CN115801492B - PTO rotation speed control method, device and system - Google Patents
PTO rotation speed control method, device and system Download PDFInfo
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Abstract
The invention discloses a PTO rotational speed control method, which comprises the following steps: 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 uploading rotation speed request message through an uploading special CAN network segment, and preparing the uploading rotation 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 performs PTO starting and engine speed adjustment 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 uploading controllers of different manufacturers without changing the baud rate of the front-loading whole vehicle CAN so as to adapt to uploading.
Description
Technical Field
The present invention relates to the field of PTO rotational speed control technologies, and in particular, to a PTO rotational speed control method, apparatus, and system.
Background
PTO (Power-Take-Off), also known as Power Take-Off. The main function of the PTO is to obtain power from a vehicle chassis system, then transmit the power to a vehicle oil pump system through a transmission shaft through self conversion, and further control the upper assembly to complete respective special functions.
In the application of PTO, the local PTO control and the remote PTO control 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 the power output, and the requirements of multiple use scenes of sanitation vehicles are met. At present, two main ways of adjusting the engine speed by the remote PTO are provided: firstly, signals "+", "-" are input to an engine controller through a remote PTO entity switch (the current digital quantity switch) for rotating speed adjustment; and secondly, sending a uploading rotation speed request CAN (Controller Area Network ) message to an engine controller to control the rotation speed.
The present inventors have found that in the process of implementing the present invention, the following technical problems exist in the prior art:
the local PTO switch is generally assembled on the steering wheel switch, so that the number of wire harnesses and clock spring channels is reduced to save cost, and most vehicle enterprises in the prior art adopt analog quantity types when designing the local PTO switch. However, most of the existing on-board PTO switches are digital switches, and therefore cannot be controlled in conjunction with the local PTO switch and the engine controller. In addition, the baud rate of the loading controller and the baud rate of the front loading whole vehicle cannot be unified in actual use due to excessive manufacturers of the loading controller, so that the problem that the local PTO control and the remote PTO control cannot be compatible occurs.
Disclosure of Invention
The embodiment of the invention provides a PTO rotational speed control method, a PTO rotational speed control device and a PTO rotational speed control system, which realize cooperative control of a local PTO and a remote PTO and unification of the baud rate of a loading controller and the baud rate of a front loading whole vehicle, and CAN be compatible with baud rate requirements of loading controllers of different manufacturers without changing the baud rate of the front loading whole vehicle CAN so as 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 uploading rotation speed request message through an uploading special CAN network segment, and preparing the uploading rotation 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 performs PTO starting and engine speed adjustment 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 switching signals through the gateway, automatically recognizes the CAN baud rate of the uploading controller 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 baud rate of the uploading controller and the baud rate of the front loading whole vehicle, and CAN be compatible with the baud rate requirements of uploading controllers of different manufacturers without changing the CAN baud rate of the front loading whole vehicle to adapt to uploading.
Further, the determining the state of the local PTO switch according to the CAN packet specifically includes:
the local PTO switch includes: the CAN message of the local PTO recovery switch, the local PTO closing switch, the local PTO+ switch and the local PTO-switch comprises the following components: local PTO recovery message, local PTO close message, local PTO+ message, and local PTO-message;
when a local PTO recovery message with a signal value of a first preset value is acquired, the connection of a local PTO recovery switch is determined; when a local PTO closing message with a signal value of a second preset value is acquired, the local PTO closing switch is determined to be turned on; when a local PTO+ message with a signal value of a third preset value is acquired, determining that a local PTO+ switch is conducted; and when the local PTO-message with the signal value of the fourth preset value is acquired, determining that the local PTO-switch is conducted.
Further, the determining the remote PTO switch state according to the digital quantity signal specifically includes:
when the gateway circuit I acquires a first preset signal, determining that the remote PTO recovery switch is turned on; when the gateway circuit II acquires a second preset signal, determining that the remote PTO closing switch is turned on; when the gateway line III acquires a third preset signal, determining that the remote PTO+ switch is conducted; and when the gateway line IV acquires a fourth preset signal, determining that the remote PTO-switch is conducted.
