WO2023155608A1 - 作业机械控制方法、装置、设备、作业机械、介质及产品 - Google Patents

作业机械控制方法、装置、设备、作业机械、介质及产品 Download PDF

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Publication number
WO2023155608A1
WO2023155608A1 PCT/CN2022/142977 CN2022142977W WO2023155608A1 WO 2023155608 A1 WO2023155608 A1 WO 2023155608A1 CN 2022142977 W CN2022142977 W CN 2022142977W WO 2023155608 A1 WO2023155608 A1 WO 2023155608A1
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Prior art keywords
power
operation mode
output power
control
energy system
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PCT/CN2022/142977
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English (en)
French (fr)
Inventor
明巧红
杨士保
兰周
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三一重机有限公司
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Publication of WO2023155608A1 publication Critical patent/WO2023155608A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/70—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/75—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using propulsion power supplied by both fuel cells and batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/30—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/40—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for controlling a combination of batteries and fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells

Definitions

  • the present disclosure relates to the technical field of operating machine control, and in particular, to an operating machine control method, an operating machine control device, electronic equipment, an operating machine, a non-transitory computer-readable storage medium, and a computer program product.
  • the present disclosure provides an operating machine control method, an operating machine control device, an electronic device, an operating machine, a non-transitory computer-readable storage medium, and a computer program product, to solve the problem of short working hours of an operating machine in related technologies. And the defect of wasting energy can realize improving the operation time of the working machine and avoiding the waste of energy.
  • the present disclosure provides a work machine control method.
  • the work machine includes: a power system, the power system includes: at least two energy systems and at least one drive system, and the at least two energy systems include: a battery energy system and a fuel energy system.
  • the method includes: acquiring control instructions, the first output power corresponding to the fuel energy system, the second output power corresponding to the battery energy system, and the remaining power value corresponding to the battery energy system; based on the first The output power, the second output power and the remaining power value determine the operation mode corresponding to the energy system; in the operation mode, control the driving system to perform the control operation corresponding to the control command.
  • determining the operation mode corresponding to the energy system before determining the working mode corresponding to the energy system based on the first output power, the second output power and the remaining power value, further includes: obtaining The oil pump pressure corresponding to the oil pump system in the power system; based on the oil pump pressure, determine the corresponding load power when the power system is working; based on the first output power, the second output power and the The power remaining value, determining the operation mode corresponding to the energy system, includes: comparing the power remaining value and the preset power value to obtain a first comparison result; comparing the load power with the first output power, The second output power is compared with the sum of the first output power and the second output power to obtain a second comparison result; based on the first comparison result and/or the second comparison result , to determine the operation mode corresponding to the energy system.
  • the working modes include: a battery working mode in which the battery energy system works, a fuel working mode in which the fuel energy system works, and the battery power system working in conjunction with the The mixed operation mode of fuel energy system operation;
  • the preset electricity value includes a first electricity value and a second electricity value, and the first electricity value is greater than the second electricity value;
  • the first comparison result based on the And/or the second comparison result, determining the operation mode corresponding to the energy system includes: when the load power is greater than the sum of the first output power and the second output power, determining the operation mode The mode is the hybrid operation mode; when the load power is less than or equal to the first output power, and the power remaining value is less than the second power value, the operation mode is determined to be the fuel operation mode ;
  • the load power is less than or equal to the second output power, and the remaining power value is greater than or equal to the first power value, determining that the operation mode is the battery operation mode.
  • a working machine control method after determining that the working mode is the mixed working mode, further comprising: based on the load power, the first output power and the second output power, Determine the power output ratio of the battery energy system and the fuel energy system.
  • the control instruction is used to indicate the target speed corresponding to the driving system; in the working mode, the driving system is controlled to execute the
  • the control operation includes: obtaining an actual rotational speed of the driving system at a current moment; and controlling the driving system to adjust from the actual rotational speed to the target rotational speed in the working mode.
  • controlling the drive system to perform a control operation corresponding to the control command includes: when the control command is a hydraulic pump work command , in the operation mode, control the drive system corresponding to the oil pump system to drive the oil pump system to work; when the control instruction is a rotation work instruction, in the operation mode, control The driving system corresponding to the slewing mechanism drives the slewing mechanism to work; when the control command is a walking work command, in the working mode, control the driving system corresponding to the running mechanism of the working machine to drive the running mechanism to work .
  • the working mode after controlling the driving system to execute the control operation corresponding to the control instruction, further includes: when the turning mechanism turns and brakes, , controlling the drive system corresponding to the slewing mechanism to recover braking energy; when the traveling mechanism brakes, controlling the driving system corresponding to the running mechanism to recover braking energy.
  • the present disclosure also provides a working machine control device.
  • the work machine includes: a power system, the power system includes: at least two energy systems and at least one drive system, and the at least two energy systems include: a battery energy system and a fuel energy system.
  • the device includes: an acquisition module, configured to acquire control instructions, the first output power corresponding to the fuel energy system, the second output power corresponding to the battery energy system, and the remaining power value corresponding to the battery energy system; A determining module, configured to determine an operation mode corresponding to the energy system based on the first output power, the second output power, and the remaining power value; a control module, configured to control the operation mode of the energy system in the operation mode
  • the drive system executes a control operation corresponding to the control instruction.
  • the determination module is configured to: acquire the oil pump pressure corresponding to the oil pump system in the power system; determine the corresponding load power when the power system is working based on the oil pump pressure ; Comparing the remaining power value with the preset power value to obtain a first comparison result; comparing the load power with the first output power, the second output power, and the first output power with the The sum of the second output power is compared to obtain a second comparison result; based on the first comparison result and/or the second comparison result, the corresponding operation mode of the energy system is determined.
  • the working modes include: a battery working mode in which the battery energy system works, a fuel working mode in which the fuel energy system works, and the battery power system working in conjunction with the Mixed operation mode of fuel energy system operation;
  • the preset electricity value includes a first electricity value and a second electricity value, and the first electricity value is greater than the second electricity value;
  • the determination module is used for: when the When the load power is greater than the sum of the first output power and the second output power, it is determined that the operation mode is the mixed operation mode; when the load power is less than or equal to the first output power, and the When the power remaining value is less than or equal to the second power value, it is determined that the operation mode is the fuel operation mode; when the load power is less than or equal to the second output power, and the power remaining value is greater than or equal to When the first power value is used, it is determined that the operation mode is the battery operation mode.
  • the determining module is further configured to: determine the battery energy system and the fuel based on the load power, the first output power, and the second output power The power output ratio of the energy system.
  • control instruction is used to indicate the target speed corresponding to the drive system; the control module is used to: obtain the actual speed of the drive system at the current moment; mode, control the drive system to adjust from the actual speed to the target speed.
  • the control module is configured to: when the control command is a hydraulic pump work command, in the work mode, control the drive system corresponding to the oil pump system to drive the The operation of the oil pump system; when the control command is a rotary work command, in the operation mode, control the drive system corresponding to the rotary mechanism of the working machine to drive the rotary mechanism to work; when the control command is walking
  • the driving system corresponding to the traveling mechanism of the working machine is controlled to drive the traveling mechanism to work.
  • control module is further configured to control a drive system corresponding to the slewing mechanism to recover braking energy when the slewing mechanism is slewing and braking.
  • control module is further configured to control a drive system corresponding to the traveling mechanism to recover braking energy when the traveling mechanism brakes.
