Method for determining power source of crane, controller and crane

Abstract

The present invention relates to the technical field of engineering machinery, and discloses a method, a controller and a crane for determining the power source of a crane. The power system of the crane includes: a power coupling device, a fuel engine, a main drive motor, an energy storage device and a charger, the power coupling device is respectively connected to the fuel engine and the main drive motor, the energy storage device is respectively connected to the main drive motor and the charger, and the charger is respectively connected to the main drive motor and an external power source, and the method includes: determining the working condition and required power of the crane; determining the charge state of the energy storage device, and the connection state of the charger and the external power source; according to the working condition, required power, charge state and connection state, determining the power source for supplying energy to the crane, so as to distribute power and control equipment, which can better meet the power requirements of various working conditions such as chassis driving, on-board operation, and plug-in operation of the crane.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a method for determining a power source of a crane, a controller and a crane. Background Art

[0002] A crane refers to a multi-action lifting machine that can lift vertically and carry heavy objects horizontally within a certain range. Taking a truck crane as an example, a truck crane is mainly composed of a lifting, luffing, slewing, boom and chassis. A truck crane is a type of crane installed on an ordinary car chassis or a special car chassis, and its driving cab and lifting control cab are generally set separately. This type of crane has good maneuverability and can be transferred quickly; it must be outriggers when working, cannot travel under load, and is not suitable for working on soft or muddy sites. As an engineering equipment in the field of engineering machinery, the operating conditions of a truck crane are extremely harsh. The crane may be used in a continuous operation scenario, or it may need to travel a long distance to reach the destination for a short lifting operation. For fuel truck cranes, it is difficult to meet the goals of energy conservation and emission reduction, and the pollution to the environment is relatively large. Summary of the invention

[0003] In order to overcome the deficiencies in the prior art, an embodiment of the present invention provides a method for determining a power source of a crane, a controller, and a crane.

[0004] In order to achieve the above-mentioned object, the first aspect of the present invention provides a method for determining a power source for a crane, wherein the power system of the crane comprises: a power coupling device, a fuel engine, a main drive motor, an energy storage device and a charger, wherein the power coupling device is respectively connected to the fuel engine and the main drive motor, the energy storage device is respectively connected to the main drive motor and the charger, and the charger is respectively connected to the main drive motor and an external power source; the method comprises:

[0005] Determine the crane's operating conditions and required power;

[0006] Determine the state of charge of the energy storage device and the connection status of the charger and the external power source;

[0007] The power source for the crane is determined based on the operating conditions, required power, charge state and connection status.

[0008] In an embodiment of the present invention, determining the power source for supplying energy to the crane according to the working condition, required power, charge state, and connection state includes:

[0009] When the working condition is driving condition, disconnect the connection between the charger and the external power supply;

[0010] When the state of charge is greater than a preset threshold and the required power is not greater than the rated output power of the main drive motor, disconnecting the power coupling device from the fuel engine;

[0011] It is determined that the energy storage device drives the main drive motor to operate, thereby driving the chassis of the crane to move.

[0012] In an embodiment of the present invention, the method further includes:

[0013] When the operating condition is a driving condition, the state of charge is greater than a preset threshold, and the required power is greater than the rated output power of the main drive motor, connecting the power coupling device to the fuel engine;

[0014] It is determined that the fuel engine and the energy storage device are jointly powered to drive the chassis of the crane.

[0015] In an embodiment of the present invention, the method further includes:

[0016] When the working condition is a driving condition and the state of charge is not greater than a preset threshold, connecting the power coupling device to the fuel engine;

[0017] Determine that the fuel engine is used to drive the chassis of the crane;

[0018] The remaining power of the fuel engine is used to drive the main drive motor to reverse and generate electricity through the power coupling system to charge the energy storage device.

[0019] In an embodiment of the present invention, the method further includes:

[0020] When the crane brakes, the power coupling system is adjusted to drive the main drive motor to generate electricity to achieve braking energy recovery.

[0021] In an embodiment of the present invention, the power system also includes: a gearbox, a power take-off device and a chassis drive device. The gearbox is connected to the power coupling device and the power take-off device respectively, and the chassis drive device is connected to the power take-off device. The gearbox obtains power from the power coupling device and transmits the power to the power take-off device and the chassis drive device in sequence to drive the chassis to move.

[0022] In an embodiment of the present invention, determining the power source for supplying energy to the crane according to the working condition, required power, charge state, and connection state includes:

[0023] When it is determined that the working condition is an operating condition, the connection state is disconnected, and the state of charge is greater than a preset threshold, disconnecting the power coupling device from the fuel engine so that the fuel engine is in a stopped state;

[0024] It is determined that the energy storage device is used to supply energy to the crane to drive the loading operation.

[0025] In an embodiment of the present invention, the method further includes:

[0026] When it is determined that the working condition is an operating condition, the connection state is disconnected, and the charge state is not greater than a preset threshold, connecting the power coupling device to the fuel engine;

[0027] The fuel engine is controlled to drive the main drive motor to generate electricity through the power coupling device, so that the power source for supplying energy to the crane is the fuel engine.

[0028] In an embodiment of the present invention, the power system includes: a main oil pump, a hydraulic pipeline and a hydraulic mechanism. The main oil pump is connected to the power take-off device and the hydraulic pipeline respectively, and the hydraulic pipeline is connected to the hydraulic mechanism; the power take-off device drives the main oil pump to rotate, and drives the hydraulic mechanism through the hydraulic pipeline to perform amplitude change and telescopic actions.

