Suspension grouping method and device, controller, engineering vehicle and storage medium

Abstract

The embodiment of the invention provides a suspension grouping method and device, a controller, an engineering vehicle and a storage medium. The method comprises the steps that after an engine of the engineering vehicle is started, a suspension of the engineering vehicle is leveled when the engineering vehicle is in a horizontal state; the axle load of a single front axle and the axle load of a single rear axle of the engineering vehicle in the current suspension grouping mode are determined; obtaining the number of front axles and the number of rear axles; determining the whole vehicle weight of the engineering vehicle according to the number of the front axles, the axle load of the single front axle, the number of the rear axles and the axle load of the single rear axle; determining the center-of-gravity position of the engineering vehicle; according to the weight of the whole vehicle and the gravity center position, the axle load of the front axle and the axle load of the rear axle in other suspension grouping modes are calculated; and determining a target suspension grouping mode, wherein the absolute value of the difference value between the axle load of the single front axle and the axle load of the single rear axle is minimum. According to the technical scheme, the optimal suspension grouping mode can be automatically selected, and faults caused by overlarge axle load of a single axle are avoided.

Description

Technical Field

[0001] The present application relates to the field of construction machinery control, and particularly relates to a suspension grouping method, a controller, a device for suspension grouping, an engineering vehicle, and a machine-readable storage medium. Background Art

[0002] In some applications (such as the wind power field), the requirements for the lifting capacity of engineering cranes are getting higher and higher, which means that the load of engineering cranes is getting larger and larger, and the corresponding number of axles of the vehicle is increasing, resulting in an increasing number of suspension grouping states. In order to pursue construction efficiency, the demand for the heavy-load transfer driving condition of cranes is also increasing. If an appropriate suspension grouping state is not selected under different driving conditions, it may cause excessive single-axle load, and then faults such as deformation and fracture of the thrust rod and deformation of the vehicle bridge thrust rod support occur. Existing engineering vehicles such as all-terrain cranes use a manual switching driving condition method to switch the suspension grouping mode, and the number of driving conditions provided by current engineering vehicles is limited, and it can only switch between a limited number of driving conditions to achieve the purpose of selecting the suspension grouping mode, which cannot meet the requirements of engineering vehicles with a large number of axles. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to provide a suspension grouping method, a controller, a device for suspension grouping, an engineering vehicle, and a machine-readable storage medium.

[0004] To achieve the above purpose, the first aspect of the present application provides a suspension grouping method, which is applied to an engineering vehicle. The engineering vehicle includes multiple axles, and the suspension grouping method includes:

[0005] After the engine of the engineering vehicle is started, level the suspension of the engineering vehicle when the engineering vehicle is in a horizontal state;

[0006] Determine the first single-axle load of the front axle and the second single-axle load of the rear axle in the current suspension grouping mode of the engineering vehicle;

[0007] Obtain the first axle number of the front axle and the second axle number of the rear axle in the current suspension grouping mode;

[0008] Determine the vehicle weight of the engineering vehicle according to the first axle number, the first single-axle load, the second axle number, and the second single-axle load;

[0009] Determine the distance between the front axle center and the rear axle center according to the first axle number, the second axle number, and the distance between adjacent two axles among the multiple axles;

[0010] Determine the center-of-gravity position of the engineering vehicle according to the first axle number, the first single-axle load, the second axle number, the second single-axle load, and the distance between the front axle center and the rear axle center;

[0011] Calculate the first single axle load of the front axle and the second single axle load of the rear axle in other suspension grouping modes according to the vehicle weight and the center of gravity position.

[0012] Determine the suspension grouping mode with the smallest absolute value of the difference between the first single axle load and the second single axle load as the target suspension grouping mode.

