Brake control method, device and wheel crane

Abstract

An embodiment of the present invention provides a braking control method, a braking system, and a wheel crane, belonging to the field of vehicle braking. The method includes: when receiving a compound braking instruction, obtaining the load value and the current vehicle speed of the wheel crane; according to the load value and the current vehicle speed, controlling the engine controller to perform braking, and determining the opening rates of a plurality of auxiliary braking devices, and controlling the plurality of auxiliary braking devices to perform braking according to the opening rates. The above method combines the load value and the current vehicle speed of the crane to control compound braking. While using the engine controller to perform braking, the load value and the current vehicle speed of the crane are used to reasonably determine the opening rates of the plurality of auxiliary braking devices, and the auxiliary control device is controlled to perform auxiliary control according to the determined opening rates, reasonably using the plurality of auxiliary control devices to assist in braking, and improving the effectiveness and safety of compound braking.

Description

Technical Field

[0001] The present invention relates to the field of vehicle braking, and particularly to a braking control method, a braking system, and a wheel crane. Background Art

[0002] The wheel crane has the dual characteristics of an automobile and a crane. It must meet the regulatory requirements of road vehicles when driving on the road and have the operating characteristics of an engineering vehicle at the construction site. The working environment is harsh, often entering and exiting muddy roads. During construction operations, it needs to transfer between construction sites. At the same time, large-tonnage cranes often need to carry large loads and drive uphill. Therefore, users have higher and higher requirements for the braking performance of cranes, especially large-tonnage cranes.

[0003] Most of the existing wheel cranes are equipped with a variety of auxiliary braking devices. The auxiliary braking function of a single auxiliary braking device is one-sided and single, and it cannot meet the required braking requirements during actual use. However, there is currently no relatively reasonable and effective control method and system that can reasonably utilize multiple auxiliary braking devices for safe braking while ensuring the safety requirements of braking. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to overcome the problem that the existing wheel crane cannot reasonably utilize a variety of auxiliary braking devices for composite braking. The first aspect of the present application provides a braking control method applied to a wheel crane. The method includes:

[0005] When receiving a composite braking instruction, obtain the load value and the current vehicle speed of the wheel crane;

[0006] According to the load value and the current vehicle speed, control the engine controller to perform braking, and determine the opening rate of multiple auxiliary braking devices, and control the multiple auxiliary braking devices to perform braking according to the opening rate.

[0007] In an embodiment of the present application, controlling the engine controller to perform braking according to the load value and the current vehicle speed, and determining the opening rate of multiple auxiliary braking devices, and controlling the multiple auxiliary braking devices to perform braking according to the opening rate includes:

[0008] When the load value does not reach the preset load threshold, control the engine controller to perform braking;

[0009] Judge whether the difference between the current vehicle speed and the vehicle speed in the previous detection cycle is greater than 0;

[0010] When the difference is greater than 0, determine the opening rate of multiple auxiliary braking devices according to the difference and the preset braking parameters, and control the multiple auxiliary braking devices to perform braking according to the opening rate.

[0011] In one embodiment of the present application, the multiple auxiliary braking devices include a hydraulic retarder and an eddy current retarder. When the difference is greater than 0, the opening rate of the multiple auxiliary braking devices is determined according to the difference and a preset braking parameter, and the multiple auxiliary braking devices are controlled to brake according to the opening rate, including:

[0012] Determine the opening rate of the hydraulic retarder according to the first braking parameter and the difference, and control the hydraulic retarder to brake according to the opening rate of the hydraulic retarder;

[0013] Judge whether the difference between the current vehicle speed and the vehicle speed in the previous detection cycle is greater than 0 and whether the opening rate of the hydraulic retarder reaches 100%;

[0014] When the difference is greater than 0 and the opening rate of the hydraulic retarder reaches 100%, determine the opening rate of the eddy current retarder according to the second braking parameter and the difference, and control the eddy current retarder to brake according to the opening rate of the eddy current retarder.