  • the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor.
  • the processor executes the program, it realizes any one of the above-mentioned operating machine control method steps.
  • the present disclosure also provides an operating machine, which includes the operating machine control device provided in the above aspect, or includes the electronic device provided in the above aspect.
  • the present disclosure also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the above-mentioned working machine control methods are implemented.
  • the present disclosure also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the processor is made to execute the working machine control method provided in the above aspect.
  • the operating machine of the present disclosure is equipped with a battery energy system and a fuel energy system at the same time, which avoids the defect that the operating machine only has a battery energy system and has a short working time in the related art, and also avoids the waste of the operating machine only having a fuel energy system in the related art Energy deficiency.
  • the present disclosure determines the corresponding operation mode based on the actual situation when the operation machine is operating, which can effectively improve the operation efficiency and save energy. Therefore, in a certain operation mode, the control drive system executes the control operation corresponding to the control instruction, which effectively increases the operation time of the operation machine, avoids waste of energy, improves operation efficiency, and improves user experience.
  • FIG. 1 is a schematic structural view of a work machine according to an embodiment of the present disclosure.
  • FIG. 2 is a schematic flowchart of a method for controlling a working machine according to an embodiment of the present disclosure.
  • Fig. 3 is a schematic structural view of a work machine according to another embodiment of the present disclosure.
  • Fig. 4 is a schematic flowchart of a method for controlling a working machine according to an embodiment of the present disclosure.
  • Fig. 5 is a schematic structural diagram of a working machine control device according to an embodiment of the present disclosure.
  • Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
  • An embodiment of the present disclosure provides a method for controlling an operating machine, and the method may be applied to an operating machine, such as an excavator, a loader, a pump truck, a road roller, and the like, and may also be applied to a server.
  • an operating machine such as an excavator, a loader, a pump truck, a road roller, and the like
  • the application of the method in an excavator is taken as an example for illustration, but it should be noted that it is only for illustration and is not intended to limit the protection scope of the present disclosure.
  • Some other descriptions in the embodiments of the present disclosure are also examples and are not used to limit the protection scope of the present disclosure, and will not be described one by one later.
  • the work machine includes at least two energy systems and at least one drive system, and the at least two energy systems include a battery energy system and a fuel energy system.
  • the battery energy system includes a battery control system and a battery management system
  • the fuel energy system includes a fuel control system and a fuel management system.
  • the at least one driving system includes three driving systems, namely: a first driving system communicating with the main hydraulic pump, a second driving system communicating with the running mechanism and a third driving system communicating with the slewing mechanism.
  • the hydraulic main pump communicates with the main control valve, the main control valve communicates with the hydraulic cylinder, and the hydraulic cylinder drives specific working devices.
  • the working machine further includes a control system, configured to implement the working machine control method provided in any one of the following embodiments.
  • the control system is an integrated control system, including: vehicle control system, drive motor control system, high-voltage power distribution system, on-board charging system, DC power conversion system, etc.
  • vehicle control system includes: power on and off the vehicle, torque distribution, energy management, fault diagnosis and other functions
  • the drive motor control system includes: motor torque control, field weakening control, fault diagnosis, energy recovery, receiving vehicle commands and other functions
  • the high-voltage power distribution system includes: a high-voltage power management unit; the on-board charging system is used to: convert 220V/380V AC to DC to charge the power battery; the DC power conversion system is used to: convert DC high-voltage to low-voltage power to charge the battery Or the vehicle low-voltage electric device supplies power.
  • control method includes steps 201 to 203 .
  • step 201 the control instruction, the first output power corresponding to the fuel energy system, the second output power corresponding to the battery energy system, and the remaining power value corresponding to the battery energy system are obtained.
  • the control command is the signal generated by the operator by operating the handle of the working machine and/or the pedal of the working machine.
  • the first output power is the maximum power that the fuel energy system can provide
  • the second output power is the power that the battery energy system can provide.
  • the maximum power, the remaining power is the current power of the storage battery of the battery energy system.
  • step 202 an operation mode corresponding to the energy system is determined based on the first output power, the second output power and the remaining power value.
  • the oil pump system includes a pressure sensor, and the pressure at the outlet of the main oil pump is monitored by the pressure sensor to obtain the oil pump pressure. Furthermore, based on the pre-established conversion relationship between the oil pump pressure and the load power, the load power corresponding to the oil pump pressure is obtained.
  • the first comparison result is obtained; the load power is compared with the first output power, the second output power, and the sum of the first output power and the second output power, and the second output power is obtained.
  • the second comparison result based on the first comparison result and/or the second comparison result, determine the operation mode corresponding to the energy system.
  • the preset power value includes a first power value and a second power value, and the first power value is greater than the second power value.
  • compare the load power with the first output power when the load power is less than or equal to the first output power, use it as the second comparison result
  • compare the load power with the second output power when the load When the power is less than or equal to the second output power, take it as the second comparison result
  • compare the load power with the sum of the first output power and the second output power and when the load power is greater than the sum of the first output power and the second output power When and, use it as the second comparison result.
  • the operation mode includes: the battery operation mode of the battery energy system operation, the fuel operation mode of the fuel energy system operation, and the mixed operation mode of the battery energy system operation and the fuel energy system operation;
  • the preset power value includes the first A power value and a second power value, the first power value is greater than the second power value.
  • the operation mode is a mixed operation mode; when the load power is less than or equal to the first output power, and the power remaining value is less than the second power value, the operation is determined
  • the mode is the fuel operation mode; when the load power is less than or equal to the second output power, and the power remaining value is greater than or equal to the first power value, it is determined that the operation mode is the battery operation mode.
  • the operation mode is a mixed operation mode
  • the battery energy system and the fuel energy system are used together to provide energy for the first drive system to drive the hydraulic main pump, the second drive system to drive the traveling mechanism, and the third drive system to drive the slewing mechanism
  • the operation mode is the fuel operation mode
  • the fuel energy system is used to provide energy for the first drive system to drive the hydraulic main pump, the second drive system to drive the traveling mechanism and the third drive system to drive the slewing mechanism
  • the operation mode is the battery operation mode
  • use The battery energy system provides energy for the first drive system to drive the hydraulic main pump, the second drive system to drive the traveling mechanism and the third drive system to drive the slewing mechanism.
  • the battery energy system when the remaining power value is less than or equal to the second power value, the battery energy system is not used to operate and the fuel energy system is used to operate, which avoids the problem that the operating machine cannot work for a long time due to insufficient power; when the remaining power value is greater than or equal to When the first power value is reached, the battery energy system is used to operate instead of the fuel energy system.
  • the battery energy system Since the cost of electric energy is far lower than the cost of fuel, when the battery power is sufficient, the battery energy system is used to operate, which effectively saves costs; when the load When the power is greater than the sum of the first output power and the second output power, the operation mode is determined to be a mixed operation mode, and the battery energy system and the fuel energy system are used to operate simultaneously, which can reduce the operation time and effectively improve the operation efficiency.
  • the operation mode is a mixed operation mode
  • in order to control the output power of the battery energy system and the fuel energy system to achieve an optimal state based on the load power, the first output power and the second output power, determine The power output ratio of the battery energy system and the fuel energy system, where the optimal state is to consume the least energy to achieve the maximum workload.
  • step 203 in the working mode, the driving system is controlled to perform a control operation corresponding to the control command.
