WO2023274157A1

WO2023274157A1 - Energy control method and apparatus for operation machine, and operation machine and electronic device

Info

Publication number: WO2023274157A1
Application number: PCT/CN2022/101566
Authority: WO
Inventors: 陈灿; 李敏; 张金虎
Original assignee: 三一汽车起重机械有限公司
Priority date: 2021-06-28
Filing date: 2022-06-27
Publication date: 2023-01-05
Also published as: CN113459895B; CN113459895A

Abstract

An energy control method and apparatus for an operation machine, and an operation machine and an electronic device. The operation machine comprises: a battery system (510), an on-board charging system (520) and a loading operation system. The method comprises: acquiring the state of charge of a battery system (510); on the basis of the state of charge, the limited power of the battery system (510), and the power of an on-board charging system (520), determining the limited power of a loading operation system; and on the basis of the state of charge, a required power of an electric motor (530) of an operation machine, the limited power of the battery system (510), and the power of the on-board charging system (520), determining a power supply mode of the loading operation system, wherein the required power of the electric motor (530) of the operation machine is less than the limited power of the loading operation system. By means of the method, an improvement in the limited power of a loading operation system, an improvement in the working efficiency of an operation machine, and the prolonging of the service life of a battery system are facilitated, thereby reducing the cost.

Description

Energy control method and device for work machine, work machine and electronic device

Cross References to Related Applications

This application claims the priority of the Chinese patent application filed on June 28, 2021 with the application number 202110720785.X and the title of the invention is "Energy Control Method, Device, Working Machinery and Electronic Equipment for Working Machinery", which is incorporated by reference All incorporated herein.

technical field

The present application relates to the technical field of working machines, in particular to an energy control method and device for working machines, working machines and electronic equipment.

Background technique

With the development of operating machinery towards electrification, when using power batteries to drive the upper and lower operating systems of the operating machinery, it is often necessary to choose a high-power battery system, which has high cost and difficulty in layout.

Contents of the invention

The present application provides an energy control method and device for an operating machine, an operating machine, and an electronic device, which are used to solve the defect of a large power demand of the battery system in the prior art, and realize a working state with a low power demand of the battery system and a high operating power of the operating machine .

The present application provides an energy control method for an operating machine, the operating machine includes a battery system, an on-board charging system, and an on-board operating system, and the method includes:

Obtaining the state of charge of the battery system;

determining the limited power of the bodywork system based on the state of charge, the limited power of the battery system, and the power of the on-board charging system;

Based on the state of charge, the required power of the motor of the working machine, the limited power of the battery system, and the power of the on-board charging system, determine the power supply mode of the bodywork system, wherein the motor of the working machine The required power is less than the limited power of the bodywork system.

According to an energy control method of a work machine provided in the present application, the determining the limit power of the bodywork operation system based on the state of charge, the limit power of the battery system and the power of the on-board charging system includes :

determining that the battery system is in a medium power mode or a high power mode based on the state of charge;

When the battery system is in the medium power mode or the high power mode, it is determined that the limited power of the bodywork system is the sum of the limited power of the battery system and the power of the on-board charging system.

According to an energy control method for a working machine provided in the present application, determining that the battery system is in a medium-power mode or a high-power mode based on the state of charge includes:

determining that the battery system is in a high power mode when the state of charge rises to a first threshold;

Or, when the state of charge drops to a second threshold or when the state of charge rises to a third threshold, determining that the battery system is in a medium power mode;

Wherein, the first threshold is higher than the second threshold, and the second threshold is higher than the third threshold.

determining that the battery system is in a low battery mode when the state of charge decreases to a fourth threshold;

When the battery system is in the low power mode, it is determined that the limited power of the bodywork system is the power of the on-board charging system, and the third threshold is higher than the fourth threshold

According to an energy control method for a working machine provided in the present application, the determined power is determined based on the state of charge, the required power of the motor of the working machine, the limited power of the battery system, and the power of the on-board charging system. The power supply mode of the above-mentioned bodywork operating system, including:

When the state of charge rises to a first threshold and the required power of the motor of the working machine is lower than the limited power of the battery system, control the battery system to supply power to the bodywork system;

Alternatively, when the state of charge rises to the first threshold and the required power of the motor of the working machine is not lower than the limited power of the battery system, both the battery system and the on-board charging system are controlled to give The bodywork system is powered.

According to an energy control method for a working machine provided in the present application, the determined power is determined based on the state of charge, the required power of the motor of the working machine, the limited power of the battery system, and the power of the on-board charging system. The power supply mode of the above-mentioned bodywork operating system also includes:

When the state of charge drops to a second threshold or when the state of charge rises to a third threshold, and the required power of the motor of the work machine is higher than the power of the on-board charging system, control the Both the battery system and the on-board charging system supply power to the bodywork system;

Or, when the state of charge drops to the second threshold or when the state of charge rises to the third threshold, and the required power of the motor of the working machine is not higher than the power of the on-board charging system In the case of , control the on-board charging system to supply power to the bodywork system and charge the battery system.

When the state of charge drops to a fourth threshold, the on-board charging system is controlled to supply power to the bodywork system and charge the battery system.

