WO2024051141A1 - 启动控制方法、系统及作业机械 - Google Patents

启动控制方法、系统及作业机械 Download PDF

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Publication number
WO2024051141A1
WO2024051141A1 PCT/CN2023/082251 CN2023082251W WO2024051141A1 WO 2024051141 A1 WO2024051141 A1 WO 2024051141A1 CN 2023082251 W CN2023082251 W CN 2023082251W WO 2024051141 A1 WO2024051141 A1 WO 2024051141A1
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WIPO (PCT)
Prior art keywords
preset
signal
password
startup
request signal
Prior art date
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PCT/CN2023/082251
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English (en)
French (fr)
Inventor
魏金金
黄玉松
王现青
吴劲松
梁明
张明磊
Original Assignee
湖州三一装载机有限公司
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Publication of WO2024051141A1 publication Critical patent/WO2024051141A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • 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
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Definitions

  • the present disclosure relates to the technical field of work machine control, and in particular to a start control method, system and work machine.
  • the present disclosure provides a start control method, system and working machine.
  • a startup control method including:
  • the current control signal is obtained through the CAN bus, and it is judged whether the control signal satisfies the preset start conditions.
  • the preset start conditions are: obtaining the neutral signal based on the handle position, and obtaining the neutral signal based on the handle position.
  • the emergency stop switch position obtains the release signal, the output of the power relay obtains the preset electrical signal, and the feedback of the gearbox controller obtains the low-level signal;
  • a starting satisfaction signal is generated and sent to the ECU through the CAN bus, so that the ECU controls the engine to start.
  • the method before obtaining the startup request signal generated by triggering the control button through the CAN bus, the method further includes:
  • the power relay In response to the power-on request signal, the power relay is controlled to close.
  • obtaining the current control signal through the CAN bus includes:
  • the startup control method according to the present disclosure also includes:
  • the instrument screen is triggered to respond to the first alarm information, and the first alarm information is alarm information that includes a reason for the startup failure.
  • the startup control method according to the present disclosure also includes:
  • the instrument screen is triggered to respond to the second alarm information, and the control is limited within a preset time period.
  • the button generates the start request signal after being triggered, and the second alarm information includes alarm information prompting to limit the start of the engine within the preset time period.
  • the startup control method according to the present disclosure also includes:
  • the starting relay is controlled to be turned off.
  • the startup control method according to the present disclosure also includes:
  • the instrument screen is triggered to respond to third alarm information, and the third alarm information is alarm information including a prompt to limit the starting operation.
  • controlling the power relay to close in response to the power-on request signal includes:
  • the preset password includes a machine owner password, a mobile phone password and a transfer password
  • the password is a preset password
  • it also includes:
  • the password is the machine owner's password
  • the power relay when the power relay is in the pull-in state, it is determined in real time whether a password setting instruction or a limited time setting instruction is received, and when it is determined that the password setting instruction is received , triggering the display screen to display the password setting interface, and when it is determined that the limited time setting instruction is received, triggering the display screen to display the limited time setting interface;
  • the password is the operator password
  • the power relay when the power relay is in the pull-in state, it is determined in real time whether the limited time setting instruction is received, and when determining When receiving the limited duration setting instruction, trigger the display screen to display the limited duration setting interface;
  • the power relay is controlled to be disconnected when a preset limit time is reached.
  • a startup control system including:
  • the acquisition module is used to acquire the start request signal generated by the triggering of the control button through the CAN bus;
  • a judgment module configured to respond to the startup request signal, obtain the current control signal through the CAN bus, and judge whether the control signal satisfies the preset startup condition.
  • the preset startup condition is: obtain based on the handle position.
  • the neutral signal is obtained, the release signal is obtained based on the position of the emergency stop switch, the preset electrical signal is obtained based on the output of the power relay, and the low-level signal is obtained based on the feedback of the gearbox controller;
  • a processing module configured to generate a startup satisfaction signal when the control signal meets the preset startup condition, and send it to the ECU through the CAN bus, so that the ECU controls the engine to start.
  • a work machine including a startup control system as described above.
  • an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor.
  • the processor executes the program, Start control method as described in any of the above.
  • a non-transitory computer-readable storage medium on which a computer program is stored.
  • the startup control method as described in any one of the above is implemented.
  • the present disclosure provides a start control method, system and working machine, which obtains the start request signal generated by triggering the control button through the Controller Area Network (CAN) bus, and then responds to the start request signal, obtains the start request signal through the CAN bus when The control signal in front of the controller is determined to meet the preset starting conditions, that is, the neutral signal is obtained based on the handle position, the release signal is obtained based on the emergency stop switch position, the preset electrical signal is obtained based on the output of the power relay, and the preset electrical signal is obtained based on the output of the power relay.
  • the feedback of the gearbox controller obtains a low-level signal
  • a start-up satisfaction signal is generated and sent to the Electronic Control Unit (ECU) through the CAN bus, so that the ECU controls the engine to start.
  • ECU Electronic Control Unit
  • Figure 1 is a schematic flowchart of a startup control method according to an embodiment of the present disclosure
  • Figure 2 is a schematic diagram of a vehicle controller acquiring control signals according to an embodiment of the present disclosure
  • Figure 3 is a schematic diagram of a power management module acquiring control signals according to an embodiment of the present disclosure
  • Figure 4 is a schematic diagram of startup control according to an embodiment of the present disclosure
  • Figure 5 is a schematic diagram of startup control protection according to an embodiment of the present disclosure.
  • FIG. 6 is the control principle diagram of the starter motor
  • Figure 7 is a schematic structural diagram of a startup control system according to an embodiment of the present disclosure.
  • Figure 8 is a schematic structural diagram of an electronic device according to the present disclosure.
  • FIGS. 1 to 6 The following describes a startup control method of the present disclosure with reference to FIGS. 1 to 6 , which is based on the control system of the working machine and/or the software or hardware execution therein.
  • the startup control method provided by the embodiment of the present disclosure includes the following steps:
  • control button is a button provided on the body of the working machine, or a control button integrated on a button panel of the working machine.
  • the control button can send the message generated through the CAN bus, that is, the start request signal. Sent to vehicle controller.
  • the preset start condition is: obtain the neutral signal based on the handle position. , the release signal is obtained based on the position of the emergency stop switch, the preset electrical signal is obtained based on the output of the power relay, and the low-level signal is obtained based on the feedback of the gearbox controller;
  • the engine of the working machinery needs to be started when the handle is in neutral and the emergency stop switch is not pressed, that is, it is in the released state.
  • the working machine after receiving the start request signal, the working machine needs to first determine whether the start conditions are met in the current state in response to the start request signal, that is, whether each handle is in the neutral position and whether the emergency stop button is released. Therefore, when the vehicle controller of the working machine responds to the start request signal, it first obtains the current control signal through the CAN bus, then determines whether each control signal satisfies the preset starting conditions, and finally decides whether it can be started based on the judgment result. to start the engine.
  • the signal generated when the handle of the working machine is in the neutral position and the low-level signal fed back by the gearbox controller of the working machine are both neutral signals of the working machine, and the vehicle controller is based on the working machine.
  • the neutral signal obtained from the handle position belongs to the bus signal, that is, the CAN signal, and the neutral signal obtained based on the low-level signal fed back by the gearbox controller belongs to the hard-wire signal.
