Hybrid forklift energy recovery method and device

Abstract

The application discloses a hybrid forklift energy recovery method and device, relates to the technical field of energy recovery, and comprises the following steps: determining a corresponding target energy recovery system according to a current energy supply type of a forklift, and determining an actual friction temperature change rate of brake pads on the forklift based on a current environment temperature; the target energy recovery system comprises an electric energy recovery system and a thermal energy recovery system; if the actual friction temperature change rate is not less than a preset temperature change rate, determining a to-be-coast distance according to a current advancing road condition image of the forklift and a historical carrying path; and recovering energy based on the to-be-coast distance and by the target energy recovery system. In this way, the application can obtain a more accurate actual friction temperature change rate of brake pads of the forklift according to the current environment temperature, and then recover energy according to the to-be-coast distance of the forklift and the target energy recovery system; and the energy utilization rate of the hybrid forklift is improved.

Description

Technical Field

[0001] This invention relates to the field of energy recovery technology, and in particular to a method and apparatus for energy recovery of a hybrid forklift. Background Technology

[0002] Hybrid forklifts can be powered by electricity or fuel combustion, offering greater application prospects. In related technologies, hybrid forklifts can adjust their energy supply as needed. When fuel is insufficient, they can be powered by batteries to continue operation. During operation, the forklift continues to provide some energy output when decelerating and braking, resulting in energy loss during braking and overall low energy utilization.

[0003] Therefore, improving the energy efficiency of hybrid forklifts is a problem that needs to be solved in this field. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a method and apparatus for energy recovery in hybrid forklifts, which can improve the energy utilization rate of hybrid forklifts. The specific solution is as follows:

[0005] Firstly, this application provides a method for energy recovery in a hybrid forklift, comprising:

[0006] The corresponding target energy recovery system is determined based on the current energy supply type of the forklift, and the actual friction temperature change rate of the brake pads on the forklift is determined based on the current ambient temperature; the target energy recovery system includes an electrical energy recovery system and a heat energy recovery system.

[0007] If the actual friction temperature change rate is not less than the preset temperature change rate, the distance to be glided is determined based on the current forward road condition image of the forklift and the historical handling path.

[0008] Based on the distance to be glided, energy is recovered through the target energy recovery system.

[0009] Optionally, determining the corresponding target energy recovery system based on the forklift's current energy supply type includes:

[0010] Obtain the current energy supply type for the forklift;

[0011] If the current energy supply type is electricity, then the electricity recovery system is identified as the target energy recovery system;

[0012] If the current energy supply type is thermal energy, then the thermal energy recovery system is identified as the target energy recovery system.

[0013] Optionally, determining the actual friction temperature change rate of the brake pads on the forklift based on the current ambient temperature includes:

[0014] The current ambient temperature of the forklift's environment and the braking depth of the brake pedal are obtained.

[0015] Determine the theoretical friction temperature change rate of the brake pads that match the brake pedal depth, and the first temperature change rate correction value corresponding to the current ambient temperature;

[0016] The theoretical friction temperature change rate and the first temperature change rate correction value are summed to obtain the second temperature change rate correction value.

[0017] The friction temperature change rate of the brake pads on the forklift is corrected using the second temperature change rate correction value to obtain the actual friction temperature change rate of the brake pads on the forklift.

[0018] Optionally, the step of correcting the friction temperature change rate of the brake pads on the forklift using the second temperature change rate correction value to obtain the actual friction temperature change rate of the brake pads on the forklift includes:

[0019] Determine the wear coefficient of the brake pads of the forklift;

[0020] The wear correction value corresponding to the wear coefficient is determined based on the wear coefficient and the preset wear influence value; the preset wear influence value characterizes the impact of brake pad wear on braking performance.

[0021] The friction temperature change rate of the brake pads is corrected based on the second temperature change rate correction value and the wear correction value to obtain the actual friction temperature change rate of the brake pads on the forklift.

[0022] Optionally, the energy recovery based on the distance to be glided and through the target energy recovery system includes:

[0023] The distance to be glided is updated based on the distance traveled by the forklift;

[0024] Determine whether the distance to be glided is less than the preset effective energy recovery distance;

[0025] If not, energy is recovered through the target energy recovery system.

[0026] Optionally, the method further includes:

[0027] The braking pedal status and the forklift's moving speed are obtained.

[0028] Determine whether the moving speed is within the preset sliding moving speed range;

[0029] If the moving speed is within the preset sliding moving speed range, then determine whether the stepping state is consistent with the preset suspension state;

[0030] If the stepping state is consistent with the preset suspension state, then energy is recovered through the target energy recovery system.