Further, the 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 the first message according to the on-off condition specifically includes:
if it is determined that any one of the local PTO recovery switch and the remote PTO recovery switch is conducted, the gateway outputs a first message PTO recovery message;
if it is determined that any one of the local PTO closing switch and the remote PTO closing switch is conducted, the gateway outputs a first message as a PTO closing message;
if it is determined that any one of the local PTO+ switch and the remote PTO+ switch is conducted, the gateway outputs a first message as a PTO+ message;
if it is determined that either the local PTO-switch or the remote PTO-switch is turned on, the gateway outputs a first message as a PTO-message.
And carrying out 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 as to realize cooperative control of the local PTO switch and the remote PTO switch.
Further, the receiving the uploading rotation speed request message through the uploading dedicated CAN network segment specifically includes:
the special CAN network section for uploading registers the baud rate of a plurality of fixed values in advance, and the default baud rate value of the special CAN network section for uploading is set to be the same as the baud rate value of the whole vehicle for uploading;
when receiving the uploading rotation speed request message data, firstly using the default baud rate value to receive, and if the default baud rate value cannot be received, switching the baud rates of other pre-registered multiple fixed values to receive;
and recording the baud rate when the rotating speed request message can be received as a first baud rate, and adopting the first baud rate to receive when the rotating speed request message is subsequently received.
The gateway automatically recognizes and automatically adapts the CAN baud rate of the uploading controller, so that the baud rate of the uploading controller and the baud rate of the front-loading whole vehicle are unified, the baud rate requirements of uploading controllers of different factories CAN be met, and the CAN baud rate of the front-loading whole vehicle is not required to be changed to adapt to uploading.
Further, the step of preparing the upload rotation speed request message into a second message specifically includes:
if the value of the first baud rate is the same as the baud rate of the front-loading whole vehicle, directly taking the uploading rotation speed request message as a second message;
and if the value of the first baud rate is different from the baud rate of the front-loading whole vehicle, adjusting the baud rate of the uploading rotation speed request message to be the same as the baud rate of the front-loading whole vehicle and then taking the same as the baud rate of the front-loading whole vehicle 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 transmission module;
the signal acquisition module is used for acquiring CAN messages of the local PTO switch and digital quantity signals of the remote PTO switch, determining the state of the local PTO switch according to the CAN messages, and determining the state of the remote PTO switch according to the digital quantity signals;
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 uploading rotation speed request message through a uploading special CAN network segment and preparing the uploading rotation speed request message into a second message;
the signal sending module is used for sending the first message and the second message to the engine controller, so that the engine controller can perform PTO starting and engine speed adjustment 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 the signals of the local and remote PTO switches through the internal module, so that the cooperative control of the compatible local analog PTO switch and the remote digital PTO switch is realized. And the baud rate of the upper-loading controller is automatically adapted through the signal sending module, and the rotating speed request message is regulated to be consistent with the baud rate of the front-loading whole vehicle and then is sent to the engine controller, so that compatibility of baud rate requirements of the upper-loading controllers designed by different manufacturers is realized, and 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 the state of the local PTO switch and the state of the remote PTO switch, and generate a first message according to the on-off condition, specifically:
if it is determined that any one of the local PTO recovery switch and the remote PTO recovery switch is conducted, the gateway outputs a first message PTO recovery message;
if it is determined that any one of the local PTO closing switch and the remote PTO closing switch is conducted, the gateway outputs a first message as a PTO closing message;
if it is determined that any one of the local PTO+ switch and the remote PTO+ switch is conducted, the gateway outputs a first message as a PTO+ message;
if it is determined that either the local PTO-switch or the remote PTO-switch is turned on, the gateway outputs a first message as a PTO-message.
