CN202728212U - Automobile braking control system - Google Patents
Automobile braking control system Download PDFInfo
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- CN202728212U CN202728212U CN 201220145016 CN201220145016U CN202728212U CN 202728212 U CN202728212 U CN 202728212U CN 201220145016 CN201220145016 CN 201220145016 CN 201220145016 U CN201220145016 U CN 201220145016U CN 202728212 U CN202728212 U CN 202728212U
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- vacuum
- degree
- supercharging
- threshold value
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Abstract
The utility model provides an automobile braking control system which comprises a pressurization module in an automobile electronic stable control system, a first detection module used for detecting and outputting the vacuum degree in a vacuum booster to a control module, and the control module. The control module is used for judging whether the vacuum degree in the vacuum booster is smaller than a preset threshold value of the vacuum degree after the control module receives braking signals of an automobile; if the vacuum degree in the vacuum booster is smaller than the preset threshold value of the vacuum degree, the control module sends pressurization orders; and if the vacuum degree in the vacuum booster is not smaller than the preset threshold value of the vacuum degree, braking control is stopped. The pressurization module is used for increasing pressure to control a brake to brake according to the pressurization orders sent by the control module. According to the automobile braking control system, the pressurization module in the automobile electronic stable control system of the automobile is used for achieving vehicle braking performance compensation in a specific operation condition, and the utilization rate of the automobile electronic stable control system of the automobile is improved.
Description
Technical field
The present invention relates to the brake field of automobile, relate in particular to a kind of automobile brake control system.
Background technology
Automobile brake control is as an important technology of automobile technical field, it is concerning the safety performance of automobile, vacuum servo formula brake system utilizes manifold degree of vacuum to realize vacuum servo, but usually causes the automobile brake controller performance to descend because of vacuum degree deficiency under specific operation; The method that is used for improving automobile brake perfrmance in the prior art has: fluid valve, electronic aux. vacuum pump, electric hydaulic master cylinder, electric vacuum pump or mechanical vacuum pump, the fluid valve scheme has requirement to the minimum degree of vacuum of driving engine in the above-mentioned prior art, can not thoroughly solve the deceleration and stopping performance that brake vacuum degree deficiency causes under the specific operation and descend; The deceleration and stopping performance that electric vacuum pump can the Effective Raise vacuum degree deficiency causes, but the electric vacuum pump life-span is low, and system parts is many, has increased used for automobile load and sound pollution source; The electric hydaulic master cylinder arrangement is complicated, cost is high, power load is large and noise is large, popularize at present to use certain limitation is arranged, mainly be used in pure electricity, hybrid power or high-grade SUV wait for bus and are, the mechanical vacuum pump can effectively solve the deceleration and stopping performance decline that vacuum degree deficiency causes, but because the mechanical vacuum pump is directly by engine drive, the layout of driving engine and engine vibration balance etc. are had relatively high expectations, above-mentioned automobile brake control system is extra increasing, be used for remedying the defective that the vacuum booster vacuum degree deficiency causes automobile brake perfrmance to descend, extra braking control system not only increases cost, causes simultaneously automobile to become more complicated.
Summary of the invention
For the degree of vacuum charging system that solves vacuum booster in the prior art compensates complicated, high in cost of production problem, thereby the present invention proposes a kind of control system of automobile brake, and this system comprises:
Supercharging module in the automobile electron stabilization control system;
First detection module, for detection of and degree of vacuum in the control module output vacuum booster;
Control module is used for when receiving automobile brake signal after, judges that degree of vacuum in the vacuum booster whether less than the degree of vacuum predetermined threshold value, if yes, then sends the supercharging instruction, and if NO, then termination is controlled in braking;
The supercharging instruction supercharging that described supercharging module is used for sending according to control module is carried out braking with the control drg.
Automobile brake control system of the present invention utilizes original supercharging module in the automobile electron stabilization control system to realize the compensation of the degree of vacuum of vacuum booster, improved the degree of utilization of automobile electron stabilization control system, do not increase simultaneously the deficiency that extra control system compensates vacuum booster degree of vacuum, reduce complexity and the cost of automobile.
Description of drawings
Fig. 1 automobile brake control system of the present invention embodiment one block diagram.
