CN116834548A - Speed limit control method for working machine and working machine - Google Patents

Speed limit control method for working machine and working machine Download PDF

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Publication number
CN116834548A
CN116834548A CN202310636831.7A CN202310636831A CN116834548A CN 116834548 A CN116834548 A CN 116834548A CN 202310636831 A CN202310636831 A CN 202310636831A CN 116834548 A CN116834548 A CN 116834548A
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CN
China
Prior art keywords
speed
tire
limit
target
limit speed
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Pending
Application number
CN202310636831.7A
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Chinese (zh)
Inventor
吴梓高
宋宇
李光荣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sany Automobile Hoisting Machinery Co Ltd
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Sany Automobile Hoisting Machinery Co Ltd
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Publication date
Application filed by Sany Automobile Hoisting Machinery Co Ltd filed Critical Sany Automobile Hoisting Machinery Co Ltd
Priority to CN202310636831.7A priority Critical patent/CN116834548A/en
Publication of CN116834548A publication Critical patent/CN116834548A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/18—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K2031/0091—Speed limiters or speed cutters

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Abstract

The invention relates to the technical field of engineering equipment, and provides a speed limiting control method of a working machine and the working machine, wherein the speed limiting control method of the working machine comprises the following steps: acquiring tire state data of a work machine; determining a target safe limit speed corresponding to the acquired tire state data according to a preset tire limit speed model, wherein the tire limit speed model is used for defining the relationship between the tire state data and the safe limit speed; and performing speed limiting control on the working machine based on the target safety limit speed. Therefore, the speed of the working machine in the running process can not exceed the target safety limit speed corresponding to the tire state data, and the possibility of safe running of the working machine under various special working conditions is improved.

Description

Speed limit control method for working machine and working machine
Technical Field
The present invention relates to the technical field of engineering equipment, and in particular, to a speed limit control method and apparatus for a working machine, an electronic device, a non-transitory computer readable storage medium, and a working machine.
Background
With the continuous extension of construction scenes of the working machine, the working machine needs to run in various special environments or under special working conditions, so that different working tasks are completed.
The physical and chemical parameters of the tires of the work machine may also vary among different construction work tasks, such as weight or road temperature, resulting in a floating limit speed that the tires can withstand under different circumstances. However, the driver may ignore the consideration of the limit speed of the floating tire and always drive at the speed which is regarded as safe by the driver subjectively, so that the probability of tire burst of the working machine under the special working condition is increased, which is unfavorable for the safe construction of the working machine.
In view of the above problems, currently, no preferred technical solution is proposed.
Disclosure of Invention
The invention provides a speed limiting control method and device of a working machine, electronic equipment, a non-transitory computer readable storage medium and the working machine, which are used for at least solving the defect that in the prior art, the working machine is easy to burst when driving with a counterweight.
The invention provides a speed limit control method of a working machine, which comprises the following steps: acquiring tire state data of a work machine; determining a target safe limit speed corresponding to the acquired tire state data according to a preset tire limit speed model, wherein the tire limit speed model is used for defining the relationship between the tire state data and the safe limit speed; and performing speed limiting control on the working machine based on the target safety limit speed.
According to the present invention there is provided a speed limit control method for a work machine, the tyre condition data comprising a plurality of tyre condition parameters, each tyre condition parameter having a respective condition parameter type, the condition parameter type comprising one or more of: tire pressure, tire temperature, and tire material type; the determining, according to a preset tire limit speed model, a target safe limit speed corresponding to the acquired tire state data includes: determining, for each state parameter type in the obtained tire state data, a safe limit speed corresponding to a tire state parameter of the state parameter type according to the tire limit speed model; and determining the target safety limit speed based on the safety limit speed corresponding to each state parameter type.
According to the invention, the speed limit control method of the working machine is provided, wherein the tire state data comprises a plurality of state sub-data, and each state sub-data is provided with a corresponding tire identifier; the determining, according to a preset tire limit speed model, a target safe limit speed corresponding to the acquired tire state data includes: for each state sub-data in the acquired tire state data, determining a safety limit speed corresponding to the state sub-data according to the tire limit speed model; and determining the target safety limit speed based on the safety limit speed corresponding to each state sub-data.
According to the present invention, there is provided a speed limit control method for a working machine, the speed limit control method for the working machine based on the target safe limit speed, the method including: detecting a travel speed of the work machine; and when the travel speed is greater than the target safety limit speed, performing speed limit control on the working machine based on the target safety limit speed.
