CN117601838B - Energy distribution method, device, equipment and medium for hybrid forklift running system - Google Patents

Energy distribution method, device, equipment and medium for hybrid forklift running system Download PDF

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Publication number
CN117601838B
CN117601838B CN202410098445.1A CN202410098445A CN117601838B CN 117601838 B CN117601838 B CN 117601838B CN 202410098445 A CN202410098445 A CN 202410098445A CN 117601838 B CN117601838 B CN 117601838B
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kinetic energy
energy distribution
value
hybrid forklift
preset
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CN117601838A (en
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侯珏
方晓晖
张朝山
王康
奕青
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Hangcha Group Co Ltd
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Hangcha Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
    • B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application discloses a method, a device, equipment and a medium for distributing energy of a hybrid forklift running system, which relate to the technical field of vehicle kinetic energy distribution and comprise the steps of comparing and analyzing road surface images and preset road surface image characteristics, determining road condition types, matching the road condition types with preset kinetic energy parameters, and determining a first kinetic energy distribution value of a road surface corresponding to the road condition types; matching the cargo bearing capacity with a preset additional kinetic energy parameter, and determining a second kinetic energy distribution value which bears the corresponding weight and drives across the road surface; summing the first kinetic energy distribution value and the second kinetic energy distribution value, and determining a target kinetic energy distribution range for supplying the hybrid forklift; and regulating the kinetic energy distribution amount of the hybrid forklift by using the power source regulating device, calculating a kinetic energy output value, judging whether the kinetic energy output value is in a target kinetic energy distribution range, and if so, completing energy distribution. The application can realize the fast and stable passing of the hybrid forklift in different road conditions, and improves the overall carrying efficiency.

Description

Energy distribution method, device, equipment and medium for hybrid forklift running system
Technical Field
The invention relates to the technical field of vehicle kinetic energy distribution, in particular to an energy distribution method, device, equipment and medium of a hybrid forklift running system.
Background
At present, the forklift of the oil-electricity hybrid type can be independently powered and driven through an internal combustion engine or a motor, and can be powered and driven simultaneously, so that the carrying operation requirements of the forklift under different performance requirements are met. However, the running speed of the forklift running in different road conditions is generally affected by the weight of the carried goods and the road conditions, and in a relatively complex environment of the carried road conditions, when a driver unfamiliar with the road conditions executes the carrying operation, the driver usually tries to gradually increase the kinetic energy from a lower driving speed so as to make the forklift run stably; when the forklift runs on a plurality of sections of uneven road conditions, the process of adjusting the kinetic energy is time-consuming in the process of keeping stable running by slowly adjusting the kinetic energy, so that the overall carrying efficiency is low.
From the above, how to realize the fast and stable passing of the hybrid forklift in different road conditions and improve the overall carrying efficiency is a problem to be solved in the field.
Disclosure of Invention
In view of the above, the present invention aims to provide a method, a device, equipment and a medium for distributing energy of a running system of a hybrid forklift, which can realize fast and stable running of the hybrid forklift in different road conditions and improve overall conveying efficiency. The specific scheme is as follows:
In a first aspect, the application discloses a method for distributing energy of a running system of a hybrid forklift, which comprises the following steps:
acquiring a road surface image of the hybrid forklift and the cargo bearing capacity of a fork;
Comparing and analyzing the road surface image with preset road surface image characteristics to determine road condition types, and matching the road condition types with preset kinetic energy parameters to determine a first kinetic energy distribution value of the hybrid forklift through a road surface corresponding to the road condition types;
Matching the cargo bearing capacity with a preset additional kinetic energy parameter to determine a second kinetic energy distribution value of the hybrid forklift which bears the weight corresponding to the cargo bearing capacity and drives across the road surface;
Summing the first kinetic energy distribution value and the second kinetic energy distribution value to determine a target kinetic energy distribution range for supplying the hybrid forklift;
And regulating the kinetic energy distribution amount of the hybrid forklift by using a preset power source regulating device, calculating a kinetic energy output value corresponding to the kinetic energy distribution amount, judging whether the kinetic energy output value is in the target kinetic energy distribution range, and if the kinetic energy output value is in the target kinetic energy distribution range, completing energy distribution of the hybrid forklift.
Optionally, after determining the road condition type, the method further includes:
judging whether the road condition type is consistent with a preset uphill road condition type or not;
If the road condition type is consistent with the preset uphill road condition type, generating and sending a climbing kinetic energy parameter matching prompt message to the client;
If the road condition type is inconsistent with the preset uphill road condition type, generating and sending gentle road kinetic energy parameter matching prompt information to a client, and carrying out deceleration obstacle characteristic comparison analysis on the road image;
if the comparison analysis is passed, generating and sending barrier-free prompt information to the client;
And if the comparison analysis is not passed, acquiring deceleration obstacle characteristics and the meeting distance of the hybrid forklift, and controlling the current kinetic energy output value of the hybrid forklift based on the meeting distance.
Optionally, the controlling the current kinetic energy output value of the hybrid forklift based on the meeting distance includes:
Judging whether the meeting distance is within a preset adjusting distance range or not;
If the meeting distance is within the preset adjusting distance range, starting a flow for reducing the current kinetic energy output value of the hybrid forklift, and acquiring the current moving speed;
judging whether the current moving speed is in a preset deceleration running speed range or not;
And stopping the flow of reducing the current kinetic energy output value if the current moving speed is in the preset deceleration running speed range.
Optionally, the process of starting to reduce the current kinetic energy output value of the hybrid forklift includes:
comparing, analyzing and counting the road surface images and preset deceleration obstacle characteristics to obtain the quantity of the deceleration obstacles and the adjacent distance between the deceleration obstacles;
Performing matching analysis on the number of the deceleration barriers and the adjacent distance between the deceleration barriers to determine a vibration influence coefficient when the hybrid forklift passes through the deceleration barriers;
And calculating a kinetic energy distribution regulating value corresponding to the vibration influence coefficient, and reducing the current kinetic energy output value of the hybrid forklift based on the kinetic energy distribution regulating value.
Optionally, if the current moving speed is within the preset deceleration driving speed range, the method further includes:
Acquiring a brake signal of the hybrid forklift;
and generating energy recovery prompt information based on the brake signal, and recovering the energy of the hybrid forklift according to a preset brake recovery method based on the energy recovery prompt information.
