Control method and device for uploading tipping bucket, vehicle and medium

Abstract

The invention relates to the technical field of engineering vehicles, and discloses a control method and device for an uploading tipping bucket, a vehicle and a medium, and the method comprises the steps that if the uploading tipping bucket enters a parking tipping bucket lifting mode, a gear selector is controlled to be switched to a neutral gear, and gear shifting limitation and power take-off limitation are set for the vehicle; receiving a tipping bucket moving signal under the condition that the loading tipping bucket is lifted to a target height; wherein the tipping bucket moving signal is used for indicating the controller to release gear shifting limitation and power take-off limitation, so that the loading tipping bucket enters a tipping bucket moving mode at the target height; and in the tipping bucket moving mode, the gear selector is controlled to be switched from the neutral gear to the running gear, so that when the loading tipping bucket is in the state of the target height, the vehicle runs at the speed not higher than the preset limiting speed. The technical problems that under different driving conditions, a user possibly needs to continuously adjust a switch, and the operation complexity of driving operation is high are solved, the operation pressure of the user is relieved to a certain degree, and the technical effect of safety is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering vehicles, and in particular to a control method, device, vehicle and medium for a top loading dump box. Background Art

[0002] The vehicle's upper dump bucket is mainly used to transport and unload bulk materials. During normal driving, the dump bucket remains horizontal and transports bulk materials to the destination. When arriving at the destination, the dump bucket is activated to tilt and flipped through a hydraulic system or electric control to quickly unload the materials.

[0003] The upper load power take-off function of the vehicle in the related technology is controlled and regulated by the vehicle control unit VCU. The vehicle controller adjusts the speed to provide power to the upper load dump box according to the power take-off switch and driving operation (brake, throttle, gear). It relies on multiple inputs, such as: power take-off switch signal, brake, throttle and gear. Under different driving conditions, the user may need to constantly adjust the switch and driving operation. The operation is highly complex, and the complex control logic may cause the user to respond too slowly in an emergency, thereby causing safety hazards and may cause an increase in the failure rate. Summary of the invention

[0004] The present application provides a control method, device, vehicle and medium for a top loading dump truck, which actively limits the gear position and speed of the vehicle under different working modes of the top loading dump truck, thereby solving the technical problem of high operational complexity that users may need to constantly adjust switches and driving operations under different driving conditions, thereby alleviating the operating pressure of users to a certain extent and achieving a safe technical effect.

[0005] In order to achieve the above objectives, the main technical solutions adopted in this application include:

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a top loading dump bucket, comprising:

[0007] If the upper loading dumper enters the parking dumper lifting mode, the gear selector is controlled to switch to neutral, and the vehicle is set with gear shift restrictions and power take-off restrictions;

[0008] When the upper loading dumper is lifted to the target height, a dumper movement signal is received; wherein the dumper movement signal is used to instruct the controller to release the shift restriction and the power take-off restriction so that the upper loading dumper enters a moving dumper mode at the target height;

[0009] In the moving dumper mode, the gear selector is controlled to switch from the neutral gear to the driving gear, so that when the upper dumper is at the target height, the vehicle travels at a speed not higher than a preset limit speed.

[0010] This application actively limits the gear position and speed of the vehicle in different working modes of the upper loading dumper, and sets gear shifting restrictions and force take-off restrictions on the vehicle in the parking dumper lifting mode of the upper loading dumper. At this time, even if the driver operates the gear shifting operation, the vehicle controller and the gearbox will not execute the gear shifting process. Unless the gear shifting restriction and force take-off restriction are released when the dumper movement signal is received, the vehicle travels at a speed lower than the preset speed limit. During the process, the dumper is jittered to unload materials by stopping suddenly and accelerating by pressing the accelerator. The technical problem of high operational complexity that users may need to constantly adjust switches and driving operations under different driving conditions is solved, which reduces the user's operating pressure to a certain extent and achieves the technical effect of safe operation.

[0011] Optionally, the tipping bucket movement signal is triggered by any one of the following methods:

[0012] If it is detected that the bucket movement switch is triggered, the bucket movement signal is sent to the controller;

[0013] If a tipping bucket movement triggering operation is detected on the instrument interface, the tipping bucket movement signal is sent to the controller;

[0014] If a voice command for starting the dump bucket movement function is detected, the dump bucket movement signal is sent to the controller.

