Engineering machinery cooperative control system and method

Abstract

The invention relates to a cooperative control system and method for engineering machinery, which are mainly used for solving the problem that the influence of the power-on and power-off states of a whole vehicle on a power supply path is not considered when cooperative control is carried out on charging and other operation of the existing pure electric engineering machinery. And the charging control cannot be intelligently adjusted. The engineering machinery cooperative control system comprises a whole vehicle control unit, a battery management unit, a direct current charging unit, an alternating current charging unit, a cab power-on and power-off unit, a loading operation room power-on and power-off unit and a starting unit. According to the system, power-on and power-off requests of the cab and the loading operation room are dispatched in a unified mode through the whole vehicle control unit, the priority of power-on and power-off of the whole vehicle is dynamically distributed according to power-on and power-off of the loading operation room, charging continuity is kept in the dynamic switching process, and the continuous operation safety and operation convenience of pure electric engineering machinery are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a control system, in particular to a construction machinery cooperative control system and method. BACKGROUND

[0002] The global automotive industry is undergoing an electric transformation, which is penetrating from passenger cars to commercial and engineering fields. In the commercial vehicle segment, pure electric vehicles have been widely used in medium and short distance transportation scenarios, and their number is approaching parity with diesel vehicles. In the field of construction machinery, such as truck cranes and pumping vehicles, the vehicles are parked for a long time during operation, which has no range anxiety and can charge while operating, and the technical adaptability is significantly better than that of road vehicles. Based on this, domestic mainstream construction machinery manufacturers have started the process of mass marketing of pure electric cranes and pumping vehicles, marking the official entry of electric vehicles into the core market of engineering equipment. Therefore, it is necessary to cooperatively control the charging and other operation of pure electric construction machinery.

[0003] Patent CN112491107B discloses a pure electric vehicle crane power supply system and a control method thereof, although it proposes a "charging while operating" power distribution idea, but its control logic has inherent defects of scene fragmentation and lack of cooperation, only makes static judgment around the "hoisting device power-charger power" binary relationship, and does not consider the influence of the whole vehicle power-on and power-off state on the power supply path; When the driver or the operator voluntarily requests power-on and power-off, the original control method cannot quickly switch the power supply role, resulting in interruption of charging or loss of power of the motor. In the prior art, the rated power threshold is usually used as the basis, when entering the "operation without charging" mode, the battery is completely withdrawn, and even if the operating load is reduced, the charging cannot be automatically restored, causing continuous decline in power and forced suspension of operation. SUMMARY

[0004] The purpose of the present application is to solve the technical problems that the existing pure electric construction machinery does not consider the influence of the whole vehicle power-on and power-off state on the power supply path when cooperatively controlling the charging and other operation, and the charging control cannot be intelligently adjusted, and proposes a construction machinery cooperative control system and method.

[0005] To solve the above technical problems, the technical solution provided by the present application is as follows: A construction machinery cooperative control system, characterized in that: It comprises a whole vehicle control unit, a battery management unit, a direct current charging unit, an alternating current charging unit, a cab power-on and power-off unit, an upper operation room power-on and power-off unit, and a starting unit; The output end of the battery management unit is connected with the input end of the whole vehicle control unit, for obtaining and transmitting the SOC of the whole vehicle; The DC charging unit and AC charging unit are bidirectionally connected to the vehicle control unit, respectively, and are used to acquire the charging signals of the DC charging gun and the AC charging gun, and to receive the DC charging command and AC charging command from the vehicle control unit, respectively. The cab power-on / off unit and the superstructure operating room power-on / off unit are bidirectionally connected to the vehicle control unit, respectively, to obtain the power-on / off status of the cab and the superstructure operating room, and to receive the vehicle power-on / off commands from the vehicle control unit. The output of the starting unit is connected to the input of the vehicle control unit to acquire and transmit the vehicle status, which includes low-voltage and high-voltage states.

[0006] Furthermore, it also includes a drive motor unit for the upper body operating room, the output end of which is connected to the input end of the vehicle control unit to acquire and transmit the operating status of the upper body operating room.