Fig. 2 automobile brake control system of the present invention embodiment two block diagrams.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is elaborated.Should be understood that the specific embodiment described herein only is used for description and interpretation the present invention, is not limited to the present invention.
Term used herein " module " refers to other appropriate device that application-specific IC, electronic circuit are carried out treater and holder, the combinational logic circuit of one or more softwares or hardware program and/or described function is provided.
The electronic stability program of automobile control system is mainly used in stablizing vehicle body when vehicle deflects or roll, and other detail is no longer introduced here, and those skilled in the art can understand in conjunction with prior art.
Include the autonomous supercharging module of programming control in the automobile electron stabilization control system, electronic stabilizing control system shown in the present is contained but is not limited to existing ABS(ABS+EBD with autonomous function of increasing pressure), ASR(ABS+EBD+ASR), electronic stabilizing control system (EBD+ABS+ASR+ESC), VDC(EBD+ABS+ASR+ESC+VDC), the electric hydaulic force aid system, but the autonomous supercharging module in the automobile electron stabilization control system is in normal braking procedure, probability of use is lower, therefore the present invention has expanded the function application of electronic stabilizing control system, with the degree of vacuum compensation of the autonomous supercharging module application in the electronic stabilizing control system in automobile vacuum booster, make its utilization ratio higher.
Control module in the automobile brake control system of the present invention can arrange separately, also can be arranged on the ECU of automobile electron stabilization control system, described ECU is the treater of automobile electron stabilization control system, here said treater is hardware, control module herein is arranged on the ECU of automobile electron stabilization control system, like this can the economize on hardware cost, be provided with the degree of vacuum predetermined threshold value in the control module, the engine operating parameter preset requirement, the predetermined threshold value of manifold and vacuum booster degree of vacuum difference etc., control module can compare according to the predetermined threshold value of each detected value and internal reservoir, then send corresponding supercharging instruction and/or the first alarm command to original supercharging module in the electronic stabilizing control system, the supercharging module remedies the defective that vacuum degree deficiency causes automobile brake perfrmance to descend in the vacuum booster by the boost control drg, and concrete control program is as follows:
Be illustrated in figure 1 as the embodiment of the invention one, the control system of the automobile brake that the present invention proposes comprises: the supercharging module 2 in the automobile electron stabilization control system; First detection module 3, for detection of and degree of vacuum in the control module output vacuum booster 6, wherein first detection module can be for vacuum sensor, baroceptor, also have other can detect the device of degree of vacuum; Control module 1 obtains speed-slackening signal by signal wire (SW) from brake pedal, is used for after receiving automobile brake signal, judges that whether degree of vacuum in the vacuum booster 6 is less than the degree of vacuum predetermined threshold value, if yes, then send the supercharging instruction, if NO, then braking control stops; The supercharging instruction supercharging that described supercharging module 2 is used for sending according to control module is carried out braking with the control drg.
The embodiment of the invention one utilizes the supercharging module in the automobile electron stabilization control system to finish compensation to the booster vacuum degree, improved the utilization ratio of supercharging module, the booster vacuum degree charging system that arranges relatively separately simultaneously reduces the complexity that automobile brake is controlled.
In order accurately to judge the reason that causes degree of vacuum booster vacuum degree deficiency, the present invention proposes embodiment two.
Be illustrated in figure 2 as the block diagram of the embodiment of the invention two, one of difference of enforcement two and embodiment one is, increased by the second detection module 4 and alarm unit among the embodiment two, the second detection module for detection of and to the operational factor of control module 1 output engine 7, described the second detection module 4 is original module on the car, it is connected with control module 1 by signal wire (SW) realizes the signal transmission, for example control module obtains engine operating parameter by the CAN bus from the CAN system, at this moment the second detection module 4 derives from the CAN system, and certain the second detection module 4 also can be the detection module that arranges separately; Described control module 1 is judged after degree of vacuum in the vacuum booster is less than the degree of vacuum predetermined threshold value and is not sent first the supercharging instruction, but judge further whether engine operating parameter meets preset requirement, if engine operating parameter does not meet preset requirement, just send the supercharging instruction, if engine operating parameter meets preset requirement, send supercharging instruction and the first alarm command; Described supercharging module 2 is used for carrying out braking according to supercharging instruction supercharging with control drg 5, alarm unit is reported to the police according to the first alarm command, the present embodiment alarm unit is original annunciator in the automobile electron stabilization control system, certainly annunciator also can newly arrange, the preset requirement of engine operating parameter is determined on a case-by-case basis according to factors such as vehicle, engine type in the present embodiment, does not limit here.