[0015] Optionally, the working mode of the upper loading dumper further includes a parking dumper lowering mode, and the method further includes:

[0016] In the parking dumper lifting mode, accelerating or decelerating the lifting speed of the upper loading dumper;

[0017] Or in the parking dumper lowering mode, the lowering speed of the upper loading dumper is accelerated or decelerated.

[0018] Optionally, the lifting speed or the lowering speed is adjusted by a dump bucket adjustment switch.

[0019] Optionally, in the parking dump bucket lifting mode, the method further includes:

[0020] If it is detected that the height of the upper loading bucket reaches the allowable bucket height, a lifting stop command is sent to the power take-off so that the power take-off stops driving the upper loading bucket to avoid insufficient or over-lifting of the bucket.

[0021] Optionally, the method further comprises: if no meshing state information is received within a first preset time period, starting a timer; wherein the meshing state information is used to characterize the meshing state between the power take-off and the gearbox;

[0022] When the timing reaches the second preset time period, an engagement command signal is sent to the power take-off, so that the power take-off drives the upper loading dumper to make another attempt, thereby eliminating possible problems in the transmission of the engagement command signal.

[0023] Optionally, the upper loading dumper enters the parking dumper lifting mode, including:

[0024] When the power take-off switch of the power take-off is in a closed state, the upper loading dumper is driven by the power take-off to enter the parking dumper lifting mode from the horizontal parking mode.

[0025] In a second aspect, an embodiment of the present application provides a control device for a top loading dumper, comprising a controller, a gear selector and a dumper movement switch; the controller is electrically connected to the gear selector and the dumper movement switch, and the working modes of the top loading dumper include a parking dumper lifting mode and a moving dumper mode;

[0026] The controller is used to control the gear selector to switch to neutral if the upper loading dumper enters the parking dumper lifting mode, and set the gear shift restriction and the power take-off restriction for the vehicle; when the upper loading dumper is lifted to the target height, receive the dumper movement signal; wherein the dumper movement signal is used to instruct the controller to release the gear shift restriction and the power take-off restriction, so that the upper loading dumper enters the moving dumper mode at the target height; in the moving dumper mode, control the gear selector to switch from neutral to driving gear, so that when the upper loading dumper is at the target height, the vehicle travels at a speed not higher than a preset limit speed;

[0027] The bucket movement switch is used to send a bucket movement signal to the controller when the upper loading bucket is lifted to a target height.

[0028] In a third aspect, an embodiment of the present application provides a vehicle, comprising the above-mentioned control device for a top-mounted dump box.

[0029] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to enable a computer to execute the above-mentioned control method for a top loading dump box. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A flow chart of a method for controlling a top loading dump bucket provided in an embodiment of the present application;

[0032] Figure 2 A flow chart of a parking dump bucket lifting control provided in an embodiment of the present application;

[0033] Figure 3 A flow chart of a control process of a top loading dump bucket provided in an embodiment of the present application;

[0034] Figure 4 A schematic diagram of a power transmission process provided in an embodiment of the present application.

[0035] Figure 5 A schematic diagram of a vehicle controller provided in an embodiment of the present application;

[0036] Figure 6 A schematic diagram of a vehicle including a control device for a top loading dump box provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0038] The vehicle's upper dump bucket is mainly used to transport and unload bulk materials. During normal driving, the dump bucket remains horizontal and transports bulk materials to the destination. When arriving at the destination, the dump bucket is activated to tilt and flipped through a hydraulic system or electric control to quickly unload the materials.

[0039] The upper load power take-off function of the vehicle in the related technology is controlled and regulated by the vehicle control unit VCU. The vehicle controller adjusts the speed to provide power to the upper load dump box according to the power take-off switch and driving operation (brake, throttle, gear). It relies on multiple inputs, such as: power take-off switch signal, brake, throttle and gear. Under different driving conditions, the user may need to constantly adjust the switch and driving operation. The operation is highly complex, and the complex control logic may cause the user to respond too slowly in an emergency, thereby causing safety hazards and may cause an increase in the failure rate.