[0007] This invention also provides a collaborative control method for construction machinery, based on the aforementioned collaborative control system for construction machinery, characterized by the following steps: S1. The vehicle control unit obtains the vehicle's SOC through the battery management unit; obtains the plug-in / plug-out status of the DC charging gun and AC charging gun through the DC charging unit and AC charging unit respectively; obtains the power-on / off status of the cab and the superstructure operating room through the cab power-on / off unit and the superstructure operating room power-on / off unit respectively; and obtains the vehicle status through the start unit. S2. Based on the status information obtained in step S1, perform power-on / off control and charging coordination control of the entire vehicle. A. Power-on / off control: The vehicle control unit receives power-on / off requests from the outside for the vehicle. First, it obtains the power-on / off status of the superstructure operating room through the superstructure operating room power-on / off unit. If the superstructure operating room is not powered on, the vehicle control unit sends a vehicle power-on / off command to the cab power-on / off unit. If the superstructure operating room is powered on, the vehicle control unit sends a vehicle power-on / off command to the superstructure operating room. B. Charging Control: The vehicle control unit receives DC charging requests and / or AC charging requests from external sources. First, based on the SOC obtained by the battery management unit, it sends DC start charging commands and / or AC start charging commands to the corresponding DC charging unit and / or AC charging unit. At the same time, it monitors the charging progress in real time by obtaining the SOC through the battery management unit. When the SOC meets the set value, the vehicle control unit sends DC stop charging commands and / or AC stop charging commands to the corresponding DC charging unit and / or AC charging unit. C. Coordinated control of charging and power-on: When the vehicle control unit obtains a low-voltage vehicle status through the start-up unit and the charging signal obtained through the DC charging unit and / or AC charging unit indicates that charging is in progress, the vehicle control unit receives a vehicle power-on request from the outside. The vehicle control unit first performs vehicle power-on control according to the method in step A. At the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC meets the set value, the vehicle control unit sends a stop charging command to the corresponding DC charging unit and / or AC charging unit. The vehicle status obtained by the start unit is high voltage status. D. Coordinated control of charging and power-off: When the vehicle control unit obtains a high-voltage vehicle status through the start-up unit and the charging signal obtained through the DC charging unit and / or AC charging unit indicates that the vehicle is charging, the vehicle control unit receives a power-off request from the outside. The vehicle control unit first performs the vehicle power-off control according to the method in step A. At the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC meets the set value, the vehicle control unit sends a stop charging command to the corresponding DC charging unit and / or AC charging unit. The vehicle status obtained by the start unit is low voltage, thus completing the coordinated control of the construction machinery.

[0008] Furthermore, the vehicle control unit has an upper limit and a lower limit for the State of Charge (SOC), and the settings in steps B, C, and D are the upper limit values; step B specifically involves: B1. The vehicle control unit receives DC charging requests and / or AC charging requests from external sources. The vehicle control unit obtains the current SOC through the battery management unit and determines the relationship between the current SOC and the upper and lower limits. If the current SOC is less than or equal to the lower limit, the vehicle control unit sends a start charging command to the DC charging unit and the AC charging unit; at the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the DC charging unit and the AC charging unit. If the lower limit is less than the current SOC and less than the upper limit, the vehicle control unit sends a start charging command to the corresponding DC charging unit or AC charging unit. At the same time, the charging progress is monitored in real time by obtaining the SOC through the battery management unit. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the corresponding DC charging unit or AC charging unit.

[0009] Furthermore, step S2 also includes step E: E. Coordinated control of charging and operation in the upper structure's operating room; When the vehicle control unit obtains the vehicle status as high voltage through the start unit and the operating status as operating through the drive motor unit, the vehicle control unit receives DC charging requests and AC charging requests from the outside. The vehicle control unit obtains the current SOC through the battery management unit and determines the relationship between the current SOC and the upper and lower limits. If the current SOC is less than or equal to the lower limit, the vehicle control unit sends a start charging command to the DC charging unit and the AC charging unit; at the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the DC charging unit and the AC charging unit. If the lower limit is less than the current SOC and less than the upper limit, the vehicle control unit sends a start charging command to the DC charging unit or AC charging unit. At the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the corresponding DC charging unit or AC charging unit.

[0010] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention discloses a collaborative control system for construction machinery, comprising a vehicle control unit, a battery management unit, a DC charging unit, an AC charging unit, a cab power-on / off unit, a superstructure operating cab power-on / off unit, and a starting unit. The system of this invention uniformly schedules the power-on / off requests of the cab and the superstructure operating cab through the "vehicle control unit," dynamically allocates the priority of vehicle power-on / off based on the power-on / off requests of the superstructure operating cab, and maintains charging continuity during dynamic switching, significantly improving the continuous operation safety and operational convenience of pure electric construction machinery.