Vacuum booster 6 is divided into two chambers in above-described embodiment, during the vacuum booster normal operation, one of them chamber communicates with external environment, can be atmospheric air chamber, another chamber is vacuum chamber, the vacuum of vacuum chamber is to form by the manifold extracting air, described first detection module 3 is installed on vacuum chamber, the monitoring vacuum degree in vacuum chamber also is transferred to control module 1 in the electronic stabilizing control system with degree of vacuum, be provided with the degree of vacuum predetermined threshold value in the control module 1, this predetermined threshold value is according to vehicle, the factor settings such as the configuration of car, for example, present embodiment degree of vacuum predetermined threshold value is 30kPa, and when degree of vacuum was worth less than this in the vacuum servo-unit, control module will be sent the supercharging instruction so; The second detection module 4 is for detection of the operational factor of driving engine, such as water temperature, rotating speed etc., the second detection module is specially temperature sensor and tachogen, in the control module by program setting Engine Coolant Temperature predetermined threshold value and rotating speed predetermined threshold value, after the degree of vacuum in the control module judgement vacuum booster is less than the degree of vacuum predetermined threshold value, do not send first the supercharging instruction, but further judge what factor to cause the vacuum booster vacuum degree deficiency by, will investigate one by one engine operating parameter, make as the case may be corresponding action, the a kind of of engine operating parameter specifically is judged as: control module 1 judges that whether Engine Coolant Temperature is less than the Engine Coolant Temperature predetermined threshold value, if yes, then send the supercharging instruction, if NO, judge that then whether engine speed is less than the engine speed predetermined threshold value, if engine speed is less than the engine speed predetermined threshold value, then send the supercharging instruction, if engine speed is more than or equal to the engine speed predetermined threshold value, then send supercharging instruction and the first alarm command, it is not that engine operating parameter causes that the transmission alarm command is to remind staff's vacuum degree deficiency, but other reason, such as pipeline gas leakage etc., be convenient to the staff and look into and repair; Here the water temperature predetermined threshold value is 85 ℃, the engine speed predetermined threshold value is 1000rpm, certainly the predetermined threshold value of booster vacuum degree, Engine Coolant Temperature, rotating speed is not unique, is determined on a case-by-case basis, and the present invention does not sequentially have dividing of priority to the judgement of the gentle rotating speed of engine water in addition.
The supercharging module can be made suitable supercharging and pass through the pipeline transmission of pressure to drg according to the supercharging instruction after receiving the supercharging instruction in above-described embodiment, drg is carried out braking, supercharging described in the present embodiment is hydraulic booster, the electronic stabilizing control system hydraulic control unit is realized supercharging by Hydraulic Pump, and is connected with the drg hydraulic tubing by the hydraulic pressure delivery channel of hydraulic pressure unit in the electronic stabilizing control system, thereby realization is braked.
Improvement for embodiment one, also comprise the judgement that air-conditioning is opened and closed in the present embodiment two, control module is obtained air-conditioning by signal wire (SW) and is opened and closed signal, the judgement that air-conditioning is opened and closed comprises that also air-conditioning turn-offs the execution module (not shown), after control module 1 judges that degree of vacuum is less than the degree of vacuum predetermined threshold value in the vacuum booster, do not send first the supercharging instruction, but whether air-conditioning opened judge, because air-conditioning is opened, engine load increases, and can cause driving engine degree of vacuum under specific operation lower, if described control module is judged as air-conditioning for closing, then the judgement of air-conditioning stopped, open if be judged as air-conditioning, then send and turn-off instruction, described shutoff execution module receives the shutoff instruction and closes air-conditioning, it is interim shutoff that the air-conditioning of present embodiment turn-offs, and after braking was finished, air-conditioning can work;
Air-conditioning is closed rear described control module and is continued whether to judge vacuum booster degree of vacuum less than predetermined threshold value, and if NO, the braking of control module control stops.
