CN115801492A - PTO (power take off) rotating speed control method, device and system - Google Patents
PTO (power take off) rotating speed control method, device and system Download PDFInfo
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Abstract
The invention discloses a PTO (power take off) rotating speed control method, which comprises the following steps of: collecting a CAN message of a local PTO switch and a digital quantity signal of a remote PTO switch, determining the state of the local PTO switch according to the CAN message, and determining the state of the remote PTO switch according to the digital quantity signal; determining the on-off condition of each PTO switch according to the state of the local PTO switch and the state of the remote PTO switch, and generating a first message according to the on-off condition; receiving a loading rotating speed request message through a loading special CAN network segment, and making the loading rotating speed request message into a second message; and sending the first message and the second message to an engine controller, so that the engine controller can start the PTO and adjust the rotating speed of the engine according to the first message and the second message. The invention CAN realize the cooperative control of the local PTO and the remote PTO, and CAN be compatible with the baud rate requirements of loading controllers of different manufacturers without changing the front loading vehicle CAN baud rate to adapt to loading.
Description
Technical Field
The invention relates to the technical field of PTO (power take-off) rotating speed control, in particular to a PTO rotating speed control method, device and system.
Background
PTO (Power-Take-Off), also known as Power takeoff. The PTO mainly has the function of obtaining power from a vehicle chassis system, then transmitting the power to a vehicle oil pump system through a transmission shaft through self conversion, and further controlling the upper part to complete respective special functions.
In the application of the PTO, local PTO control and remote PTO control which is installed on the PTO are generally required to be configured at the same time, so that a driver can conveniently start the PTO in a cab or under a vehicle and adjust the rotating speed of an engine to adjust power output, and the requirements of multiple use scenes of an environmental sanitation vehicle are met. At present, the remote PTO is installed to adjust the rotating speed of the engine mainly in two ways: firstly, signals of '+', '-' are input to a starting controller through an upper-mounted remote PTO entity switch (which is a digital switch basically at present) to carry out rotation speed regulation; secondly, the rotating speed is controlled by sending a loading rotating speed request CAN (Controller Area Network) message to the engine Controller.
The inventor finds that the following technical problems exist in the prior art in the process of implementing the invention:
the local PTO switch is generally assembled on a steering wheel switch, and in order to reduce the number of wiring harnesses and clock spring channels and save cost, most vehicle enterprises adopt an analog quantity type when designing the local PTO switch at the present stage. However, at present, most of the installed PTO switches are digital switches, and therefore, the local PTO switches cannot be simultaneously connected to the engine controller for performing the cooperative control of the local PTO and the remote PTO. In addition, the baud rate of the upper controller and the baud rate of the front loading vehicle cannot be unified in actual use due to too many manufacturers of the upper controller, and the problem that local PTO control and remote PTO control cannot be compatible occurs.
Disclosure of Invention
The embodiment of the invention provides a PTO (power take off) rotating speed control method, a device and a system, which realize cooperative control of a local PTO and a remote PTO and unification of the baud rate of an upper-mounted controller and the baud rate of a front-mounted whole vehicle, and CAN be compatible with the baud rate requirements of upper-mounted controllers of different manufacturers without changing the CAN baud rate of the front-mounted whole vehicle to adapt to loading.
An embodiment of the present invention provides a PTO rotational speed control method including the steps of:
collecting a CAN message of a local PTO switch and a digital quantity signal of a remote PTO switch, determining the state of the local PTO switch according to the CAN message, and determining the state of the remote PTO switch according to the digital quantity signal;
determining the on-off condition of each PTO switch according to the state of the local PTO switch and the state of the remote PTO switch, and generating a first message according to the on-off condition;
receiving a loading rotating speed request message through a CAN network segment special for loading, and making the loading rotating speed request message into a second message;
and sending the first message and the second message to an engine controller, so that the engine controller can start the PTO and adjust the engine speed according to the first message and the second message.
Compared with the prior art, the PTO rotating speed control method disclosed by the embodiment of the invention integrates PTO switch signals and automatically identifies the CAN baud rate of the loading controller through the gateway and automatically adapts to the CAN baud rate, realizes the cooperative control of the local PTO and the remote PTO and the unification of the local PTO and the CAN baud rate of the loading controller and the front loading truck, and CAN be compatible with the baud rate requirements of the loading controllers of different manufacturers without changing the CAN baud rate of the front loading truck to adapt to the loading.