  • the engine can be further started only after the working machine is powered on normally, so that the working machine can operate normally.
  • the power relay When the working machine is powered on, the power relay is closed, so that some electronic components of the working machine are supplied with electricity. Therefore, the power relay can output a certain current, and then the power signal is obtained by determining whether it is based on the output of the power relay of the working machine.
  • the preset electrical signal can determine whether the working machine is powered on normally, that is, when it is determined that the working machine is powered on normally, the handle is in the neutral position, and the emergency stop switch is released, the engine can be further controlled to start, thereby realizing the control of the working machine.
  • the neutral chain protection of mechanical engine startup improves the safety factor of engine startup.
  • control signal meets the preset starting condition, generate a starting satisfaction signal and send it to the ECU through the CAN bus, so that the ECU controls the engine to start.
  • a start satisfaction signal is generated, allowing the ECU to control the engine start, thereby realizing a control and protection strategy for the start of the work machine through the CAN bus based on the CAN bus communication protocol and the preset start condition restrictions. , not only enables the working machinery to start reliably and reduces the startup control failure rate, but also reduces the use of relays and the layout of complex circuits.
  • the service life of existing buttons is more than 300,000 times, while the service life of key switches is generally 80,000 times.
  • Starting the operating machinery by pressing the keys not only avoids the problems that are easily caused by the hard wire connection between the key switch and the machine body.
  • the problem of loose circuits also reduces the service life of the The efficiency is extended and the cost of use is reduced.
  • the method before obtaining the start request signal generated by triggering the control button through the CAN bus, the method further includes:
  • the power relay In response to the power-on request signal, the power relay is controlled to close.
  • the power management module can receive the power-on request signal triggered by the control button. In response to the power-on request signal, the power management module controls the power relay to close, forming a loop. It can light up the instrument screen of the working machine and power on the whole vehicle. Further, after the engine is started, the working machine can be operated normally.
  • control button when the working machine is not started, press the control button to power on the entire vehicle, and then press the control button again to start the engine.
  • obtaining the current control signal through the CAN bus includes:
  • the signal generated by the handle position of the working machine and the signal generated by the emergency stop switch position are bus signals and can be directly obtained by the vehicle controller.
  • the electrical signal output by the power relay and the level signal fed back by the gearbox controller are hard-wired signals, which need to be obtained through the power management module and then transmitted to the vehicle controller.
  • the vehicle controller 1 detects the gear position information of the shift handle 3 of the working machine fed back by the gearbox controller 2 and the gear position information of the operating handle 4 of the working machine, and then based on The gear position information of the shift lever 3 and the gear position information of the operating handle 4 generate a gear position control signal.
  • the power management module 5 detects the electrical signal output by the power relay 6 and the level control signal fed back by the gearbox controller 2 .
  • the control principle of the startup control method is: the control button is powered by the battery of the working machine, the control button is pressed, and the generated power-on request signal is sent to the machine through the CAN bus.
  • the power management module responds to the power-on request signal, controls the power relay to close, and powers on the entire vehicle. At this time, the power management module can obtain a preset electrical signal from the output of the power relay.
  • the generated start request signal is sent to the vehicle controller through the CAN bus again.
  • the vehicle controller responds to the start request signal and detects whether a neutral position is generated by the shift handle and the operating handle (i.e., the electric handle).
  • the emergency stop switch detects whether a release signal is generated, and sends the start request signal to the power management module.
  • the power management module detects the level control signal fed back by the gearbox controller (not shown in the figure) (The low level fed back by the gearbox controller is generated based on the neutral signal formed when the shift handle is in the neutral position), and the obtained preset electrical signal and level control signal are sent to the vehicle controller, and the vehicle control
  • the controller determines that each signal meets the preset starting conditions, it sends a starting signal to the ECU, causing the ECU to control the starting relay to close, thereby starting the starter motor and further starting the engine.
  • the startup control method provided by the embodiment of the present disclosure also includes:
  • the instrument screen is triggered to respond to the first alarm information, and the first alarm information is alarm information that includes a reason for the startup failure.
  • the instrument screen is triggered to respond to the first alarm information containing the cause of the starting failure, which can ensure It ensures the safe start-up of the operating machinery, and can also promptly inform the user of the cause of the start-up failure to facilitate the user's subsequent operations.
  • the gear information detected by the vehicle controller is not neutral, so the neutral signal cannot be generated.
  • the engine cannot start normally.
  • an audible and visual alarm will be generated on the instrument screen, and the reason why the engine cannot start normally will be displayed on the display screen, thus prompting the user to put the handle into neutral.
  • the startup control method provided by the embodiment of the present disclosure also includes:
  • the instrument screen is triggered to respond to the second alarm information, and the control is limited within a preset time period.
  • the button generates the start request signal after being triggered, and the second alarm information includes alarm information prompting to limit the start of the engine within the preset time period.
  • the instrument screen is triggered to respond to the second alarm information containing a prompt to limit engine start within the preset time period, and
  • the control button is limited to generate a start request signal after being triggered within a preset time period.
  • the limit on the number of starts can be used to prevent the ECU and starter motor from being damaged due to multiple starts.
  • the working machine is powered on and the engine is ready to start.
  • the emergency stop switch If it is not released, an audible and visual alarm will be generated at the instrument screen, prompting the driver to release the emergency stop switch; if the neutral signal fed back by the handle or gearbox is not satisfied, an audible and visual alarm will also be generated at the instrument screen, and a prompt will be issued.
  • the driver shifted the gear into neutral, and at the same time, the first start failed.
  • the startup control method provided by the embodiment of the present disclosure also includes:
  • the starting relay is controlled to be turned off.
  • Stopping process the starting relay 7 is disconnected, the electromagnetic switch 6 is disconnected under the action of the return spring 14, causing the armature 9 to lose power and stop rotating.
  • the transmission fork 10 pushes the clutch 11 to move to the right, thereby driving the gear 12 and the flywheel of the engine.
  • the ring gear 13 is disengaged and the motor stops rotating.
  • the power to the starter motor needs to be cut off immediately.
  • the engine speed after starting can reach 1200RPM/min, and the gear ratio between the driving gear 12 of the clutch 11 and the flywheel ring gear 13 is about 1:15. If the power is not cut off immediately after the startup is successful, the flywheel The ring gear 13 will drive the driving gear 12 to fly, causing the speed of the driving gear 12 to reach more than 10,000 rpm.
  • the clutch bearing is easy to break, and the flying coil of the clutch 11 generates too much current and can easily burn the circuit.
  • the working machine detects whether the engine speed is greater than or equal to the first preset speed threshold through the vehicle controller. That is, when the engine speed is greater than or equal to the first preset speed threshold, the starting relay is controlled to be disconnected. .
  • the starting relay can also be determined whether the starting relay needs to be disconnected by detecting whether the generator is in a power generation state or whether the engine oil pressure is greater than or equal to the first preset oil pressure threshold, that is, the engine speed in the operating state of the working machine.
  • the start relay is controlled to be disconnected, thereby realizing that the engine has been judged to have Under normal starting conditions, the starting relay can be disconnected in time to prevent the flywheel ring gear from driving the driving gear to fly, ensuring the safe starting and operation of the working machinery.