[0029] In an embodiment of the present invention, the power system further includes:

[0030] The busbar is connected to the main drive motor, the energy storage device and the charger respectively, and is used to obtain electric energy from the main drive motor, the energy storage device and the charger;

[0031] A winch motor controller is connected to the busbar and the winch motor respectively, and is used to draw power from the busbar to drive the winch action;

[0032] The rotary motor controller is connected to the bus and the rotary motor respectively, and is used to draw power from the bus to drive the rotary action.

[0033] In the embodiment of the present invention, the external power source includes the mains power, and the power source for supplying energy to the crane is determined according to the working condition, required power, charge state and connection state, including:

[0034] When it is determined that the working condition is the operating condition, the connection state is connected, and the charging power of the charger is not less than the required power, disconnect the connection between the power coupling device and the fuel engine to make the fuel engine stop;

[0035] Determine that the charger is used to supply energy to drive the crane for loading operations;

[0036] The surplus power of the charger is used to charge the energy storage device.

[0037] In an embodiment of the present invention, the method further includes:

[0038] When it is determined that the working condition is the operating condition, the connection state is connected, the charging power of the charger is less than the required power, and the state of charge is greater than a preset threshold, disconnect the power coupling device from the fuel engine to put the fuel engine in a stopped state;

[0039] It is determined that the charger and the energy storage device jointly supply energy to drive the crane's loading operation.

[0040] In an embodiment of the present invention, the method further includes:

[0041] When it is determined that the working condition is the operating condition, the connection state is connected, the charging power of the charger is less than the required power and the state of charge is not greater than the preset threshold, the power coupling device is connected to the fuel engine, and the fuel engine is started;

[0042] Determine that the hydraulic mechanism driven by the fuel engine performs the luffing and telescopic actions;

[0043] Determine that the charger provides electrical energy to drive the winch and slewing operation, or determine that the charger and the fuel engine jointly drive the winch and slewing operation;

[0044] The surplus power of the charger and / or fuel engine is used to charge the energy storage device.

[0045] A second aspect of the present invention provides a controller configured to execute the above method for determining a power source of a crane.

[0046] A third aspect of the present invention provides a crane, comprising the above-mentioned controller.

[0047] In an embodiment of the present invention, the working conditions of the crane may include chassis driving conditions and vehicle-mounted operating conditions, and the vehicle-mounted operating conditions may be further divided into variable amplitude action, telescopic action, hoisting action, and slewing action, etc. In the power system of the crane, energy may be provided by a fuel engine and driven by a power coupling device to generate electricity for the main drive motor, or energy may be supplied by an energy storage device or a charger connected to the mains electricity. The power source for supplying energy to the crane is determined according to the working conditions of the crane, the required power, the charge state of the energy storage device, and the connection state of the charger with the external power supply, so as to perform power distribution and equipment control, which can avoid the disadvantages of pure fuel truck cranes that cause greater environmental pollution, and the disadvantages of pure electric truck cranes that have poor endurance, and can better meet the power requirements of various working conditions such as chassis driving, vehicle-mounted operating conditions, and plug-in operating conditions of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0049] Figure 1 A schematic block diagram of a power system of a crane according to an embodiment of the present invention is schematically shown;

[0050] Figure 2A flow chart of a method for determining a power source of a crane according to an embodiment of the present invention is schematically shown.

[0051] Description of Reference Numerals

[0052] 10-power coupling device; 11-fuel engine;

[0053] 12-main drive motor; 13-energy storage device;

[0054] 14- charger; 15- external power source;

[0055] 16-gearbox; 17-power take-off device;

[0056] 18-chassis drive device; 19-main oil pump;

[0057] 20- hydraulic mechanism; 21- whole machine controller;

[0058] 22-main motor controller; 23-main winch motor controller;

[0059] 24- auxiliary winch motor controller; 25- rotary motor controller;

[0060] 26-main winch motor; 27-auxiliary winch motor;

[0061] 28- Rotary motor. DETAILED DESCRIPTION

[0062] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0063] It should be noted that if the implementation methods of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0064] In addition, if there are descriptions involving "first", "second", etc. in the implementation methods of this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various implementation methods can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0065] Figure 1 A schematic block diagram of a power system of a crane according to an embodiment of the present invention is shown schematically. Figure 1 As shown, the power system of the crane includes: a power coupling device 10, a fuel engine 11, a main drive motor 12, an energy storage device 13 and a charger 14. The power coupling device 10 is connected to the fuel engine 11 and the main drive motor 12 respectively, the energy storage device 13 is connected to the main drive motor 12 and the charger 14 respectively, and the charger 14 is connected to the main drive motor 12 and the external power supply 15 respectively.

[0066] Figure 2 A flow chart of a method for determining a power source for a crane according to an embodiment of the present invention is schematically shown. Figure 2 As shown, in one embodiment of the present invention, a method for determining a power source of a crane is provided, comprising the following steps:

[0067] Step 201, determining the working condition and required power of the crane;

[0068] Step 202, determining the state of charge of the energy storage device and the connection state between the charger and the external power source;

[0069] Step 203, determining a power source for supplying energy to the crane according to the working condition, required power, charge state, and connection state.

[0070] In the embodiment of the present invention, the working condition of the crane may include the chassis driving condition and the vehicle loading condition, and the vehicle loading condition may be further divided into the variable amplitude action, the telescopic action, the hoisting action and the rotation action, etc. For the crane, the vehicle loading does not work during the driving of the chassis; the chassis does not drive during the vehicle loading. In the power system of the crane, the fuel engine 11 can provide energy and drive the main drive motor 12 to generate electricity through the power coupling system 10, or the energy storage device 13 or the charger 14 can be selected to be connected to the main power 15 for energy supply. According to the working condition of the crane, the required power, the charge state of the energy storage device 13, and the connection state of the charger 14 and the external power supply 15, the power source for supplying energy to the crane is determined to distribute power and control the equipment, so that the disadvantages of pure fuel truck cranes that pollute the environment can be avoided, and the disadvantages of pure electric truck cranes that have poor endurance can be avoided, and the power requirements of various working conditions such as the driving of the crane chassis, the vehicle loading condition, and the plug-in operation condition can be better met.

