CN104057954A - Road condition self-adaptation system of crane and crane - Google Patents
Road condition self-adaptation system of crane and crane Download PDFInfo
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- CN104057954A CN104057954A CN201410291158.9A CN201410291158A CN104057954A CN 104057954 A CN104057954 A CN 104057954A CN 201410291158 A CN201410291158 A CN 201410291158A CN 104057954 A CN104057954 A CN 104057954A
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- 239000000725 suspension Substances 0.000 claims description 45
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 230000003044 adaptive effect Effects 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000009194 climbing Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 239000006096 absorbing agent Substances 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a road condition self-adaptation system of a crane and the crane. The road condition self-adaptation system of the crane comprises a road condition parameter acquisition module, a driving mode analysis module and a driving mode control module, wherein the road condition parameter acquisition module is used for acquiring driving state parameters in real time, and sending the driving state parameters to the driving mode analysis module; the driving mode analysis module is used for judging the road condition in which the crane is located according to the driving state parameters and determining a driving mode, and sending a control parameter which corresponds to the driving mode to the driving mode control module; the driving mode control module is used for adjusting the driving state of the crane according to the control parameter. According to the road condition self-adaptation system of the crane and the crane disclosed by the invention, the road condition can be identified, and the driving mode is automatically determined or is manually determined by a driver; the corresponding driving cycle of a crane is adjusted, and thus, the bad working condition of the crane can be completely met; the safety, the economical efficiency and the comfort of crane driving can be improved; moreover, the cost is low, and installation and debugging are simple.
Description
Technical field
The present invention relates to technical field of engineering machinery, relate in particular to a kind of road conditions adaptive system and hoisting crane of hoisting crane.
Background technology
Along with automotive technology is constantly progressive, when travelling on road, vehicle not only needs to pay close attention to its safety, dynamic property, fuel economy and road-holding property, also need to pay close attention to driver comfort, riding comfort.For hoisting crane, large-scale full Terrain Cranes particularly, carry out as the installation of mountain region wind-powered electricity generation, the installation of grassland wind-powered electricity generation, the installation of on-site equipment, building construction, the multiple lifting operation operating modes such as bridge formation of repairing the roads, full Terrain Cranes will be faced Various Complex road conditions, higher for driver comfort, the riding comfort requirement of vehicle.Affect the many factors of driver comfort, riding comfort, as road roughness, moving velocity, suspension rate, tire, transmission system and engine drive pattern, seat gas spring rigidity etc.Wherein, road roughness is outwardness, unmodifiable; Moving velocity, suspension rate, tire, transmission system and engine drive pattern, seat gas spring rigidity can realize variation by ACTIVE CONTROL.
Conventionally by multiple systems such as ultrasonic ranging, vehicle-mounted sonar, image acquisition and identifications, be combined into walking along the street condition at present and identify, but for full size vehicle, goliath particularly, this technology cannot be applied.1, hoisting crane operating mode is severe, and dust, grease, dirt etc. cannot be worked image acquisition and recognition system.2, crane running road conditions complex, the hole vibration of paddling is large, and long-term field work, and above-mentioned road conditions recognition system cannot guarantee reliability.Therefore the road conditions adaptive system that, needs a kind of novel hoisting crane.
Summary of the invention
In view of this, the technical matters that the present invention will solve is to provide a kind of road conditions adaptive system and hoisting crane of hoisting crane, can identify road conditions and determine driving mode.
A road conditions adaptive system for hoisting crane, comprising: road conditions parameter acquisition module, driving mode analysis module and driving mode control module; Described road conditions parameter acquisition module Real-time Collection motoring condition parameter, and described motoring condition parameter is sent to described driving mode analysis module; Described driving mode analysis module is according to the described motoring condition parameter residing road conditions of judgement hoisting crane and determine driving mode, and the control parameter corresponding with described driving mode sent to described driving mode control module; Described driving mode control module is according to the motoring condition of described control parameter adjustment hoisting crane.
According to one embodiment of present invention, further, described road conditions parameter acquisition module comprises: displacement pickup, double-shaft tilt angle sensor, pressure sensor, car speed sensor; Described motoring condition parameter comprises: suspension oil cylinder displacement, suspension system pressure, vehicle tilt, the speed of a motor vehicle.
According to one embodiment of present invention, further, amplitude and the frequency of the suspension oil cylinder displacement calculation suspension oil cylinder that described driving mode analysis module gathers according to described displacement pickup, and the suspension system pressure judgement of the current vehicle speed gathering in conjunction with described car speed sensor and the collection of described pressure sensor is when the road-surface roughness on vehicle in front road surface of living in; Described driving mode analysis module judges the attitude of travelling of current hoisting crane according to the vehicle tilt of described double-shaft tilt angle sensor collection; Described driving mode analysis module is determined driving mode according to the attitude of travelling of described road-surface roughness and current hoisting crane.
