A crane charging operation power control method, device and electronic equipment

Abstract

The application discloses a crane charging operation power control method and device and electronic equipment, and the method comprises the following steps: acquiring a crane state parameter, and judging whether the battery is in a charging protection state based on the state parameter, wherein the state parameter comprises a battery state of charge; when the battery is in the charging protection state, controlling the vehicle-mounted charger to not charge the battery; when the battery is not in the charging protection state and the battery state of charge is less than a preset low power threshold, acquiring an energy recovery power of an energy recovery system; if the energy recovery power is greater than a battery allowable charging power, the energy recovery system charges the battery alone; if the energy recovery power is less than or equal to the battery allowable charging power, the energy recovery system and the vehicle-mounted charger jointly charge the battery. The technical scheme provided by the application coordinates the output time and size of the vehicle-mounted charger, the energy recovery system and the battery, and has the effect of saving electric energy.

Description

Technical Field

[0001] This invention relates to the field of crane control, specifically to a method, apparatus, and electronic device for power distribution during crane charging operations. Background Technology

[0002] Battery-powered vehicles are already ubiquitous in our lives, and electric heavy-duty vehicles are gradually developing with technological advancements. Among these, pure electric or hybrid cranes, powered by batteries, are beginning to be used. Typically, to ensure crane efficiency and battery life, cranes charge and discharge batteries simultaneously. Furthermore, considering the characteristics of cranes, when lowering heavy objects, they can recover energy through the gravity generated by the object itself. The energy generated by the object is substantial, and the recovered energy can also charge the crane's battery. However, current traditional battery management systems suffer from problems such as a single charging method, fixed charging strategies, and poor communication between the battery and the charger. There is no effective coordinated control strategy for the charging power of the onboard charger, the battery discharge power, and the energy recovery power, resulting in underutilization of energy recovery power and high overall energy consumption for the crane. Therefore, there is an urgent need for a crane charging power control method that is based on the crane's operating environment and can adapt to battery status to reduce crane energy consumption. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a method, apparatus and electronic device for power distribution during crane charging operations, which coordinates the output timing of the on-board charger, energy recovery system and battery, thereby achieving the effect of saving energy.

[0004] According to a first aspect, embodiments of the present invention provide a crane charging operation power control method, the method comprising: acquiring crane state parameters, and determining whether a battery is in a charging protection state based on the state parameters, the state parameters including the battery state of charge; when the battery is in a charging protection state, controlling the on-board charger not to charge the battery; when the battery is not in a charging protection state and the battery state of charge is less than a preset low charge threshold, acquiring the energy recovery power of an energy recovery system; if the energy recovery power is greater than the battery's allowable charging power, then the energy recovery system charges the battery alone; if the energy recovery power is less than or equal to the battery's allowable charging power, then the energy recovery system and the on-board charger jointly charge the battery.

[0005] Optionally, the energy recovery system and the on-board charger jointly charge the battery, including: if the energy recovery power is 0, controlling the on-board charger to charge the battery at the rated power; if the energy recovery power is not 0, controlling the energy recovery system to charge the battery at the energy recovery power, and controlling the on-board charger to output supplementary power to charge the battery, wherein the supplementary power is equal to the difference between the battery's allowable charging power and the energy recovery power.

[0006] Optionally, the method further includes: when the battery is not in a charging protection state and the battery state of charge is greater than or equal to a preset low charge threshold, determining whether the energy recovery system generates energy recovery; when energy recovery occurs, if the energy recovery power is less than the battery's allowable charging power and the battery's state of charge is less than a preset expected value, then controlling the energy recovery system to charge the battery to the preset expected value and outputting the excess power of the energy recovery system to the engine, while controlling the on-board charger to not work; if the energy recovery power is less than the battery's allowable charging power and the battery's state of charge is greater than or equal to the preset expected value, then controlling the energy recovery system to directly output electrical energy to the engine, while controlling the on-board charger to not work.

[0007] Optionally, when the battery is not in a charging protection state and the battery state of charge is greater than or equal to a preset low charge threshold, the method further includes: when energy recovery occurs, if the energy recovery power is greater than or equal to the battery's allowable charging power, then control the energy recovery system to directly output electrical energy to the engine, while controlling the on-board charger to not work.

