CN117360259A - Sanitation vehicle control method and device, sanitation vehicle and storage medium - Google Patents

Sanitation vehicle control method and device, sanitation vehicle and storage medium Download PDF

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Publication number
CN117360259A
CN117360259A CN202311326819.2A CN202311326819A CN117360259A CN 117360259 A CN117360259 A CN 117360259A CN 202311326819 A CN202311326819 A CN 202311326819A CN 117360259 A CN117360259 A CN 117360259A
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CN
China
Prior art keywords
gear
sanitation vehicle
power
controlling
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311326819.2A
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Chinese (zh)
Inventor
李忠志
赵斌良
何兴
李小宝
杜素青
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.)
Changsha Zoomlion Environmental Industry Co Ltd
Original Assignee
Changsha Zoomlion Environmental Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changsha Zoomlion Environmental Industry Co Ltd filed Critical Changsha Zoomlion Environmental Industry Co Ltd
Priority to CN202311326819.2A priority Critical patent/CN117360259A/en
Publication of CN117360259A publication Critical patent/CN117360259A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • 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
    • B60K25/00—Auxiliary drives
    • B60K25/06—Auxiliary drives from the transmission power take-off
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2054—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed by controlling transmissions or clutches
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
    • E01H1/101—Hydraulic loosening or dislodging, combined or not with mechanical loosening or dislodging, e.g. road washing machines with brushes or wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)

Abstract

The invention relates to the technical field of vehicle control, and discloses an environmental sanitation vehicle control method and device, an environmental sanitation vehicle and a storage medium, wherein the method comprises the following steps: responding to the power taking request, and determining a power taking mode of the sanitation vehicle; under the condition that the power take-off mode is a driving power take-off mode, a gear-off control strategy is adopted to control the sanitation vehicle to gear off; a gear-in control strategy is adopted to control the gear-in of the sanitation vehicle; and a power takeoff control strategy is adopted to control the sanitation vehicle to take power during driving. According to the invention, the gear release of the sanitation vehicle is controlled, the gear entering of the sanitation vehicle is controlled, and finally, the driving power taking mode of the sanitation vehicle is controlled, so that a driver only needs to realize the driving power taking of the sanitation vehicle through a power taking request, and the driving power taking of the sanitation vehicle and the power taking of the loading equipment are not required to be controlled simultaneously, thereby solving the problem that the driver needs to simultaneously carry out driving operation and power taking operation when the traditional sanitation vehicle realizes loading cleaning operation in the running process, and reducing the possibility of accidents.

Description

Sanitation vehicle control method and device, sanitation vehicle and storage medium
Technical Field
The invention relates to the technical field of vehicle control, in particular to an environmental sanitation vehicle control method and device, an environmental sanitation vehicle and a storage medium.
Background
An environmental sanitation vehicle is a special vehicle specially used for urban environmental sanitation and cleaning, and is generally provided with a high-pressure water pump, a cleaning nozzle, a cleaning liquid storage device and other devices. At present, an environmental sanitation vehicle is usually driven by electricity to realize the running and cleaning functions of the vehicle.
When the existing sanitation vehicle is used for cleaning, the existing sanitation vehicle comprises two working modes of traveling and uploading cleaning, and in the traveling mode, traveling control is realized by a whole vehicle controller and a driving motor controller according to the control of a driver; under the upper assembly cleaning mode, the upper assembly controller controls the upper assembly water pump motor controller according to the control of a driver, so that the motor rotating speed of the upper assembly water pump is driven, the output shaft of the upper assembly water pump motor drives the high-pressure water pump in a mechanical coupling mode, the water pressure and the flow required by the road cleaning operation are achieved, and the purpose of road cleaning is achieved.
According to the prior art, in order to realize the loading cleaning operation in the traveling process, a driver needs to perform traveling operation and power taking operation simultaneously, namely, the driver needs to control and control the loading water pump motor controller to clean the road in the normal traveling process of the driving sanitation vehicle, so that the reaction speed and the operation skill of the driver are greatly tested.
Therefore, the prior sanitation vehicle is easy to cause distraction and misoperation of a driver in a mode of controlling driving and uploading cleaning simultaneously, and the possibility of accident occurrence is increased.
Disclosure of Invention
The invention aims to provide a sanitation vehicle control method, a sanitation vehicle control device, a sanitation vehicle and a storage medium, which are used for solving the problem that a driver needs to perform driving operation and power taking operation simultaneously when the existing sanitation vehicle realizes uploading cleaning operation in running, and reducing the possibility of accidents.