[0040] Reference Figure 1 The present application provides a control method for a top loading dump bucket, comprising:

[0041] S100, if the upper loading dumper enters the parking dumper lifting mode, the gear selector is controlled to switch to neutral, and the gear shift restriction and power take-off restriction are set for the vehicle. Specifically, in the parking dumper lifting mode of the upper loading dumper, the present application actively limits the gear position and speed of the vehicle to ensure the safety of the vehicle and the surrounding environment. Because the dumper is in a high position, if the vehicle moves, it is easy to cause the dumper to vibrate and fall, or collide with high-position buildings or devices, causing safety accidents. Therefore, when the upper loading dumper is in the parking dumper lifting mode, the gear selector is controlled to switch to neutral, and the gear shift restriction and power take-off restriction are set for the vehicle, and the vehicle cannot be driven forward.

[0042] In some cases, after the vehicle's power take-off is in place, the motor is controlled to rotate to drive the upper dumper engaged with the power take-off to lift, so that the upper dumper enters the parking dumper lifting mode. The gear of the vehicle is switched to neutral through the gear selector, and the gear shift limit is specifically set through the gear selector, and the meshing gear of the dumper is locked through the fixing mechanism to set the power take-off limit for the power take-off.

[0043] In some cases, the gear selector is specifically used to change the gear state of the vehicle according to a control signal. The gear state of the vehicle includes: parking gear P: used for parking, locking the gearbox to prevent the vehicle from moving; reverse gear R: used for reversing, allowing the vehicle to drive backward; neutral gear N: the gearbox is disconnected from the wheels, and the engine can be idle without braking; driving gear D: used for normal driving, the vehicle automatically selects the appropriate gear according to the speed; manual gear M or S: allows the driver to manually select the gear, usually used in situations that require more control, such as climbing or going downhill.

[0044] S200. When the upper loading dumper is lifted to a target height, a dumper movement signal is received; wherein the dumper movement signal is used to instruct the controller to release the gear shift restriction and the power take-off restriction so that the upper loading dumper enters a moving dumper mode at the target height.

[0045] Among them, the target height can be a height that can ensure that the material can be dumped smoothly, or if the platform where the material needs to be unloaded is higher, the target height will be raised accordingly. The mobile dump mode can be that when the vehicle's upper dump is lifted to the target height, if it is in a relatively flat unloading site, the vehicle can move forward at a low speed and the material will naturally slide out of the dump; if it is in a relatively narrow space or a location that requires precise unloading, the vehicle can be controlled to move backward and the material can be unloaded from the dump; if there are special unloading requirements for materials, the vehicle can also be stopped suddenly to give the dump itself and the materials in it different accelerations, so that the materials slide out of the dump and complete the unloading. It is worth noting that in the mobile dump mode of the upper dump, the dump height remains unchanged to ensure the safety of the vehicle and the surrounding environment.

[0046] In some cases, incomplete unloading of materials may occur when the upper loading bucket in the related technology is unloading materials. The present application improves this situation by sending a bucket movement signal to enable the vehicle to start at a low-speed creep. The bucket movement signal can be sent by the bucket movement switch. While keeping the bucket movement switch pressed for a long time, the controller releases the gear shift restriction and the power take-off restriction, and the upper loading bucket enters the moving bucket mode at the target height, allowing the vehicle to start at a low-speed creep. By stopping suddenly by stepping on the accelerator during low-speed driving, an acceleration difference is caused between the material in the bucket and the bucket body, thereby achieving vibration unloading of materials.

[0047] Specifically, the dump box movement switch is set as an independent self-resetting switch, which is installed in the cab. The independent self-resetting switch is connected to a resistance circuit, and the power supply and negative pole are provided by the battery. The vehicle controller is provided with a digital interface to identify the on and off state of the independent self-resetting switch by judging the voltage at the collection point.

[0048] When the dump box movement switch is in the off state, the vehicle controller detects the switch state as OFF, which is an invalid state; when the dump box movement switch is in the on state, the vehicle controller detects the switch state as ON, which is an effective state. Since the dump box movement switch is set as an independent self-resetting switch, the dump box movement switch must be pressed for a long time if it is to remain effective, otherwise it will immediately become off. This setting can improve the safety of the vehicle and the surrounding environment.

[0049] Specifically, the instrument panel serves as a UI interface for the driver to interact with the vehicle. The driver's operation can be detected and identified by the instrument panel as a CAN message signal and sent to the vehicle controller for detection input. The instrument panel sets the dump bucket movement control for state recognition. By operating the button on the instrument panel to change the working mode of the upper dump bucket, the instrument panel sends the received button signal to the vehicle controller. This method does not require a special physical dump bucket movement switch, and can increase the compatibility of the dump bucket movement control setting on the instrument panel.