[0008] Optionally, when the battery is not in a charging protection state and the battery state of charge is greater than or equal to a preset low charge threshold, the method further includes: when no energy recovery occurs, if the battery state of charge is less than or equal to the preset expected value, then the on-board charger is preferentially controlled to output power according to the engine's power demand, and the battery is controlled to supplement the discharge of the portion of the engine's power demand that is insufficient; if the battery state of charge is greater than the preset expected value, then the battery is preferentially controlled to discharge according to the engine's power demand, and the on-board charger is controlled to supplement the output of the portion of the engine's power demand that is insufficient.

[0009] Optionally, the step of prioritizing the control of the on-board charger to output power according to the engine's power demand and controlling the battery to supplement the engine's power demand when the battery's state of charge is less than or equal to the preset expected value includes: if the battery's state of charge is less than the preset expected value and the engine's power demand is greater than the on-board charger's rated power, then controlling the on-board charger to supply power to the engine at its rated power and controlling the battery to discharge power to the engine when the engine's power demand is less than the rated power; if the battery's state of charge is less than the preset expected value and the engine's power demand is less than or equal to the on-board charger's rated power... If the power is constant, the on-board charger is controlled to supply power to the engine according to the engine's power requirements, and the excess output power is used to charge the battery. If the battery's state of charge is equal to the preset expected value, and the engine's power requirements are greater than the on-board charger's rated power, the on-board charger is controlled to supply power to the engine according to the rated power, and the battery is controlled to discharge power to the engine for the portion insufficient for the engine's power requirements. If the battery's state of charge is equal to the preset expected value, and the engine's power requirements are less than or equal to the on-board charger's rated power, the on-board charger is controlled to supply power to the engine according to the engine's power requirements.

[0010] Optionally, when prioritizing the discharge of the battery to follow the engine's power demand, the battery's priority discharge power is calculated according to the following formula:

[0011] P b =P d ×f soc

[0012] In the formula, P b For priority discharge power, P d f is a standard charging power set based on the battery's charging and discharging capacity and the overall system power. soc Deviation coefficient of battery state of charge

[0013]

[0014] In the formula, SOC h This refers to the upper limit of the battery's state of charge (SOC). l This is the lower limit of the battery's state of charge, while SOC is the current state of charge of the power battery.

[0015] According to a second aspect, embodiments of the present invention provide a crane charging operation power control device, the device comprising: a charging protection analysis module, configured to acquire crane status parameters and determine whether a battery is in a charging protection state based on the status parameters, the status parameters including the battery state of charge; a charging protection module, configured to control the on-board charger not to charge the battery when the battery is in a charging protection state; an energy recovery module, configured to acquire the energy recovery power of the energy recovery system when the battery is not in a charging protection state and the battery state of charge is less than a preset low charge threshold; a first charging module, configured to charge the battery solely by the energy recovery system if the energy recovery power is greater than the battery's allowable charging power; and a second charging module, configured to charge the battery jointly by the energy recovery system and the on-board charger if the energy recovery power is less than or equal to the battery's allowable charging power.

[0016] According to a third aspect, embodiments of the present invention provide an electronic device, including: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the method described in the first aspect, or any optional embodiment of the first aspect.

[0017] According to a fourth aspect, embodiments of the present invention provide a computer-readable storage medium storing computer instructions for causing a computer to perform the method described in the first aspect, or any optional embodiment of the first aspect.

[0018] The technical solution provided in this application has the following advantages:

[0019] The technical solution provided in this application first obtains the crane's status parameters and then determines whether the battery is in a charging protection state based on these parameters. If the battery is in a charging protection state, the on-board charger is controlled to not output power (0 power), and the battery is controlled to discharge independently according to the power required by the engine, saving external power consumption. If the battery is not in a charging protection state and its state of charge is less than a preset low charge threshold, the battery is considered to be in a low charge state and needs to enter the charging process. The energy recovery power of the energy recovery system is then acquired and its magnitude is determined. If the energy recovery power is greater than the battery's allowable charging power, the recovered energy is substantial, and the energy recovery system can charge the battery independently. Furthermore, the remaining charging power can be directly output to the engine, while the on-board charger's output power is controlled to zero, neither charging nor performing any work. The high power of the energy recovery system independently completes the charging operation, significantly saving energy. If the energy recovery power is less than or equal to the battery's allowable charging power, it indicates that the energy recovery system is performing less work. Since the battery is in a low-charge state, priority is given to charging the battery. Therefore, controlling both the energy recovery system and the on-board charger to charge the battery reduces the on-board charger's output, lowers the crane's demand for external power, and achieves energy savings. Attached Figure Description

[0020] The features and advantages of the invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the invention in any way. In the drawings:

[0021] Figure 1 This diagram illustrates the steps of a crane charging operation power control method according to one embodiment of the present invention.