Further, the determining the state of the local PTO switch according to the CAN message specifically includes:
the local PTO switch includes: local PTO resumes switch, local PTO closing switch, local PTO + switch and local PTO-switch, local PTO switch's CAN message includes: a local PTO recovery message, a local PTO closing message, a local PTO + message and a local PTO-message;
when a local PTO recovery message with a signal value of a first preset value is acquired, determining that a local PTO recovery switch is conducted; when a local PTO closing message with a signal value of a second preset value is acquired, determining that a local PTO closing switch is conducted; when a local PTO + message with a signal value of a third preset value is acquired, determining that the local PTO + switch is conducted; and when the local PTO-message with the signal value being the fourth preset value is acquired, determining that the local PTO-switch is conducted.
Further, the determining the state of the remote PTO switch according to the digital signal specifically includes:
when the first gateway circuit collects a first preset signal, the remote PTO recovery switch is determined to be conducted; when the gateway circuit II acquires a second preset signal, the remote PTO closing switch is determined to be conducted; when the third gateway circuit acquires a third preset signal, the remote PTO + switch is determined to be conducted; and when the fourth gateway line collects a fourth preset signal, the remote PTO-switch is determined to be conducted.
Further, the determining, according to the state of the local PTO switch and the state of the remote PTO switch, on/off conditions of each PTO switch, and generating a first message according to the on/off conditions specifically include:
if any one of the local PTO recovery switch and the remote PTO recovery switch is determined to be conducted, the gateway outputs a first message PTO recovery message;
if any one of the local PTO closing switch and the remote PTO closing switch is determined to be conducted, the gateway outputs a first message as a PTO closing message;
if the fact that the local PTO + switch and the remote PTO + switch are conducted is determined, the gateway outputs a first message as a PTO + message;
and if the local PTO-switch and the remote PTO-switch are determined to be conducted, the gateway outputs a first message as a PTO-message.
And performing OR logic operation on the local PTO control signal and the remote PTO control signal, wherein the gateway can receive and respond as long as one of the two switches is conducted, and output a message to the engine controller, so that the cooperative control of the local PTO switch and the remote PTO switch is realized.
Further, the receiving a loading rotation speed request message through a loading dedicated CAN network segment specifically includes:
the method comprises the following steps that a plurality of Baud rates with fixed values are registered in advance in a CAN network segment special for the upper loader, and a default Baud rate value of the CAN network segment special for the upper loader is set to be the same as a Baud rate value of a front loader whole vehicle;
when receiving the loading rotating speed request message data, firstly receiving the default baud rate value, and if the default baud rate value cannot be received, switching other baud rates of various preset fixed values to receive;
recording the baud rate when the rotating speed request message can be received as a first baud rate, and receiving by adopting the first baud rate when the rotating speed request message is subsequently received.
The CAN baud rate of the upper loading controller is automatically identified and automatically adapted to the CAN baud rate through the gateway, so that the unity of the baud rate of the upper loading controller and the baud rate of the front loading vehicle is realized, and the baud rate requirements of the upper loading controllers of different manufacturers CAN be met without changing the CAN baud rate of the front loading vehicle to adapt to the upper loading.
Further, the making the loading rotation speed request message into a second message specifically includes:
if the value of the first baud rate is the same as that of the front-loading whole vehicle, directly taking the loading rotating speed request message as a second message;
and if the value of the first baud rate is different from the baud rate value of the front-loading whole vehicle, adjusting the baud rate of the loading rotating speed request message to be the same as the baud rate value of the front-loading whole vehicle, and then using the baud rate as a second message.
Another embodiment of the present invention correspondingly provides a PTO rotational speed control apparatus, including:
the device comprises a signal acquisition module, a signal integration module, a baud rate adaptation module and a signal sending module;
the signal acquisition module is used for acquiring a CAN message of a local PTO switch and a digital quantity signal of a remote PTO switch, determining the state of the local PTO switch according to the CAN message and determining the state of the remote PTO switch according to the digital quantity signal;
the signal integration module is used for determining the on-off condition of each PTO switch according to the state of the local PTO switch and the state of the remote PTO switch and generating a first message according to the on-off condition;
the Baud rate adaptation module is used for receiving a loading rotating speed request message through a CAN network segment special for loading, and making the loading rotating speed request message into a second message;
and the signal sending module is used for sending the first message and the second message to an engine controller, so that the engine controller can start the PTO and adjust the rotating speed of the engine according to the messages.