Optionally, the matching the road condition type with a preset kinetic energy parameter to determine a first kinetic energy distribution value of the hybrid forklift passing through a road surface corresponding to the road condition type includes:
analyzing the road surface profile characteristics of the road surface image to obtain the driving distance and the road surface inclination angle of the hybrid forklift through the road surface corresponding to the road condition type;
Calculating a running speed corresponding to the road surface inclination angle, and calculating an ascending duration based on the running speed and the running distance;
and calculating a first kinetic energy distribution value by using the ascending time length and the unit time length energy consumption in the preset kinetic energy parameters, and generating and sending a kinetic energy distribution prompt message to a client.
Optionally, after calculating the first kinetic energy distribution value by using the up-slope time length and the unit time length energy consumption in the preset kinetic energy parameters, the method further includes:
judging whether the running speed is in a preset retarding range or not;
if the running speed is within a preset retarding range, generating and sending electric energy distribution prompt information to the client so that the client starts a motor based on the electric energy distribution prompt information;
And acquiring an electric energy output value after the motor is started, judging whether the electric energy output value is consistent with the first kinetic energy distribution value, and if the electric energy output value is consistent with the first kinetic energy distribution value, generating and sending an electric energy distribution ending prompt message to the client.
In a second aspect, the present application discloses an energy distribution device for a driving system of a hybrid forklift, including:
the acquisition module is used for acquiring road images of the hybrid forklift and the cargo bearing capacity of the fork;
The first kinetic energy distribution value determining module is used for comparing and analyzing the road surface image and the preset road surface image characteristics to determine the road condition type, and matching the road condition type with the preset kinetic energy parameters to determine a first kinetic energy distribution value of the hybrid forklift passing through the road surface corresponding to the road condition type;
The second kinetic energy distribution value determining module is used for matching the cargo bearing capacity with a preset additional kinetic energy parameter so as to determine a second kinetic energy distribution value of the hybrid forklift which bears the weight corresponding to the cargo bearing capacity and drives across the road surface;
A range determination module for summing the first kinetic energy distribution value and the second kinetic energy distribution value to determine a target kinetic energy distribution range for supplying the hybrid forklift;
The energy distribution module is used for adjusting the kinetic energy distribution amount of the hybrid forklift by utilizing a preset power source adjusting device, calculating a kinetic energy output value corresponding to the kinetic energy distribution amount, judging whether the kinetic energy output value is in the target kinetic energy distribution range, and if the kinetic energy output value is in the target kinetic energy distribution range, completing energy distribution of the hybrid forklift.
In a third aspect, the present application discloses an electronic device, comprising:
A memory for storing a computer program;
and the processor is used for executing the computer program to realize the energy distribution method of the hybrid forklift running system.
In a fourth aspect, the present application discloses a computer storage medium for storing a computer program; the method comprises the steps of a method for distributing energy of a driving system of a hybrid forklift, wherein the method comprises the steps of realizing the method for distributing energy of the driving system of the hybrid forklift when the computer program is executed by a processor.
The application provides an energy distribution method of a hybrid forklift running system, which comprises the steps of obtaining a road surface image of the hybrid forklift running and the cargo bearing capacity of a fork; comparing and analyzing the road surface image with preset road surface image characteristics to determine road condition types, and matching the road condition types with preset kinetic energy parameters to determine a first kinetic energy distribution value of the hybrid forklift through a road surface corresponding to the road condition types; matching the cargo bearing capacity with a preset additional kinetic energy parameter to determine a second kinetic energy distribution value of the hybrid forklift which bears the weight corresponding to the cargo bearing capacity and drives across the road surface; summing the first kinetic energy distribution value and the second kinetic energy distribution value to determine a target kinetic energy distribution range for supplying the hybrid forklift; and regulating the kinetic energy distribution amount of the hybrid forklift by using a preset power source regulating device, calculating a kinetic energy output value corresponding to the kinetic energy distribution amount, judging whether the kinetic energy output value is in the target kinetic energy distribution range, and if the kinetic energy output value is in the target kinetic energy distribution range, completing energy distribution of the hybrid forklift. According to the application, the road surface image is subjected to comparative analysis and matching, so that a first kinetic energy distribution value of the road surface corresponding to the road condition type is determined, the cargo bearing capacity is matched, a second kinetic energy distribution value of the road surface corresponding to the cargo bearing capacity is determined, the target kinetic energy distribution range for supplying the hybrid forklift is calculated based on the first kinetic energy distribution value and the second kinetic energy distribution value, and the kinetic energy distribution amount is regulated by the power source regulating device, so that the corresponding kinetic energy output value is in the target kinetic energy distribution range, the energy distribution of the hybrid forklift is realized, and the technical scheme can realize the effect of regulating the kinetic energy in advance when the hybrid forklift drives over different road conditions, thereby being beneficial to reducing the regulation and reaction time of a driver, improving the driving stability of the driver unfamiliar with the road conditions, realizing the rapid and stable passing, and improving the whole conveying efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of an energy distribution method of a driving system of a hybrid forklift;
FIG. 2 is a flow chart of another method for distributing energy to a travel system of a hybrid forklift in accordance with the present disclosure;
fig. 3 is a schematic structural diagram of an energy distribution device of a driving system of a hybrid forklift in accordance with the present application;
fig. 4 is a block diagram of an electronic device according to the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
At present, the forklift of the oil-electricity hybrid type can be independently powered and driven through an internal combustion engine or a motor, and can be powered and driven simultaneously, so that the carrying operation requirements of the forklift under different performance requirements are met. However, the running speed of the forklift running in different road conditions is generally affected by the weight of the carried goods and the road conditions, and in a relatively complex environment of the carried road conditions, when a driver unfamiliar with the road conditions executes the carrying operation, the driver usually tries to gradually increase the kinetic energy from a lower driving speed so as to make the forklift run stably; when the forklift runs on a plurality of sections of uneven road conditions, the process of adjusting the kinetic energy is time-consuming in the process of keeping stable running by slowly adjusting the kinetic energy, so that the overall carrying efficiency is low. From the above, how to realize the fast and stable passing of the hybrid forklift in different road conditions and improve the overall carrying efficiency is a problem to be solved in the field.
Referring to fig. 1, the embodiment of the invention discloses an energy distribution method for a driving system of a hybrid forklift, which specifically comprises the following steps:
step S11: and acquiring a road surface image of the hybrid forklift and the cargo bearing capacity of the fork.
Specifically, the road surface image is a real-time image of the road surface in the advancing direction of the hybrid forklift in the running process, and is obtained by pre-installing a vehicle camera on the forklift for shooting; the cargo bearing capacity is a load value of a fork on the hybrid forklift and is obtained by presetting a weight detection sensor on the fork for detection; the dynamic energy output value of the forklift can be obtained, and the dynamic energy output value is the torque generated when the hybrid forklift works through the internal combustion engine and the motor and is used as a measuring unit.