  • the startup control method provided by the embodiment of the present disclosure also includes:
  • the instrument screen is triggered to respond to third alarm information.
  • the third alarm information is alarm information including a prompt to limit the starting operation.
  • the vehicle controller of the working machine receives the start request signal again, that is, when the control button is pressed again, it detects whether the engine speed is greater than or equal to the second preset speed threshold, and when the engine The speed is greater than or equal to the second preset
  • the instrument screen is triggered to respond to the third alarm information including the alarm information prompting to limit the startup operation, so as to remind the user to stop the wrong operation.
  • the generator can drive the entire circuit to power supply, and the cylinder is working and lubricated normally. Therefore, the battery voltage at this time should Greater than or equal to the preset voltage threshold, the engine oil pressure should be greater than or equal to the second preset oil pressure threshold.
  • the instrument screen is re-triggered to respond to the third alarm message containing a prompt to limit the starting operation, thereby effectively preventing the drive gear from meshing with the flywheel ring gear, and reminding the user to stop incorrect operations, further ensuring the safety of starting and operating the working machinery.
  • controlling the power relay to close in response to the power-on request signal includes:
  • the illegal use of the work machine can be restricted, thereby improving the safety of use of the work machine based on button activation.
  • the preset password includes the owner password, the operator password and the transfer password
  • the password is a preset password
  • it also includes:
  • the password is the machine owner's password
  • the display screen is triggered to display the password setting interface
  • the display screen is triggered to display the limited time setting interface
  • the password is the operator password
  • the power relay when the power relay is in the pull-in state, it is determined in real time whether the preset time setting instruction is received, and when it is determined that the limited time setting instruction is received , triggering the display screen to display the limited time setting interface;
  • the power relay is controlled to be disconnected when a preset limit time is reached.
  • the preset passwords can include three types: machine owner password, operator password, and transfer password
  • different permissions can be provided for operating the work machine based on different types of preset passwords.
  • the permissions of the owner password, mobile phone password and transfer password are reduced in order.
  • the machine owner can be set as the only one with the highest control authority, that is, it can not only operate the startup of the operating machinery, but also set the operator password and transfer password
  • the operator password can be set to multiple, with general
  • the control authority means that after entering the operator password, the operating machinery can be started normally for operation; the control authority of the transfer password is lower, and multiple ones can be set to start and operate the operating machinery normally within the preset limited time.
  • the mobile phone password can also be used to set the transfer password and modify the limited time corresponding to the transfer password. At the same time, in order to improve the safety of working machinery, you can set the transfer password to become invalid after use.
  • a startup control system provided by the present disclosure will be described below.
  • the startup control system described below and the startup control method described above may be mutually referenced.
  • a startup control system provided by the present disclosure includes: an acquisition module 710, a judgment module 720 and a processing module 730; wherein,
  • the acquisition module 710 is used to acquire the start request signal generated by triggering the control button through the CAN bus;
  • the judgment module 720 is configured to respond to the startup request signal, obtain the current control signal through the CAN bus, and judge whether the control signal satisfies the preset startup condition.
  • the preset startup condition is: obtain based on the handle position.
  • the neutral signal is obtained, the release signal is obtained based on the position of the emergency stop switch, the preset electrical signal is obtained based on the output of the power relay, and the low-level signal is obtained based on the feedback of the gearbox controller;
  • the processing module 730 is configured to generate a startup satisfaction signal when the control signal meets the preset startup condition, and send it to the ECU through the CAN bus, so that the ECU controls engine startup.
  • the working machine obtains the startup request signal generated by triggering the control button through the CAN bus, and then responds to the startup request signal, obtains the current control signal through the CAN bus, and determines that the control signal satisfies the preset
  • the starting conditions are when the neutral signal is obtained based on the handle position, the release signal is obtained based on the emergency stop switch position, the preset electrical signal is obtained based on the output of the power relay, and the low-level signal is obtained based on the feedback of the gearbox controller , generates a start-up signal and sends it to the ECU through the CAN bus, so that the ECU controls the engine to start.
  • the acquisition module also acquires the power-on request signal generated by triggering the control button through the CAN bus, and the processing module is further configured to control the power relay to close in response to the power-on request signal.
  • the judgment module is specifically configured to obtain the gear position information of the shift handle and the gear position information of the operating handle fed back by the transmission controller detected by the vehicle controller, as well as the position information of the emergency stop switch; obtain In response to the start request signal, the power management module detects the output electrical signal of the power relay and the electrical signal fed back by the gearbox controller. level control signal.
  • the processing module is also configured to trigger the instrument screen of the working machine to respond to a first alarm message when the control signal does not meet the preset startup condition, and the first alarm message includes a prompt that startup fails. Cause of the alert message.
  • the judgment module is also used to determine whether the acquired startup request signal corresponds to satisfying the preset startup condition; and continuously determines whether the acquired startup request signal corresponds to not meeting the preset startup condition.
  • the processing module triggers the instrument screen to respond to the second alarm information, and limits the control button to generate the start request signal after being triggered within a preset time period, and the third
  • the second alarm information includes alarm information prompting to limit the starting of the engine within the preset time period.
  • the processing module is further configured to detect whether the engine speed is greater than or equal to a first preset speed threshold after the engine is started; and when the engine speed is greater than or equal to the first preset speed threshold, At the threshold, the control start relay is disconnected.
  • the processing module is further configured to detect whether the rotation speed of the engine is greater than or equal to a second preset rotation speed threshold when the startup request signal is received after the engine is started, and when the rotation speed of the engine is When the speed is greater than or equal to the second preset rotational speed threshold, the instrument screen is triggered to respond to third alarm information.
  • the third alarm information is alarm information including a prompt to limit the startup operation.
  • the processing module is also configured to respond to the power-on request signal, trigger the display screen to light up, display a password input interface, obtain the password entered on the display screen, and determine that the password is a preset password.
  • the power relay is controlled to close.
  • the preset password includes an owner's password, an operator's password and a transfer password; the processing module is also used to, when the password is the owner's password, while the power relay is in the closed state. , determine in real time whether a password setting instruction or a limited time setting instruction is received, and when it is determined that the password setting instruction is received, trigger the display screen to display the password setting interface, and when it is determined that the limited time setting instruction is received, trigger described
  • the display screen displays the limited time setting interface; when the password is the mobile phone password, when the power relay is in the pull-in state, it is judged in real time whether the limited time setting instruction is received, and when it is determined that the limited time setting instruction is received, When the limited time setting instruction is given, the display screen is triggered to display the limited time setting interface; and when the password is the transfer password, the power relay is controlled to be disconnected when the preset limited time is reached.
  • An embodiment of the present disclosure also provides a work machine including a start control system as provided in any of the above embodiments.
  • the working machine may be a loader, a crane, etc.
  • Figure 8 illustrates a schematic diagram of the physical structure of an electronic device.
  • the electronic device may include: a processor (processor) 810, a communication interface (Communications Interface) 820, a memory (memory) 830 and a communication bus 840.
  • the processor 810, the communication interface 820, and the memory 830 complete communication with each other through the communication bus 840.
  • the processor 810 can call logical instructions in the memory 830 to perform a startup control method.
  • the method includes: obtaining a startup request signal generated by triggering a control button through the CAN bus; in response to the startup request signal, through the The CAN bus obtains the current control signal and determines whether the control signal meets the preset starting conditions.