[0013] In the embodiment of the present application, calculating the first single axle load of the front axle and the second single axle load of the rear axle in other suspension grouping modes according to the vehicle weight and the center of gravity position includes:

[0014] For any interested suspension grouping mode in other suspension grouping modes, determine the first number of axles of the front axle and the second number of axles of the rear axle in the interested suspension grouping mode;

[0015] Determine the first distance between the center of the front axle and the center of gravity position and the second distance between the center of the rear axle and the center of gravity position in the interested suspension grouping mode according to the center of gravity position;

[0016] Determine the first single axle load of the front axle and the second single axle load of the rear axle according to the vehicle weight, the first distance, the second distance, the first number of axles of the front axle, and the second number of axles of the rear axle in the interested suspension grouping mode.

[0017] In the embodiment of the present application, determining the first single axle load of the front axle and the second single axle load of the rear axle according to the vehicle weight, the first distance, the second distance, the first number of axles of the front axle, and the second number of axles of the rear axle in the interested suspension grouping mode includes determining the first single axle load of the front axle and the second single axle load of the rear axle according to the following formula:

[0018] M = aM f + bM r

[0019] aM f X f = bM r X r

[0020] Wherein, M is the vehicle weight, a is the first number of axles, b is the second number of axles, X f is the first distance, X r is the second distance, M f is the first single axle load, M r is the second single axle load.

[0021] In the embodiment of the present application, calculating the first single axle load of the front axle and the second single axle load of the rear axle in other suspension grouping modes according to the vehicle weight and the center of gravity position includes:

[0022] In the order from the suspension grouping mode with the least number of axles on the front axle to the suspension grouping mode with the most number of axles on the front axle, or in the order from the suspension grouping mode with the most number of axles on the front axle to the suspension grouping mode with the least number of axles on the front axle, calculate the first single-axle load of the front axle and the second single-axle load of the rear axle under each other suspension grouping mode in sequence;

[0023] Determine the target suspension grouping mode as the suspension grouping mode with the smallest absolute value of the difference between the first single-axle load and the second single-axle load, including:

[0024] Find the difference between the first single-axle load and the second single-axle load calculated each time;

[0025] When the sign of the difference between the first single-axle load and the second single-axle load calculated in the current calculation changes, determine the suspension grouping mode corresponding to the smaller value among the absolute value of the difference between the first single-axle load and the second single-axle load calculated in the current calculation and the absolute value of the difference between the first single-axle load and the second single-axle load corresponding to the previous suspension grouping mode of the suspension grouping mode corresponding to the current calculation as the target grouping mode.

[0026] In the embodiments of the present application, determining the first single-axle load of the front axle and the second single-axle load of the rear axle under the current suspension grouping mode of the engineering vehicle includes:

[0027] Obtain the pressure in the rodless cavity of the suspension cylinder detected by the pressure sensor of the suspension cylinder of any single axle arranged on the front axle / rear axle;

[0028] Determine the rigid-flexible mode of the suspension of the engineering vehicle;

[0029] Determine the first single-axle load / second single-axle load according to the pressure in the rodless cavity and the rigid-flexible mode of the suspension.

[0030] In the embodiments of the present application, determining the first single-axle load / second single-axle load according to the pressure in the rodless cavity and the rigid-flexible mode of the suspension includes:

[0031] When the rigid-flexible mode is in the flexible state, calculate the unsprung mass of a single axle according to formula (1):

[0032]

[0033] When the rigid-flexible mode is in the rigid state, calculate the unsprung mass of a single axle according to formula (2):

[0034]

[0035] where, m up$P_0$ is the axle load on the single bridge spring, $P_1$ is the pressure in the rodless cavity, $d$ is the diameter of the piston rod of the suspension cylinder, $\theta$ is the installation angle of the suspension cylinder at the middle position, $\alpha$ is the slope angle, and $D$ is the cylinder diameter of the rodless cavity;

[0036] Add the axle load on the single bridge spring and the axle load under the single bridge spring to obtain the first single axle load / the second single axle load, where the axle load under the single bridge spring is a known value.

[0037] The second aspect of the present application provides a controller configured to execute the above-mentioned suspension grouping method.

[0038] The third aspect of the present application provides a device for suspension grouping, which is applied to an engineering vehicle. The engineering vehicle includes multiple axles. The device includes:

[0039] Multiple pressure sensors are arranged at the suspension cylinders of each axle of the multiple axles for at least detecting the pressure in the rodless cavity of the suspension cylinder; and

[0040] The above-mentioned controller.