To achieve the above object, in a first aspect, the present application provides an sanitation vehicle control method, including:
responding to a power taking request, and determining a power taking mode of the sanitation vehicle, wherein the power taking mode comprises a driving power taking mode or a parking power taking mode;
under the condition that the power take-off mode is the driving power take-off mode, a gear-off control strategy is adopted to control the sanitation vehicle to be gear-off;
a gear entering control strategy is adopted to control the sanitation vehicle to enter a gear;
and controlling the sanitation vehicle to take driving power by adopting a power takeoff control strategy.
Preferably, the step of controlling the gear disengagement of the sanitation vehicle by adopting a gear disengagement control strategy comprises the following steps:
acquiring a gear-off torque limit request value;
according to the gear-off torque limit request value, controlling the torque of the driving motor to be located in a first interval comprising the gear-off torque limit request value, and acquiring the actual torque of the driving motor in real time;
and under the condition that the actual torque is smaller than or equal to the gear-off torque limiting request value, controlling a gear-off pneumatic valve to be closed so as to control the sanitation vehicle to gear off.
Preferably, the step of controlling the sanitation vehicle to enter the gear by adopting a gear entering control strategy includes:
acquiring a gear-entering rotation speed limit request value;
controlling the torque of the driving motor to be positioned in a second interval comprising the gear-entering speed limiting request value according to the gear-entering speed limiting request value, and acquiring the actual speed of the driving motor in real time;
and under the condition that the actual rotating speed is smaller than or equal to the gear-entering rotating speed limiting request value, controlling the gear-entering pneumatic valve to be closed so as to control the sanitation vehicle to enter a gear.
Preferably, the controlling the sanitation vehicle to take driving power by adopting a power takeoff control strategy includes:
after the sanitation vehicle enters a gear, controlling a pneumatic electromagnetic valve of a power takeoff to be closed;
and after the synchronizer is in place, controlling the sanitation vehicle to take driving power.
Preferably, the method further comprises:
and controlling the speed of the sanitation vehicle to be smaller than a preset speed threshold.
Preferably, the method further comprises:
under the condition that the power take-off mode is the parking power take-off mode, controlling the torque of a driving motor to be a preset torque, and controlling the gear of the gearbox to be a neutral gear;
and controlling the sanitation vehicle to park for taking power according to the power takeoff control strategy.
Preferably, the method further comprises:
acquiring a required rotating speed of a water pump;
when the sanitation vehicle is in a parking power taking mode, calculating the required rotation speed of the driving motor based on the required rotation speed of the water pump, wherein the required rotation speed of the driving motor is the product of the required rotation speed of the water pump and a preset power takeoff speed ratio;
and controlling the rotating speed of the driving motor to be the required rotating speed.
Preferably, the method further comprises:
and under the condition of receiving the cruise request, controlling the rotating speed of the driving motor to be a preset target rotating speed.
Preferably, the method further comprises:
under the condition that a driving power taking cancellation signal is received, a pneumatic electromagnetic valve of a power takeoff is controlled to be closed, and the sanitation vehicle is controlled to cancel the driving power taking, wherein the driving power taking cancellation signal comprises an acceleration of an accelerator pedal which is larger than a preset acceleration, a reverse gear and a power taking mode exiting signal input by a user.
In a second aspect, the present application provides an sanitation vehicle control apparatus comprising:
the response module is used for responding to the power taking request and determining a power taking mode of the sanitation vehicle, wherein the power taking mode comprises a driving power taking mode or a parking power taking mode;
the gear-shifting control module is used for controlling the sanitation vehicle to shift off by adopting a gear-shifting control strategy under the condition that the power take-off mode is the driving power take-off mode;
the gear-in control module is used for controlling the sanitation vehicle to enter a gear by adopting a gear-in control strategy;
and the power takeoff control module is used for controlling the sanitation vehicle to take driving power by adopting a power takeoff control strategy.
In a third aspect, the present application provides an sanitation vehicle comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, when loaded and executing the computer program, being configured to execute the sanitation vehicle control method described above.
In a fourth aspect, the present application provides a machine-readable storage medium having instructions stored thereon that, when executed by a computing device processor, cause the computing device processor to be configured to perform the above-described sanitation vehicle control method.
According to the technical scheme, under the driving power take-off mode, the gear-off control strategy is adopted, the sanitation vehicle is controlled to be gear-off, and finally, the power take-off device is controlled to take off the driving power of the sanitation vehicle, so that the loading cleaning operation is realized, a driver only needs to take off the driving power of the sanitation vehicle through the power take-off request, and the driving power of the sanitation vehicle and the power take-off of the loading equipment are not required to be controlled simultaneously, the problem that the driver needs to carry out driving operation and power take-off operation simultaneously when the existing sanitation vehicle is used for realizing the loading cleaning operation in the running process is solved, and the possibility of accidents is reduced.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:
fig. 1 shows an overall flowchart of a sanitation vehicle control method provided in an embodiment of the present application.
