheel of the wheeled working machine can be changed within a relatively large range, the driving force of the rear wheel can be fully exerted, and the normal running of the wheeled working machine can be ensured. When the first pressure is in a decreasing state, it indicates that the wheeled working machine has entered a construction process, and the pressure of the rear wheels starts to decrease due to a change in road conditions or load conditions, the first pressure may just decrease to a value below the third pressure threshold, and the pressure of the front wheels is also subjected to a corresponding adjustment operation, and is at a higher pressure level.

According to the driving control method of the wheel type operation machine in the embodiment, the judgment process of the running working condition of the wheel type operation machine has certain elasticity, and the corresponding judgment standard is adopted according to different pressure change states so as to be adaptive to the road condition and the application reality of a construction site, so that the phenomenon that the pressure of the front wheel is frequently adjusted due to sudden change of the pressure of the rear wheel can be effectively prevented, and the running of the wheel type operation machine and the continuity and stability of construction operation can be favorably ensured.

Further, in any of the above embodiments, the first target pressure is a maximum output pressure of the front wheel drive mechanism; the second target pressure is within a first range, and a maximum value of the first range is less than the first target pressure.

Wherein, the specific value of the first target pressure can be determined according to the specific model of the front wheel driving mechanism; the first range may specifically be 20bar to 100bar, i.e. the second target pressure may be any pressure value between 20bar and 100bar.

Through the improvement, the first target pressure is specifically the maximum output pressure of the front wheel driving mechanism, and when the wheeled operation machine is in the first working condition, the front wheel driving mechanism can work at the maximum output pressure, so that the front wheel outputs the maximum driving force, the driving effect of the front wheel is exerted to the maximum extent, the driving force requirement of the wheeled operation machine is shared as much as possible, the driving force distribution condition is further optimized, and the rear wheel is further prevented from slipping. In addition, the second target pressure is limited within a first range smaller than the first target pressure, so that a reasonable transition interval can be generated between the second target pressure and the first target pressure, and when the first pressure is in a descending state, the second target pressure is used as a buffer interval of the first pressure, the front wheel driving mechanism is prevented from being frequently adjusted due to fluctuation of the first pressure, and the running stability and the continuity of the wheeled working machine and the operation are favorably improved.

In one embodiment of the present invention, a method of controlling the drive of a wheeled work machine is provided. As shown in fig. 5, the drive control method for a wheeled work machine includes:

if the first determination result is negative, execute step S213: judging whether the first pressure is less than or equal to a second pressure threshold value or not, and generating a second judgment result;

when the driving condition is the second condition, step S321 is executed: acquiring a second pressure of the front wheel driving mechanism;

if the third determination result is yes, go to step S322 again;

if the third determination result is negative, execute step S323: adjusting the second pressure to a second target pressure;

when the driving condition is the third condition, step S330 is executed: and controlling the front wheel driving mechanism to work at the current pressure.

Wherein the pressure state parameter comprises a first pressure of the rear wheel drive mechanism; the first pressure threshold is greater than the second pressure threshold; the first target pressure is a maximum output pressure of the front wheel drive mechanism, the second target pressure is within a first range, and a maximum value of the first range is less than the first target pressure.

In the present embodiment, step S320 in the above-described embodiment is further modified. When the wheeled work machine is in the second operating condition, it is determined whether the second pressure of the front wheel drive mechanism is within the first range to determine whether the current pressure of the front wheel drive mechanism is too low or too high, through steps S321 and S322. If the second pressure is within the first range, it indicates that the current pressure of the front wheel driving mechanism may be adapted to the current driving condition of the wheeled operation machine, and at this time, the step S322 may be executed again to detect the pressure change of the front wheel driving mechanism without performing a pressure adjustment operation on the front wheel driving mechanism; if the second pressure is outside the first range, it indicates that the current pressure of the front wheel driving mechanism is too large or too small and is not suitable for the driving condition of the wheeled working machine, and the second pressure is adjusted to a second target pressure, that is, the working pressure of the front wheel driving mechanism is adjusted to be within the first range, through step S323.