Further, the baud rate adaptation module is configured to receive an upload rotation speed request packet through a dedicated CAN network segment for upload, and specifically includes:
the special CAN network section for uploading registers the baud rate of a plurality of fixed values in advance, and the default baud rate value of the special CAN network section for uploading is set to be the same as the baud rate value of the whole vehicle for uploading;
when receiving the uploading rotation speed request message data, firstly using the default baud rate value to receive, and if the default baud rate value cannot be received, switching the baud rates of other pre-registered multiple fixed values to receive;
recording the baud rate when the rotating speed request message can be received as a first baud rate, and adopting the first baud rate to receive when the rotating speed request message is subsequently received;
the invention further provides a PTO rotating speed control system, which comprises a local PTO switch, an instrument, a gateway, a loading controller, a loading remote PTO switch and an engine controller, wherein the local PTO switch is connected with the instrument, the loading remote PTO switch, the loading controller and the engine controller are respectively connected with the gateway, the instrument is used for collecting analog quantity signals of the local PTO switch and converting the analog quantity signals into CAN 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 provided by the embodiment of the invention.
Drawings
Fig. 1 is a flow chart of a PTO speed control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a PTO speed control apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a PTO speed control system according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flow chart of a PTO rotational speed control method according to an embodiment of the present invention includes:
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 uploading rotation speed request message through an uploading special CAN network segment, and preparing the uploading rotation 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 performs PTO starting and engine speed adjustment 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 gateway is used for integrating PTO switching signals, automatically identifying the CAN baud rate of the uploading controller and automatically adapting to the CAN baud rate, so that the cooperative control of the local PTO and the remote PTO and the unification of the baud rate of the uploading controller and the baud rate of the front-loading whole vehicle are realized, the baud rate requirements of uploading controllers of different manufacturers CAN be compatible, and the CAN baud rate of the front-loading whole vehicle is not required to be changed to adapt to uploading.
For step S101, specifically, when a local PTO recovery packet with a signal value being a first preset value is collected, 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, the local PTO closing switch is determined to be turned on; when a local PTO+ message with a signal value of a third preset value is acquired, determining that a local PTO+ switch is conducted; and when the local PTO-message with the signal value of the fourth preset value is acquired, determining that the local PTO-switch is conducted.
Further, when the gateway circuit firstly collects a first preset signal, the conduction of the remote PTO recovery switch is determined; when the gateway circuit II acquires a second preset signal, determining that the remote PTO closing switch is turned on; when the gateway line III acquires a third preset signal, determining that the remote PTO+ switch is conducted; and when the gateway line IV acquires a fourth preset signal, determining that the remote PTO-switch is conducted.
In a preferred embodiment, the local PTO switch analog signals are collected by the meter and converted to local PTO switch CAN messages. Defining local PTO recovery, local PTO shut down, local pto+, local PTO-four message signals, the four message signal states consistent with the four local PTO switch states: when the instrument detects that the input resistance is R1, the signal value of the local PTO recovery message is 1 (representing that a local recovery switch is pressed down); when the instrument detects that the input resistance is R2, the signal value of the local PTO closing message is 1 (representing that the local PTO closing switch is pressed down); when the instrument detects that the input resistance is R3, the signal value of the local PTO recovery message is 1 (representing that the local PTO+ switch is pressed down); when the meter detects that the input resistance is R4, the local PTO-message signal value is 1 (representing that the local PTO-switch is pressed).
Further, the gateway collects remote PTO switch digital quantity signals: when the gateway pin1 collects a low-level signal, judging that a remote PTO recovery switch is pressed down; when the gateway pin2 collects a low-level signal, judging that a remote PTO closing switch is pressed down; when the gateway pin3 collects a low-level signal, judging that a remote PTO+switch is pressed down; when the gateway pin4 collects a low-level signal, judging that a 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 it is determined that any one of the local PTO closing switch and the remote PTO closing switch is conducted, the gateway outputs a first message as a PTO closing message; if it is determined that any one of the local PTO+ switch and the remote PTO+ switch is conducted, the gateway outputs a first message as a PTO+ message; if it is determined that either the local PTO-switch or the remote PTO-switch is turned on, the gateway outputs a first message as a PTO-message.