[0022] Figure 2 The first flowchart of a crane charging operation power control method according to one embodiment of the present invention is shown.

[0023] Figure 3 The second flowchart of a crane charging operation power control method according to one embodiment of the present invention is shown.

[0024] Figure 4 The third flowchart of a crane charging operation power control method according to one embodiment of the present invention is shown.

[0025] Figure 5 A schematic diagram of a crane charging operation power control device according to one embodiment of the present invention is shown.

[0026] Figure 6 A schematic diagram of an electronic device according to one embodiment of the present invention is shown. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figure 1 and Figure 2 In one embodiment, a crane charging operation power control method specifically includes the following steps:

[0029] Step S101: Obtain the crane status parameters and determine whether the battery is in charging protection state based on the status parameters. The status parameters include the battery state of charge.

[0030] Step S102: When the battery is in charging protection mode, control the on-board charger not to charge the battery.

[0031] Specifically, this embodiment of the invention obtains crane status parameters through a crane management system, including but not limited to the crane's battery state of charge (SOC), battery temperature, and voltage. Then, based on the status parameters, it determines whether the battery is in a charging protection state. If the crane's battery SOC exceeds a certain threshold, or if the voltage or temperature also exceeds a certain threshold, it indicates that the battery is not suitable for charging, and charging at this time poses a certain risk, thus determining that the battery is in a charging protection state. In this embodiment of the invention, a pre-set charging protection SOC threshold is used to measure whether the battery's SOC is in a charging protection state. If the battery's SOC is very high, a protection state needs to be set for the battery to prevent damage due to overcharging. In this embodiment of the invention, the charging protection SOC threshold can be set between 95% and 97%. For example, if the charging protection SOC threshold is set to 95%, then when the battery's SOC is greater than or equal to 95%, it indicates that the battery is in a charging protection state and cannot be charged. Therefore, this embodiment of the invention controls the on-board charger (OBC) to not charge the battery, and controls the battery to discharge according to the engine's power demand. That is, the battery's output power changes with the engine's power demand and is equal to the engine's power demand. Thus, while ensuring battery safety, the battery is controlled to operate independently, saving OBC output and resulting in energy saving.

[0032] Step S103: When the battery is not in charging protection state and the battery state of charge is less than the preset low charge threshold, obtain the energy recovery power of the energy recovery system.

[0033] Step S104: If the energy recovery power is greater than the battery's allowable charging power, the energy recovery system charges the battery separately.

[0034] Step S105: If the energy recovery power is less than or equal to the battery's allowable charging power, the energy recovery system and the on-board charger will charge the battery together.

[0035] Specifically, if the battery's state of charge (SOC) is less than the charging protection threshold, it indicates that the battery is not in a charging protection state, thus further determining whether the battery's SOC is less than a preset low charge threshold. In this embodiment of the invention, the preset low charge threshold is an indicator used to measure whether the battery's SOC is at a low charge level. If the battery's SOC indicates that the battery is at a low charge level, the control strategy needs to prioritize battery charging over crane operation, thereby prioritizing battery charging with a specific control strategy. In this embodiment of the invention, the preset low charge threshold can be set between 50% and 80%. For example, if the preset low charge threshold is set to 80%, when the battery's SOC is below 80%, it indicates that the battery charge is low, and the priority of battery charging needs to be prioritized over crane operation, entering the priority charging control process. In the current process, the working status of the energy recovery system needs to be determined first based on the energy recovery power. If the crane is not lifting any load, or if the crane is lifting a load, then the energy recovery system is not recovering energy, and the corresponding energy recovery power should be 0. If the crane is lowering a relatively heavy object, the potential energy is converted into electrical energy through the traction of the object's own weight, resulting in a large energy recovery power. If the crane is lowering a relatively light object, the energy recovery power is smaller through the traction of the object's own weight.