According to an energy control method for a working machine provided in the present application, before the acquisition of the state of charge of the battery system, the method further includes:

Obtaining the initial state of charge of the work machine;

If the initial state of charge is higher than a fifth threshold, determining that the battery system is in a high power mode;

If the initial state of charge is lower than a fifth threshold, determining that the battery system is in a medium power mode;

If the initial state of charge is equal to the fifth threshold, it is determined that the battery system is in a high power mode or a medium power mode.

The present application also provides an energy control device for an operating machine, the operating machine includes a battery system, an on-board charging system, and a bodywork operating system, and the device includes:

a receiving module, configured to obtain the state of charge of the battery system;

A first processing module, configured to determine the limited power of the bodywork system based on the state of charge, the limited power of the battery system, and the power of the on-board charging system;

The second processing module is configured to determine the power supply mode of the bodywork operating system based on the state of charge, the required power of the motor of the working machine, the limited power of the battery system, and the power of the on-board charging system, wherein , the required power of the motor of the working machine is less than the limited power of the bodywork working system.

The application also provides a working machine, including:

battery system;

An on-board charging system, the on-board charging system is electrically connected to the battery system;

A bodywork operation system, the bodywork operation system is electrically connected to the on-board charging system and the battery system respectively;

The above-mentioned energy control device of the working machine is electrically connected to the battery system, the on-board charging system and the body work system respectively.

The present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. Steps of an energy control method.

The present application 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 energy control methods for working machines described above are implemented.

The energy control method and device for working machines, working machines and electronic equipment provided in this application determine the limited power of the bodywork system based on the state of charge, the required power of the working machine's motor, the limited power of the battery system, and the power of the on-board charging system And the power supply mode is beneficial to increase the limited power of the bodywork operation system, improve the work efficiency of the operation machinery, prolong the service life of the battery system, and reduce costs.

Description of drawings

In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the present invention, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is one of the schematic flow charts of the energy control method of the working machine provided by the present application;

Fig. 2 is one of the system structural diagrams of the working machine provided by the present application;

Fig. 3 is the second schematic flow diagram of the energy control method for working machines provided by the present application;

Fig. 4 is the third schematic flow diagram of the energy control method for working machines provided by the present application;

Fig. 5 is one of the system structural diagrams of the working machine provided by the present application;

Fig. 6 is the second schematic diagram of the system structure of the working machine provided by the present application;

Fig. 7 is the third schematic diagram of the system structure of the working machine provided by the present application;

Fig. 8 is a schematic structural diagram of an energy control device for a working machine provided by the present application;

FIG. 9 is a schematic structural diagram of an electronic device provided by the present application.

detailed description

In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in this application. Obviously, the described embodiments are part of the embodiments of this application , but not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

The energy control method of the working machine of the present application will be described below with reference to FIG. 1 to FIG. 7 .

The execution subject of the energy control method of the working machine may be a controller on the working machine, or a control device independent of the working machine, or a server connected to the working machine in communication, or an operator's terminal. The terminal may be the operator's mobile phone or computer etc.

It can be understood that the working machine includes a battery system 510 , an on-board charging system 520 and a bodywork working system.

Wherein, the on-board charging system 520 is electrically connected to the battery system 510 and the bodywork operation system respectively, and is used to supply power to the battery system 510 or the bodywork operation system when the on-board charging system 520 is turned on; the battery system 510 is electrically connected to the bodywork operation system, When the battery system 510 is turned on, it is used to supply power to the bodywork system. The on-vehicle charging system 520 is provided with an interface electrically connected to the mains interface.

As shown in FIG. 1 , the energy control method of the working machine includes: step 110 , step 120 and step 130 .

Step 110, acquiring the state of charge of the battery system 510;

Wherein, the state of charge (SOC) of the battery system 510 is the ratio of the remaining capacity of the battery system 510 to the total capacity of the battery system 510 , and is used to characterize the remaining capacity of the battery system 510 .

In this step, the obtained SOC data can be sent to a local database through the controller for storage, and can be invoked through the controller when needed. Alternatively, SOC data can be sent by the controller to a cloud database for storage.

Step 120, based on the state of charge, the limited power of the battery system 510 and the power of the on-board charging system 520, determine the limited power of the bodywork system;

Among them, the limited power of the battery system 510 is the maximum power that the battery system 510 can bear, the power of the on-board charging system 520 is the output power of the on-board charging system 520, and the limited power of the bodywork operation system is the state of the bodywork operation system in normal operation. The maximum power that can be tolerated.

It should be noted that, in an actual implementation process, the power of the on-board charging system 520 may be adjusted based on user requirements.

Based on the state of charge, the current battery capacity information of the on-board charging system 520 can be determined, and based on the battery capacity information, it can be determined that the battery system 510 is in a different power mode. Wherein, the power mode may include: a high power mode, a medium power mode and a low power mode.

For example, in the case of a high state of charge, it is determined that the battery system 510 is in a high power mode; in the case of a medium state of charge, it is determined that the battery system 510 is in a medium power mode; The battery system 510 is in low power mode.

Based on different power modes, the limited power of the bodywork operating system is determined.

In the following embodiments, the implementation of this step will be described in detail.