[0031] Optionally, the energy recovery process through the target energy recovery system further includes:

[0032] Obtain the accelerator pedal pressure of the forklift;

[0033] Determine whether the pedaling pressure is less than the preset acceleration pedaling pressure;

[0034] If so, energy recovery will continue through the target energy recovery system.

[0035] If not, then energy recovery will be terminated.

[0036] Secondly, this application provides a hybrid forklift energy recovery device, comprising:

[0037] The temperature change rate determination module is used to determine the corresponding target energy recovery system based on the current energy supply type of the forklift, and to determine the actual friction temperature change rate of the brake pads on the forklift based on the current ambient temperature; the target energy recovery system includes an electrical energy recovery system and a heat energy recovery system;

[0038] The module for determining the distance to be glided is used to determine the distance to be glided based on the current forward road condition image of the forklift and the historical transport path when the actual friction temperature change rate is not less than the preset temperature change rate.

[0039] An energy recovery module is used to recover energy based on the distance to be glided and through the target energy recovery system.

[0040] Optionally, the temperature change rate determination module includes:

[0041] An ambient temperature and pedal depth acquisition unit is used to acquire the current ambient temperature of the environment in which the forklift is located and the braking pedal depth.

[0042] The correction value determination unit is used to determine the theoretical friction temperature change rate of the brake pad that matches the brake pedal depth, and the first temperature change rate correction value corresponding to the current ambient temperature.

[0043] The correction value calculation unit is used to sum the theoretical friction temperature change rate and the first temperature change rate correction value to obtain the second temperature change rate correction value.

[0044] The rate of change correction submodule is used to correct the friction temperature change rate of the brake pads on the forklift using the second temperature change rate correction value, so as to obtain the actual friction temperature change rate of the brake pads on the forklift.

[0045] Optionally, the rate of change correction submodule includes:

[0046] Wear coefficient determination unit, used to determine the wear coefficient of the brake pads of the forklift;

[0047] The wear correction value determination unit is used to determine the wear correction value corresponding to the wear coefficient based on the wear coefficient and the preset wear influence value; the preset wear influence value characterizes the influence of brake pad wear on braking performance;

[0048] The rate of change correction unit is used to correct the friction temperature change rate of the brake pads based on the second temperature change rate correction value and the wear correction value, so as to obtain the actual friction temperature change rate of the brake pads on the forklift.

[0049] Therefore, this application first determines the corresponding target energy recovery system based on the current energy supply type of the forklift, and determines the actual friction temperature change rate of the brake pads on the forklift based on the current ambient temperature. The target energy recovery system includes an electrical energy recovery system and a heat energy recovery system. If the actual friction temperature change rate is not less than a preset temperature change rate, the required coasting distance is determined based on the current forward road condition image of the forklift and the historical transport path. Then, based on the required coasting distance, energy is recovered through the target energy recovery system. In this way, this application can determine the target energy recovery system according to the current energy supply type of the forklift, and can obtain a more accurate actual friction temperature change rate of the brake pads on the forklift by combining the current ambient temperature. Furthermore, this application uses the target energy recovery system to recover energy based on the current required coasting distance of the forklift. This can improve the accuracy of energy recovery in hybrid forklifts and improve energy utilization. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0051] Figure 1 This application discloses a flowchart of an energy recovery method for a hybrid forklift.

[0052] Figure 2This application discloses a specific flowchart of a hybrid forklift energy recovery method.

[0053] Figure 3 This is a schematic diagram of the structure of a hybrid forklift energy recovery device disclosed in this application;

[0054] Figure 4 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0055] 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 some embodiments of the present invention, and not all embodiments. 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.

[0056] See Figure 1 As shown in the figure, an embodiment of the present invention discloses a method for energy recovery of a hybrid forklift, comprising:

[0057] Step S11: Determine the corresponding target energy recovery system based on the current energy supply type of the forklift, and determine the actual friction temperature change rate of the brake pads on the forklift based on the current ambient temperature; the target energy recovery system includes an electrical energy recovery system and a heat energy recovery system.