[0041] The fourth aspect of the present application provides an engineering vehicle, including:

[0042] Multiple axles; and

[0043] The above-mentioned device for suspension grouping.

[0044] In the embodiments of the present application, the engineering vehicle includes an all-terrain crane.

[0045] The fifth aspect of the present application provides a machine-readable storage medium, on which instructions are stored for causing a machine to execute the above-mentioned suspension grouping method.

[0046] The technical solution provided by the embodiments of the present application can automatically select the optimal suspension grouping mode without manually switching the suspension grouping mode according to the driving conditions, avoiding faults such as excessive single axle load leading to deformation and fracture of the thrust rod and deformation of the axle thrust rod support.

[0047] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification, which are used to explain the embodiments of the present invention together with the following specific implementation, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0049] Figure 1 Schematically shows a flowchart of the suspension grouping method according to an embodiment of the present application;

[0050] Figure 2 A schematic diagram showing a pressure sensor detecting the pressure of a single axle suspension cylinder in the suspension grouping method according to an embodiment of the present application. Detailed implementation manners

[0051] The following will describe in detail the specific implementation manners of the embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention.

[0052] It should be noted that the acquisition, transmission, storage, use, processing, etc. of data in the technical solution of the present application all comply with the relevant regulations of national laws and regulations. In the embodiments of the present application, some industry-existing solutions such as certain software, components, models, etc. may be mentioned, and they should be regarded as exemplary. The purpose is only to illustrate the feasibility in the implementation of the technical solution of the present application, but it does not mean that the applicant has already or necessarily used this solution.

[0053] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present application, then the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0054] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, then the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0055] Figure 1 A schematic flow diagram showing the suspension grouping method according to an embodiment of the present application is schematically shown. The suspension grouping method provided by the embodiments of the present application can be applied to engineering vehicles including multiple axles, especially heavy-duty engineering vehicles with a large number of axles. Examples of engineering vehicles may include, but are not limited to, engineering cranes, such as all-terrain cranes. Refer to Figure 1 , in the embodiments of the present application, the suspension grouping method may include the following steps.

[0056] In step S101, after the engine of the engineering vehicle is started, the suspension of the engineering vehicle is leveled when the engineering vehicle is in a horizontal state.

[0057] Specifically, in the embodiments of the present application, after the engineering vehicle is started, the engineering vehicle can be kept in a horizontal state (for example, driven to a flat road surface), and the suspension of the engineering vehicle can be leveled so that the vehicle weight is distributed as evenly as possible on each axle. Leveling the suspension can include automatic leveling and manual leveling. When the engineering vehicle is configured with an automatic leveling function, automatic leveling of the suspension can be performed, or optionally or alternatively, manual leveling can be used.

[0058] In step S102, the first single-axle load of the front axle and the second single-axle load of the rear axle in the current suspension grouping mode of the engineering vehicle are determined.

[0059] Specifically, in the embodiments of the present application, the first single-axle load (front axle single-axle load) and the second single-axle load (rear axle single-axle load) can be determined by the pressure in the rodless cavity of the suspension cylinder detected by a pressure sensor. Any single axle of multiple axles can include a left suspension cylinder and a right suspension cylinder, and one or more pressure sensors can be arranged at the left suspension cylinder and / or the right suspension cylinder to detect the pressure in the rodless cavity (P1) of the suspension cylinder and optionally detect the pressure in the rod end cavity (P2) of the suspension cylinder. In addition, the controller can obtain the stiffness-flexibility mode (support mode) of the suspension of the whole machine of the engineering vehicle. The stiffness-flexibility mode can include a flexible state (flexible support mode) and a rigid state (rigid support mode), and this mode is known.

