WO2022179286A1 - 一种轮式装载机的控制方法、装置、轮式装载机及存储介质 - Google Patents
一种轮式装载机的控制方法、装置、轮式装载机及存储介质 Download PDFInfo
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- WO2022179286A1 WO2022179286A1 PCT/CN2021/141809 CN2021141809W WO2022179286A1 WO 2022179286 A1 WO2022179286 A1 WO 2022179286A1 CN 2021141809 W CN2021141809 W CN 2021141809W WO 2022179286 A1 WO2022179286 A1 WO 2022179286A1
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- wheel loader
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- 238000000034 method Methods 0.000 title claims abstract description 71
- XDDAORKBJWWYJS-UHFFFAOYSA-N glyphosate Chemical compound OC(=O)CNCP(O)(O)=O XDDAORKBJWWYJS-UHFFFAOYSA-N 0.000 claims abstract description 93
- 230000001960 triggered effect Effects 0.000 claims abstract description 15
- 230000015654 memory Effects 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 abstract description 6
- 239000000463 material Substances 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 7
- 238000003491 array Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
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- 235000019800 disodium phosphate Nutrition 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2079—Control of mechanical transmission
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/14—Inputs being a function of torque or torque demand
- F16H59/18—Inputs being a function of torque or torque demand dependent on the position of the accelerator pedal
- F16H59/20—Kickdown
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
Definitions
- the present application relates to the technical field of construction machinery control, in particular to a control method and device for a wheel loader, a wheel loader and a storage medium.
- wheel loaders equipped with automatic transmissions have two power outputs.
- One is the hydraulic driving force for the bucket, and the hydraulic pump is driven by the engine to form the driving oil pressure.
- the other way is the driving force for the loader, which is output to the wheel end through the torque converter and gearbox.
- the KickDown function which reduces the power allocated to the vehicle drive, and can increase the power allocated to the bucket when the engine has the same power.
- the typical working condition is to hang the 2nd gear, move the loader forward quickly to the front of the material, and then lower the bucket to load the material after braking and decelerate.
- the bucket needs to trigger KickDown 2-1 when loading the material.
- Downshifting reduces the power distributed to the transmission output to distribute more power to the bucket.
- a quick KickDown downshift can be achieved through the driver's operation.
- the automatic KickDown function needs to be added, and the triggering of automatic KickDown is currently basically based on the transmission load and engine. Speed, throttle opening, etc. to judge.
- Patent US9085294B2 discloses a strategy that can trigger Kick Down in advance through loader bucket position, gearbox load, vehicle speed, engine speed, etc., but US9085294B2 has the following defects: 1) There must be a bucket position sensor, and many loading The bucket position sensor is not installed on the machine; 2) There must be a slope sensor or an acceleration sensor to calculate the gearbox load. At present, many loaders are not installed with a slope sensor or an acceleration sensor. That is to say, this solution needs to install a bucket position sensor and a slope sensor, or needs to install a bucket position sensor and an acceleration sensor, which is costly.
- embodiments of the present application provide a wheel loader control method, device, wheel loader and storage medium, which have solved the problem of high early trigger cost of Kick Down.
- an embodiment of the present application provides a control method for a wheel loader, where the original trigger condition of KickDown is preset in the wheel loader, including:
- the original trigger condition is adjusted to a first trigger condition, wherein the first trigger condition is easier to trigger than the original trigger condition.
- the release method of KickDown is obtained, and the current state of the wheel loader is determined according to the release method of KickDown.
- the current state of the wheel loader is the working state, the original The trigger condition can realize the early triggering of Kick Down.
- the wheel loader there is no need to install a bucket position sensor and a slope sensor, or a bucket position sensor and an acceleration sensor. The cost is low and the applicability is wide.
- the control method for a wheel loader further includes: when the current state of the wheel loader is a driving state, adjusting the original trigger condition to a second A trigger condition, wherein the second trigger condition is more difficult to trigger than the original trigger condition. Therefore, in the working mode, the original trigger condition of KickDown can be adjusted to make it more difficult to trigger KickDown to avoid false triggering.