  • the preset starting conditions are: obtaining the neutral signal based on the handle position, obtaining the release signal based on the emergency stop switch position, and obtaining the release signal based on the power supply.
  • the output of the relay obtains a preset electrical signal, and a low-level signal is obtained based on the feedback of the gearbox controller; if the control signal meets the preset starting condition, a start-satisfying signal is generated and sent to the ECU through the CAN bus , so that the ECU controls the engine start.
  • the above-mentioned logical instructions in the memory 830 can be implemented in the form of software functional units and can be stored in a computer when sold or used as an independent product. Read from the storage medium.
  • the technical solution of the present disclosure is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to 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 disk and other media that can store program code. .
  • the present disclosure 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. When the program instructions are read by a computer, When executed, the computer can execute a startup control method provided by each of the above methods.
  • the method includes: acquiring the startup request signal generated by triggering the control button through the CAN bus; in response to the startup request signal, acquiring the startup request signal through the CAN bus. current control signal, and determine whether the control signal satisfies the preset starting conditions.
  • the preset starting conditions are: obtaining the neutral signal based on the handle position, obtaining the release signal based on the emergency stop switch position, and based on the output of the power relay.
  • the present disclosure also provides a non-transitory computer-readable storage medium on which a computer program is stored.
  • a startup control method is implemented. The method includes: obtaining through a CAN bus. Control the start request signal generated by the trigger of the button; in response to the start request signal, obtain the current control signal through the CAN bus, and determine whether the control signal satisfies the preset start condition, and the preset start condition is: The neutral signal is obtained based on the position of the handle, and the neutral signal is obtained based on the position of the emergency stop switch.
  • Get the release signal get the preset electrical signal based on the output of the power relay, and get the low level signal based on the feedback of the gearbox controller; if the control signal meets the preset starting condition, generate a start satisfaction signal, And sent to the ECU through the CAN bus, so that the ECU controls the engine start.
  • the device embodiments described above are only illustrative.
  • the units described as separate components may or may not be physically separated.
  • the components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Persons of ordinary skill in the art can understand and implement the method without any creative effort.
  • each embodiment can be implemented by software plus a necessary general hardware platform, and of course, it can also be implemented by hardware.
  • the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., including a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments.

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  • Mechanical Engineering (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