[0060] Figure 2 Schematically showing an example of a diagram in which a pressure sensor detects the pressure of a single-axle suspension cylinder in the suspension grouping method of the embodiments of the present application. In Figure 2 where, P1 is the pressure in the rodless cavity, A1 is the cross-sectional area of the rodless cavity, A 1 =P 1 πD 2 / 4, P2 is the pressure in the rod end cavity, A2 is the cross-sectional area of the rod end cavity, A 2 =P 2 π(D 2 -d 2 ) / 4. As Figure 2 shown, when the suspension is in a flexible state, the left and right suspension cylinders of a single axle are cross-connected, P1 = P2, so the unsprung mass of a single axle can be calculated according to formula (1):

[0061]

[0062] where,

[0063] m up : the unsprung mass of a single axle (unit: Kg for example), that is, the load borne by the mounting point on the suspension cylinder;

[0064] P1: Pressure in the rodless cavity of the suspension cylinder;

[0065] d: Diameter of the piston rod of the suspension cylinder (unit: mm for example);

[0066] θ: Installation angle of the suspension cylinder when the piston rod of the suspension cylinder is in the middle position, that is, the included angle between the center line of the suspension cylinder and the vertical plane (unit: °); this parameter can be determined during the product design stage, and its value can be input into the controller.

[0067] α: Gradient angle (unit: °), that is, the gradient of the whole engineering vehicle relative to the horizontal plane. A calibrated level can be set on the whole vehicle, and the controller can read the gradient angle α provided by the level.

[0068] In the case where the suspension is in a rigid state, the pressure in the rod cavity under the measured rigid state can be ignored, that is, P2≈0. At this time, the unsprung mass of a single axle can be calculated according to formula (2):

[0069]

[0070] where D is the cylinder diameter of the rodless cavity of the suspension cylinder (unit: mm for example).

[0071] After calculating the unsprung mass of a single axle, the unsprung mass of a single axle can be added to the sprung mass of a single axle to obtain the axle load of a single axle, that is, m = m up +m down , where m is the axle load of a single axle, and m down is the unsprung mass of a single axle (unit: Kg for example), that is, the weight of the part at the lower installation point of the suspension cylinder, and this parameter is determined during the product design stage, and the value of this parameter can be input into the controller (such as the vehicle controller or a separate controller).

[0072] Thus, the front axle single-axle load M f and the rear axle single-axle load M r are obtained from the unsprung mass of a single axle calculated according to the unsprung mass calculation formula of a single axle under different suspension rigid-flexible modes and the known unsprung mass of a single axle.

[0073] In step S103, obtain the number of the first axles of the front axle and the number of the second axles of the rear axle under the current suspension grouping mode;

[0074] In step S104, determine the weight of the whole engineering vehicle according to the number of the first axles, the first single-axle load, the number of the second axles, and the second single-axle load;

[0075] In step S105, determine the distance between the front axle center and the rear axle center according to the number of the first axles, the number of the second axles, and the distance between two adjacent axles among multiple axles;

[0076] In step S106, the center of gravity position of the engineering vehicle is determined according to the number of the first axles, the axle load of each single axle of the first axles, the number of the second axles, the axle load of each single axle of the second axles, and the distance between the center of the front axle and the center of the rear axle.

[0077] Specifically, in the embodiment of the present application, the wheelbase between two adjacent axles of multiple axles is determined during the product design stage of the engineering vehicle. Assuming that the engineering vehicle includes n axles, the wheelbase between the axles can be expressed as follows:

[0078] L 12 : The wheelbase between the first and second axles, in mm;

[0079] L 23 : The wheelbase between the second and third axles, in mm; ...

[0081] L (n-1)n : The wheelbase between the (n - 1)th and nth axles, in mm

[0082] This wheelbase information can be input into the controller.

[0083] Correspondingly, the suspension grouping modes can include the following n - 1 types:

[0084] The first suspension grouping mode is: the number of front axles a = 1, and the number of rear axles b = n - 1;

[0085] The second suspension grouping mode is: the number of front axles a = 2, and the number of rear axles b = n - 2;

[0086] The third suspension grouping mode is: the number of front axles a = 3, and the number of rear axles b = n - 3; ...

[0088] The (n - 1)th suspension grouping mode is: the number of front axles a = n - 1, and the number of rear axles b = n - (n - 1)=1.