[0015] In one embodiment of the present application, according to the load value and the current vehicle speed, control the engine controller to brake, and determine the opening rate of the multiple auxiliary braking devices, and control the multiple auxiliary braking devices to brake according to the opening rate, including:

[0016] When the load value reaches the preset load threshold, control the engine controller to brake, and control the auxiliary braking device to brake at the initial opening rate;

[0017] Judge whether the difference between the current vehicle speed and the vehicle speed in the previous detection cycle is greater than 0;

[0018] When the difference is greater than 0, determine the opening rate of the multiple auxiliary braking devices according to the difference and the preset braking parameter, and control the multiple auxiliary braking devices to brake according to the opening rate.

[0019] In one embodiment of the present application, the multiple auxiliary braking devices include a hydraulic retarder and an eddy current retarder. When the difference is greater than 0, the opening rate of the multiple auxiliary braking devices is determined according to the difference and a preset braking parameter, and the multiple auxiliary braking devices are controlled to brake according to the opening rate, including:

[0020] Determine the opening rate of the hydraulic retarder according to the third braking parameter and the difference, and control the hydraulic retarder to brake according to the opening rate of the hydraulic retarder;

[0021] Judge whether the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle is greater than 0 and whether the opening rate of the hydraulic retarder reaches 100%;

[0022] When the difference is greater than 0 and the opening rate of the hydrodynamic retarder reaches 100%, determine the opening rate of the eddy current retarder according to the fourth braking parameter and the difference, and control the eddy current retarder to brake according to the opening rate of the eddy current retarder.

[0023] In an embodiment of the present application, the wheel crane further includes a display unit. After controlling the eddy current retarder controller to brake according to the opening rate of the eddy current retarder, the method further includes:

[0024] Judge whether the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle is greater than 0 and whether the opening rate of the eddy current retarder reaches 100%;

[0025] When the difference is greater than 0 and the opening rate of the eddy current retarder reaches 100%, send an alarm prompt to the display unit.

[0026] In an embodiment of the present application, obtaining the load value and the current vehicle speed of the wheel crane includes:

[0027] Obtain the load value through the axle load detection device;

[0028] Obtain the current vehicle speed through the vehicle speed detection device.

[0029] The second aspect of the present application provides a braking control device applied to a wheel crane. The device includes:

[0030] A vehicle state acquisition unit for obtaining the load value and the current vehicle speed of the wheel crane when a composite braking command is obtained;

[0031] A braking control unit for controlling the engine controller to brake according to the load value and the current vehicle speed, determining the opening rates of a plurality of auxiliary braking devices, and controlling the plurality of auxiliary braking devices to brake according to the opening rates.

[0032] The third aspect of the present application provides a wheel crane, including:

[0033] An engine controller for controlling the engine to brake;

[0034] A plurality of auxiliary braking devices for performing auxiliary braking; and

[0035] A processor for executing the braking control method provided in the first aspect of the present application.

[0036] The fourth aspect of the present application provides a machine-readable storage medium. The machine-readable storage medium stores instructions, and is characterized in that when the instructions are executed by a processor, the processor implements the braking control method provided in the first aspect of the present application.

[0037] Through the above technical solution, the processor can combine the load value of the crane with the current vehicle speed to control the compound braking. While using the engine controller for braking, it rationally determines the opening rates of multiple auxiliary braking devices based on the load value of the crane and the current vehicle speed, and controls the auxiliary control device to perform auxiliary control according to the determined opening rates, reasonably utilizing the multiple auxiliary control devices to assist in braking, and improving the effectiveness and safety of the compound braking.

[0038] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The 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 implementation manners, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0040] Figure 1 Schematically shows a flowchart of a braking control method according to an embodiment of the present application;

[0041] Figure 2 Schematically shows a logic block diagram of a braking control method according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] The following will describe in detail the specific implementation manners of the present application with reference to the drawings. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0043] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship, commutation situation, etc. between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0044] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0045] Figure 1The flowchart of a braking control method according to an embodiment of the present application is schematically shown. As Figure 1 shown, in an embodiment of the present application, a braking control method is provided, which is applied to a wheel crane. The method may include step S100-step S200.

[0046] Step S100: When a composite braking instruction is received, obtain the load value and the current vehicle speed of the wheel crane.