Step S12: and comparing and analyzing the road surface image with preset road surface image characteristics to determine the road condition type, and matching the road condition type with preset kinetic energy parameters to determine a first kinetic energy distribution value of the hybrid forklift through the road surface corresponding to the road condition type.
In this embodiment, the preset road surface image features are different types of road surface image features, the image capturing is performed on different types of road surfaces by a worker, and the image features of the corresponding types of road surfaces are collected to create a road surface type database including the road surface image features, when the road surface image is input, the road surface image and the preset road surface image features in the road surface type database can be performed, and the corresponding types of the road surfaces are analyzed to obtain the road condition type; the road condition type includes an ascending type, a gentle road surface type, and the like.
The preset kinetic energy parameters are parameter values required by the hybrid forklift to stably and quickly pass through when the hybrid forklift runs on different road condition types, and comprise a total torque value provided for the forklift when the internal combustion engine and the motor work, and the total torque value is defined as a first kinetic energy distribution value. Through experiments and recording the first kinetic energy distribution values of different road condition types, a first kinetic energy distribution database is built, so that a corresponding mapping relation is formed between the road condition types and the first kinetic energy distribution values, and when the road condition types are input, the corresponding first kinetic energy distribution values can be matched and output, so that the corresponding first kinetic energy distribution values can be quickly called during subsequent further analysis.
In this embodiment, after determining the road condition type, the method further includes: judging whether the road condition type is consistent with a preset uphill road condition type or not; if the road condition type is consistent with the preset uphill road condition type, generating and sending a climbing kinetic energy parameter matching prompt message to the client; if the road condition type is inconsistent with the preset uphill road condition type, generating and sending gentle road kinetic energy parameter matching prompt information to a client, and carrying out deceleration obstacle characteristic comparison analysis on the road image; if the comparison analysis is passed, generating and sending barrier-free prompt information to the client; and if the comparison analysis is not passed, acquiring deceleration obstacle characteristics and the meeting distance of the hybrid forklift, and controlling the current kinetic energy output value of the hybrid forklift based on the meeting distance.
The specific flow of the comparison analysis of the characteristics of the speed-reducing barriers is as follows: the preset uphill road condition type is one of the road condition types, and whether the current road condition type is the uphill road condition type can be known by judging whether the road condition type is consistent with the preset uphill road condition type or not so as to facilitate further analysis and adjustment; if the parameters are consistent, the hybrid forklift is indicated to bear the goods and need to pass through the uphill road section in the transportation process, and at the moment, climbing kinetic energy parameter matching prompt information is sent to prompt matching of the corresponding first kinetic energy distribution value, so that the hybrid forklift is convenient to have enough torque as kinetic energy and stably and rapidly pass through the climbing road section; if the road conditions are inconsistent, the road condition type of the road surface is a gentle road surface type, and at the moment, a gentle road surface kinetic energy parameter matching prompt message is sent to prompt matching and gentle road surface kinetic energy parameters corresponding to the road surface. In addition, the deceleration obstacle features are different types of deceleration strip image features on the road surface, a deceleration obstacle feature database is built by acquiring the image features of a plurality of different deceleration strips, and whether the road surface image has an obstacle corresponding to the deceleration obstacle features or not can be compared and identified by inputting the road surface image into the deceleration obstacle feature database, so that corresponding braking adjustment can be carried out when the road surface image has the obstacle; performing deceleration obstacle characteristic contrast analysis on the road surface image; if the comparison analysis passes, the fact that the speed reducing belt does not exist in the road surface where the forklift advances is indicated, and when the forklift passes through the road surface with the currently matched kinetic energy, the forklift is not affected by the speed reducing belt, and goods can be borne more stably to pass through the road surface; if the comparison analysis fails, the road surface is provided with a deceleration strip, if the hybrid power forklift passes through the road surface with the deceleration strip at the current faster speed, a certain vibration influence can be caused on a travelling system of the forklift, the stability of the travelling crane can be destroyed when the influence is large, the bearing stability of goods is influenced, and corresponding braking adjustment is needed at the moment, namely the kinetic energy output of the forklift is adjusted, so that a driver can drive the forklift to brake slowly. Before adjusting, the distance between the forklift and the obstacle corresponding to the obstacle characteristic is analyzed through a laser radar arranged on the forklift, the distance is defined as an meeting distance, and the current kinetic energy output value of the hybrid forklift is controlled based on the meeting distance.
The controlling the current kinetic energy output value of the hybrid forklift based on the meeting distance comprises the following steps: judging whether the meeting distance is within a preset adjusting distance range or not; if the meeting distance is within the preset adjusting distance range, starting a flow for reducing the current kinetic energy output value of the hybrid forklift, and acquiring the current moving speed; judging whether the current moving speed is in a preset deceleration running speed range or not; and stopping the flow of reducing the current kinetic energy output value if the current moving speed is in the preset deceleration running speed range.
Specifically, the adjusting interval is a preset distance value, when the adjusting interval is within the adjusting interval, the fork truck has enough adjusting kinetic energy time before contacting with the deceleration obstacle, at the moment, the kinetic energy output value of the fork truck is reduced through the power source adjusting device, the running speed of the fork truck is obtained in the deceleration braking operation process of a driver, and the running speed is defined as the moving speed; when the moving speed of the forklift falls into a preset deceleration running speed range, the reduction of the kinetic energy output value is stopped, the deceleration running speed range is a moving speed range in which the forklift cannot generate larger jolt vibration when passing through the deceleration obstacle, and when the moving speed falls into the deceleration running speed range, the adjustment of the kinetic energy output value is stopped.
The process for starting and reducing the current kinetic energy output value of the hybrid forklift comprises the following steps of: comparing, analyzing and counting the road surface images and preset deceleration obstacle characteristics to obtain the quantity of the deceleration obstacles and the adjacent distance between the deceleration obstacles; performing matching analysis on the number of the deceleration barriers and the adjacent distance between the deceleration barriers to determine a vibration influence coefficient when the hybrid forklift passes through the deceleration barriers; and calculating a kinetic energy distribution regulating value corresponding to the vibration influence coefficient, and reducing the current kinetic energy output value of the hybrid forklift based on the kinetic energy distribution regulating value.