Detailed Description
Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more.
In a specific use scenario of the sanitation vehicle in the embodiment of the present application, in order to ensure normal running of the driving power, the sanitation vehicle needs to be started and controlled, and a flow of the starting and controlling is as follows: firstly, placing a car key in an ON gear of a sanitation vehicle, which is used for low-voltage power supply of a circuit system of the sanitation vehicle, and initializing a program; secondly, placing a vehicle key in an ST gear of the sanitation vehicle for triggering the high-voltage power-on of the whole vehicle, at the moment, starting power supply of each high-voltage loop of the sanitation vehicle, and setting a power system ready indicator PTReady=1 of a vehicle controller after the high-voltage power-on is finished to indicate that a high-voltage system of the sanitation vehicle is ready; when ptroady=1, normal vehicle driving torque control is performed according to vehicle information, that is, a motor and a gearbox are controlled according to an operation of a driver, so that running of the vehicle is achieved, and specifically, the vehicle information includes an accelerator pedal opening, a brake pedal opening, a hand brake signal, a gear signal, and the like.
The accelerator pedal opening refers to the degree or angle by which the driver depresses the accelerator pedal, and is used to indicate the driver's need for acceleration of the vehicle. When the driver depresses the accelerator pedal, the opening information of the accelerator pedal is acquired through the sensor, and the output torque of the motor or the fuel driving motor is controlled according to the opening information, so that the acceleration of the vehicle is realized.
The brake pedal opening refers to the degree or angle by which the driver depresses the brake pedal, and is used to indicate the driver's need to slow down or stop the vehicle. When the driver depresses the brake pedal, a braking force is applied according to the opening degree of the brake pedal, and the movement of the vehicle is decelerated or stopped.
The hand brake signal is a signal generated when the driver operates a hand brake device, which is typically a hand brake. When the driver pulls up the hand brake, a corresponding response can be made, for example, to prevent the sanitation vehicle from starting up in the event of release of the hand brake, or to automatically reduce the output power of the drive motor when the hand brake is activated, etc.
The gear signal refers to a signal of a gear in which the transmission is currently located. Corresponding adjustments may be made in accordance with the gear signal, such as adjusting the rotational speed of the drive motor, controlling the operation of the clutch, etc.
The following describes the sanitation vehicle control method provided in the embodiment of the present application in detail through a specific embodiment and an application scenario thereof with reference to fig. 1.
The embodiment of the application discloses an environmental sanitation vehicle control method.
Referring to fig. 1, a sanitation vehicle control method includes the steps of:
s110, responding to the power taking request, and determining a power taking mode of the sanitation vehicle, wherein the power taking mode comprises a driving power taking mode or a parking power taking mode.
In a specific implementation, the power take-off request refers to a signal from a power take-off switch of the upper-mounted operation panel, which is used for determining a power take-off mode of the sanitation vehicle, and indicates that a driver wishes a power take-off operation of the sanitation vehicle. Specifically, the power take-off mode of the sanitation vehicle comprises a driving power take-off mode or a parking power take-off mode.
The parking power taking mode represents a working mode of outputting power to upper equipment to work when the sanitation vehicle is parked or stationary. In the park power take-off mode, the sanitation vehicle is stopped, but the drive motor is still running, and power is transmitted to the upper equipment to provide necessary operating capacity. In particular, the upper installation equipment of the sanitation vehicle refers to additional equipment installed above the vehicle for performing various operations and functions of sanitation work, such as a spraying device, a dust suction device, and the like.
The driving power take-off mode means an operation mode in which the sanitation vehicle outputs power to the upper installation equipment to provide additional functions or operation capability during driving. In the power take-off mode, the power of the sanitation vehicle is transmitted to the upper equipment to meet specific working requirements, such as road surface cleaning, water mist spraying and the like, and at this time, the vehicle is still in a driving state.
And S120, under the condition that the power take-off mode is a driving power take-off mode, a gear-off control strategy is adopted to control the sanitation vehicle to gear off.
In the driving power taking mode, the sanitation vehicle needs to output partial power to the upper equipment so as to meet specific working requirements, and the embodiment adopts a mode of first gear disengagement and then gear advance, so that the sanitation vehicle can meet the working requirements of the upper equipment and can be ensured to normally run in the driving power taking mode.
The gear disengagement refers to the step of converting the transmission of the sanitation vehicle from a gear engaging state to a neutral gear engaging state, wherein the gear engaging state refers to the step of engaging the transmission of the sanitation vehicle with a specific gear so that the power of a driving motor can be transmitted to a transmission system of the vehicle to realize the running of the vehicle; the neutral state refers to the transmission of the sanitation vehicle being in an idle state without any particular gear being engaged. In the neutral state, the power of the driving motor is not transmitted to the transmission system of the vehicle, the wheels are not driven, and the vehicle does not advance or retreat.