[0047] Due to the harsh and complex operating environment of the wheel crane and the need for heavy-load movement, the safety requirements for the braking effect are relatively high. Most of the existing wheel cranes are equipped with a variety of auxiliary braking devices, such as exhaust braking devices, electric deceleration devices, and hydraulic deceleration devices, etc., to achieve composite braking in coordination with the engine controller (engine ECU, Electronic Control Unit). When the driver needs to perform composite braking, press the composite braking switch configured in the operating system, and the processor will receive the composite braking instruction and start to obtain the load value and the current vehicle speed of the wheel crane. Based on the load value and the current vehicle speed as the judgment basis for the vehicle condition, an auxiliary braking method suitable for the current vehicle condition is carried out.

[0048] In an embodiment of the present application, obtaining the load value and the current vehicle speed of the wheel crane includes:

[0049] Obtain the load value through an axle load detection device;

[0050] Obtain the current vehicle speed through a vehicle speed detection device.

[0051] The axle load is the axle weight, and the axle weight refers to the maximum vehicle weight borne by each axle of the wheel crane. The axle load detected by the axle load detection device communicatively or electrically connected to the processor is used as the load value of the wheel crane to characterize the load condition of the crane; similarly, the vehicle speed detection device is communicatively or electrically connected to the processor, and the current vehicle speed is obtained by using the vehicle speed detection device to judge the current braking effect.

[0052] Step S200: According to the load value and the current vehicle speed, control the engine controller to perform braking, and determine the opening rate of multiple auxiliary braking devices, and control the multiple auxiliary braking devices to perform braking according to the opening rate.

[0053] Those skilled in the art can understand that the braking performed by the engine controller is engine braking. Engine braking does not have an opening rate or braking gear. It is an action of "0 or 1", "yes or no". As a cooperative device for performing auxiliary braking, the auxiliary braking device has an opening rate or braking gear for its braking function or effect. Different opening rates match different braking gears. The greater the opening rate, the greater the braking torque output by the auxiliary braking device. While controlling the engine controller to perform braking, the processor will judge the current vehicle condition based on the load value and the current vehicle speed, determine the opening rate of the auxiliary braking device matching the vehicle condition according to the vehicle condition, and control the auxiliary braking device to perform braking according to the opening rate.

[0054] Figure 2 Schematically shows a logic block diagram of a braking control method according to an embodiment of the present application. Please refer to Figure 1 And Figure 2 , in an embodiment of the present application, according to the load value and the current vehicle speed, determining the opening rates of multiple auxiliary braking devices and controlling the multiple auxiliary braking devices to perform braking according to the opening rates includes:

[0055] When the load value does not reach the preset load threshold, control the engine controller to perform braking;

[0056] Judge whether the difference between the current vehicle speed and the vehicle speed in the previous detection cycle is greater than 0;

[0057] When the difference is greater than 0, determine the opening rates of multiple auxiliary braking devices according to the difference and the preset braking parameters, and control the multiple auxiliary braking devices to perform braking according to the opening rates.

[0058] The processor can determine whether the crane is in a heavy-load state through the load value. When the load value reaches the preset load threshold, it can be determined that the crane is not in a heavy-load state. Therefore, the processor judges that simply using engine braking can meet the braking requirement at this time, and controls the engine brake to perform braking. The load threshold can be debugged and set according to the design requirements of the braking system, and the present application does not limit this.

[0059] After controlling the engine controller to perform braking, judge whether the difference between the obtained current vehicle speed and the vehicle speed detected in the previous detection cycle is greater than 0, that is, judge whether the vehicle speed increases or decreases after performing engine braking. If the vehicle speed increases, that is, the above difference is greater than 0, it means that simply relying on engine braking is not enough to meet the braking requirement of the crane, and there is a safety risk. Therefore, it is necessary to determine the opening rates of multiple auxiliary braking devices according to the difference and the preset braking parameters, and control the multiple auxiliary braking devices to perform braking according to the opening rates.

