CN113580946A

CN113580946A - Milling machine braking system, milling machine braking method and milling machine

Info

Publication number: CN113580946A
Application number: CN202110865259.2A
Authority: CN
Inventors: 夏一帆; 陈日; 李帅
Original assignee: Hunan Sany Zhongyi Machinery Co Ltd
Current assignee: Hunan Sany Zhongyi Machinery Co Ltd
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2021-11-02
Anticipated expiration: 2041-07-29
Also published as: CN113580946B

Abstract

The application relates to the technical field of electrical system safety, in particular to a milling machine braking system, a milling machine braking method and a milling machine. Wherein, milling machine braking system includes: a main drive motor; a power battery; a relief device; a controller; wherein, the running state of the relief device meets the preset condition. Through setting up the controller, when the milling machine braking, detect the charge value of power battery in order to judge the state of power battery, with the operation or the stopping of control bleeder mechanism, when power battery charge value is higher, bleeder mechanism operation comes to mainly drive the produced electric energy of motor and release, the running state of bleeder mechanism is controlled to the controller, thereby ensure that bleeder mechanism can release the electric energy that mainly drives the motor and produce completely, with this possibility of improving the normal operating of power battery, ensure that the milling machine is at the normal operating of electric braking mode in braking process, thereby improve the effect of energy recuperation.

Description

Milling machine braking system, milling machine braking method and milling machine

Technical Field

The application relates to the technical field of electrical system safety, in particular to a milling machine braking system, a milling machine braking method and a milling machine.

Background

During the operation of the electric system of the electric or hybrid construction machine, during braking, the electric machine is used as both an electric motor and a generator to convert the kinetic energy and potential energy in the electric system into electric energy and store the electric energy in the storage battery, so as to improve the utilization rate of the energy.

In the related art, when the milling machine is in a normal operation process, kinetic energy and potential energy generated by the milling machine are gradually stored in the storage battery, but the charge value of the storage battery has a maximum value, the charge value of the storage battery is continuously increased in a charging process of the storage battery, and when the charge value of the storage battery reaches the maximum value, the braking effect of the braking system is reduced or even fails, so that the safety problem of the milling machine occurs in the operation process.

Content of application

In view of this, the embodiment of the application provides a braking system and a braking method for a milling machine, and solves or improves the problem that the storage battery is overcharged during the operation of the milling machine, so that the braking effect is reduced and even the milling machine fails.

The application provides a milling machine braking system, which characterized in that includes: the main driving motor is used for driving the milling machine to operate; the power battery is used for storing electric energy generated by the main drive motor when the milling machine brakes; the discharging device is used for consuming electric energy generated by the main drive motor during braking; the controller is respectively connected with the main drive motor, the power battery and the bleeder device, and is used for acquiring the state of the power battery to control the bleeder device to run or stop; when the relief device operates, the operating state of the relief device meets a preset condition, and when the operating state of the relief device meets the preset condition, the relief device can completely consume the electric energy generated by the main drive motor during braking.

The application provides a pair of milling machine braking system, through setting up the controller, when milling machine braking, detect the state of charge value in order to judge power battery of power battery, operation or stop with control bleeder mechanism, when power battery charge value is higher, bleeder mechanism operation comes to mainly drive the produced electric energy of motor and release, the running state of bleeder mechanism is controlled to the controller, thereby ensure that bleeder mechanism can release the electric energy that mainly drives the motor and produce completely, with this possibility of improving power battery's normal operating, ensure that milling machine is at braking in-process electric braking mode normal operating, thereby improve the effect of energy recuperation.

With reference to the first aspect, in a possible implementation manner, the controller is configured to obtain a state of the power battery according to a charge value of the power battery: when the charge value of the power battery is smaller than a preset threshold value, the controller controls the discharge device to stop running; and when the charge value of the power battery is larger than or equal to the preset threshold value, the controller controls the discharge device to operate so as to consume the electric energy generated by the main drive motor.

With reference to the first aspect, in one possible implementation manner, the relief device includes: the milling motor is connected with the controller; and the milling drum is connected with the milling motor.

With reference to the first aspect, in one possible implementation manner, the controller is configured to control the electric energy value input to the milling motor according to the rotation speed of the milling motor.

With reference to the first aspect, in one possible implementation manner, the controller is connected to a brake pedal of the milling machine, and the controller is configured to monitor a state of the brake pedal of the milling machine and adjust an amount of electric energy input to the milling motor according to a rotation speed of the milling motor and the state of the brake pedal.

In a second aspect, the present application provides a method of braking a milling machine, the method comprising: when the milling machine is braking, acquiring a charge value of a power battery; acquiring the state of the power battery according to the charge value of the power battery; and controlling the operation or stop of the relief device according to the state of the power battery; when the operation of the bleeder device is controlled according to the state of the power battery, the operation state of the bleeder device meets a preset condition, and when the operation state of the bleeder device meets the preset condition, the bleeder device can completely consume the electric energy generated by the main drive motor during braking; the main driving motor is used for driving the milling machine to operate; the power battery is used for storing electric energy generated by the main drive motor when the milling machine brakes; the discharge device is used for consuming electric energy generated by the main drive motor during braking.