In a preferred embodiment, the gateway receives the local PTO switch CAN message sent by the instrument, integrates the local PTO switch CAN message with the remote PTO switch signal, and then refills the local PTO switch CAN message to the engine controller after integrating, and the integration logic is as follows: when either the local PTO recovery switch or the remote PTO recovery switch is pressed, the gateway fills the local PTO recovery message signal value to be 1 (representing that the PTO recovery switch is pressed); when either the local PTO closing switch or the remote PTO closing switch is pressed, the gateway fills the local PTO closing message signal value to be 1 (representing that the PTO closing switch is pressed); when any one of the local PTO+ switch and the remote PTO+ switch is pressed, the gateway fills the local PTO+ message signal value to be 1 (representing that the PTO+ switch is pressed); when either the local PTO-switch or the remote PTO-switch is pressed, the gateway fills the local PTO-message signal value of 1 (representing that the PTO-switch is pressed).
For step S103, specifically, the CAN network segment dedicated for uploading registers a plurality of baud rates of fixed values in advance, and sets the default baud rate value of the CAN network segment dedicated for uploading to be the same as the baud rate value of the whole vehicle of the front loader; when receiving the uploading rotation speed request message data, firstly using the default baud rate value to receive, and if the default baud rate value cannot be received, switching the baud rates of other pre-registered multiple fixed values to receive; and recording the baud rate when the rotating speed request message can be received as a first baud rate, and adopting the first baud rate to receive when the rotating speed request message is subsequently received.
In a preferred embodiment, when the gateway is developed in software, the gateway firstly registers the baud rate of various fixed values such as 250Kbps, 500Kbps and the like for later switching identification in the special CAN; and the baud rate of the special CAN for the upper loading is set according to the baud rate of the whole vehicle for the front loading. For example: the baud rate of the front loading whole vehicle is 250Kbps, and the gateway sets the baud rate of the special CAN for the loading to be 250Kbps by default; and if the baud rate of the front-loading whole vehicle is 500Kbps, the gateway sets the baud rate of the special CAN for the loading to be 500Kbps by default.
When the gateway monitors that the CAN special for uploading has data transmission, the gateway uses the default baud rate to carry out adaptive data receiving, and then judges whether the data of the engine rotating speed request message CAN be received or not. The commercial sanitation truck CAN protocol adopts SAE1939 standard protocol, the message PGN (Parameter Group Number ) is 0000, the sending period is 10ms, 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 bus message according to the standard definition of the message.
If the gateway CAN recognize the normal rotation speed request message signal, the gateway judges that the baud rate of the gateway uploading special CAN is matched with the uploading controller, and returns the baud rate value to the gateway to inform the gateway of the baud rate of the uploading controller.
If the gateway cannot recognize the normal rotation speed request message signal, the gateway automatically switches to other baud rate values to perform data receiving judgment again until the gateway CAN recognize the normal rotation speed request message signal, and then returns the final baud rate value to the gateway to inform the gateway of the baud rate of the uploading controller.
The matching process is only identified when the uploading controller is accessed to the gateway for the first time, and the gateway records the baud rate of the uploading 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 uploading controller, then routes the rotating speed request message to a CAN network section where the engine controller is located, and sends the rotating speed request message to the engine controller according to the front-loading whole-vehicle CAN baud rate.
Referring to fig. 2, a schematic structural diagram of a PTO rotational speed control apparatus according to an embodiment of the present invention includes: a signal acquisition module 201, a signal integration module 202, a baud rate adaptation module 203 and a signal transmission module 204;
the signal acquisition module 201 is configured to acquire a CAN message of a local PTO switch and a digital signal of a remote PTO switch, determine a state of the local PTO switch according to the CAN message, and determine a state of the remote PTO switch according to the digital signal;
the signal integration module 202 is configured to determine an 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 generate a first message according to the on-off condition;
the baud rate adaptation module 203 is configured to receive a upload rotation speed request message through a dedicated CAN network segment for upload, and make the upload 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 rotation speed control device provided by the embodiment of the invention, the local and remote PTO switch signals are acquired and integrated through the internal module, so that the cooperative control of the compatible local analog PTO switch and the remote digital PTO switch is realized. And the baud rate of the upper-loading controller is automatically adapted through the signal sending module, and the rotating speed request message is regulated to be consistent with the baud rate of the front-loading whole vehicle and then is sent to the engine controller, so that compatibility of baud rate requirements of the upper-loading controllers designed by different manufacturers is realized, and 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 being 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, the local PTO closing switch is determined to be turned on; when a local PTO+ message with a signal value of a third preset value is acquired, determining that a local PTO+ switch is conducted; and when the local PTO-message with the signal value of the fourth preset value is acquired, determining that the local PTO-switch is conducted.