[0011] 2. This invention provides a collaborative control method for engineering machinery, integrating the power-on / off and charging of the entire vehicle. Through the collaborative control logic of steps C and D, it achieves uninterrupted collaborative control of operation, travel, and charging, resolving conflicts such as "the operating end wanting to use power but being locked by charging" or "accidental high-voltage interruption during charging." This invention avoids the contradiction between charging and operation in traditional solutions, enabling cranes to operate continuously in scenarios such as hoisting and pumping without stopping to wait for charging, directly improving equipment utilization.

[0012] 3. The present invention provides a collaborative control method for engineering machinery. When a power-on or power-off request is received under low or high voltage conditions, the power-on or power-off action is completed first and the current state is locked. Then, charging continues until the SOC reaches the standard, achieving a smooth connection of "no loss of charging during power-on or power-off and no interruption of operation during charging". At the same time, the SOC is monitored in real time, and charging can be automatically resumed after the load decreases, avoiding the rigid problem of being permanently offline once charging is stopped.

[0013] 4. This invention provides a collaborative control method for engineering machinery, embedding a real-time SOC monitoring mechanism. During the charging process, the battery management unit continuously feeds back the SOC value, and the control unit triggers a stop charging command only when the SOC meets the set value. This method avoids overcharging or deep discharging, and is particularly effective in preventing battery life degradation due to power fluctuations or human negligence, especially in scenarios where engineering machinery operates under long-term high loads. It achieves precise energy management without the need for additional hardware protection devices. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of an embodiment of a collaborative control system for engineering machinery according to the present invention. Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] This invention provides a collaborative control system for engineering machinery, such as... Figure 1 As shown, it includes a vehicle control unit, a battery management unit, a DC charging unit, an AC charging unit, a cab power-on / off unit, an upper structure operating room power-on / off unit, a starting unit, and a drive motor unit for the upper structure operating room.

[0017] The output of the battery management unit is connected to the input of the vehicle control unit to obtain and transmit the vehicle's SOC (state of charge). The DC charging unit and AC charging unit are bidirectionally connected to the vehicle control unit to acquire charging signals from the DC charging gun and AC charging gun, and to receive DC charging commands and AC charging commands from the vehicle control unit, respectively. The cab power-on / off unit and the superstructure operator's cab power-on / off unit are bidirectionally connected to the vehicle control unit to acquire the power-on / off status of the cab and superstructure operator's cab, and to receive power-on / off commands from the vehicle control unit. The output of the starting unit is connected to the input of the vehicle control unit to acquire and transmit vehicle status. Vehicle status includes low-voltage status (vehicle in off or on position) and high-voltage status (vehicle in ready state). Off position indicates a parked, power-off state; on position indicates a parked, power-on state; and ready state indicates a ready-to-start state. The output of the drive motor unit is connected to the input of the vehicle control unit to acquire and transmit the operating status of the superstructure operator's cab.

[0018] This invention also provides a collaborative control method for engineering machinery, comprising the following steps: S1. The vehicle control unit obtains the vehicle's SOC (remaining battery charge) through the battery management unit; obtains the plug-in / plug-out status of the DC charging gun and AC charging gun through the DC charging unit and AC charging unit respectively; obtains the power-on / off status of the cab and the superstructure operating room through the cab power-on / off unit and the superstructure operating room power-on / off unit respectively; obtains the current load of the drive motor through the drive motor unit; and obtains the vehicle status through the starting unit. S2. Based on the status information obtained in step S1, perform power-on / off control and charging coordination control of the entire vehicle. A. Power-on / off control: The vehicle control unit receives power-on / off requests from the outside. First, it obtains the power-on / off status of the superstructure operating room through the superstructure operating room power-on / off unit. If the superstructure operating room is not powered on, that is, the vehicle is in normal driving state, the vehicle control unit sends a vehicle power-on / off command to the cab power-on / off unit. If the superstructure operating room is powered on, that is, the vehicle is in superstructure lifting or other operation state, the vehicle control unit sends a vehicle power-on / off command to the superstructure operating room. B. Charging Control: The vehicle control unit receives DC charging requests and / or AC charging requests from external sources. First, based on the SOC obtained by the battery management unit, it sends DC start charging commands and / or AC start charging commands to the corresponding DC charging unit and / or AC charging unit. At the same time, it monitors the charging progress in real time by obtaining the SOC through the battery management unit. The vehicle control unit has an upper limit and a lower limit for the State of Charge (SOC). When the SOC meets the upper limit, the vehicle control unit sends a DC charging stop command and / or an AC charging stop command to the corresponding DC charging unit and / or AC charging unit. When the vehicle control unit receives DC charging requests and AC charging requests from external sources, specifically: The vehicle control unit receives DC charging requests and / or AC charging requests from external sources. The vehicle control unit obtains the current SOC through the battery management unit and determines the relationship between the current SOC and the upper and lower limits. If the current SOC is less than or equal to the lower limit, the vehicle control unit sends a start charging command to the DC charging unit and the AC charging unit; at the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the DC charging unit and the AC charging unit. If the lower limit is less than the current SOC and less than the upper limit, the vehicle control unit sends a start charging command to the corresponding DC charging unit or AC charging unit. At the same time, the charging progress is monitored in real time by obtaining the SOC through the battery management unit. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the corresponding DC charging unit or AC charging unit.