[0089] If the currently set suspension grouping mode by the controller is the i - th mode, the number of the first axles a of the front axle and the number of the second axles b of the rear axle in the current suspension grouping mode can be obtained, which is expressed as follows:

[0090] a = i, b = n - i

[0091] Select a reference point (for example, based on the first axle at the front of the engineering vehicle), and in the current suspension grouping mode, the distance L between the center of the front axle and the first axle f is:

[0092] L f =(L 12 +L 23 +…+L (i-1)i ) / 2

[0093] The distance L between the center of the rear axle and the first axle r is:

[0094] L r = L 12 + L 23 +…+ L (i-1)i +(L (i+1)(i+2) +…+ L (n-2)(n-1) + L (n-1)n ) / 2

[0095] Then the distance X between the center of the front axle and the center of the rear axle is:

[0096] X = L r - L f

[0097] According to the single-axle load of the front axle and the rear axle obtained in the above manner, the vehicle mass M of the engineering vehicle can be obtained as follows:

[0098] M = aM fi + bM ri Formula (3)

[0099] where a is the number of axles of the front axle, b is the number of axles of the rear axle, M fi is the single-axle load of the front axle under the current suspension grouping mode, and M ri is the single-axle load of the rear axle under the current suspension grouping mode.

[0100] In addition, according to the principle of moment balance, there is:

[0101] aM fi X f = bM ri X r Formula (4)

[0102] The distance between the center of the front axle and the center of the rear axle also satisfies:

[0103] X = X f + X r Formula (5)

[0104] where X f is the distance between the center of the front axle and the center of gravity of the engineering vehicle (unit: mm for example), and X r is the distance between the center of the rear axle and the center of gravity of the engineering vehicle (unit: mm for example).

[0105] In Formulas (4) and (5), except for X f and X r , other parameters are known. According to Formulas (4) and (5), X f and X can be obtainedr , the center of gravity position of the construction vehicle can be obtained from this.

[0106] For example, still taking the first axle as the reference, in this current suspension grouping mode, the distance L between the center of gravity position and the first axle is:

[0107] L = L f + X f

[0108] In step S107, according to the vehicle weight and the center of gravity position, calculate the first single-axle load of the front axle and the second single-axle load of the rear axle under other suspension grouping modes.

[0109] Specifically, after determining the vehicle weight M and the center of gravity position (for example, the distance L relative to the first axle), they can be used to calculate the single-axle load of the front axle and the single-axle load of the rear axle under other suspension grouping modes. For example, assume any interested suspension grouping mode under other suspension grouping modes, denoted as the j-th mode. In the j-th suspension grouping mode:

[0110] Number of front axles: a = j; Number of rear axles: b = n - j;

[0111] The distance between the center of the front axle and the first axle is: L f =(L 12 + L 23 +…+ L (j-1)j ) / 2;

[0112] The distance between the center of the rear axle and the first axle is: L r = L 12 + L 23 +…+ L (j-1)j +(L (j+1)(j+2) +…+ L (n-2)(n-1) + L (n-1)n ) / 2;

[0113] The distance between the center of the front axle and the center of the rear axle: X = L r - L f ;

[0114] According to the calculated distance L between the center of gravity position and the first axle, the distance X between the center of the front axle and the center of gravity position can be obtained f = L - L f ; and from this, the distance X between the center of the rear axle and the center of gravity position can be obtained r = X - X f .

[0115] For the a, b, vehicle weight M in the j-th suspension grouping mode and the obtained X f and X rSubstituting into Formula (3) and Formula (4), the single-axle load M of the front axle under this suspension grouping mode can be calculated fj and the single-axle load M of the rear axle rj .

[0116] Replace the suspension grouping mode, and calculate the single-axle load of the front axle and the single-axle load of the rear axle under each suspension grouping mode in the above manner.

[0117] In step S108, the suspension grouping mode with the smallest absolute value of the difference between the first single-axle load and the second single-axle load is determined as the target suspension grouping mode.

