Energy recovery control method and device, energy recovery system, and crane

Abstract

The present invention relates to the field of crane technology, and provides an energy recovery control method and device, an energy recovery system, and a crane. The energy recovery control method includes selecting M target drive motors from N drive motors based on the charging power of N drive motors in the crane and the current vehicle charging power limit of the crane during the process of lowering the suspended object by the crane, wherein the target drive motor is a drive motor that can be currently used to recover the gravitational potential energy of the suspended object of the crane, and M and N are positive integers; and controlling the M target drive motors to recover energy based on the current power of the battery. The method solves the technical problem in the prior art that the gravitational potential energy of the suspended object is converted into kinetic energy and consumed during the lowering of the suspended object by the crane, resulting in energy waste. The gravitational potential energy of the suspended object can be recovered and stored in the battery, effectively reducing energy waste and improving the endurance of the crane.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to an energy recovery control method and device, an energy recovery system, and a crane. Background Art

[0002] Cranes are developing rapidly in the infrastructure construction and logistics industries due to their many advantages such as fast travel, simple and flexible operation, good maneuverability, strong adaptability and high efficiency.

[0003] However, while the crane meets the requirements of performance and reliability, its energy consumption is also high. Among the various mechanisms of the crane, the winch mechanism operates most frequently and wastes the most energy. During the lifting process, the winch mechanism lifts the suspended object, and in this process the electrical energy is converted into the gravitational potential energy of the suspended object. During the descent of the suspended object, the gravitational potential energy of the suspended object is converted into kinetic energy and consumed, resulting in energy waste. Summary of the invention

[0004] The present invention provides an energy recovery control method and device, an energy recovery system, and a crane, which are used to solve the technical problem in the prior art that the gravitational potential energy of the suspended object is converted into kinetic energy and consumed during the descent of the suspended object, resulting in energy waste. The gravitational potential energy of the suspended object can be recovered and stored in a battery, effectively reducing energy waste and improving the endurance of the crane.

[0005] The present invention provides an energy recovery control method, comprising:

[0006] In the process of lowering the load by the crane, based on the charging power of the N drive motors in the crane and the current vehicle charging power limit of the crane, M target drive motors are selected from the N drive motors. The target drive motors are drive motors that can be used to recover the gravitational potential energy of the load by the crane. M and N are positive integers.

[0007] Based on the current charge of the battery, M target drive motors are controlled to perform energy recovery.

[0008] According to the energy recovery control method provided by the present invention, based on the charging power of the N driving motors in the crane and the current vehicle charging power limit of the crane, before selecting M target driving motors from the N driving motors, the method further includes:

[0009] Get the current charging power limit of the battery;

[0010] The smaller one of the current charging power limit of the battery and the charging power limit of the busbar of the crane is used as the current vehicle charging power limit of the crane.

[0011] According to the energy recovery control method provided by the present invention, the sum of the charging powers of the M target drive motors is less than or equal to the current vehicle charging power limit of the crane.

[0012] According to the energy recovery control method provided by the present invention, based on the charging power of N driving motors in the crane and the current vehicle charging power limit of the crane, M target driving motors are selected from the N driving motors, including:

[0013] If the sum of the charging powers of the N drive motors is less than or equal to the current vehicle charging power limit of the crane, each drive motor is determined to be a target drive motor;

[0014] If the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane, based on the priorities of the N drive motors, M target drive motors with the highest priorities are selected from the N drive motors.

[0015] According to the energy recovery control method provided by the present invention, the N drive motors are drive motors of multiple actuators of the crane, the multiple actuators include a hoisting mechanism, and the priority of the drive motor of the hoisting mechanism is higher than the priority of the drive motors of other actuators among the multiple actuators.

[0016] The energy recovery control method provided by the present invention further includes: if the charging power of the driving motor with the highest priority is greater than the current vehicle charging power limit of the crane, controlling the crane to brake.