According to one embodiment of present invention, further, described driving mode control setup is controlled the running state of a plurality of subsystems of hoisting crane according to described control parameter, described a plurality of subsystems comprise: engine system, transmission system, suspension system, seat system.
According to one embodiment of present invention, further, described control parameter comprises: whether driving mode, transmission system differential control are opened, engine speed, engine torque, gearbox-gear, suspension rate, seat elasticity.
According to one embodiment of present invention, further, described driving mode comprises: highway pattern, little place pattern, climbing pattern, descending pattern, cross-country pattern.
According to one embodiment of present invention, further, when described driving mode analysis module determines that the driving mode of hoisting crane is under the state of descending pattern and described driving mode control setup judgement transmitting set rotating speed surpasses default threshold value, described driving mode control setup starting auxiliary brake of vehicle.
According to one embodiment of present invention, further, manual preference pattern device; Described manual preference pattern device sends to described driving mode analysis module by selected driving mode, and described driving mode analysis module sends to described driving mode control module by control parameter corresponding to the driving mode with selected.
A hoisting crane, comprises the road conditions adaptive system of hoisting crane as above.
Road conditions adaptive system and the hoisting crane of hoisting crane of the present invention, can identify road conditions and automatically or by chaufeur manually determine driving mode, adjust the corresponding driving cycle of vehicle, can meet the bad working environments of hoisting crane completely, safety, economy, traveling comfort and the cost that can improve vehicular drive are low, Installation and Debugging are simple.
Description of the invention provides for example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is for better explanation principle of the present invention and practical application, thereby and makes those of ordinary skill in the art can understand the various embodiment with various modifications that the present invention's design is suitable for special-purpose.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is according to the schematic diagram of an embodiment of the road conditions adaptive system of hoisting crane of the present invention;
Fig. 2 is according to the schematic diagram of road conditions parameter acquisition module in an embodiment of the road conditions adaptive system of hoisting crane of the present invention;
Fig. 3 controls the block diagram of a plurality of subsystems of hoisting crane according to driving mode control module in an embodiment of the road conditions adaptive system of hoisting crane of the present invention;
Fig. 4 is according to the schematic diagram of another embodiment of the road conditions adaptive system of hoisting crane of the present invention;
Fig. 5 is according to the control logic schematic diagram of the road conditions adaptive system of hoisting crane of the present invention.
The specific embodiment
With reference to the accompanying drawings the present invention is described more fully, exemplary embodiment of the present invention is wherein described.Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, a kind of road conditions adaptive system of hoisting crane comprises: road conditions parameter acquisition module 11, driving mode analysis module 12 and driving mode control module 13.Road conditions parameter acquisition module 11 Real-time Collection motoring condition parameters, and motoring condition parameter is sent to driving mode analysis module 12.Driving mode analysis module 12 is according to the motoring condition parameter residing road conditions of judgement hoisting crane and determine driving mode, and the control parameter corresponding with driving mode sent to driving mode control module 13.Driving mode control module 13 is according to the motoring condition of controlling parameter adjustment hoisting crane.
The road conditions adaptive system of hoisting crane of the present invention, vehicle can be identified the road conditions of travelling automatically, according to difference, travelling road conditions can be automatically or adjust the corresponding driving cycle of vehicle by the manual switch of chaufeur, as turn to pattern, the switching of power/economic model, type of drive, auxiliary braking control, suspension system, seat system etc., to improve safety, economy, the traveling comfort of vehicular drive.
According to one embodiment of present invention, road conditions parameter acquisition module 11 comprises displacement pickup, double-shaft tilt angle sensor, pressure sensor, car speed sensor etc., be mainly used in Real-time Collection vehicle suspension oil cylinder displacement, suspension system pressure, the parameters such as vehicle tilt, the speed of a motor vehicle.Driving mode analysis module 12 can be implemented as micro controller system, single board computer (SBC), PLC, integrated circuit etc.The relevant control program of driving mode analysis module 12 storage, computing, reception, transmission data.For example, with size, the change frequency of suspension oil cylinder displacement, suspension system pressure size, fluctuation of pressure value, the speed of a motor vehicle are foundation, by the programmed algorithm in driving mode analysis module 12, converse the road-surface roughness when vehicle in front road surface of living in; Take vehicle tilt as foundation, by the programmed algorithm in driving mode analysis module 12, converse the angle of inclination when vehicle in front.