[0118] Specifically, in the embodiment of the present application, after calculating the single-axle load of the front axle and the single-axle load of the rear axle under all other suspension grouping modes except the current suspension grouping mode, the absolute value of the difference between the single-axle load of the front axle and the single-axle load of the rear axle under each suspension grouping mode can be calculated. The absolute values of the differences between the single-axle load of the front axle and the single-axle load of the rear axle under all n - 1 suspension grouping modes (including the current suspension grouping mode) can be expressed as the following set:

[0119] {|M f1 -M r1 |,|M f2 -M r2 |,|M f3 -M r3 |,…,|M f(n-1) -M r(n-1) |}

[0120] Select the suspension grouping mode corresponding to the smallest absolute value of the difference from this set as the target suspension grouping mode.

[0121] After determining the target suspension grouping mode, the controller can output a corresponding execution instruction according to this suspension grouping mode, that is, the controller can control the relevant hydraulic valves to be connected and / or shut off according to the number of vehicles on the front axle and the number of vehicles on the rear axle in the current suspension grouping mode, so as to group multiple axles according to the target suspension grouping mode.

[0122] In the replaceable embodiment of the present application, the determination method of the target suspension grouping mode can be optimized. Specifically, calculating the first single-axle load of the front axle and the second single-axle load of the rear axle under other suspension grouping modes according to the vehicle weight and the center-of-gravity position may include:

[0123] In the order from the suspension grouping mode with the least number of axles on the front axle to the suspension grouping mode with the most number of axles on the front axle or in the order from the suspension grouping mode with the most number of axles on the front axle to the suspension grouping mode with the least number of axles on the front axle, calculate the first single-axle load of the front axle and the second single-axle load of the rear axle under each other suspension grouping mode in turn;

[0124] Determining the target suspension grouping mode with the smallest absolute value of the difference between the first single-axle load and the second single-axle load of the vehicle can include:

[0125] Calculating the difference between the first single-axle load and the second single-axle load calculated each time;

[0126] When the sign of the difference between the first single-axle load and the second single-axle load calculated in the current calculation changes, determining the suspension grouping mode corresponding to the smaller of the absolute value of the difference between the first single-axle load and the second single-axle load calculated in the current calculation and the absolute value of the difference between the first single-axle load and the second single-axle load corresponding to the previous suspension grouping mode of the suspension grouping mode corresponding to the current calculation as the target grouping mode.

[0127] For example, taking the order from the suspension grouping mode with the fewest axle numbers of the front axle to the suspension grouping mode with the most axle numbers of the front axle as an example, after determining the vehicle weight and the position of the center of gravity under the current suspension grouping mode (for example, the i-th suspension grouping mode), the single-axle load of the front axle (M f1 ) and the single-axle load of the rear axle (M r1 ) under this suspension grouping mode can be calculated starting from the first suspension grouping mode, and then the difference E 1 = M f1 - M r1 . Next, calculate the single-axle load of the front axle (M f2 ) and the single-axle load of the rear axle (M r2 ) under the second suspension grouping mode, and calculate the difference E 2 = M f2 - M r2 . Determine whether the signs of E 2 and E 1 are the same. If they are the same, continue to calculate the difference (E 3 ) under the next (the third) suspension grouping mode. Assume that the sign of the difference E j calculated under the j-th suspension grouping mode changes (for example, the previous difference is positive and E j is negative, or the previous difference is negative and E j is positive), then the absolute value of this E j can be compared with the difference E j-1 calculated under the previous suspension grouping modeCompare the absolute values of these two, and determine the suspension grouping mode corresponding to the smaller of the two as the target grouping mode. In this alternative embodiment, as long as the difference flips, it can be considered that the target suspension grouping mode (or the optimal suspension grouping mode) is generated in one of these two suspension grouping modes. It should be noted that if the previous suspension grouping mode of the j-th suspension grouping mode is the current suspension grouping mode (i.e., the i-th suspension grouping mode), then select the suspension grouping mode with the smallest absolute value of the difference between the single-bridge axle load of the front axle and the single-bridge axle load of the rear axle from the i-th suspension grouping mode and the j-th suspension grouping mode as the target suspension grouping mode.