S130, controlling the sanitation vehicle to enter the gear by adopting a gear entering control strategy.
In the driving power taking mode, after the sanitation vehicle is controlled to be out of gear, the transmission of the sanitation vehicle is in a neutral gear state, the power of the driving motor cannot be transmitted to the wheels, and in order to enable the driving motor to be transmitted to the wheels, the vehicle is enabled to resume normal running, a gear entering control strategy is needed to be adopted, and the gear entering of the sanitation vehicle is controlled.
The gear entering refers to switching a transmission of the sanitation vehicle from a neutral gear state to a specific driving gear so that power of a driving motor can be transmitted to wheels to realize running of the vehicle.
And S140, controlling the sanitation vehicle to take power during driving by adopting a power takeoff control strategy.
A Power Take-Off (PTO) is a device capable of taking Power from a Power source of a driving motor, and is mainly used for driving an external device to perform work. Specifically, the external devices include a hydraulic pump, a water pump, a generator, and the like. In the embodiment, the control of the power takeoff is realized by adopting a power takeoff control strategy, so that the driving power takeoff of the sanitation vehicle is realized.
According to the embodiment of the application, under the driving power take-off mode, the gear-off control strategy is adopted, the sanitation vehicle is controlled to be gear-off, and finally, the power take-off device is controlled to take driving power, so that the loading cleaning operation is realized, a driver only needs to take driving power of the sanitation vehicle through a power take-off request, and does not need to simultaneously control the driving of the sanitation vehicle and the power take-off of the loading equipment, so that the problem that the driver needs to simultaneously carry out driving operation and power take-off operation when the existing sanitation vehicle is used for realizing the loading cleaning operation in the running process is solved, and the possibility of accidents is reduced.
In one implementation manner of the embodiment, a gear-off control strategy is adopted to control gear-off of the sanitation vehicle, and the method comprises the following steps:
s210, obtaining a gear-shifting torque limiting request value.
S220, controlling the torque of the driving motor to be in a first interval comprising the gear-release torque limit request value according to the gear-release torque limit request value, and acquiring the actual torque of the driving motor in real time.
In the driving process, the driving motor has power output and is connected with a gear of the current specific gear, and the connection between the driving motor and a wheel of the sanitation vehicle is interrupted due to gear disengagement, so that the driving motor is disconnected with the gear, and the torque of the driving motor is required to be limited in order to avoid damage to the gear when the driving motor is suddenly disconnected with the gear. Specifically, the torque of the drive motor is limited to the vicinity of the off-shift torque limitation request value, that is, within the first section including the off-shift torque limitation request value.
The gear-shifting torque limiting request value is calculated by the gear-shifting controller according to the torque of an input shaft of the gear-shifting box, the air pressure information of a gear-shifting pneumatic valve and the like, and specifically, the whole vehicle controller firstly sends a gear-shifting request to the gear-shifting controller, and the gear-shifting controller calculates the gear-shifting torque limiting request value according to the gear-shifting request. The transmission controller calculates the request value for limiting the gear-in rotational speed according to a preset algorithm or logic, by using torque of an input shaft of the transmission, air pressure information of a gear-out pneumatic valve, and the like.
The actual torque of the drive motor refers to the torque when the drive motor is actually operating.
And S230, when the actual torque is smaller than or equal to the gear-release torque limit request value, controlling the gear-release pneumatic valve to be closed so as to control the sanitation vehicle to release gear.
The out-of-gear pneumatic valve is a device for controlling out-of-gear operation of the sanitation vehicle. In the driving power taking mode, when partial power is required to be output to the upper equipment, the gear-off pneumatic valve is controlled to be closed so as to disconnect the power transmission between the driving motor and the gearbox, and the power of the driving motor is not transmitted to the gearbox any more at the moment and is completely output to the upper equipment.
And when the actual torque is smaller than or equal to the gear-off limiting request value, the condition that the gear-off condition is met is indicated, and at the moment, the gear-off pneumatic valve is controlled to be closed through the gearbox controller so as to control the sanitation vehicle to gear off.
According to the embodiment, the power of the sanitation vehicle can be transferred to the upper equipment by controlling the closing of the gear-removing pneumatic valve, so that gear-removing of the sanitation vehicle is realized, and at the moment, the upper equipment can obtain enough power to prepare for subsequent driving upper equipment.