  • control command is used to indicate the corresponding target speed of the drive system
  • the control command is a signal generated by the operator operating the handle of the working machine.
  • the signal corresponds to the working gear of the working machine, and based on the pre-stored matching relationship between the working gear and the rotational speed, the rotational speed of the drive system corresponding to the working gear is determined as the target rotational speed.
  • the actual speed of the drive system at the current moment is obtained, and the drive system is controlled to adjust from the actual speed to the target speed, so that the actual output of the drive system is consistent with the target output.
  • the drive system includes an electric motor.
  • the corresponding drive system is controlled to execute the control operation corresponding to the control instructions.
  • the control command is a hydraulic pump work command
  • control the drive system corresponding to the oil pump system to drive the oil pump system to work
  • the driving system drives the slewing mechanism to work
  • the control instruction is a walking work instruction
  • the driving system corresponding to the traveling mechanism of the working machine is controlled to drive the traveling mechanism to work.
  • the operating machine recovers energy during operation, effectively avoiding energy waste.
  • the drive system corresponding to the slewing mechanism is controlled to recover the braking energy;
  • the traveling mechanism is braked, the driving system corresponding to the running mechanism is controlled to recover the braking energy.
  • the recovered energy is converted into electrical energy and stored in the battery in the battery energy system.
  • the working machinery includes a power system and a control system, and the communication connection between the power system and the control system.
  • the power system includes: at least two energy systems, at least one drive system and an oil pump system.
  • the at least two energy systems include a battery energy system and a fuel energy system.
  • the fuel energy system is used to indicate the fuel cell and its control method
  • the battery energy system is used to indicate the power battery and its control method.
  • the energy system transmits parameters such as energy voltage and current to the control system.
  • the at least one driving system includes three driving systems, namely: a first driving system, a second driving system and a third driving system.
  • the first drive system, the second drive system and the third drive system respectively include corresponding motors, and receive control commands from the control system. At this time, the control commands are used to indicate the speed and torque of the motors, and the actual speed, rotation Torque is transmitted to the control system.
  • the oil pump system is used to monitor the outlet pressure of the main oil pump to obtain the main pump pressure and transmit the main pump pressure to the control system.
  • the control system includes: an analog input port, a CAN communication port, an analog output port and a main control chip, wherein the control method of the present disclosure is applied to the main control chip.
  • control method includes step 401 to step 408 .
  • step 401 a control command, load power, first output power, second output power and remaining power value are obtained.
  • step 402 when the load power is greater than the sum of the first output power and the second output power, it is determined that the operation mode is a mixed operation mode.
  • step 403 when the operation mode is a mixed operation mode, the battery energy system and the fuel energy system are used to jointly provide energy.
  • step 404 when the load power is less than or equal to the first output power, and the power remaining value is less than or equal to the second power value, it is determined that the operation mode is the fuel operation mode.
  • step 405 when the operation mode is the fuel operation mode, the fuel energy system is used to provide energy;
  • Step 406 when the load power is less than or equal to the second output power, and the remaining power value is greater than or equal to the first power value, determine that the operation mode is the battery operation mode.
  • step 407 when the operation mode is the battery operation mode, the battery energy system is used to provide energy.
  • step 408 in the corresponding working mode, the driving system is controlled to execute the control operation corresponding to the control instruction.
  • the operating machine control method provided in the present disclosure, wherein the operating machine includes: a power system, the power system includes: at least two energy systems and at least one drive system, and the at least two energy systems include: a battery energy system and a fuel energy system, it can be seen that,
  • the operating machine of the present disclosure is equipped with a battery energy system and a fuel energy system at the same time, which avoids the defect that the operating machine only has a battery energy system and has a short working time in the related art, and also avoids the waste of the operating machine only having a fuel energy system in the related art Defects of energy; by obtaining control instructions, the first output power corresponding to the fuel energy system, the second output power corresponding to the battery energy system, and the remaining power value corresponding to the battery energy system; based on the first output power, the second output power and the The residual value of electricity determines the operation mode corresponding to the energy system.
  • the present disclosure determines the corresponding operation mode based on the actual situation when the operation machine is operating, which can effectively improve the operation efficiency and save energy; furthermore, in the determined operation mode Next, the control drive system executes the control operation corresponding to the control command, which effectively increases the working time of the working machine, avoids the waste of energy, improves the working efficiency, and improves the user experience.
  • the working machine control device provided by the present disclosure is described below.
  • the working machine control device described below and the working machine control method described above can be referred to each other.
  • the acquisition module 501 is used to acquire the control instruction, the first output power corresponding to the fuel energy system, the second output power corresponding to the battery energy system, and the remaining power value corresponding to the battery energy system.
  • the determination module 502 is used for the first output power, the second output power and the remaining power value, and determines the corresponding operation mode of the energy system.
  • the control module 503 is used to control the driving system to execute the control operation corresponding to the control command in the working mode.
  • the determination module 502 is also used to obtain the oil pump pressure corresponding to the oil pump system in the power system; based on the oil pump pressure, determine the corresponding load power when the power system is working; the determination module 502 is specifically used to compare the power remaining value and the preset power value to obtain the first comparison result; respectively compare the load power with the first output power, the second output power, and the sum of the first output power and the second output power to obtain the second comparison result; Based on the first comparison result and/or the second comparison result, an operation mode corresponding to the energy system is determined.
  • the operation mode includes: the battery operation mode of the battery energy system operation, the fuel operation mode of the fuel energy system operation, and the mixed operation mode of the battery energy system operation and the fuel energy system operation;
  • the preset power value includes the first The power value and the second power value, the first power value is greater than the second power value;
  • the determination module 502 is specifically used to determine that the operation mode is a mixed operation mode when the load power is greater than the sum of the first output power and the second output power; When the load power is less than or equal to the first output power, and the power remaining value is less than or equal to the second power value, it is determined that the operation mode is the fuel operation mode; when the load power is less than or equal to the second output power, and the power remaining value is greater than or When it is equal to the first power value, it is determined that the operation mode is the battery operation mode.
  • the determination module 502 is further configured to determine the power output ratio of the battery energy system and the fuel energy system based on the load power, the first output power and the second output power.
  • control instruction is used to indicate the corresponding target speed of the drive system; the control module 503 is specifically used to obtain the actual speed of the drive system at the current moment; in the working mode, control the drive system to adjust the actual speed to the target speed.
  • control module 503 is specifically used to control the drive system corresponding to the oil pump system to drive the oil pump system to work in the operation mode when the control command is a hydraulic pump work command; In the operation mode, control the driving system corresponding to the slewing mechanism of the working machine to drive the slewing mechanism to work; when the control command is a walking work command, in the working mode, control the driving system corresponding to the running mechanism of the working machine to drive the running mechanism to work.
  • control module 503 is also used to control the drive system corresponding to the slewing mechanism to recover braking energy when the slewing mechanism is turning and braking; braking energy.
  • Figure 6 illustrates a schematic diagram of the physical structure of an electronic device, as shown in Figure 6, the electronic device may include: a processor (processor) 601, a communication interface (Communications Interface) 602, a memory (memory) 603 and a communication bus 604, Wherein, the processor 601 , the communication interface 602 , and the memory 603 communicate with each other through the communication bus 604 .
  • the processor 601 can call the logic instructions in the memory 603 to execute the control method of the work machine.