Specifically, the number of deceleration obstacle features in the road surface image is analyzed, the number of deceleration obstacles is counted, the count value is defined as the number of the deceleration obstacles, meanwhile, the distance between deceleration strips corresponding to the two adjacent deceleration obstacle features is analyzed, and the distance is defined as the adjacent distance; after the adjacent spacing and the number of the deceleration barriers of the deceleration strip corresponding to the deceleration barriers are obtained, a vibration influence coefficient matching database is established, parameter values with different numbers corresponding to the number of the deceleration barriers and different adjacent spacing are stored in the vibration influence coefficient matching database, vibration influence coefficients corresponding to the parameter values with different numbers of the deceleration barriers and different adjacent spacing are stored, and when the detected adjacent spacing and the detected number of the deceleration barriers are input, the corresponding vibration influence coefficients can be matched and output. It should be further noted that the vibration influence coefficient is a vibration influence value generated when the forklift passes through the deceleration strip at a speed within a deceleration range, and the higher the vibration influence value is, the greater the influence on the stable running of the forklift and the load is. After the vibration influence coefficient is matched, the kinetic energy adjustment is needed according to the vibration influence coefficient, and when the forklift is used for speed reduction adjustment, the output of the kinetic energy can be reduced, so that the waste of energy sources can be reduced. The vibration adjusting database is built, different fixed vibration influence coefficients are stored in the vibration adjusting database, kinetic energy distribution adjusting values corresponding to the vibration influence coefficients with different values are stored, when the vibration influence coefficients are input, the corresponding kinetic energy distribution adjusting values can be automatically matched and output, so that the power source adjusting device can adjust kinetic energy, and when the power source adjusting device adjusts, the current first kinetic energy distribution value and the kinetic energy distribution adjusting value are subjected to difference value calculation to determine a target value to be adjusted and the kinetic energy distribution amount to be reduced. When the fork truck is far away from the speed-reducing obstacle, the speed of the fork truck can be adjusted, corresponding kinetic energy is distributed to improve the kinetic energy source of the fork truck, and an adjustment ending prompt is sent at the moment to prompt that the energy adjustment operation passing through the speed-reducing obstacle is completed.
In addition, if the current moving speed is in a preset deceleration running speed range, acquiring a brake signal of the hybrid forklift; and generating energy recovery prompt information based on the brake signal, and recovering the energy of the hybrid forklift according to a preset brake recovery method based on the energy recovery prompt information.
The brake signal is a pressure signal of stepping on a brake pedal when the hybrid forklift brakes, and is detected by setting a corresponding pressure sensor so as to determine whether a driver brakes or not, so that new adjustment is conveniently performed. When the brake signal is received, the driver is indicated to be braking, and the motor in the hybrid forklift can recover energy through the brake, so that an energy recovery prompt is sent out when the brake signal is received. And indicating the energy recovery device of the forklift to recover energy according to a preset braking recovery method based on the energy recovery prompt information.
Step S13: and matching the cargo bearing capacity with a preset additional kinetic energy parameter to determine a second kinetic energy distribution value of the hybrid forklift which bears the weight corresponding to the cargo bearing capacity and drives across the road surface.
In this embodiment, the preset additional kinetic energy parameter is an additional torque required to be provided when the hybrid forklift drives over the corresponding road condition type under the condition that the hybrid forklift carries the goods, so that the hybrid forklift carrying the goods can stably and rapidly pass through the road surface corresponding to the road condition type. Through storing different cargo bearing capacities in the second kinetic energy database, and storing second kinetic energy distribution values corresponding to different cargo bearing capacities, when the cargo bearing capacities are input, the corresponding second kinetic energy distribution values can be matched and output so as to facilitate subsequent calling.
Step S14: the first kinetic energy distribution value and the second kinetic energy distribution value are summed to determine a target kinetic energy distribution range for supplying the hybrid forklift.
Step S15: and regulating the kinetic energy distribution amount of the hybrid forklift by using a preset power energy regulating device, calculating a kinetic energy output value corresponding to the kinetic energy distribution amount, judging whether the kinetic energy output value is in the target kinetic energy distribution range, and if the kinetic energy output value is in the target kinetic energy distribution range, completing energy distribution of the hybrid forklift.
In this embodiment, the power source adjusting device is a kinetic energy distribution system pre-installed on the hybrid forklift and is used for adjusting torque generated by the internal combustion engine and the motor, when the kinetic energy corresponding to the torque currently provided by the hybrid forklift is smaller than the target kinetic energy distribution range, increasing torque output, increasing power of the internal combustion engine or the motor, then calculating a corresponding kinetic energy output value, judging whether the kinetic energy output value is in the target kinetic energy distribution range, if the kinetic energy output value is in the target kinetic energy distribution range, completing energy distribution, if the kinetic energy output value is not in the target kinetic energy distribution range, continuing to adjust the kinetic energy distribution amount until the kinetic energy output value is in the target kinetic energy distribution range, and finally stopping increasing the torque required by meeting the target kinetic energy distribution range.
In the embodiment, a road surface image of the running of the hybrid forklift and the cargo bearing capacity of the fork are obtained; comparing and analyzing the road surface image with preset road surface image characteristics to determine road condition types, and matching the road condition types with preset kinetic energy parameters to determine a first kinetic energy distribution value of the hybrid forklift through a road surface corresponding to the road condition types; matching the cargo bearing capacity with a preset additional kinetic energy parameter to determine a second kinetic energy distribution value of the hybrid forklift which bears the weight corresponding to the cargo bearing capacity and drives across the road surface; summing the first kinetic energy distribution value and the second kinetic energy distribution value to determine a target kinetic energy distribution range for supplying the hybrid forklift; and regulating the kinetic energy distribution amount of the hybrid forklift by using a preset power source regulating device, calculating a kinetic energy output value corresponding to the kinetic energy distribution amount, judging whether the kinetic energy output value is in the target kinetic energy distribution range, and if the kinetic energy output value is in the target kinetic energy distribution range, completing energy distribution of the hybrid forklift. According to the application, the road surface image is subjected to comparative analysis and matching, so that a first kinetic energy distribution value of the road surface corresponding to the road condition type is determined, the cargo bearing capacity is matched, a second kinetic energy distribution value of the road surface corresponding to the cargo bearing capacity is determined, the target kinetic energy distribution range for supplying the hybrid forklift is calculated based on the first kinetic energy distribution value and the second kinetic energy distribution value, and the kinetic energy distribution amount is regulated by the power source regulating device, so that the corresponding kinetic energy output value is in the target kinetic energy distribution range, the energy distribution of the hybrid forklift is realized, and the technical scheme can realize the effect of regulating the kinetic energy in advance when the hybrid forklift drives over different road conditions, thereby being beneficial to reducing the regulation and reaction time of a driver, improving the driving stability of the driver unfamiliar with the road conditions, realizing the rapid and stable passing, and improving the whole conveying efficiency.