When the first pressure is larger than the maximum value of the first range, the front wheel driving mechanism is controlled to reduce the second pressure to be within the first range so as to reduce the driving force of the front wheels, so that the driving force distribution is more reasonable, the energy can be saved, and the abrasion of the front wheels is reduced; when the first pressure is smaller than the minimum value of the first range, the front wheel driving mechanism is controlled to increase the second pressure to be within the first range, so that the suction phenomenon caused by the fact that the pressure of the front wheel is too low can be prevented, and the pressure of the front wheel is matched with the running speed and the running state of the wheeled operation machine. The first range may be specifically 20bar to 100bar.

Further, in the present embodiment, the second target pressure is within a second range, which is within the first range.

With the above improvement, when the wheeled work machine is in the second operating condition, if the second pressure of the front wheel drive mechanism is not within the first range, the second pressure can be further adjusted. Specifically, the second pressure is adjusted to the second target pressure, and the value range of the second target pressure is the second range (within the first range, that is, the second range is a sub-range of the first range), so as to narrow the value range of the second target pressure. At this time, in the driving force distribution scheme, the proportion of the driving force of the rear wheels is further increased, and the proportion of the driving force of the front wheels is further decreased to be adapted to the second working condition of the wheeled working machine, which is beneficial to saving energy and reducing energy consumption. Preferably, in the first range, the value of the second range is closer to the minimum value of the first range than to the maximum value of the first range, so that the second target pressure takes on a pressure value with a smaller value in the first range.

Wherein, when the first range is 20bar to 100bar, the second range may be 30bar to 50bar; further, the second range is 40bar to 50bar, so that when the wheeled work machine is in the second operating condition, if the second pressure of the front wheel drive is not in the first range, the second pressure is adjusted to be in the range of 40bar to 50bar, so that the second pressure is kept relatively stable at a smaller pressure value.

Further, in any of the above embodiments, the initial speed setting may be performed in an initial state of the wheeled working machine, and both the rear wheels and the front wheels may be set to operate at the first travel speed, so that the travel speed of the wheeled working machine is kept stable, and the uniform travel is realized. The first travel speed may be set according to specific construction requirements, and may be 5m/min, for example. Because the rear wheel is the main driving wheel, a corresponding rear wheel speed sensor can be arranged to detect the running speed of the rear wheel, and the rear wheel can be adjusted in time when the running speed of the rear wheel changes, so that the rear wheel always runs at the first running speed, and the speed closed-loop control of the wheel type operation machine is realized.

Further, in any of the above embodiments, the output pressure of the front wheel drive mechanism is controlled by adjusting the multi-way valve operating current of the front wheel drive mechanism. When the multi-way valve working current of the front drive mechanism is adjusted each time, the adjustment amount of the multi-way valve working current each time is within a first current adjustment range.

The front wheel driving mechanism of the wheel type working machine comprises a multi-way valve, and when the pressure adjusting operation is carried out on the front wheel driving mechanism, the output pressure of the front wheel driving mechanism is changed by controlling the working current of the multi-way valve. The front wheel driving mechanism is driven by a hydraulic system, and the flow and the pressure of oil in a hydraulic pipeline can be adjusted through a multi-way valve, so that the output pressure of the front wheel driving mechanism is changed; the working current of the multi-way valve has a corresponding relation with the oil flow and the pressure, so that the adjustment operation can be realized by adjusting the working current of the multi-way valve. The adjustment amount for adjusting the working current of the multi-way valve each time needs to be within the first current adjustment range, so that abnormal conditions, such as a phenomenon of tire flying caused by the fact that the tire does not land on the ground or a phenomenon of tire driving weakness aggravating, caused by the fact that the working current of the multi-way valve is too large or too small can be prevented.