  • the work machine includes: a power system, the power system includes: at least two energy systems and at least one drive system, and the at least two energy systems include: battery energy system and a fuel energy system, the method includes: obtaining a control instruction, a first output power corresponding to a fuel energy system, a second output power corresponding to a battery energy system, and a power remaining value corresponding to a battery energy system; based on the first output power, The second output power and the remaining power value determine the operation mode corresponding to the energy system; in the operation mode, the driving system is controlled to execute the control operation corresponding to the control command.
  • the above logic instructions in the memory 603 may be implemented in the form of software function units and when sold or used as an independent product, may be stored in a computer-readable storage medium.
  • the computer software product is stored in a storage medium, including several
  • the instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present disclosure.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
  • the present disclosure also provides a working machine, which includes the above-mentioned working machine control device, or includes the above-mentioned electronic equipment.
  • the present disclosure also provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer can
  • the operation machine control method provided by performing the above methods, the work machine includes: a power system, the power system includes: at least two energy systems and at least one drive system, the at least two energy systems include: a battery energy system and a fuel energy system, the The method includes: acquiring control instructions, first output power corresponding to the fuel energy system, second output power corresponding to the battery energy system, and remaining power value corresponding to the battery energy system; based on the first output power, the second output power and the remaining power value to determine the operation mode corresponding to the energy system; in the operation mode, the control drive system executes the control operation corresponding to the control command.
  • the present disclosure also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the operation machine control method provided by the above-mentioned methods
  • the work machine includes : a power system
  • the power system includes: at least two energy systems and at least one drive system
  • the at least two energy systems include: a battery energy system and a fuel energy system
  • the method includes: obtaining the first output corresponding to the control instruction and the fuel energy system power, the second output power corresponding to the battery energy system, and the remaining power value corresponding to the battery energy system; based on the first output power, the second output power and the remaining power value, determine the operation mode corresponding to the energy system; in the operation mode,
  • the control drive system executes the control operation corresponding to the control command.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.
  • each implementation can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware.
  • the essence of the above technical solutions or the part that contributes to related technologies can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, disk , CD, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

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Abstract