[0017] According to the energy recovery control method provided by the present invention, the crane includes a generator, and the energy recovery control method further includes:

[0018] If the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane, and the generator is charging the battery, determine the target power of the generator based on the current vehicle charging power limit of the crane and the charging powers of the N drive motors;

[0019] Based on the target power of the generator, the generator is controlled to generate power.

[0020] The present invention also provides an energy recovery control device, comprising:

[0021] A selection module is used to select M target drive motors from N drive motors based on the charging power of N drive motors in the crane and the current vehicle charging power limit of the crane during the process of lowering the load by the crane, wherein the target drive motors are drive motors that can be used to recover the gravitational potential energy of the load by the crane, and M and N are positive integers;

[0022] The recovery module is used to control M target drive motors to recover energy based on the current power of the battery.

[0023] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any one of the above-mentioned energy recovery control methods is implemented.

[0024] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the computer program implements any of the above-mentioned energy recovery control methods.

[0025] The present invention also provides a computer program product, comprising a computer program, and when the computer program is executed by a processor, the computer program implements any of the above energy recovery control methods.

[0026] The present invention also provides an energy recovery system, comprising: a controller, configured to execute any one of the energy recovery control methods described above;

[0027] A driving motor is connected to the hoisted object of the crane and is used to recover the gravitational potential energy of the hoisted object of the crane;

[0028] The battery is connected to the drive motor and is used to store energy recovered by the drive motor.

[0029] The present invention also provides a crane, comprising the above energy recovery control device, or the above energy recovery system.

[0030] In the energy recovery control method provided by the present invention, during the process of lowering the suspended objects by the crane, M target drive motors can be selected based on the charging power of the N drive motors in the crane and the current vehicle charging power limit of the crane, and based on the current power of the battery, the M target drive motors are controlled to recover the gravitational potential energy of the suspended objects of the crane. In this way, the technical problem in the prior art that the gravitational potential energy of the suspended objects is converted into kinetic energy and consumed during the lowering of the suspended objects by the crane, resulting in energy waste, is solved. The gravitational potential energy of the suspended objects can be recovered and stored in the battery, effectively reducing energy waste and improving the endurance of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 is a structural schematic diagram of the energy recovery system provided by the present invention;

[0033] Figure 2 It is one of the flow charts of the energy recovery control method provided by the present invention;

[0034] Figure 3 This is the second flow chart of the energy recovery control method provided by the present invention;

[0035] Figure 4 is a structural schematic diagram of the energy recovery control device provided by the present invention;

[0036] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. Description of the drawings:

[0038] 101: controller; 102: target drive motor; 103: battery;

[0039] 104: inverter; 105: lifting drum; 106: transmission shaft;

[0040] 107: Transmission gear; 108: Hoisting object. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Figure 1 It is a structural schematic diagram of the energy recovery system provided by the present invention.

[0043] like Figure 1As shown, the energy recovery system provided in this embodiment may include a controller 101, a target drive motor 102, a transmission mechanism, a battery 103, an inverter 104 and a hoisting drum 105, wherein the transmission mechanism includes a transmission shaft 106 and a transmission gear 107, the target drive motor 102 is connected to a hoisting object 108 of the crane through the transmission shaft 106 and the transmission gear 107, the target drive motor 102 can rotate forwardly under the control of the controller 101 to hoist the hoisting object 108, and can also, under the control of the controller 101, lower the hoisting object 108 to the lowered position. The gravitational potential energy of the hanging object 108 is recovered. Specifically, when the hanging object 108 is lowered, the lifting drum 105 connected to the hanging object 108 will rotate, which can drive the transmission gear 107 to rotate, and then drive the transmission shaft 106 to move. Further, the rotor of the target drive motor 102 will rotate in the opposite direction. When the rotor of the target drive motor 102 rotates in the opposite direction, the target drive motor 102 can generate electricity, and the generated electricity can be stored in the battery 103 after being processed by the inverter 104. In this way, the gravitational potential energy of the hanging object 108 is recovered.

[0044] Figure 2 It is one of the flow charts of the energy recovery control method provided by the present invention.