For example, in the initial state of the wheel type working machine, when the rear wheels are operated at the first traveling speed of 5m/min, the multi-way valve operating current of the front wheel driving mechanism may be adjusted to 260mA so that the traveling speed of the front wheels is also 5m/min to be consistent with the rear wheels. When the wheel type working machine is in the first working condition, the working current of the multi-way valve can be directly adjusted to 280mA, so that the front wheel driving mechanism works at the maximum output pressure, and the front wheels output the maximum driving force. The adjustment amount of the multi-way valve working current can be +/-30 mA, namely the adjustment amount can not exceed 30mA every time the multi-way valve working current is adjusted, wherein +/-indicates increase and decrease (positive sign indicates increase, and negative sign indicates decrease).

It should be noted that the above specific value of the multi-way valve operating current is only one specific example. In practical application, according to different models of the multi-way valve, the corresponding relation between the working current of the multi-way valve and the pressure of the front wheel driving mechanism may be different, and the specific value of the working current of the multi-way valve may be set according to specific conditions.

There is also provided in an embodiment of the second aspect of the present invention a drive control system 1, as shown in fig. 6 and 7, including a rear wheel drive mechanism 11, a front wheel drive mechanism 12, a rear wheel detection assembly 13, a front wheel detection assembly 14, and a controller 15.

When assembled on the wheeled working machine, the rear wheel driving mechanism 11 is in transmission connection with the rear wheel 221 of the wheeled working machine so as to drive the rear wheel 221 to run; the front wheel drive mechanism 12 is drivingly connected to the front wheels 222 of the wheeled work machine to drive the front wheels 222 in operation. The rear wheel detecting component 13 is disposed corresponding to the rear wheel driving mechanism 11 to detect a pressure state parameter of the rear wheel driving mechanism 11, wherein the pressure state parameter includes, but is not limited to, a first pressure of the rear wheel driving mechanism 11; the front wheel sensing assembly 14 is provided in correspondence with the front wheel drive mechanism 12 to sense the output pressure of the front wheel drive mechanism 12. The controller 15 is respectively connected with the rear wheel driving mechanism 11, the front wheel driving mechanism 12, the rear wheel detection assembly 13 and the front wheel detection assembly 14 in a communication way; the controller 15 may receive the detection results of the rear wheel detecting assembly 13 and the front wheel detecting assembly 14, and may control the operation of the rear wheel driving mechanism 11 and the front wheel driving mechanism 12, so as to drive the rear wheels 221 and the front wheels 222 to operate, and implement the driving control method for the wheeled working machine in any of the above embodiments.

It should be noted that the rear wheel drive mechanism 11 and the front wheel drive mechanism 12 may be specifically driven by a hydraulic system; each of the rear wheel detecting assembly 13 and the front wheel detecting assembly 14 may include one or more detectors, and the type of the detector may be different according to the detected object. The controller 15 may be a dedicated control device, or may be a vehicle-mounted computer of the wheeled work machine.

In addition, the drive control system 1 in this embodiment has all the advantages of the drive control method for the wheeled work machine in any one of the embodiments of the first aspect, and details are not described herein.