Step 130: Determine the power supply mode of the bodywork operation system based on the state of charge, the required power of the motor 530 of the working machine, the limited power of the battery system 510, and the power of the on-board charging system 520, wherein the required power of the motor 530 of the working machine is smaller than that of the bodywork operation The limited power of the system.

In this step, the motor 530 of the working machine is used to provide power for the bodywork operation system, and the power required by the motor 530 is the power required by the bodywork operation system.

Based on the state of charge, it may be determined that the battery system 510 is in different charge modes.

In different power modes, based on the size relationship between the required power of the motor 530 of the working machine and the limited power of the battery system 510; or based on the size relationship between the required power of the motor 530 of the working machine and the power of the on-board charging system 520, It can control the bodywork operating system to enter different power supply modes.

Wherein, the power supply mode may include: supplying power to the bodywork operation system by the battery system 510, supplying power to the bodywork operation system by the on-board charging system 520 and the battery system 510, supplying power to the bodywork operation system by the on-board charging system 520, and providing power to the bodywork operation system by the on-board charging system 520. The battery system 510 charges and powers the bodywork system.

The inventor found during the research and development process that in the prior art, in order to meet the operating requirements of the operating machinery, a high-power battery system is often selected, but the long-term high current will affect the service life of the power battery, and in serious cases directly affect the use of customers. experience.

In this application, based on the relationship between the required power of the motor 530 of the working machine, the limited power of the battery system 510, and the power of the on-board charging system 520, the power supply mode of the bodywork operating system under different power modes can be flexibly adjusted, thereby reducing The current and battery power discharged by the battery system 510 during operation are beneficial to reduce costs and prolong the working life of the battery system 510 .

During the research and development process, the inventor found that when designing, the designer generally determines the limited power of the bodywork system according to the limited power of the battery system, so as to ensure that the limited power of the bodywork system does not exceed the limited power of the battery system. The limited power of the bodywork operation system obtained by this method is not high, and it is easy to cause some functions of the working machine to be unable to be realized due to the low limited power.

In this application, the designer can adjust the limited power of the bodywork system in different power modes based on the limited power of the battery system 510 and the power of the on-board charging system 520 to increase the limited power of the bodywork system.

As shown in Figure 2, in the actual execution process, the state of charge of the battery system 510 and the limited power of the battery system 510 are obtained through the battery management system (BMS) 210, and the motor of the working machine is obtained through the motor 530 controller (MCU) 230 530 demand power, obtain the power of the on-board charging system 520 through the on-board charger (OBC) 220;

The vehicle controller 240 receives the state of charge sent by the battery management system 210, and determines that the battery system 510 is in a corresponding power mode based on the state of charge;

At the same time, the vehicle controller 240 receives the limited power of the battery system 510, the required power of the motor 530 of the working machine, and the power of the on-board charging system 520, and generates a control command for controlling the bodywork system to enter the corresponding power supply mode according to the above data, And send corresponding control instructions to each child node;

The battery management system 210 , the controller 230 of the motor 530 and the on-board charger 220 control the battery system 510 , the motor 530 and the on-board charging system 520 to enter corresponding working modes in response to the control instructions.

According to the energy control method of the working machine provided by the embodiment of the present application, the limited power and power supply mode of the bodywork operation system are determined based on the state of charge, the required power of the motor of the working machine, the limited power of the battery system, and the power of the on-board charging system. It is beneficial to increase the limited power of the bodywork operation system, thereby improving the working efficiency of the operation machine, prolonging the service life of the battery system, and reducing costs.

In some embodiments, as shown in FIG. 3, before step 110, obtaining the state of charge of the battery system 510, the method further includes:

Obtain the initial state of charge of the working machine;

When the initial state of charge is higher than the fifth threshold, determine that the battery system is in a high power mode;

When the initial state of charge is lower than the fifth threshold, it is determined that the battery system is in a medium power mode;

If the initial state of charge is equal to the fifth threshold, it is determined that the battery system is in the high power mode or the medium power mode.

Wherein, the initial state of charge of the working machine is the state of charge when the working machine is turned on during each operation.

The fifth threshold is the lowest state of charge corresponding to when the working machine can enter the high power mode when it is turned on. The fifth threshold may be defined by the user, for example, the fifth threshold may be set as S1 as shown in FIG. 3 .

In the case of the initial state of charge>S1, it indicates that the initial power of the battery system 510 is relatively high, and the battery system 510 is determined to be in a high power mode. In this mode, the battery system 510 is mainly used to supply power to the working machine.

In the case of the initial state of charge < S1, it indicates that the initial power of the battery system 510 is not high enough to supply power to the bodywork operation system alone, so it is determined that the battery system 510 is in the medium power mode. In this mode, the on-board charging system 520 is mainly used. Supply power to the bodywork operating system.

In the case that the initial charge is equal to S1, it is determined that the battery system 510 is in any one of the high power mode and the middle power mode.

It can be understood that the state of charge of the battery system 510 of the working machine is in a state of dynamic change during the operation process. Through step 110, the state of charge of the battery system 510 can be monitored in real time, and then through steps 120 and 130, according to Changes in the state of charge, timely control the bodywork operation system to enter the corresponding power supply mode, and adjust the limited power of the bodywork operation system.