[0019] C. Coordinated control of charging and power-on: When the vehicle control unit obtains a low-voltage vehicle status through the start-up unit and the charging signal obtained through the DC charging unit and / or AC charging unit indicates that charging is in progress, the vehicle control unit receives a vehicle power-on request from the outside. The vehicle control unit first performs vehicle power-on control according to step A to maintain the charging state. At the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the corresponding DC charging unit and / or AC charging unit. The vehicle status obtained by the start unit is high voltage. D. Coordinated control of charging and power-off: When the vehicle control unit obtains a high-voltage vehicle status through the start-up unit and the charging signal obtained through the DC charging unit and / or AC charging unit indicates that the vehicle is charging, the vehicle control unit receives a power-off request from the outside. The vehicle control unit first performs the vehicle power-off control according to the method in step A to maintain the charging state. At the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the corresponding DC charging unit and / or AC charging unit. The vehicle status obtained by the start unit is low voltage. E. Coordinated control of charging and operation in the upper structure's operating room; When the vehicle control unit obtains the vehicle status as high voltage through the start unit and the operating status as operating through the drive motor unit, the vehicle control unit receives DC charging requests and AC charging requests from the outside. The vehicle control unit obtains the current SOC through the battery management unit and determines the relationship between the current SOC and the upper and lower limits. If the current SOC is less than or equal to the lower limit, the vehicle control unit sends a start charging command to the DC charging unit and the AC charging unit; at the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the DC charging unit and the AC charging unit. If the lower limit is less than the current SOC and less than the upper limit, the vehicle control unit sends a start charging command to the DC charging unit or AC charging unit. At the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the corresponding DC charging unit or AC charging unit to complete the coordinated control of the construction machinery.

[0020] The control system of this invention can be used in vehicles that work in place for long periods of time, such as pure electric cranes or pump trucks, to achieve intelligent and reliable switching between work operations, vehicle charging, and vehicle power-on / off.

Claims

1. A collaborative control system for engineering machinery, characterized in that: It includes the vehicle control unit, battery management unit, DC charging unit, AC charging unit, cab power-on / off unit, upper body operating cab power-on / off unit, and starting unit; The output of the battery management unit is connected to the input of the vehicle control unit to acquire and transmit the vehicle's SOC. The DC charging unit and AC charging unit are bidirectionally connected to the vehicle control unit, respectively, and are used to acquire the charging signals of the DC charging gun and the AC charging gun, and to receive the DC charging command and AC charging command from the vehicle control unit, respectively. The cab power-on / off unit and the superstructure operating room power-on / off unit are bidirectionally connected to the vehicle control unit, respectively, to obtain the power-on / off status of the cab and the superstructure operating room, and to receive the vehicle power-on / off commands from the vehicle control unit. The output of the starting unit is connected to the input of the vehicle control unit to acquire and transmit the vehicle status, which includes low-voltage and high-voltage states.

2. The collaborative control system for engineering machinery according to claim 1, characterized in that: It also includes a drive motor unit for the superstructure operating room, the output of which is connected to the input of the vehicle control unit to acquire and transmit the operating status of the superstructure operating room.