[0050] S300. In the mobile dump box mode, the gear selector is controlled to switch from the neutral gear to the driving gear, so that when the upper dump box is at a target height, the vehicle travels at a speed not higher than a preset limit speed.

[0051] The preset speed limit may be a speed that matches the terrain of the unloading site, such as a preset speed limit in a relatively flat unloading site being set slightly higher than a preset speed limit in a relatively bumpy unloading site. In some cases, since the rapid movement of the vehicle may easily cause the bucket to vibrate and fall, or collide with a high-rise building, causing a safety accident, in the mobile bucket mode, when the upper loading bucket is at the target height, the vehicle speed cannot be higher than the preset speed limit.

[0052] Specifically, to ensure that the vehicle cannot generate large torque drive after pressing the dump box movement switch to avoid the problem of runaway, if the current gear is the driving gear, press and hold the dump box movement switch, and then step on the accelerator to drive slowly after shifting to the driving gear; if the current gear is the driving gear, if the accelerator is stepped on suddenly, the VCU detects that the accelerator is invalid and needs to be released, and then step on the accelerator again to respond to the drive and drive slowly.

[0053] Further, after the material is unloaded, the vehicle completes the unloading task, and the upper loading dump bucket needs to enter the horizontal parking mode from the parking dump bucket lowering mode, including the steps of:

[0054] S310, after the material unloading is completed, the speed is adjusted by the throttle control or the bucket adjustment switch of the upper loading bucket, and the vehicle controller transmits power to the power take-off according to the torque control, controls the hydraulic transmission device to lower the upper loading bucket until it is lowered to the initial position, and the upper loading bucket enters the horizontal parking mode and stops the power output. Turn off the power take-off switch, the vehicle controller sends a signal to the transmission, the transmission controls the power take-off to engage and disconnect, and the vehicle drives normally.

[0055] Referring to Table 1, due to the high position of the dump bucket, the rapid movement of the vehicle can easily cause the dump bucket to vibrate and fall, or collide with high-position buildings or devices, resulting in safety accidents. Therefore, in this application, when the dump bucket is lifted, the whole vehicle control prohibits gear shifting, and the vehicle cannot be driven forward. If it is necessary to shake the dump bucket to unload materials by stopping suddenly, etc., an independent switch, that is, the dump bucket movement switch, is used to control the movement of the dump bucket, allowing the whole vehicle to shift gears, and setting the maximum speed to keep the vehicle moving at a low speed, thereby reducing the probability of mobile safety accidents.

[0056] Table 1 Schematic diagram of vehicle status corresponding to different working modes of the upper dumper

[0057]

[0058] This application actively limits the gear position and speed of the vehicle in different working modes of the upper loading dumper, and sets gear shifting restrictions and force take-off restrictions on the vehicle in the parking dumper lifting mode of the upper loading dumper. At this time, even if the driver operates the gear shifting operation, the vehicle controller and the gearbox will not execute the gear shifting process. Unless the gear shifting restriction and force take-off restriction are released when the dumper movement signal is received, the vehicle travels at a speed lower than the preset speed limit. During the process, the dumper is jittered to unload materials by stopping suddenly and accelerating by pressing the accelerator. The technical problem of high operational complexity that users may need to constantly adjust switches and driving operations under different driving conditions is solved, which reduces the user's operating pressure to a certain extent and achieves the technical effect of safe operation.

[0059] As an implementation mode, before the upper loading dumper enters the parking dumper lifting mode, the method may further include:

[0060] Constructing the power take-off circuit: After the vehicle is high-voltage, that is, after the motor enters the working state, the vehicle's current gear is in neutral, and the vehicle controller sends a hard-line or message command to the gearbox. The message command is also called a message engagement command. The gearbox controls the motor to rotate at a fixed low speed. The vehicle controller sends an engagement signal to the power take-off, the power take-off closes the power take-off switch, and the state feedback device feeds back the engagement state of the power take-off and the gearbox gear, that is, the state feedback device outputs a hard-line or message signal to the vehicle controller. Furthermore, after the power take-off is engaged with the gearbox, it is engaged with the upper dump bucket. At this point, the power take-off circuit is constructed.