The application provides a milling machine braking method, when the milling machine brakes, the main drive motor produces electric energy, acquire the charge value of power battery simultaneously and judge the state of power battery, control bleeder mechanism's operation or stop according to the state of power battery, thereby avoid the condition that power battery appears overcharging, and simultaneously, control bleeder mechanism's running state, ensure that bleeder mechanism satisfies the preset condition, with the electric energy that main drive motor produced is released completely, reduce the possibility that power battery appears overcharging, thereby ensure the normal operating of power battery, and then the milling machine is in braking process, electric braking mode and transmission braking mode can move simultaneously, in order to reduce the reliance of milling machine to traditional braking mode.

With reference to the second aspect, in one possible implementation manner, the relief device includes: the milling machine comprises a milling drum and a milling motor, wherein the milling motor is used for driving the milling drum to rotate; when the operation of the bleed-off device is controlled according to the state of the power battery, the step of enabling the operation state of the bleed-off device to meet the preset condition specifically includes: when the charge value of the power battery is larger than or equal to a preset threshold value, starting the milling motor to drive the milling drum to operate; wherein the milling drum operates to bleed off electrical energy generated by the primary drive motor when braking.

With reference to the second aspect, in a possible implementation manner, the turning on the milling motor to drive the milling drum to operate specifically includes: when the rotating speed of the milling motor is smaller than the preset rotating speed value, increasing the electric energy value input into the milling motor to increase the rotating speed of the milling motor; when the rotating speed of the milling motor is greater than or equal to the preset rotating speed value, acquiring the state of a brake pedal of the milling machine; and adjusting the amount of electric energy input to the milling motor according to the state of the brake pedal.

With reference to the second aspect, in a possible implementation manner, the adjusting the amount of the electric energy input to the milling motor according to the state of the brake pedal specifically includes: when the state of the brake pedal is unchanged, maintaining the electric energy value input into the milling motor; when the state of the brake pedal changes along a first direction, increasing the electric energy value input into the milling motor to increase the rotating speed of the milling motor; and reducing the value of the electrical energy input to the milling motor to reduce the rotational speed of the milling motor when the state of the brake pedal changes in a second direction; the first direction is a direction when the brake pedal is pressed down, and the second direction is a direction when the brake pedal is lifted up.

In a third aspect, the present application further provides a milling machine, comprising: a vehicle body; and the milling machine braking system is characterized in that the main drive motor, the power battery, the discharge device and the controller are all arranged on the vehicle body.

The present application further provides a milling machine, which controls the operation of the braking system of the milling machine through the braking system to ensure that the conventional regime mode and the electric braking mode operate simultaneously when the milling machine brakes, so as to reduce the dependence of the milling machine on the conventional braking mode.

In a fourth aspect, the present application further provides an electronic device, including: a processor; and a memory having stored therein computer program instructions that, when executed by the processor, cause the processor to perform the milling machine braking method described above.

In a fifth aspect, the present application further provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, cause the processor to perform the milling machine braking method described above.

Drawings

Fig. 1 is a schematic diagram showing the components of a main drive motor, a power battery and a relief device in some embodiments of the present application.

FIG. 2 is a schematic diagram of the control module and the monitoring module according to some embodiments of the present disclosure.

Fig. 3 is a schematic diagram of a control module according to some embodiments of the present disclosure.

Fig. 4 is a schematic flow chart illustrating a method for braking a milling machine according to some embodiments of the present disclosure.

Fig. 5 is a schematic flow chart illustrating the process of obtaining the state of the power battery according to some embodiments of the present disclosure.

Figure 6 is a schematic flow chart illustrating the operation of the bleed device controlled in some embodiments of the present application,

fig. 7 is a schematic flow chart illustrating the operation of the bleed device in some embodiments of the present application.

Fig. 8 is a schematic flow chart illustrating the process of adjusting the amount of power input to the milling motor according to some embodiments of the present disclosure.

Fig. 9 is a schematic flow chart illustrating a change in state of a brake pedal of a milling machine according to some embodiments of the present disclosure.

Fig. 10 is a schematic flow chart illustrating the delivery of electric power to the milling motor according to some embodiments of the present disclosure.

Fig. 11 is a schematic flow chart illustrating a braking method of a milling machine according to some embodiments of the present disclosure.

Fig. 12 is a schematic diagram illustrating a configuration of an electronic device according to some embodiments of the present application.

Detailed Description

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 a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Summary of the application

During operation of an electric or hybrid milling machine, a braking system of the electric or hybrid milling machine generally includes two braking modes, one is conventional braking, and the other is electric braking, and the two braking modes can be operated independently or simultaneously to improve the braking effect of the milling machine. In the electric braking mode, the kinetic energy of the milling machine is converted into electric energy by the motor and stored in the storage battery for power supply and driving during braking by utilizing the performance that the motor can both drive and generate electricity, so that the utilization rate of the energy is improved, and the braking mode is called regenerative braking.

When the milling machine operates, the electric quantity storage in the storage battery has an upper limit, when the electric quantity in the storage battery reaches the upper limit value, namely the charge value (SOC) of the storage battery reaches the peak, if the storage battery is continuously charged, the storage battery is in an overcharged state, the effect of an electric braking mode is reduced or even loses efficacy, and the storage battery can be possibly damaged seriously.