Further, in some embodiments, as shown in fig. 6 and 7, rear wheel drive mechanism 11 and front wheel drive mechanism 12 are driven by a hydraulic system. The rear wheel drive mechanism 11 includes a rear wheel drive pump 111 and a rear wheel drive motor 112; the input end of the rear wheel drive pump 111 is adapted to be in driving connection with the power system of the wheeled work machine to take power from the power system; the rear wheel drive motor 112 is connected with the rear wheel drive pump 111 through a hydraulic pipeline, and the output end of the rear wheel drive motor 112 is in transmission connection with the rear wheel 221. When the drive control system 1 is assembled in a wheeled working machine, an oil inlet of the rear wheel drive pump 111 is connected to an oil tank 16 of the wheeled working machine through a hydraulic pipeline, and a power system of the wheeled working machine drives the rear wheel drive pump 111 to operate so as to pump hydraulic oil in the oil tank 16 to the rear wheel drive motor 112, and drives the rear wheel drive motor 112 to operate by using the pressure of the hydraulic oil, outputs power and drives the rear wheel 221 to operate. As illustrated in FIG. 7, the powertrain specifically includes the engine 23 and transfer case 24 in driving connection, with the rear wheel drive pump 111 in driving connection with the transfer case 24; the output shaft of the rear wheel drive motor 112 is drivingly connected to the input of the gearbox 25 for speed change operation through the gearbox 25, and the output of the gearbox 25 is connected to the rear axle 27 through the propeller shaft 26 for power transmission through the rear axle 27 to the two rear wheels 221.

The rear wheel detecting assembly 13 includes a rear wheel pressure sensor 132. As an example in fig. 7, a rear wheel pressure sensor 132 is provided in a hydraulic line between the rear wheel drive motor 112 and the rear wheel drive pump 111 to detect a pressure state parameter (e.g., a first pressure) of the rear wheel drive motor 112; the controller 15 determines the driving condition of the wheeled work machine based on the operating pressure of the rear wheel drive motor 112, and controls the front wheel drive mechanism 12 to perform a corresponding adjustment operation.

Still further, the rear wheel detecting assembly 13 may further include a rear wheel speed sensor 131. The rear wheel speed sensor 131 may be provided on the output shaft of the rear wheel drive motor 112 to detect the output speed of the rear wheel drive motor 112, and the controller 15 may calculate the traveling speed of the rear wheel 221 based on the output speed of the rear wheel drive motor 112, the transmission ratio between the rear wheel drive motor 112 and the rear wheel 221, and the size of the rear wheel 221, to perform a corresponding control operation on the traveling speed of the rear wheel 221. Of course, the rear wheel speed sensor 131 may be provided on the rear wheel 221 or the rear axle 27.

As shown in fig. 6 and 7, the front wheel drive mechanism 12 includes a front wheel drive pump 121, a front wheel drive motor 122, and a front wheel multiplex valve 123. The input of the front wheel drive pump 121 is adapted to be in driving connection with the powertrain of the wheeled work machine to take power through the powertrain. The output of the front wheel drive motor 122 is drivingly connected to the front wheels 222 for driving the front wheels 222 in rotation. The front wheel multi-way valve 123 is provided with a plurality of different valve ports, the different valve ports of the front wheel multi-way valve 123 are respectively connected with the front wheel drive pump 121 and the front wheel drive motor 122 through hydraulic pipelines, and the front wheel multi-way valve 123 can enable the front wheel drive pump 121 and the front wheel drive motor 122 to form hydraulic connection, so that the front wheel drive pump 121 supplies oil to the front wheel drive motor 122, and the pressure of hydraulic oil is utilized to drive the front wheel drive motor 122 to run. The front wheel multi-way valve 123 can control the oil supply amount of the front wheel drive pump 121 to the front wheel drive motor 122, so as to change the working pressure of the front wheel drive motor 122 and realize the pressure regulation operation.

Specifically, as an example in fig. 7, the front wheel drive mechanism 12 may be provided with two front wheel drive motors 122 correspondingly, which are drivingly connected to the left and right front wheels, respectively, to drive-control the two front wheels 222, respectively.

The front wheel detecting assembly 14 includes a front wheel pressure sensor 141. As an example in fig. 7, a front wheel pressure sensor 141 may be provided in a hydraulic line between the front wheel drive motor 122 and the front wheel multiplex valve 123 to detect an operating pressure of the front wheel drive motor 122; the controller 15 receives the detection result of the front wheel pressure sensor 141 to perform a corresponding adjustment control operation according to the operating pressure of the front wheel drive motor 122. Specifically, one front wheel pressure sensor 141 may be provided in the main hydraulic lines of the two front wheel drive motors 122 to detect the total pressure of the two front wheel drive motors 122; it is also possible to provide one front wheel pressure sensor 141 in each of the hydraulic branches of the two front wheel drive motors 122 to detect the operating pressure of each front wheel drive motor 122.