- the original trigger condition includes one or more trigger sub-conditions, each trigger sub-condition has a corresponding trigger threshold, and the original trigger condition Adjusting to the first trigger condition includes: adjusting one or more trigger thresholds by a corresponding first adjustment amount.
- the original trigger condition includes one or more trigger sub-conditions, each trigger sub-condition has a corresponding trigger threshold, and the Adjusting the original trigger condition to the second trigger condition includes: adjusting one or more trigger thresholds by a corresponding second adjustment amount.
- the determining of the current state of the wheel loader based on the release method of the KickDown includes:
- the determining the current state of the wheel loader based on the KickDown release method includes:
- the method further includes:
- the first trigger condition is adjusted to the original trigger condition.
- the method further includes:
- the second trigger condition is adjusted to the original trigger condition.
- an embodiment of the present application provides a control device for a wheel loader, where the original trigger condition of KickDown is preset in the wheel loader, including:
- an acquisition module used to acquire the release method of the KickDown of the wheel loader
- a state determination module configured to determine the current state of the wheel loader based on the release mode of the KickDown;
- An adjustment module configured to adjust the original trigger condition to a first trigger condition when the current state of the wheel loader is a working state, wherein the first trigger condition is easier to trigger than the original trigger condition .
- an embodiment of the present application provides a wheel loader, including a memory and a processor, wherein the memory and the processor are connected in communication with each other, and computer instructions are stored in the memory, and the processing By executing the computer instructions, the computer executes the first aspect or the method for controlling a wheel loader described in any one of the embodiments of the first aspect.
- an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the first aspect or the first aspect.
- FIG. 1 is a schematic flowchart of a wheel loader control method in Embodiment 1 of the present application
- FIG. 2 is a schematic flowchart of an example of a wheel loader control method in Embodiment 1 of the present application
- FIG. 3 is a schematic flowchart of another example of the wheel loader control method in Embodiment 1 of the present application.
- FIG. 4 is a schematic structural diagram of a wheel loader control device in Embodiment 2 of the present application.
- Embodiment 1 of the present application provides a control method for a wheel loader.
- FIG. 1 is a schematic flowchart of a method for controlling a wheel loader in Embodiment 1 of the present application. As shown in FIG. 1 , the control method for a wheel loader in Embodiment 1 of the present application includes the following steps:
- the KickDown downshift in the working state of loading/unloading materials at one time, the KickDown downshift will be triggered during loading, and then the KickDown downshift will be released by switching the traveling direction of the wheel loader to return to the original gear.
- the loader is running, if KickDown is triggered, it is very likely that the KickDown is released by increasing the vehicle speed, that is, by natural upshifting.
- the entry of KickDown may be automatically triggered to enter or the driver may manually tap the KickDown button to enter.
- the first technical solution is: when the current release mode of the KickDown is to switch the traveling direction of the wheel loader, it is determined that the current state of the wheel loader is a working state. That is to say, when a KickDown release method is to switch the traveling direction of the wheel loader, it can be determined that the current state of the wheel loader is the working state (the state of loading/unloading materials).
- the second technical solution is: when the KickDown is released several times in a row and the direction of travel of the wheel loader is switched, it is determined that the current state of the wheel loader is a working state. That is to say, the current state of the wheel loader is determined to be the working state only when the KickDown is released several times in succession by switching the traveling direction of the wheel loader, thereby making the determination of the current state of the wheel loader more accurate. It can be understood that, as long as there is one of the releasing methods that does not switch the traveling direction of the wheel loader, it cannot be determined that the current state of the wheel loader is the working state. Exemplarily, the number of consecutive times may be two consecutive times.
- the following two technical solutions may be adopted to determine the current state of the wheel loader based on the way of releasing the KickDown.