Compared with the prior art, the PTO rotating speed control device disclosed by the embodiment of the invention collects and integrates local and remote PTO switch signals through the internal module, and realizes the cooperative control compatible with the local analog PTO switch and the remote digital PTO switch. And the baud rate of the upper-mounted controller is automatically adapted through the signal sending module, the rotating speed request message is adjusted to be consistent with the baud rate of the front-mounted vehicle, and then the rotating speed request message is sent to the engine controller, so that the compatibility of the baud rate requirements of the upper-mounted controllers designed by different manufacturers is realized, and the convenience of the PTO switch in use is improved.
Further, the signal integration module is configured to determine an on-off condition of each PTO switch according to a state of the local PTO switch and a state of the remote PTO switch, and generate a first message according to the on-off condition, specifically:
if any one of the local PTO recovery switch and the remote PTO recovery switch is determined to be conducted, the gateway outputs a first message PTO recovery message;
if any one of the local PTO closing switch and the remote PTO closing switch is determined to be conducted, the gateway outputs a first message as a PTO closing message;
if the fact that the local PTO + switch and the remote PTO + switch are conducted is determined, the gateway outputs a first message as a PTO + message;
and if the local PTO-switch and the remote PTO-switch are determined to be conducted, the gateway outputs a first message as a PTO-message.
Further, the baud rate adaptation module is configured to receive a loading rotation speed request message through a loading dedicated CAN network segment, and specifically includes:
the CAN network segment special for the upper part is used for registering baud rates of various fixed values in advance, and the default baud rate value of the CAN network segment special for the upper part is set to be the same as the baud rate value of the whole front-mounted vehicle;
when receiving the loading rotating speed request message data, firstly receiving the default baud rate value, and if the default baud rate value cannot be received, switching other baud rates of various preset fixed values to receive;
recording the baud rate when a rotating speed request message can be received as a first baud rate, and receiving by adopting the first baud rate when a rotating speed request message is subsequently received;
another embodiment of the present invention provides a PTO rotational speed control system, including a local PTO switch, an instrument, a gateway, an upper mounted controller, an upper mounted remote PTO switch, and an engine controller, where the local PTO switch is connected to the instrument, the upper mounted remote PTO switch, the upper mounted controller, and the engine controller are respectively connected to the gateway, the instrument is configured to collect an analog signal of the local PTO switch and convert the analog signal into a local PTO switch CAN message, and send the local PTO switch CAN message to the gateway, and the gateway is configured to execute the PTO rotational speed control method provided in the embodiments of the present invention.
Drawings
FIG. 1 is a flow chart schematic of a PTO speed control method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a PTO rotational speed control apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a PTO rotational speed control system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
Referring to fig. 1, a flow chart of a PTO rotation speed control method according to an embodiment of the present invention is schematically shown, including:
s101: collecting a CAN message of a local PTO switch and a digital quantity signal of a remote PTO switch, determining the state of the local PTO switch according to the CAN message, and determining the state of the remote PTO switch according to the digital quantity signal;
s102: determining the on-off condition of each PTO switch according to the state of the local PTO switch and the state of the remote PTO switch, and generating a first message according to the on-off condition;
s103: receiving a loading rotating speed request message through a CAN network segment special for loading, and making the loading rotating speed request message into a second message;
s104: and sending the first message and the second message to an engine controller, so that the engine controller can start the PTO and adjust the engine speed according to the first message and the second message.
According to the PTO rotating speed control method provided by the embodiment of the invention, the PTO switch signal is integrated through the gateway, the CAN baud rate of the loading controller is automatically identified and automatically adapted to the PTO switch signal, the cooperative control of the local PTO and the remote PTO and the unification of the local PTO and the remote PTO baud rate of the loading controller and the front loading truck are realized, and the baud rate requirements of the loading controllers of different manufacturers CAN be compatible without changing the CAN baud rate of the front loading truck to adapt to the loading.