[0128] In an embodiment of the present application, a controller is provided, which is configured to execute the suspension grouping method of any of the above embodiments.

[0129] In an embodiment of the present application, a device for suspension grouping is provided, which is applied to an engineering vehicle. The engineering vehicle includes multiple axles. The device may include:

[0130] Multiple pressure sensors are arranged at the suspension cylinders of each of the multiple axles, and are used to detect at least the pressure in the rodless cavity of the suspension cylinder; and

[0131] The controller of the above embodiment.

[0132] In an embodiment of the present application, an engineering vehicle is provided, including:

[0133] Multiple axles; and

[0134] The device for suspension grouping of the above embodiment.

[0135] In an embodiment of the present application, the engineering vehicle may include an all-terrain crane.

[0136] In an embodiment of the present application, a machine-readable storage medium is provided. Instructions are stored on the machine-readable storage medium, and the instructions are used to cause the machine to execute the suspension grouping method of any of the above embodiments.

[0137] The technical solution provided by the embodiments of the present application can automatically select the optimal suspension grouping mode without manually switching the suspension grouping mode according to the driving conditions, avoiding faults such as excessive single-bridge axle load leading to deformation and fracture of the thrust rod and deformation of the vehicle bridge thrust rod support. In addition, this technical solution allows users to select a variety of driving conditions by themselves, improving the construction efficiency of users.

[0138] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) that contain computer-usable program code.

[0139] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one or more of the processes Figure 1 or multiple processes and / or blocks.

[0140] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means realizes the functions specified in Figure 1 one or more of the processes Figure 1 or multiple processes and / or blocks.

[0141] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in Figure 1 one or more of the processes Figure 1 or multiple processes and / or blocks.

[0142] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0143] The memory may include non-permanent memory in the computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0144] A computer-readable medium includes permanent and non-permanent, removable and non-removable media and can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0145] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0146] The above are only embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A suspension grouping method, applied to engineering vehicles, characterized in that: The engineering vehicle includes a plurality of axles, and the suspension grouping method includes: After the engine of the engineering vehicle is started, leveling the suspension of the engineering vehicle when the engineering vehicle is in a horizontal state; Determine a first single-vehicle axle load of the front axle and a second single-vehicle axle load of the rear axle in a current suspension grouping mode of the engineering vehicle; Obtaining the first axle number of the front axle and the second axle number of the rear axle in the current suspension grouping mode; Determine the vehicle weight of the engineering vehicle according to the first number of axles, the first single axle load, the second number of axles, and the second single axle load; Determine the distance between the center of the front axle and the center of the rear axle according to the number of the first axles, the number of the second axles, and the distance between two adjacent axles in the plurality of axles; Determine the center of gravity position of the engineering vehicle according to the first number of axles, the first single axle load, the second number of axles, the second single axle load, and the distance between the center of the front axle and the center of the rear axle; Calculate a first single-vehicle axle load of the front axle and a second single-vehicle axle load of the rear axle in other suspension grouping modes according to the vehicle weight and the center of gravity position; The suspension grouping pattern in which the absolute value of the difference between the first single-axle load and the second single-axle load is minimized is determined as the target suspension grouping pattern.

2. The suspension grouping method according to claim 1, characterized in that: The calculating, according to the vehicle weight and the center of gravity position, a first single-vehicle axle load of the front axle and a second single-vehicle axle load of the rear axle in other suspension grouping modes includes: For any suspension grouping mode of interest in other suspension grouping modes, determining a first axle quantity of the front axle and a second axle quantity of the rear axle in the suspension grouping mode of interest; Determine, according to the center of gravity position, a first distance between a front axle center and the center of gravity position and a second distance between a rear axle center and the center of gravity position in the suspension grouping mode of interest; A first single axle load of the front axle and a second single axle load of the rear axle are determined according to the vehicle weight, the first distance, the second distance, the first axle quantity of the front axle and the second axle quantity of the rear axle in the suspension grouping mode of interest.