[0036] Based on the status analysis of the energy recovery system described above, the relationship between the generated energy recovery power and the battery's allowable charging power is further determined. If the weight of the object lowered by the crane is very large, and the generated energy recovery power exceeds the battery's allowable charging power, the energy recovery system is controlled to charge the battery separately according to the battery's allowable charging power, while the output power of the on-board charger is controlled to be 0. This satisfies the battery's charging needs and significantly reduces the crane's reliance on the on-board charger, saving on electricity costs. Furthermore, since the energy recovery power exceeds the battery's allowable charging power, the energy recovery system is then controlled to output the remaining charging power to the engine, enabling the crane to achieve a "self-sufficient" effect for a short period, significantly reducing external energy consumption.

[0037] In addition, if the weight of the object lowered by the crane is relatively light, the energy recovery power generated is less than or equal to the battery's allowable charging power. Even if the energy recovery system charges at full capacity, it cannot meet the battery's charging needs. Therefore, the energy recovery system and the on-board charger are controlled to charge the battery together. With the assistance of the energy recovery system, the output power of the on-board charger is significantly reduced, which saves energy.

[0038] Specifically, in one embodiment, step S105 above includes the following steps:

[0039] Step 1: If the energy recovery power is 0, control the on-board charger to charge the battery at the rated power.

[0040] Step 2: If the energy recovery power is not 0, control the energy recovery system to charge the battery according to the energy recovery power, and control the on-board charger to output supplementary power to charge the battery. The supplementary power is equal to the difference between the battery's allowable charging power and the energy recovery power.

[0041] Specifically, in this embodiment of the invention, the energy recovery system mainly includes two operating states: activated and deactivated. If the energy recovery power is 0, it indicates that the energy recovery system is not activated, and the differential power is equal to the battery's allowable charging power. The on-board charger needs to be controlled to charge the battery at its maximum rated power to ensure the battery's charging rate. If the energy recovery power is not 0, the energy recovery system primarily charges the battery, while the on-board charger outputs supplementary power to assist the energy recovery system in charging the battery. This supplementary power is equal to the difference between the battery's allowable charging power and the energy recovery power. For example, if the battery's allowable charging power is 150W and the energy recovery system outputs 50W, the calculated differential power is 100W. Therefore, the on-board charger's output power is controlled to be 100W to supplement the battery's charging. With the assistance of the energy recovery system, the output power of the on-board charger is significantly reduced, simultaneously ensuring the battery charges at its maximum rate and the on-board charger outputs at its lowest possible level, thus saving external energy consumption.

[0042] Specifically, such as Figure 3 As shown, in one embodiment, the crane charging operation power control method provided by this invention further includes the following steps:

[0043] Step 3: When the battery is not in charging protection mode and the battery state of charge is greater than or equal to the preset low charge threshold, determine whether the energy recovery system will generate energy recovery.

[0044] Specifically, after step S103 above, if the battery state of charge is determined to be greater than or equal to a preset low charge threshold, for example, the battery state of charge is greater than 80%, it indicates that the battery charge is high but not in a charging protection state. The priority of the control strategy is that the engine operation priority is greater than the battery charging priority, and the power follow control process is entered. First, it is determined whether the energy recovery system is started based on whether the energy recovery power is 0. If the energy recovery system is started, the first power follow control process is entered through steps four to six below. If the energy recovery system is not started, the second power follow control process is entered through steps eight to ten below.

[0045] Step 4: When energy recovery occurs, determine whether the energy recovery power is less than the battery's allowable charging power.

[0046] Step 5: If the energy recovery power is less than the battery's allowable charging power and the battery's state of charge is less than the preset expected value, then control the energy recovery system to charge the battery to the preset expected value and output the excess power of the energy recovery system to the engine, while controlling the on-board charger to not work.

[0047] Step 6: If the energy recovery power is less than the battery's allowable charging power, and the battery's state of charge is greater than or equal to the preset expected value, then control the energy recovery system to directly output electrical energy to the engine, and at the same time control the on-board charger to not work.