[0045] like Figure 2 As shown, this embodiment provides an energy recovery control method, including:

[0046] Step 201, during the process of lowering the load by the crane, based on the charging power of the N drive motors in the crane and the current vehicle charging power limit of the crane, M target drive motors are selected from the N drive motors, where the target drive motors are drive motors that can currently be used to recover the gravitational potential energy of the load by the crane, and M and N are positive integers.

[0047] Step 202 : Based on the current power level of the battery, control the M target drive motors to perform energy recovery.

[0048] During implementation, the drive motor can be the original motor used to drive the crane, such as a winch motor or a slewing motor, and the target drive motor can be a drive motor selected from N drive motors for energy recovery. That is to say, in addition to maintaining the original function of driving the crane, the target drive motor can also be used to recover the gravitational potential energy of the crane's hoisted objects. During implementation, the target drive motor can change its function by changing the rotation direction. For example, the target drive motor can be used to exert the original driving function when rotating forward, and can be used to recover the gravitational potential energy of the crane's hoisted objects when rotating reversely.

[0049] In practical applications, the value of N can be equal to 1 or greater than 1. When the value of N is equal to 1, it indicates that there is only one drive motor in the crane. In this case, the drive motor can be the drive motor of the hoisting mechanism. When the value of N is greater than 1, it indicates that there are multiple drive motors in the crane. In this case, the drive motor can be the drive motor of multiple actuators of the crane. The actuator refers to a component in the crane used to perform a specific function. The multiple actuators may include a hoisting mechanism or other actuators, such as a slewing mechanism. Accordingly, the drive motor may include the drive motor of the hoisting mechanism or the drive motors of other actuators among the multiple actuators.

[0050] Each drive motor in the crane has a corresponding charging power, and the crane itself also has a current vehicle charging power limit. The current vehicle charging power limit can be used to characterize the maximum charging power that the crane can currently receive. In practical applications, M target drive motors can be selected from N drive motors based on the charging power of each drive motor in the crane and the current vehicle charging power limit of the crane.

[0051] During implementation, the sum of the charging powers of the M target drive motors may be less than or equal to the current vehicle charging power limit of the crane, thus ensuring safety.

[0052] In actual applications, after selecting M target drive motors, the M target drive motors can be controlled to perform energy recovery based on the current power of the battery. During implementation, when the current power of the battery is less than the first power threshold, the M target drive motors can be controlled to perform energy recovery.

[0053] In practice, the battery may be a rechargeable battery such as a lead-acid battery, a nickel-cadmium battery, a nickel-iron battery, a nickel-metal hydride battery or a lithium-ion battery.

[0054] In this embodiment, during the process of lowering the load by the crane, M target drive motors can be selected based on the charging power of the N drive motors in the crane and the current vehicle charging power limit of the crane, and based on the current power of the battery, the M target drive motors can be controlled to recover the gravitational potential energy of the load of the crane. In this way, the technical problem in the prior art that the gravitational potential energy of the load is converted into kinetic energy and consumed during the lowering of the load by the crane, resulting in energy waste, is solved. The gravitational potential energy of the load can be recovered and stored in the battery, which effectively reduces energy waste and improves the endurance of the crane.

[0055] In an exemplary embodiment, based on the charging power of the N driving motors in the crane and the current vehicle charging power limit of the crane, before selecting M target driving motors from the N driving motors, the method further includes:

[0056] Get the current charging power limit of the battery;

[0057] The smaller one of the current charging power limit of the battery and the charging power limit of the busbar of the crane is used as the current vehicle charging power limit of the crane.

[0058] The busbar refers to a common passage to which multiple devices are connected in the form of parallel branches. Correspondingly, the busbar of a crane refers to a common passage for multiple devices in the crane. Based on this, the charging power limit of the busbar can be used to characterize the maximum charging power that the busbar of the crane can receive. In practical applications, the charging power limit of the busbar of the crane can be a fixed value.