3. The suspension grouping method according to claim 2, characterized in that: Determining the first single axle load of the front axle and the second single axle load of the rear axle according to the vehicle weight, the first distance, the second distance, the first axle number of the front axle and the second axle number of the rear axle in the suspension grouping mode of interest includes determining the first single axle load of the front axle and the second single axle load of the rear axle according to the following formula: M=aM f +bM r aM f X f =bM r X r Wherein, M is the weight of the vehicle, a is the number of the first axles, b is the number of the second axles, and X f is the first distance, X r is the second distance, M f is the first single-vehicle axle load, M r It is the axle load of the second single vehicle bridge.

4. The suspension grouping method according to claim 1, characterized in that: The calculating, according to the vehicle weight and the center of gravity position, a first single-vehicle axle load of the front axle and a second single-vehicle axle load of the rear axle in other suspension grouping modes includes: Calculate the first single axle load of the front axle and the second single axle load of the rear axle in each other suspension grouping mode in sequence from the suspension grouping mode with the least number of axles of the front axle to the suspension grouping mode with the most number of axles of the front axle or from the suspension grouping mode with the most number of axles of the front axle to the suspension grouping mode with the least number of axles of the front axle; The step of determining the suspension grouping mode with the smallest absolute value of the difference between the first single-vehicle axle load and the second single-vehicle axle load as the target suspension grouping mode includes: The difference between the first single-vehicle axle load and the second single-vehicle axle load calculated each time is calculated; In the event that the sign of the difference between the first single-vehicle axle load and the second single-vehicle axle load calculated currently is reversed, the suspension grouping mode corresponding to the smaller of the absolute value of the difference between the first single-vehicle axle load and the second single-vehicle axle load calculated currently and the absolute value of the difference between the first single-vehicle axle load and the second single-vehicle axle load corresponding to the previous suspension grouping mode of the suspension grouping mode corresponding to the current calculation is determined as the target grouping mode.

5. The suspension grouping method according to claim 1, characterized in that: Determining a first single-vehicle axle load of a front axle and a second single-vehicle axle load of a rear axle in a current suspension grouping mode of the engineering vehicle comprises: Obtaining the rodless chamber pressure of the suspension oil cylinder detected by a pressure sensor of the suspension oil cylinder of any single axle of the front axle / rear axle; Determining the rigidity and flexibility mode of the suspension of the engineering vehicle; The first single-vehicle axle load / the second single-vehicle axle load is determined according to the rodless cavity pressure and the suspension rigidity-flexibility mode.

6. The suspension grouping method according to claim 5, characterized in that: The determining of the first single-vehicle axle load / the second single-vehicle axle load according to the rodless cavity pressure and the suspension rigid-flexible mode includes: When the rigid-flexible mode is in the flexible state, the axle load on the single bridge spring is calculated according to formula (1): When the rigid-flexible mode is in a rigid state, the axle load on the single bridge spring is calculated according to formula (2): Among them, m up is the axle load on the single bridge spring, P1 is the pressure of the rodless chamber, d is the diameter of the piston rod of the suspension cylinder, θ is the installation angle of the suspension cylinder in the middle position, α is the slope angle, and D is the cylinder diameter of the rodless chamber; The single bridge sprung axle load and the single bridge unsprung axle load are added together to obtain the first single vehicle axle load / the second single vehicle axle load, wherein the single bridge unsprung axle load is a known value.

7. A controller, characterized in that: The method is configured to execute the suspension grouping method according to any one of claims 1 to 6.

8. A device for suspension grouping, applied to engineering vehicles, characterized in that: The engineering vehicle comprises a plurality of axles, and the device comprises: a plurality of pressure sensors, disposed at the suspension cylinder of each of the plurality of axles, for detecting at least the rodless chamber pressure of the suspension cylinder; and A controller according to claim 7.

9. An engineering vehicle, characterized in that: include: Multiple axles; as well as The device for suspension grouping according to claim 8.

10. The engineering vehicle according to claim 9, characterized in that: The construction vehicle comprises an all terrain crane.

11. A machine-readable storage medium having instructions stored thereon, characterized in that: The instructions are used to enable a machine to execute the suspension grouping method according to any one of claims 1 to 6.

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