Further, when the gateway circuit firstly collects a first preset signal, the conduction of the remote PTO recovery switch is determined; when the gateway circuit II acquires a second preset signal, determining that the remote PTO closing switch is turned on; when the gateway line III acquires a third preset signal, determining that the remote PTO+ switch is conducted; and when the gateway line IV 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 it is determined that any one of the local PTO closing switch and the remote PTO closing switch is conducted, the gateway outputs a first message as a PTO closing message; if it is determined that any one of the local PTO+ switch and the remote PTO+ switch is conducted, the gateway outputs a first message as a PTO+ message; if it is determined that either the local PTO-switch or the remote PTO-switch is turned on, the gateway outputs a first message as a PTO-message.
For the baud rate adapting module 203, specifically, the dedicated CAN network segment for uploading registers baud rates of various fixed values in advance, and sets the default baud rate value of the dedicated CAN network segment for uploading to be the same as the baud rate value of the whole vehicle for front loading; when receiving the uploading rotation speed request message data, firstly using the default baud rate value to receive, and if the default baud rate value cannot be received, switching the baud rates of other pre-registered multiple fixed values to receive; and recording the baud rate when the rotating speed request message can be received as a first baud rate, and adopting the first baud rate to receive 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 includes: local PTO switch, instrument, gateway, facial make-up controller, facial make-up remote PTO switch, engine controller. The local PTO switch is connected with the instrument, the upper remote PTO switch, the upper controller and the engine controller are respectively connected with the gateway, the instrument is used for collecting analog quantity signals of the local PTO switch and converting the analog quantity signals into CAN 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 provided by the embodiment of the invention.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of 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 device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (7)
1. A PTO rotational speed control method 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 uploading rotation speed request message through an uploading special CAN network segment, and preparing the uploading rotation speed request message into a second message; the method for receiving the uploading rotation speed request message through the uploading special CAN network segment specifically comprises the following steps: the special CAN network section for uploading registers the baud rate of a plurality of fixed values in advance, and the default baud rate value of the special CAN network section for uploading is set to be the same as the baud rate value of the whole vehicle for uploading; when receiving the uploading rotation speed request message data, firstly using the default baud rate value to receive, and if the default baud rate value cannot be received, switching the baud rates of other pre-registered multiple fixed values to receive; recording the baud rate when the rotating speed request message can be received as a first baud rate, and adopting the first baud rate to receive when the rotating speed request message is subsequently received; the step of preparing the uploading rotation speed request message into a second message specifically comprises the following steps: if the value of the first baud rate is the same as the baud rate of the front-loading whole vehicle, directly taking the uploading rotation speed request message as a second message; if the value of the first baud rate is different from the baud rate of the front-loading whole vehicle, the baud rate of the loading rotating speed request message is adjusted to be the same as the baud rate of the front-loading whole vehicle and then used as a second message;
and sending the first message and the second message to an engine controller, so that the engine controller performs PTO starting and engine speed adjustment according to the first message and the second message.
2. The PTO 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: the CAN message of the local PTO recovery switch, the local PTO closing switch, the local PTO+ switch and the local PTO-switch comprises the following components: local PTO recovery message, local PTO close message, local PTO+ message, and local PTO-message;
when a local PTO recovery message with a signal value of a first preset value is acquired, the connection of a local PTO recovery switch is determined;
when a local PTO closing message with a signal value of a second preset value is acquired, the local PTO closing switch is determined to be turned on;
when a local PTO+ message with a signal value of a third preset value is acquired, determining that a local PTO+ switch is conducted;
and when the local PTO-message with the signal value of the fourth preset value is acquired, determining that the local PTO-switch is conducted.