[0058] In this application, the target energy recovery system for energy recovery is first determined based on the current energy supply type of the hybrid forklift. Simultaneously, this application can determine the actual friction temperature change rate on the brake pads of the hybrid forklift based on the current ambient temperature. It is understood that brake pads generate friction during braking, causing a temperature rise at the friction points, resulting in a temperature difference before and after braking. The temperature difference per unit time during braking divided by the time yields the temperature change rate, which is defined as the friction temperature change rate. In this application, the friction temperature of the brake pads can be detected by a corresponding temperature sensor. It should be noted that the target energy recovery system can include an electrical energy recovery system and a thermal energy recovery system. In a specific embodiment, determining the corresponding target energy recovery system based on the current energy supply type of the forklift can include: obtaining the current energy supply type of the forklift; if the current energy supply type is electrical energy, then determining the electrical energy recovery system as the target energy recovery system; if the current energy supply type is thermal energy, then determining the thermal energy recovery system as the target energy recovery system. Specifically, this application can obtain the current energy supply type of the hybrid forklift, such as electrical energy or thermal energy; if the current energy supply type is electrical energy, the preset electrical energy recovery system can be determined as the target energy recovery system; correspondingly, if the current energy supply type is thermal energy, the preset thermal energy recovery system can be determined as the current target energy recovery system.

[0059] It's understandable that hybrid forklifts can be primarily powered by electricity, supplemented by fuel thermal energy, or primarily powered by fuel thermal energy, supplemented by electricity. It's important to note that when different energy sources are the primary power source, corresponding energy recovery systems are needed during braking. For example, when fuel thermal energy is the primary source, an inertial energy recovery system is used; when electricity is the primary source, the battery is used. Furthermore, before energy recovery, the forklift's power supply capacity can be determined. This power supply capacity is the output power of the battery used to supply electricity, which can be determined by reading the battery's design parameters. Although fuel and electricity power supplies are distinguished during energy recovery, both recover electrical energy. When the forklift uses fuel thermal energy as the primary power source, the minimum recovery power refers to the gear in the forward position. When the forklift uses electricity as the primary power source, the minimum recovery power refers to the battery's output power. The minimum recovery power for both power supply types is set by the operator based on actual needs. The purpose of this judgment is to determine whether the power supply meets the energy recovery standard. Specifically, if the power supply is less than the preset minimum recovery power, it indicates that the vehicle's power supply is low and does not meet the minimum requirements for energy recovery. At this time, the vehicle is moving at low speed, and both electrical energy and fuel heat energy are relatively low, making energy recovery unsuitable. A waiting signal is then issued to instruct the energy recovery system to remain in standby mode. Conversely, if the power supply is equal to or greater than the minimum recovery power, it indicates that the forklift is moving at a relatively high speed. At this time, the electrical energy supplied by the battery or the heat energy provided by the combustion engine is relatively large, meeting the requirements for braking and energy recovery. A corresponding energy recovery system is also matched, and a recovery signal is issued to instruct the system to recover energy according to the preset recovery method. This recovery method involves recovering energy during braking, allowing the hybrid forklift to recover energy promptly during braking for subsequent reuse and improved energy utilization.

[0060] Step S12: If the actual friction temperature change rate is not less than the preset temperature change rate, then the distance to be glided is determined based on the current forward road condition image of the forklift and the historical transport path.

[0061] This application, through the aforementioned steps, can determine the current target energy recovery system of the hybrid forklift and the current actual friction temperature change rate of the brake pads. It is understood that the preset temperature change rate, obtained by personnel based on experimental data, represents the minimum temperature change rate generated by the brake pads during braking. This minimum temperature change rate is used as a benchmark value. When the brake pad temperature change rate exceeds the benchmark temperature change rate, it indicates that the brake pads are performing braking. If the brake pad temperature change rate is less than the benchmark temperature change rate, it indicates that the forklift is not braking. When the friction temperature change rate is less than the benchmark temperature change rate, it indicates that the forklift is not braking. In this case, energy recovery would consume the vehicle's forward power supply, which is detrimental to the forklift's ability to maintain driving power output. Therefore, a waiting warning signal can be issued to instruct the energy recovery system to remain in standby mode. If the friction temperature change rate is equal to or greater than the benchmark temperature change rate, it indicates that the forklift is in a braking state. In this case, energy recovery can be performed to convert excess inertial energy into electrical energy through the rotation of the motor in the energy recovery system, and the electrical energy is stored for subsequent power supply. It should be noted that the inertial braking ratio is the inertial force generated when the forklift brakes. Different inertial forces can drive the electric motor to generate corresponding electrical energy. By establishing an inertial energy recovery database, different inertial braking ratios are stored in the database, along with the friction temperature change rate corresponding to different inertial braking ratios. When the friction temperature change rate is received, the database can automatically match and output the corresponding inertial braking ratio, which is defined as the inertial energy recovery ratio.