[0059] During implementation, since the electric energy generated by energy recovery of the target drive motor can be stored in the battery in the form of charging the battery, the charging power limit of the whole vehicle needs to consider not only the charging power limit of the bus, but also the current charging power limit of the battery. The current charging power limit of the battery can be used to characterize the maximum charging power that the battery can currently accept. In practical applications, the sum of the charging powers of the M target drive motors needs to be less than or equal to not only the charging power limit of the bus, but also less than or equal to the current charging power limit of the battery. Based on this, during implementation, the current charging power limit of the battery can be obtained first, and then the smaller of the current charging power limit of the battery and the charging power limit of the bus of the crane is used as the current charging power limit of the whole vehicle of the crane.

[0060] In this embodiment, after obtaining the current charging power limit of the battery, the smaller one of the current charging power limit of the battery and the charging power limit of the busbar of the crane can be used as the current vehicle charging power limit of the crane. In this way, when recovering the gravitational potential energy of the suspended object, the current charging power limit of the battery and the charging power limit of the busbar are comprehensively considered, thereby improving safety.

[0061] In an exemplary embodiment, based on the charging power of N driving motors in the crane and the current vehicle charging power limit of the crane, M target driving motors are selected from the N driving motors, including:

[0062] If the sum of the charging powers of the N drive motors is less than or equal to the current vehicle charging power limit of the crane, each drive motor is determined to be a target drive motor;

[0063] If the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane, based on the priorities of the N drive motors, M target drive motors with the highest priorities are selected from the N drive motors.

[0064] During implementation, different drive motors have different efficiencies in recovering the gravitational potential energy of the crane's hoisted objects. Therefore, there is a priority relationship between the N drive motors. That is, when the current vehicle charging power limit of the crane is not sufficient to support the charging of all the drive motors, the drive motors with higher priorities can be used for charging first. That is, the drive motors with higher priorities are preferentially selected as the target drive motors.

[0065] In practical applications, if the sum of the charging powers of the N drive motors is less than or equal to the current vehicle charging power limit of the crane, it can be regarded that the current vehicle charging power limit of the crane can satisfy all the drive motors for charging together. In this way, all the drive motors can be determined as target drive motors. If the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane, the M target drive motors with the highest priority can be selected from the N drive motors based on the priority of the N drive motors. The following example illustrates the selection process of the M target drive motors. For example, the current vehicle charging power limit of the crane can be P1, and the N drive motors are A motor, B motor, C motor and D motor in order of priority. The charging power of motor A is P2, the charging power of motor B is P3, the charging power of motor C is P4, and the charging power of motor D is P5. The sum of the charging powers of the N drive motors can be calculated to be P2+P3+P4+P5, and P2+P3+P4+P5 is greater than the current vehicle charging power limit of the crane. When the charging power limit is P1, based on the priority of the drive motor, it can be determined whether the charging power of motor A is less than the current vehicle charging power limit of the crane. After determining that the charging power P2 of motor A is less than the current vehicle charging power limit P1 of the crane, motor A can be determined as the target drive motor, and then it can be determined whether the sum of the charging powers P2+P3 of motor A and motor B is less than the current vehicle charging power limit P1 of the crane. After determining that the sum of the charging powers P2+P3 of motor A and motor B is less than the current vehicle charging power limit P1 of the crane, motor B can be determined as the target drive motor. After that, it can be determined whether the sum of the charging powers P2+P3+P4 of motor A, motor B and motor C is less than the current vehicle charging power limit of the crane. Through calculation, it is determined that the sum of the charging powers P2+P3+P4 of motor A, motor B and motor C is greater than the current vehicle charging power limit P1 of the crane. Therefore, motor C cannot be determined as the target drive motor. Based on this, the target drive motors can be determined to be motor A and motor B.

[0066] In this embodiment, the drive motors have priorities. When the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane, M target drive motors with the highest priority can be selected from the N drive motors based on the priorities of the N drive motors. In this way, the target drive motor can be flexibly selected, which can more effectively reduce energy waste and improve the endurance of the crane.