As described above, in the prior art, the charge value of the battery is usually monitored, so as to determine the state of the battery according to the charge value of the battery, and when the battery is in an overcharged state, the operation of the battery is stopped, so as to stop the electric braking mode, and the braking of the milling machine is completely completed by the conventional braking mode, or by providing an energy consumption device, and connecting the energy consumption device and the driving motor together through a controller, so as to share a part of the electric energy transmitted from the driving motor to the battery, so as to consume the electric energy, but in this way, it is difficult to ensure the amount of the electric energy consumed by the energy consumption device, so that it is difficult to control the state of the battery, and the battery may still be in an overcharged state.

In order to solve or improve the problems, the application provides a milling machine braking system, a braking system method and a milling machine. The method can detect the state of the storage battery in real time, and can monitor and control the state of the discharge device in a closed-loop feedback mode, so that when the storage battery is in an overcharged state, the discharge device can fully consume redundant electric energy, the possibility that the storage battery is in the overcharged state for a long time is reduced, the storage battery can provide electric energy for an electric braking mode, the effectiveness of the electric braking mode of the milling machine is ensured, the electric braking mode and a traditional braking mode can run simultaneously when the milling machine brakes, and the energy recovery effect is improved.

It should be noted that the milling machine braking method provided by the present application may be used for any milling machine in any scenario. The invention is not limited to the specific configuration of the milling machine braking system.

Having described the general principles of the present application, various non-limiting embodiments of the present application will now be described with reference to the accompanying drawings.

Exemplary milling machine braking system

The embodiment of the application further provides a milling machine braking system, which is used for implementing the milling machine braking method described in any one of the embodiments.

Fig. 1 is a schematic diagram showing the components of a main drive motor, a power battery and a relief device in some embodiments of the present application. Referring to fig. 1, the braking system 80 includes a main drive motor 500, a power battery 600, and a bleed arrangement 700. The main drive motor 500 is used for driving the milling machine to operate. Power battery 600 is used to store electrical energy generated by main drive motor 500 during milling machine braking. The relief device 700 is electrically connected to the main drive motor 500 to consume electric power generated by the main drive motor 500 during braking.

FIG. 2 is a schematic diagram of the control module and the monitoring module according to some embodiments of the present disclosure. Referring to FIG. 2, the braking system 80 also includes a controller. The controller is respectively connected with the main driving motor 500, the power battery 600 and the relief device 700.

Specifically, the controller is configured to obtain the state of the power battery 600 according to the charge value of the power battery 600: when the charge value of the power battery 600 is smaller than a preset threshold value, the controller controls the relief device 700 to stop running; and when the charge value of the power battery 600 is greater than or equal to the preset threshold, the controller controls the bleeding device 700 to operate to consume the electric energy generated by the main drive motor 500.

The gist of the invention of the present application is that, under the control of the controller, when the charge value of the power battery 600 is smaller than the preset threshold, all the electric energy generated by the main drive motor 500 during braking is stored in the power battery 600, and at this time, the bleeding device 700 does not participate; when the charge value of the power battery 600 is greater than or equal to the preset threshold value, the controller controls the operation of the discharge device 700 and enables the operation state of the discharge device 700 to meet the preset condition as soon as possible, and when the operation state of the discharge device 700 meets the preset condition, the discharge device 700 can completely consume the electric energy generated by the main drive motor 500 during braking, so that on one hand, the normal operation of electric braking can be ensured, on the other hand, the overcharge of the power battery can be well avoided, and the service life of the power battery is prolonged.

Wherein the controller includes a monitoring module 200 and a control module 300. The monitoring module 200 is used for monitoring the charge value of the power battery 600 to determine the state of the power battery 600. The control module 300 is communicatively coupled to the monitoring module 200 to obtain the status of the power cell 600. The control module 300 is configured to control the operation or stop of the bleed device 700 depending on the state of the power cell 600. Wherein, when the relief device 700 is operated, the operation state of the relief device 700 satisfies the preset condition.

When the milling machine brakes during operation, the monitoring module 200 detects the charge value of the power battery 600 to determine the state of the power battery 600, the control module 300 is connected with the monitoring module 200 to obtain the state of the power battery 600, and the control module 300 generates a corresponding control command according to the state of the power battery 600 to control the operation or stop of the bleeding device 700. When the vent apparatus 700 is operating, the control module 300 controls the operation state of the vent apparatus 700 by generating different control commands to ensure that the vent apparatus 700 meets the preset conditions. Therefore, the operation of the electromechanical braking mode of the milling machine is ensured, and when the milling machine brakes, the electric braking mode and the traditional braking mode are simultaneously operated, so that the energy recovery effect is improved. Meanwhile, the maximum effect of the electric braking mode can be exerted in a state that the charge value of the power battery 600 is high, and the safe operation of an electric system of the milling machine is ensured.

In some embodiments of the present application, the monitoring module 200 includes a first sensor and a first processor. The first sensor is used for monitoring the charge value of the power battery 600, the first processor is in communication connection with the first sensor to acquire the charge value, a preset threshold value can be set in the first processor, and the first processor is used for comparing the charge value with the preset threshold value. When the charge value is smaller than the preset threshold value, the control module 300 sends a stop instruction, and the bleeding device 700 stops running. When the charge value is greater than or equal to the preset threshold value, the control module 300 sends an operation instruction, and the discharging device 700 operates to discharge the electric energy generated by the main drive motor.