For step S101, specifically, when a local PTO recovery message with a signal value of a first preset value is acquired, it is determined that the local PTO recovery switch is turned on; when a local PTO closing message with a signal value of a second preset value is acquired, determining that a local PTO closing switch is conducted; when a local PTO + message with a signal value of a third preset value is acquired, determining that the local PTO + switch is conducted; and when a local PTO-message with a signal value of a fourth preset value is acquired, determining that the local PTO-switch is conducted.
Further, when the first gateway circuit collects a first preset signal, the remote PTO recovery switch is determined to be conducted; when the gateway circuit II acquires a second preset signal, the remote PTO closing switch is determined to be conducted; when the third gateway circuit collects a third preset signal, the remote PTO + switch is determined to be conducted; and when the fourth gateway line four acquires a fourth preset signal, determining that the remote PTO-switch is conducted.
In a preferred embodiment, the local PTO switch analog signal is collected by the meter and converted to a local PTO switch CAN message for transmission. Four message signals of local PTO recovery, local PTO closing, local PTO + and local PTO-are defined, and the states of the four message signals are consistent with the states of four local PTO switches: when the meter detects that the input resistor is R1, the signal value of a local PTO recovery message is 1 (representing that a local recovery switch is pressed down); when the meter detects that the input resistor is R2, the local PTO closing message signal value is 1 (representing that a local PTO closing switch is pressed down); when the meter detects that the input resistance is R3, the signal value of the local PTO recovery message is 1 (representing that the local PTO + the switch is pressed down); when the meter detects that the input resistance is R4, the local PTO-message signal value is 1 (representing a local PTO-switch press).
Further, the gateway collects the digital quantity signals of the remote PTO switch: when the gateway pin1 acquires a low level signal, judging that a remote PTO recovery switch is pressed down; when the gateway pin2 acquires a low level signal, judging that a remote PTO closing switch is pressed down; when the gateway pin3 acquires a low level signal, judging that the remote PTO + switch is pressed down; when the gateway pin4 acquires a low level signal, judging that the remote PTO-switch is pressed down;
for step S102, specifically, if it is determined that any one of the local PTO recovery switch and the remote PTO recovery switch is turned on, the gateway outputs a first message PTO recovery message; if any one of the local PTO closing switch and the remote PTO closing switch is determined to be conducted, the gateway outputs a first message as a PTO closing message; if the fact that the local PTO + switch and the remote PTO + switch are conducted is determined, the gateway outputs a first message as a PTO + message; if the local PTO-switch and the remote PTO-switch are determined to be conducted, the gateway outputs a first message as a PTO-message.
In a preferred embodiment, the gateway receives a local PTO switch CAN message sent by the meter, integrates the local PTO switch CAN message with a remote PTO switch signal, and refills the local PTO switch CAN message after integration to send to the engine controller, and the integration logic is as follows: when any one of the local PTO recovery switch and the remote PTO recovery switch is pressed down, the gateway fills a local PTO recovery message with a signal value of 1 (representing that the PTO recovery switch is pressed down); when any one of the local PTO closing switch and the remote PTO closing switch is pressed down, the gateway fills a local PTO closing message signal value to be 1 (representing that the PTO closing switch is pressed down); when any one of the local PTO + switch and the remote PTO + switch is pressed down, the gateway fills a local PTO + message with a signal value of 1 (representing that the PTO + switch is pressed down); when either the local PTO-switch or the remote PTO-switch is pressed, the gateway fills the local PTO-message signal value to 1 (representing that the PTO-switch is pressed).
For step S103, specifically, a plurality of kinds of baud rates with fixed values are registered in advance in the dedicated CAN network segment for the upper loader, and the default baud rate value of the dedicated CAN network segment for the upper loader is set to be the same as the baud rate value of the front loader; when receiving the loading rotating speed request message data, firstly using the default baud rate value to receive, and if the default baud rate value cannot be received, switching other baud rates of various preset fixed values to receive; recording the baud rate when the rotating speed request message can be received as a first baud rate, and receiving by adopting the first baud rate when the rotating speed request message is subsequently received.
In a preferred embodiment, when the gateway is in software development, baud rates of various fixed values such as 250Kbps, 500Kbps and the like are registered in an upper-loading special CAN for later switching identification; and the baud rate of the front loading whole vehicle is set as the baud rate value of the loading special CAN. For example: the baud rate of the front-loading whole vehicle is 250Kbps, and the gateway sets the baud rate of the loading special CAN as 250Kbps by default; the baud rate of the front-loading whole vehicle is 500Kbps, and the gateway sets the baud rate of the loading special CAN to be 500Kbps by default.