[0067] In an exemplary embodiment, the N drive motors are drive motors of multiple actuators of the crane, including a hoisting mechanism, and the priority of the drive motor of the hoisting mechanism is higher than the priority of the drive motors of other actuators in the multiple actuators.

[0068] The actuator in this embodiment includes a hoisting mechanism, that is, the N drive motors include at least the drive motor of the hoisting mechanism. In implementation, the actuator may also include other mechanisms besides the hoisting mechanism, such as a slewing mechanism. When the actuator includes other mechanisms besides the hoisting mechanism, the priority of the drive motor of the hoisting mechanism is higher than the priority of the drive motors of other mechanisms. That is to say, when the sum of the charging powers of the N drive motors is greater than the current vehicle charging power of the crane, the drive motor of the hoisting mechanism is prioritized as the target drive motor.

[0069] Since the hoisting mechanism is directly connected to the hoisted object of the crane, the driving motor of the hoisting mechanism can recover the gravitational potential energy of the hoisted object more efficiently. Based on this, in this embodiment, when the actuator includes other mechanisms besides the hoisting mechanism, the priority of the driving motor of the hoisting mechanism is higher than the priority of the driving motors of other actuators. In this way, the driving motor of the hoisting mechanism can be prioritized as the target driving motor, which can improve the efficiency of energy recovery, more effectively reduce energy waste, and enhance the endurance of the crane.

[0070] In an exemplary embodiment, the energy recovery control method further includes: if the charging power of the driving motor with the highest priority is greater than the current vehicle charging power limit of the crane, controlling the crane to brake.

[0071] During implementation, if the charging power of the highest priority drive motor is greater than the current vehicle charging power limit of the crane, it means that the current vehicle charging power limit of the crane is not sufficient to support the charging of any drive motor. In this case, the crane can be controlled to brake. Specifically, the crane can brake when it puts down the load, that is, stop the target drive motor from recovering the gravitational potential energy of the load.

[0072] In actual applications, if the charging power of the highest priority drive motor is greater than the current vehicle charging power limit of the crane, the target drive motor can stop recovering the gravitational potential energy of the crane's hoisted objects. During implementation, the controller can stop automatically, or the operator can stop manually through button control, touch control, voice control, or remote control. If the controller does not automatically stop energy recovery and the operator does not stop it manually, the crane brakes can be controlled to protect the crane. Specifically, the crane can brake when it puts down the hoisted objects.

[0073] In this embodiment, if the charging power of the highest priority driving motor is greater than the current vehicle charging power limit of the crane, the crane brakes can be controlled, thus providing protection for the crane and improving safety.

[0074] In an exemplary embodiment, if the charging power of the highest priority driving motor is greater than the current vehicle charging power limit of the crane, the crane is braked and the energy of the battery is released at the same time.

[0075] During implementation, if the charging power of the highest priority drive motor is greater than the current vehicle charging power limit of the crane, it means that the current vehicle charging power limit of the crane is not sufficient to support the charging of any drive motor. In this case, the crane brakes can be controlled and part of the battery energy can be released. After the battery energy is released, the current charging power limit of the battery can be increased, and then the current vehicle charging power limit of the crane can be increased. When the current vehicle charging power limit of the crane is greater than the charging power of the highest priority drive motor, the release of the battery energy can be stopped.

[0076] During implementation, the energy of the battery can be used to drive the oil pump motor, which can be used to pressurize the hydraulic system. While the oil pump motor is working, the overflow valve of the hydraulic system is opened, so that the hydraulic system can be depressurized. In this way, the purpose of releasing the energy of the battery can be achieved. After a part of the energy of the battery is released, the energy release can be stopped, so that the current charging power limit of the battery of the crane can be increased, and then the current charging power limit of the whole vehicle of the crane can be increased, so as to avoid the danger caused by the charging power of the target drive motor being greater than the current charging power limit of the whole vehicle of the crane, thereby improving safety.