一种作业机械的控制方法、装置、设备、作业机械、介质及产品。作业机械包括：动力系统，动力系统包括：至少两个能源系统和至少一个驱动系统，至少两个能源系统包括：电池能源系统和燃料能源系统，控制方法包括：获取控制指令、燃料能源系统对应的第一输出功率、电池能源系统对应的第二输出功率、以及电池能源系统对应的电量剩余值；基于第一输出功率、第二输出功率和电量剩余值，确定能源系统对应的作业模式；在作业模式下，控制驱动系统执行与控制指令对应的控制操作。解决相关技术中作业机械作业时长少且浪费能源的缺陷。

Description

作业机械控制方法、装置、设备、作业机械、介质及产品 技术领域
本公开涉及作业机械控制技术领域，尤其涉及一种作业机械控制方法、作业机械控制装置、电子设备、作业机械、非暂态计算机可读存储介质及计算机程序产品。
背景技术
对于现有的电动的作业机械，在只将电池作为独立能源时，因受限于能量密度而电池的使用时间有限，从而限制了作业机械的使用时长，这使得现有的电动的作业机械难以满足客户的使用需求。或者，对于只将燃料作为独立能源的作业机械，可能存在输出功率大于负载功率而造成能源浪费的问题。
在相关技术中，为了能够解决上述问题，出现了电池和燃料均作为能源的作业机械，这类作业机械可以称为多源的作业机械。然而，针对上述问题，相关技术并未基于多源的作业机械提供具体有效的解决方案。因此，对于基于多源的作业机械，如何实现提高作业时长并节省能源是目前业界亟待解决的重要课题。
发明内容
有鉴于此，本公开提供一种作业机械控制方法、作业机械控制装置、电子设备、作业机械、非暂态计算机可读存储介质及计算程序机产品，用以解决相关技术中作业机械作业时长少且浪费能源的缺陷，实现提高作业机械的作业时长且避免能源的浪费。
一方面，本公开提供一种作业机械控制方法。所述作业机械包括：动力系统，所述动力系统包括：至少两个能源系统和至少一个驱动系统，所述至少两个能源系统包括：电池能源系统和燃料能源系统。所述方法包括：获取控制指令、所述燃料能源系统对应的第一输出功率、所述电池能源系统对应的第二输出功率、以及所述电池能源系统对应的电量剩余值；基于所述第一输出功率、所述第二输出功率和所述电量剩余值，确定所述能源系统对应的作业模式；在所述作业模式下，控制所述驱动系统执行与所述控制指令对应的控制操作。
根据本公开提供的一种作业机械控制方法，所述基于所述第一输出功率、所述第二输出功率和所述电量剩余值，确定所述能源系统对应的作业模式之前，还 包括：获取所述动力系统中的油泵系统对应的油泵压力；基于所述油泵压力，确定所述动力系统作业时对应的负载功率；所述基于所述第一输出功率、所述第二输出功率和所述电量剩余值，确定所述能源系统对应的作业模式，包括：比对所述电量剩余值和预设电量值，得到第一比对结果；将所述负载功率分别与所述第一输出功率、所述第二输出功率和所述第一输出功率与所述第二输出功率之和进行比对，得到第二比对结果；基于所述第一对比结果和/或所述第二比对结果，确定所述能源系统对应的作业模式。
根据本公开提供的一种作业机械控制方法，所述作业模式包括：所述电池能源系统作业的电池作业模式、所述燃料能源系统作业的燃料作业模式、和所述电池能源系统作业与所述燃料能源系统作业的混合作业模式；所述预设电量值包括第一电量值和第二电量值，所述第一电量值大于所述第二电量值；所述基于所述第一比对结果和/或所述第二比对结果，确定所述能源系统对应的作业模式，包括：当所述负载功率大于所述第一输出功率与所述第二输出功率之和时，确定所述作业模式为所述混合作业模式；当所述负载功率小于或等于所述第一输出功率，且，所述电量剩余值小于所述第二电量值时，确定所述作业模式为所述燃料作业模式；当所述负载功率小于或等于所述第二输出功率，且，所述电量剩余值大于或等于所述第一电量值时，确定所述作业模式为所述电池作业模式。
根据本公开提供的一种作业机械控制方法，所述确定所述作业模式为所述混合作业模式之后，还包括：基于所述负载功率、所述第一输出功率和所述第二输出功率，确定所述电池能源系统和所述燃料能源系统的功率输出配比。
根据本公开提供的一种作业机械控制方法，所述控制指令用于指示所述驱动系统对应的目标转速；所述在所述作业模式下，控制所述驱动系统执行与所述控制指令对应的控制操作，包括：获取所述驱动系统当前时刻的实际转速；在所述作业模式下，控制所述驱动系统由所述实际转速调整至所述目标转速。
根据本公开提供的一种作业机械控制方法，所述在所述作业模式下，控制所述驱动系统执行与所述控制指令对应的控制操作，包括：当所述控制指令为液压泵工作指令时，在所述作业模式下，控制与所述油泵系统对应的驱动系统驱动所述油泵系统作业；当所述控制指令为回转工作指令时，在所述作业模式下，控制与所述作业机械的回转机构对应的驱动系统驱动所述回转机构作业；当所述控制指令为行走工作指令时，在所述作业模式下，控制与所述作业机械的行走机构对应的驱动系统驱动所述行走机构作业。
根据本公开提供的一种作业机械控制方法，所述在所述作业模式下，控制所述驱动系统执行与所述控制指令对应的控制操作之后，还包括：当所述回转机构 回转制动时，控制与所述回转机构对应的驱动系统回收制动能量；当所述行走机构行走制动时，控制与所述行走机构对应的驱动系统回收制动能量。
另一方面，本公开还提供一种作业机械控制装置。所述作业机械包括：动力系统，所述动力系统包括：至少两个能源系统和至少一个驱动系统，所述至少两个能源系统包括：电池能源系统和燃料能源系统。所述装置包括：获取模块，用于获取控制指令、所述燃料能源系统对应的第一输出功率、所述电池能源系统对应的第二输出功率、以及所述电池能源系统对应的电量剩余值；确定模块，用于基于所述第一输出功率、所述第二输出功率和所述电量剩余值，确定所述能源系统对应的作业模式；控制模块，用于在所述作业模式下，控制所述驱动系统执行与所述控制指令对应的控制操作。
根据本公开提供的一种作业机械控制装置，所述确定模块用于：获取所述动力系统中的油泵系统对应的油泵压力；基于所述油泵压力，确定所述动力系统作业时对应的负载功率；比对所述电量剩余值和预设电量值，得到第一比对结果；将所述负载功率分别与所述第一输出功率、所述第二输出功率和所述第一输出功率与所述第二输出功率之和进行比对，得到第二比对结果；基于所述第一对比结果和/或所述第二比对结果，确定所述能源系统对应的作业模式。
根据本公开提供的一种作业机械控制装置，所述作业模式包括：所述电池能源系统作业的电池作业模式、所述燃料能源系统作业的燃料作业模式、和所述电池能源系统作业与所述燃料能源系统作业的混合作业模式；所述预设电量值包括第一电量值和第二电量值，所述第一电量值大于所述第二电量值；所述确定模块用于：当所述负载功率大于所述第一输出功率与所述第二输出功率之和时，确定所述作业模式为所述混合作业模式；当所述负载功率小于或等于所述第一输出功率，且所述电量剩余值小于或等于所述第二电量值时，确定所述作业模式为所述燃料作业模式；当所述负载功率小于或等于所述第二输出功率，且所述电量剩余值大于或等于所述第一电量值时，确定所述作业模式为所述电池作业模式。
根据本公开提供的一种作业机械控制装置，所述确定模块还用于：基于所述负载功率、所述第一输出功率和所述第二输出功率，确定所述电池能源系统和所述燃料能源系统的功率输出配比。
根据本公开提供的一种作业机械控制装置，所述控制指令用于指示所述驱动系统对应的目标转速；所述控制模块用于：获取所述驱动系统当前时刻的实际转速；在所述作业模式下，控制所述驱动系统由所述实际转速调整至所述目标转速。
根据本公开提供的一种作业机械控制装置，所述控制模块用于：当所述控制指令为液压泵工作指令时，在所述作业模式下，控制与所述油泵系统对应的驱动系统驱动所述油泵系统作业；当所述控制指令为回转工作指令时，在所述作业模 式下，控制与所述作业机械的回转机构对应的驱动系统驱动所述回转机构作业；当所述控制指令为行走工作指令时，在所述作业模式下，控制与所述作业机械的行走机构对应的驱动系统驱动所述行走机构作业。
根据本公开提供的一种作业机械控制装置，所述控制模块还用于当所述回转机构回转制动时，控制与所述回转机构对应的驱动系统回收制动能量。
根据本公开提供的一种作业机械控制装置，所述控制模块还用于当所述行走机构行走制动时，控制与所述行走机构对应的驱动系统回收制动能量。
另一方面。本公开还提供一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如上述任一种所述作业机械控制方法的步骤。
另一方面，本公开还提供一种作业机械，其包括上述方面提供的作业机械控制装置，或包括上述方面提供的电子设备。