[0062] Furthermore, when the actual friction temperature change rate is not less than the preset temperature change rate, it indicates that the braking process meets the energy recovery conditions. At this point, this application needs to determine the braking distance, i.e., the distance to be glided, based on the forklift's current forward road condition image and historical transport path. It is understood that when a forklift transports goods in a factory area, it has a specific destination. Therefore, during the transport operation, a camera is used to capture images of the forward road environment and the travel path, which is then defined as the historical transport path. The forward road condition image is a real-time image of the road environment in front of the forklift during driving, captured by a camera. This application can compare and identify the road condition image and the historical transport path to determine the gliding area and its distance in the road condition image. The gliding area is defined as the forklift's gliding area, and the identification and determination of the gliding distance is for subsequent use.

[0063] Step S13: Based on the distance to be glided, energy is recovered through the target energy recovery system.

[0064] Furthermore, after obtaining the desired gliding distance, this application performs energy recovery based on that distance using a target energy recovery system. In a specific embodiment, if the target energy recovery system is a thermal energy recovery system, during the energy recovery process, a matching inertial braking ratio can be determined based on the actual friction temperature change rate, further determining the inertial energy recovery ratio. Energy is then recovered using this inertial energy recovery ratio. In a specific embodiment, after matching the appropriate inertial energy recovery ratio, while the forklift is braking, the forklift speed can be continuously monitored, and it can be determined whether the speed is zero. If it is not zero, it indicates that the forklift is in a deceleration and steering state, rather than decelerating to a stop. At this time, the energy recovery system can be instructed to recover energy according to the inertial energy recovery ratio, so that excess inertia can be converted into electrical energy without generating braking force that affects the vehicle speed. Correspondingly, if the target energy recovery system is an electrical energy recovery system, a matching electrical energy recovery ratio can be determined based on the discharge power of the hybrid forklift's battery; then, the excess electrical energy released is recovered using this electrical energy recovery ratio. In a specific embodiment, during energy recovery, if the battery discharge power is equal to or greater than the reference discharge power, it indicates that the battery has released excess energy beyond meeting the forklift's braking requirements, thus maximizing the forklift's driving and mobility performance. Furthermore, the energy recovery ratio is the percentage of excess energy recovered from the battery. A pre-established energy recovery database stores different ratios and corresponding discharge powers. When a corresponding discharge power is input, the system automatically matches and outputs the corresponding energy recovery ratio. After obtaining the matched ratio, the energy recovery system is instructed to recover the excess energy released by the battery at a higher discharge power according to the ratio, thereby improving energy utilization and reducing energy waste during braking and deceleration.

[0065] In one specific embodiment, the step of recovering energy based on the desired coasting distance and through the target energy recovery system may include: updating the desired coasting distance according to the forklift's travel distance; determining whether the desired coasting distance is less than a preset effective energy recovery distance; if not, then recovering energy through the target energy recovery system. Specifically, during the operation of the hybrid forklift, the desired coasting distance can be updated according to the forklift's travel distance; then, based on the relationship between the desired coasting distance and the preset effective energy recovery distance, it can be selected to continue recovering energy through the target energy recovery system, or to instruct the target energy recovery system to standby. In a specific embodiment, the effective energy recovery distance is a distance value measured by the operator based on experiments, representing the minimum distance at which the forklift can effectively recover energy during coasting. By comparing the coasting distance and the effective energy recovery distance, it can be determined whether the forklift can effectively recover energy during coasting. If the desired coasting distance is less than the effective energy recovery distance, it indicates that the coasting distance is too short and insufficient inertial energy can be generated for recovery during coasting, thus issuing an invalid recovery warning signal to reduce the frequent activation of the energy recovery system.

[0066] It should be noted that the brake pedal's depressing state can include a depressed state, a suspended state, and a contact state, used to determine whether the brake pedal is driven by the driver. The forklift's moving speed is obtained through a pre-set vehicle speed sensor, and the brake pedal's depressing state can be detected by a pressure sensor. The purpose of obtaining the brake pedal's depressing state and the forklift's moving speed is for subsequent analysis. In a specific embodiment, it may further include: obtaining the forklift's brake pedal's depressing state and the forklift's moving speed; determining whether the moving speed is within a preset coasting speed range; if the moving speed is within the preset coasting speed range, determining whether the depressing state is consistent with a preset suspended state; if the depressing state is consistent with the preset suspended state, then energy recovery is performed through the target energy recovery system. Specifically, during energy recovery, the forklift's brake pedal depress status and moving speed can be acquired. Then, based on this speed, it's determined whether the forklift is within a preset coasting speed range. If it is, the brake pedal depress status is further checked against a preset hovering status. If the brake pedal depress status matches the preset hovering status, energy recovery can proceed through the target energy recovery system. It's understandable that if the brake pedal depress status indicates the forklift is accelerating, energy recovery will stop.