一种启动控制方法、系统及作业机械，其中方法包括：通过CAN总线获取控制按键经触发产生的启动请求信号；响应于启动请求信号，通过CAN总线获取当前的控制信号，并判断控制信号是否满足预设启动条件；若控制信号满足预设启动条件，生成启动满足信号，并通过CAN总线向ECU发送，以使ECU控制发动机启动。

Description

启动控制方法、系统及作业机械
相关申请的交叉引用
本公开要求于2022年9月5日在中国知识产权局提交的申请号为No.202211080540.6，标题为“启动控制方法、系统及作业机械”的中国专利申请的优先权，通过引用将该中国专利申请公开的全部内容并入本文。
技术领域
本公开涉及作业机械控制技术领域，尤其涉及一种启动控制方法、系统及作业机械。
背景技术
目前，大多数作业机械使用钥匙开关，而钥匙开关的机械寿命相较于按键等开关的寿命较短。另外，钥匙开关与机身的线束连接为硬线连接，易出现线路松动问题。同时，硬线连接的限制导致整机启动控制需用复杂的继电器和线路来保护发动机的启动。
发明内容
本公开提供一种启动控制方法、系统及作业机械。
根据本公开的第一方面，提供了一种启动控制方法，包括：
通过CAN总线获取控制按键经触发产生的启动请求信号；
响应于所述启动请求信号，通过所述CAN总线获取当前的控制信号，并判断所述控制信号是否满足预设启动条件，所述预设启动条件为：基于手柄位置获取到空档信号、基于急停开关位置获取到释放信号、基于电源继电器的输出获取到预设电信号，以及基于变速箱控制器的反馈获取到低电平信号；
若所述控制信号满足所述预设启动条件，生成启动满足信号，并通过CAN总线向ECU发送，以使所述ECU控制发动机启动。
根据本公开所述的启动控制方法，所述通过CAN总线获取控制按键经触发产生的启动请求信号前，还包括：
通过CAN总线获取所述控制按键经触发产生的上电请求信号；
响应于所述上电请求信号，控制所述电源继电器吸合。
根据本公开所述的启动控制方法，所述通过所述CAN总线获取当前的控制信号，包括：
获取整车控制器响应于所述启动请求信号，检测的所述变速箱控制器反馈的换档手柄的档位信息和操作手柄的档位信息，以及所述急停开关的位置信息；
获取所述电源管理模块响应于所述启动请求信号，检测的所述电源继电器的输出电信号和所述变速箱控制器反馈的电平控制信号。
根据本公开所述的启动控制方法，还包括：
若所述控制信号不满足所述预设启动条件，触发仪表屏响应于第一警报信息，所述第一警报信息为包含提示启动失败原因的警报信息。
根据本公开所述的启动控制方法，还包括：
确定获取的所述启动请求信号，是否对应于满足所述预设启动条件；
若连续确定获取的所述启动请求信号，对应于不满足所述预设启动条件的次数超出预设次数，触发所述仪表屏响应于第二警报信息，并在预设时长内限制所述控制按键在触发后产生所述启动请求信号，所述第二警报信息为包含提示在所述预设时长内限制所述发动机启动的警报信息。
根据本公开所述的启动控制方法，还包括：
在所述发动机启动后，检测所述发动机的转速是否大于或等于第 一预设转速阈值；
若所述发动机的转速大于或等于所述第一预设转速阈值，则控制启动继电器断开。
根据本公开所述的启动控制方法，还包括：
在所述发动机启动后，接收到所述启动请求信号时，检测所述发动机的转速是否大于或等于第二预设转速阈值；
若所述发动机的转速大于或等于所述第二预设转速阈值，则触发所述仪表屏响应于第三警报信息，所述第三警报信息为包含提示限制启机操作的警报信息。
根据本公开所述的启动控制方法，所述响应于所述上电请求信号，控制所述电源继电器吸合，包括：
响应于所述上电请求信号，触发显示屏点亮，并显示密码输入界面；
获取在所述显示屏上输入的密码，并在判定所述密码为预设密码时，控制所述电源继电器吸合。
根据本公开所述的启动控制方法，所述预设密码包括机主密码、机手密码和转运密码；
所述在判定所述密码为预设密码时，控制所述电源继电器吸合后，还包括：
若所述密码为所述机主密码，则在所述电源继电器处于吸合状态的过程中，实时判断是否接收到密码设置指令或限定时长设置指令，且在判定接收到所述密码设置指令时，触发所述显示屏显示密码设置界面，在判定接收到所述限定时长设置指令时，触发所述显示屏显示限定时长设置界面；
若所述密码为所述机手密码，则在所述电源继电器处于吸合状态的过程中，实时判断是否接收到所述限定时长设置指令时，且在判定 接收到所述限定时长设置指令时，触发所述显示屏显示限定时长设置界面；
若所述密码为所述转运密码，则控制所述电源继电器在达到预设的限定时长时断开。
根据本公开的第二方面，提供了一种启动控制系统，包括：
获取模块，用于通过CAN总线获取控制按键经触发产生的启动请求信号；
判断模块，用于响应于所述启动请求信号，通过所述CAN总线获取当前的控制信号，并判断所述控制信号是否满足预设启动条件，所述预设启动条件为：基于手柄位置获取到空档信号、基于急停开关位置获取到释放信号、基于电源继电器的输出获取到预设电信号，以及基于变速箱控制器的反馈获取到低电平信号；
处理模块，用于在所述控制信号满足所述预设启动条件时，生成启动满足信号，并通过CAN总线向ECU发送，以使所述ECU控制发动机启动。
根据本公开的第三方面，提供了一种包括如上述所述的启动控制系统的作业机械。
根据本公开的第四方面，提供了一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述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的启动控制方法。
根据本公开的第五方面，提供了一种非暂态计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如上述任一种所述的启动控制方法。
本公开提供的一种启动控制方法、系统及作业机械，通过控制器局域网络(Controller Area Network，CAN)总线获取控制按键经触发产生的启动请求信号，然后响应于启动请求信号，通过CAN总线获取当 前的控制信号，并在判定控制信号满足预设启动条件，即基于手柄位置获取到空档信号、基于急停开关位置获取到释放信号、基于电源继电器的输出获取到预设电信号，以及基于变速箱控制器的反馈获取到低电平信号时，生成启动满足信号，并通过CAN总线向电子控制单元(Electronic Control Unit，ECU)发送，以使所述ECU控制发动机启动。附图说明
为了更清楚地说明本公开中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，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是根据本公开实施例的一种启动控制方法的流程示意图；
图2是根据本公开实施例的整车控制器获取控制信号的原理图；
图3是根据本公开实施例的电源管理模块获取控制信号的原理图；
图4是根据本公开实施例的启动控制原理图；
图5是根据本公开实施例的启动控制保护的原理图；
图6是启动马达的控制原理图；
图7是根据本公开实施例的一种启动控制系统的结构示意图；
图8是根据本公开的电子设备的结构示意图；
附图标记：
1：整车控制器；2：变速箱控制器；3：换档手柄；4：操作手柄；5：电源管理模块；6：电源继电器；7：启动继电器；8：电磁开关；9：电枢；10：传动拨叉；11：离合器；12：驱动齿轮；13：飞轮齿圈；14：回位弹簧。
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1至图6描述本公开的一种启动控制方法，基于作业机械的控制系统和/或其中的软件或硬件执行。
如图1所示，本公开实施例提供的启动控制方法包括以下步骤：
101、通过CAN总线获取控制按键经触发产生的启动请求信号；
具体地，控制按键为设置在作业机械机身本体上的按钮，或集成在作业机械的按键面板上的一个控制按钮。作业机械的控制系统通过CAN总线与控制按键连接后，具体为整车控制器与控制按键的连接，用户在按下控制按键时，控制按键可以通过CAN总线将产生的报文，即启动请求信号发送至整车控制器。
102、响应于所述启动请求信号，通过所述CAN总线获取当前的控制信号，并判断所述控制信号是否满足预设启动条件，所述预设启动条件为：基于手柄位置获取到空档信号、基于急停开关位置获取到释放信号、基于电源继电器的输出获取到预设电信号，以及基于变速箱控制器的反馈获取到低电平信号；