另一方面，本公开还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如上述任一种所述作业机械控制方法的步骤。
另一方面，本公开还提供一种计算机程序产品，其包括计算机程序，当所述计算机程序被处理器执行时，使得所述处理器执行如上述方面提供的作业机械控制方法。
本公开的作业机械同时具备电池能源系统和燃料能源系统，避免了相关技术中仅存在电池能源系统的作业机械作业时长少的缺陷，同时也避免了相关技术中仅存在燃料能源系统的作业机械浪费能源的缺陷。此外，本公开在作业机械作业时基于实际情况，确定与之对应的作业模式，能够有效的提高作业效率，节能能源。因此，在确定的作业模式下，控制驱动系统执行与控制指令对应的控制操作，有效的提高了作业机械的作业时长，避免了能源的浪费，提高了作业效率，提高了用户体验。
附图简要说明
为了更清楚地说明本公开或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本公开一实施例的作业机械的结构示意图。
图2是根据本公开一实施例的作业机械控制方法的流程示意图。
图3是根据本公开另一实施例的作业机械的结构示意图。
图4是根据本公开一实施例的作业机械控制方法的流程示意图。
图5是根据本公开一实施例的作业机械控制装置的结构示意图。
图6是根据本公开一实施例的电子设备的结构示意图。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚，下面将结合本公开中的附图，对本公开中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
下面结合图2和图4描述本公开的作业机械控制方法。
本公开实施例提供了一种作业机械控制方法，该方法可以应用在作业机械中，例如，挖掘机、装载机、泵车、压路机等，也可以应用在服务器中。下面，以该方法应用在挖掘机中为例进行说明，但需要说明的是仅为举例说明，并不用于对本公开的保护范围进行限定。本公开实施例中的一些其他说明，也是举例说明，并不用于对本公开的保护范围进行限定，之后便不再一一说明。
在介绍本公开的方法之前，介绍一下本公开的作业机械。
参见图1，作业机械包括至少两个能源系统和至少一个驱动系统，至少两个能源系统包括电池能源系统和燃料能源系统。
电池能源系统包括电池控制系统和电池管理系统，燃料能源系统包括燃料控制系统和燃料管理系统。
至少一个驱动系统包括3个驱动系统，分别为：与液压主泵通信的第一驱动系统、与行走机构通信的第二驱动系统和与回转机构通信的第三驱动系统。
液压主泵和主控阀通信，主控阀和液压油缸通信，液压油缸驱动具体的工作装置作业。
具体的，作业机械还包括控制系统，用于实现以下任一个实施例提供的作业机械控制方法。
各个系统之间通过CAN总线实现信息的交互。
具体的，控制系统为集成控制系统，包括：整车控制系统、驱动电机控制系统、高压电源分配系统、车载充电系统、直流电源转换系统等。其中，整车控制系统包括：整车上下电、扭矩分配、能量管理、故障诊断等功能；驱动电机控制系统包括：电机扭矩控制、弱磁控制、故障诊断、能量回收、接收整车指令等功能；高压电源分配系统包括：高压电源管理单元；车载充电系统用于：将220V/380V交流电转换为直流电给动力电池充电；直流电源转换系统用于：将直流高压电转换为低压电源给蓄电池充电或车辆低压用电器件供电。
如图2所示，该控制方法包括步骤201至步骤203。
在步骤201中，获取控制指令、燃料能源系统对应的第一输出功率、电池能源系统对应的第二输出功率、以及电池能源系统对应的电量剩余值。
控制指令为操作手通过操作作业机械的手柄和/或作业机械的脚踏板而产生的信号，第一输出功率为燃料能源系统能够提供的最大功率，第二输出功率为电池能源系统能够提供的最大功率，电量剩余值为电池能源系统的蓄电池的当前时刻的电量。
在步骤202中，基于第一输出功率、第二输出功率和电量剩余值，确定能源系统对应的作业模式。
一个具体实施例中，在确定能源系统对应的作业模式之前，需要获取动力系统中的油泵系统对应的油泵压力，基于获取的油泵压力确定动力系统对应的负载功率。
具体的，油泵系统中包括压力传感器，通过压力传感器监测主油泵出口的压力，以得到油泵压力。进而，基于预先创建的油泵压力和负载功率的转换关系，得到该油泵压力对应的负载功率。
一个具体实施例中，为了能够有效的提高作业时长，节省能源，需要精准的确定能源系统对应的作业模式，具体实现如下所示：
比对电量剩余值和预设电量值，得到第一比对结果；将负载功率分别与第一输出功率、第二输出功率和第一输出功率与第二输出功率之和进行比对，得到第二比对结果；基于第一对比结果和/或第二比对结果，确定能源系统对应的作业模式。
预设电量值包括第一电量值和第二电量值，第一电量值大于第二电量值。
具体的，比对预设电量值和第一电量值的大小，当预设电量值大于或等于第一电量值时，将其作为第一比对结果；对比预设电量值和第二电量值的大小，将预设电量值小于或等于第二电量值时，将其作业第一比对结果。
具体的，比对负载功率与第一输出功率的大小，当负载功率小于或等于第一输出功率时，将其作为第二比对结果；比对负载功率与第二输出功率的大小，当负载功率小于或等于第二输出功率时，将其作为第二比对结果；比对负载功率与第一输出功率和第二输出功率之和，当负载功率大于第一输出功率和第二输出功率之和时，将其作为第二比对结果。
一个具体实施例中，作业模式包括：电池能源系统作业的电池作业模式、燃料能源系统作业的燃料作业模式、和电池能源系统作业与燃料能源系统作业的混合作业模式；预设电量值包括第一电量值和第二电量值，第一电量值大于第二电量值。
当负载功率大于第一输出功率与第二输出功率之和时，确定作业模式为混合作业模式；当负载功率小于或等于第一输出功率，且，电量剩余值小于第二电量 值时，确定作业模式为燃料作业模式；当负载功率小于或等于第二输出功率，且，电量剩余值大于或等于第一电量值时，确定作业模式为电池作业模式。
具体的，当作业模式为混合作业模式时，利用电池能源系统和燃料能源系统共同为第一驱动系统驱动液压主泵，第二驱动系统驱动行走机构和第三驱动系统驱动回转机构提供能量；当作业模式为燃料作业模式时，利用燃料能源系统为第一驱动系统驱动液压主泵，第二驱动系统驱动行走机构和第三驱动系统驱动回转机构提供能量；当作业模式为电池作业模式时，利用电池能源系统为第一驱动系统驱动液压主泵，第二驱动系统驱动行走机构和第三驱动系统驱动回转机构提供能量。
本公开当电量剩余值小于或等于第二电量值时，不采用电池能源系统作业采用燃料能源系统作业，避免了由于电量不足，使作业机械无法长时间作业的问题；当电量剩余值大于或等于第一电量值时，采用电池能源系统作业不采用燃料能源系统作业，由于电能成本远远低于燃料成本，在蓄电池电量充足的情况下，采用电池能源系统作业，有效的节省了成本；当负载功率大于第一输出功率与第二输出功率之和时，确定作业模式为混合作业模式，利用电池能源系统和燃料能源系统同时作业，能够降低作业时长，有效提高了作业效率。
一个具体实施例中，在确定作业模式为混合作业模式之后，为了能够控制电池能源系统和燃料能源系统的输出功率以达到最优状态，基于负载功率、第一输出功率和第二输出功率，确定电池能源系统和燃料能源系统的功率输出配比，其中，最优状态为消耗最小的能源以实现最大的作业量。
在步骤203中，在作业模式下，控制驱动系统执行与控制指令对应的控制操作。
一个具体实施例中，控制指令用于指示驱动系统对应的目标转速，例如，该控制指令为操作手操作作业机械的手柄产生的信号。此时信号对应的是作业机械的作业档位，基于预先存储的作业档位和转速的匹配关系，确定该作业档位对应的驱动系统的转速，作为目标转速。在当前的作业模式下，获取驱动系统当前时刻的实际转速，并控制驱动系统由实际转速调整至目标转速，以使驱动系统的实际输出和目标输出一致。
驱动系统包括电机。
一个具体实施例中，对于不同的控制指令，控制对应的驱动系统执行与控制指令对应的控制操作。当控制指令为液压泵工作指令时，在作业模式下，控制与油泵系统对应的驱动系统驱动油泵系统作业；当控制指令为回转工作指令时，在作业模式下，控制与作业机械的回转机构对应的驱动系统驱动回转机构作业；当控制指令为行走工作指令时，在作业模式下，控制与作业机械的行走机构对应的驱动系统驱动行走机构作业。
一个具体实施例中，作业机械在作业过程中进行能量的回收，有效的避免了 能量的浪费。当回转机构回转制动时，控制与回转机构对应的驱动系统回收制动能量；当行走机构行走制动时，控制与行走机构对应的驱动系统回收制动能量。其中，回收的能量转化为电能存储在电池能量系统中的蓄电池中。