Of course, in some other embodiments, the power mode of the battery system 510 may also be determined directly based on step 110 , step 120 and step 130 .

According to the energy control method of the working machine provided in the embodiment of the present application, by making an initial judgment on the initial state of charge of the battery system 510 of the working machine, the power mode corresponding to the battery system 510 can be quickly determined, which helps to improve working efficiency.

Step 120 will be specifically described below from two implementation angles with reference to FIGS. 3-7 .

1. The battery system 510 is in a high power mode or a medium power mode.

In some embodiments, step 120, determining the limited power of the bodywork system based on the state of charge, the limited power of the battery system 510 and the power of the on-board charging system 520, includes:

Based on the state of charge, determine that the battery system 510 is in a medium power mode or a high power mode;

When the battery system 510 is in the medium power mode or the high power mode, it is determined that the limited power of the bodywork operation system is the sum of the limited power of the battery system 510 and the power of the on-board charging system 520 .

A schematic diagram of circuit connection in a high power mode is shown in FIG. 5 . Wherein, the power of the vehicle charging system 520 is P3, the limited power of the battery system 510 is P2, and the required power of the motor 530 is P1. It can be understood that the motor 530 is used to provide power for the bodywork system, and the required power of the motor 530 should not exceed the limited power P of the bodywork system.

When the battery system 510 is in the high power mode, the battery system 510 is the main power supply device, and the on-board charging system 520 is the auxiliary power supply device; when the on-board charging system 520 is turned on, the voltage value at both ends of the motor 530 is the largest.

In the high power mode, the limited power of the bodywork system can be set to the sum of the limited power of the battery system 510 and the power of the on-board charging system 520, namely:

P=P2+P3

At this time, the working power of the motor 530 can be increased to improve the working efficiency of the working machine.

The determination method of the high power mode will be described below.

In some embodiments, determining that the battery system 510 is in a medium power mode or a high power mode based on the state of charge includes:

In case the state of charge rises to the first threshold, it is determined that the battery system 510 is in the high power mode.

Wherein, the first threshold is a critical value corresponding to the state of charge of the battery when the battery system 510 enters the high power mode from the medium power mode, as shown in S4 in FIG. 3 .

When the battery system 510 is in the medium power mode, the battery system 510 is charged by the on-board charging system 520, so that the state of charge of the battery system 510 rises, and when the state of charge rises to S4, it is determined that the battery system 510 is a high power mode.

In the high power mode, the limited power of the bodywork system is set to the sum of the limited power of the battery system 510 and the power of the on-board charging system 520 .

FIG. 6 is a schematic diagram of circuit connection in a medium power mode. Among them, the power of the on-board charging system 520 is P3, the limited power of the battery system 510 is P2, the required power of the motor 530 is P1, and the limited power of the bodywork system is P.

When the battery system 510 is in the medium power mode, the on-board charging system 520 is the main power supply device, and the battery system 510 is the auxiliary power supply device; when the battery system 510 is turned on, the voltage value at both ends of the motor 530 is the largest.

In the medium power mode, the limited power of the bodywork system can also be set to the sum of the limited power of the battery system 510 and the power of the on-board charging system 520, namely:

P=P2+P3.

The method of judging the power mode will be described below.

When the state of charge decreases to a second threshold or when the state of charge rises to a third threshold, determining that the battery system 510 is in a medium power mode;

In this embodiment, the second threshold is a critical value corresponding to the state of charge of the battery when the battery system 510 enters the medium power mode from the high power mode, as shown in S5 in FIG. 3 .

When the working machine is in the high power mode, the battery system 510 is used to supply power to the working machine, so that the state of charge of the battery system 510 drops, and when the state of charge drops to S5, it is determined that the battery system 510 is medium power model.

The third threshold is the critical value corresponding to the state of charge of the battery when the battery system 510 enters the medium power mode from the low power mode, as shown in S2 in FIG. 3 .

When the working machine is in the low power mode, the battery system 510 is charged by the on-board charging system 520, so that the state of charge of the battery system 510 increases. When the state of charge increases to S2, it is determined that the battery system 510 It is medium power mode.

In the medium power mode, the limited power of the bodywork system is set to the sum of the limited power of the battery system 510 and the power of the on-board charging system 520.

According to the embodiment of the present application, the designer can adjust the limited power of the bodywork system in different power modes based on the limited power of the battery system 510 and the power of the on-board charging system 520 to increase the limited power of the bodywork system.

2. The battery system 510 is in a low power mode.

In the case that the state of charge is reduced to the fourth threshold, it is determined that the battery system 510 is in a low power mode;

When the battery system 510 is in the low power mode, it is determined that the limited power of the bodywork system is the power of the vehicle charging system 520, and the third threshold is higher than the fourth threshold.

A schematic diagram of circuit connection in a low power mode is shown in FIG. 7 . Among them, the power of the on-board charging system 520 is P3, the limited power of the battery system 510 is P2, the required power of the motor 530 is P1, and the limited power of the bodywork system is P.

When the battery system 510 enters the low power mode, the on-board charging system 520 is the main power supply device, and the maximum value of the power at both ends of the motor 530 is the power of the on-board charging system 520 .

In the low battery mode, it is only necessary to set the limited power of the bodywork operation system to the power of the on-board charging system 520, namely:

P=P3.