When the gateway monitors that the special CAN for the upper part has data transmission, the default baud rate is firstly used for adapting to receive data, and then whether the data of the engine rotating speed request message CAN be received or not is judged. The commercial sanitation vehicle CAN protocol adopts SAE1939 standard protocol, the message PGN (Parameter Group Number) is 0000, the sending period is 10ms, and the complete message name is 0C0000XX (XX is the source address, different systems may be different), so the gateway CAN identify the data of the message on the bus according to the standard definition of the message.
If the gateway is provided with the special CAN and CAN identify the normal rotating speed request message signal, the Baud rate of the gateway provided with the special CAN is judged to be matched with the upper controller, and the Baud rate value is returned to the gateway to inform the gateway of the Baud rate of the upper controller.
If the gateway CAN not identify the normal rotating speed request message signal by the special CAN installed on the upper part, the gateway automatically switches to other baud rate values to carry out data receiving judgment again until the normal rotating speed request message signal CAN be identified, and then returns the final baud rate value to the gateway to inform the gateway of the baud rate of the upper controller.
The matching process is only identified when the upper-mounted controller is accessed into the gateway for the first time, and the gateway records the baud rate of the upper-mounted special CAN after the matching is successful.
After the Baud rate matching is completed, the gateway normally receives a rotating speed request message of the upper-mounted controller, then routes the rotating speed request message to a CAN network segment where the engine controller is located, and sends the rotating speed request message to the engine controller according to the CAN Baud rate of the front-mounted vehicle.
Referring to fig. 2, a schematic structural diagram of a PTO rotational speed control apparatus according to an embodiment of the present invention is shown, including: the system comprises a signal acquisition module 201, a signal integration module 202, a baud rate adaptation module 203 and a signal sending module 204;
the signal acquisition module 201 is used for acquiring a CAN message of a local PTO switch and a digital quantity signal of a remote PTO switch, determining the state of the local PTO switch according to the CAN message, and determining the state of the remote PTO switch according to the digital quantity signal;
the signal integration module 202 is configured to determine on-off conditions of each PTO switch according to states of the local PTO switch and the remote PTO switch, and generate a first message according to the on-off conditions;
the baud rate adaptation module 203 is configured to receive a loading rotation speed request message through a dedicated CAN network segment for loading, and make the loading rotation speed request message into a second message;
the signal sending module 204 is configured to send the first message and the second message to an engine controller, so that the engine controller performs PTO start and engine speed adjustment according to the messages.
According to the PTO rotating speed control device provided by the embodiment of the invention, local and remote PTO switch signals are collected and integrated through the internal module, so that the cooperative control of the compatible local analog PTO switch and the compatible remote digital PTO switch is realized. The baud rate of the upper-mounted controller is automatically adapted through the signal sending module, the rotating speed request message is adjusted to be consistent with the baud rate of the front-mounted vehicle, and then the rotating speed request message is sent to the engine controller, so that the compatibility of the baud rate requirements of the upper-mounted controller designed by different manufacturers is realized, and the convenience of the PTO switch in use is improved.
For the signal acquisition module 201, specifically, when a local PTO recovery message with a signal value of a first preset value is acquired, it is determined that a local PTO recovery switch is turned on; when a local PTO closing message with a signal value of a second preset value is acquired, determining that a local PTO closing switch is turned on; when a local PTO + message with a signal value of a third preset value is acquired, determining that the local PTO + switch is conducted; and when the local PTO-message with the signal value being the fourth preset value is acquired, determining that the local PTO-switch is conducted.
Further, when the first gateway line acquires a first preset signal, the remote PTO recovery switch is determined to be turned on; when the gateway circuit II acquires a second preset signal, the remote PTO closing switch is determined to be conducted; when the third gateway circuit acquires a third preset signal, the remote PTO + switch is determined to be conducted; and when the fourth gateway line four acquires a fourth preset signal, determining that the remote PTO-switch is conducted.