下面，通过图3对本公开的作业机械做具体说明。
作业机械包括动力系统和控制系统，动力系统和控制系统通信连接。
动力系统包括：至少两个能源系统、至少一个驱动系统和油泵系统。
至少两个能源系统包括电池能源系统和燃料能源系统。燃料能源系统用于指示燃料电池及其控制方法，电池能源系统用于指示动力电池及其控制方法。
能源系统将能电压、电流等参数传输给控制系统。
至少一个驱动系统包括3个驱动系统，分别为：第一驱动系统、第二驱动系统和第三驱动系统。
第一驱动系统、第二驱动系统和第三驱动系统分别包括与其对应的电机，接收控制系统的控制指令，此时的控制指令用于指示电机的转速和转矩，并将实际的转速、转矩传输给控制系统。
油泵系统用于监测主油泵出口的压力，以得到主泵压力，并将主泵压力传输给控制系统。
控制系统包括：模拟量输入端口、CAN通讯端口、模拟量输出端口和主控芯片，其中，本公开的控制方法应用于主控芯片。
下面，通过图4对本公开另一实施例提供的控制方法做具体说明。在该实施例中，控制方法包括步骤401至步骤408。
在步骤401中，获取控制指令、负载功率、第一输出功率、第二输出功率和电量剩余值。
在步骤402中，当负载功率大于第一输出功率与第二输出功率之和时，确定作业模式为混合作业模式。
在步骤403中，当作业模式为混合作业模式时，利用电池能源系统和燃料能源系统共同提供能量。
在步骤404中，当负载功率小于或等于第一输出功率，且，电量剩余值小于或等于第二电量值时，确定作业模式为燃料作业模式。
在步骤405中，当作业模式为燃料作业模式时，利用燃料能源系统提供能量；
步骤406，当负载功率小于或等于第二输出功率，且，电量剩余值大于或等于第一电量值时，确定作业模式为电池作业模式。
在步骤407中，当作业模式为电池作业模式时，利用电池能源系统提供能量。
在步骤408中，在对应的作业模式下，控制驱动系统执行与控制指令对应的控制操作。
该实施例中的实现并不是严格按照步骤的先后顺序执行的，仅是为了能够将方案表述清楚。
本公开提供的作业机械控制方法，其中，作业机械包括：动力系统，动力系统包括：至少两个能源系统和至少一个驱动系统，至少两个能源系统包括：电池能源系统和燃料能源系统，可见，本公开的作业机械同时具备电池能源系统和燃料能源系统，避免了相关技术中仅存在电池能源系统的作业机械作业时长少的缺陷，同时也避免了相关技术中仅存在燃料能源系统的作业机械浪费能源的缺陷；通过获取控制指令、燃料能源系统对应的第一输出功率、电池能源系统对应的第二输出功率、以及电池能源系统对应的电量剩余值；基于第一输出功率、第二输出功率和电量剩余值，确定能源系统对应的作业模式，可见，本公开在作业机械作业时基于实际情况，确定与之对应的作业模式，能够有效的提高作业效率，节能能源；进而，在确定的作业模式下，控制驱动系统执行与控制指令对应的控制操作，有效的提高了作业机械的作业时长，避免了能源的浪费，提高了作业效率，提高了用户体验。
下面对本公开提供的作业机械控制装置进行描述，下文描述的作业机械控制装置与上文描述的作业机械控制方法可相互对应参照，重复之处，不再赘述，具体如图5所示，作业机械包括：动力系统，动力系统包括：至少两个能源系统和至少一个驱动系统，至少两个能源系统包括：电池能源系统和燃料能源系统，该控制装置包括获取模块501、确定模块502和控制模块503。
获取模块501用于获取控制指令、燃料能源系统对应的第一输出功率、电池能源系统对应的第二输出功率、以及电池能源系统对应的电量剩余值。
确定模块502用于第一输出功率、第二输出功率和电量剩余值，确定能源系统对应的作业模式。
控制模块503用于在作业模式下，控制驱动系统执行与控制指令对应的控制操作。
一个具体实施例中，确定模块502还用于获取动力系统中的油泵系统对应的油泵压力；基于油泵压力，确定动力系统作业时对应的负载功率；确定模块502，具体用于比对电量剩余值和预设电量值，得到第一比对结果；将负载功率分别与第一输出功率、第二输出功率和第一输出功率与第二输出功率之和进行比对，得到第二比对结果；基于第一对比结果和/或第二比对结果，确定能源系统对应的作业模式。
一个具体实施例中，作业模式包括：电池能源系统作业的电池作业模式、燃料能源系统作业的燃料作业模式、和电池能源系统作业与燃料能源系统作业的混合作业模式；预设电量值包括第一电量值和第二电量值，第一电量值大于第二电量值；确定模块502具体用于当负载功率大于第一输出功率与第二输出功率之和时，确定作业模式为混合作业模式；当负载功率小于或等于第一输出功率，且，电量剩余值小于或等于第二电量值时，确定作业模式为燃料作业模式；当负载功率小于或等于第二输出功率，且，电量剩余值大于或等于第一电量值时，确定作 业模式为电池作业模式。
一个具体实施例中，确定模块502还用于基于负载功率、第一输出功率和第二输出功率，确定电池能源系统和燃料能源系统的功率输出配比。
一个具体实施例中，控制指令用于指示驱动系统对应的目标转速；控制模块503具体用于获取驱动系统当前时刻的实际转速；在作业模式下，控制驱动系统由实际转速调整至目标转速。
一个具体实施例中，控制模块503具体用于当控制指令为液压泵工作指令时，在作业模式下，控制与油泵系统对应的驱动系统驱动油泵系统作业；当控制指令为回转工作指令时，在作业模式下，控制与作业机械的回转机构对应的驱动系统驱动回转机构作业；当控制指令为行走工作指令时，在作业模式下，控制与作业机械的行走机构对应的驱动系统驱动行走机构作业。
一个具体实施例中，控制模块503还用于当回转机构回转制动时，控制与回转机构对应的驱动系统回收制动能量；当行走机构行走制动时，控制与行走机构对应的驱动系统回收制动能量。
图6示例了一种电子设备的实体结构示意图，如图6所示，该电子设备可以包括：处理器(processor)601、通信接口(Communications Interface)602、存储器(memory)603和通信总线604，其中，处理器601，通信接口602，存储器603通过通信总线604完成相互间的通信。处理器601可以调用存储器603中的逻辑指令，以执行作业机械控制方法，作业机械包括：动力系统，动力系统包括：至少两个能源系统和至少一个驱动系统，至少两个能源系统包括：电池能源系统和燃料能源系统，该方法包括：获取控制指令、燃料能源系统对应的第一输出功率、电池能源系统对应的第二输出功率、以及电池能源系统对应的电量剩余值；基于第一输出功率、第二输出功率和电量剩余值，确定能源系统对应的作业模式；在作业模式下，控制驱动系统执行与控制指令对应的控制操作。
此外，上述的存储器603中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开的技术方案本质上或者说对相关技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本公开各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
另一方面，本公开还提供一种作业机械，该作业机械包括上述的作业机械控制装置，或者包括上述电子设备。
另一方面，本公开还提供一种计算机程序产品，所述计算机程序产品包括计 算机程序，计算机程序可存储在非暂态计算机可读存储介质上，所述计算机程序被处理器执行时，计算机能够执行上述各方法所提供的作业机械控制方法，作业机械包括：动力系统，动力系统包括：至少两个能源系统和至少一个驱动系统，至少两个能源系统包括：电池能源系统和燃料能源系统，该方法包括：获取控制指令、燃料能源系统对应的第一输出功率、电池能源系统对应的第二输出功率、以及电池能源系统对应的电量剩余值；基于第一输出功率、第二输出功率和电量剩余值，确定能源系统对应的作业模式；在作业模式下，控制驱动系统执行与控制指令对应的控制操作。
又一方面，本公开还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各方法提供的作业机械控制方法，作业机械包括：动力系统，动力系统包括：至少两个能源系统和至少一个驱动系统，至少两个能源系统包括：电池能源系统和燃料能源系统，该方法包括：获取控制指令、燃料能源系统对应的第一输出功率、电池能源系统对应的第二输出功率、以及电池能源系统对应的电量剩余值；基于第一输出功率、第二输出功率和电量剩余值，确定能源系统对应的作业模式；在作业模式下，控制驱动系统执行与控制指令对应的控制操作。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对相关技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。