- the first technical solution is: when the current release mode of the KickDown is a natural upshift, it is determined that the current state of the wheel loader is a running state. That is to say, when a KickDown release method is a natural upshift, it can be determined that the current state of the wheel loader is a running state.
- the second technical solution is: when the current release mode of the KickDown is a natural upshift, continue to judge whether the vehicle speed of the wheel loader within the preset first time period belongs to the preset first range, when When the vehicle speeds of the wheel loader within the first time period all fall within the first range, it is determined that the current state of the wheel loader is a running state. That is to say, when a KickDown release mode is a natural upshift, it is not possible to directly determine that the current state of the wheel loader is the driving state, and it is also necessary to determine the vehicle speed of the wheel loader within the preset first period of time. Whether they all belong to the preset first range, if not, it cannot be determined that the current state of the wheel loader is the driving state, which can make the determination of the current state of the wheel loader more accurate.
- triggering conditions for KickDown are generally set by setting trigger thresholds such as engine speed, vehicle speed, and accelerator pedal. For example, when the engine speed is greater than the preset first trigger threshold, KickDown is triggered.
- the original trigger condition includes one or more trigger sub-conditions, and each trigger sub-condition has a corresponding trigger threshold.
- the following technical solution may be adopted to adjust the original trigger condition to the first trigger condition: adjust one or more trigger thresholds by the corresponding first adjustment amount, thereby making KickDown easier to trigger.
- the trigger sub-condition is that a parameter is greater than the trigger threshold
- the trigger threshold needs to be subtracted by the first adjustment amount
- the trigger sub-condition is that a parameter is smaller than the trigger threshold
- the trigger threshold needs to be increased by the first adjustment amount.
- the first adjustment amount adjusted for each trigger threshold may be the same or different.
- the method further includes: continuing to obtain the release method of the KickDown; when the release method of the KickDown is to switch the wheel loader In the traveling direction, the first trigger condition is maintained; when the KickDown release mode is a natural upshift, the first trigger condition is adjusted to the original trigger condition.
- the method further includes: when the wheel loader is powered off, adjusting the first trigger condition to the original trigger condition Triggering conditions.
- the release method of KickDown is obtained, and the current state of the wheel loader is determined according to the release method of KickDown.
- the current state of the wheel loader is the working state, the The original triggering conditions can realize the early triggering of Kick Down.
- the wheel loader there is no need to install a bucket position sensor and a slope sensor, or a bucket position sensor and an acceleration sensor. The cost is low and the applicability is wide.
- Example 1 of the present application by judging that the loader is in the working mode, when the material needs to be loaded, the KickDown 2-1 downshift can be triggered in advance, so that the speed of the input shaft of the gearbox (which is also the speed of the turbine of the torque converter) increases, At the same time as the torque ratio of the torque converter becomes smaller, the torque ratio also becomes smaller, so that the power distributed by the engine to the automatic transmission is reduced, and the corresponding power distributed to the bucket hydraulic pump motor is increased.
- the loading power of the bucket can be increased under certain conditions, which effectively improves the output efficiency of the engine and reduces the fuel consumption.
- the original trigger condition includes one or more trigger sub-conditions.
- the adjustment of the original trigger condition to the second trigger condition may adopt the following technical solution: increase one or more trigger thresholds by a corresponding second adjustment amount, thereby making it more difficult to trigger KickDown, In this way, false triggering can be avoided.
- the trigger sub-condition is that a parameter is greater than the trigger threshold
- the trigger threshold needs to be increased by a second adjustment amount
- the trigger sub-condition is that a parameter is smaller than the trigger threshold
- the trigger threshold needs to be decreased by the second adjustment amount.
- the second adjustment amount adjusted for each trigger threshold may be the same or different.
- the first adjustment amount and the second adjustment amount may be the same or different.
- the method further includes: judging whether the KickDown is triggered; when the KickDown is triggered, adjusting the second trigger condition to the original trigger condition.