[0060] In one embodiment of the present application, the multiple auxiliary braking devices include a hydrodynamic retarder and an eddy current retarder. When the difference is greater than 0, the opening rate of the multiple auxiliary braking devices is determined according to the difference and the preset braking parameters, and the multiple auxiliary braking devices are controlled to brake according to the opening rate, including:

[0061] Determine the opening rate of the hydrodynamic retarder according to the first braking parameter and the difference, and control the hydrodynamic retarder to brake according to the opening rate of the hydrodynamic retarder;

[0062] Judge whether the difference between the current vehicle speed and the vehicle speed in the previous detection cycle is greater than 0 and whether the opening rate of the hydrodynamic retarder reaches 100%;

[0063] When the difference is greater than 0 and the opening rate of the hydrodynamic retarder reaches 100%, determine the opening rate of the eddy current retarder according to the second braking parameter and the difference, and control the eddy current retarder to brake according to the opening rate of the eddy current retarder.

[0064] The multiple auxiliary braking devices provided in the embodiments of the present application may include a hydrodynamic retarder and an eddy current retarder. The hydrodynamic retarder generally consists of a fixed impeller and a rotating impeller driven by a drive wheel through a transmission system. When the rotating impeller rotates, the hydrodynamic damping effect of the liquid flow between the two impellers consumes the kinetic energy of the mobile crane in motion, thereby achieving non-contact braking; the eddy current retarder can generally be installed at the output shaft end of the transmission, between the drive shafts or at the input shaft end of the drive axle. Utilizing the principle of the reverse current of the generator, a reverse voltage is applied to generate a powerful non-contact braking effect. It is powered on when the vehicle needs to decelerate during driving, and an electromagnetic eddy current is formed between the stator and the rotor, generating an opposite torque to achieve a deceleration effect and realize non-contact braking.

[0065] The processor first determines the opening rate of the hydrodynamic retarder according to the first braking parameter and the vehicle speed increase value (i.e., the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle), and controls the hydrodynamic retarder to perform auxiliary braking according to the determined opening rate, that is, the determined hydrodynamic braking gear. Exemplarily, the opening rate of the hydrodynamic retarder can be determined by the following formula:

[0066] b 1 =c 1 ×S (1)

[0067] where b 1 is the opening rate of the hydrodynamic retarder, c 1 is the first braking parameter, and S is the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle.

[0068] After the hydrodynamic retarder performs auxiliary braking, continue to monitor the difference between the current vehicle speed and the vehicle speed in the previous detection cycle. If the difference is still greater than 0, that is, the vehicle speed is still increasing, and if the opening rate of the hydrodynamic retarder has reached 100%, it means that using only the hydrodynamic retarder for auxiliary braking is not sufficient to meet the braking demand. The processor determines that an additional auxiliary braking device is needed for braking, determines the opening rate of the eddy current retarder according to the second braking parameter and the increase in vehicle speed, and controls the eddy current retarder to brake according to the opening rate of the eddy current retarder. Exemplarily, the opening rate of the eddy current retarder can be determined by the following formula:

[0069] b 2 =c 2 ×S(2)

[0070] Where b 2 is the opening rate of the eddy current retarder, c 2 is the second braking parameter, and S is the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle.

[0071] In an embodiment of the present application, according to the load value and the current vehicle speed, controlling the engine controller to brake, and determining the opening rates of multiple auxiliary braking devices, and controlling the multiple auxiliary braking devices to brake according to the opening rates, includes:

[0072] When the load value reaches the preset load threshold, controlling the engine controller to brake and controlling the auxiliary braking device to brake at the initial opening rate;

[0073] Judging whether the difference between the current vehicle speed and the vehicle speed in the previous detection cycle is greater than 0;

[0074] When the difference is greater than 0, determining the opening rates of multiple auxiliary braking devices according to the difference and the preset braking parameter and controlling the multiple auxiliary braking devices to brake according to the opening rates.

[0075] When the load value reaches the preset load threshold, it can be determined that the crane is in a heavy load state. Therefore, the processor determines that simply using engine braking may not be sufficient to meet the braking demand at this time, controls the engine brake to brake, and controls the auxiliary braking device to brake at the initial opening rate.