In one implementation manner of the embodiment, a gear-in control strategy is adopted to control the gear-in of the sanitation vehicle, and the method comprises the following steps:
s310, acquiring a request value of limiting the gear-in rotation speed.
S320, controlling the torque of the driving motor to be located in a second interval comprising the gear-entering rotation speed limiting request value according to the gear-entering rotation speed limiting request value, and acquiring the actual rotation speed of the driving motor in real time.
After the sanitation vehicle is out of gear, in order to realize the driving and uploading operation of the sanitation vehicle, power is required to be provided for a driving motor to enable the sanitation vehicle to normally run, and at the moment, the sanitation vehicle needs to enter gear.
When the sanitation vehicle is in a gear-off operation, the gear-off pneumatic valve is closed, the driving motor is disconnected with the gearbox, and the gearbox is in a neutral gear state at the moment. Specifically, the rotation speed of the drive motor is limited to the vicinity of the in-gear rotation speed limit request value, that is, within the second interval including the in-gear rotation speed limit request value.
In this embodiment, the request value for limiting the speed of the forward gear is calculated by the gearbox controller according to the current state of the air valve of the forward gear, the air pressure of the air channel, and the like, wherein the state of the air valve of the forward gear indicates whether the forward gear operation is allowed currently. If the gear-in pneumatic valve is in a closed state, the gear-in operation is allowed, and the gear-in rotating speed limiting request value can be calculated by the gear box controller; if the in-gear pneumatic valve is in an open state, indicating that in-gear operation is not allowed, the transmission controller does not proceed with calculation of the in-gear rotational speed limitation request value. The air pressure of the air channel is the air pressure of an air source for controlling the air inlet baffle pneumatic valve. The gear box controller calculates a gear-in rotation speed limiting request value according to a preset algorithm or logic through information such as a gear-in pneumatic valve state and air circuit air pressure.
The actual rotational speed of the drive motor refers to the rotational speed at which the drive motor is actually operating. The rotation speed of the driving motor refers to the rotation speed of the motor, and is usually expressed in terms of rpm, and is used for expressing the running speed of the motor; the torque of the drive motor refers to the torque or torque output by the drive motor, typically expressed in newton meters, used to represent the output force of the drive motor. From the above, when the gear is disengaged, the power is output to the upper assembly equipment, and the torque of the driving motor is limited; when the vehicle is in a traveling gear, power is required to be transmitted to the traveling drive, and the rotating speed of the driving motor is required to be limited at the moment.
S330, under the condition that the actual rotation speed is smaller than or equal to the gear-entering rotation speed limiting request value, the gear-entering pneumatic valve is controlled to be closed so as to control the sanitation vehicle to enter the gear.
The gear-in pneumatic valve is a device for controlling the vehicle gearbox to enter a target gear, and the gear-in operation of the gearbox can be realized by controlling the opening and closing states of the gear-in pneumatic valve. The function of which is to control the clutches, gears and other transmission components inside the gearbox so that they can be shifted correctly to the target gear. The open and closed states of the intake air valve are controlled by a transmission controller in accordance with the operation of the driver or other control signals.
When the gear-in operation is performed, when the gear-in pneumatic valve is closed, the clutch and the gear inside the gearbox are matched and switched according to the control signal, and the gearbox is switched to the target gear. When the inlet gear pneumatic valve is opened, the clutch and the gear inside the gearbox cannot be matched and switched, and the gearbox cannot enter the target gear.
And under the condition that the actual rotating speed is smaller than or equal to the gear entering rotating speed limiting request value, the gear entering condition is met, and at the moment, the gear entering pneumatic valve is controlled to be closed so as to control the sanitation vehicle to enter the gear.
According to the embodiment, the gear entering rotation speed is limited, so that the gear entering operation of the gearbox is facilitated, the gear entering of the sanitation vehicle is further realized, and the sanitation vehicle can normally run.
In one implementation manner of the embodiment, a power takeoff control strategy is adopted to control the sanitation vehicle to take power during driving, and the method comprises the following steps:
s410, after the sanitation vehicle enters the gear, the pneumatic electromagnetic valve of the power takeoff is controlled to be closed.
And S420, after the synchronizer is in place, controlling the sanitation vehicle to take driving power.
The synchronizer is in place and used for indicating that the gear of the power takeoff is successfully combined with the output shaft of the gearbox, specifically, the power takeoff is arranged outside the gearbox and connected with the output shaft of the gearbox, the synchronizer is arranged in the gearbox and connected with the output shaft of the gearbox, and the pneumatic electromagnetic valve of the power takeoff is a device for controlling the power takeoff to work.