[0077] In an exemplary embodiment, the crane includes a generator, and the energy recovery control method further includes:

[0078] If the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane, and the generator is charging the battery, determine the target power of the generator based on the current vehicle charging power limit of the crane and the charging powers of the N drive motors;

[0079] Based on the target power of the generator, the generator is controlled to generate power.

[0080] In practice, the crane can be a hybrid crane, that is, the crane can have two power sources, namely, a battery and an engine. The engine can work to drive the generator to generate electricity to charge the battery, and then the electricity in the battery drives the crane to work.

[0081] In actual applications, when the generator is charging the battery, the current charging power limit of the battery will decrease. Since the current charging power limit of the battery will affect the current vehicle charging power limit of the crane, the current vehicle charging power limit of the crane will also decrease accordingly. Based on this, if the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane, and the generator is charging the battery, you can consider adjusting the power of the generator. The target power of the generator can be determined based on the current vehicle charging power limit of the crane and the charging power of the N drive motors, and the generator can be controlled to generate electricity based on the target power of the generator. For example, the current vehicle charging power limit of the crane can be P6, and the sum of the charging powers of the N drive motors is P7. It can be determined that the target power of the generator can be P6-P7. Based on this, the power generation power of the generator can be adjusted to P6-P7.

[0082] In this embodiment, the crane may include a generator. In this case, if the generator is charging the battery, the sum of the charging powers of the N drive motors may be greater than the current vehicle charging power limit of the crane, which will affect the efficiency of energy recovery. Based on this, if the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane, and the generator is charging the battery, the target power of the generator is determined based on the current vehicle charging power limit of the crane and the charging power of the N drive motors, and the generator is controlled to generate electricity based on the target power of the generator. In this way, the energy recovered by the drive motor can be more fully utilized, the energy consumption of the engine can be reduced, and energy waste can be reduced.

[0083] The energy recovery control method provided by the present invention is described in detail below by taking a hybrid crane as an example.

[0084] Figure 3 This is the second flow chart of the energy recovery control method provided by the present invention.

[0085] like Figure 3 As shown, the energy recovery control method provided in this embodiment includes:

[0086] Step 1: Obtain the current vehicle charging power limit of the crane and the charging power of the drive motor.

[0087] During implementation, the current charging power limit of the battery may be obtained first, and the smaller one of the current charging power limit of the battery and the charging power limit of the busbar of the crane may be used as the current vehicle charging power limit of the crane.

[0088] Step 2: If the sum of the charging powers of the driving motors in the crane is greater than the current vehicle charging power limit, execute step 3; if the sum of the charging powers of the driving motors in the crane is not greater than the current vehicle charging power limit, execute step 4.

[0089] Step three, determine whether the generator is in a power generation state. If the generator is in a power generation state, execute step five. If the generator is not in a power generation state, execute step six.

[0090] Step 4: Charge the battery.

[0091] In implementation, the battery may be charged when the current power level of the battery is lower than the battery remaining power threshold, and the charging may be stopped when the current power level of the battery is higher than the battery remaining power threshold.

[0092] Step five: determining the target power of the generator, and controlling the generator to generate electricity based on the target power of the generator.

[0093] During implementation, the target power of the generator can be determined based on the current vehicle charging power limit of the crane and the charging power of the N drive motors, and the generator can be controlled to generate electricity based on the target power of the generator.

[0094] Step six, determine whether the charging power of the driving motor of the hoisting mechanism is greater than the charging power limit of the whole vehicle. If the charging power of the driving motor of the hoisting mechanism is not greater than the charging power limit of the whole vehicle, execute step seven. If the charging power of the driving motor of the hoisting mechanism is greater than the charging power limit of the whole vehicle, execute step eight.

[0095] Step seven, using the driving motor of the hoisting mechanism to charge the battery.

[0096] During implementation, there may be multiple drive motors, for example, the drive motor of the hoisting mechanism and the drive motor of the slewing mechanism, etc. When the sum of the charging powers of the drive motors in the crane is greater than the current charging power limit of the entire vehicle, the drive motor of the hoisting mechanism is used preferentially to charge the battery.

