The embodiment of the invention discloses a control method and device of walking equipment, the walking equipment and a storage medium, and belongs to the field of equipment control. The walking equipment comprises a hydraulic pump set and at least two power sets, the hydraulic pump set comprises at least two hydraulic pumps, each power set comprises a first proportional valve, a high-speed switch valve and a motor which are sequentially connected, each hydraulic pump is connected with the corresponding first proportional valve, and the first proportional valve in each power set is further connected with the corresponding motor. The control method of the walking equipment comprises the steps that a received speed mode instruction is responded, and the state of a high-speed switch valve is switched; according to the received walking instruction, the flow mode of the hydraulic pump set is switched; determining a current speed range based on the speed mode instruction and a flow mode of the hydraulic pump set; determining a target speed corresponding to the walking instruction according to the current speed range; and adjusting the opening area of the first proportional valve based on the target speed to control the rotating speed of the motor. By switching the states of the high-speed valve and the hydraulic pump, the speed of the walking equipment can be accurately controlled according to actual road conditions.

    本申请实施例公开了一种行走设备的控制方法、控制装置、行走设备及存储介质,属于设备控制领域。行走设备包括液压泵组和至少两个动力组,液压泵组包括至少两个液压泵,每个动力组包括依次连接的第一比例阀、高速开关阀及马达,每个液压泵均连接每个第一比例阀,且每个动力组中的第一比例阀还与对应的马达连接,行走设备的控制方法包括:响应接收到速度模式指令,切换高速开关阀的状态;根据接收到的行走指令,切换液压泵组的流量模式;基于速度模式指令和液压泵组的流量模式,确定当前速度范围;根据当前速度范围,确定行走指令对应的目标速度;基于目标速度调整第一比例阀的开启面积,以控制马达的转速。通过切换高速阀和液压泵的状态,能够根据实际路况准确控制行走设备的速度。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Control method and control device of walking equipment, walking equipment and storage medium


    Weitere Titelangaben:

    行走设备的控制方法、控制装置、行走设备及存储介质


    Beteiligte:
    MA CHANGXUN (Autor:in) / WU SHUICHUAN (Autor:in) / HU XIAOLIN (Autor:in) / SONG YUQING (Autor:in) / CHEN KAI (Autor:in)

    Erscheinungsdatum :

    2024-03-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



    Walking device and walking equipment

    QI ZHIKUN / LI HAO / LU KEJIAN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Control method and device of self-walking equipment and self-walking equipment

    ZHOU XIAOQING / ZHA XIAHONG / ZHAO FENGLI et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Electric control walking adjusting method, device, equipment and medium

    JIA WEIXIA / ZHOU LEI / LI QIANG | Europäisches Patentamt | 2023

    Freier Zugriff

    Hydrostatic loading machine walking control method, device and equipment and storage medium

    LI XINTONG / XU LIJIE / ZHAO JINGUANG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Walking control method, device and equipment of biped robot and storage medium

    LENG XIAOKUN / CHANG LIN / WANG SONG et al. | Europäisches Patentamt | 2021

    Freier Zugriff