[0048] Specifically, if the energy recovery power is not 0, it indicates that the energy recovery system has been activated and enters the first power follow-up control process. It then continues to determine whether the energy recovery power is less than the battery's allowable charging power. If the energy recovery power is less than the battery's allowable charging power, it means the energy recovery system can provide a small amount of charging to the battery. Next, it determines whether the battery's state of charge (SOC) is greater than or equal to a preset expected value. Assuming the preset low charge threshold is 80% and the preset expected value is 83%, if the battery's SOC is between 80% and 83%, it indicates the battery has a relatively high charge but can be charged slightly. If the battery's SOC is greater than or equal to 83%, it means the battery can remain in a relatively healthy state without charging. Since the engine's operating priority is higher than the battery's charging priority, this embodiment of the invention, for cases where the battery's SOC is greater than or equal to the preset expected value, controls the energy recovery system to directly output electrical energy to the engine without charging the battery. Simultaneously, it controls the on-board charger's output power to be 0, thereby maximizing energy savings. If the battery's state of charge is less than the preset expected value, the energy recovery system is controlled to charge the battery slightly to the preset expected value, such as from 80% to 83%. The energy recovery system is then controlled to output the excess power to the engine, while the on-board charger's output power is controlled to be 0, so that no external power is drawn. The engine's additional power demand is provided by the battery discharge, thereby further saving energy to the greatest extent.

[0049] Specifically, in one embodiment, after step four above, the crane charging operation power control method provided by this embodiment of the invention further includes the following steps:

[0050] Step 7: When energy recovery occurs, if the energy recovery power is greater than or equal to the battery's allowable charging power, the energy recovery system will directly output electrical energy to the engine, while the on-board charger will not work.

[0051] Specifically, if the energy recovery power is greater than or equal to the battery's allowable charging power, it indicates that the battery currently has a high charge level. While adhering to the principle that engine operation priority is higher than battery charging priority, even if the battery could be charged slightly, directly charging the battery due to the high power of the energy recovery system poses certain safety risks. Therefore, in this embodiment, the electrical energy recovered by the energy recovery system is directly output to the engine for operation, without charging it. Once the engine's power requirements are met, the output power of the on-board charger can be set to 0, simultaneously ensuring battery reliability and saving energy.

[0052] Specifically, in one embodiment, such as Figure 4 As shown, after step three above, the crane charging operation power control method provided in this embodiment of the invention further includes the following steps:

[0053] Step 8: When no energy recovery occurs, determine the relationship between the battery state of charge and the preset expected value.

[0054] Step 9: If the battery state of charge is less than or equal to the preset expected value, the on-board charger will be controlled to output power in accordance with the engine's power demand, and the battery will be controlled to supplement the discharge of the part of the engine's power demand that is insufficient.

[0055] Step 10: If the battery's state of charge is greater than the preset expected value, the battery will be controlled to discharge in accordance with the engine's power demand, and the on-board charger will be controlled to supplement the power output of the engine that is insufficient.

[0056] Specifically, in this embodiment of the invention, if the energy recovery power is 0, it indicates that the energy recovery system has not been activated and does not participate in the starter motor's charging operation, entering the second power following control process. At this time, based on the relationship between the battery's state of charge and the preset expected value, the on-board charger or battery is controlled to prioritize the crane's engine operation. If the battery's state of charge is less than or equal to the preset expected value, it means that although the battery's charge is relatively high, for example, exceeding 80%, it has not yet exceeded the expected level, for example, 83%. Prioritizing battery discharge would lead to accelerated battery life degradation. Therefore, this embodiment of the invention prioritizes controlling the on-board charger to output power to the engine according to the engine's power demand changes, while simultaneously controlling the battery as a supplementary power output means to supplement the insufficient power demand of the engine, thereby improving battery life.

[0057] If the battery's state of charge is greater than the preset expected value, such as exceeding 83%, then prioritizing battery discharge will not cause the battery to enter a low-charge state for a short time, thus having a smaller impact on battery life. Therefore, the battery can be prioritized to discharge according to the engine's power demand. When the engine's power demand exceeds the battery's maximum power supply, the on-board charger can be controlled simultaneously as a supplementary means to supplement the output of the part of the engine's power demand that is insufficient, thereby saving energy and reducing power consumption costs.

[0058] Specifically, in one embodiment, step nine above includes the following steps:

[0059] Step 11: If the battery state of charge is less than the preset expected value, and the engine power demand is greater than the rated power of the on-board charger, then control the on-board charger to supply power to the engine according to the rated power, and control the battery to discharge to the engine according to the part of the power demand that is insufficient for the engine.

[0060] Step 12: If the battery state of charge is less than the preset expected value, and the engine power demand is less than or equal to the rated power of the on-board charger, then control the on-board charger to supply power to the engine according to the engine power demand, and control the on-board charger to use the excess output power for battery charging.

[0061] Step 13: If the battery state of charge is equal to the preset expected value, and the engine power demand is greater than the rated power of the on-board charger, then control the on-board charger to supply power to the engine according to the rated power, and control the battery to discharge to the engine according to the part of the power demand that is insufficient for the engine.