[0097] Step eight, control the winch mechanism to brake and release the energy of the battery at the same time.

[0098] During implementation, if the charging power of the driving motor of the winch mechanism is greater than the charging power limit of the whole vehicle, it means that the charging power limit of the whole vehicle is too small and the battery cannot be charged. At this time, the winch mechanism can be controlled to brake, that is, to stop the descent of the suspended object and release part of the battery energy at the same time. During implementation, the battery energy can be used to drive the oil pump motor to pressurize the hydraulic system, and the hydraulic system can be depressurized through the overflow valve of the hydraulic system, so as to achieve the purpose of consuming the battery energy.

[0099] The energy recovery control device provided by the present invention is described below. The energy recovery control device described below and the energy recovery control method described above can be referenced to each other.

[0100] Figure 4 It is a structural schematic diagram of the energy recovery control device provided by the present invention.

[0101] like Figure 4 As shown, the energy recovery control device provided in this embodiment includes:

[0102] A selection module 401 is used to select M target drive motors from N drive motors in the process of lowering the load by the crane, based on the charging power of the N drive motors in the crane and the current whole vehicle charging power limit of the crane, wherein the target drive motors are drive motors that can be used to recover the gravitational potential energy of the load by the crane, and M and N are positive integers;

[0103] The recovery module 402 is used to control the M target drive motors to recover energy based on the current power of the battery.

[0104] In an exemplary embodiment, an acquisition module is also included, and the acquisition module is specifically used to:

[0105] Get the current charging power limit of the battery;

[0106] The smaller one of the current charging power limit of the battery and the charging power limit of the busbar of the crane is used as the current vehicle charging power limit of the crane.

[0107] In an exemplary embodiment, the sum of the charging powers of the M target drive motors is less than or equal to the current vehicle charging power limit of the crane.

[0108] In an exemplary embodiment, the selection module 401 is specifically configured to:

[0109] If the sum of the charging powers of the N drive motors is less than or equal to the current vehicle charging power limit of the crane, each drive motor is determined to be a target drive motor;

[0110] If the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane, based on the priorities of the N drive motors, M target drive motors with the highest priorities are selected from the N drive motors.

[0111] In an exemplary embodiment, the N drive motors are drive motors of multiple actuators of the crane, including a hoisting mechanism, and the priority of the drive motor of the hoisting mechanism is higher than the priority of the drive motors of other actuators in the multiple actuators.

[0112] In an exemplary embodiment, a brake module is also included, and the brake module is used to control the crane to brake if the charging power of the drive motor with the highest priority is greater than the current vehicle charging power limit of the crane.

[0113] In an exemplary embodiment, the crane includes a generator, and the energy recovery control device further includes a generator control module, the generator control module being configured to:

[0114] If the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane, and the generator is charging the battery, determine the target power of the generator based on the current vehicle charging power limit of the crane and the charging powers of the N drive motors;

[0115] Based on the target power of the generator, the generator is controlled to generate power.

[0116] The specific implementation method of the energy recovery control device provided in this embodiment can be implemented with reference to the embodiment of the above-mentioned energy recovery control method, which will not be described in detail here.

[0117] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the energy recovery control method, which includes:

[0118] In the process of lowering the load by the crane, based on the charging power of the N drive motors in the crane and the current vehicle charging power limit of the crane, M target drive motors are selected from the N drive motors. The target drive motors are drive motors that can be used to recover the gravitational potential energy of the load by the crane. M and N are positive integers.

[0119] Based on the current charge of the battery, M target drive motors are controlled to perform energy recovery.

[0120] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0121] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the energy recovery control method provided by the above methods, the method includes:

[0122] In the process of lowering the load by the crane, based on the charging power of the N drive motors in the crane and the current vehicle charging power limit of the crane, M target drive motors are selected from the N drive motors. The target drive motors are drive motors that can be used to recover the gravitational potential energy of the load by the crane. M and N are positive integers.