For the signal integration module 202, specifically, if it is determined that any one of the local PTO recovery switch and the remote PTO recovery switch is turned on, the gateway outputs a first message PTO recovery message; if any one of the local PTO closing switch and the remote PTO closing switch is determined to be conducted, the gateway outputs a first message as a PTO closing message; if the fact that the local PTO + switch and the remote PTO + switch are conducted is determined, the gateway outputs a first message as a PTO + message; if the local PTO-switch and the remote PTO-switch are determined to be conducted, the gateway outputs a first message as a PTO-message.
For the baud rate adaptation module 203, specifically, various kinds of baud rates with fixed values are registered in advance in the dedicated upper-loading CAN network segment, and the default baud rate value of the dedicated upper-loading CAN network segment is set to be the same as the baud rate value of the front-loading whole vehicle; when receiving the loading rotating speed request message data, firstly receiving the default baud rate value, and if the default baud rate value cannot be received, switching other baud rates of various preset fixed values to receive; recording the baud rate when the rotating speed request message can be received as a first baud rate, and receiving by adopting the first baud rate when the rotating speed request message is subsequently received.
Referring to fig. 3, a schematic structural diagram of a PTO rotational speed control system according to an embodiment of the present invention is shown, including: local PTO switch, instrument, gateway, uploading controller, uploading remote PTO switch, engine controller. The local PTO switch is connected with an instrument, the remote PTO switch and the engine controller are respectively connected with a gateway, the instrument is used for collecting analog signals of the local PTO switch and converting the analog signals into local PTO switch CAN messages to be sent to the gateway, and the gateway is used for executing the PTO rotating speed control method provided by the embodiment of the invention.
It should be noted that the above-described embodiments of the apparatus are merely illustrative, where the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A PTO rotational speed control method characterized by comprising the steps of:
collecting a CAN message of a local PTO switch and a digital quantity signal of a remote PTO switch, determining the state of the local PTO switch according to the CAN message, and determining the state of the remote PTO switch according to the digital quantity signal;
determining the on-off condition of each PTO switch according to the state of the local PTO switch and the state of the remote PTO switch, and generating a first message according to the on-off condition;
receiving a loading rotating speed request message through a CAN network segment special for loading, and making the loading rotating speed request message into a second message;
and sending the first message and the second message to an engine controller, so that the engine controller can start the PTO and adjust the rotating speed of the engine according to the first message and the second message.
2. The PTO rotational speed control method according to claim 1, wherein the determining the state of the local PTO switch according to the CAN message is specifically:
the local PTO switch includes: local PTO resumes the switch, local PTO closes the switch, local PTO + switch and local PTO-switch, local PTO switch's CAN message includes: the method comprises the steps of receiving a local PTO recovery message, a local PTO closing message, a local PTO + message and a local PTO-message;
when a local PTO recovery message with a signal value of a first preset value is acquired, determining that a local PTO recovery switch is conducted;
when a local PTO closing message with a signal value of a second preset value is acquired, determining that a local PTO closing switch is turned on;
when a local PTO + message with a signal value of a third preset value is acquired, determining that the local PTO + switch is conducted;
and when the local PTO-message with the signal value being the fourth preset value is acquired, determining that the local PTO-switch is conducted.
3. A PTO rotational speed control method according to claim 2, wherein said determining a remote PTO switch state based on said digital quantity signal comprises:
when the first gateway line acquires a first preset signal, the remote PTO recovery switch is determined to be conducted;
when the gateway circuit II acquires a second preset signal, the remote PTO closing switch is determined to be conducted;
when the third gateway circuit collects a third preset signal, the remote PTO + switch is determined to be conducted;
and when the fourth gateway line four acquires a fourth preset signal, determining that the remote PTO-switch is conducted.
4. The PTO rotational speed control method according to claim 3, wherein the determining of the on-off condition of each PTO switch according to the state of the local PTO switch and the state of the remote PTO switch and the generating of the first message according to the on-off condition are specifically:
if the fact that any one of the local PTO recovery switch and the remote PTO recovery switch is conducted is determined, the gateway outputs a first message PTO recovery message;
if any one of the local PTO closing switch and the remote PTO closing switch is determined to be conducted, the gateway outputs a first message as a PTO closing message;
if the fact that the local PTO + switch and the remote PTO + switch are conducted is determined, the gateway outputs a first message as a PTO + message;
and if the local PTO-switch and the remote PTO-switch are determined to be conducted, the gateway outputs a first message as a PTO-message.