[0067] Therefore, this application can determine the target energy recovery system based on the current energy supply type of the forklift, and can also obtain a more accurate actual friction temperature change rate of the brake pads on the forklift by combining the current ambient temperature. Furthermore, this application utilizes the target energy recovery system to recover energy based on the current coasting distance of the forklift. Specifically, excess energy during braking can be recovered based on the actual friction temperature change rate of the brake pads, the power output of the forklift, and the current coasting distance of the forklift. In particular, the friction temperature change rate of the brake pads on the forklift can be corrected based on the current ambient temperature to obtain a more accurate actual friction temperature change rate, thus improving the accuracy of energy recovery in hybrid forklifts and increasing energy utilization.

[0068] See Figure 2 As shown, this embodiment of the invention discloses a method for energy recovery in a hybrid forklift, comprising:

[0069] Step S21: Determine the corresponding target energy recovery system based on the current energy supply type of the forklift.

[0070] Step S22: Obtain the current ambient temperature of the forklift's environment and the braking depth of the brake pedal.

[0071] In this embodiment, the current ambient temperature of the forklift's environment and the braking depth of the brake pedal can be obtained. It is understood that the ambient temperature affects the temperature of the brake pads. When the current ambient temperature is low, the temperature change of the brake pads during braking is different from that when the current ambient temperature is high.

[0072] Step S23: Determine the theoretical friction temperature change rate of the brake pad that matches the brake pedal depth, and the first temperature change rate correction value corresponding to the current ambient temperature.

[0073] Furthermore, in this embodiment, a matching theoretical friction temperature change rate can be determined based on the brake pedal depressing depth; simultaneously, a matching preset first temperature change rate correction value can be determined based on the current ambient temperature. It should be noted that the theoretical friction temperature change rate characterizes the relationship between brake pedal depressing depth and brake pad friction temperature change at room temperature; while the first temperature change rate correction value characterizes the influence of ambient temperature on the theoretical friction temperature change rate, specifically used to correct for the influence of ambient temperature to obtain the brake pad friction temperature change rate at ambient temperature. Further, the theoretical friction temperature change rate is the corresponding temperature change rate generated at different braking depths. For example, when the brake pedal depressing depth is 30mm, the generated temperature change rate is 373kJ / min, which is a difference of 373 Kelvin per minute. By pre-establishing a theoretical friction temperature change database, different brake pedal depths are stored in the baseline friction temperature change database, along with the theoretical friction temperature change rate corresponding to different brake pedal depths. When a brake pedal depth is input, the corresponding theoretical friction temperature change rate can be matched and output. In addition, under the influence of different ambient temperatures, the friction temperature change rate generated by the brake pads during braking will deviate. Therefore, it is necessary to correct the friction temperature change rate of the brake pads according to the ambient temperature. The correction value can be obtained by pre-establishing a correction database, storing different ambient temperatures in the correction database, and storing the correction value corresponding to different ambient temperatures. When the ambient temperature is input, the corresponding correction value can be matched and defined as the first temperature change rate correction value for subsequent use.

[0074] Step S24: Sum the theoretical friction temperature change rate and the first temperature change rate correction value to obtain the second temperature change rate correction value.

[0075] It is understandable that the above steps can obtain the theoretical friction temperature change rate and the first temperature change rate correction value. By summing them up, the second temperature change rate correction value can be obtained. This second temperature change rate correction value is a correction value for the friction temperature change rate of the brake pads that is simultaneously matched with the current brake pedal depth and the current ambient temperature.

[0076] Step S25: Correct the friction temperature change rate of the brake pads on the forklift using the second temperature change rate correction value to obtain the actual friction temperature change rate of the brake pads on the forklift.

[0077] Accordingly, the friction temperature change rate of the brake pads on the forklift can be corrected using the second temperature change rate correction value mentioned above. This allows us to obtain the actual friction temperature change rate of the forklift under the current ambient temperature and the braking pedal depth.