Referring to fig. 2, the embodiment of the invention discloses an energy distribution method for a driving system of a hybrid forklift, which specifically comprises the following steps:
step S21: and acquiring a road surface image of the hybrid forklift and the cargo bearing capacity of the fork.
Step S22: and comparing and analyzing the road surface image with preset road surface image features to determine road condition types, analyzing road surface profile features of the road surface image to obtain the running distance and the road surface inclination angle of the road surface corresponding to the road condition types, calculating the running speed corresponding to the road surface inclination angle, calculating the ascending duration based on the running speed and the running distance, calculating a first kinetic energy distribution value by using the ascending duration and the unit duration energy consumption in preset kinetic energy parameters, and generating and sending a kinetic energy distribution prompt message to a client.
In this embodiment, the road surface profile features are edge profile features of the road surface, and by performing profile feature recognition on the road surface image, the road surface length and the inclination angle of the road surface corresponding to the current road surface profile features can be obtained, the road surface length is defined as the driving distance, and the inclination angle is defined as the road surface inclination angle; under different inclination angles, the road surface has a set corresponding stable vehicle speed when the forklift carries goods, and the stable vehicle speed is defined as a running speed. Establishing an inclined pavement speed matching database, storing pavement inclination angles of different inclination angles in the database, and storing running speeds corresponding to the different pavement inclination angles, wherein when the pavement inclination angles are input, the corresponding running speeds can be matched and output; after knowing the running speed of the forklift for carrying goods through the uphill road, dividing the running distance by the running distance to obtain the time required by the running distance, and defining the time as the uphill time; the energy consumption in unit time is the power torque required by the hybrid forklift for carrying cargoes uphill in unit time, and the unit time can be the torque required in each minute or the torque required in other unit time, and the power torque is set by staff. The method comprises the steps of defining a value obtained by multiplying the ascending duration and the energy consumption of a unit duration as a first kinetic energy distribution value; when knowing that the hybrid fork truck bears the goods and passes through the uphill road section that corresponds the distance of traveling, after the required first kinetic energy distribution value, be convenient for follow-up energy distribution for fork truck can obtain sufficient power moment of torsion under power supply adjusting device's regulation, sends kinetic energy distribution prompt message, in order to indicate and carry out kinetic energy distribution.
In this embodiment, after calculating the first kinetic energy distribution value by using the up-slope time length and the energy consumption per unit time length in the preset kinetic energy parameters, the method further includes: judging whether the running speed is in a preset retarding range or not; if the running speed is within a preset retarding range, generating and sending electric energy distribution prompt information to the client so that the client starts a motor based on the electric energy distribution prompt information; and acquiring an electric energy output value after the motor is started, judging whether the electric energy output value is consistent with the first kinetic energy distribution value, and if the electric energy output value is consistent with the first kinetic energy distribution value, generating and sending an electric energy distribution ending prompt message to the client.
The preset retarding range is a moving speed range value corresponding to a moving speed of the hybrid forklift in a slower stable running state when the hybrid forklift stably passes through an uphill road surface, and the value is set by a worker. When the running speed is in a preset retarding range, the hybrid forklift is slowly running, the hybrid forklift belongs to a lower moving speed range, at the moment, the motor or the internal combustion engine can be used for supplying kinetic energy, when the motor is used for supplying kinetic energy, the motor is shorter in time for generating torque power, the energy consumption of fuel oil can be reduced, the internal combustion engine is higher in torque power, the internal combustion engine is used for supplying the torque power after corresponding torque adjustment, the reaction speed is slower, the fuel consumption is increased, the motor is selected to supply energy more appropriately, and at the moment, an electric energy distribution prompt signal is sent out to prompt the motor to be started quickly and generate corresponding torque output for supplying energy. When the electric energy output value is equal to the first kinetic energy distribution value, sending out a kinetic energy distribution ending prompt message; the electric energy output value is a kinetic energy value corresponding to the torque generated by the motor when the motor works under the supply of the storage battery, and after the electric energy distribution prompt is generated, when the electric output value generated by the motor is equal to the first kinetic energy distribution value, a kinetic energy distribution ending prompt is generated to prompt to stop the kinetic energy regulation.
Step S23: and matching the cargo bearing capacity with a preset additional kinetic energy parameter to determine a second kinetic energy distribution value of the hybrid forklift which bears the weight corresponding to the cargo bearing capacity and drives across the road surface.
Step S24: the first kinetic energy distribution value and the second kinetic energy distribution value are summed to determine a target kinetic energy distribution range for supplying the hybrid forklift.
Step S25: and regulating the kinetic energy distribution amount of the hybrid forklift by using a preset power energy regulating device, calculating a kinetic energy output value corresponding to the kinetic energy distribution amount, judging whether the kinetic energy output value is in the target kinetic energy distribution range, and if the kinetic energy output value is in the target kinetic energy distribution range, completing energy distribution of the hybrid forklift.
In the embodiment, a road surface image of the running of the hybrid forklift and the cargo bearing capacity of the fork are obtained; comparing and analyzing the road surface image with preset road surface image characteristics to determine road condition types, and matching the road condition types with preset kinetic energy parameters to determine a first kinetic energy distribution value of the hybrid forklift through a road surface corresponding to the road condition types; matching the cargo bearing capacity with a preset additional kinetic energy parameter to determine a second kinetic energy distribution value of the hybrid forklift which bears the weight corresponding to the cargo bearing capacity and drives across the road surface; summing the first kinetic energy distribution value and the second kinetic energy distribution value to determine a target kinetic energy distribution range for supplying the hybrid forklift; and regulating the kinetic energy distribution amount of the hybrid forklift by using a preset power source regulating device, calculating a kinetic energy output value corresponding to the kinetic energy distribution amount, judging whether the kinetic energy output value is in the target kinetic energy distribution range, and if the kinetic energy output value is in the target kinetic energy distribution range, completing energy distribution of the hybrid forklift. According to the application, the road surface image is subjected to comparative analysis and matching, so that a first kinetic energy distribution value of the road surface corresponding to the road condition type is determined, the cargo bearing capacity is matched, a second kinetic energy distribution value of the road surface corresponding to the cargo bearing capacity is determined, the target kinetic energy distribution range for supplying the hybrid forklift is calculated based on the first kinetic energy distribution value and the second kinetic energy distribution value, and the kinetic energy distribution amount is regulated by the power source regulating device, so that the corresponding kinetic energy output value is in the target kinetic energy distribution range, the energy distribution of the hybrid forklift is realized, and the technical scheme can realize the effect of regulating the kinetic energy in advance when the hybrid forklift drives over different road conditions, thereby being beneficial to reducing the regulation and reaction time of a driver, improving the driving stability of the driver unfamiliar with the road conditions, realizing the rapid and stable passing, and improving the whole conveying efficiency.