[0071] Combine the following Figure 1 To introduce the power system of the crane in the embodiment of the present invention, please refer to Figure 1 For the extended-range hybrid vehicle crane, the crane is divided into a chassis part, a superstructure part and a power supply part. The chassis part is composed of a fuel engine 11, a main drive motor 12, a main motor controller 22, a power coupling device 10, a gearbox 16, a power take-off device 17, a chassis drive device 18, a main oil pump 19 and hydraulic pipelines. The superstructure part is composed of a main hoisting motor controller 23, an auxiliary hoisting motor controller 24, a slewing motor controller 25, a main hoisting motor 26, an auxiliary hoisting motor 27, a slewing motor 28, hydraulic pipelines and a hydraulic mechanism 20. The power supply part is composed of an energy storage device 13, an AC charger 14 and a mains connection.

[0072] The chassis power comes from the fuel engine 11 and the energy storage device 13. The power coupling device 10 selects the power source and outputs it to the gearbox 16 through a hard connection. The gearbox 16 outputs it to the power take-off device 17 after conversion. When the power take-off device 17 selects channel 1, the power is output to the chassis drive device 18 to drive the chassis to travel; when the power take-off device 17 selects channel 2, the power is output to the main oil pump 19, and the main oil pump 19 supplies it to the hydraulic mechanism 20 through the hydraulic pipeline to provide power for the variable amplitude mechanism, telescopic mechanism and valve parts installed on the crane. When the fuel engine 11 is used as the power source, the fuel engine 11 drives the main drive motor 12 to generate electricity. At this time, the main drive motor 12 is used as a generator, and the real-time power generation is recorded as P2 (power generation). When the energy storage device is used as the power source, the main drive motor 12 is used as an electric motor, and the real-time power consumption is recorded as P2 (power consumption).

[0073] Power coupling device 10: This device can realize the free switching of the chassis power source. When the chassis is driving, the fuel engine 11 and the main drive motor 12 can both be used as power sources. When the energy storage device 13 has sufficient energy storage or the charger 14 is connected to an external power supply, the fuel engine 11 stops working and the main drive motor 12 is used as an electric motor. When the energy storage device 13 has low energy storage, the crane is in the upper loading operation condition, and the charger 14 is disconnected from the external power supply, the fuel engine 11 works, and the fuel engine 11 drives the main drive motor 12 to generate electricity. At the same time, the energy storage device 13 can be charged. At this time, the main drive motor 12 is used as a generator.

[0074] On-board AC charger 14: rectifies the three-phase AC mains input into high-voltage DC to charge the crane's energy storage device 13 or directly supply power to the crane's high-voltage electrical equipment. The real-time charging power of the charger 14 is recorded as P-charging.

[0075] Energy storage device 13: can meet the operation or driving of the crane vehicle for a certain period of time, the real-time charging power of the energy storage device 13 is Pc (charging), and the real-time discharging power of the energy storage device 13 is Pc (discharging). Motor system: mainly composed of a motor controller and a motor.

[0076] The whole machine controller 21: collects the status information of the whole vehicle through the Can line, and adopts the fuzzy control strategy according to the status information of the whole vehicle and the current operating efficiency of each device; the power source of the chassis can be selected through the power coupling device 10, and the upper motor can be controlled.

[0077] In the control strategy of the extended-range hybrid vehicle crane, the state of charge (SOC), working conditions, and charging power (P-charging) of the energy storage device are used as input variables, and the power P1 of the chassis fuel engine 11, the power P2 of the main drive motor 12 (when the main drive motor 12 is used as an electric motor, the power consumption is recorded as P2 (power consumption); when the main drive motor 12 is used as a generator, the power generation is recorded as P2 (power generation)), the power P3 of the main hoisting motor 26, the power P4 of the auxiliary hoisting motor 27, and the power P5 of the rotary motor are used as output variables. Fuzzy control strategy is used for control, thereby realizing energy and power management of each equipment unit.

[0078] The whole machine controller 21 will collect the current status of each device in real time and analyze it. When it is predicted that the whole machine is currently in a driving condition, the SOC of the energy storage device 13 will be determined before driving.

[0079] In one embodiment, the method includes:

[0080] When the working condition is a driving condition, the state of charge is greater than a preset threshold value, and the required power is greater than the rated output power of the main drive motor 12, the power coupling device 10 is connected to the fuel engine 11;

[0081] It is determined that the fuel engine 11 and the energy storage device 13 jointly supply energy to drive the chassis of the crane to travel.

[0082] In one embodiment, determining the power source for supplying energy to the crane according to the working condition, required power, charge state, and connection state includes:

[0083] When the working condition is the driving condition, disconnect the connection between the charger 14 and the external power source 15;

[0084] When the state of charge is greater than a preset threshold and the required power is not greater than the rated output power of the main drive motor 12, disconnecting the power coupling device 10 from the fuel engine 11;

[0085] It is determined that the energy storage device 13 drives the main drive motor 12 to run, thereby driving the chassis of the crane to travel.

[0086] In one embodiment, the method further comprises:

[0087] When the working condition is a driving condition and the state of charge is not greater than a preset threshold, the power coupling device 10 is connected to the fuel engine 11;

[0088] Determine that the fuel engine 11 is used to supply energy to drive the chassis of the crane;

[0089] The remaining power of the fuel engine 11 is used to drive the main drive motor 12 to reversely generate electricity through the power coupling system 10 to charge the energy storage device 13 .