[0078] In one specific embodiment, correcting the friction temperature change rate of the brake pads on the forklift using the second temperature change rate correction value to obtain the actual friction temperature change rate of the brake pads on the forklift may include: determining the wear coefficient of the brake pads of the forklift; determining a wear correction value corresponding to the wear coefficient based on the wear coefficient and a preset wear influence value; the preset wear influence value characterizing the influence of brake pad wear on braking performance; and correcting the friction temperature change rate of the brake pads based on the second temperature change rate correction value and the wear correction value to obtain the actual friction temperature change rate of the brake pads on the forklift. Specifically, in the process of correcting the friction temperature change rate of the brake pads using the second temperature change rate, the influence of brake pad wear on braking performance can be determined according to the wear coefficient of the brake pads, that is, the friction temperature change rate of the brake pads is corrected according to the wear correction value determined from the preset wear influence value based on the wear coefficient; in other words, this embodiment can correct the friction temperature change rate of the brake pads according to the second temperature change rate and the wear correction value corresponding to the brake pads, and finally obtain the actual friction temperature change rate of the brake pads on the forklift. Understandably, the wear coefficient is the natural wear coefficient value of brake pads after braking. This is achieved by counting the usage time and number of braking operations of the brake pads and establishing a wear coefficient matching database. Different wear coefficients are stored in this database, along with corresponding input usage time and number of braking operations. When these values ​​are input, the database can match and output the appropriate wear coefficient. The rate of change of frictional temperature changes with different wear coefficients will vary. For example, a higher wear coefficient indicates greater wear on the brake pads, resulting in a relatively lower rate of temperature change during braking and deceleration. Furthermore, different wear coefficients also affect the rate of change of frictional temperature of the brake pads, requiring numerical correction to obtain a rate of change that reflects actual conditions. This correction can be achieved by pre-establishing a brake pad temperature change rate database, storing different wear coefficients, and corresponding wear correction values. When a wear coefficient is input, the database can match and output the corresponding wear correction value for later analysis.

[0079] Step S26: If the actual friction temperature change rate is not less than the preset temperature change rate, then determine the sliding distance based on the current forward road condition image of the forklift and the historical transport path.

[0080] Step S27: Based on the distance to be glided, energy is recovered through the target energy recovery system.

[0081] For more detailed processing procedures regarding steps S21, S26, and S27, please refer to the corresponding content disclosed in the foregoing embodiments, which will not be repeated here.

[0082] Therefore, this application can determine the corresponding reference friction temperature change rate generated by the brake pedal depressing depth, and then match the temperature change rate correction value corresponding to the brake pads under different ambient temperatures. This allows for the calculation of the actual friction temperature change rate, which is more accurate in matching the corresponding inertial braking energy recovery ratio, thus improving the accuracy of energy recovery and reducing the likelihood of excessive energy recovery. Furthermore, during energy recovery, this application can analyze the accelerator pedal's depressing state to determine if the driver intends to accelerate. When the accelerator pedal pressure exceeds a preset acceleration pressure, the energy recovery system is promptly stopped, ensuring sufficient energy supply during vehicle acceleration to maximize driving performance.

[0083] like Figure 3 As shown, this application discloses a hybrid forklift energy recovery device, comprising:

[0084] The temperature change rate determination module 11 is used to determine the corresponding target energy recovery system according to the current energy supply type of the forklift, and to determine the actual friction temperature change rate of the brake pads on the forklift based on the current ambient temperature; the target energy recovery system includes an electrical energy recovery system and a heat energy recovery system;

[0085] The sliding distance determination module 12 is used to determine the sliding distance based on the current forward road condition image of the forklift and the historical handling path when the actual friction temperature change rate is not less than the preset temperature change rate.

[0086] The energy recovery module 13 is used to recover energy based on the distance to be glided and through the target energy recovery system.

[0087] Therefore, this application can determine the target energy recovery system based on the current energy supply type of the forklift, and can also obtain a more accurate actual friction temperature change rate of the brake pads on the forklift by combining the current ambient temperature; and when the actual friction temperature change rate is not less than the pre-approved temperature change rate, this application uses the target energy recovery system to recover energy based on the current coasting distance of the forklift; this can improve the accuracy of energy recovery in hybrid forklifts and improve energy utilization.

[0088] In one specific embodiment, the temperature change rate determination module 11 may include:

[0089] Energy supply type acquisition unit, used to acquire the current energy supply type of the forklift;

[0090] The first system determining unit is used to determine the electrical energy recovery system as the target energy recovery system when the current energy supply type is electrical energy;

[0091] The second system determination unit is used to determine the heat energy recovery system as the target energy recovery system when the current energy supply type is heat energy.