According to the present invention, there is provided a speed limit control method for a working machine, the speed limit control method for the working machine based on the target safety limit speed when the travel speed is greater than the target safety limit speed, the method including: executing early warning operation under the condition that the running speed is greater than the target safety limit speed; acquiring driver feedback information aiming at the early warning operation, and detecting whether the driver feedback information meets a first preset condition; the first preset condition defines the range of feedback information that the driver agrees to carry out speed limit control on the working machine; and when the first preset condition is met, speed limiting control is performed on the working machine based on the target safety limit speed.
According to the present invention, there is provided a speed limit control method for a working machine, the speed limit control method for the working machine based on the target safety limit speed when the travel speed is greater than the target safety limit speed, the method including: executing an engine control module self-checking operation in the case that the running speed is greater than the target safety limit speed; acquiring a self-checking result aiming at self-checking operation of the engine control module, and detecting whether the self-checking result meets a second preset condition; the second preset condition defines the range of self-checking results of the speed limiting control of the engine control module; and when the second preset condition is met, speed limiting control is performed on the working machine based on the target safety limit speed.
According to the present invention, there is provided a speed limit control method for a working machine, the speed limit control method for the working machine based on the target safe limit speed, the method including: determining a target engine control program matching the target safe limit speed from a plurality of preset engine control programs; each engine control program is provided with corresponding speed limit value setting; and controlling to run the target engine control program so as to perform speed limiting control on the working machine.
According to the present invention, there is provided a speed limit control method for a working machine, the speed limit control method for the working machine based on the target safe limit speed, the method including: determining a target speed limit speed according to the target safety limit speed; the target speed limit speed is less than the target safety limit speed; and performing speed limiting control on the working machine based on the target speed limiting speed.
According to the present invention, there is provided a speed limit control method for a working machine, wherein the tire state data is periodically acquired, and the target safe limit speed is updated in accordance with the tire state data.
The invention also provides a speed limit control device of a working machine, comprising: an acquisition unit configured to acquire tire state data of a work machine; a determining unit for determining a target safe limit speed corresponding to the acquired tire state data according to a preset tire limit speed model; wherein the tire limit speed model is used for defining a relationship between tire state data and a safe limit speed; and the control unit is used for carrying out speed limiting control on the working machine based on the target safety limit speed.
The present disclosure also provides for a work machine including a tire and a controller, wherein the controller is configured to perform operations comprising: acquiring tire state data of a work machine; determining a target safety limit speed corresponding to the acquired tire state data according to a preset tire limit speed model; wherein the tire limit speed model is used for defining a relationship between tire state data and a safe limit speed; and performing speed limiting control on the working machine based on the target safety limit speed.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, the processor executing the program to implement the steps of the speed limit control method of a work machine as described in any of the above.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the speed limit control method of a work machine as described in any of the above.
According to the speed limit control method and device for the working machine, the electronic equipment, the non-transitory computer readable storage medium and the working machine, provided by the invention, the tire state data of the working machine is obtained, the corresponding target safe limit speed is matched by utilizing the tire limit speed model which predefines the relation between the tire state data and the safe limit speed, and then the speed limit control is carried out on the working machine. Therefore, the situation that the tire safety limit speeds corresponding to different tire state data are correspondingly changed is comprehensively considered, the speed of the working machine in the running process is controlled not to exceed the target safety limit speed corresponding to the tire state data, intelligent speed limiting is achieved, and the safe running of the working machine under various special working conditions is guaranteed.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 illustrates a flow chart of an example of a method of speed limit control for a work machine according to the present disclosure;
FIG. 2 illustrates a flowchart of an example of a method of speed limit control of a work machine according to an embodiment of the present disclosure;
FIG. 3 illustrates a flowchart of an example of a method of speed limit control of a work machine according to an embodiment of the present disclosure;
FIG. 4 illustrates a schematic view of an example of a sensor set arranged for a work machine in accordance with an embodiment of the present disclosure;
FIG. 5 illustrates a flowchart of an example of a method of speed limit control of a work machine according to an embodiment of the present disclosure;
fig. 6 is a block diagram showing an example of a speed limit control device of a work machine according to an embodiment of the present invention;
FIG. 7 illustrates a block diagram of an example of a work machine according to an embodiment of the present disclosure;
Fig. 8 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, 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.
It should be noted that, in the related art, when some engineering devices work, for example, when lifting cargoes, a counterweight is required to prevent the tipping risk of the engineering devices. Generally, engineering equipment and a counterweight are required to be respectively transported to a site and assembled on the site, so that construction work tasks are completed.