5. The PTO rotational speed control method according to claim 1, wherein the receiving of the upload rotational speed request message through the dedicated CAN network segment for the upload specifically comprises:
the CAN network segment special for the upper part is used for registering baud rates of various fixed values in advance, and the default baud rate value of the CAN network segment special for the upper part is set to be the same as the baud rate value of the whole front-mounted vehicle;
when receiving the loading rotating speed request message data, firstly receiving the default baud rate value, and if the default baud rate value cannot be received, switching other baud rates of various preset fixed values to receive;
recording the baud rate when the rotating speed request message can be received as a first baud rate, and receiving by adopting the first baud rate when the rotating speed request message is subsequently received.
6. The PTO rotational speed control method according to claim 5, wherein the making of the upload rotational speed request message into the second message specifically includes:
if the value of the first baud rate is the same as that of the front-loading whole vehicle, directly taking the loading rotating speed request message as a second message;
and if the value of the first baud rate is different from the baud rate value of the front-mounted whole vehicle, adjusting the baud rate of the top-mounted rotating speed request message to be the same as the baud rate value of the front-mounted whole vehicle, and then using the baud rate as a second message.
7. A PTO rotational speed control apparatus, characterized by comprising: the device comprises a signal acquisition module, a signal integration module, a baud rate adaptation module and a signal sending module;
the signal acquisition module is used for acquiring a CAN message of a local PTO switch and a digital quantity signal of a remote PTO switch, determining the state of the local PTO switch according to the CAN message and determining the state of the remote PTO switch according to the digital quantity signal;
the signal integration module is used for determining the on-off condition of each PTO switch according to the state of the local PTO switch and the state of the remote PTO switch and generating a first message according to the on-off condition;
the Baud rate adaptation module is used for receiving a loading rotating speed request message through a CAN network segment special for loading, and making the loading rotating speed request message into a second message;
and the signal sending module is used for sending the first message and the second message to an engine controller, so that the engine controller can start the PTO and adjust the rotating speed of the engine according to the messages.
8. The PTO rotational speed control apparatus according to claim 7, wherein the signal integration module is configured to determine an on-off condition of each PTO switch according to a state of the local PTO switch and a state of the remote PTO switch, and generate a first message according to the on-off condition, specifically:
if the fact that any one of the local PTO recovery switch and the remote PTO recovery switch is conducted is determined, the gateway outputs a first message PTO recovery message;
if any one of the local PTO closing switch and the remote PTO closing switch is determined to be conducted, the gateway outputs a first message as a PTO closing message;
if the fact that the local PTO + switch and the remote PTO + switch are conducted is determined, the gateway outputs a first message as a PTO + message;
and if the local PTO-switch and the remote PTO-switch are determined to be conducted, the gateway outputs a first message as a PTO-message.
9. The PTO rotational speed control apparatus of claim 7, wherein the baud rate adaptation module is configured to receive a loading rotational speed request message via a loading dedicated CAN network segment, and specifically comprises:
the CAN network segment special for the upper part is used for registering baud rates of various fixed values in advance, and the default baud rate value of the CAN network segment special for the upper part is set to be the same as the baud rate value of the whole front-mounted vehicle;
when receiving the loading rotating speed request message data, firstly receiving the default baud rate value, and if the default baud rate value cannot be received, switching other baud rates of various preset fixed values to receive;
recording the baud rate when the rotating speed request message can be received as a first baud rate, and receiving by adopting the first baud rate when the rotating speed request message is subsequently received.
10. A PTO (power take off) rotating speed control system comprises a local PTO switch, a meter, a gateway, an upper-mounted controller, an upper-mounted remote PTO switch and an engine controller, and is characterized in that the local PTO switch is connected with the meter, the upper-mounted remote PTO switch, the upper-mounted controller and the engine controller are respectively connected with the gateway, the meter is used for collecting analog signals of the local PTO switch and converting the analog signals into CAN (controller area network) messages of the local PTO switch to be sent to the gateway, and the gateway is used for executing the PTO rotating speed control method according to claims 1 to 6.
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| US10919463B1 (en) * | 2018-06-18 | 2021-02-16 | Hydro-Gear Limited Partnership | Vehicle drive and control system |
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