In some embodiments of the present disclosure, the tapping device 700 includes a milling motor and a milling drum, wherein the milling motor is connected to the controller; the milling drum is connected with the milling motor. Preferably, the controller is configured to control the value of the electrical energy input to the milling motor as a function of the rotational speed of the milling motor. More preferably, the controller is connected with a brake pedal of the milling machine, and the controller is used for monitoring the state of the brake pedal of the milling machine and adjusting the magnitude of the electric energy input into the milling motor according to the rotating speed of the milling motor and the state of the brake pedal.

Specifically, the milling motor is used to drive the milling drum to rotate, and the milling motor is connected to the main driving motor 500 through the controller to receive the electric energy generated by the main driving motor 500. When the milling machine brakes, the milling motor firstly enters a to-be-operated state, when the discharge module needs to be operated, the milling motor is connected with the main drive motor 500 through the controller, electric energy generated by the main drive motor 500 is transmitted to the milling motor, and the milling motor starts to operate after obtaining the electric energy so as to drive the milling drum to idle and smoothly discharge the electric energy.

It should be noted that the milling drum adopted as the energy consumption member has various beneficial effects, on one hand, the milling drum has a large self weight, and can consume more capacity during rotation, so as to fully discharge electric energy, that is, the electric energy generated by the main drive motor 500 during braking can be completely consumed, and the overcharge state of the power battery 600 can be effectively reduced, so that the power battery 600 is protected, the service life of the power battery 600 can be prolonged, and the requirement of electromechanical braking of the milling machine can be met. On the other hand, the milling drum belongs to a part of the structure of the milling machine, and a discharge element does not need to be added independently, so that the overall cost is reduced, and the complexity of the device is simplified.

Fig. 3 is a schematic diagram of a control module according to some embodiments of the present disclosure. Referring to fig. 3, the control module 300 includes a feedback device 310 and a current limiting unit 320. The feedback device 310 is in communication with the milling motor to monitor the operation state of the milling motor, and the current limiting unit 320 performs a variable current transformation on the current generated by the main drive motor 500 to protect the milling motor. The current limiting unit 320 is in communication connection with the feedback device 310, and the current limiting unit 320 adjusts the amount of electric energy input to the milling motor according to the operation state of the milling motor.

In some embodiments of the present application, feedback device 310 includes a second sensor and a second processor. The second sensor is used for detecting the rotating speed of the milling motor, the second processor is in communication connection with the second sensor to acquire the rotating speed, a rotating speed preset value is set in the second processor, and the second processor is used for comparing the rotating speed with the rotating speed preset value. And when the rotating speed is less than the preset rotating speed value, increasing the electric energy value input into the milling motor to improve the rotating speed of the milling motor.

In some embodiments of the present application, feedback device 310 further comprises a status sensor. The state sensor is used for detecting the state of a brake pedal of the milling machine. The state sensor is in communication connection with the second processor, and when the rotating speed of the milling motor is larger than a preset rotating speed value, the second processor adjusts the electric energy value input into the milling motor according to the state of the brake pedal.

Specifically, when the state of the brake pedal is unchanged, the electric energy value input into the milling motor is maintained; when the state of the brake pedal changes along the first direction, increasing the electric energy value input into the milling motor to improve the rotating speed of the milling motor; when the state of the brake pedal changes along the second direction, the electric energy value input into the milling motor is reduced to reduce the rotating speed of the milling motor.

In some embodiments of the present application, the current limiting unit 320 includes a third sensor and a third processor, the third sensor is configured to detect a current value generated by the main driving motor 500, the third processor is connected to the third sensor in a communication manner to obtain the current value, a preset current value is set in the third processor, and the third processor is configured to compare the current value with the preset current value. When the current value is greater than the preset current value, the current generated by the main drive motor 500 is converted into a variable current and then transmitted to the milling motor.

In some embodiments of the present disclosure, the control module 300 may be an all-in-one controller, so that the controller may be communicatively connected to the main drive motor 500, the milling motor, and the monitoring module 200 at the same time.

In some embodiments of the present application, the device further comprises a parking brake. And when the speed of the milling machine is zero, the parking brake is started to brake and stop the milling machine.

Exemplary milling machine braking method

The embodiment of the application provides a milling machine braking method.

The method is suitable for a braking system of a milling machine. The braking system includes a main drive motor 500, a power battery 600, and a bleed-off device 700. The main drive motor 500 is used for driving the milling machine to operate. Power battery 600 is used to store electrical energy generated by main drive motor 500 during milling machine braking. The relief device 700 is electrically connected to the main drive motor 500 to consume electric power generated by the main drive motor 500 during braking.

Fig. 4 is a schematic flow chart illustrating a method for braking a milling machine according to some embodiments of the present disclosure. Referring to fig. 4, the milling machine braking method includes:

step 100: when the milling machine is braking, the charge value of the power battery is obtained.

When the milling machine brakes, the driver steps on the brake pedal of the milling machine. A power battery is a power source mounted on the milling machine for providing electrical energy to the electric braking mode of the milling machine. The charge value represents the current electric quantity of the power battery. Since the braking of the milling machine must be reacted quickly, the charge value of the power battery is immediately obtained from the instant the driver depresses the brake pedal, both of which occur almost simultaneously.

Step 110: and acquiring the state of the power battery according to the charge value of the power battery.