[0090] In one embodiment, the method further comprises:

[0091] When the crane is braked, the power coupling system 10 is adjusted to drive the main drive motor 12 to generate electricity, so as to realize braking energy recovery.

[0092] In one embodiment, the power system also includes: a gearbox 16, a power take-off device 17 and a chassis drive device 18. The gearbox 16 is connected to the power coupling device 10 and the power take-off device 17 respectively, and the chassis drive device 18 is connected to the power take-off device 17. The gearbox 16 obtains power from the power coupling device 10 and transmits the power to the power take-off device 17 and the chassis drive device 18 in sequence to drive the chassis to move.

[0093] The above embodiment can be understood as dividing the chassis driving conditions into the following four conditions:

[0094] (1) If the SOC of the energy storage device 13 is greater than the preset threshold, and the vehicle power demand Pn is greater than the rated output power of the main drive motor 12, then the energy storage device 13 and the fuel engine 11 output together, and output to the gearbox 16 through the power coupling device 10, and drive the chassis drive device 18 through the channel 1, thereby driving the chassis to travel. At this time, the vehicle power demand Pn = P2 (power consumption) + P1, the discharge power Pc (discharge) of the energy storage device 13 = P2 (power consumption), and the output power of the main drive motor 12 = P2 (rated).

[0095] (2) If the SOC of the energy storage device 13 is greater than the preset threshold, and the vehicle power demand Pn is not greater than the rated output power of the main drive motor 12, the power coupling device 10 disconnects the fuel engine 11, and the fuel engine 11 stops. The energy storage device 13 provides electrical energy, and the main motor controller 22 drives the main drive motor 12 to operate, and outputs it to the gearbox 16 through the power coupling device 10, and drives the chassis drive device 18 through the channel 1, thereby driving the chassis to travel. At this time, the vehicle power demand Pn = P2 (power consumption), and the output power P1 of the fuel engine 11 = 0. At this time, the energy storage device 13 is used as the power source.

[0096] (3) If the SOC of the energy storage device 13 is not greater than the preset threshold, at this time, the output power of the fuel engine 11 should be greater than the required power of the entire vehicle. Most of the output power of the fuel engine 11 is output to the gearbox 16 through the power coupling device 10, and drives the chassis drive device 18 through the channel 1, thereby driving the chassis to travel. The remaining power of the fuel engine 11 drives the main drive motor 12 to reverse and generate electricity through the power coupling device 10, and is rectified through the main motor controller 22 to charge the energy storage device 13. The real-time power P1 of the fuel engine 11 = Pc (charging) + Pn. The main drive motor 12 is in the generator state.

[0097] (4) When the vehicle brakes, the power coupling device 10 is adjusted to drive the main drive motor 12 to generate electricity, thereby realizing braking energy recovery.

[0098] The whole machine controller 21 collects the current status and power take-off position information of each device in real time. When it is confirmed that the AC power is not connected and the AC charger is not working, and it is predicted that the current whole machine is in an operating (non-plugged) condition, the SOC of the energy storage device 13 will be determined before operation.

[0099] In one embodiment, determining the power source for supplying energy to the crane according to the working condition, required power, charge state, and connection state includes:

[0100] When it is determined that the working condition is the operating condition, the connection state is not connected, and the charge state is greater than a preset threshold, disconnecting the power coupling device 10 from the fuel engine 11 so that the fuel engine 11 is in a stopped state;

[0101] It is determined that the energy storage device 13 is used to supply energy to the crane to drive the loading operation.

[0102] In one embodiment, the method further comprises:

[0103] When it is determined that the working condition is the operating condition, the connection state is not connected, and the charge state is not greater than a preset threshold, the power coupling device 10 is connected to the fuel engine 11;

[0104] The fuel engine 11 is controlled to drive the main drive motor to generate electricity through the power coupling device 10, so that the power source for supplying energy to the crane is the fuel engine 11.

[0105] In an embodiment of the present invention, the power system includes: a main oil pump 19, a hydraulic pipeline and a hydraulic mechanism 20. The main oil pump 19 is connected to the power take-off device 17 and the hydraulic pipeline respectively, and the hydraulic pipeline is connected to the hydraulic mechanism 20; the power take-off device 17 drives the main oil pump 19 to rotate, and drives the hydraulic mechanism 20 through the hydraulic pipeline to perform amplitude change and telescopic actions.

[0106] In one embodiment, the power system further comprises:

[0107] The busbar is connected to the main drive motor 12, the energy storage device 13 and the charger 14 respectively, and is used to obtain electric energy from the main drive motor 12, the energy storage device 13 and the charger 14;

[0108] A winch motor controller is connected to the busbar and the winch motor respectively, and is used to draw power from the busbar to drive the winch action;

[0109] The rotary motor controller 25 is connected to the bus and the rotary motor 28 respectively, and is used to draw power from the bus to drive the rotary action.

[0110] The above embodiment can be understood as dividing the vehicle operation (non-plug-in) working condition into the following two conditions:

[0111] (1) If the SOC of the energy storage device 13 is greater than the preset threshold, the power is taken off and the mains is not connected, then the energy storage device 13 is used to provide energy for the vehicle operation, and the fuel engine 11 is in a stopped state. The vehicle controller 21 reads the bus handle opening information. If the amplitude change and telescopic signals are read, the main drive motor 12 runs, drives the main oil pump 19 to rotate through the gearbox 16, the power take-off device 17 and the channel 2, and drives the hydraulic mechanism 20 to perform amplitude change and telescopic actions under pressure through the hydraulic pipeline. If the rotation and hoisting signals are read, the rotation motor 28 and the hoisting motor will rotate forward and reverse, thereby realizing the rotation and hoisting actions. In this case, the energy storage device 13 provides the vehicle with electrical energy, the discharge power of the energy storage device 13 Pc (discharge) = Pn = P2 (power consumption) + P3 + P4 + P5, and the output power of the fuel engine 11 P1 = 0.