[0062] Step Fourteen: If the battery state of charge is equal to the preset expected value, and the engine power demand is less than or equal to the rated power of the on-board charger, then control the on-board charger to supply power to the engine according to the engine power demand.

[0063] Specifically, to further save on external power input and reduce electricity costs, this embodiment further refines the control strategy proposed in step nine. First, if the battery's state of charge is less than the preset expected value, it indicates that the battery still has some charging potential. If the engine's power demand is less than or equal to the on-board charger's rated power, it means the on-board charger has partial power redundancy. This allows the on-board charger to output the same power as the engine's power demand to supply power to the engine, while simultaneously using the redundant power for battery charging, thus improving the efficiency of simultaneous crane charging and operation. If the engine's power demand exceeds the on-board charger's rated power, the on-board charger can be controlled to supply power to the engine at its maximum rated power, with the insufficient power from the battery being compensated for.

[0064] If the battery's state of charge equals the preset expected value, it indicates that the battery's current charge state is healthy and charging is not required. Following the logic of step nine, the on-board charger is prioritized to supply power to the engine according to its power demand. When the engine's power demand exceeds the on-board charger's rated power, the on-board charger is controlled to output at its maximum rated power, and the battery is controlled to supplement the engine's power supply by discharging the portion that is insufficient to meet the engine's power demand, thereby saving energy and extending battery life.

[0065] Specifically, in one embodiment, when prioritizing the battery's discharge to follow the engine's power demand in step ten above, the battery's priority discharge power is calculated according to the following formula:

[0066] P b =P d ×f soc

[0067] In the formula, P b For priority discharge power, P d f is a standard charging power set based on the battery's charging and discharging capacity and the overall system power. soc is the deviation coefficient of the battery's state of charge, where

[0068]

[0069] In the formula, SOC h This refers to the upper limit of the battery's state of charge (SOC). l This is the upper limit of the battery's state of charge, while SOC is the battery's current state of charge.

[0070] Specifically, this embodiment calculates a deviation coefficient by comparing the current battery state of charge (SOC) with the median SOC. This deviation coefficient is then used as a weight to adjust the battery's priority discharge power based on the standard charging power, thereby improving the match between the battery's discharge power and its charging / discharging capacity. If the battery's current SOC is high, the deviation from the median SOC is large, resulting in a larger deviation coefficient and a higher priority discharge power, allowing for the release of more energy. Conversely, if the battery's current SOC is low, the deviation coefficient is small, leading to a lower priority discharge power, preventing over-discharge and extending battery life.

[0071] Through the above steps, the technical solution provided in this application first obtains the crane's status parameters and then determines whether the battery is in a charging protection state based on these parameters. If the battery is in a charging protection state, the on-board charger is controlled to not output power, resulting in zero output power. The battery is then controlled to discharge independently according to the power required by the engine, saving external energy consumption. If the battery is not in a charging protection state and its state of charge is less than a preset low charge threshold, the battery is considered to be in a low charge state and requires the charging process to begin. The energy recovery power of the energy recovery system is then acquired and its magnitude is determined. If the energy recovery power is greater than the battery's allowable charging power, the recovered energy is substantial, and the energy recovery system can charge the battery independently. Furthermore, the remaining charging power can be directly output to the engine, while the on-board charger's output power is controlled to zero, neither charging nor performing any work. The high power of the energy recovery system independently completes the charging operation, significantly saving energy. If the energy recovery power is less than or equal to the battery's allowable charging power, it indicates that the energy recovery system is performing less work. Since the battery is in a low-charge state, priority is given to charging the battery. Therefore, controlling both the energy recovery system and the on-board charger to charge the battery reduces the on-board charger's output, lowers the crane's demand for external power, and achieves energy savings.

[0072] like Figure 5 As shown, this embodiment also provides a crane charging operation power control device, the device comprising:

[0073] The charging protection analysis module 101 is used to acquire the crane's status parameters and determine whether the battery is in a charging protection state based on these parameters. The status parameters include the battery's state of charge. For details, please refer to the relevant description of step S101 in the above method embodiment; it will not be repeated here.

[0074] The charging protection module 102 is used to control the on-board charger to prevent charging the battery when the battery is in a charging protection state. For details, please refer to the relevant description of step S102 in the above method embodiments, which will not be repeated here.