Referring to fig. 3, the embodiment of the invention discloses an energy distribution device of a driving system of a hybrid forklift, which specifically may include:
The acquisition module 11 is used for acquiring road images of the hybrid forklift and the cargo bearing capacity of the fork;
The first kinetic energy distribution value determining module 12 is configured to perform a comparative analysis on the road surface image and a preset road surface image feature to determine a road condition type, and match the road condition type with a preset kinetic energy parameter to determine a first kinetic energy distribution value of the hybrid forklift passing through a road surface corresponding to the road condition type;
A second kinetic energy distribution value determining module 13, configured to match the cargo carrying capacity with a preset additional kinetic energy parameter, so as to determine a second kinetic energy distribution value of the hybrid forklift carrying a weight corresponding to the cargo carrying capacity and driving over the road surface;
A range determination module 14 for summing the first kinetic energy distribution value and the second kinetic energy distribution value to determine a target kinetic energy distribution range for supplying the hybrid forklift;
The energy distribution module 15 is configured to adjust a kinetic energy distribution amount of the hybrid forklift by using a preset power energy adjustment device, calculate a kinetic energy output value corresponding to the kinetic energy distribution amount, determine whether the kinetic energy output value is within the target kinetic energy distribution range, and complete energy distribution of the hybrid forklift if the kinetic energy output value is within the target kinetic energy distribution range.
In the embodiment, a road surface image of the running of the hybrid forklift and the cargo bearing capacity of the fork are obtained; comparing and analyzing the road surface image with preset road surface image characteristics to determine road condition types, and matching the road condition types with preset kinetic energy parameters to determine a first kinetic energy distribution value of the hybrid forklift through a road surface corresponding to the road condition types; matching the cargo bearing capacity with a preset additional kinetic energy parameter to determine a second kinetic energy distribution value of the hybrid forklift which bears the weight corresponding to the cargo bearing capacity and drives across the road surface; summing the first kinetic energy distribution value and the second kinetic energy distribution value to determine a target kinetic energy distribution range for supplying the hybrid forklift; and regulating the kinetic energy distribution amount of the hybrid forklift by using a preset power source regulating device, calculating a kinetic energy output value corresponding to the kinetic energy distribution amount, judging whether the kinetic energy output value is in the target kinetic energy distribution range, and if the kinetic energy output value is in the target kinetic energy distribution range, completing energy distribution of the hybrid forklift. According to the application, the road surface image is subjected to comparative analysis and matching, so that a first kinetic energy distribution value of the road surface corresponding to the road condition type is determined, the cargo bearing capacity is matched, a second kinetic energy distribution value of the road surface corresponding to the cargo bearing capacity is determined, the target kinetic energy distribution range for supplying the hybrid forklift is calculated based on the first kinetic energy distribution value and the second kinetic energy distribution value, and the kinetic energy distribution amount is regulated by the power source regulating device, so that the corresponding kinetic energy output value is in the target kinetic energy distribution range, the energy distribution of the hybrid forklift is realized, and the technical scheme can realize the effect of regulating the kinetic energy in advance when the hybrid forklift drives over different road conditions, thereby being beneficial to reducing the regulation and reaction time of a driver, improving the driving stability of the driver unfamiliar with the road conditions, realizing the rapid and stable passing, and improving the whole conveying efficiency.
In some specific embodiments, the first kinetic energy distribution value determining module 12 may specifically include:
The uphill road condition type judging module is used for judging whether the road condition type is consistent with a preset uphill road condition type;
The first prompt message generating and sending module is used for generating and sending climbing kinetic energy parameter matching prompt messages to the client if the road condition type is consistent with the preset uphill road condition type;
The second prompt information generating and sending module is used for generating and sending gentle road surface kinetic energy parameter matching prompt information to the client if the road condition type is inconsistent with the preset uphill road condition type, and carrying out deceleration obstacle characteristic comparison analysis on the road surface image;
The third prompt information generation and transmission module is used for generating and transmitting barrier-free prompt information to the client if the comparison analysis is passed;
And the current kinetic energy output value control module is used for acquiring deceleration obstacle characteristics and the meeting distance of the hybrid forklift if the comparison analysis fails and controlling the current kinetic energy output value of the hybrid forklift based on the meeting distance.
In some specific embodiments, the first kinetic energy distribution value determining module 12 may specifically include:
The meeting distance judging module is used for judging whether the meeting distance is within a preset adjusting distance range or not;
the current moving speed acquisition module is used for starting a flow for reducing the current kinetic energy output value of the hybrid forklift and acquiring the current moving speed if the meeting distance is within a preset adjusting distance range;
the current moving speed judging module is used for judging whether the current moving speed is in a preset deceleration running speed range or not;
And the flow stopping module is used for stopping the flow of reducing the current kinetic energy output value if the current moving speed is in the preset deceleration running speed range.
In some specific embodiments, the first kinetic energy distribution value determining module 12 may specifically include:
The deceleration obstacle characteristic analysis module is used for carrying out comparison analysis and counting on the road surface image and preset deceleration obstacle characteristics so as to obtain the quantity of the deceleration obstacles and the adjacent distance between the deceleration obstacles;
The vibration influence coefficient determining module is used for carrying out matching analysis on the quantity of the deceleration barriers and the adjacent intervals of the deceleration barriers so as to determine the vibration influence coefficient when the hybrid forklift passes through the deceleration barriers;
And the kinetic energy distribution regulating value calculation module is used for calculating a kinetic energy distribution regulating value corresponding to the vibration influence coefficient and reducing the current kinetic energy output value of the hybrid forklift based on the kinetic energy distribution regulating value.
In some specific embodiments, the first kinetic energy distribution value determining module 12 may specifically include:
The brake braking signal acquisition module is used for acquiring a brake braking signal of the hybrid forklift;
And the energy recovery module is used for generating energy recovery prompt information based on the braking signal, and carrying out energy recovery on the hybrid forklift according to a preset braking recovery method based on the energy recovery prompt information.
In some specific embodiments, the first kinetic energy distribution value determining module 12 may specifically include:
The road surface profile characteristic analysis module is used for carrying out road surface profile characteristic analysis on the road surface image so as to obtain the driving distance and the road surface inclination angle of the hybrid forklift through the road surface corresponding to the road condition type;
the running speed and ascending duration calculation module is used for calculating the running speed corresponding to the road surface inclination angle and calculating the ascending duration based on the running speed and the running distance;
And the kinetic energy distribution prompt information generation and transmission module is used for calculating a first kinetic energy distribution value by using the ascending time length and the unit time length energy consumption in the preset kinetic energy parameters, and generating and transmitting the kinetic energy distribution prompt information to the client.