[0112] (2) If the SOC of the energy storage device 13 is not greater than the preset threshold, the power is taken off and the mains power is not connected, then the fuel engine 11 provides energy for the vehicle operation, and the main drive motor 12 is driven by the power coupling device 10 to generate electricity. After the main drive motor 12 generates electricity, it is rectified by the main motor controller 22 and fed to the high-voltage bus. After the vehicle controller 21 reads the bus handle hoisting and rotation opening information, it controls the hoisting motor controller (including the main hoisting motor controller 23 and the auxiliary hoisting motor controller 24) and the rotation motor controller 25 to take power from the bus, thereby driving the hoisting and rotation operations. The residual energy generated by the main drive motor 12 can be used to charge the energy storage device 13. When the vehicle controller 21 reads the amplitude change and telescopic opening signal of the bus handle, the fuel engine 11 generates kinetic energy, which drives the main oil pump 19 to rotate through the gearbox 16, the power take-off device 17 and the channel 2, and drives the hydraulic mechanism 20 to perform amplitude change and telescopic actions under the action of pressure through the hydraulic pipeline. In this case, the fuel engine 11 provides energy for the entire vehicle, that is, the output power P1 of the fuel engine 11 = Pn + Pc (charging).

[0113] The whole machine controller 21 collects the current status and power take-off position information of each device in real time. When it is confirmed that the mains connection is successful and the AC charger 14 is in the charging state, and it is predicted that the whole machine is currently in the plug-in operation condition, it makes a judgment based on the charging power of the charger 14 and the SOC of the energy storage device 13.

[0114] In one embodiment, the external power source includes a mains supply, and the power source for supplying energy to the crane is determined according to the working condition, required power, charge state, and connection state, including:

[0115] When it is determined that the working condition is the operating condition, the connection state is connected, and the charging power of the charger is not less than the required power, the connection between the power coupling device 10 and the fuel engine 11 is disconnected to make the fuel engine 11 in a stopped state;

[0116] Determine that the charger 14 is used to supply energy to drive the crane to load the vehicle;

[0117] The surplus power of the charger is used to charge the energy storage device 13 .

[0118] In one embodiment, the method further comprises:

[0119] When it is determined that the working condition is the operating condition, the connection state is connected, the charging power of the charger 14 is less than the required power, and the state of charge is greater than a preset threshold, the connection between the power coupling device 10 and the fuel engine 11 is disconnected to make the fuel engine 11 stop;

[0120] It is determined that the charger 14 and the energy storage device 13 jointly supply energy to drive the crane to load the vehicle.

[0121] In one embodiment, the method further comprises:

[0122] When it is determined that the working condition is the operating condition, the connection state is connected, the charging power of the charger 14 is less than the required power and the charge state is not greater than the preset threshold, the power coupling device 10 is connected to the fuel engine 11, and the fuel engine 11 is started;

[0123] Determine that the hydraulic mechanism is driven by the fuel engine 11 to perform the amplitude change and telescopic action;

[0124] Determine that the charger 14 provides electric energy to drive the hoisting and rotating operations, or determine that the charger 14 and the fuel engine 11 jointly drive the hoisting and rotating operations;

[0125] The surplus power of the charger 14 and / or the fuel engine 11 is used to charge the energy storage device 13 .

[0126] The above embodiment can be understood as dividing the vehicle plugging operation conditions into the following three conditions:

[0127] (1) If the power is taken and the mains is connected, and the charging power P-charge of the charger 14 is not less than the vehicle's required power Pn; at this time, the fuel engine 11 stops and the vehicle is operated in pure electric mode. The vehicle controller 21 reads the bus handle information. If the amplitude change and telescopic action are required, the main drive motor 12 is started, and the main oil pump 19 is driven to rotate through the gearbox 16, the power take-off device 17 and the channel 2, and the hydraulic mechanism 20 is driven to perform amplitude change and telescopic action under the action of pressure through the hydraulic pipeline. If hoisting and slewing actions are required, the main hoisting motor controller 23, the auxiliary hoisting motor controller 24 and the slewing motor controller 25 are controlled to take power from the bus, thereby driving the hoisting operation and the slewing operation. The remaining power of the AC charger 14 can be used to charge the energy storage device 13. The required power Pn of the vehicle is P2+P3+P4+P5, and the charging power of the energy storage device 13 is P-charge-Pn.

[0128] (2) If the power is taken and the mains is connected, and the charging power P-charge of the charger 14 is less than the vehicle's required power Pn, and the SOC of the energy storage device 13 is greater than the preset threshold; at this time, the fuel engine 11 stops, and the vehicle is operated in pure electric mode, and the AC charger 14 and the energy storage device 13 jointly power the vehicle. The vehicle controller 21 reads the bus handle information. If the amplitude change and telescopic action are required, the main drive motor 12 is started, and the main oil pump 19 is driven to rotate through the gearbox 16, the power take-off device 17 and the channel 2, and the hydraulic mechanism 20 is driven to change the amplitude and telescopic action under the action of pressure through the hydraulic pipeline. If hoisting and slewing actions are required, the main hoisting motor controller 23, the auxiliary hoisting motor controller 24 and the slewing motor controller 25 are controlled to take power from the bus, thereby driving the hoisting operation and the slewing operation. The required power Pn of the vehicle = the charging power P-charge of the charger + the discharge power Pc (discharge) of the energy storage device 13. The required power of the whole vehicle is Pn=P2+P3+P4+P5.