[0075] The energy recovery module 103 is used to obtain the energy recovery power of the energy recovery system when the battery is not in a charging protection state and the battery state of charge is less than a preset low charge threshold. For details, please refer to the relevant description of step S103 in the above method embodiments, which will not be repeated here.

[0076] The first charging module 104 is used to charge the battery separately if the energy recovery power is greater than the battery's allowable charging power. For details, please refer to the relevant description of step S104 in the above method embodiments, which will not be repeated here.

[0077] The second charging module 105 is used to charge the battery jointly by the energy recovery system and the on-board charger if the energy recovery power is less than or equal to the battery's allowable charging power. For details, please refer to the relevant description of step S105 in the above method embodiments, which will not be repeated here.

[0078] The present invention provides a crane charging operation power control device for executing a crane charging operation power control method provided in the above embodiments. Its implementation method and principle are the same. For details, please refer to the relevant description of the above method embodiments, which will not be repeated here.

[0079] Through the collaborative operation of the aforementioned components, the technical solution provided in this application first acquires the crane's status parameters and determines whether the battery is in a charging protection state based on these parameters. If the battery is in a charging protection state, the on-board charger is controlled to not output power, resulting in zero output power. The battery is then controlled to discharge independently according to the power required by the engine, saving external energy consumption. If the battery is not in a charging protection state and its state of charge is less than a preset low charge threshold, the battery is considered to be in a low charge state and requires initiation of the charging process. The energy recovery power of the energy recovery system is then acquired and its magnitude is determined. If the energy recovery power is greater than the battery's allowable charging power, the recovered energy is substantial, and the energy recovery system can charge the battery independently. Furthermore, the remaining charging power can be directly output to the engine, while the on-board charger's output power is controlled to zero, neither charging nor performing any work. The high power of the energy recovery system independently completes the charging operation, significantly saving energy. If the energy recovery power is less than or equal to the battery's allowable charging power, it indicates that the energy recovery system is performing less work. Since the battery is in a low-charge state, priority is given to charging the battery. Therefore, controlling both the energy recovery system and the on-board charger to charge the battery reduces the on-board charger's output, lowers the crane's demand for external power, and achieves energy savings.

[0080] Figure 6An electronic device according to an embodiment of the present invention is shown. The device includes a processor 901 and a memory 902, which can be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0081] Processor 901 can be a Central Processing Unit (CPU). Processor 901 can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.

[0082] The memory 902, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods in the above method embodiments. The processor 901 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions, and modules stored in the memory 902, thereby implementing the methods in the above method embodiments.

[0083] The memory 902 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor 901, etc. Furthermore, the memory 902 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 902 may optionally include memory remotely located relative to the processor 901, and these remote memories may be connected to the processor 901 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0084] One or more modules are stored in memory 902, and when executed by processor 901, they perform the methods described in the above method embodiments.

[0085] The specific details of the aforementioned electronic device can be understood by referring to the relevant descriptions and effects in the above method embodiments, and will not be repeated here.

[0086] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The implemented program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0087] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for controlling the power of crane charging operations, characterized in that, The method includes: Obtain crane status parameters and determine whether the battery is in charging protection state based on the status parameters, wherein the status parameters include battery state of charge; When the battery is in charging protection mode, control the on-board charger to prevent it from charging the battery. When the battery is not in charging protection state and the battery state of charge is less than a preset low charge threshold, the energy recovery power of the energy recovery system is obtained. If the energy recovery power is greater than the battery's allowable charging power, then the energy recovery system charges the battery separately. If the energy recovery power is less than or equal to the battery's allowable charging power, then the energy recovery system and the on-board charger jointly charge the battery. The method further includes: when the battery is not in a charging protection state and the battery state of charge is greater than or equal to a preset low charge threshold, determining whether the energy recovery system generates energy recovery; when energy recovery occurs, if the energy recovery power is less than the battery's allowable charging power and the battery's state of charge is less than a preset expected value, then controlling the energy recovery system to charge the battery to the preset expected value and outputting the excess power of the energy recovery system to the engine, while controlling the on-board charger to not work; if the energy recovery power is less than the battery's allowable charging power and the battery's state of charge is greater than or equal to the preset expected value, then controlling the energy recovery system to directly output electrical energy to the engine, while controlling the on-board charger to not work.