- the method further includes: when the wheel loader is powered off, adjusting the second trigger condition to the original trigger condition Triggering conditions.
- FIG. 2 is a schematic flowchart of an example of a wheel loader control method in Embodiment 1 of the application.
- the trigger condition of KickDown is: the first trigger condition, it is easier to trigger KickDown.
- FIG. 3 is a schematic flowchart of another example of the wheel loader control method according to Embodiment 1 of the present application. As shown in FIG. 3 , it is first necessary to determine whether to enter the non-working driving mode according to the release method after the KickDown is triggered. If the KickDown is released by the natural way to 2nd gear, it is considered to exit the working mode. If the vehicle speed exceeds a certain value and maintains and maintains a calibratable time, it is considered to enter the driving mode until the next KickDown is triggered or the vehicle is powered off. In the driving mode, the trigger condition of KickDown is: the second trigger condition, it is more difficult to trigger KickDown to avoid false triggering.
- Embodiment 2 of the present application provides a control device for a wheel loader.
- FIG. 4 is a schematic structural diagram of a wheel loader control device in Embodiment 2 of the present application.
- the wheel loader control device in Embodiment 2 of the present application includes an acquisition module 20 , a state determination module 22 and an adjustment module 24 .
- the obtaining module 20 is configured to obtain the release method of the KickDown of the wheel loader.
- the state determination module 22 is configured to determine the current state of the wheel loader based on the release mode of the KickDown.
- the adjustment module 24 when the current state of the wheel loader is the working state, is used to adjust the original trigger condition to a first trigger condition, wherein the first trigger condition is easier than the original trigger condition Trigger; when the current state of the wheel loader is a driving state, it is used to adjust the original trigger condition to a second trigger condition, wherein the second trigger condition is more difficult to trigger than the original trigger condition .
- Embodiments of the present application also provide a wheel loader, where the wheel loader may include a processor and a memory, where the processor and the memory may be connected by a bus or in other ways.
- the processor may be a central processing unit (Central Processing Unit, CPU).
- the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), application specific integrated circuits (Application Specific Integrated Circuits, ASICs), Field-Programmable Gate Arrays (Field-Programmable Gate Arrays, FPGAs) or other Chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above types of chips.
- the memory can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions corresponding to the control method of the wheel loader in the embodiment of the present application /modules (eg, acquisition module 20, state determination module 22, and adjustment module 24 shown in FIG. 4).
- the processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory, that is, the control method of the wheel loader in the above method embodiments is implemented.
- the memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created by the processor, and the like. Additionally, the memory 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 may optionally include memory located remotely from the processor, such remote memory being connectable to the processor via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
- the one or more modules are stored in the memory, and when executed by the processor, execute the control method of the wheel loader in the embodiment shown in FIGS. 1-3 .
- the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard) Disk Drive, abbreviation: HDD) or solid-state drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the above-mentioned types of memories.