Claims (20)

  1. 一种作业机械控制方法，其特征在于，所述作业机械包括：动力系统，所述动力系统包括：至少两个能源系统和至少一个驱动系统，所述至少两个能源系统包括：电池能源系统和燃料能源系统，所述方法包括：
    获取控制指令、所述燃料能源系统对应的第一输出功率、所述电池能源系统对应的第二输出功率、以及所述电池能源系统对应的电量剩余值；
    基于所述第一输出功率、所述第二输出功率和所述电量剩余值，确定所述能源系统对应的作业模式；
    在所述作业模式下，控制所述驱动系统执行与所述控制指令对应的控制操作。
  2. 根据权利要求1所述的作业机械控制方法，其特征在于，所述基于所述第一输出功率、所述第二输出功率和所述电量剩余值，确定所述能源系统对应的作业模式之前，还包括：
    获取所述动力系统中的油泵系统对应的油泵压力；
    基于所述油泵压力，确定所述动力系统作业时对应的负载功率；
    所述基于所述第一输出功率、所述第二输出功率和所述电量剩余值，确定所述能源系统对应的作业模式，包括：
    比对所述电量剩余值和预设电量值，得到第一比对结果；
    将所述负载功率分别与所述第一输出功率、所述第二输出功率和所述第一输出功率与所述第二输出功率之和进行比对，得到第二比对结果；
    基于所述第一对比结果和/或所述第二比对结果，确定所述能源系统对应的作业模式。
  3. 根据权利要求2所述的作业机械控制方法，其特征在于，所述作业模式包括：所述电池能源系统作业的电池作业模式、所述燃料能源系统作业的燃料作业模式、和所述电池能源系统作业与所述燃料能源系统作业的混合作业模式；
    所述预设电量值包括第一电量值和第二电量值，所述第一电量值大于所述第二电量值；
    所述基于所述第一对比结果和/或所述第二比对结果，确定所述能源系统对应的作业模式，包括：
    当所述负载功率大于所述第一输出功率与所述第二输出功率之和时，确定所述作业模式为所述混合作业模式；
    当所述负载功率小于或等于所述第一输出功率，且所述电量剩余值小于或等于所述第二电量值时，确定所述作业模式为所述燃料作业模式；
    当所述负载功率小于或等于所述第二输出功率，且所述电量剩余值大于或等于所述第一电量值时，确定所述作业模式为所述电池作业模式。
  4. 根据权利要求3所述的作业机械控制方法，其特征在于，所述确定所述作业模式为所述混合作业模式之后，还包括：
    基于所述负载功率、所述第一输出功率和所述第二输出功率，确定所述电池能源系统和所述燃料能源系统的功率输出配比。
  5. 根据权利要求1-4任一项所述的作业机械控制方法，其特征在于，所述控制指令用于指示所述驱动系统对应的目标转速；
    所述在所述作业模式下，控制所述驱动系统执行与所述控制指令对应的控制操作，包括：
    获取所述驱动系统当前时刻的实际转速；
    在所述作业模式下，控制所述驱动系统由所述实际转速调整至所述目标转速。
  6. 根据权利要求2-4任一项所述的作业机械控制方法，其特征在于，所述在所述作业模式下，控制所述驱动系统执行与所述控制指令对应的控制操作，包括：
    当所述控制指令为液压泵工作指令时，在所述作业模式下，控制与所述油泵系统对应的驱动系统驱动所述油泵系统作业；
    当所述控制指令为回转工作指令时，在所述作业模式下，控制与所述作业机械的回转机构对应的驱动系统驱动所述回转机构作业；
    当所述控制指令为行走工作指令时，在所述作业模式下，控制与所述作业机械的行走机构对应的驱动系统驱动所述行走机构作业。
  7. 根据权利要求6所述的作业机械控制方法，其特征在于，所述在所述作业模式下，控制所述驱动系统执行与所述控制指令对应的控制操作之后，还包括：
    当所述回转机构回转制动时，控制与所述回转机构对应的驱动系统回收制动能量。
  8. 根据权利要求6或7所述的作业机械控制方法，其特征在于，所述在所述作业模式下，控制所述驱动系统执行与所述控制指令对应的控制操作之后，还包括：
    当所述行走机构行走制动时，控制与所述行走机构对应的驱动系统回收制动能量。
  9. 一种作业机械控制装置，其特征在于，所述作业机械包括：动力系统，所述动力系统包括：至少两个能源系统和至少一个驱动系统，所述至少两个能源系统包括：电池能源系统和燃料能源系统，所述装置包括：
    获取模块，用于获取控制指令、所述燃料能源系统对应的第一输出功率、所述电池能源系统对应的第二输出功率、以及所述电池能源系统对应的电量剩余值；
    确定模块，用于基于所述第一输出功率、所述第二输出功率和所述电量剩余值，确定所述能源系统对应的作业模式；
    控制模块，用于在所述作业模式下，控制所述驱动系统执行与所述控制指令对应的控制操作。
  10. 根据权利要求9所述的作业机械控制装置，其特征在于，所述确定模块用于：
    获取所述动力系统中的油泵系统对应的油泵压力；
    基于所述油泵压力，确定所述动力系统作业时对应的负载功率；
    比对所述电量剩余值和预设电量值，得到第一比对结果；
    将所述负载功率分别与所述第一输出功率、所述第二输出功率和所述第一输出功率与所述第二输出功率之和进行比对，得到第二比对结果；
    基于所述第一对比结果和/或所述第二比对结果，确定所述能源系统对应的作业模式。
  11. 根据权利要求10所述的作业机械控制装置，其特征在于，所述作业模式包括：所述电池能源系统作业的电池作业模式、所述燃料能源系统作业的燃料作业模式、和所述电池能源系统作业与所述燃料能源系统作业的混合作业模式；
    所述预设电量值包括第一电量值和第二电量值，所述第一电量值大于所述第二电量值；
    所述确定模块用于：
    当所述负载功率大于所述第一输出功率与所述第二输出功率之和时，确定所述作业模式为所述混合作业模式；
    当所述负载功率小于或等于所述第一输出功率，且所述电量剩余值小于或等于所述第二电量值时，确定所述作业模式为所述燃料作业模式；
    当所述负载功率小于或等于所述第二输出功率，且所述电量剩余值大于或等于所述第一电量值时，确定所述作业模式为所述电池作业模式。
  12. 根据权利要求11所述的作业机械控制装置，其特征在于，所述确定模块还用于：
    基于所述负载功率、所述第一输出功率和所述第二输出功率，确定所述电池能源系统和所述燃料能源系统的功率输出配比。
  13. 根据权利要求9至12中任一项所述的作业机械控制装置，其特征在于，所述控制指令用于指示所述驱动系统对应的目标转速；
    所述控制模块用于：
    获取所述驱动系统当前时刻的实际转速；
    在所述作业模式下，控制所述驱动系统由所述实际转速调整至所述目标转速。
  14. 根据权利要求10至12中任一项所述的作业机械控制装置，其特征在于，所述控制模块用于：
    当所述控制指令为液压泵工作指令时，在所述作业模式下，控制与所述油泵系统对应的驱动系统驱动所述油泵系统作业；
    当所述控制指令为回转工作指令时，在所述作业模式下，控制与所述作业机械的回转机构对应的驱动系统驱动所述回转机构作业；
    当所述控制指令为行走工作指令时，在所述作业模式下，控制与所述作业机械的行走机构对应的驱动系统驱动所述行走机构作业。
  15. 根据权利要求14所述的作业机械控制装置，其特征在于，所述控制模块还用于当所述回转机构回转制动时，控制与所述回转机构对应的驱动系统回收制动能量。
  16. 根据权利要求14或15所述的作业机械控制装置，其特征在于，所述控制模块还用于当所述行走机构行走制动时，控制与所述行走机构对应的驱动系统回收制动能量。
  17. 一种电子设备，其特征在于，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如权利要求1至8中任一项所述作业机械控制方法。
  18. 一种作业机械，其特征在于，包括：如权利要求9至16任一项所述作业机械控制装置，或如权利要求17所述的电子设备。
  19. 一种非暂态计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至8中任一项所述作业机械控制方法。
  20. 一种计算程序机产品，其特征在于，包括计算机程序，当所述计算机程序被处理器执行时，使得所述处理器执行如权利要求1至8中任一项所述作业机械控制方法。
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