[0129] (3) If power is taken and the mains is connected, and the charging power P-charging of the charger 14 is less than the vehicle's required power Pn, and the SOC of the energy storage device 13 is not greater than the preset threshold; in this state, the fuel engine 11 needs to be started. Before the fuel engine 11 is started, Pn = P2 (power consumption) + P3 + P4 + P5. After the fuel engine 11 is started, the main drive motor 12 acts as a generator, and Pn = P3 + P4 + P5. Since Pn has changed, the relationship between P-charging and Pn needs to be re-judged.

[0130] When P-charge is not less than the vehicle's electrical power demand Pn (electricity), Pn (electricity) = P3 + P4 + P5, the vehicle controller 21 reads the bus handle information. If the boom and telescopic action are required, the fuel engine 11 starts, drives the main oil pump 19 to rotate through the gearbox 16, the power take-off device 17 and the channel 2, and drives the hydraulic mechanism 20 to perform the boom and telescopic action under the action of pressure through the hydraulic pipeline. If hoisting and slewing actions are required, the AC charger 14 provides power, and the main hoisting motor controller 23, the auxiliary hoisting motor controller 24 and the slewing motor controller 25 take power from the bus to drive the hoisting and slewing operations; the remaining power of the charger 14 is used to charge the energy storage device 13. The charging power Pc (charge) of the energy storage device 13 = P-charge - the vehicle's electrical power demand Pn (electricity), and the output power of the fuel engine 11 = Pn-Pn (electricity).

[0131] When P-charge is less than the vehicle's power demand Pn (electricity), Pn (electricity) = P3 + P4 + P5, the vehicle controller 21 reads the bus handle information. If the amplitude change and telescopic action are required, the fuel engine 11 starts, drives the main oil pump 19 to rotate through the gearbox 16, the power take-off device 17 and the channel 2, and drives the hydraulic mechanism 20 to perform amplitude change and telescopic action under pressure through the hydraulic pipeline. If hoisting and slewing actions are required, the fuel engine 11 drives the main drive motor 12 to generate electricity through the power coupling device 10, and the main drive motor controller 22 rectifies and supplies power to the bus. At this time, the AC charger 14 works to distribute power to the bus, and the main hoisting motor controller 23, the auxiliary hoisting motor controller 24 and the slewing motor controller 25 draw power from the bus, thereby driving the hoisting operation and the slewing operation; the remaining power of the charger 14 and / or the fuel engine 11 is used to charge the energy storage device 13. The charging power of the energy storage device 13 Pc (charging) = P2 (generation) + P-charging - vehicle power demand Pn (electricity).

[0132] In the embodiment of the present invention, the chassis part is composed of a fuel engine 11, a main drive motor 12, a main motor controller 22, a power coupling device 10, a gearbox 16, a power take-off device 17, a chassis drive device 18 and a main oil pump 19. The upper part is composed of a main hoisting motor controller 23, an auxiliary hoisting motor controller 24, a slewing motor controller 25, a main hoisting motor 26, an auxiliary hoisting motor 27, a slewing motor 28, a hydraulic pipeline and a hydraulic mechanism 20. The whole vehicle status information is collected by the whole vehicle controller 21, and the whole vehicle control is realized according to the whole vehicle status information.

[0133] In the embodiment of the present invention, compared with the pure electric vehicle lifting and plugging operation, the problem that the SOC of the energy storage device is less than the threshold and cannot be discharged, and the capacity of the mains power supply is too small to meet all the requirements of the plugging operation is solved. In the embodiment of the present invention, the electric motor and the fuel engine are used to jointly complete the vehicle operation requirements.

[0134] In an embodiment of the present invention, a range-extended hybrid vehicle crane system and control method are provided, which uses the SOC of the energy storage device 13, the power demand of the whole vehicle, the electric power demand of the whole vehicle, the charging capacity of the external power supply, etc. as input to realize energy distribution and equipment control of multiple working conditions such as chassis driving, on-board operation, and plug-in operation.

[0135] In the embodiment of the present invention, the working conditions can be divided according to the power take-off state, the SOC of the energy storage device 13, the capacity of the external power supply, etc., wherein the capacity of the external power supply can be achieved by setting, or the output capacity of the AC charger 14 can be directly measured and used for judgment.

[0136] In the embodiment of the present invention, the working condition of the crane may include the chassis driving condition and the vehicle loading condition, and the vehicle loading condition may be further divided into the variable amplitude action, the telescopic action, the hoisting action and the rotation action, etc. For the crane, the vehicle loading does not work during the driving of the chassis; the chassis does not drive during the vehicle loading. In the power system of the crane, the fuel engine 11 can provide energy and drive the main drive motor 12 to generate electricity through the power coupling system 10, or the energy storage device 13 or the charger 14 can be selected to be connected to the main power 15 for energy supply. According to the working condition of the crane, the required power, the charge state of the energy storage device 13, and the connection state of the charger 14 and the external power supply 15, the power source for supplying energy to the crane is determined to distribute power and control the equipment, so that the disadvantages of pure fuel truck cranes that pollute the environment can be avoided, and the disadvantages of pure electric truck cranes that have poor endurance can be avoided, and the power requirements of various working conditions such as the driving of the crane chassis, the vehicle loading condition, and the plug-in operation condition can be better met.

[0137] An embodiment of the present invention provides a controller, which is configured to execute any one of the methods for determining a power source of a crane in the above embodiments.