According to one embodiment of present invention, as shown in Figure 2, road conditions parameter acquisition module 11 comprises: displacement pickup 111, double-shaft tilt angle sensor 114, pressure sensor 112, car speed sensor 113.Displacement pickup claims again linear transducer, is used for measuring the sensor of object mechanical shift.Double-shaft tilt angle sensor is used for measuring the with respect to the horizontal plane sensor of change of pitch angle amount of object; Twin shaft be two axially: X axis, Y-axis.Motoring condition parameter comprises: suspension oil cylinder displacement, suspension system pressure, vehicle tilt, the speed of a motor vehicle.
According to one embodiment of present invention, in the process of moving, the vibration that ground injustice produces vehicle is passed to suspension oil cylinder by tire, bridge, and suspension oil cylinder moves back and forth absorption Vehicular vibration in cylinder barrel by piston rod.Under the equal speed of a motor vehicle, road surface is poorer, vibrates greatlyr, and piston rod movement Shaoxing opera is strong, and the fluctuation of pressure of suspension system is larger.
According to one embodiment of present invention, amplitude and the frequency of the suspension oil cylinder displacement calculation suspension oil cylinder that driving mode analysis module 12 gathers according to displacement pickup 111, and the suspension system pressure judgement of the current vehicle speed gathering in conjunction with car speed sensor 113 and pressure sensor 112 collections is when the road-surface roughness on vehicle in front road surface of living in; The vehicle tilt that driving mode analysis module 12 gathers according to double-shaft tilt angle sensor 114 judges the attitude of travelling of current hoisting crane.
Suspension refers to the general name of all power transmission connecting devices between vehicle frame and vehicle bridge, generally by elastic element, shock absorber and guiding mechanism three parts, formed, its effect is that road surface is acted on to vertical reaction (supporting power) on wheel, moment that longitudinally counter-force (tractive force and braking force) and lateral reaction and these counter-forces cause by the predetermined object transmission vehicle frame of people, to guarantee normally travelling of automobile.Suspension oil cylinder is a kind of hydraulic ram, for being connected between vehicle bridge and vehicle frame, and realizes rigidity and elasticity two states by fluid control.
Displacement pickup 111 can arrange accordingly according to the facilities of suspension oil cylinder, for example, can in each suspension oil cylinder, displacement pickup 111 be set.By displacement pickup 111, measure in real time oil cylinder displacement, can calculate amplitude and the frequency of suspension oil cylinder, the current vehicle speed gathering in conjunction with car speed sensor 113, can analyze the current residing road conditions of hoisting crane road spectrum.Adopt double-shaft tilt angle sensor 114 can be arranged on the turntable of chassis, for the inclination angle of measuring vehicle all around, can analyze the attitude of travelling of current hoisting crane, as upward slope, descending, "Left"-deviationist, Right deviation etc.
The road conditions adaptive system of hoisting crane of the present invention, by displacement pickup, double-shaft tilt angle sensor, pressure sensor, speed sensor etc., gather jib angle, suspension oil cylinder stroke, the parameters such as frequency, amplitude, rigidity of shaking, basis for estimation as Vehicle Driving Cycle road conditions, according to driving mode analysis module 12, automatically or by chaufeur manually select to be pre-stored in the driving cycle adapting in driving mode analysis module 12, meet driving demand.
According to one embodiment of present invention, driving mode control setup 13 is according to the running state of controlling a plurality of subsystems of parameter control hoisting crane, and a plurality of subsystems comprise: engine system, transmission system, suspension system, seat system.As shown in Figure 3, driving mode control module 13 can be controlled the car body components such as the steering controller 23, Suspension control valve group 24, transmission control module 25, Engine ECU 21, change speed gear box ECU22, seat controller 26 of hoisting crane, for different driving modes, control, make that hoisting crane has that different drivings is travelled, suspension rate, control of engine speed, gearbox shifting form etc., and can obtain the data of hoisting crane vehicle body parts operation.
According to one embodiment of present invention, controlling parameter comprises: whether driving mode, transmission system differential control are opened, engine speed, engine torque, gearbox-gear, suspension rate, seat elasticity.Driving mode control module 13 is carried out the Comprehensive Control of the systems such as 12 pairs of driving engines of driving mode analysis module, change speed gear box, suspension system, seat system, makes vehicle reach the optimal balance point of riding comfort and traveling comfort.