After the charge value of the power battery is obtained, the electric quantity of the power battery can be judged, and the state of the power battery can be judged according to the electric quantity of the power battery. The process can be concluded by a simple logical comparison of the charge value with a standard value, and is therefore completed immediately after the charge value is obtained.

Step 120: and controlling the operation or stop of the relief device according to the state of the power battery.

When the operation of the bleeder device is controlled according to the state of the power battery, the operation state of the bleeder device meets the preset condition.

The bleeder device is used for consuming the electric energy generated by the main drive motor during braking. When the power battery is in the overcharge state, the discharge device can operate to consume the electric energy of the main drive motor, so that the normal operation of the power battery is ensured. When the power battery is not in the overcharged state, the bleeder device does not operate, and the electric energy generated by the main drive motor is stored in the power battery to be used for driving.

The preset condition is a judgment standard for the running state of the relief device, such as the rotating speed or the energy consumption. When the running state of the bleeder device meets the preset conditions, the bleeder device can completely discharge the electric energy generated by the main drive motor, otherwise, the bleeder device cannot completely discharge the electric energy generated by the main drive motor, and the running state of the bleeder device needs to be adjusted to meet the preset conditions.

When the milling machine brakes, the interval between the

steps

100, 110 and 120 is short, so that the whole step is completed only by hundreds of microseconds, and at the moment when the brake pedal is released from the driver, the braking system can complete the

steps

100, 110 and 120 within hundreds of microseconds to brake the milling machine. Therefore, the milling machine does not have the problem of braking delay.

Through the

steps

100, 110 and 120, when the milling machine brakes in the operation process, the main drive motor generates electric energy, at this time, the state of the power battery is judged by acquiring the charge value of the power battery, the operation or the stop of the discharge device is controlled according to the state of the power battery, when the discharge device operates, the operation state of the discharge device is controlled to ensure that the discharge device can completely discharge the electric energy generated by the main drive motor, so that the possibility that the power battery is in the overcharge state is reduced, the possibility that the electric braking mode normally operates is improved, and when the milling machine brakes, the electric braking mode and the traditional braking mode can simultaneously operate to improve the energy recovery effect.

Fig. 5 is a schematic flow chart illustrating the process of obtaining the state of the power battery according to some embodiments of the present disclosure. Referring to fig. 5, the step 120 specifically includes:

step 121: and when the charge value of the power battery is smaller than a preset threshold value, controlling the discharge device to stop running.

The preset threshold is a standard for judging the charge value of the power battery, and when the charge value of the power battery is smaller than the preset threshold, the power battery is not in a super-charging state, and the discharge device does not need to operate.

Step 122: and when the charge value of the power battery is greater than or equal to the preset threshold value, controlling the discharge device to operate to consume the electric energy generated by the main drive motor.

When the power battery and the charge value are larger than or equal to the preset threshold value, the power battery is in a super-charging state, and the discharge device operates to consume the electric energy of the main drive motor at the moment.

Through the

steps

121 and 122, after the charge value of the power battery is obtained, the state of the power battery is judged by comparing the charge value with a preset threshold value, and then the operation or stop of the discharge device is controlled according to the state of the power battery.

In some embodiments of the present application, the charge value represents a percentage of a current electric quantity of the power battery to a total electric quantity of the power battery, and the preset threshold is also a percentage value, for example, the preset threshold may be set to 95%, that is, when the charge value is greater than or equal to 95%, the power battery may be considered to be in the overcharge state.

In some embodiments of the present application, the step 122 specifically includes: and communicating the main drive motor with the discharge device to transmit the electric energy generated by the main drive motor to the discharge device. When the power battery is in the super-charging state, the main drive motor is directly connected with the discharge device, electric energy generated by the main drive motor is directly transmitted to the discharge device, and the discharge device operates by utilizing the electric energy, so that the electric energy of the main drive motor is discharged.

Fig. 6 is a schematic flow chart illustrating operation of a bleed device including a milling drum and a milling motor for driving the milling drum to rotate according to some embodiments of the present disclosure. Referring to fig. 6, the step 122 specifically includes:

step 1221: and when the milling machine brakes, controlling the milling motor to be in a state to be operated.

When the milling machine brakes, namely the moment when the driver steps on the pedal, the milling motor is started but not electrified, and the milling motor can keep a starting state but does not run due to the absence of electric energy.

Step 1222: and connecting the main driving motor with the milling motor to transmit electric energy to the milling motor.

Because the milling motor is already started, when the main drive motor is connected with the milling motor, the electric energy generated by the main drive motor during braking is input into the milling motor, and the milling motor directly starts to operate after obtaining the electric energy.

Step 1223: and starting the milling motor to drive the milling drum to operate.

Wherein the milling drum operates to discharge electrical energy from the main drive motor.

After the milling motor starts to operate, the milling drum is driven to operate, so that the electric energy of the milling motor is consumed, namely, the electric energy generated by the main drive motor during braking is discharged.

Through the

steps

1221, 1222, and 1223, when the electric energy generated by the main drive motor during braking needs to be released, the main drive motor is connected to the milling motor, the electric energy generated by the main drive motor is directly transmitted to the milling motor, at this time, the milling motor is already started, and after the milling motor obtains the electric energy, the milling motor directly starts to operate to drive the milling drum to operate, so as to rapidly release the electric energy generated by the main drive motor.