In an embodiment of the third aspect of the invention there is also provided a wheeled work machine 2. As shown in fig. 7 and 8, the wheeled work machine 2 includes a vehicle body 21, a travel mechanism 22, and the drive control system 1 in any of the embodiments described above. The vehicle body 21 serves as a main structure of the wheel type working machine 2; the running mechanism 22 is connected with the vehicle body 21 to drive the vehicle body 21 to run; the travel mechanism 22 includes rear wheels 221 and front wheels 222, and forms a work machine type of wheeled travel, and the wheeled work machine 2 has the characteristics of high flexibility, high transition speed, and the like. The drive control system 1 is provided on the vehicle body 21 to control and operate the rear wheels 221 and the front wheels 222 of the form mechanism, respectively, so that the rear wheels 221 and the front wheels 222 of the wheeled work machine 2 can realize independent drive control, and it is advantageous to adopt different drive control schemes according to different form conditions to optimize the driving force distribution situation.

The rear wheels 221 serve as main drive wheels of the wheel type working machine 2, and the front wheels 222 serve as auxiliary drive wheels. By implementing the method for controlling the driving of the wheeled working machine in any one of the above-mentioned first embodiments by the driving control system 1, the front wheels 222 can be adjusted and controlled according to the pressure state of the rear wheels 221, so that the driving force of the front wheels 222 can be fully exerted when the driving force of the rear wheels 221 is insufficient and a slip is likely to occur, and when the driving force of the rear wheels 221 meets the driving requirement, the driving force of the front wheels 222 is reduced, so as to save energy and reduce the wear of the front wheels 222.

The wheel type working machine 2 in the present embodiment includes, but is not limited to, a wheel type paver, and may be another working machine having a front wheel drive mechanism and a rear wheel drive mechanism, such as a dump truck.

In addition, the wheeled work machine 2 in this embodiment has all the advantages of the drive control system 1 in any one of the above-described second embodiments and the method for controlling the drive of the wheeled work machine in any one of the above-described first embodiments, which are not described herein again.

In one embodiment of the invention, an electronic device is provided. The electronic device comprises a processor and a memory, wherein the memory has stored therein a computer program adapted to be run in the processor. The method of controlling the driving of a wheeled work machine according to any one of the above embodiments can be implemented when the processor runs a computer program in a memory. Further, the electronic device may further be provided with a communication interface and a communication bus, wherein the processor, the communication interface and the memory are configured to communicate with each other through the communication bus. The electronic device in this embodiment has all the advantages of the wheel type working machine driving control method in any one of the above embodiments, and details are not described herein.

It should be noted that the computer program in the memory in the above embodiments may be implemented in the form of a software functional unit. When implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the wheel type work machine driving control method according to various embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In addition, an embodiment of the present invention further provides a readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method for controlling the driving of a wheeled working machine according to any one of the above embodiments is implemented. Therefore, the readable storage medium in this embodiment has all the advantages of the driving control method for a wheeled working machine in any one of the above embodiments, and will not be described herein again.

The basic principles of the present invention have been described above with reference to specific embodiments, but it should be noted that the advantages, effects, etc. mentioned in the present invention are only examples and are not limiting, and the advantages, effects, etc. must not be considered to be possessed by various embodiments of the present invention. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the invention is not limited to the specific details described above.

The block diagrams of devices, apparatuses, systems involved in the present invention are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to". It should also be noted that in the apparatus and device of the present invention, the components may be disassembled and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention.

The computer program product of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + +, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

The readable storage medium in the present invention may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and the like within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A drive control method for a wheel-type working machine,

step S300: controlling the output pressure of a front wheel driving mechanism of the wheeled operation machine according to the running condition;

wherein the pressure state parameter comprises a first pressure of the rear wheel drive mechanism.