Driving mode control module 13 is controlled transmitting set brake module 211, Das Gaspedal 212, rotating speed load module 213, Control for Speed Limitation module 214 etc., the rotating speed of control engine by Engine ECU 21.Driving mode control module 13 is controlled gearbox-gear 221, handover module 222, is braked 223 control gearbox gear-shift forms slowly by change speed gear box ECU22.Driving mode control module 13 is controlled the steering rate of steering angle sensor 231, control cock group 232 control forms etc. by steering controller 23.Driving mode control module 13 controls by Suspension control valve group 24 rigidity that suspension rate control cock 241 is controlled suspension.Driving mode control module 13 is controlled differential control valve 251, high and low shift control cock 252 and shelling control cock 253 by transmission control module 25 and is controlled the differential control pattern that whether adopts.Driving mode control module 13 is controlled the elasticity of inflation/deflation control cock 261 and baroceptor 262 control seats by seat controller 26.
According to one embodiment of present invention, as shown in Figure 4, in the pattern analysis module 12 of travelling, determine that the driving mode of hoisting cranes is under the state of descending pattern and when driving mode control setup 13 judgement transmitting set rotating speeds surpass default threshold value, driving mode control setup 13 starting auxiliary brake of vehicle 15.Vehicle (the particularly vehicle of lower long slope) during complemental brake system refers to and makes directly or indirectly to travel slows down or keeps the device of the braking of constant speed.
Manually preference pattern device 14 sends to driving mode analysis module 12 by selected driving mode, and driving mode analysis module 12 sends to driving mode control module 13 by control parameter corresponding to the driving mode with selected.
According to one embodiment of present invention, driving mode analysis module 12 comprises automatically and manual two kinds of patterns.Driving mode analysis module 12 can be selected optimal control pattern according to the current road conditions parameter of hoisting crane; Chaufeur can be selected required driving mode voluntarily by manual preference pattern device 14.The suspension oil cylinder displacement variable that driving mode analysis module 12 reception road conditions identification modules collect and vehicle dip angle parameter etc., through programmed algorithm, draw hoisting crane road conditions of living in, according to different road conditions, automatically or by chaufeur manually activate and be pre-stored in corresponding driving mode in driving mode analysis module 12, improve riding comfort and traveling comfort.Driving mode comprises: highway pattern, little place pattern, climbing pattern, descending pattern, cross-country pattern etc.
According to one embodiment of present invention, the control logic schematic diagram of the road conditions adaptive system of hoisting crane is as shown in Figure 5:
Step 301, receives the motoring condition parameter collecting.
Step 302, determines whether automatic mode, and manual mode enters step 312 if, and automatic mode, enters step 303 if, judges whether the speed of a motor vehicle is 0, and 0 enters step 312 if, if be not 0, enters step 304.
Step 304-307, determine whether successively highway pattern, little place pattern, the cross-country pattern of climbing pattern, if judge driving mode, enter step 308 to 311, carry out operation accordingly, for example, differential is closed, speed limit is reported to the police, hang cross-country rigidity etc.
Step 312, chaufeur can be selected required driving mode voluntarily by manual preference pattern device 14.
Step 313-3316, determine whether successively highway pattern, little place pattern, the cross-country pattern of climbing pattern, if judge driving mode, enter step 317 to 321, carry out operation accordingly, for example, differential is closed, speed limit is reported to the police, hang cross-country rigidity etc.
According to one embodiment of present invention, a kind of hoisting crane, comprises the road conditions adaptive system of hoisting crane as above.Hoisting crane can be full Terrain Cranes, and full Terrain Cranes is a kind of performance-oriented elevator machinery, can quick travel, long distance travel, can meet the requirement in the operation of narrow and small and rugged and rough or muddy place again.
Road conditions adaptive system and the hoisting crane of hoisting crane of the present invention have advantages of following:
1, by element Real-time Collection crane running data such as suspension oil cylinder displacement pickup, obliquity sensor, car speed sensor, pressure sensors, and calculate hoisting crane road conditions of living in by programmed algorithm.
2, the sensor that this case relates to is ripe application on construction machinery and equipment, can meet the bad working environments of hoisting crane completely;
3, the sensor that this case relates to is standard component, and cost is low, and Installation and Debugging are simple;
4, the present invention focuses on by central controller, and the road conditions of travelling are corresponding one by one in control program with driving mode, possesses manually and automatic two kinds of patterns, makes hoisting crane realize road conditions self adaptation, effectively improves and drives ride comfort, traveling comfort.
5, driving mode kind can be revised realization by control program, and system is convenient and swift.
6, can segment according to different limiting conditions, guarantee travel safety, effectively instruct and use.