After the sanitation vehicle enters a gear, the starting electromagnetic valve of the power takeoff is controlled to be closed at first and used for starting the power takeoff, so that the power takeoff outputs power from the driving motor and drives the loading equipment. In the driving power taking operation, the gear of the power take-off needs to be correctly meshed with the output shaft gear of the gearbox so as to realize power transmission and drive the work of the upper equipment, namely, after the synchronizer is in place, the sanitation vehicle can take driving power.
In this embodiment, sanitation vehicle is in the back of keeping in the fender, through the pneumatic solenoid valve closure of control power takeoff to carry out driving power take-off operation after the synchronous ware is in place, thereby effectively ensure the normal cooperation of power takeoff and gearbox, realize reliable power transmission, when realizing driving power take-off, guaranteed driving power take-off's security.
In one implementation manner of the embodiment, the sanitation truck control method further includes the following steps:
s510, controlling the speed of the sanitation vehicle to be smaller than a preset speed threshold.
The vehicle speed threshold is set based on the actual operating environment of the sanitation vehicle, and can be set based on the bearing pressure of the loading equipment of the sanitation vehicle and the rotation speed of the power takeoff. Based on the pressure limit of the upper equipment and the protection consideration of the power takeoff, in the embodiment, the vehicle speed threshold is set to 20kph, and if the vehicle speed is smaller than the vehicle speed threshold, the accelerator pedal acceleration requirement of a driver is responded normally at the moment; if the difference between the vehicle speed and the vehicle speed threshold is smaller than or equal to a preset difference threshold, namely, the vehicle speed is close to the vehicle speed threshold or equal to the vehicle speed threshold, the vehicle speed is controlled to be smaller than the vehicle speed threshold. It should be noted that, when the speed of the sanitation vehicle is smaller than the preset speed threshold, the difference between the default speed and the speed threshold is larger than the preset difference threshold.
According to the embodiment, the speed of the sanitation vehicle is controlled, so that the upper equipment and the power takeoff are effectively protected.
In one implementation manner of the embodiment, the sanitation truck control method further includes the following steps:
and S610, controlling the torque of the driving motor to be a preset torque and controlling the gear of the gearbox to be a neutral gear under the condition that the power take-off mode is a parking power take-off mode.
In the case that the power take-off mode is the parking power take-off mode, in order to achieve the parking power take-off of the sanitation vehicle, the torque of the driving motor needs to be controlled to be a preset torque first, specifically, the preset torque in the embodiment is 0, and besides, the preset torque can be other set values set according to the actual operation condition, which is not limited herein.
In this embodiment, after the preset torque is set to 0, the gear of the transmission is controlled to be neutral, so that the vehicle stops moving.
S620, controlling the sanitation vehicle to park and take power according to the power take-off control strategy.
After the vehicle stops moving, the control of the power takeoff can be realized according to the control strategy of the power takeoff, so that the parking power taking of the sanitation vehicle is realized through the power takeoff.
According to the embodiment, the torque of the driving motor is firstly regulated, the gear of the gearbox is controlled, and finally the parking power taking of the sanitation vehicle is realized according to the power takeoff control strategy, so that the safety of the power taking operation of the sanitation vehicle in the parking state is conveniently ensured.
In one implementation manner of the embodiment, the sanitation truck control method further includes the following steps:
s710, acquiring the required rotation speed of the water pump.
In this embodiment, the loading device is a water pump, and the water pump demand rotation speed is obtained based on a signal sent by a driver through a loading operation panel.
S720, calculating the required rotation speed of the driving motor based on the required rotation speed of the water pump when the sanitation vehicle is in the parking power taking mode, wherein the required rotation speed of the driving motor is the product of the required rotation speed of the water pump and the preset power takeoff speed ratio.
The relation between the required rotation speed of the driving motor and the required rotation speed of the water pump is as follows: the required rotation speed of the driving motor=the required rotation speed of the water pump is i, where i is the power takeoff speed ratio, in this embodiment, i is 1.52, and according to the above formula, the required rotation speed of the driving motor can be calculated, for example, if the required rotation speed of the water pump is 1000rpm, the required rotation speed of the driving motor=1000×1.52=1520 rpm.
And S730, controlling the rotating speed of the driving motor to be the required rotating speed.
After the required rotation speed of the driving motor is obtained, the rotation speed of the driving motor is controlled to be the required rotation speed.
According to the embodiment, the required rotating speed of the driving motor is calculated according to the required rotating speed of the water pump, and the rotating speed of the driving motor is controlled to be the required rotating speed, so that the driving motor is ensured to provide proper power and rotating speed to meet the working requirement of the water pump, and the normal work of the sanitation vehicle in the parking power taking mode is realized.
In one implementation manner of the embodiment, the sanitation truck control method further includes the following steps:
and S810, controlling the rotating speed of the driving motor to be a preset target rotating speed under the condition that a cruise request is received.