可以理解的是，为了提高作业机械启动过程的安全系数，作业机械发动机的启动，需要在手柄位于空档，且急停开关未被按下，即处于释放状态时，才可以正常启动。
具体地，作业机械在接收到启动请求信号后，响应于启动请求信号，需要先判断当前状态下是否满足启动条件，即各手柄是否处于空档位置，急停按钮是否释放。因而，作业机械的整车控制器在响应于启动请求信号时，先通过CAN总线获取当前的控制信号，然后判断各控制信号是否满足预设启动条件，最后根据判定结果来决定是否可 以使发动机启动。
更具体地，作业机械的手柄位置位于空档位置时产生的信号，和作业机械的变速箱控制器反馈的低电平信号，均为作业机械的空档信号，而整车控制器基于作业机械的手柄位置获取到的空档信号属于总线信号即CAN信号，基于变速箱控制器反馈的低电平信号得到的空档信号属于硬线信号。通过总线信号和硬线信号来分别获取空档信号，可以避免因硬线档位信号回路接触不良断脱，而引起的信号丢失，从而有效保证获取的控制信号的全面性和准确性。
进一步地，作业机械在正常上电后，才可以进一步启动发动机，从而使作业机械正常作业。当作业机械上电后，电源继电器吸合，使得作业机械的部分电子元器件得到电量供应，因而在电源继电器可以输出一定的电流，进而通过判断是否基于作业机械的电源继电器的输出获取到电源信号，即预设电信号，可以判断作业机械是否正常上电，即在确定作业机械正常上电，且手柄处于空档位置，急停开关被释放时，才可以进一步控制发动机启动，从而实现对作业机械发动机启动的空档连锁保护，提高了发动机启动的安全系数。
103、若所述控制信号满足所述预设启动条件，生成启动满足信号，并通过CAN总线向ECU发送，以使所述ECU控制发动机启动。
具体地，在控制信号满足预设启动条件时，生成启动满足信号，使得ECU控制发动机启动，从而实现基于CAN总线通讯协议，以及预设启动条件限制，通过CAN总线方式的作业机械启动控制保护策略，不仅使得作业机械能够可靠启动，降低了启动控制故障率，还减少了继电器的使用，以及复杂线路的布置。
更具体地，现有按键的使用寿命大于30万次，而钥匙开关的使用寿命一般为8万次，通过按键启动作业机械，不仅避免了因钥匙开关与机身硬线连接，所容易造成的线路松动问题，还使得使用寿命有 效延长，降低了使用成本。
作为本公开的一种实施例，所述通过CAN总线获取控制按键经触发产生的启动请求信号前，还包括：
通过CAN总线获取所述控制按键经触发产生的上电请求信号；
响应于所述上电请求信号，控制所述电源继电器吸合。
具体地，作业机械未启动时，通过按下控制按键，电源管理模块可以接收到由控制按键触发的上电请求信号，电源管理模块响应于上电请求信号，控制电源继电器吸合，形成回路，可以使作业机械的仪表屏亮起，整车上电。之后进一步地，在发动机启动后，即可使作业机械正常作业。
更具体地，作业机械在未启动时，按下控制按键，整车上电，然后再按下控制按键，发动机启动。为了区分整车上电和整车启动，可以通过对按动控制按键的时长进行不同的设置来实现，例如：可以设置短按控制按键(例如：0.5s、1s等)，生成上电请求信号；设置长按控制按键(例如：2s、3s等)，生成启动请求信号。
作为本公开的一种实施例，所述通过所述CAN总线获取当前的控制信号，包括：
获取整车控制器响应于所述启动请求信号，检测的所述变速箱控制器反馈的换档手柄的档位信息和操作手柄的档位信息，以及所述急停开关的位置信息；
获取所述电源管理模块响应于所述启动请求信号，检测的所述电源继电器的输出电信号和所述变速箱控制器反馈的电平控制信号。
可以理解的是，作业机械的手柄位置产生的信号和急停开关位置产生的信号为总线信号，可以由整车控制器直接获取。而电源继电器输出的电信号和变速箱控制器反馈的电平信号为硬线信号，需要通过电源管理模块进行获取，然后再传输给整车控制器。
具体地，如图2所示，整车控制器1检测所述变速箱控制器2反馈的作业机械的换档手柄3的档位信息，和作业机械的操作手柄4的档位信息，然后基于换档手柄3的档位信息和操作手柄4的档位信息，生成档位控制信号。如图3所示，电源管理模块5检测电源继电器6输出的电信号和变速箱控制器2反馈的电平控制信号。
更具体地，如图4所示，本公开实施例提供的启动控制方法的控制原理为：控制按键通过作业机械的蓄电池供电，控制按键按下，将产生的上电请求信号通过CAN总线发送至电源管理模块，电源管理模块响应于上电请求信号，控制电源继电器吸合，整车上电，电源管理模块此时可以由电源继电器的输出获得预设电信号。控制按键再次按下，将产生的启动请求信号再次通过CAN总线发送至整车控制器，整车控制器响应于启动请求信号，由换档手柄和操作手柄(即电气手柄)检测是否产生空档信号，由急停开关检测是否产生释放信号，并将启动请求信号发送给电源管理模块，电源管理模块响应于启动请求信号，检测变速箱控制器(图中未示出)反馈的电平控制信号(变速箱控制器反馈的低电平基于换档手柄处于空档位置时形成的空档信号产生)，并将获取的预设电信号和电平控制信号发送至整车控制器，整车控制器在判定各信号满足预设启动条件时，向ECU发送启动满足信号，使ECU控制启动继电器吸合，从而使启动马达启动，进一步使发动机启动。
作为本公开的一种实施例，本公开实施例提供的启动控制方法还包括：
若所述控制信号不满足所述预设启动条件，触发仪表屏响应于第一警报信息，所述第一警报信息为包含提示启动失败原因的警报信息。
具体地，通过在作业机械判定控制信号不满足预设启动条件时，触发仪表屏响应于包含提示启动失败原因的第一警报信息，既可以保 证作业机械的启动安全，还可以及时告知用户启动失败原因，便于用户的后续操作。例如：当换挡手柄或操作手柄未挂到空挡位置时，按动控制按键，整车控制器检测到的档位信息不是空档，因而不能产生空档信号，此时发动机无法正常启动，此时可以在仪表屏处产生声光报警，并在显示屏上显示发动机无法正常启动的原因，从而提示用户将手柄挂入空档。
作为本公开的一种实施例，本公开实施例提供的启动控制方法还包括：
确定获取的所述启动请求信号，是否对应于满足所述预设启动条件；
若连续确定获取的所述启动请求信号，对应于不满足所述预设启动条件的次数超出预设次数，触发所述仪表屏响应于第二警报信息，并在预设时长内限制所述控制按键在触发后产生所述启动请求信号，所述第二警报信息为包含提示在所述预设时长内限制所述发动机启动的警报信息。
具体地，通过在连续确定获取的启动请求信号对应于不满足预设启动条件的次数超出预设次数时，触发仪表屏响应于包含提示在预设时长内限制发动机启动的第二警报信息，并在预设时长内限制控制按键在触发后产生启动请求信号，可以通过启动次数的限制来放置ECU和启动马达因多次启动而损坏。
例如：如图5所示，以预设次数为3次，预设时长为2分钟为例，作业机械已上电，发动机准备启机时，第一次按动控制按键后，若急停开关没有释放，则会在仪表屏的位置报警产生声光报警，提示司机释放急停开关；若手柄或变速箱反馈的空挡信号不满足，则也会在仪表屏的位置产生声光报警，并提示司机将档位挂入空挡，同时，第一次启动失败。
反之，若急停开关释放以及档位满足空挡，则满足预设启动条件，发动机正常启机。
同理，第二次以及第三次按动控制按键后，若急停释放开关没有释放，或者手柄以及变速箱反馈的空挡信号不满足，则第二次启动失败。反之，发动机正常启机。
当第四次按动控制按键后，仪表屏处产生声光报警，提示司机过两分钟再进行启机操作。
作为本公开的一种实施例，本公开实施例提供的启动控制方法还包括：
在所述发动机启动后，检测所述发动机的转速是否大于或等于第一预设转速阈值；
若所述发动机的转速大于或等于所述第一预设转速阈值，则控制启动继电器断开。
可以理解的是，如图6所示，启动马达的控制原理为：
启动过程：启动继电器7吸合后，电磁开关8闭合，使电枢9得电旋转，传动拨叉10推动离合器11左移，进而使离合器上的驱动齿轮12与发动机的飞轮齿圈13啮合，发动机曲轴运转，发动机启动。
停止过程：启动继电器7断开，电磁开关6在回位弹簧14的作用下断开，使电枢9失电停止旋转，传动拨叉10推动离合器11右移，进而驱动齿轮12与发动机的飞轮齿圈13脱开，马达停止转动。
需要说明的是，在发动机成功启机之后，需要立即切断启动马达的电源。因为以装载机为例，发动机启动之后的转速可以达到1200RPM/min，而离合器11的驱动齿轮12和飞轮齿圈13的齿轮比约为1：15，若启机成功之后不立即切断电源，飞轮齿圈13会带动驱动齿轮12飞转，使得驱动齿轮12的转速达到1万转以上，离合器轴承易断裂，且离合器11飞转线圈产生电流过大易烧毁线路。