[0123] Based on the current charge of the battery, M target drive motors are controlled to perform energy recovery.

[0124] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the energy recovery control method provided by the above methods is implemented, and the method includes:

[0125] In the process of lowering the load by the crane, based on the charging power of the N drive motors in the crane and the current vehicle charging power limit of the crane, M target drive motors are selected from the N drive motors. The target drive motors are drive motors that can be used to recover the gravitational potential energy of the load by the crane. M and N are positive integers.

[0126] Based on the current charge of the battery, M target drive motors are controlled to perform energy recovery.

[0127] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0128] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0129] The present invention also provides a crane, comprising an energy recovery control device as in any of the above embodiments, or the above energy recovery system. The specific implementation method of the crane provided by the present invention can be implemented with reference to any of the above embodiments, and will not be repeated here.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An energy recovery control method, characterized in that: include: In the process of lowering the load by the crane, based on the charging power of the N drive motors in the crane and the current vehicle charging power limit of the crane, M target drive motors are selected from the N drive motors, and the target drive motors are the drive motors that can be used to recover the gravitational potential energy of the load by the crane, and M and N are positive integers; Based on the current power level of the battery, the M target drive motors are controlled to perform energy recovery.

2. The energy recovery control method according to claim 1, characterized in that: Before selecting M target drive motors from the N drive motors based on the charging power of the N drive motors in the crane and the current vehicle charging power limit of the crane, the method further includes: Obtaining a current charging power limit of the battery; The smaller one of the current charging power limit of the battery and the charging power limit of the busbar of the crane is used as the current vehicle charging power limit of the crane.

3. The energy recovery control method according to claim 1, characterized in that: The sum of the charging powers of the M target drive motors is less than or equal to the current vehicle charging power limit of the crane.

4. The energy recovery control method according to claim 3, characterized in that: The selecting M target drive motors from the N drive motors based on the charging power of the N drive motors in the crane and the current vehicle charging power limit of the crane includes: If the sum of the charging powers of the N drive motors is less than or equal to the current vehicle charging power limit of the crane, determine each of the drive motors as the target drive motor; If the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane, based on the priorities of the N drive motors, the M target drive motors with the highest priorities are selected from the N drive motors.

5. The energy recovery control method according to claim 3 or 4, characterized in that: The N driving motors are driving motors of multiple actuators of the crane, wherein the multiple actuators include a hoisting mechanism, and the priority of the driving motor of the hoisting mechanism is higher than the priority of the driving motors of other actuators among the multiple actuators.

6. The energy recovery control method according to claim 4, characterized in that: Also includes: If the charging power of the driving motor with the highest priority is greater than the current vehicle charging power limit of the crane, the crane is controlled to brake.

7. The energy recovery control method according to claim 1, characterized in that: The crane includes a generator, and the energy recovery control method further includes: If the sum of the charging powers of the N drive motors is greater than the current vehicle charging power limit of the crane and the generator is charging the battery, determine the target power of the generator based on the current vehicle charging power limit of the crane and the charging powers of the N drive motors; Based on the target power of the generator, the generator is controlled to generate power.

8. An energy recovery control device, characterized in that: include: A selection module is used to select M target drive motors from N drive motors in the process of lowering the load by the crane, based on the charging power of N drive motors in the crane and the current vehicle charging power limit of the crane, wherein the target drive motors are the drive motors that can be used to recover the gravitational potential energy of the load by the crane, and M and N are positive integers; The recovery module is used to control the M target drive motors to recover energy based on the current power of the battery.

9. An energy recovery system, characterized in that: include: A controller, configured to execute the energy recovery control method according to any one of claims 1 to 7; A driving motor connected to a hoisted object of the crane and used for recovering the gravitational potential energy of the hoisted object of the crane; A battery is connected to the drive motor and is used to store energy recovered by the drive motor.

10. A crane, characterized in that: It comprises the energy recovery control device as claimed in claim 8, or the energy recovery system as claimed in claim 9.

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