Present embodiment two relative embodiment one have also increased by the 3rd detection module 8 and alarm unit, for detection of the air pressure of environment and output environment air pressure to control module 1, present embodiment the 3rd detection module 8 is baroceptor, certainly can be the sensor of any energy testing environment air pressure, the present invention does not limit, here ambient pressure is judged set up mainly be automobile the height above sea levels such as plateau local time, because air is thin, thereby may cause atmospheric air chamber and the little deceleration and stopping performance that affects of vacuum chamber pressure reduction in the vacuum booster, after described control module judges that degree of vacuum in the vacuum booster is less than the degree of vacuum predetermined threshold value, and before sending the supercharging instruction, control module 1 judges that whether ambient pressure is less than predetermined threshold value, if yes, send the supercharging instruction, if NO, then send supercharging instruction and the first alarm command, supercharging module 2 is carried out braking according to supercharging instruction supercharging with the control drg, alarm unit is used for reporting to the police according to the first alarm command, and alarm unit specifically can be hummer, the combination of light or hummer and light.
The judgement that the judgement of two pairs of ambient pressures of present embodiment, engine operating parameter and air-conditioning open and close can be carried out simultaneously, also can distribute and carry out, for example engine operating parameter and ambient pressure are being judged just sending supercharging instruction control drg after finishing carries out supercharging and/or send the first alarm command, just sent supercharging instruction control drg execution supercharging and/or send the first alarm command after also can finishing one of them judgement that engine operating parameter and ambient pressure are judged.
Present embodiment two relative embodiment one have also increased the 5th and have surveyed module 9 and alarm unit, for detection of the degree of vacuum of automotive engine manifold and export to control module 1, the 5th detection module 9 can be pressure sensor, vacuum sensor, control module 1 is judged vacuum booster degree of vacuum and the manifold degree of vacuum difference of first detection module output, if difference between the two is greater than predetermined threshold value, then send the second alarm command and store diagnostic code, this situation may be to connect conduit gas leakage between vacuum chamber and the driving engine etc. to cause, at this moment alarm unit is carried out and is reported to the police, in order to remind the operating personal maintenance; If difference between the two is less than or equal to predetermined threshold value, then judge and stop, be the response of making for this judgement in the present embodiment, respective response can be judged and make to control module also when next cycle receives vacuum booster degree of vacuum and manifold degree of vacuum.
As embodiment one is further improved, control module 1 described in the embodiment two also detects first detection module the currency of the degree of vacuum in the vacuum booster and the degree of vacuum of front one-time detection compares, if difference surpasses predetermined threshold value, then send the 3rd alarm command and store diagnostic code, alarm unit is reported to the police, if difference is less than or equal to predetermined threshold value, this judges termination, by the time next cycle arrives and continues to judge, the back the like; Above-mentioned two kinds of detections mainly are to judge whether vacuum booster and/or manifold leak gas, and can remind operating personal simultaneously.
Present embodiment two has also increased four module 11 with respect to embodiment one, and it is for detection of automobile wheel speed and export to control module 1.After drg is carried out braking, within the supercharging instruction survival phase, if control module 1 judges that the speed of a motor vehicle is non-vanishing, then supercharging module is kept lasting supercharging, until supercharging instruction releasing or the speed of a motor vehicle are zero, if the speed of a motor vehicle is zero, control module stops to send the supercharging instruction, braking control stops, and this function is intended to prevent the long-time non-productive work of hydraulic control module in the automobile electron stabilization control system; Described speed of a motor vehicle detection module 11 is the wheel speed sensors in the electronic stabilizing control system, and the wheel speed sensors of electronic stabilizing control system generally is installed on the hub 12.