2. The method of controlling drive of a wheeled work machine according to claim 1,

the step S200: determining the driving condition of the wheeled operation machine according to the pressure state parameter, comprising the following steps:

if the first determination result is yes, step S212 is executed: determining the running working condition as a first working condition;

3. The drive control method for a wheeled work machine according to claim 2,

the step S300: controlling an output pressure of a front wheel drive mechanism of the wheeled work machine according to the running condition, comprising:

when the running condition is the first condition, executing step S310: controlling the front wheel drive mechanism to operate at a first target pressure;

when the running condition is the second condition, executing step S320: controlling the front wheel driving mechanism to work at a second target pressure;

when the running condition is a third condition, executing step S330: controlling the front wheel driving mechanism to work at the current output pressure;

wherein the first target pressure is greater than the second target pressure.

4. The method of controlling drive of a wheeled work machine according to claim 3,

the first target pressure is a maximum output pressure of the front wheel drive mechanism;

the second target pressure is within a first range, and a maximum value of the first range is less than the first target pressure.

5. The method of controlling drive of a wheeled work machine according to claim 4,

the step S320: controlling the front wheel drive mechanism to operate at a second target pressure, comprising:

step S321: acquiring a second pressure of the front wheel driving mechanism;

if the third determination result is yes, the step S322 is executed again;

if the third determination result is negative, execute step S323: adjusting the second pressure to the second target pressure.

6. The wheeled work machine drive control method of claim 5,

the second target pressure is within a second range;

wherein the second range is within the first range.

7. The drive control method for a wheeled working machine according to any one of claims 1 to 6,

and the output pressure of the front wheel driving mechanism is controlled by adjusting the working current of a multi-way valve of the front wheel driving mechanism.

8. A drive control system, comprising:

a rear wheel drive mechanism;

a front wheel drive mechanism;

the rear wheel detection assembly is used for detecting pressure state parameters of the rear wheel driving mechanism;

the front wheel detection assembly is used for detecting the output pressure of the front wheel driving mechanism;

a controller communicatively connected to the rear wheel drive mechanism, the front wheel drive mechanism, the rear wheel detection assembly and the front wheel detection assembly to control the operation of the rear wheel drive mechanism and the front wheel drive mechanism and to implement the drive control method for a wheeled work machine according to any one of claims 1 to 7.

9. The drive control system of claim 8,

the rear wheel drive mechanism includes:

a rear wheel drive pump having an input adapted for driving connection with a powertrain of the wheeled work machine;

the rear wheel driving motor is connected with the rear wheel driving pump through a hydraulic pipeline, and the output end of the rear wheel driving motor is in transmission connection with a rear wheel;

the front wheel drive mechanism includes:

a front wheel drive pump having an input adapted for driving connection with the powertrain;

the output end of the front wheel driving motor is in transmission connection with a front wheel;

the different valve ports of the front wheel multi-way valve are respectively connected with the front wheel drive pump and the front wheel drive motor through hydraulic pipelines so as to control the oil supply amount of the front wheel drive pump for supplying oil to the front wheel drive motor;

the rear wheel detecting assembly includes:

a rear wheel pressure sensor provided in a hydraulic line between the rear wheel drive motor and the rear wheel drive pump;

the front wheel detecting assembly includes:

and the front wheel pressure sensor is arranged in a hydraulic pipeline between the front wheel driving motor and the front wheel multi-way valve.

10. A wheeled work machine, comprising:

a vehicle body;

the running mechanism is connected with the vehicle body and comprises a rear wheel and a front wheel;

the drive control system according to claim 8 or 9, provided on the vehicle body, wherein the rear wheel drive mechanism is in transmission connection with the rear wheel; the front wheel driving mechanism is in transmission connection with the front wheel.