However, in the actual construction process, in order to reduce the transportation cost of the counterweight, more and more engineering equipment can travel to the site with the counterweight, and the flexibility of the transition operation can be improved. However, as the load of the counterweight of the construction equipment increases, the driver ignores the influence of the counterweight on the limit speed of the tire when driving the construction equipment, and still drives at a usual speed, so that the situation of tire burst is more and more occurred.
At present, the working machine mainly brakes and decelerates through the initiative of a driver and limits the speed of the vehicle through a switch or other operations, but the control system does not consider other factors influencing the running in consideration of the running safety of the vehicle, and has no related speed limiting strategy, and the working machine is realized by simply relying on the subjective operation of the driver, but the manual switch control is not timely, so that potential safety hazards exist.
In view of this, fig. 1 shows a flowchart of an example of a speed limit control method of a work machine according to the present invention. The execution body of the method according to the embodiment of the invention can be any controller or processor with calculation or processing capability, and is deployed in the working machine to achieve the goal of speed limiting control of the working machine. In some examples, one or more of the original work machine controllers, such as the ECM (Engine Control Module ), may also be modified by software, hardware, or a combination of hardware and software to implement the operational functions of rate limiting the work machine.
It should be understood that the work machine in the embodiments of the present invention may be various kinds of work machines equipped with tires, such as a crane, an excavator, etc., and should not be limited herein.
As shown in fig. 1, in step S110, tire state data of a work machine is acquired.
Here, the tire state data may employ various types of data for reflecting the tire state, such as loss state data of the tire, environmental state data, and the like. In addition, the tire condition data may represent a single piece of data field information, or may represent data in which a plurality of pieces of data field information are integrated, for example, data field information of a plurality of different parameter types corresponding to the same sampling timing, or data field information of different timings within a period of time, or the like.
In some embodiments, corresponding sensors are mounted for a particular portion of the tires, or all of the tires, of the work machine to enable collection of status data for the tires. In some examples, to enhance safety, a respective sensor module may be configured separately for each tire of the work machine to enable collection and monitoring of tire condition data for each tire.
It should be noted that, regarding the acquisition of the tire state data, on the one hand, it may be triggered during the running of the working machine, on the other hand, it may be triggered when the ignition of the working machine is started, for example, manually by the driver, which is not limited in this embodiment.
In step S120, a target safe limit speed corresponding to the acquired tire state data is determined according to a preset tire limit speed model.
In some examples, the safe limit speed may represent a critical speed at which a tire may experience a dangerous condition (e.g., a blowout) under corresponding tire state conditions.
Here, the tire limit speed model is used to define a relationship between tire state data and a safe limit speed. Specifically, the tire limit speed model may be calibrated in advance and can reflect physical characteristics of the tire to some extent. For example, for physical characteristics of the tire, critical tire speeds of the tire under dangerous conditions similar to tire burst under different tire state conditions are collected through limited effective tests, and the tire speeds and corresponding tire state data are associated, so that a corresponding tire limit speed model is obtained.
In step S130, the speed limit control is performed on the work machine based on the target safe limit speed. Here, the speed limit control of the working machine may be performed by using various known or potential speed limit modules, for example, by limiting the accelerator opening, overspeed alarm, program control, etc., and in this embodiment, the limitation is temporarily omitted.
In some examples, the travel speed during subsequent travel of the work machine is limited in accordance with a target safe limit speed to prevent the travel speed of the work machine during the speed-limited travel phase from exceeding the target safe limit speed.
According to the embodiment of the invention, the tire state data of the working machine are obtained, and the tire limit speed model capable of reflecting the physical characteristics of the tire is used for matching the corresponding target safety limit speed of the tire state data, so that the speed limit control of the working machine is further carried out. Therefore, the influence of the tire state on the tire limit speed is fully considered, the speed limit control is carried out on the working machine, and the safe running of the working machine under various special working conditions is ensured.
Fig. 2 shows a flowchart of an example of a speed limit control method of a work machine according to an embodiment of the invention.
As shown in fig. 2, in step S210, tire state data of the work machine is acquired, the tire state data including a plurality of tire state parameters.
Specifically, each tire condition parameter has a corresponding condition parameter type, respectively. In some examples, tire state parameters of a plurality of different state parameter types are included in the tire state data. Specifically, the tire condition parameters include one or more of the following: tire pressure, tire temperature, and tire material type.