3. The PTO speed control method of claim 2, wherein said determining a remote PTO switch status from said digital signal comprises:
when the gateway circuit I acquires a first preset signal, determining that the remote PTO recovery switch is turned on;
when the gateway circuit II acquires a second preset signal, determining that the remote PTO closing switch is turned on;
when the gateway line III acquires a third preset signal, determining that the remote PTO+ switch is conducted;
and when the gateway line IV acquires a fourth preset signal, determining that the remote PTO-switch is conducted.
4. The PTO speed control method according to claim 3, wherein the 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 the first message according to the on-off condition, specifically includes:
if it is determined that any one of the local PTO recovery switch and the remote PTO recovery switch is conducted, the gateway outputs a first message PTO recovery message;
if it is determined that any one of the local PTO closing switch and the remote PTO closing switch is conducted, the gateway outputs a first message as a PTO closing message;
if it is determined that any one of the local PTO+ switch and the remote PTO+ switch is conducted, the gateway outputs a first message as a PTO+ message;
if it is determined that either the local PTO-switch or the remote PTO-switch is turned on, the gateway outputs a first message as a PTO-message.
5. A PTO rotational speed control apparatus, comprising: the device comprises a signal acquisition module, a signal integration module, a baud rate adaptation module and a signal transmission module;
the signal acquisition module is used for acquiring CAN messages of the local PTO switch and digital quantity signals of the remote PTO switch, determining the state of the local PTO switch according to the CAN messages, and determining the state of the remote PTO switch according to the digital quantity signals;
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 uploading rotation speed request message through a uploading special CAN network segment and preparing the uploading rotation speed request message into a second message; the baud rate adaptation module is used for receiving an uploading rotation speed request message through an uploading special CAN network segment, and specifically comprises the following steps: the special CAN network section for uploading registers the baud rate of a plurality of fixed values in advance, and the default baud rate value of the special CAN network section for uploading is set to be the same as the baud rate value of the whole vehicle for uploading; when receiving the uploading rotation speed request message data, firstly using the default baud rate value to receive, and if the default baud rate value cannot be received, switching the baud rates of other pre-registered multiple fixed values to receive; recording the baud rate when the rotating speed request message can be received as a first baud rate, and adopting the first baud rate to receive when the rotating speed request message is subsequently received; the step of preparing the uploading rotation speed request message into a second message specifically comprises the following steps: if the value of the first baud rate is the same as the baud rate of the front-loading whole vehicle, directly taking the uploading rotation speed request message as a second message; if the value of the first baud rate is different from the baud rate of the front-loading whole vehicle, the baud rate of the loading rotating speed request message is adjusted to be the same as the baud rate of the front-loading whole vehicle and then used as a second message;
the signal sending module is used for sending the first message and the second message to the engine controller, so that the engine controller can perform PTO starting and engine speed adjustment according to the messages.
6. The PTO speed control apparatus of claim 5, 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 it is determined that any one of the local PTO recovery switch and the remote PTO recovery switch is conducted, the gateway outputs a first message PTO recovery message;
if it is determined that any one of the local PTO closing switch and the remote PTO closing switch is conducted, the gateway outputs a first message as a PTO closing message;
if it is determined that any one of the local PTO+ switch and the remote PTO+ switch is conducted, the gateway outputs a first message as a PTO+ message;
if it is determined that either the local PTO-switch or the remote PTO-switch is turned on, the gateway outputs a first message as a PTO-message.
7. A PTO speed control system comprising a local PTO switch, an instrument, a gateway, a top-up controller, a top-up remote PTO switch, and an engine controller, wherein the local PTO switch is connected to the instrument, the top-up remote PTO switch, the top-up controller, and the engine controller are respectively connected to the gateway, the instrument is configured to collect local PTO switch analog signals and convert the local PTO switch analog signals into local PTO switch CAN messages and send the local PTO switch CAN messages to the gateway, and the gateway is configured to perform the PTO speed control method according to any one of claims 1 to 4.
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