[0138] The power system of the crane includes: a power coupling device, a fuel engine, a main drive motor, an energy storage device and a charger. The power coupling device is connected to the fuel engine and the main drive motor respectively, the energy storage device is connected to the main drive motor and the charger respectively, and the charger is connected to the main drive motor and the external power supply respectively. Specifically, the controller can be configured as follows:

[0139] Determine the crane's operating conditions and required power;

[0140] Determine the state of charge of the energy storage device and the connection status of the charger and the external power source;

[0141] The power source for the crane is determined based on the operating conditions, required power, charge state and connection status.

[0142] In an embodiment of the present invention, the controller is configured to:

[0143] According to the working conditions, required power, state of charge and connection status, the power source for the crane is determined to include:

[0144] When the working condition is driving condition, disconnect the connection between the charger and the external power supply;

[0145] When the state of charge is greater than a preset threshold and the required power is not greater than the rated output power of the main drive motor, disconnecting the power coupling device from the fuel engine;

[0146] It is determined that the energy storage device drives the main drive motor to operate, thereby driving the chassis of the crane to move.

[0147] In an embodiment of the present invention, the controller is configured to:

[0148] When the operating condition is a driving condition, the state of charge is greater than a preset threshold, and the required power is greater than the rated output power of the main drive motor, connecting the power coupling device to the fuel engine;

[0149] It is determined that the fuel engine and the energy storage device are jointly powered to drive the chassis of the crane.

[0150] In an embodiment of the present invention, the controller is configured to:

[0151] When the working condition is a driving condition and the state of charge is not greater than a preset threshold, connecting the power coupling device to the fuel engine;

[0152] Determine that the fuel engine is used to drive the chassis of the crane;

[0153] The remaining power of the fuel engine is used to drive the main drive motor to reverse and generate electricity through the power coupling system to charge the energy storage device.

[0154] In an embodiment of the present invention, the controller is configured to:

[0155] When the crane brakes, the power coupling system is adjusted to drive the main drive motor to generate electricity to achieve braking energy recovery.

[0156] In an embodiment of the present invention, the power system also includes: a gearbox, a power take-off device and a chassis drive device. The gearbox is connected to the power coupling device and the power take-off device respectively, and the chassis drive device is connected to the power take-off device. The gearbox obtains power from the power coupling device and transmits the power to the power take-off device and the chassis drive device in sequence to drive the chassis to move.

[0157] In an embodiment of the present invention, the controller is configured to:

[0158] According to the working conditions, required power, state of charge and connection status, the power source for the crane is determined to include:

[0159] When it is determined that the working condition is an operating condition, the connection state is disconnected, and the state of charge is greater than a preset threshold, disconnecting the power coupling device from the fuel engine so that the fuel engine is in a stopped state;

[0160] It is determined that the energy storage device is used to supply energy to the crane to drive the loading operation.

[0161] In an embodiment of the present invention, the controller is configured to:

[0162] When it is determined that the working condition is an operating condition, the connection state is disconnected, and the charge state is not greater than a preset threshold, connecting the power coupling device to the fuel engine;

[0163] The fuel engine is controlled to drive the main drive motor to generate electricity through the power coupling device, so that the power source for supplying energy to the crane is the fuel engine.

[0164] In an embodiment of the present invention, the power system includes: a main oil pump, a hydraulic pipeline and a hydraulic mechanism. The main oil pump is connected to the power take-off device and the hydraulic pipeline respectively, and the hydraulic pipeline is connected to the hydraulic mechanism; the power take-off device drives the main oil pump to rotate, and drives the hydraulic mechanism through the hydraulic pipeline to perform amplitude change and telescopic actions.

[0165] In an embodiment of the present invention, the power system further includes:

[0166] The busbar is connected to the main drive motor, the energy storage device and the charger respectively, and is used to obtain electric energy from the main drive motor, the energy storage device and the charger;

[0167] A winch motor controller is connected to the busbar and the winch motor respectively, and is used to draw power from the busbar to drive the winch action;

[0168] The rotary motor controller is connected to the bus and the rotary motor respectively, and is used to draw power from the bus to drive the rotary action.

[0169] In an embodiment of the present invention, the external power supply includes AC power, and the controller is configured to:

[0170] According to the working conditions, required power, state of charge and connection status, the power source for the crane is determined to include:

[0171] When it is determined that the working condition is the operating condition, the connection state is connected, and the charging power of the charger is not less than the required power, disconnect the connection between the power coupling device and the fuel engine to make the fuel engine stop;

[0172] Determine that the charger is used to supply energy to drive the crane for loading operations;

[0173] The surplus power of the charger is used to charge the energy storage device.

[0174] In an embodiment of the present invention, the controller is configured to:

[0175] When it is determined that the working condition is the operating condition, the connection state is connected, the charging power of the charger is less than the required power, and the state of charge is greater than a preset threshold, disconnect the power coupling device from the fuel engine to put the fuel engine in a stopped state;

[0176] It is determined that the charger and the energy storage device jointly supply energy to drive the crane's loading operation.

[0177] In an embodiment of the present invention, the controller is configured to:

[0178] When it is determined that the working condition is the operating condition, the connection state is connected, the charging power of the charger is less than the required power and the state of charge is not greater than the preset threshold, the power coupling device is connected to the fuel engine, and the fuel engine is started;

[0179] Determine that the hydraulic mechanism driven by the fuel engine performs the luffing and telescopic actions;

[0180] Determine that the charger provides electrical energy to drive the winch and slewing operation, or determine that the charger and the fuel engine jointly drive the winch and slewing operation;

[0181] The surplus power of the charger and / or fuel engine is used to charge the energy storage device.

[0182] An embodiment of the present invention provides a crane, comprising the above-mentioned controller.