Under the condition that the sanitation vehicle is in a driving power taking mode, the cruising request indicates that the driver does not need to step on an accelerator pedal when the sanitation vehicle is in running, constant speed is kept for automatic running, at the moment, the target rotating speed is firstly set, and the rotating speed of the driving motor is controlled to be a preset target rotating speed. In this embodiment, the target rotation speed is set to 2100rpm, and in a specific implementation, after the rotation speed of the driving motor is a preset target rotation speed of 2100rpm, the relationship between the rotation speed of the driving motor and the vehicle speed is determined: vehicle speed=rotational speed of the driving motor, the speed ratio in this embodiment is 0.0095238, and at this time, vehicle speed=2100×0.0095238= 19.99998 =approximately 20kph, so the vehicle speed is 20kph.
The embodiment sets the target rotating speed of the driving motor, can realize stable cruising of the sanitation vehicle, ensures that the vehicle speed is kept at 20kph, and provides a convenient cruising control function.
In one implementation manner of the embodiment, the sanitation truck control method further includes the following steps:
s910, under the condition that a driving power take-off cancellation signal is received, controlling a pneumatic electromagnetic valve of the power take-off to be closed, and controlling the sanitation vehicle to cancel driving power take-off, wherein the driving power take-off cancellation signal comprises an acceleration of an accelerator pedal larger than a preset acceleration, a reverse gear and a power take-off mode signal input by a user.
Under the condition that the sanitation vehicle is in a driving power taking mode and a driving power taking cancellation signal is received, the pneumatic electromagnetic valve of the power takeoff is controlled to be closed, and the sanitation vehicle is controlled to cancel driving power taking, so that the power taking operation of the upper equipment is stopped. Specifically, the driving power take-off cancellation signal includes a signal that acceleration of the accelerator pedal is greater than a preset acceleration, reverse gear, and a power take-off mode input by a user.
When the driving power taking cancellation signal is received, the pneumatic electromagnetic valve of the power takeoff is closed in time, the work of the power takeoff is stopped, driving power taking operation of the sanitation vehicle is cancelled, overuse of the power takeoff is effectively avoided, and safety and normal operation of the vehicle are ensured.
The embodiment of the application also discloses an environmental sanitation vehicle control device, which comprises:
the response module is used for responding to the power taking request and determining a power taking mode of the sanitation vehicle, wherein the power taking mode comprises a driving power taking mode or a parking power taking mode;
the gear-shifting control module is used for controlling the sanitation vehicle to shift off by adopting a gear-shifting control strategy under the condition that the power-taking mode is a driving power-taking mode;
the gear-in control module is used for controlling the sanitation vehicle to enter gear by adopting a gear-in control strategy;
and the power takeoff control module is used for controlling the sanitation vehicle to take power during driving by adopting a power takeoff control strategy.
According to the embodiment of the application, under the driving power take-off mode, the gear-off control strategy is adopted, the sanitation vehicle is controlled to be gear-off, and finally, the power take-off device is controlled to take driving power, so that the loading cleaning operation is realized, a driver only needs to take driving power of the sanitation vehicle through a power take-off request, and does not need to simultaneously control the driving of the sanitation vehicle and the power take-off of the loading equipment, so that the problem that the driver needs to simultaneously carry out driving operation and power take-off operation when the existing sanitation vehicle is used for realizing the loading cleaning operation in the running process is solved, and the possibility of accidents is reduced.
The embodiment of the application also discloses an sanitation vehicle, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor is configured to execute the sanitation vehicle control method when loading and executing the computer program.
Also disclosed are machine-readable storage media having instructions stored thereon that, when executed by a computing device processor, cause the computing device processor to be configured to perform the sanitation vehicle control method described above.
The computer program may be stored in a machine-readable medium, which may include computer program code, and the computer program code may be in the form of source code, object code, executable files, or some middleware, etc., and the machine-readable medium includes any entity or device capable of carrying the computer program code, a recording medium, a usb disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a Random Access Memory (RAM), an electrical carrier signal, a telecommunication signal, a software distribution medium, etc., and it should be noted that the machine-readable medium includes, but is not limited to, the above components.
The sanitation vehicle control method in the embodiment is stored in the machine-readable storage medium through the machine-readable storage medium, and is loaded and executed on a processor, so that the storage and application of the method are convenient.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention. In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition.
Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.

Claims (12)

1. A method of controlling an environmental sanitation vehicle, comprising:
responding to a power taking request, and determining a power taking mode of the sanitation vehicle, wherein the power taking mode comprises a driving power taking mode or a parking power taking mode;
under the condition that the power take-off mode is the driving power take-off mode, a gear-off control strategy is adopted to control the sanitation vehicle to be gear-off;
a gear entering control strategy is adopted to control the sanitation vehicle to enter a gear;
and controlling the sanitation vehicle to take driving power by adopting a power takeoff control strategy.