2. The method according to claim 1, characterized in that, The energy recovery system and the on-board charger work together to charge the battery, including: If the energy recovery power is 0, then control the on-board charger to charge the battery at the rated power; If the energy recovery power is not 0, the energy recovery system is controlled to charge the battery according to the energy recovery power, and the on-board charger is controlled to output supplementary power to charge the battery. The supplementary power is equal to the difference between the battery's allowable charging power and the energy recovery power.

3. The method according to claim 1, characterized in that, When the battery is not in a charging protection state and the battery's state of charge is greater than or equal to a preset low charge threshold, the method further includes: When energy recovery occurs, if the energy recovery power is greater than or equal to the battery's allowable charging power, the energy recovery system is controlled to directly output electrical energy to the engine, while the on-board charger is controlled to not work.

4. The method according to claim 1, characterized in that, When the battery is not in a charging protection state and the battery's state of charge is greater than or equal to a preset low charge threshold, the method further includes: When no energy recovery occurs, if the battery state of charge is less than or equal to the preset expected value, the on-board charger is prioritized to output power in accordance with the engine's power demand, and the battery is controlled to supplement the discharge of the part of the engine's power demand that is insufficient. If the battery state of charge is greater than the preset expected value, the battery is controlled to discharge according to the engine's power demand, and the on-board charger is controlled to supplement the output of the part of the engine's power demand that is insufficient.

5. The method according to claim 4, characterized in that, If the battery's state of charge is less than or equal to the preset expected value, then the on-board charger is preferentially controlled to output power according to the engine's power demand, and the battery is controlled to supplement the discharge of the portion of the engine's power demand that is insufficient, including: If the battery state of charge is less than the preset expected value, and the engine power demand is greater than the on-board charger rated power, then the on-board charger is controlled to supply power to the engine at the rated power, and the battery is controlled to discharge power to the engine for the portion of the engine power demand that is insufficient. If the battery state of charge is less than the preset expected value, and the engine power demand is less than or equal to the rated power of the on-board charger, then the on-board charger is controlled to supply power to the engine according to the engine power demand, and the on-board charger is controlled to use the excess output power for battery charging. If the battery state of charge is equal to the preset expected value, and the engine power demand is greater than the on-board charger rated power, then the on-board charger is controlled to supply power to the engine at the rated power, and the battery is controlled to discharge power to the engine for the portion of the engine power demand that is insufficient. If the battery state of charge is equal to the preset expected value, and the engine power demand is less than or equal to the rated power of the on-board charger, then the on-board charger is controlled to supply power to the engine according to the engine power demand.

6. The method according to claim 4, characterized in that, When the battery is prioritized to discharge in accordance with the engine's power requirements, the battery's priority discharge power is calculated according to the following formula: In the formula, Prioritize discharge power, This is a standard charging power set based on the battery's charging and discharging capacity and the overall system power. Deviation coefficient of battery state of charge In the formula, This represents the upper limit of the battery's state of charge. This is the minimum value for the battery's state of charge. This represents the current state of charge of the power battery.

7. A power control device for crane charging operations, characterized in that, The device includes: The charging protection analysis module is used to acquire the crane's status parameters and determine whether the battery is in a charging protection state based on the status parameters, including the battery's state of charge. The charging protection module is used to control the on-board charger to prevent the battery from charging when the battery is in a charging protection state. An energy recovery module is used to obtain the energy recovery power of the energy recovery system when the battery is not in a charging protection state and the battery's state of charge is less than a preset low charge threshold. The first charging module is configured to charge the battery separately by the energy recovery system if the energy recovery power is greater than the battery's allowable charging power. The second charging module is used to charge the battery jointly by the energy recovery system and the on-board charger if the energy recovery power is less than or equal to the battery's allowable charging power. It further includes: when the battery is not in a charging protection state and the battery's state of charge is greater than or equal to a preset low charge threshold, determining whether the energy recovery system generates energy recovery; when energy recovery occurs, if the energy recovery power is less than the battery's allowable charging power and the battery's state of charge is less than a preset expected value, controlling the energy recovery system to charge the battery to the preset expected value and outputting excess power from the energy recovery system to the engine, while simultaneously controlling the on-board charger to not operate; if the energy recovery power is less than the battery's allowable charging power and the battery's state of charge is greater than or equal to the preset expected value, controlling the energy recovery system to directly output electrical energy to the engine, while simultaneously controlling the on-board charger to not operate.

8. An electronic device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method as described in any one of claims 1-6.

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