For example, if the tire pressure is too high or too low, or the tire temperature is too high, or the type of tire material is made of synthetic rubber, the safety of the counterweight running of the working machine may be affected, and even a tire burst condition may occur. When the working machine runs under a load, as the load of the counterweight is more and more, the driver lacks knowledge about the axle load and the safety limit speed of the temperature-affected tire, and the situation of tire burst is more and more, and sometimes even safety accidents occur. Furthermore, it should be understood that the tire condition data may also include many other types of condition parameters, such as the age of the tire, etc.
In step S220, for each of the acquired tire state parameter types, a safe limit speed corresponding to the tire state parameter of the state parameter type is determined from the tire limit speed model.
Illustratively, the safe limit speed relationship for various tire condition parameter types is pre-calibrated in the tire limit speed model. Specifically, when the tire pressure and the tire temperature are simultaneously contained in the tire state data, at least one tire pressure parameter in the tire state data is screened, and a corresponding first safety limit safety speed is determined by utilizing a relation curve between the tire pressure and the safety limit speed in the tire limit speed model. In addition, at least one tire temperature in the tire state data is screened, and a corresponding second safety limit safety speed is determined by utilizing a relation curve between the tire temperature and the safety limit speed in the tire limit speed model.
In step S230, a target safety limit speed is determined based on the safety limit speeds corresponding to the respective state parameter types.
Specifically, the safety limit speeds corresponding to the state parameter types are respectively compared, and the minimum safety limit speed is determined as the target safety limit speed so as to ensure the safe running of the working machine under various state conditions. In some embodiments, the data cleaning is performed on the safety limit speed corresponding to each state parameter in the tire state data, so as to filter out the abrupt change signal (for example, the tire pressure abrupt change signal when passing through the deceleration strip) in the state parameter, and then the target safety limit speed is determined according to the cleaned safety limit speed, so that the influence of the occasional event on the determined target safety limit speed can be effectively filtered.
In step S240, a target speed limit speed is determined according to the target safety limit speed, the target speed limit speed being smaller than the target safety limit speed. In some examples, the target safe limit speed is calculated according to a preset numerical conversion algorithm, such as an equal-scale-down algorithm or an equal-difference-down algorithm.
In step S250, the speed limit control is performed on the work machine based on the target speed limit speed. Therefore, the target speed limit speed which is smaller than the target safety limit speed corresponding to the critical point of the dangerous working condition is calculated, the driving speed of the working machine in the subsequent stage is limited by utilizing the target speed limit speed, and the safety of the working machine in the subsequent speed limit driving stage can be further ensured based on the speed allowance setting relative to the target safety limit speed.
According to the embodiment of the invention, the safety limit speeds corresponding to the different state parameter types are comprehensively considered, so that the determined target safety limit speed can meet the requirements of various tire state conditions, and the running safety of the working machine is ensured.
In the heavy load running of the working machine, the corresponding tire condition parameter may also change during the running of the working machine, for example, the tire temperature may increase during the running, and the target safety limit speed matched with the tire condition may also change accordingly. In some examples of embodiments of the invention, the tire condition data is periodically acquired and the target safe limit speed is updated accordingly based on the tire condition data. Specifically, tire state data is collected according to a preset period, and a corresponding target safety limit speed is periodically redetermined so as to update when the redetermined target safety limit speed is different from the current target safety limit speed. Therefore, when the tire state of the working machine changes due to continuous running, the working machine can realize long-time safe running by monitoring the change of the tire state data and correspondingly adjusting the tire safety limit speed.
Fig. 3 shows a flowchart of an example of a speed limit control method of a work machine according to an embodiment of the invention. Here, the work machine includes a plurality of tire groups.
As shown in fig. 3, in step S310, tire state data of a work machine is acquired, the tire state data including a plurality of state sub-data, each having a corresponding tire identification.
Here, the tire identification may represent an identification for a single tire or a group of tires (i.e., a tire group).
Fig. 4 illustrates a schematic diagram of an example of a sensor group arranged for a work machine in accordance with an embodiment of the present disclosure. As shown in fig. 4, the construction machine according to the embodiment of the present invention may be a crane, four tire sets are respectively provided for four axles of the crane, a speed sensor 410 is provided on any one tire set to collect speed, and status sensors (401, 403, 405 and 407) are respectively provided on each tire set to collect status sub-data of each tire set.
In some examples of the embodiments of the present invention, the status sensor set for each tire group may integrate a diversified status sensing module, such as a temperature sensing module, a tire pressure sensing module, etc., to implement integrating a diversified status parameter type in each status sub-data, and further details may be partially described with reference to the embodiment shown in fig. 2, which is not repeated herein.