The method of judging the low power mode will be described below.

In case the state of charge drops to the fourth threshold, it is determined that the battery system 510 is in the low battery mode. Wherein, the fourth threshold is a critical value corresponding to the state of charge of the battery when the battery system 510 enters the low power mode from the medium power mode, as shown in S3 in FIG. 3 .

When the battery system 510 is in the medium power mode, the battery system 510 is used to supply power to the working machine, so that the state of charge of the battery system 510 drops. When the state of charge drops to S3, it is determined that the battery system 510 is low. power mode.

It can be understood that the first threshold, the second threshold, the third threshold and the fourth threshold have a certain size relationship, wherein the first threshold is higher than the second threshold, the second threshold is higher than the third threshold, and the third threshold is higher than the third threshold. at the fourth threshold.

According to this embodiment, by setting the limited power of the bodywork operation system to the power of the on-board charging system 520 in the low battery mode, the limited power of the bodywork operation system can be flexibly controlled, and the universality and flexibility of the operation machine can be improved.

Step 130 will be specifically described below from three implementation angles with reference to FIGS. 3-7 .

1. The battery system 510 is in a high power mode.

In some embodiments, step 130, based on the state of charge, the required power of the motor 530 of the working machine, the limited power of the battery system 510 and the power of the on-board charging system 520, determines the power supply mode of the bodywork operating system, including:

When the state of charge rises to the first threshold and the required power of the motor 530 of the working machine is lower than the limited power of the battery system 510, control the battery system 510 to supply power to the bodywork system;

Alternatively, when the state of charge rises to the first threshold and the required power of the motor 530 of the working machine is not lower than the limited power of the battery system 510, both the battery system 510 and the on-board charging system 520 are controlled to supply power to the bodywork system.

In this embodiment, when the state of charge rises to the first threshold, it is determined that the battery system 510 is in the high power mode.

Continuing to refer to FIG. 5 , in the high power mode, the battery system 510 and the vehicle charging system 520 are respectively electrically connected to the motor 530 . Wherein, the power of the vehicle charging system 520 is P3, the limited power of the battery system 510 is P2, and the required power of the motor 530 is P1.

In the case of P1<P2, it indicates that the current state of charge of the battery system 510 satisfies the requirement to supply power to the bodywork operation system alone, then the on-board charging system 520 is controlled to be turned off, and the battery system 510 is used to supply power to the bodywork operation system alone; at this time, the current direction As shown by the solid arrow in Figure 5.

In some other embodiments, in the case of P1≥P2, it indicates that the current state of charge of the battery system 510 is not enough to meet the demand of the motor 530 of the working machine, and then the on-board charging system 520 is controlled to be turned on, and the battery system 510 and the on-board charging The systems 520 all supply power to the bodywork operation system; at this time, the current direction is shown by the solid line arrow and the dotted line arrow in FIG. 5 .

It should be noted that, in the high power mode, the battery system 510 is the main power supply device, and the vehicle charging system 520 is the auxiliary power supply device. For example, the battery system 510 can be used to supply power for the bodywork operation system first, and the on-board charging system 520 can be used to supply power to the bodywork operation system; Operating system power supply.

According to this embodiment, in the high power mode, it is determined based on the required power of the motor 530 and the limited power of the battery system 510 whether the on-board charging system 520 needs to be turned on, so as to meet the power demand of the motor 530 and ensure that the bodywork operation system can be normal and efficient. Operation.

2. The battery system 510 is in the medium power mode.

In some embodiments, step 130, based on the state of charge, the required power of the motor 530 of the working machine, the limited power of the battery system 510 and the power of the on-board charging system 520, determines the power supply mode of the bodywork operating system, and further includes:

Control the battery system 510 and the on-board charging system 520 when the state of charge drops to a second threshold or when the state of charge rises to a third threshold, and the motor 530 of the work machine requires power higher than the power of the on-board charging system 520 Both supply power to the bodywork system;

Alternatively, when the state of charge drops to the second threshold or rises to the third threshold, and the power required by the motor 530 of the working machine is not higher than the power of the on-board charging system 520, the on-board charging system 520 is controlled to give The bodywork system supplies power and charges the battery system 510 .

In this embodiment, when the state of charge drops to the second threshold or rises to the third threshold, it is determined that the battery system 510 is in the medium power mode.

Continuing to refer to FIG. 6 , in the medium power mode, the battery system 510 and the on-board charging system 520 are electrically connected to the motor 530 respectively, and the on-board charging system 520 is electrically connected to the battery system 510 . Wherein, the power of the vehicle charging system 520 is P3, the limited power of the battery system 510 is P2, and the required power of the motor 530 is P1.

In the case of P1>P3, it indicates that the power of the on-board charging system 520 cannot meet the demand of the motor 530 of the working machine, then the battery system 510 is controlled to be turned on, and the on-board charging system 520 and the battery system 510 are used to supply power to the bodywork operation system at the same time; The current direction is shown by the solid line arrow and the dotted line arrow between the battery system 510 and the motor 530 in FIG. 6 .