As embodiment one and embodiment two are further improved, described degree of vacuum predetermined threshold value comprises the first degree of vacuum predetermined threshold value, the second degree of vacuum predetermined threshold value and the 3rd degree of vacuum predetermined threshold value that increases successively; When control module judges that according to the information of first detection module output degree of vacuum in the described vacuum booster is less than the first degree of vacuum predetermined threshold value, control module sends the first supercharging instruction, when control module judges that according to the information of first detection module output degree of vacuum in the described vacuum booster is more than or equal to the first degree of vacuum predetermined threshold value and less than the second degree of vacuum predetermined threshold value, control module sends the second supercharging instruction, when control module judges that according to the information of first detection module output device degree of vacuum in the described vacuum booster is more than or equal to the second degree of vacuum predetermined threshold value and less than the 3rd degree of vacuum predetermined threshold value, control module sends the 3rd supercharging instruction, described the first supercharging instruction, the supercharging of the second supercharging instruction and the 3rd supercharging instruction control increases successively in gradient, here " increasing in gradient " refers to increase according to certain rules, for example the arithmetic progression rule; When control module judged that according to the information of first detection module output vacuum booster degree of vacuum in the described vacuum booster is more than or equal to the 3rd degree of vacuum predetermined threshold value, the braking control of control module stopped; The present invention arranges 3 degree of vacuum predetermined threshold value, control module is sent different supercharging instructions according to different predetermined threshold value, the supercharging module is made different responses according to the supercharging instruction, better coupling automobile brake, certainly the number of degree of vacuum predetermined threshold value is not particularly limited, and need to be decided according to the actual requirements.
Below describe by reference to the accompanying drawings preferred implementation of the present invention in detail; but; the present invention is not limited to the detail in the above-mentioned embodiment; in technical conceive scope of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove in addition, each concrete technical characterictic described in the above-mentioned specific embodiment in reconcilable situation, can make up by any suitable mode, for fear of unnecessary repetition, the present invention is to the no longer separately explanation of various possible array modes.In addition, also can carry out combination in any between the various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (10)
1. an automobile brake control system is characterized in that, this system comprises:
Supercharging module in the automobile electron stabilization control system;
First detection module, for detection of and degree of vacuum in the control module output vacuum booster;
Control module is used for when receiving automobile brake signal after, judges that degree of vacuum in the vacuum booster whether less than the degree of vacuum predetermined threshold value, if yes, then sends the supercharging instruction, and if NO, then termination is controlled in braking;
The supercharging instruction supercharging that described supercharging module is used for sending according to control module is carried out braking with the control drg.
2. automobile brake control system according to claim 1 is characterized in that, also comprises:
The second detection module, for detection of and to control module output engine operational factor;
The degree of vacuum of described control module in judging vacuum booster less than the degree of vacuum predetermined threshold value after, and before sending the supercharging instruction, judge whether engine operating parameter meets preset requirement, if engine operating parameter does not meet preset requirement, send the supercharging instruction, if engine operating parameter meets preset requirement, send supercharging instruction and the first alarm command; And
Alarm unit is used for reporting to the police according to the first alarm command.
3. automobile brake control system according to claim 1 is characterized in that, also comprises:
The 3rd detection module, for detection of and to the ambient pressure of control module output automobile;
The degree of vacuum of described control module in judging vacuum booster less than the degree of vacuum predetermined threshold value after, and before sending the supercharging instruction, judge whether ambient pressure meets predetermined threshold value, if NO, then send the supercharging instruction, if yes, then send supercharging instruction and the first alarm command; And
Alarm unit is used for reporting to the police according to the first alarm command.
4. automobile brake control system according to claim 2 is characterized in that, described engine operating parameter comprises engine speed and Engine Coolant Temperature;
Described control module judges whether the gentle engine speed of engine water meets predetermined threshold value, if one of them does not meet predetermined threshold value to the gentle engine speed of engine water at least, then send the supercharging instruction, if the gentle engine speed of engine water all meets predetermined threshold value, then send supercharging instruction and the first alarm command.
5. automobile brake control system according to claim 1 is characterized in that, described first detection module periodically detects the degree of vacuum in the vacuum booster.