In some embodiments of the present application, the preset condition is that the maximum value of the electric energy consumed by the discharge device is greater than the electric energy value generated by the main drive motor during braking, and when the operating state of the discharge device satisfies the preset condition, the discharge device can completely discharge the electric energy generated by the main drive motor during braking, so as to ensure that the power battery is not charged any more, and reduce the possibility of overcharge of the power battery.

Fig. 7 is a schematic flow chart illustrating the operation of the bleed device in some embodiments of the present application. Referring to fig. 7, the step 120 specifically includes:

step 123: and acquiring the running state of the milling motor.

The operation state of the milling motor directly influences the operation state of the milling drum, and if the rotation speed of the milling motor directly influences the rotation speed of the milling drum, the operation state of the milling drum determines the size of electric energy which can be discharged.

Step 124: and adjusting the electric energy input to the milling motor according to the running state of the milling motor.

By changing the input electric energy of the milling motor, the running state of the milling motor can be changed, such as the rotating speed, particularly, when the input electric energy is increased, the rotating speed of the milling motor is increased, and the rotating speed of the milling drum is synchronously increased, so that the discharge capacity of the electric energy is enhanced.

Through the

above steps

123 and 124, the operation state of the milling motor is controlled, so as to control the operation state of the milling drum, and further control the discharge capacity of the milling drum to the electric energy generated by the milling motor, so as to ensure that the milling drum has the condition of complete discharge of the electric energy.

Fig. 8 is a schematic flow chart illustrating the process of adjusting the amount of power input to the milling motor according to some embodiments of the present disclosure. Referring to fig. 8, the step 124 specifically includes:

step 1241: and when the rotating speed of the milling motor is smaller than the preset rotating speed value, increasing the electric energy value input into the milling motor to improve the rotating speed of the milling motor.

When the rotating speed of the milling motor is smaller than the preset rotating speed value, the milling drum is considered to be incapable of completely discharging the electric energy generated by the main drive motor, the electric energy value input into the milling motor is increased, the rotating speed of the milling motor is gradually increased, and meanwhile, the rotating speed of the milling drum is synchronously increased so as to improve the discharging degree of the electric energy generated by the main drive motor.

And 1242, acquiring the state of a brake pedal of the milling machine when the rotating speed of the milling motor is greater than a preset rotating speed value.

The brake pedal is used for turning on or turning off a brake mode of the milling machine, when a driver treads the brake pedal, the milling machine enters the brake mode, a main drive motor of the milling machine starts to generate electric energy, and the state of the brake pedal has direct influence on the electric energy generated by the main drive motor.

And 1243, adjusting the electric energy input to the milling motor according to the state of the brake pedal.

The magnitude of the electric energy generated by the main drive motor can be determined by acquiring the state of the brake pedal, so that the magnitude of the electric energy input to the milling motor is correspondingly changed, and the rotating speed of the milling motor is controlled to correspondingly discharge the electric energy generated by the main drive motor.

Through the

steps

1241, 1242 and 1243, the operation state of the milling motor is judged by comparing the rotation speed of the milling motor with the preset rotation speed value, and then the intensity of the discharge capacity of the milling drum to the electric energy is judged, when the milling drum cannot completely discharge the electric energy generated by the main drive motor, the electric energy value input by the milling motor is increased, the rotation speed of the milling motor is accordingly increased, the rotation speed of the milling drum is increased along with the increase of the rotation speed of the milling motor, and the discharge capacity of the milling drum to the electric energy generated by the main drive motor is enhanced, so that the fact that the milling drum can completely discharge the electric energy generated by the main drive motor is ensured. Meanwhile, the size of the electric energy generated by the main drive motor is judged according to the state of the brake pedal, so that the size of the electric energy input into the milling motor is correspondingly changed, the rotating speed of the milling motor is conveniently controlled, and the electric energy generated by the main drive motor is completely released.

Fig. 9 is a schematic flow chart illustrating a change in state of a brake pedal of a milling machine according to some embodiments of the present disclosure. Referring to fig. 9, the step 1243 specifically includes:

step 12431: and when the state of the brake pedal is not changed, the electric energy value input into the milling motor is maintained.

The brake pedal is not changed, and two conditions are included. The first is that the driver does not tread on the brake pedal, and at the moment, a main driving motor of the milling machine is mainly used for driving the milling machine to run and does not generate electric energy; the second type is that the driver steps on the brake pedal and keeps the brake pedal still, the braking mode of the milling machine is stably maintained in one state at the moment, and the braking module of the main driving motor is started and stably generates electric energy at the moment, so that the power battery can be ensured not to be in an overcharged state only by maintaining the electric energy value of the milling machine at the moment.

Step 12432: when the state of the brake pedal changes along the first direction, the electric energy value input into the milling motor is increased to increase the rotating speed of the milling motor.

Wherein the first direction is a direction in which the brake pedal is depressed.

When the brake pedal is pressed down along the first direction, the brake pedal indicates that the driver increases the force for stepping the brake pedal, the brake effect of the brake module of the main drive motor is enhanced, the electric energy generated by the main drive motor is improved, the electric energy value input into the milling motor is increased to improve the rotating speed of the milling motor, and therefore the consumption intensity of the electric energy generated by the main drive motor is improved.