In step S320, for each of the acquired tire state data, a safe limit speed corresponding to the state data is determined according to the tire limit speed model. Therefore, corresponding safety limit speeds are respectively determined according to the tire states of each tire mark in the working machine, and differences of tire pressures and tire temperatures of different tires are fully considered, so that safety can be further ensured.
In step S330, it is detected whether or not the travel speed of the work machine exceeds the target safety limit speed. In one example, a rotational speed signal may be collected from an engine or gearbox to infer a travel speed of the work machine. In another example, the travel speed of the work machine may also be collected by a speed sensor 410, as provided for the tire in fig. 4.
When the target safety limit speed is determined, the target safety limit speed may be determined based on the safety limit speed corresponding to each state sub-data. In some examples, the safety limit speeds corresponding to the respective state sub-data are sorted by the magnitude of the value, and the safety limit speed corresponding to the smallest value is taken as the target safety limit speed. Optionally, when determining the target safety limit speed, a safety margin may be set between the safety limit speed with the minimum corresponding value and the target safety limit speed, so as to reduce the value of the set target safety limit speed, and further improve the safety of the tire during running.
In step S341, when the travel speed of the work machine does not exceed the target safety limit speed of the work machine, the speed limit control operation of the work machine is not required.
In some embodiments, the target safe limit speed is compared multiple times with the real-time travel speed over a period of time to determine whether the travel speed of the work machine exceeds the target safe limit speed. For example, it is determined that the travel speed of the work machine exceeds the target safe limit speed only when the detected real-time speeds all exceed the target safe limit speed for a while, at which time the speed limit is required. In addition, when one or more comparison results in a period of time indicate that the real-time speed is less than the target safety limit speed, it is determined that the running speed of the working machine does not exceed the target safety limit speed, and no intervening speed limit is needed. Therefore, intervention of speed limiting control caused by sporadic or short-time high speed is avoided, and reliability of triggering intervention speed limiting control operation can be improved.
In step S343, in the case where the running speed is greater than the target safety limit speed, an early warning operation is performed.
Specifically, the early warning operation may include an audible and visual warning operation, a screen warning box prompt, or the like to at least effect a speed limit control operation that predicts an impending intervention to a driver of the work machine. Illustratively, the driver is prompted to functionally detect the sensor to ensure high accuracy of the tire condition data that it collects.
In some embodiments, the early warning operation may further include sending an early warning notification to internal mechanism components of the work machine to ensure that various internal mechanism components involved in the speed limit control operation are able to function properly, such as performing a speed limit function self-test on an engine of the work machine.
In step S350, driver feedback information for the early warning operation is acquired, and whether the driver feedback information satisfies a first preset condition is detected.
Here, the first preset condition defines a range of feedback information that the driver agrees to perform speed limit control on the work machine. By means of the first preset condition, a confirmation of the external environmental conditions of the work machine prior to the intervention of the speed limit control may be accomplished, for example, the driver confirming that the sensor is fully functional and ready to accept an active intervention of the speed limit operation.
In step S360, an engine control module self-test operation is performed.
In step S370, a self-test result for the self-test operation of the engine control module is obtained, and whether the self-test result satisfies a second preset condition is detected.
Here, the second preset condition defines a range of self-check results that the engine control module can perform the speed limit control. By means of the second preset condition, confirmation of the internal environmental conditions of the work machine before the intervention of the speed limit control can be completed, the driver confirms that the sensor function is complete and ready to accept the active intervention of the speed limit operation, for example, the engine control module confirms that all the mechanism components related to the speed limit control operation can be operated normally.
In step S380, when the first preset condition and the second preset condition are satisfied, the speed limit control is performed on the work machine based on the target safe limit speed.
In some examples of embodiments of the present invention, the work machine is targeted for speed limit control via an engine control program, i.e., an ECM program. Here, each engine control program has a corresponding speed limit value setting, such as a plurality of engine control programs corresponding to different speed limit values (e.g., 50 km/h and 40 km/h), respectively. Specifically, when the speed limit control is performed on the working machine based on the target safe limit speed, the target engine control program that matches the target safe limit speed may be determined from a plurality of preset engine control programs, and the running target engine control program may be further controlled to perform the speed limit control on the working machine. Under some service conditions, the work machine may not be able to complete the selection or switching of the engine control program in the start state, and may be able to restart the engine to achieve the goal of controlling the operation of the target engine control program.