[0183] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0184] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0185] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0186] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0187] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0188] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0189] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0190] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0191] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining a power source of a crane, characterized in that The power system of the crane includes: a power coupling device, a fuel engine, a main drive motor, an energy storage device and a charger, wherein the power coupling device is connected to the fuel engine and the main drive motor respectively, the energy storage device is connected to the main drive motor and the charger respectively, and the charger is connected to the main drive motor and an external power source respectively; the method includes: Determining the operating conditions and required power of the crane; Determining the state of charge of the energy storage device and the connection state between the charger and the external power source; Determining a power source for supplying energy to the crane according to the operating condition, the required power, the charge state, and the connection state; The determining of a power source for supplying energy to the crane according to the working condition, the required power, the charge state, and the connection state includes: When it is determined that the working condition is the on-board working condition, the connection state is connected, the charging power of the charger is less than the required power, and the state of charge is not greater than a preset threshold, the power coupling device is connected to the fuel engine, and the fuel engine is started; Determining that the hydraulic mechanism is driven by the fuel engine to perform the luffing action and the telescopic action; Determining that the charger provides electrical energy to drive the hoisting action and the rotating action, or determining that the charger and the fuel engine jointly drive the hoisting action and the rotating action; Using the surplus power of the charger and / or the fuel engine to charge the energy storage device; When it is determined that the working condition is a vehicle-mounted working condition, the connection state is not connected, and the charge state is not greater than a preset threshold, connecting the power coupling device to the fuel engine; The fuel engine is controlled to drive the main drive motor to generate electricity through the power coupling device, so that the power source for supplying energy to the crane is the fuel engine.

2. The method according to claim 1, characterized in that The determining of the power source for supplying energy to the crane according to the working condition, the required power, the charge state, and the connection state comprises: When the working condition is a chassis driving working condition, disconnecting the charger from the external power source; When the state of charge is greater than a preset threshold and the required power is not greater than the rated output power of the main drive motor, disconnecting the power coupling device from the fuel engine; It is determined that the energy storage device drives the main drive motor to operate, thereby driving the chassis of the crane to travel.

3. The method according to claim 2, characterized in that Also includes: When the operating condition is a chassis driving condition, the state of charge is greater than a preset threshold, and the required power is greater than the rated output power of the main drive motor, connecting the power coupling device to the fuel engine; It is determined that the fuel engine and the energy storage device jointly supply energy to drive the chassis of the crane to travel.

4. The method according to claim 2, characterized in that: Also includes: When the operating condition is a chassis driving condition and the state of charge is not greater than a preset threshold, connecting the power coupling device to the fuel engine; Determining that the fuel engine is used to supply energy to drive the chassis of the crane; The remaining power of the fuel engine is used to drive the main drive motor to reverse and generate electricity through the power coupling device to charge the energy storage device.

5. The method according to claim 2, characterized in that: Also includes: When the crane is braked, the power coupling device is adjusted to drive the main drive motor to generate electricity, so as to realize braking energy recovery.

6. The method according to claim 3, characterized in that: The power system also includes: a gearbox, a power take-off device and a chassis drive device, the gearbox is connected to the power coupling device and the power take-off device respectively, the chassis drive device is connected to the power take-off device, the gearbox obtains power from the power coupling device, and transmits the power to the power take-off device and the chassis drive device in sequence to drive the chassis to travel.

7. The method according to claim 1, characterized in that The determining of the power source for supplying energy to the crane according to the working condition, the required power, the charge state and the connection state comprises: When it is determined that the working condition is the on-vehicle working condition, the connection state is disconnected, and the charge state is greater than a preset threshold, disconnecting the power coupling device from the fuel engine so that the fuel engine is in a stopped state; It is determined that the energy storage device is used to supply energy to the crane to drive the loading operation.

8. The method according to claim 7, characterized in that The power system includes: a main oil pump, a hydraulic pipeline and a hydraulic mechanism, wherein the main oil pump is respectively connected to a power take-off device and the hydraulic pipeline, and the hydraulic pipeline is connected to the hydraulic mechanism; the power take-off device drives the main oil pump to rotate, and drives the hydraulic mechanism through the hydraulic pipeline to perform amplitude variation and telescopic actions.

9. The method according to claim 1, characterized in that: The power system further comprises: A busbar, connected to the main drive motor, the energy storage device and the charger respectively, for obtaining electric energy from the main drive motor, the energy storage device and the charger; A hoisting motor controller is connected to the busbar and the hoisting motor respectively, and is used to draw power from the busbar to drive the hoisting action; The rotary motor controller is connected to the bus and the rotary motor respectively, and is used to draw power from the bus to drive the rotary action.

10. The method according to claim 1, characterized in that The external power source includes a mains power supply, and the power source for supplying energy to the crane is determined according to the working condition, the required power, the charge state, and the connection state, including: When it is determined that the working condition is the on-board working condition, the connection state is connected, and the charging power of the charger is not less than the required power, disconnecting the power coupling device from the fuel engine so that the fuel engine is in a stopped state; Determining that the charger is used to supply energy to drive the loading operation of the crane; The surplus power of the charger is used to charge the energy storage device.

11. The method according to claim 10, characterized in that Also includes: When it is determined that the working condition is the on-vehicle working condition, the connection state is connected, the charging power of the charger is less than the required power, and the state of charge is greater than a preset threshold, disconnecting the power coupling device from the fuel engine so that the fuel engine is in a stopped state; It is determined that the charger and the energy storage device jointly supply energy to drive the loading operation of the crane.

12. A controller, characterized in that: The method is configured to perform the method for determining a power source of a crane according to any one of claims 1 to 11.

13. A crane, characterized in that: Comprising a controller according to claim 12.

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