具体地，作业机械通过整车控制器在发动机启动后，检测发动机的转速是否大于或等于第一预设转速阈值，即发动机的转速大于或等于第一预设转速阈值时，控制启动继电器断开。
更具体地，还可以通过检测发电机是否处于发电状态或发动机的机油压力是否大于或等于第一预设油压阈值，来判断是否需要断开启动继电器，即在作业机械的运行状态发动机的转速大于或等于第一预设转速阈值、发电机处于发电状态，以及发动机的机油压力大于或等于第一预设油压阈值中的任一状态时，控制启动继电器断开，实现了在判定发动机已经正常启动的情况下，可以将启动继电器及时断开，从而避免飞轮齿圈带动驱动齿轮飞转，保证了作业机械的启动和运转安全。
作为本公开的一种实施例，本公开实施例提供的启动控制方法还包括：
在所述发动机启动后，接收到所述启动请求信号时，检测所述发动机的转速是否大于或等于第二预设转速阈值；
若所述发动机的转速大于或等于所述第二预设转速阈值，则触发所述仪表屏响应于第三警报信息，所述第三警报信息为包含提示限制启机操作的警报信息。
可以理解的是，如图5所示，当发动机成功启动之后，若再按动控制按键，起动继电器7闭合，电磁开关8闭合，传动拨叉10推动离合器11左移，启动马达的驱动齿轮12与飞轮齿圈13啮合，飞轮齿圈13此时转速过高，启动马达的驱动齿轮12与其接触易打坏驱动齿轮12和飞轮齿圈13。
具体地，作业机械通过在发动机启动后，整车控制器再次接收到启动请求信号，即控制按钮再次被按动时，检测发动机的转速是否大于或等于第二预设转速阈值，并在发动机的转速大于或等于第二预设 转速阈值时，触发仪表屏响应于包含提示限制启机操作的警报信息的第三警报信息，以提醒用户停止错误操作。
更具体地，当发动机转速大于或第二预设转速阈值时，说明发动机转速达到了设定转速，发电机可以带动整个回路供电，，且缸体工作润滑正常，因而，此时蓄电池的电压应该大于或等于预设电压阈值，发动机的机油压力应该大于或等于第二预设油压阈值。所以，为了进一步提高检测的准确性，可以在检测到发动机的转速大于或等于第二预设转速阈值，蓄电池的电压大于或等于预设电压阈值，且发动机的机油压力大于或等于第二预设油压阈值时，再触发仪表屏响应于包含提示限制启机操作的第三警报信息，从而有效避免驱动齿轮与飞轮齿圈啮合，并提醒用户停止错误操作，进一步保证作业机械启动和运转的安全。
作为本公开的一种实施例，所述响应于所述上电请求信号，控制所述电源继电器吸合，包括：
响应于所述上电请求信号，触发显示屏点亮，并显示密码输入界面；
获取在所述显示屏上输入的密码，并在判定所述密码为预设密码时，控制所述电源继电器吸合。
具体地，通过获取显示屏上输入的密码，可以限制作业机械的非法使用，从而提高基于按键启动的作业机械的使用安全。
作为本公开的一种实施例，所述预设密码包括机主密码、机手密码和转运密码；
所述在判定所述密码为预设密码时，控制所述电源继电器吸合后，还包括：
若所述密码为所述机主密码，则在所述电源继电器处于吸合状态的过程中，实时判断是否接收到密码设置指令或限定时长设置指令， 且在判定接收到所述密码设置指令时，触发所述显示屏显示密码设置界面，在判定接收到所述限定时长设置指令时，触发所述显示屏显示限定时长设置界面；
若所述密码为所述机手密码，则在所述电源继电器处于吸合状态的过程中，实时判断是否接收到所述预设时长设置指令，且在判定接收到所述限定时长设置指令时，触发所述显示屏显示限定时长设置界面；
若所述密码为所述转运密码，则控制所述电源继电器在达到预设的限定时长时断开。
具体地，通过将预设密码设置为包括机主密码、机手密码和转运密码三种，可以基于不同种类的预设密码，为操作作业机械提供不同的权限。其中，机主密码、机手密码和转运密码的权限依次降低。例如：机主可以设置为唯一的一个，具有最高的控制权限，即不仅可以操作作业机械的启动，还可以用于机手密码以及转运密码的设置；机手密码可以设置为多个，具有一般的控制权限，即可以在输入机手密码后，正常启动作业机械进行作业；而转运密码的控制权限较低，也可以设置多个，用于在预设的限定时长内正常启动和操作作业机械。
更具体地，机手密码还可以用于设定转运密码，以及修改对应于转运密码的限定时长。同时，为了提高作业机械使用的安全性，可以设置转运密码为使用后即失效。
下面对本公开提供的一种启动控制系统进行描述，下文描述的一种启动控制系统与上文描述的一种启动控制方法可相互对应参照。
本公开提供的一种启动控制系统，如图7所示，包括：获取模块710、判断模块720和处理模块730；其中，
获取模块710用于通过CAN总线获取控制按键经触发产生的启动请求信号；
判断模块720用于响应于所述启动请求信号，通过所述CAN总线获取当前的控制信号，并判断所述控制信号是否满足预设启动条件，所述预设启动条件为：基于手柄位置获取到空档信号、基于急停开关位置获取到释放信号、基于电源继电器的输出获取到预设电信号，以及基于变速箱控制器的反馈获取到低电平信号；
处理模块730用于在所述控制信号满足所述预设启动条件时，生成启动满足信号，并通过CAN总线向ECU发送，以使所述ECU控制发动机启动。
本公开实施例提供的启动控制系统，作业机械通过CAN总线获取控制按键经触发产生的启动请求信号，然后响应于启动请求信号，通过CAN总线获取当前的控制信号，并在判定控制信号满足预设启动条件，即基于手柄位置获取到空档信号、基于急停开关位置获取到释放信号、基于电源继电器的输出获取到预设电信号，以及基于变速箱控制器的反馈获取到低电平信号时，生成启动满足信号，并通过CAN总线向ECU发送，以使所述ECU控制发动机启动。实现通过CAN总线的方式的作业机械启动控制保护策略，避免了基于钥匙开关对作业机械进行启动控制保护所需使用的复杂继电器控制和线路，减少了继电器的使用和线路的复杂度，使得启动故障发生率降低，提高了启动控制的可靠性高。
优选的是，获取模块还通过CAN总线获取所述控制按键经触发产生的上电请求信号，处理模块还用于响应于所述上电请求信号，控制所述电源继电器吸合。
优选的是，判断模块具体用于获取整车控制器检测的所述变速箱控制器反馈的换档手柄的档位信息和操作手柄的档位信息，以及所述急停开关的位置信息；获取电源管理模块响应于所述启动请求信号，检测的所述电源继电器的输出电信号和所述变速箱控制器反馈的电 平控制信号。
优选的是，处理模块还用于在所述控制信号不满足所述预设启动条件时，触发所述作业机械的仪表屏响应于第一警报信息，所述第一警报信息为包含提示启动失败原因的警报信息。
优选的是，判断模块还用于确定获取的所述启动请求信号，是否对应于满足所述预设启动条件；且在连续确定获取的所述启动请求信号，对应于不满足所述预设启动条件的次数超出预设次数时，使所述处理模块触发所述仪表屏响应于第二警报信息，并在预设时长内限制所述控制按键在触发后产生所述启动请求信号，所述第二警报信息为包含提示在所述预设时长内限制所述发动机启动的警报信息。
优选的是，处理模块还用于在所述发动机启动后，检测所述发动机的转速是否大于或等于第一预设转速阈值；且在所述发动机的转速大于或等于所述第一预设转速阈值时，控制启动继电器断开。
优选的是，处理模块还用于在所述发动机启动后，在接收到所述启动请求信号时，检测所述发动机的转速是否大于或等于第二预设转速阈值，且在所述发动机的转速大于或等于所述第二预设转速阈值时，触发所述仪表屏响应于第三警报信息，所述第三警报信息为包含提示限制启机操作的警报信息。
优选的是，处理模块还用于响应于所述上电请求信号，触发显示屏点亮，并显示密码输入界面，并获取在所述显示屏上输入的密码，并在判定所述密码为预设密码时，控制所述电源继电器吸合。
优选的是，所述预设密码包括机主密码、机手密码和转运密码；处理模块还用于在所述密码为所述机主密码时，在所述电源继电器处于吸合状态的过程中，实时判断是否接收到密码设置指令或限定时长设置指令，且在判定接收到所述密码设置指令时，触发所述显示屏显示密码设置界面，在判定接收到所述限定时长设置指令时，触发所述 显示屏显示限定时长设置界面；在所述密码为所述机手密码时，在所述电源继电器处于吸合状态的过程中，实时判断是否接收到所述限定时长设置指令，且在判定接收到所述限定时长设置指令时，触发所述显示屏显示限定时长设置界面；并在所述密码为所述转运密码时，控制所述电源继电器在达到预设的限定时长时断开。