In some other embodiments, in the case of P1≤P3, it indicates that the power of the on-board charging system 520 meets the demand for power supply to the motor 530, then the battery system 510 is controlled to shut down, and the on-board charging system 520 is used to supply power to the bodywork system, and at the same time Charging the battery system 510 ; at this time, the current direction is shown by the solid line arrow and the dotted line arrow between the battery system 510 and the vehicle charging system 520 in FIG. 6 .

It should be noted that, in the medium power mode, the vehicle charging system 520 is the main power supply device, and the battery system 510 is the auxiliary power supply device. For example, the on-board charging system 520 can be used first to supply power to the bodywork operation system, and the battery system 510 can be used to supply power to the bodywork operation system; Operating system power supply.

According to this embodiment, the working range of the medium power mode can be maximized, so that the bodywork operation system is in the state of being powered by the on-board charging system 520 for a long time, which helps to reduce the discharge current required by the battery system 510, thereby improving the battery system 510. service life.

3. The battery system 510 is in the low power mode.

When the state of charge drops to the fourth threshold, the on-board charging system 520 is controlled to supply power to the bodywork system and charge the battery system 510 .

In this embodiment, when the state of charge drops to the fourth threshold, it is determined that the battery system 510 is in the low power mode.

Continuing to refer to FIG. 7 , in the low battery mode, the battery system 510 and the on-board charging system 520 are electrically connected to the motor 530 respectively, and the on-board charging system 520 is electrically connected to the battery system 510 . Wherein, the power of the vehicle charging system 520 is P3, the limited power of the battery system 510 is P2, and the required power of the motor 530 is P1.

In the low battery mode, directly control the on-board charging system 520 to supply power to the bodywork system and charge the battery system 510 at the same time; at this time, the current direction is shown by the solid arrow in FIG. 7 .

It can be understood that the power mode of the battery system 510 is in a state of dynamic change. As shown in FIG. 4 , when the working machine is in the state of charging, the power mode corresponding to the battery system 510 is determined based on the state of charge.

For example, when the battery system 510 is in the low battery mode, control the on-board charging system 520 to supply power to the bodywork system, and set the limit power of the bodywork system to the idle power, that is, the power of the on-board charging system 520; and simultaneously control The on-board charging system 520 supplies power to the battery system 510;

When the state of charge of the battery system 510 rises to the third threshold, it is determined that the battery system 510 is in the medium power mode, and the limit power of the bodywork system is adjusted to the limit power of the battery system 510 and the limit power of the on-board charging system 520. The sum of the power; and based on the relationship between the required power of the motor 530 and the power of the on-board charging system 520, the bodywork operation system is controlled to enter the corresponding power supply mode, which will not be described in detail here;

When the state of charge of the battery system 510 rises to the first threshold, it is determined that the battery system is in the high power mode, and at the same time, the limited power of the bodywork operation system is adjusted to the limited power of the battery system 510 and the power of the on-board charging system 520 and based on the relationship between the required power of the motor 530 and the limited power of the battery system 510, control the bodywork operation system to enter the corresponding power supply mode.

Of course, in some other embodiments, the power mode of the battery system can also be determined by directly setting the sixth threshold, the seventh threshold and the eighth threshold. That is, when the state of charge is lower than the sixth threshold, it is determined that the battery system is in the low power mode; when the state of charge is between the sixth threshold and the seventh threshold, it is determined that the battery system is in the middle power mode; In the case of the eighth threshold, it is determined that the battery system is in the high power mode.

According to the energy control method of the working machine provided in the embodiment of the present application, the power mode of the battery system 510 is determined based on the state of charge, and in the corresponding power mode, based on the required power of the motor 530 of the working machine, the limited power of the battery system 510 and The power of the on-board charging system 520 is used to determine the power supply mode of the bodywork operation system in this power mode, so as to distribute the energy reasonably, which can meet the wide range of operating machinery operations.

The energy control device for the working machine provided by the present application is described below, and the energy control device for the working machine described below and the energy control method for the working machine described above can be referred to in correspondence.

As shown in FIG. 4 , the working machine includes: a battery system 510 , an on-board charging system 520 and a bodywork working system.

As shown in FIG. 8 , the energy control device of the working machine includes: a receiving module 810 , a first processing module 820 and a second processing module 830 .

a receiving module 810, configured to obtain the state of charge of the battery system 510;

The first processing module 820 is configured to determine the limited power of the bodywork system based on the state of charge, the limited power of the battery system 510 and the power of the on-board charging system 520;

The second processing module 830 is configured to determine the power supply mode of the bodywork operating system based on the state of charge, the required power of the motor 530 of the working machine, the limited power of the battery system 510 and the power of the on-board charging system 520, wherein the motor 530 of the working machine The required power is less than the limited power of the bodywork operating system.

In some embodiments, the first processing module 820 is also used to:

In some embodiments, the first processing module 820 is further configured to: determine that the battery system 510 is in the medium power mode when the state of charge drops to the second threshold or rises to the third threshold;

In some embodiments, the first processing module 820 is also used to:

In some embodiments, the second processing module 830 is further configured to: control the battery system 510 when the state of charge rises to the first threshold and the required power of the motor 530 of the working machine is lower than the limit power of the battery system 510 Supply power to the bodywork operating system.