In some specific embodiments, the first kinetic energy distribution value determining module 12 may specifically include:
the running speed judging module is used for judging whether the running speed is in a preset retarding range or not;
The electric energy distribution prompt information generation and transmission module is used for generating and transmitting electric energy distribution prompt information to the client if the running speed is in a preset retarding range, so that the client starts a motor based on the electric energy distribution prompt information;
and the electric energy distribution ending prompt information generation and transmission module is used for acquiring an electric energy output value after the motor is started, judging whether the electric energy output value is consistent with the first kinetic energy distribution value, and if the electric energy output value is consistent with the first kinetic energy distribution value, generating and transmitting the electric energy distribution ending prompt information to the client.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input output interface 25, and a communication bus 26. The memory 22 is configured to store a computer program, where the computer program is loaded and executed by the processor 21 to implement relevant steps in the energy distribution method of the hybrid forklift driving system executed by the electronic device according to any one of the foregoing embodiments.
In this embodiment, the power supply 23 is configured to provide an operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and an external device, and the communication protocol to be followed is any communication protocol applicable to the technical solution of the present application, which is not specifically limited herein; the input/output interface 25 is used for acquiring external input data or outputting external output data, and the specific interface type thereof may be selected according to the specific application requirement, which is not limited herein.
The memory 22 may be a carrier for storing resources, such as a read-only memory, a random access memory, a magnetic disk, or an optical disk, and the resources stored thereon include an operating system 221, a computer program 222, and data 223, and the storage may be temporary storage or permanent storage.
The operating system 221 is used for managing and controlling various hardware devices on the electronic device 20 and the computer program 222, so as to implement the operation and processing of the data 223 in the memory 22 by the processor 21, which may be Windows, unix, linux or the like. The computer program 222 may further include a computer program that can be used to perform other specific tasks in addition to the computer program that can be used to perform the hybrid forklift travel system energy distribution method performed by the electronic device 20 disclosed in any of the foregoing embodiments. The data 223 may include, in addition to data received by the energy distribution device of the hybrid forklift driving system and transmitted by an external device, data collected by the own input/output interface 25, and the like.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Further, the embodiment of the application also discloses a computer readable storage medium, wherein the storage medium stores a computer program, and when the computer program is loaded and executed by a processor, the steps of the energy distribution method of the hybrid forklift running system disclosed in any embodiment are realized.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description has been made in detail of the method, apparatus, device and storage medium for distributing energy of a hybrid forklift running system, and specific examples are applied to the description of the principles and embodiments of the present invention, and the description of the above examples is only used to help understand the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims (6)

1. The energy distribution method of the hybrid forklift running system is characterized by comprising the following steps of:
acquiring a road surface image of the hybrid forklift and the cargo bearing capacity of a fork;
Comparing and analyzing the road surface image with preset road surface image characteristics to determine road condition types, and matching the road condition types with preset kinetic energy parameters to determine a first kinetic energy distribution value of the hybrid forklift through a road surface corresponding to the road condition types;
Matching the cargo bearing capacity with a preset additional kinetic energy parameter to determine a second kinetic energy distribution value of the hybrid forklift which bears the weight corresponding to the cargo bearing capacity and drives across the road surface;
Summing the first kinetic energy distribution value and the second kinetic energy distribution value to determine a target kinetic energy distribution range for supplying the hybrid forklift;
Adjusting the kinetic energy distribution amount of the hybrid forklift by using a preset power source adjusting device, calculating a kinetic energy output value corresponding to the kinetic energy distribution amount, judging whether the kinetic energy output value is in the target kinetic energy distribution range, and if the kinetic energy output value is in the target kinetic energy distribution range, completing energy distribution of the hybrid forklift;
The first kinetic energy distribution value is a total torque value provided for the hybrid forklift when the internal combustion engine and the motor work; the second kinetic energy distribution value corresponds to a different cargo carrying capacity; the kinetic energy output value is a measurement unit of torque generated when the hybrid forklift works through the internal combustion engine and the motor; calculating the kinetic energy distribution amount by the first kinetic energy distribution value and a kinetic energy distribution adjusting value corresponding to a vibration influence coefficient when the hybrid forklift passes through a deceleration obstacle;
Adjusting the kinetic energy distribution amount of the hybrid forklift by using the power source adjusting device, calculating the corresponding kinetic energy output value, judging whether the kinetic energy output value is in the target kinetic energy distribution range determined based on the first kinetic energy distribution value and the second kinetic energy distribution value, if not, continuously adjusting the kinetic energy distribution amount, and calculating the corresponding adjusted kinetic energy output value until the kinetic energy output value is in the target kinetic energy distribution range;
After the road condition type is determined, the method further comprises the following steps: judging whether the road condition type is consistent with a preset uphill road condition type or not; if the road condition type is consistent with the preset uphill road condition type, generating and sending a climbing kinetic energy parameter matching prompt message to the client; if the road condition type is inconsistent with the preset uphill road condition type, generating and sending gentle road surface kinetic energy parameter matching prompt information to a client, and carrying out deceleration obstacle characteristic comparison analysis on the road surface image; if the comparison analysis is passed, generating and sending barrier-free prompt information to the client; if the comparison analysis is not passed, acquiring deceleration obstacle characteristics and the meeting space of the hybrid forklift, and controlling the current kinetic energy output value of the hybrid forklift based on the meeting space;
The controlling the current kinetic energy output value of the hybrid forklift based on the meeting distance comprises the following steps: judging whether the meeting distance is within a preset adjusting distance range or not; if the meeting distance is within the preset adjusting distance range, starting a flow for reducing the current kinetic energy output value of the hybrid forklift, and acquiring the current moving speed; judging whether the current moving speed is in a preset deceleration running speed range or not; the speed reduction driving speed range is a moving speed range in which the hybrid forklift does not generate larger jolt vibration when passing through a speed reduction barrier; if the current moving speed is in the preset deceleration running speed range, stopping the flow of reducing the current kinetic energy output value;
The process for starting and reducing the current kinetic energy output value of the hybrid forklift comprises the following steps: comparing and analyzing the road surface image and preset deceleration obstacle characteristics, and counting to obtain the quantity of the deceleration obstacles and the adjacent distance between the deceleration obstacles; performing matching analysis on the number of the deceleration barriers and the adjacent distance between the deceleration barriers to determine a vibration influence coefficient when the hybrid forklift passes through the deceleration barriers; calculating a kinetic energy distribution regulating value corresponding to the vibration influence coefficient, and reducing the current kinetic energy output value of the hybrid forklift based on the kinetic energy distribution regulating value;
The calculating of the kinetic energy distribution amount by the first kinetic energy distribution value and the kinetic energy distribution adjustment value corresponding to the vibration influence coefficient of the hybrid forklift when passing through the deceleration obstacle comprises the following steps: when the vibration influence coefficient is input, the corresponding kinetic energy distribution adjustment value is automatically matched and output from the established vibration adjustment database, and the difference value calculation is carried out on the first kinetic energy distribution value and the kinetic energy distribution adjustment value so as to determine the kinetic energy distribution amount.