[0076] After controlling the engine controller to perform braking and controlling the auxiliary braking device to perform braking at the initial opening rate, it is determined whether the difference between the obtained current vehicle speed and the vehicle speed detected in the previous detection cycle is greater than 0, that is, it is determined whether the vehicle speed increases or decreases after performing engine braking. If the vehicle speed increases, that is, the above difference is greater than 0, it indicates that the current braking effect is insufficient to meet the braking requirements of the crane, and there is a safety risk. Therefore, it is necessary to determine the opening rates of multiple auxiliary braking devices according to the difference and the preset braking parameters, and control the multiple auxiliary braking devices to perform braking according to the opening rates, rather than controlling the multiple auxiliary braking devices to perform braking at the initial opening rate.

[0077] In an embodiment of the present application, the multiple auxiliary braking devices include a hydraulic retarder and an eddy current retarder. In the case where the difference is greater than 0, determining the opening rates of the multiple auxiliary braking devices according to the difference and the preset braking parameters, and controlling the multiple auxiliary braking devices to perform braking includes:

[0078] Determining the opening rate of the hydraulic retarder according to the third braking parameter and the difference, and controlling the hydraulic retarder to perform braking according to the opening rate of the hydraulic retarder;

[0079] Determining whether the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle is greater than 0 and whether the opening rate of the hydraulic retarder reaches 100%;

[0080] In the case where the difference is greater than 0 and the opening rate of the hydraulic retarder reaches 100%, determining the opening rate of the eddy current retarder according to the fourth braking parameter and the difference, and controlling the eddy current retarder to perform braking according to the opening rate of the eddy current retarder.

[0081] The auxiliary braking device includes a hydraulic retarder and an eddy current retarder. Exemplarily, the initial opening rate of the hydraulic retarder can be 11%, and the initial opening rate of the eddy current retarder can be 0%.

[0082] The processor first determines the opening rate of the hydraulic retarder according to the second braking parameter and the vehicle speed increase value (that is, the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle), and controls the hydraulic retarder to perform auxiliary braking according to the determined opening rate, that is, the determined hydraulic retarder braking gear. Exemplarily, the opening rate of the hydraulic retarder can be determined by the following formula:

[0083] b′ 1 =c 3 ×S (3)

[0084] Wherein, b′ 1 is the opening rate of the hydraulic retarder, c 3 is the third braking parameter, and S is the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle.

[0085] After the hydrodynamic retarder performs auxiliary braking, continue to monitor the difference between the current vehicle speed and the vehicle speed in the previous detection cycle. If the difference is still greater than 0, that is, the vehicle speed is still increasing, and if the opening rate of the hydrodynamic retarder has reached 100%, it means that the current braking effect is insufficient to meet the braking demand. The processor determines that it is necessary to improve the braking effect of the auxiliary braking device, determines the opening rate of the eddy current retarder according to the second braking parameter and the vehicle speed increase value, and controls the eddy current retarder to brake according to the opening rate of the eddy current retarder. Exemplarily, the opening rate of the eddy current retarder can be determined by the following formula:

[0086] b′ 2 =c 4 ×S (4)

[0087] Wherein, b′ 2 is the opening rate of the eddy current retarder, c 4 is the fourth braking parameter, and S is the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle.

[0088] It should be noted that the specific values of the first braking parameter, the second braking parameter, the third braking parameter, and the fourth braking parameter in the above embodiments can be preset according to braking tests and design requirements, and the present application does not limit this.

[0089] According to the above judgment logic, the processor can reasonably utilize the hydrodynamic retarder and the eddy current retarder to perform composite braking in cooperation with the engine controller on the premise of meeting the braking demand and braking safety.

[0090] In an embodiment of the present application, the wheel crane further includes a display unit. After controlling the eddy current retarder controller to brake according to the opening rate of the eddy current retarder, the method further includes:

[0091] Judge whether the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle is greater than 0 and whether the opening rate of the eddy current retarder has reached 100%;

[0092] In the case where the difference is greater than 0 and the opening rate of the eddy current retarder reaches 100%, send an alarm prompt to the display unit.