本公开实施例还提供一种包括如上述任一种实施例所提供的启动控制系统的作业机械。
可以理解的是，包括如上述任一实施例所提供的启动控制系统的作业机械，具有所述启动控制系统的所有优点和技术效果，此处不再赘述。
具体地，所述作业机械可以为装载机、起重机等。
图8示例了一种电子设备的实体结构示意图，如图8所示，该电子设备可以包括：处理器(processor)810、通信接口(Communications Interface)820、存储器(memory)830和通信总线840，其中，处理器810，通信接口820，存储器830通过通信总线840完成相互间的通信。处理器810可以调用存储器830中的逻辑指令，以执行一种启动控制方法，所述方法包括：通过CAN总线获取控制按键经触发产生的启动请求信号；响应于所述启动请求信号，通过所述CAN总线获取当前的控制信号，并判断所述控制信号是否满足预设启动条件，所述预设启动条件为：基于手柄位置获取到空档信号、基于急停开关位置获取到释放信号、基于电源继电器的输出获取到预设电信号，以及基于变速箱控制器的反馈获取到低电平信号；若所述控制信号满足所述预设启动条件，生成启动满足信号，并通过CAN总线向ECU发送，以使所述ECU控制发动机启动。
此外，上述的存储器830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现有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，本公开还提供一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各方法所提供一种启动控制方法，所述方法包括：通过CAN总线获取控制按键经触发产生的启动请求信号；响应于所述启动请求信号，通过所述CAN总线获取当前的控制信号，并判断所述控制信号是否满足预设启动条件，所述预设启动条件为：基于手柄位置获取到空档信号、基于急停开关位置获取到释放信号、基于电源继电器的输出获取到预设电信号，以及基于变速箱控制器的反馈获取到低电平信号；若所述控制信号满足所述预设启动条件，生成启动满足信号，并通过CAN总线向ECU发送，以使所述ECU控制所述作业机械的发动机启动。
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一种启动控制方法，所述方法包括：通过CAN总线获取控制按键经触发产生的启动请求信号；响应于所述启动请求信号，通过所述CAN总线获取当前的控制信号，并判断所述控制信号是否满足预设启动条件，所述预设启动条件为：基于手柄位置获取到空档信号、基于急停开关位置获 取到释放信号、基于电源继电器的输出获取到预设电信号，以及基于变速箱控制器的反馈获取到低电平信号；若所述控制信号满足所述预设启动条件，生成启动满足信号，并通过CAN总线向ECU发送，以使所述ECU控制发动机启动。
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现有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 (13)

  1. 一种启动控制方法，包括：
    通过CAN总线获取控制按键经触发产生的启动请求信号；
    响应于所述启动请求信号，通过所述CAN总线获取当前的控制信号，并判断所述控制信号是否满足预设启动条件，所述预设启动条件为：基于手柄位置获取到空档信号、基于急停开关位置获取到释放信号、基于电源继电器的输出获取到预设电信号，以及基于变速箱控制器的反馈获取到低电平信号；
    若所述控制信号满足所述预设启动条件，生成启动满足信号，并通过CAN总线向ECU发送，以使所述ECU控制发动机启动。
  2. 根据权利要求1所述的启动控制方法，在所述通过CAN总线获取控制按键经触发产生的启动请求信号前，还包括：
    通过CAN总线获取所述控制按键经触发产生的上电请求信号；
    响应于所述上电请求信号，控制所述电源继电器吸合。
  3. 根据权利要求1所述的启动控制方法，其中，所述通过所述CAN总线获取当前的控制信号，包括：
    获取整车控制器响应于所述启动请求信号，检测的所述变速箱控制器反馈的换档手柄的档位信息和操作手柄的档位信息，以及所述急停开关的位置信息；
    获取电源管理模块响应于所述启动请求信号，检测的所述电源继电器的输出电信号和所述变速箱控制器反馈的电平控制信号。
  4. 根据权利要求1所述的启动控制方法，还包括：
    若所述控制信号不满足所述预设启动条件，触发仪表屏响应于第一警报信息，所述第一警报信息为包含提示启动失败原因的警报信息。
  5. 根据权利要求4所述的启动控制方法，还包括：
    确定获取的所述启动请求信号，是否对应于满足所述预设启动条 件；
    若连续确定获取的所述启动请求信号，对应于不满足所述预设启动条件的次数超出预设次数，触发所述仪表屏响应于第二警报信息，并在预设时长内限制所述控制按键在触发后产生所述启动请求信号，所述第二警报信息为包含提示在所述预设时长内限制所述发动机启动的警报信息。
  6. 根据权利要求1所述的启动控制方法，还包括：
    在所述发动机启动后，检测所述发动机的转速是否大于或等于第一预设转速阈值；
    若所述发动机的转速大于或等于所述第一预设转速阈值，则控制启动继电器断开。
  7. 根据权利要求1所述的启动控制方法，还包括：
    在所述发动机启动后，接收到所述启动请求信号时，检测所述发动机的转速是否大于或等于第二预设转速阈值；
    若所述发动机的转速大于或等于所述第二预设转速阈值，则触发所述仪表屏响应于第三警报信息，所述第三警报信息为包含提示限制启机操作的警报信息。
  8. 根据权利要求2所述的启动控制方法，其中，所述响应于所述上电请求信号，控制所述电源继电器吸合，包括：
    响应于所述上电请求信号，触发显示屏点亮，并显示密码输入界面；
    获取在所述显示屏上输入的密码，并在判定所述密码为预设密码时，控制所述电源继电器吸合。
  9. 根据权利要求8所述的启动控制方法，其中，所述预设密码包括机主密码、机手密码和转运密码；
    所述在判定所述密码为预设密码时，控制所述电源继电器吸合后， 还包括：
    若所述密码为所述机主密码，则在所述电源继电器处于吸合状态的过程中，实时判断是否接收到密码设置指令或限定时长设置指令，且在判定接收到所述密码设置指令时，触发所述显示屏显示密码设置界面，在判定接收到所述限定时长设置指令时，触发所述显示屏显示限定时长设置界面；
    若所述密码为所述机手密码，则在所述电源继电器处于吸合状态的过程中，实时判断是否接收到所述限定时长设置指令，且在判定接收到所述限定时长设置指令时，触发所述显示屏显示限定时长设置界面；
    若所述密码为所述转运密码，则控制所述电源继电器在达到预设的限定时长时断开。
  10. 一种启动控制系统，包括：
    获取模块，用于通过CAN总线获取控制按键经触发产生的启动请求信号；
    判断模块，用于响应于所述启动请求信号，通过所述CAN总线获取当前的控制信号，并判断所述控制信号是否满足预设启动条件，所述预设启动条件为：基于手柄位置获取到空档信号、基于急停开关位置获取到释放信号、基于电源继电器的输出获取到预设电信号，以及基于变速箱控制器的反馈获取到低电平信号；
    处理模块，用于在所述控制信号满足所述预设启动条件时，生成启动满足信号，并通过CAN总线向ECU发送，以使所述ECU控制发动机启动。
  11. 一种作业机械，包括如权利要求10所述的启动控制系统。
  12. 一种电子设备，包括：
    处理器；以及
    存储器，存储了可在所述处理器上运行的计算机程序，其中所述程序在由所述处理器执行时执行如权利要求1至9任一项所述的启动控制方法。
  13. 一种非暂态计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时执行如权利要求1至9任一项所述的启动控制方法。
PCT/CN2023/082251 2022-09-05 2023-03-17 启动控制方法、系统及作业机械 WO2024051141A1 (zh)

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