2. The method for distributing energy to a hybrid forklift travel system according to claim 1, wherein if the current moving speed is within a preset deceleration travel speed range, further comprising:
Acquiring a brake signal of the hybrid forklift;
and generating energy recovery prompt information based on the brake signal, and recovering the energy of the hybrid forklift according to a preset brake recovery method based on the energy recovery prompt information.
3. The method for distributing energy to a driving system of a hybrid forklift according to any one of claims 1 to 2, wherein said matching the road condition type with a preset kinetic energy parameter to determine a first kinetic energy distribution value of the hybrid forklift passing through a road surface corresponding to the road condition type comprises:
analyzing the road surface profile characteristics of the road surface image to obtain the driving distance and the road surface inclination angle of the hybrid forklift through the road surface corresponding to the road condition type;
Calculating a running speed corresponding to the road surface inclination angle, and calculating an ascending duration based on the running speed and the running distance;
and calculating a first kinetic energy distribution value by using the ascending time length and the unit time length energy consumption in the preset kinetic energy parameters, and generating and sending a kinetic energy distribution prompt message to a client.
4. A hybrid forklift travel system energy distribution device, comprising:
the acquisition module is used for acquiring road images of the hybrid forklift and the cargo bearing capacity of the fork;
The first kinetic energy distribution value determining module is used for comparing and analyzing the road surface image and the preset road surface image characteristics to determine the road condition type, and matching the road condition type with the preset kinetic energy parameters to determine a first kinetic energy distribution value of the hybrid forklift passing through the road surface corresponding to the road condition type;
The second kinetic energy distribution value determining module is used for matching the cargo bearing capacity with a preset additional kinetic energy parameter so as to determine a second kinetic energy distribution value of the hybrid forklift which bears the weight corresponding to the cargo bearing capacity and drives across the road surface;
A range determination module for summing the first kinetic energy distribution value and the second kinetic energy distribution value to determine a target kinetic energy distribution range for supplying the hybrid forklift;
The energy distribution module is used for adjusting the kinetic energy distribution amount of the hybrid forklift by using a preset power source adjusting device, calculating a kinetic energy output value corresponding to the kinetic energy distribution amount, judging whether the kinetic energy output value is in the target kinetic energy distribution range, and completing energy distribution of the running system of the hybrid forklift if the kinetic energy output value is in the target kinetic energy distribution range;
The first kinetic energy distribution value is a total torque value provided for the hybrid forklift when the internal combustion engine and the motor work; the second kinetic energy distribution value corresponds to a different cargo carrying capacity; the kinetic energy output value is a measurement unit of torque generated when the hybrid forklift works through the internal combustion engine and the motor; calculating the kinetic energy distribution amount by the first kinetic energy distribution value and a kinetic energy distribution adjusting value corresponding to a vibration influence coefficient when the hybrid forklift passes through a deceleration obstacle;
Adjusting the kinetic energy distribution amount of the hybrid forklift by using the power source adjusting device, calculating the corresponding kinetic energy output value, judging whether the kinetic energy output value is in the target kinetic energy distribution range determined based on the first kinetic energy distribution value and the second kinetic energy distribution value, if not, continuously adjusting the kinetic energy distribution amount, and calculating the corresponding adjusted kinetic energy output value until the kinetic energy output value is in the target kinetic energy distribution range;
After the road condition type is determined, the method further comprises the following steps: judging whether the road condition type is consistent with a preset uphill road condition type or not; if the road condition type is consistent with the preset uphill road condition type, generating and sending a climbing kinetic energy parameter matching prompt message to the client; if the road condition type is inconsistent with the preset uphill road condition type, generating and sending gentle road surface kinetic energy parameter matching prompt information to a client, and carrying out deceleration obstacle characteristic comparison analysis on the road surface image; if the comparison analysis is passed, generating and sending barrier-free prompt information to the client; if the comparison analysis is not passed, acquiring deceleration obstacle characteristics and the meeting space of the hybrid forklift, and controlling the current kinetic energy output value of the hybrid forklift based on the meeting space;
The controlling the current kinetic energy output value of the hybrid forklift based on the meeting distance comprises the following steps: judging whether the meeting distance is within a preset adjusting distance range or not; if the meeting distance is within the preset adjusting distance range, starting a flow for reducing the current kinetic energy output value of the hybrid forklift, and acquiring the current moving speed; judging whether the current moving speed is in a preset deceleration running speed range or not; the speed reduction driving speed range is a moving speed range in which the hybrid forklift does not generate larger jolt vibration when passing through a speed reduction barrier; if the current moving speed is in the preset deceleration running speed range, stopping the flow of reducing the current kinetic energy output value;
The process for starting and reducing the current kinetic energy output value of the hybrid forklift comprises the following steps: comparing and analyzing the road surface image and preset deceleration obstacle characteristics, and counting to obtain the quantity of the deceleration obstacles and the adjacent distance between the deceleration obstacles; performing matching analysis on the number of the deceleration barriers and the adjacent distance between the deceleration barriers to determine a vibration influence coefficient when the hybrid forklift passes through the deceleration barriers; calculating a kinetic energy distribution regulating value corresponding to the vibration influence coefficient, and reducing the current kinetic energy output value of the hybrid forklift based on the kinetic energy distribution regulating value;
The calculating of the kinetic energy distribution amount by the first kinetic energy distribution value and the kinetic energy distribution adjustment value corresponding to the vibration influence coefficient of the hybrid forklift when passing through the deceleration obstacle comprises the following steps: when the vibration influence coefficient is input, the corresponding kinetic energy distribution adjustment value is automatically matched and output from the established vibration adjustment database, and the difference value calculation is carried out on the first kinetic energy distribution value and the kinetic energy distribution adjustment value so as to determine the kinetic energy distribution amount.
5. An electronic device, comprising:
A memory for storing a computer program;
A processor for executing the computer program to implement the hybrid forklift travel system energy distribution method according to any one of claims 1 to 3.
6. A computer-readable storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements the hybrid forklift travel system energy distribution method according to any one of claims 1 to 3.
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