[0092] In one specific embodiment, the temperature change rate determination module 11 may include:

[0093] An ambient temperature and pedal depth acquisition unit is used to acquire the current ambient temperature of the environment in which the forklift is located and the braking pedal depth.

[0094] The correction value determination unit is used to determine the theoretical friction temperature change rate of the brake pad that matches the brake pedal depth, and the first temperature change rate correction value corresponding to the current ambient temperature.

[0095] The correction value calculation unit is used to sum the theoretical friction temperature change rate and the first temperature change rate correction value to obtain the second temperature change rate correction value.

[0096] The rate of change correction submodule is used to correct the friction temperature change rate of the brake pads on the forklift using the second temperature change rate correction value, so as to obtain the actual friction temperature change rate of the brake pads on the forklift.

[0097] In one specific embodiment, the rate of change correction submodule may include:

[0098] Wear coefficient determination unit, used to determine the wear coefficient of the brake pads of the forklift;

[0099] The wear correction value determination unit is used to determine the wear correction value corresponding to the wear coefficient based on the wear coefficient and the preset wear influence value; the preset wear influence value characterizes the influence of brake pad wear on braking performance;

[0100] The rate of change correction unit is used to correct the friction temperature change rate of the brake pads based on the second temperature change rate correction value and the wear correction value, so as to obtain the actual friction temperature change rate of the brake pads on the forklift.

[0101] In one specific embodiment, the energy recovery module 13 may include:

[0102] A distance update unit is used to update the distance to be glided based on the travel distance of the forklift;

[0103] A distance determination unit is used to determine whether the gliding distance to be glided is less than a preset effective energy recovery distance;

[0104] The first energy recovery unit is used to recover energy through the target energy recovery system when the gliding distance is not less than the preset effective energy recovery distance.

[0105] In one specific embodiment, the device may further include:

[0106] The moving speed acquisition unit is used to acquire the braking pedal state of the forklift and the moving speed of the forklift.

[0107] A speed determination unit is used to determine whether the moving speed is within a preset sliding moving speed range;

[0108] The suspended state determination unit is used to determine whether the stepping state is consistent with the preset suspended state when the moving speed is within the preset sliding moving speed range.

[0109] The second energy recovery unit is used to recover energy through the target energy recovery system when the trotting state is consistent with the preset suspension state.

[0110] In another specific embodiment, the device may further include:

[0111] A pedal pressure acquisition unit is used to acquire the pedal pressure of the accelerator pedal of the forklift;

[0112] A pressure judgment unit is used to determine whether the pedaling pressure is less than a preset acceleration pedaling pressure;

[0113] The third energy recovery unit is used to continue energy recovery through the target energy recovery system when the pedaling pressure is less than the preset acceleration pedaling pressure.

[0114] The fourth energy recovery unit is used to terminate energy recovery when the pedaling pressure is not less than the preset acceleration pedaling pressure.

[0115] Furthermore, embodiments of this application also disclose an electronic device, Figure 4 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0116] Figure 4This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the hybrid forklift energy recovery method disclosed in any of the foregoing embodiments. Alternatively, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0117] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0118] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0119] The operating system 221 is used to manage and control the various hardware devices on the electronic device 20 and the computer program 222, which may be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of performing a hybrid forklift energy recovery method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 222 may further include computer programs capable of performing other specific tasks.

[0120] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned energy recovery method for a hybrid forklift. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0121] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0122] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0123] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0124] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0125] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for energy recovery in a hybrid forklift, characterized in that, include: The corresponding target energy recovery system is determined based on the current energy supply type of the forklift, and the actual friction temperature change rate of the brake pads on the forklift is determined based on the current ambient temperature. The target energy recovery system includes an electrical energy recovery system and a heat energy recovery system; If the actual friction temperature change rate is not less than the preset temperature change rate, the distance to be glided is determined based on the current forward road condition image of the forklift and the historical handling path. Based on the required gliding distance, energy is recovered through the target energy recovery system; The step of determining the actual friction temperature change rate of the brake pads on the forklift based on the current ambient temperature includes: The current ambient temperature of the forklift's environment and the braking depth of the brake pedal are obtained. Determine the theoretical friction temperature change rate of the brake pads that match the brake pedal depth, and the first temperature change rate correction value corresponding to the current ambient temperature; The theoretical friction temperature change rate and the first temperature change rate correction value are summed to obtain the second temperature change rate correction value. The friction temperature change rate of the brake pads on the forklift is corrected using the second temperature change rate correction value to obtain the actual friction temperature change rate of the brake pads on the forklift. The step of recovering energy based on the distance to be glided and through the target energy recovery system includes: The distance to be glided is updated based on the distance traveled by the forklift; Determine whether the distance to be glided is less than the preset effective energy recovery distance; If not, energy is recovered through the target energy recovery system.