2. The method of claim 1, wherein the controlling the sanitation vehicle out of gear using the out-of-gear control strategy comprises:
acquiring a gear-off torque limit request value;
according to the gear-off torque limit request value, controlling the torque of the driving motor to be located in a first interval comprising the gear-off torque limit request value, and acquiring the actual torque of the driving motor in real time;
and under the condition that the actual torque is smaller than or equal to the gear-off torque limiting request value, controlling a gear-off pneumatic valve to be closed so as to control the sanitation vehicle to gear off.
3. The method of claim 1, wherein said employing a range-in control strategy to control range-in of said sanitation vehicle comprises:
acquiring a gear-entering rotation speed limit request value;
controlling the torque of the driving motor to be positioned in a second interval comprising the gear-entering speed limiting request value according to the gear-entering speed limiting request value, and acquiring the actual speed of the driving motor in real time;
and under the condition that the actual rotating speed is smaller than or equal to the gear-entering rotating speed limiting request value, controlling the gear-entering pneumatic valve to be closed so as to control the sanitation vehicle to enter a gear.
4. The method for controlling a sanitation vehicle according to claim 1, wherein the controlling the sanitation vehicle to take driving power by using a power take-off control strategy comprises:
after the sanitation vehicle enters a gear, controlling a pneumatic electromagnetic valve of a power takeoff to be closed;
and after the synchronizer is in place, controlling the sanitation vehicle to take driving power.
5. The sanitation vehicle control method of claim 4, the method further comprising:
and controlling the speed of the sanitation vehicle to be smaller than a preset speed threshold.
6. The sanitation vehicle control method according to claim 1, the method further comprising:
under the condition that the power take-off mode is the parking power take-off mode, controlling the torque of a driving motor to be a preset torque, and controlling the gear of the gearbox to be a neutral gear;
and controlling the sanitation vehicle to park for taking power according to the power takeoff control strategy.
7. The sanitation vehicle control method of claim 6, the method further comprising:
acquiring a required rotating speed of a water pump;
when the sanitation vehicle is in a parking power taking mode, calculating the required rotation speed of the driving motor based on the required rotation speed of the water pump, wherein the required rotation speed of the driving motor is the product of the required rotation speed of the water pump and a preset power takeoff speed ratio;
and controlling the rotating speed of the driving motor to be the required rotating speed.
8. The sanitation vehicle control method according to claim 1, further comprising:
and under the condition of receiving the cruise request, controlling the rotating speed of the driving motor to be a preset target rotating speed.
9. The sanitation vehicle control method according to claim 1, further comprising:
under the condition that a driving power taking cancellation signal is received, a pneumatic electromagnetic valve of a power takeoff is controlled to be closed, and the sanitation vehicle is controlled to cancel the driving power taking, wherein the driving power taking cancellation signal comprises an acceleration of an accelerator pedal which is larger than a preset acceleration, a reverse gear and a power taking mode exiting signal input by a user.
10. An environmental sanitation vehicle control apparatus, characterized by comprising:
the response module is used for responding to the power taking request and determining a power taking mode of the sanitation vehicle, wherein the power taking mode comprises a driving power taking mode or a parking power taking mode;
the gear-shifting control module is used for controlling the sanitation vehicle to shift off by adopting a gear-shifting control strategy under the condition that the power take-off mode is the driving power take-off mode;
the gear-in control module is used for controlling the sanitation vehicle to enter a gear by adopting a gear-in control strategy;
and the power takeoff control module is used for controlling the sanitation vehicle to take driving power by adopting a power takeoff control strategy.
11. An environmental sanitation vehicle comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the computer program is loaded and executed by the processor, and the environmental sanitation vehicle control method according to any one of claims 1 to 9 is used.
12. A machine-readable storage medium having instructions stored thereon, which when executed by a computing device processor, cause the computing device processor to be configured to perform the sanitation vehicle control method according to any of claims 1 to 9.
CN202311326819.2A 2023-10-12 2023-10-12 Sanitation vehicle control method and device, sanitation vehicle and storage medium Pending CN117360259A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311326819.2A CN117360259A (en) 2023-10-12 2023-10-12 Sanitation vehicle control method and device, sanitation vehicle and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311326819.2A CN117360259A (en) 2023-10-12 2023-10-12 Sanitation vehicle control method and device, sanitation vehicle and storage medium

Publications (1)

Publication Number Publication Date
CN117360259A true CN117360259A (en) 2024-01-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN117360259A (en)

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