Step 12433: when the state of the brake pedal changes along the second direction, the electric energy value input into the milling motor is reduced to reduce the rotating speed of the milling motor.

Wherein the second direction is the direction when the brake pedal is lifted.

When the brake pedal is lifted along the second direction, the brake pedal indicates that the driver reduces the force for stepping the brake pedal, at the moment, the brake effect of the brake module of the main drive motor is weakened, the electric energy generated by the main drive motor is reduced along with the reduction of the force, and at the moment, the electric energy value input into the milling motor is correspondingly reduced.

Through the

steps

12431, 12432 and 12433, the magnitude of the electric energy generated by the main drive motor is determined according to the state of the brake pedal, so that the value of the electric energy transmitted to the milling motor is adjusted according to the state of the brake pedal, and the milling motor can be ensured to completely discharge the value of the electric energy generated by the main drive motor.

Fig. 10 is a schematic flow chart illustrating the delivery of electric power to the milling motor according to some embodiments of the present disclosure. Referring to fig. 10, step 1222 specifically includes:

step 12221: and acquiring the current value generated by the main drive motor during braking.

The main drive motor can generate current in the braking process, and the current is detected to obtain a current value so as to judge the magnitude of the current.

Step 12222: and when the current value is larger than the preset current value, the current generated by the main drive motor is subjected to variable current conversion and then transmitted to the milling motor.

When the current value is larger than the preset current value, the current generated by the main drive motor is considered to be larger and exceeds the rated current of the operation of the milling motor, so that the current generated by the main drive motor is firstly subjected to variable current conversion so as to play a role in limiting the current generated by the main drive motor. When the milling motor needs to increase the input current, the effect of current limiting is reduced, and the current generated by the main drive motor is more input into the milling motor, so that the current value input into the milling motor is smoothly increased.

Through the

above steps

12221 and 12222, the current generated by the main drive motor is limited, so that the normal operation of the milling motor can be protected, the current limiting effect on the main drive motor can be reduced when the input current of the milling motor needs to be increased, and more current generated by the main drive motor is transmitted into the milling motor.

In some embodiments of the present application, the method further comprises: acquiring the speed of a milling machine; when the vehicle speed is zero, the brake of the milling machine is parking brake.

The speed of the milling machine represents the running speed of the milling machine, the running speed of the milling machine has great influence on the running of a braking system, and particularly, when the milling machine runs slowly, a driver only needs to slightly step on a brake pedal, the braking system runs for a short time, and the milling machine can brake; when the milling machine runs quickly, a driver needs to step on the brake pedal again, the brake system needs to run for a long time, and the milling machine can brake.

When the vehicle speed is zero, it indicates that the milling machine has stopped and is therefore no longer generating any power, and the parking brake is the braking mode used when the milling machine is stopped, and the parking brake is used to fix the milling machine.

Fig. 11 is a schematic flow chart illustrating a braking method of a milling machine according to some embodiments of the present disclosure. In summary, referring to fig. 11, when the milling machine brakes (S1), it is determined whether the vehicle speed is zero (S2), when the vehicle speed is zero, the milling machine is in parking brake (S3), when the vehicle speed is not zero, it is determined whether the power battery is overcharged (S4), when the power battery is not overcharged, the electric braking mode is operated (S5), when the power battery is overcharged, the milling motor is operated (S6), and the milling motor drives the milling drum to operate (S7) to discharge the electric energy generated by the main drive motor.

Referring to fig. 11, it is determined whether the rotation speed of the milling motor is less than a preset rotation speed value (S8), the electric brake mode is operated when the rotation speed of the milling motor is less than the preset rotation speed value, and the input current value of the milling motor is increased when the rotation speed of the milling motor is less than the preset rotation speed value (S9) to increase the rotation speed of the milling motor.

Referring to fig. 11, when the rotation speed of the milling motor is greater than the preset rotation speed value, the state of the brake pedal of the milling machine is determined (S10), when the state of the brake pedal of the milling machine is not changed, the input current value of the milling machine is maintained, the electric braking mode is operated (S5), when the state of the brake pedal of the milling machine is continuously pressed, the input current value of the milling machine is increased (S11), the electric braking mode is operated (S5), when the brake pedal of the milling machine is continuously lifted, the input current value of the milling machine is reduced (S12), and the electric braking mode is operated (S5).

Exemplary milling machine

The present application further provides a milling machine.

This milling machine includes: the vehicle body and the milling machine braking system described in any of the above embodiments, the main drive motor, the power battery, the bleed-off device, and the controller are all disposed on the vehicle body. The milling machine braking system is used for achieving braking of the vehicle body.

In the running process of the vehicle body, the electric energy generated by the milling machine in the braking process is recovered through the braking system, the utilization rate of the electric energy is improved, the possibility of simultaneous running of an electric braking mode and a transmission braking mode can be improved, and the dependence of the vehicle body on traditional braking is reduced.

Since the milling machine is provided with the milling machine braking system, the milling machine has all the technical effects of the milling machine braking system, which are not described herein again.

Exemplary electronic device

Fig. 12 is a schematic diagram illustrating a configuration of an electronic device according to some embodiments of the present application. As shown in fig. 12, the electronic device 910 includes: one or more processors 9101 and memory 9102; and computer program instructions stored in memory 9102 that, when executed by processor 9101, cause processor 9101 to perform a milling machine braking method as in any of the embodiments described above.