2. The hybrid forklift energy recovery method according to claim 1, characterized in that, The process of determining the corresponding target energy recovery system based on the forklift's current energy supply type includes: Obtain the current energy supply type for the forklift; If the current energy supply type is electricity, then the electricity recovery system is identified as the target energy recovery system; If the current energy supply type is thermal energy, then the thermal energy recovery system is identified as the target energy recovery system.

3. The hybrid forklift energy recovery method according to claim 1, characterized in that, The step of correcting the friction temperature change rate of the brake pads on the forklift using the second temperature change rate correction value to obtain the actual friction temperature change rate of the brake pads on the forklift includes: Determine the wear coefficient of the brake pads of the forklift; The wear correction value corresponding to the wear coefficient is determined based on the wear coefficient and the preset wear influence value; the preset wear influence value characterizes the impact of brake pad wear on braking performance. The friction temperature change rate of the brake pads is corrected based on the second temperature change rate correction value and the wear correction value to obtain the actual friction temperature change rate of the brake pads on the forklift.

4. The hybrid forklift energy recovery method according to any one of claims 1 to 3, characterized in that, Also includes: The braking pedal status and the forklift's moving speed are obtained. Determine whether the moving speed is within the preset sliding moving speed range; If the moving speed is within the preset sliding moving speed range, then determine whether the stepping state is consistent with the preset suspension state; If the stepping state is consistent with the preset suspension state, then energy is recovered through the target energy recovery system.

5. The hybrid forklift energy recovery method according to claim 4, characterized in that, The energy recovery process through the target energy recovery system also includes: Obtain the accelerator pedal pressure of the forklift; Determine whether the pedaling pressure is less than the preset acceleration pedaling pressure; If so, energy recovery will continue through the target energy recovery system. If not, then energy recovery will be terminated.

6. A hybrid forklift energy recovery device, characterized in that, include: The temperature change rate determination module is used to determine the corresponding target energy recovery system based on the current energy supply type of the forklift, and to determine the actual friction temperature change rate of the brake pads on the forklift based on the current ambient temperature; the target energy recovery system includes an electrical energy recovery system and a heat energy recovery system; The module for determining the distance to be glided is used to determine the distance to be glided based on the current forward road condition image of the forklift and the historical transport path when the actual friction temperature change rate is not less than the preset temperature change rate. An energy recovery module is used to recover energy based on the distance to be glided and through the target energy recovery system. The temperature change rate determination module includes: An ambient temperature and pedal depth acquisition unit is used to acquire the current ambient temperature of the environment in which the forklift is located and the braking pedal depth. The correction value determination unit is used to determine the theoretical friction temperature change rate of the brake pad that matches the brake pedal depth, and the first temperature change rate correction value corresponding to the current ambient temperature. The correction value calculation unit is used to sum the theoretical friction temperature change rate and the first temperature change rate correction value to obtain the second temperature change rate correction value. The rate of change correction submodule is used to correct the rate of change of friction temperature of the brake pads on the forklift using the second temperature rate of change correction value, so as to obtain the actual rate of change of friction temperature of the brake pads on the forklift; The energy recovery module includes: A distance update unit is used to update the distance to be glided based on the travel distance of the forklift; A distance determination unit is used to determine whether the gliding distance to be glided is less than a preset effective energy recovery distance; The first energy recovery unit is used to recover energy through the target energy recovery system when the gliding distance is not less than the preset effective energy recovery distance.

7. The hybrid forklift energy recovery device according to claim 6, characterized in that, The rate of change correction submodule includes: Wear coefficient determination unit, used to determine the wear coefficient of the brake pads of the forklift; The wear correction value determination unit is used to determine the wear correction value corresponding to the wear coefficient based on the wear coefficient and the preset wear influence value; the preset wear influence value characterizes the influence of brake pad wear on braking performance; The rate of change correction unit is used to correct the friction temperature change rate of the brake pads based on the second temperature change rate correction value and the wear correction value, so as to obtain the actual friction temperature change rate of the brake pads on the forklift.

Images