In the embodiment of the invention, the speed limiting requirements of the tire in different states (such as tire pressure and temperature) can be met by presetting a plurality of different speed limiting programs. In addition, through actively monitoring the running speed and triggering the early warning operation, the speed limit control is carried out when the feedback information aiming at the early warning operation reaches the standard, the tire state collection and the normal performance of the speed limit control operation can be ensured, the speed limit is carried out under the condition of ensuring the safety and completeness of the whole vehicle function, and the safety of implementing the speed limit control operation is further improved.
It should be noted that the embodiment of actively monitoring the travel speed and triggering the speed limit control operation as described in fig. 3 is for example only, and additionally or alternatively, the driver may also actively choose to trigger the speed limit control operation, for example, before the work machine weights and is ready to travel, the driver may manually choose to trigger the work machine to use the speed limit control function.
Fig. 5 shows a flowchart of an example of a speed limit control method of a work machine according to an embodiment of the invention. As regards the implementation of the method embodiments of the invention, this may be performed by an ECM. In the embodiment of the invention, the ECM monitors the tire pressure and the temperature of each axle tire in real time, so as to limit the speed of the working machine.
As shown in fig. 5, in step S510, the tire pressure value of each tire group is measured, the allowable safe limit speed of each tire group at the corresponding tire pressure is obtained, and the minimum value V1 is obtained by the sequential analysis.
In step S520, the temperature value of each tire group is measured, the allowable safe limit speed of each tire group under the corresponding tire pressure is obtained, and the minimum value V2 is obtained by sequencing analysis.
Specifically, the ECM achieves measurement of the tire pressure value, temperature, and running speed V of the tire groups through signal transmission with the sensor groups provided for the respective tire groups. Further, the ECM calculates and aligns the minimum V1 of the tire safety limit speeds corresponding to the tire pressures and the minimum V2 of the tire safety limit speeds corresponding to the temperatures using the safety limit speed curves that the pre-calibrated tires corresponding to the physical characteristics of the tires can withstand at different tire pressures and temperatures.
In step S530, the maximum allowable tire speed V is determined MAX ＝(V1，V2) min 。
In some examples, a corresponding sensor group is set on the whole working machine for each tire group, the tire pressures, temperatures and speeds of the tire groups are monitored by the sensor group to obtain tire pressures { P1, P2 … … Pn } of each tire group, ECM selects corresponding speeds { s1, s2 … … sn } through the tire pressure and tire safety limit speed curve, temperature { T1, T2 … … Tn } of each tire is additionally obtained, ECM selects corresponding speeds { u1, u2 … … un } through the temperature and tire safety limit speed curve, ECM ranks { s1, s2 … … sn, u1, u2 … … un } to obtain the smallest one of the speeds { s1, s2 … … sn, u1, u2 … … un } and uses the smallest one as the highest allowable speed V of the tire MAX 。
Thus, the tire safety limit speeds corresponding to different types of tire state parameters are compared, and the minimum tire safety limit speed is selected as the highest allowable tire speed V MAX 。
In step S540, it is detected whether the running speed V exceeds the maximum allowable tire speed V MAX 。
In step S551, when the running speed V does not exceed the maximum allowable tire speed V MAX And during the speed limiting control operation, no intervention is needed.
In step S553, when the running speed V exceeds the maximum allowable tire speed V MAX When the speed is required to be limited, an alarm sound is sent to prompt the driver to stop the inspection sensor group as soon as possible, and the engine is restarted.
Specifically, when the running speed V exceeds the tire maximum allowable speed V MAX When the vehicle tire pressure sensor is in use, the speed is required to be limited, the speed limiting requirement is sent to the ECM through the CAN bus, and then an alarm sound is sent to prompt a driver to check whether the tire pressure and the temperature of the vehicle tire and a corresponding sensor group are abnormal. In some embodiments, V is calculated over a plurality of engine calculation cycles of the ECM MAX Compared with the real-time running speed V, when three times of calculation are combinedThe results all indicate that V is greater than V MAX The speed limit is required.
In step S560, the ECM self-checks to determine if a fault code exists.
In step S573, when the self-check has a fault code, the driver eliminates the fault according to the fault code. In some examples, it may be desirable to ensure that the engine does not output a fault code over multiple consecutive engine detection cycles (e.g., three consecutive calculation cycles).