[0093] Exemplarily, the display unit included in the crane can perform working condition display, operation prompt, alarm prompt, etc., and is connected to the processor through the CAN bus.

[0094] After the processor controls the eddy current retarder controller to brake according to the opening rate of the eddy current retarder, it still monitors the current vehicle speed in real time. If the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle is greater than 0, that is, the vehicle speed is still increasing, and the opening rate of the eddy current retarder has reached 100%, it means that the current braking demand still cannot be met even when the maximum braking torque has been output by the vehicle braking system. At this time, the processor sends an alarm prompt to the display unit to prompt the driver to take corresponding emergency safety measures.

[0095] Through the above technical solution, the processor can combine the load value of the crane and the current vehicle speed to control the compound braking. While using the engine controller to brake, it reasonably determines the opening rates of multiple auxiliary braking devices based on the load value of the crane and the current vehicle speed, and controls the auxiliary control device to perform auxiliary control according to the determined opening rates, making reasonable use of multiple auxiliary control devices to assist in braking and improving the effectiveness and safety of the compound braking.

[0096] In an embodiment of the present application, a braking control device is provided, which is applied to a wheel crane. The device includes:

[0097] A vehicle state acquisition unit, configured to acquire the load value and the current vehicle speed of the wheel crane when a compound braking instruction is acquired;

[0098] A braking control unit, configured to control the engine controller to brake according to the load value and the current vehicle speed, determine the opening rates of multiple auxiliary braking devices, and control the multiple auxiliary braking devices to brake according to the opening rates.

[0099] The braking control device provided in the embodiment of the present application can implement each process of steps S100 - S200 in the method embodiment and achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0100] In an embodiment of the present application, a wheel crane is provided, including:

[0101] An engine controller, configured to control the engine to brake;

[0102] Multiple auxiliary braking devices, configured to perform auxiliary braking; and

[0103] A processor, configured to execute the braking control method in the above embodiment.

[0104] In an embodiment of the present application, a machine-readable storage medium is provided. Instructions are stored on the machine-readable storage medium, and when the instructions are executed by a processor, the processor implements the fire truck dry powder spraying method in the above embodiment.

[0105] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD ROM, optical memory, etc.) that contain computer-usable program code.

[0106] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce means for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks. These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks. These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0107] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0108] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0109] 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.

[0110] 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.

[0111] 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 braking control method, characterized in that, applied to a wheel crane, the method includes: When receiving a composite braking instruction, obtaining the load value and the current vehicle speed of the wheel crane; According to the load value and the current vehicle speed, controlling the engine controller to perform braking, and determining the opening rates of a plurality of auxiliary braking devices, and controlling the plurality of auxiliary braking devices to perform braking according to the opening rates; The controlling the engine controller to perform braking according to the load value and the current vehicle speed, and determining the opening rates of a plurality of auxiliary braking devices, and controlling the plurality of auxiliary braking devices to perform braking according to the opening rates includes: When the load value does not reach a preset load threshold, controlling the engine controller to perform braking; Judging whether the difference between the current vehicle speed and the vehicle speed in the previous detection cycle is greater than 0; When the difference is greater than 0, determining the opening rates of the plurality of auxiliary braking devices according to the difference and preset braking parameters, and controlling the plurality of auxiliary braking devices to perform braking according to the opening rates; The controlling the engine controller to perform braking according to the load value and the current vehicle speed, and determining the opening rates of a plurality of auxiliary braking devices, and controlling the plurality of auxiliary braking devices to perform braking according to the opening rates includes: When the load value reaches the preset load threshold, controlling the engine controller to perform braking, and controlling the auxiliary braking device to perform braking at an initial opening rate; Judging whether the difference between the current vehicle speed and the vehicle speed in the previous detection cycle is greater than 0; When the difference is greater than 0, determining the opening rates of the plurality of auxiliary braking devices according to the difference and preset braking parameters, and controlling the plurality of auxiliary braking devices to perform braking according to the opening rates.