3. A method for collaborative control of construction machinery, based on the collaborative control system for construction machinery as described in claim 1 or 2, characterized in that, Includes the following steps: S1. The vehicle control unit obtains the vehicle's SOC through the battery management unit; obtains the plug-in / plug-out status of the DC charging gun and AC charging gun through the DC charging unit and AC charging unit respectively; obtains the power-on / off status of the cab and the superstructure operating room through the cab power-on / off unit and the superstructure operating room power-on / off unit respectively; and obtains the vehicle status through the start unit. S2. Based on the status information obtained in step S1, perform power-on / off control and charging coordination control of the entire vehicle. A. Power-on / off control: The vehicle control unit receives power-on / off requests from the outside for the vehicle. First, it obtains the power-on / off status of the superstructure operating room through the superstructure operating room power-on / off unit. If the superstructure operating room is not powered on, the vehicle control unit sends a vehicle power-on / off command to the cab power-on / off unit. If the superstructure operating room is powered on, the vehicle control unit sends a vehicle power-on / off command to the superstructure operating room. B. Charging Control: The vehicle control unit receives DC charging requests and / or AC charging requests from external sources. First, based on the SOC obtained by the battery management unit, it sends DC start charging commands and / or AC start charging commands to the corresponding DC charging unit and / or AC charging unit. At the same time, it monitors the charging progress in real time by obtaining the SOC through the battery management unit. When the SOC meets the set value, the vehicle control unit sends DC stop charging commands and / or AC stop charging commands to the corresponding DC charging unit and / or AC charging unit. C. Coordinated control of charging and power-on: When the vehicle control unit obtains a low-voltage vehicle status through the start-up unit and the charging signal obtained through the DC charging unit and / or AC charging unit indicates that charging is in progress, the vehicle control unit receives a vehicle power-on request from the outside. The vehicle control unit first performs vehicle power-on control according to the method in step A. At the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC meets the set value, the vehicle control unit sends a stop charging command to the corresponding DC charging unit and / or AC charging unit. The vehicle status obtained by the start unit is high voltage status. D. Coordinated control of charging and power-off: When the vehicle control unit obtains a high-voltage vehicle status through the start-up unit and the charging signal obtained through the DC charging unit and / or AC charging unit indicates that the vehicle is charging, the vehicle control unit receives a power-off request from the outside. The vehicle control unit first performs the vehicle power-off control according to the method in step A. At the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC meets the set value, the vehicle control unit sends a stop charging command to the corresponding DC charging unit and / or AC charging unit. The vehicle status obtained by the start unit is low voltage, thus completing the coordinated control of the construction machinery.

4. The collaborative control method for engineering machinery according to claim 3, characterized in that: The vehicle control unit has an upper and lower limit value for State of Charge (SOC), and the values ​​set in steps B, C, and D are the upper limit value; step B specifically involves: B1. The vehicle control unit receives DC charging requests and / or AC charging requests from external sources. The vehicle control unit obtains the current SOC through the battery management unit and determines the relationship between the current SOC and the upper and lower limits. If the current SOC is less than or equal to the lower limit, the vehicle control unit sends a start charging command to the DC charging unit and the AC charging unit; at the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the DC charging unit and the AC charging unit. If the lower limit is less than the current SOC and less than the upper limit, the vehicle control unit sends a start charging command to the corresponding DC charging unit or AC charging unit. At the same time, the charging progress is monitored in real time by obtaining the SOC through the battery management unit. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the corresponding DC charging unit or AC charging unit.

5. The collaborative control method for engineering machinery according to claim 4, characterized in that, Step S2 also includes step E: E. Coordinated control of charging and operation in the upper structure's operating room; When the vehicle control unit obtains the vehicle status as high voltage through the start unit and the operating status as operating through the drive motor unit, the vehicle control unit receives DC charging requests and AC charging requests from the outside. The vehicle control unit obtains the current SOC through the battery management unit and determines the relationship between the current SOC and the upper and lower limits. If the current SOC is less than or equal to the lower limit, the vehicle control unit sends a start charging command to the DC charging unit and the AC charging unit; at the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the DC charging unit and the AC charging unit. If the lower limit is less than the current SOC and less than the upper limit, the vehicle control unit sends a start charging command to the DC charging unit or AC charging unit. At the same time, it obtains the SOC through the battery management unit to monitor the charging progress in real time. When the SOC reaches the upper limit, the vehicle control unit sends a stop charging command to the corresponding DC charging unit or AC charging unit.

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