Processor 9101 can be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and can control other components in an electronic device to perform desired functions.

Memory 9102 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by processor 9101 to implement the steps of the planer braking methods of the various embodiments of the present application described above and/or other desired functions. Information such as vehicle acceleration, road condition information, and vehicle hydraulic pressure may also be stored in the computer readable storage medium.

In one example, the electronic device 910 may further include: an input device 9103 and an output device 9104, which are interconnected by a bus system and/or other form of connection mechanism (not shown in fig. 12).

Of course, for simplicity, only some of the components of the electronic device 910 relevant to the present application are shown in fig. 12, and components such as buses, input devices/output interfaces, and the like are omitted. In addition, the electronic device 910 may include any other suitable components depending on the particular application.

Exemplary computer program product and computer-readable storage Medium

In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the milling machine braking method of any of the above-described embodiments.

The computer program product may write program code for carrying out operations for embodiments of the present application 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.

Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps of the milling machine braking method according to various embodiments of the present application, as described in the "exemplary milling machine braking method" section above in this specification.

The computer-readable storage medium 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 describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.

The block diagrams of devices, apparatuses, systems referred to in this application 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 devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. 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 application. Thus, the present application 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 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 above description is only exemplary of the present application and should not be taken as limiting the present application, as any modifications, equivalents and the like that are within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A milling machine braking system, comprising:

the main driving motor is used for driving the milling machine to operate;

the power battery is used for storing electric energy generated by the main drive motor when the milling machine brakes;

the discharging device is used for consuming electric energy generated by the main drive motor during braking; and

the controller is respectively connected with the main drive motor, the power battery and the bleeder device, and is used for acquiring the state of the power battery to control the bleeder device to run or stop;

when the relief device operates, the operating state of the relief device meets a preset condition, and when the operating state of the relief device meets the preset condition, the relief device can completely consume the electric energy generated by the main drive motor during braking.

2. The milling machine braking system of claim 1, wherein the controller is configured to derive the state of the power battery from the power battery charge value:

when the charge value of the power battery is smaller than a preset threshold value, the controller controls the discharge device to stop running; and

when the charge value of the power battery is larger than or equal to the preset threshold value, the controller controls the discharge device to operate so as to consume the electric energy generated by the main drive motor.

3. The milling machine braking system of claim 1, wherein the bleed arrangement includes:

the milling motor is connected with the controller; and

and the milling drum is connected with the milling motor.

4. The milling machine braking system of claim 3, wherein the controller is configured to control the value of electrical energy input to the milling motor based on a speed of the milling motor.

5. The milling machine braking system of claim 4, wherein the controller is coupled to a brake pedal of the milling machine, the controller configured to monitor a state of the brake pedal of the milling machine and adjust an amount of electrical energy input to the milling motor based on a speed of the milling motor and the state of the brake pedal.

6. A method of braking a milling machine, the method comprising:

when the milling machine is braking, acquiring a charge value of a power battery;

acquiring the state of the power battery according to the charge value of the power battery; and

controlling the operation or stop of the relief device according to the state of the power battery;

when the operation of the bleeder device is controlled according to the state of the power battery, the operation state of the bleeder device meets a preset condition, and when the operation state of the bleeder device meets the preset condition, the bleeder device can completely consume the electric energy generated by the main drive motor during braking;

the main driving motor is used for driving the milling machine to operate; the power battery is used for storing electric energy generated by the main drive motor when the milling machine brakes; the discharge device is used for consuming electric energy generated by the main drive motor during braking.

7. The milling machine braking method of claim 6, wherein the bleed arrangement comprises: the milling machine comprises a milling drum and a milling motor, wherein the milling motor is used for driving the milling drum to rotate; when the operation of the bleed-off device is controlled according to the state of the power battery, the step of enabling the operation state of the bleed-off device to meet the preset condition specifically includes:

when the charge value of the power battery is greater than or equal to a preset threshold value,

turning on the milling motor to drive the milling drum to operate;

wherein the milling drum operates to bleed off electrical energy generated by the primary drive motor when braking.

8. The milling machine braking method according to claim 7, wherein the turning on of the milling motor to drive the milling drum to operate specifically comprises:

when the rotating speed of the milling motor is smaller than the preset rotating speed value, increasing the electric energy value input into the milling motor to increase the rotating speed of the milling motor;

when the rotating speed of the milling motor is greater than or equal to the preset rotating speed value, acquiring the state of a brake pedal of the milling machine; and

the magnitude of the electric energy input to the milling motor is adjusted according to the state of the brake pedal.

9. The method of claim 8, wherein the adjusting the amount of power input to the milling motor based on the state of the brake pedal includes:

when the state of the brake pedal is unchanged, maintaining the electric energy value input into the milling motor;

when the state of the brake pedal changes along a first direction, increasing the electric energy value input into the milling motor to increase the rotating speed of the milling motor; and

when the state of the brake pedal changes along a second direction, reducing the electric energy value input into the milling motor to reduce the rotating speed of the milling motor;

the first direction is a direction when the brake pedal is pressed down, and the second direction is a direction when the brake pedal is lifted up.

10. A milling machine, comprising:

a vehicle body; and

the milling machine braking system of any one of claims 1 to 5, wherein the main drive motor, the power battery, the bleed off device, and the controller are all disposed on the vehicle body.