In step S571, when the self-test does not have the fault code, the whole vehicle is powered on again, and the corresponding V is automatically selected MAX Is a speed limiting procedure. Here, the ECM sets the speed limiting program for different speed limiting values in advance. In some embodiments, V can be MAX Performing numerical reduction processing to obtain relative V MAX And selecting a corresponding speed limiting program by using a smaller speed limiting value. For example, if V MAX And the corresponding speed limit value is 10 times of the ten-digit value, namely 50 km/h, and the speed limit program corresponding to 50 km/h is selected for speed limit control operation, so that a certain speed allowance is reserved, and the safety of speed limit control can be further ensured.
In the embodiment of the invention, speed information, tire pressure information and tire temperature information are collected simultaneously, the allowable safety limit speed of the tire under different tire pressures and temperatures is obtained through analysis, and whether speed limit is needed or not is actively monitored. The tire pressure and temperature of each axle tire group of the whole vehicle are collected, the safe limit speed of each tire group under the corresponding current tire state is calculated and compared with the running speed of the working machine, if the safe limit speed exceeds the running speed, no speed limit is needed, if the safe limit speed does not exceed the running speed, the speed limit is needed, after the operation hand is prompted by an instrument spring frame and a voice prompt, the engine is restarted, and a matched speed limit program is selected to carry out speed limit control.
Through the embodiment of the invention, the ECM presets different speed limiting programs and meets the requirements of different speed limiting values. In addition, through the tire pressure and the temperature of monitoring tire group, comprehensive calculation is accurate to give the safe limiting speed that the tire can bear, avoids the dangerous operating mode that the tire appears bursting in the driving in-process. Further, before the speed limiting control operation is performed, the early warning operation prompts a driver to check the current condition of the vehicle, the ECM is self-checked, the speed limiting operation is ensured to be performed under the condition that no abnormality exists in the inner part and the outer part of the working machine, and the safety of the speed limiting control operation in the running process of the working machine is fully ensured. Therefore, according to the tire pressure, the vehicle speed and the tire temperature of the tire monitored in real time, after comprehensive calculation, the engine automatically selects an ECM program to carry out accurate speed limiting.
The speed limit control device for a working machine according to the present invention will be described below, and the speed limit control device for a working machine described below and the speed limit control method for a working machine described above may be referred to correspondingly to each other.
Fig. 6 shows a block diagram of an example of a speed limit control device of a work machine according to an embodiment of the present invention.
As shown in fig. 6, the speed limit control device 600 of the work machine includes an acquisition unit 610, a determination unit 620, and a control unit 630.
An acquisition unit 610 for acquiring tire condition data of the work machine.
A determining unit 620 configured to determine a target safe limit speed corresponding to the acquired tire state data according to a preset tire limit speed model; wherein the tire limit speed model is used to define a relationship between tire condition data and a safe limit speed.
And a control unit 630 for performing speed limit control on the work machine based on the target safe limit speed.
Fig. 7 shows a block diagram of an example of a work machine according to an embodiment of the present invention.
As shown in fig. 7, work machine 700 includes a tire 710 and a controller 720, and by controller 720, operations including: acquiring tire state data of a work machine; determining a target safety limit speed corresponding to the acquired tire state data according to a preset tire limit speed model; wherein the tire limit speed model is used for defining a relationship between tire state data and a safe limit speed; and performing speed limiting control on the working machine based on the target safety limit speed.
It should be appreciated that work machine 700 may utilize various types of tire-equipped work equipment, such as, for example, a truck crane, an excavator, a dozer, etc., and should not be limiting.
Fig. 8 illustrates a physical structure diagram of an electronic device, as shown in fig. 8, which may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. Processor 810 may invoke logic instructions in memory 830 to perform a speed limit control method for a work machine, the method comprising: acquiring tire state data of a work machine; determining a target safety limit speed corresponding to the acquired tire state data according to a preset tire limit speed model; wherein the tire limit speed model is used for defining a relationship between tire state data and a safe limit speed; and performing speed limiting control on the working machine based on the target safety limit speed.
Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a speed limit control method for a work machine provided by the methods described above, the method comprising: acquiring tire state data of a work machine; determining a target safety limit speed corresponding to the acquired tire state data according to a preset tire limit speed model; wherein the tire limit speed model is used for defining a relationship between tire state data and a safe limit speed; and performing speed limiting control on the working machine based on the target safety limit speed.