May realize in many ways method and system of the present invention.For example, can realize method and system of the present invention by any combination of software, hardware, firmware or software, hardware, firmware.Said sequence for the step of method is only in order to describe, and the step of method of the present invention is not limited to above specifically described order, unless special version otherwise.In addition, in certain embodiments, can be also the program being recorded in recording medium by the invention process, these programs comprise for realizing the machine readable instructions of the method according to this invention.Thereby the present invention also covers storage for carrying out the recording medium of the program of the method according to this invention.
Claims (9)
1. a road conditions adaptive system for hoisting crane, is characterized in that, comprising:
Road conditions parameter acquisition module, driving mode analysis module and driving mode control module;
Described road conditions parameter acquisition module Real-time Collection motoring condition parameter, and described motoring condition parameter is sent to described driving mode analysis module; Described driving mode analysis module is according to the described motoring condition parameter residing road conditions of judgement hoisting crane and determine driving mode, and the control parameter corresponding with described driving mode sent to described driving mode control module; Described driving mode control module is according to the motoring condition of described control parameter adjustment hoisting crane.
2. the system as claimed in claim 1, is characterized in that:
Described road conditions parameter acquisition module comprises: displacement pickup, double-shaft tilt angle sensor, pressure sensor, car speed sensor; Described motoring condition parameter comprises: suspension oil cylinder displacement, suspension system pressure, vehicle tilt, the speed of a motor vehicle.
3. system as claimed in claim 2, is characterized in that:
Amplitude and the frequency of the suspension oil cylinder displacement calculation suspension oil cylinder that described driving mode analysis module gathers according to described displacement pickup, and the suspension system pressure judgement of the current vehicle speed gathering in conjunction with described car speed sensor and the collection of described pressure sensor is when the road-surface roughness on vehicle in front road surface of living in;
Described driving mode analysis module judges the attitude of travelling of current hoisting crane according to the vehicle tilt of described double-shaft tilt angle sensor collection;
Described driving mode analysis module is determined driving mode according to the attitude of travelling of described road-surface roughness and current hoisting crane.
4. the system as claimed in claim 1, is characterized in that:
Described driving mode control setup is controlled the running state of a plurality of subsystems of hoisting crane according to described control parameter, described a plurality of subsystems comprise: engine system, transmission system, suspension system, seat system.
5. system as claimed in claim 4, is characterized in that:
Described control parameter comprises: whether driving mode, transmission system differential control are opened, engine speed, engine torque, gearbox-gear, suspension rate, seat elasticity.
6. the system as claimed in claim 1, is characterized in that:
Described driving mode comprises: highway pattern, little place pattern, climbing pattern, descending pattern, cross-country pattern.
7. system as claimed in claim 6, is characterized in that:
When described driving mode analysis module determines that the driving mode of hoisting crane is under the state of descending pattern and described driving mode control setup judgement transmitting set rotating speed surpasses default threshold value, described driving mode control setup starting auxiliary brake of vehicle.
8. the system as claimed in claim 1, is characterized in that, also comprises:
Manual preference pattern device;
Described manual preference pattern device sends to described driving mode analysis module by selected driving mode, and described driving mode analysis module sends to described driving mode control module by control parameter corresponding to the driving mode with selected.
9. a hoisting crane, is characterized in that:
The road conditions adaptive system that comprises the hoisting crane as described in claim 1 to 8 any one.
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| CN201410291158.9A CN104057954B (en) | 2014-06-25 | 2014-06-25 | Road condition self-adaptation system of crane and crane |
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| CN201410291158.9A CN104057954B (en) | 2014-06-25 | 2014-06-25 | Road condition self-adaptation system of crane and crane |
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| CN104057954B CN104057954B (en) | 2017-01-11 |
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| CN105015446A (en) * | 2015-07-28 | 2015-11-04 | 江西好帮手电子科技有限公司 | Control method and system for entering into automobile driving mode |
| CN105822441A (en) * | 2016-03-22 | 2016-08-03 | 潍柴动力股份有限公司 | Method, device and system for controlling engine |
| CN105922995A (en) * | 2016-05-13 | 2016-09-07 | 乐视控股（北京）有限公司 | Switching method and device for vehicle driving patterns and vehicle |
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| CN107161151A (en) * | 2017-04-27 | 2017-09-15 | 广州汽车集团股份有限公司 | The power distribution control method of vehicle, apparatus and system |
| CN107953888A (en) * | 2017-11-29 | 2018-04-24 | 北京经纬恒润科技有限公司 | A kind of road type recognition methods and system |
| CN108189783A (en) * | 2017-12-29 | 2018-06-22 | 徐州重型机械有限公司 | Vehicle running state monitoring method, device and vehicle |
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