6. automobile brake control system according to claim 1 is characterized in that, described degree of vacuum predetermined threshold value comprises the first degree of vacuum predetermined threshold value, the second degree of vacuum predetermined threshold value and the 3rd degree of vacuum predetermined threshold value that increases successively;
Degree of vacuum in control module is judged described vacuum booster sends the first supercharging instruction during less than the first degree of vacuum predetermined threshold value;
Degree of vacuum in control module is judged described vacuum booster sends the second supercharging instruction during more than or equal to the first degree of vacuum predetermined threshold value and less than the second degree of vacuum predetermined threshold value;
Degree of vacuum in control module is judged described vacuum booster is during more than or equal to the second degree of vacuum predetermined threshold value and less than the 3rd degree of vacuum predetermined threshold value, and control module sends the 3rd supercharging instruction;
Degree of vacuum in control module is judged described vacuum booster is during more than or equal to the 3rd degree of vacuum predetermined threshold value, and the braking of control module control stops;
The supercharging of described the first supercharging instruction, the second supercharging instruction and the 3rd supercharging instruction control increases successively in gradient;
Described supercharging module is finished the supercharging that increases in gradient according to the first supercharging instruction, the second supercharging instruction and the 3rd supercharging instruction.
7. automobile brake control system according to claim 1 is characterized in that, also comprises:
The 4th detection module, for detection of and to the control module output speed of a motor vehicle;
After described supercharging module controls drg was carried out braking, described control module judged whether the speed of a motor vehicle is zero, and if yes, control module stops to send the supercharging instruction, and if NO, control module continues to send the supercharging instruction;
The supercharging module continues boost control drg execution braking until supercharging instruction releasing or the speed of a motor vehicle are zero according to the supercharging instruction.
8. automobile brake control system according to claim 1 also comprises:
The 5th detection module, for detection of and degree of vacuum in the control module output engine manifold;
Described control module judges that the difference of the degree of vacuum in degree of vacuum in the vacuum booster and the manifold whether greater than predetermined threshold value, if yes, then sends the second alarm command and stores diagnostic code, if NO, judges to stop; And
Alarm unit is used for reporting to the police according to the second alarm command.
9. automobile brake control system according to claim 1 is characterized in that, described control module is the control module in the automobile electronic stabilization system.
10. automobile brake control system according to claim 1 is characterized in that, also comprises the shutoff execution module, and described control module is connected with air conditioning switch by signal wire (SW) obtains air-conditioning switching signal;
After described control module judges that degree of vacuum in the vacuum booster is less than the degree of vacuum predetermined threshold value, and before sending the supercharging instruction, described control judges whether air-conditioning is opened, if air-conditioning is opened, then send and turn-off instruction, turn-off execution module and close air-conditioning according to turn-offing instruction, after air-conditioning is closed, described control module continues to judge that whether vacuum booster degree of vacuum is less than the degree of vacuum predetermined threshold value, if vacuum booster degree of vacuum is not less than the degree of vacuum predetermined threshold value, then braking control stops, if vacuum booster degree of vacuum less than the degree of vacuum predetermined threshold value, then sends the supercharging instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220145016 CN202728212U (en) | 2012-04-09 | 2012-04-09 | Automobile braking control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220145016 CN202728212U (en) | 2012-04-09 | 2012-04-09 | Automobile braking control system |
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| Publication Number | Publication Date |
|---|---|
| CN202728212U true CN202728212U (en) | 2013-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220145016 Expired - Lifetime CN202728212U (en) | 2012-04-09 | 2012-04-09 | Automobile braking control system |
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| CN (1) | CN202728212U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103359100A (en) * | 2012-04-09 | 2013-10-23 | 广州汽车集团股份有限公司 | Automobile brake control system and control method |
| CN111402448A (en) * | 2020-03-23 | 2020-07-10 | 临工集团济南重机有限公司 | Rotating speed alarm method and device, electronic equipment and storage medium |
-
2012
- 2012-04-09 CN CN 201220145016 patent/CN202728212U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103359100A (en) * | 2012-04-09 | 2013-10-23 | 广州汽车集团股份有限公司 | Automobile brake control system and control method |
| CN103359100B (en) * | 2012-04-09 | 2015-09-30 | 广州汽车集团股份有限公司 | A kind of Automobile brake control system and control method |
| CN111402448A (en) * | 2020-03-23 | 2020-07-10 | 临工集团济南重机有限公司 | Rotating speed alarm method and device, electronic equipment and storage medium |
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