In some embodiments, the second processing module 830 is further configured to: control the battery system when the state of charge rises to the first threshold and the required power of the motor 530 of the working machine is not lower than the limit power of the battery system 510 Both 510 and the on-board charging system 520 supply power to the bodywork system.

In some embodiments, the second processing module 830 is further configured to: when the state of charge drops to the second threshold or when the state of charge rises to the third threshold, and the required power of the motor 530 of the working machine is higher than that of the on-board charging system In the case of the power of 520, the control battery system 510 and the on-board charging system 520 both supply power to the bodywork system;

In some embodiments, the second processing module 830 is further configured to: when the state of charge decreases to the second threshold or when the state of charge rises to the third threshold, and the required power of the motor 530 of the working machine is not higher than the on-board charging In the case of the power of the system 520 , the on-board charging system 520 is controlled to supply power to the bodywork system and charge the battery system 510 .

In some embodiments, the second processing module 830 is further configured to: control the on-board charging system 520 to supply power to the bodywork system and charge the battery system 510 when the state of charge drops to the fourth threshold.

In some embodiments, the device also includes:

The second receiving module is configured to obtain the initial state of charge of the working machine before obtaining the state of charge of the battery system 510;

A third processing module, configured to determine that the battery system 510 is in a high power mode when the initial state of charge is higher than the fifth threshold;

When the initial state of charge is lower than the fifth threshold, it is determined that the battery system 510 is in the medium power mode;

According to the energy control device of the working machine provided by the embodiment of the present application, the limited power and power supply of the bodywork operation system are determined based on the state of charge, the required power of the motor 530 of the working machine, the limited power of the battery system 510 and the power of the on-board charging system 520 The mode is beneficial to increase the limited power of the bodywork operation system, improve the working efficiency of the operation machine, prolong the service life of the battery system 510, and reduce the cost.

The working machine provided by the present application is described below, and the working machine described below and the energy control method of the working machine described above can be referred to in correspondence.

In some embodiments, the work machine includes:

battery system 510;

The on-board charging system 520 is electrically connected to the battery system 510;

The bodywork operation system is electrically connected to the on-board charging system 520 and the battery system 510 respectively;

The energy control device of the working machine as described above is electrically connected to the battery system 510 , the on-board charging system 520 and the body work system respectively.

The energy control device of the work machine is used to implement the energy control method of the work machine as described above, so that it can be based on the state of charge, the required power of the motor 530 of the work machine, the limited power of the battery system 510 and the power of the on-board charging system 520 To determine the limited power and power supply mode of the bodywork operating system.

The operating machinery may be a tower crane, a truck crane, an excavator, a pile driver, a concrete machine, a road roller, a mixer truck, a boring machine, a pump truck, or a fire engine.

In the case that the operating machine is a crane, the top loading operation system can be the upper vehicle of the crane for realizing plug-in operation; the crane also includes the lower vehicle for driving.

According to the working machine provided in the embodiment of the present application, the limited power and power supply mode of the bodywork operation system are determined based on the state of charge, the required power of the motor of the work machine, the limited power of the battery system, and the power of the on-board charging system, which is conducive to improving the bodywork operation. Limit the power of the system, improve the working efficiency of the operating machinery, extend the service life of the battery system, and reduce costs

FIG. 9 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG. 9, the electronic device may include: a processor (processor) 910, a communication interface (Communications Interface) 920, a memory (memory) 930 and a communication bus 940, Wherein, the processor 910 , the communication interface 920 , and the memory 930 communicate with each other through the communication bus 940 . The processor 910 can call the logic instructions in the memory 930 to execute the energy control method of the working machine, the working machine includes a battery system, an on-board charging system, and an on-board working system, and the method includes: acquiring the state of charge of the battery system ; Based on the state of charge, the limited power of the battery system and the power of the on-board charging system, determine the limited power of the bodywork system; based on the state of charge, the required power of the motor of the working machine, The limited power of the battery system and the power of the on-board charging system determine the power supply mode of the bodywork operation system, wherein the motor demand power of the work machine is smaller than the limit power of the bodywork operation system.

In addition, the above-mentioned logic instructions in the memory 930 may be implemented in the form of software function units and be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several 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 the various embodiments of the present application. 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. .

On the other hand, the present application also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer During execution, the computer can execute the energy control method of the working machine provided by the above-mentioned methods, the working machine includes a battery system, an on-board charging system, and a bodywork operation system, and the method includes: acquiring the state of charge of the battery system; The state of charge, the limited power of the battery system and the power of the on-board charging system determine the limited power of the bodywork system; based on the state of charge, the required power of the motor of the working machine, the The power limit of the battery system and the power of the on-board charging system determine the power supply mode of the bodywork operation system, wherein the power demanded by the motor of the work machine is smaller than the limit power of the bodywork operation system.

In yet another aspect, the present application 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 energy control methods for working machines provided above. The working machine includes a battery system, an on-board charging system, and an on-board operating system, and the method includes: acquiring the state of charge of the battery system; based on the state of charge, the limited power of the battery system, and the power of the on-board charging system , determine the limited power of the bodywork system; determine the power limit of the bodywork system based on the state of charge, the required power of the motor of the working machine, the limit power of the battery system, and the power of the on-board charging system In the power supply mode, the required power of the motor of the working machine is smaller than the limited power of the bodywork system.