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Claims (11)
- 一种轮式装载机的控制方法,所述轮式装载机中预设有KickDown的原始触发条件,其特征在于,包括:获取所述轮式装载机KickDown的解除方式;基于所述KickDown的解除方式确定所述轮式装载机的当前状态;当所述轮式装载机的当前状态为工作状态时,将所述原始触发条件调整为第一触发条件,其中所述第一触发条件相较于所述原始触发条件更易触发。
- 根据权利要求1所述的方法,其特征在于,还包括:当所述轮式装载机的当前状态为行驶状态时,将所述原始触发条件调整为第二触发条件,其中所述第二触发条件相较于所述原始触发条件更难触发。
- 根据权利要求1所述的方法,其特征在于,所述原始触发条件包括一个或多个触发子条件,每个触发子条件都有相对应的触发阈值,所述将所述原始触发条件调整为第一触发条件包括:将一个或多个触发阈值调整相对应的第一调整量。
- 根据权利要求2所述的方法,其特征在于,所述原始触发条件包括一个或多个触发子条件,每个触发子条件都有相对应的触发阈值,所述将所述原始触发条件调整为第二触发条件包括:将一个或多个触发阈值调整相对应的第二调整量。
- 根据权利要求1所述的方法,其特征在于,所述基于所述KickDown的解除方式确定所述轮式装载机的当前状态包括:当所述KickDown的当前解除方式为切换所述轮式装载机的行进方向时,判定所述轮式装载机的当前状态为工作状态;或,当所述KickDown连续多次解除方式均为切换所述轮式装载机的行进方向时,判定所述轮式装载机的当前状态为工作状态。
- 根据权利要求2所述的方法,其特征在于,所述基于所述KickDown的解除方式确定所述轮式装载机的当前状态包括:当所述KickDown的当前解除方式为自然升档时,判定所述轮式装载机 的当前状态为行驶状态;或,当所述KickDown的当前解除方式为自然升档时,继续判断所述轮式装载机在预设的第一时长内的车速是否均属于预设的第一范围,当所述轮式装载机在所述第一时长内的车速均属于所述第一范围时,判定所述轮式装载机的当前状态为行驶状态。
- 根据权利要求1所述的方法,其特征在于,在将所述原始触发条件调整为第一触发条件之后,还包括:继续获取所述KickDown的解除方式;当所述KickDown的解除方式为切换所述轮式装载机的行进方向时,维持所述第一触发条件;当所述KickDown的解除方式为自然升档时,将所述第一触发条件调整为所述原始触发条件。
- 根据权利要求2所述的方法,其特征在于,在将所述原始触发条件调整为第二触发条件之后,还包括:判断所述KickDown是否被触发;当所述KickDown被触发时,将所述第二触发条件调整为所述原始触发条件。
- 一种轮式装载机的控制装置,所述轮式装载机中预设有KickDown的原始触发条件,其特征在于,包括:获取模块,用于获取所述轮式装载机KickDown的解除方式;状态确定模块,用于基于所述KickDown的解除方式确定所述轮式装载机的当前状态;调整模块,当所述轮式装载机的当前状态为工作状态时,用于将所述原始触发条件调整为第一触发条件,其中所述第一触发条件相较于所述原始触发条件更易触发。
- 一种轮式装载机,其特征在于,包括:存储器和处理器,所述存储器和所述处理器之间互相通信连接,所述存储器中存储有计算机指令,所述处理器通过执行所述计算机指令,从而 执行权利要求1-8中任一项所述的轮式装载机的控制方法。
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质存储有计算机指令,所述计算机指令用于使所述计算机执行权利要求1-8中任一项所述的轮式装载机的控制方法。
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- 2021-12-27 WO PCT/CN2021/141809 patent/WO2022179286A1/zh active Application Filing
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US5116187A (en) * | 1988-05-24 | 1992-05-26 | Kabushiki Kaisha Komatsu Seisakusho | Automatic speed changing apparatus for wheel loader |
US9085294B2 (en) | 2010-12-24 | 2015-07-21 | Doosan Infracore Co., Ltd. | Apparatus and method for automatically controlling a transmission of a wheel loader |
CN105003643A (zh) * | 2014-04-22 | 2015-10-28 | 斗山工程机械(山东)有限公司 | 装载机变速箱换挡控制方法、装置及电控系统及装载机 |
KR20160061061A (ko) * | 2014-11-21 | 2016-05-31 | 두산인프라코어 주식회사 | 휠로더의 트랜스미션 제어 시스템 및 이의 제어 방법 |
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CN111828611A (zh) * | 2020-06-15 | 2020-10-27 | 江苏汇智高端工程机械创新中心有限公司 | 一种装载机自动变速箱挡位控制方法及系统 |
CN112982538A (zh) * | 2021-02-24 | 2021-06-18 | 索特传动设备有限公司 | 一种轮式装载机的控制方法、装置、轮式装载机及存储介质 |
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