2. The method according to claim 1, characterized in that, The plurality of auxiliary braking devices include a hydrodynamic retarder and an eddy current retarder. When the difference is greater than 0, determining the opening rates of the plurality of auxiliary braking devices according to the difference and preset braking parameters, and controlling the plurality of auxiliary braking devices to perform braking according to the opening rates includes: Determining the opening rate of the hydrodynamic retarder according to a first braking parameter and the difference, and controlling the hydrodynamic retarder to perform braking according to the opening rate of the hydrodynamic retarder; Judging whether the difference between the current vehicle speed and the vehicle speed in the previous detection cycle is greater than 0 and whether the opening rate of the hydrodynamic retarder reaches 100%; When the difference is greater than 0 and the opening rate of the hydrodynamic retarder reaches 100%, determining the opening rate of the eddy current retarder according to a second braking parameter and the difference, and controlling the eddy current retarder to perform braking according to the opening rate of the eddy current retarder.

3. The method according to claim 1, characterized in that, The plurality of auxiliary braking devices include a hydrodynamic retarder and an eddy current retarder. When the difference is greater than 0, determining the opening rates of the plurality of auxiliary braking devices according to the difference and preset braking parameters, and controlling the plurality of auxiliary braking devices to perform braking according to the opening rates includes: Determine the opening rate of the hydraulic retarder according to the third braking parameter and the difference value, and control the hydraulic retarder to perform braking according to the opening rate of the hydraulic retarder; Judge whether the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle is greater than 0 and whether the opening rate of the hydraulic retarder reaches 100%; In the case where the difference value is greater than 0 and the opening rate of the hydraulic retarder reaches 100%, determine the opening rate of the eddy current retarder according to the fourth braking parameter and the difference value, and control the eddy current retarder to perform braking according to the opening rate of the eddy current retarder.

4. The method according to claim 2 or 3, Characterized in that, The wheel crane further includes a display unit. After controlling the eddy current retarder controller to perform braking according to the opening rate of the eddy current retarder, the method further includes: Judge whether the difference between the current vehicle speed and the vehicle speed detected in the previous detection cycle is greater than 0 and whether the opening rate of the eddy current retarder reaches 100%; In the case where the difference value is greater than 0 and the opening rate of the eddy current retarder reaches 100%, send an alarm prompt to the display unit.

5. The method according to claim 1, Characterized in that, The obtaining of the load value and the current vehicle speed of the wheel crane includes: Obtain the load value through an axle load detection device; Obtain the current vehicle speed through a vehicle speed detection device.

6. A braking control device, Characterized in that, Applied to a wheel crane, the device includes: A vehicle state acquisition unit, configured to acquire the load value and the current vehicle speed of the wheel crane when a composite braking instruction is acquired; A braking control unit, configured to control an engine controller to perform braking according to the load value and the current vehicle speed, and determine the opening rates of a plurality of auxiliary braking devices, and control the plurality of auxiliary braking devices to perform braking according to the opening rates; The braking control unit is further configured to control the engine controller to perform braking when the load value does not reach a preset load threshold; Judge whether the difference between the current vehicle speed and the vehicle speed in the previous detection cycle is greater than 0; In the case where the difference value is greater than 0, determine the opening rates of the plurality of auxiliary braking devices according to the difference value and a preset braking parameter, and control the plurality of auxiliary braking devices to perform braking according to the opening rates; The braking control unit is further configured to control the engine controller to perform braking when the load value reaches a preset load threshold, and control the auxiliary braking device to perform braking at an initial opening rate; Judge whether the difference between the current vehicle speed and the vehicle speed in the previous detection cycle is greater than 0; In the case where the difference value is greater than 0, determine the opening rates of the plurality of auxiliary braking devices according to the difference value and a preset braking parameter, and control the plurality of auxiliary braking devices to perform braking according to the opening rates.

7. A wheel crane, Characterized in that, Includes: An engine controller, configured to control the engine to perform braking; A plurality of auxiliary braking devices, configured to perform auxiliary braking; And A processor, configured to execute the braking control method according to any one of claims 1-5.

8. A machine-readable storage medium having instructions stored thereon, wherein: when the instructions are executed by a processor, the processor is caused to implement the braking control method according to any one of claims 1 to 5.

Images