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.

Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art 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, magnetic discs, optical discs, 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 various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

An energy control method for an operating machine, wherein the operating machine includes a battery system, an on-board charging system, and an on-board operating system, and the method includes:

Obtaining the state of charge of the battery system;

determining the limited power of the bodywork system based on the state of charge, the limited power of the battery system, and the power of the on-board charging system;

Based on the state of charge, the required power of the motor of the working machine, the limited power of the battery system, and the power of the on-board charging system, determine the power supply mode of the bodywork system, wherein the motor of the working machine The required power is less than the limited power of the bodywork system.
The energy control method for a working machine according to claim 1, wherein the limited power of the bodywork system is determined based on the state of charge, the limited power of the battery system, and the power of the on-board charging system ,include:

determining that the battery system is in a medium power mode or a high power mode based on the state of charge;

When the battery system is in the medium power mode or the high power mode, it is determined that the limited power of the bodywork system is the sum of the limited power of the battery system and the power of the on-board charging system.
The energy control method for a working machine according to claim 2, wherein said determining that the battery system is in a medium power mode or a high power mode based on the state of charge comprises:

determining that the battery system is in a high power mode when the state of charge rises to a first threshold;

Or, when the state of charge drops to a second threshold or when the state of charge rises to a third threshold, determining that the battery system is in a medium power mode;

Wherein, the first threshold is higher than the second threshold, and the second threshold is higher than the third threshold.
The energy control method for a working machine according to claim 1, wherein the limited power of the bodywork system is determined based on the state of charge, the limited power of the battery system, and the power of the on-board charging system ,include:

determining that the battery system is in a low battery mode when the state of charge decreases to a fourth threshold;

When the battery system is in the low power mode, it is determined that the limited power of the bodywork system is the power of the on-board charging system, and the third threshold is higher than the fourth threshold.
The energy control method for a working machine according to any one of claims 1-4, wherein the said power is based on the state of charge, the required power of the motor of the working machine, the limited power of the battery system and the vehicle-mounted The power of the charging system determines the power supply mode of the bodywork operating system, including:

When the state of charge rises to a first threshold and the required power of the motor of the working machine is lower than the limited power of the battery system, control the battery system to supply power to the bodywork system;

Alternatively, when the state of charge rises to the first threshold and the required power of the motor of the working machine is not lower than the limited power of the battery system, both the battery system and the on-board charging system are controlled to give The bodywork system is powered.
The energy control method for a working machine according to any one of claims 1-4, wherein the said power is based on the state of charge, the required power of the motor of the working machine, the limited power of the battery system and the vehicle-mounted The power of the charging system determines the power supply mode of the bodywork operation system, and also includes:

When the state of charge drops to a second threshold or when the state of charge rises to a third threshold, and the required power of the motor of the work machine is higher than the power of the on-board charging system, control the Both the battery system and the on-board charging system supply power to the bodywork system;

Or, when the state of charge drops to the second threshold or when the state of charge rises to the third threshold, and the required power of the motor of the working machine is not higher than the power of the on-board charging system In the case of , control the on-board charging system to supply power to the bodywork system and charge the battery system.
The energy control method for a working machine according to any one of claims 1-4, wherein the said power is based on the state of charge, the required power of the motor of the working machine, the limited power of the battery system and the vehicle-mounted The power of the charging system determines the power supply mode of the bodywork operation system, and also includes:

When the state of charge drops to a fourth threshold, the on-board charging system is controlled to supply power to the bodywork system and charge the battery system.
The energy control method of a working machine according to claim 1, wherein, before said acquiring the state of charge of said battery system, said method further comprises:

Obtaining the initial state of charge of the work machine;

If the initial state of charge is higher than a fifth threshold, determining that the battery system is in a high power mode;

If the initial state of charge is lower than a fifth threshold, determining that the battery system is in a medium power mode;

If the initial state of charge is equal to the fifth threshold, it is determined that the battery system is in a high power mode or a medium power mode.
An energy control device for a work machine, wherein the work machine includes a battery system, an on-board charging system, and a bodywork system, and the device includes:

a receiving module, configured to obtain the state of charge of the battery system;

A first processing module, configured to determine the limited power of the bodywork system based on the state of charge, the limited power of the battery system, and the power of the on-board charging system;

The second processing module is configured to determine the power supply mode of the bodywork operating system based on the state of charge, the required power of the motor of the working machine, the limited power of the battery system, and the power of the on-board charging system, wherein , the required power of the motor of the working machine is less than the limited power of the bodywork working system.
A work machine, comprising:

battery system;

an on-board charging system, the on-board charging system is electrically connected to the battery system;

A bodywork operation system, the bodywork operation system is electrically connected to the on-board charging system and the battery system respectively;

The energy control device of the working machine according to claim 9, which is electrically connected to the battery system, the on-board charging system and the body work system respectively.
An electronic device, comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein, when the processor executes the program, the computer program according to any one of claims 1 to 8 is realized. The steps of the energy control method of the work machine described in the item.
A non-transitory computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the steps of the energy control method for an operating machine according to any one of claims 1 to 8 are implemented.