In yet another aspect, the present disclosure provides a non-transitory computer readable storage medium having stored thereon a computer program that when executed by a processor is implemented to perform the above-provided speed limit control method of a work machine, the method comprising: acquiring tire state data of a work machine; determining a target safety limit speed corresponding to the acquired tire state data according to a preset tire limit speed model; wherein the tire limit speed model is used for defining a relationship between tire state data and a safe limit speed; and performing speed limiting control on the working machine based on the target safety limit speed.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A speed limit control method for a work machine, the method comprising:
acquiring tire state data of a work machine;
determining a target safe limit speed corresponding to the acquired tire state data according to a preset tire limit speed model, wherein the tire limit speed model is used for defining the relationship between the tire state data and the safe limit speed;
and performing speed limiting control on the working machine based on the target safety limit speed.
2. The method of speed limit control for a work machine according to claim 1, wherein the tire condition data comprises a plurality of tire condition parameters, each of the tire condition parameters having a respective condition parameter type, the condition parameter type comprising one or more of: tire pressure, tire temperature, and tire material type;
The determining, according to a preset tire limit speed model, a target safe limit speed corresponding to the acquired tire state data includes:
determining, for each state parameter type in the obtained tire state data, a safe limit speed corresponding to a tire state parameter of the state parameter type according to the tire limit speed model;
and determining the target safety limit speed based on the safety limit speed corresponding to each state parameter type.
3. The speed limit control method according to claim 1 or 2, wherein the tire status data includes a plurality of status sub-data, each of the status sub-data having a corresponding tire identification;
the determining, according to a preset tire limit speed model, a target safe limit speed corresponding to the acquired tire state data includes:
for each state sub-data in the acquired tire state data, determining a safety limit speed corresponding to the state sub-data according to the tire limit speed model;
and determining the target safety limit speed based on the safety limit speed corresponding to each state sub-data.
4. The speed limit control method of the work machine according to claim 1, wherein the speed limit control of the work machine based on the target safe limit speed includes:
detecting a travel speed of the work machine;
and when the travel speed is greater than the target safety limit speed, performing speed limit control on the working machine based on the target safety limit speed.
5. The speed limit control method according to claim 4, wherein the speed limit control of the working machine based on the target safety limit speed in the case where the travel speed is greater than the target safety limit speed includes:
executing early warning operation under the condition that the running speed is greater than the target safety limit speed;
acquiring driver feedback information aiming at the early warning operation, and detecting whether the driver feedback information meets a first preset condition; the first preset condition defines the range of feedback information that the driver agrees to carry out speed limit control on the working machine;
and when the first preset condition is met, speed limiting control is performed on the working machine based on the target safety limit speed.
6. The speed limit control method according to claim 4, wherein the speed limit control of the working machine based on the target safety limit speed in the case where the travel speed is greater than the target safety limit speed includes:
executing an engine control module self-checking operation in the case that the running speed is greater than the target safety limit speed;
acquiring a self-checking result aiming at self-checking operation of the engine control module, and detecting whether the self-checking result meets a second preset condition; the second preset condition defines the range of self-checking results of the speed limiting control of the engine control module;
and when the second preset condition is met, speed limiting control is performed on the working machine based on the target safety limit speed.
7. The speed limit control method according to claim 1 or 4, characterized in that the speed limit control of the working machine based on the target safe limit speed includes:
determining a target engine control program matching the target safe limit speed from a plurality of preset engine control programs; each engine control program is provided with corresponding speed limit value setting;
And controlling to run the target engine control program so as to perform speed limiting control on the working machine.
8. The speed limit control method of the work machine according to claim 1, wherein the speed limit control of the work machine based on the target safe limit speed includes:
determining a target speed limit speed according to the target safety limit speed; the target speed limit speed is less than the target safety limit speed;
and performing speed limiting control on the working machine based on the target speed limiting speed.
9. The speed limit control method of a work machine according to claim 1, wherein the tire condition data is periodically acquired, and the target safe limit speed is updated accordingly in accordance with the tire condition data.
10. A work machine comprising a tire and a controller, wherein the controller is configured to perform operations comprising:
acquiring tire state data of a work machine;
determining a target safety limit speed corresponding to the acquired tire state data according to a preset tire limit speed model; wherein the tire limit speed model is used for defining a relationship between tire state data and a safe limit speed;
And performing speed limiting control on the working machine based on the target safety limit speed.
CN202310636831.7A 2023-05-31 2023-05-31 Speed limit control method for working machine and working machine Pending CN116834548A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310636831.7A CN116834548A (en) 2023-05-31 2023-05-31 Speed limit control method for working machine and working machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310636831.7A CN116834548A (en) 2023-05-31 2023-05-31 Speed limit control method for working machine and working machine

Publications (1)

Publication Number Publication Date
CN116834548A true CN116834548A (en) 2023-10-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Link
CN (1) CN116834548A (en)

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