[0061] In the case of failure of the power take-off and the gearbox to engage, if the vehicle controller determines that the engagement status feedback from the status feedback device is not received within a fixed time T1 (for example, 1 second), it will determine that the construction process has failed, stop requesting the power take-off switch to close, and resend the engagement signal to the power take-off after T2 (for example, 5 seconds) to eliminate possible problems in the transmission of the engagement signal. If it fails multiple times, the power take-off switch is disconnected, and the power take-off switch is closed again to execute the power take-off circuit construction process to eliminate possible problems with the power take-off switch.

[0062] As an implementation method, see Figure 2 , the upper loading dumper enters the parking dumper lifting mode, including the steps:

[0063] S110, determining whether the accelerator is pressed. If it is determined that the accelerator is pressed, adjusting the power take-off value of the power take-off according to the depth of the accelerator pedal being pressed, that is, controlling the transmission speed according to different throttle openings.

[0064] S120: If it is determined that the accelerator is not depressed, continue to determine whether the gear of the current vehicle is switched to neutral and the dumper adjustment switch is long pressed. If it is determined that the gear of the current vehicle is switched to neutral and the dumper adjustment switch is long pressed, the upper dumper is lifted based on the default speed. If the lifting speed needs to be adjusted, the dumper adjustment switch is short pressed to increase the transmission speed in a fixed step to speed up the lifting speed.

[0065] S130. Further, in the parking dumper lifting state, if the lifting speed is to be adjusted to be slower when the working position is about to be reached, it is determined whether the gear of the current vehicle is switched to neutral and the dumper adjustment switch is long pressed. If it is determined that the gear of the current vehicle has been switched to neutral and the dumper adjustment switch is long pressed, the upper dumper is lifted based on the default speed. If the lifting speed needs to be adjusted, the dumper adjustment switch is short pressed to reduce the gearbox speed in a fixed step length to reduce the lifting speed.

[0066] Specifically, long press the dumper adjustment switch for a fixed time T3, such as 3s, and the vehicle controller detects that the switch is valid, adjusts the motor according to the default speed, drives the power take-off to transmit power to the upper dumper, increases the target speed value according to a single fixed speed step value, waits for the motor to adjust the current motor speed to the target speed value according to the torque control, maintains the speed unchanged to maintain power output, and sets the maximum operating adjustment speed, and reaches the speed value that does not increase. Alternatively, execute the speed reduction process, reduce the target speed value according to a single fixed speed step value, waits for the motor to adjust the current motor speed to the target speed value according to the torque control, maintains the speed unchanged to maintain power output, and the minimum speed can be adjusted to 0.

[0067] This embodiment is compatible with the throttle and the dump bucket adjustment switch to control the dump bucket lifting. The power output by the motor is adjusted by stepping on the accelerator pedal. The vehicle controller detects the depth of the throttle, which is convenient for the driver to control and select, and has strong flexibility.

[0068] As an implementation method, see Figure 3 This embodiment provides a method for controlling a top loading dump bucket, comprising the steps of:

[0069] S410, the vehicle is switched to neutral, the key is turned on and the brake is stepped on to apply high pressure to the vehicle. If the vehicle successfully applies high pressure, the power take-off switch is turned on. If it fails, the upper loading dump box control process is terminated and the maintenance personnel are informed to troubleshoot the fault.

[0070] S420, after turning on the power take-off switch, the controller sends a control command to the power take-off so that the power take-off engages with the gearbox. If no feedback information is received from the status feedback device in the power take-off within 1 second, it is considered that a fault has occurred and the upper loading dumper control process ends.

[0071] S430. If the engagement success status information is received from the status feedback device, continue to determine whether the current vehicle gear is switched to the neutral state. If so, perform the dump bucket lifting operation until the controller receives the lifting stop signal from the sensor detection, indicating that the dump bucket has reached the preset fixed height position. If the current vehicle gear detection fails and is not in neutral at this time, it is considered that a fault has occurred and the upper dump bucket control process is terminated.

[0072] S440, when the dump bucket has reached the preset fixed height position, the hydraulic device of the vehicle locks the dump bucket through the fixing mechanism, keeps the height position of the dump bucket unchanged, and sets the gear shift limit and power take-off limit for the vehicle. The dump bucket is in the parking dump bucket lifting state at this time. In order to make the dump bucket unload all materials completely, this application sets the mobile dump bucket lifting state of the dump bucket. In this state, by long pressing the dump bucket moving switch, the vehicle is controlled to release the gear shift limit and the power take-off limit, and the vehicle is in driving gear. If the controller does not detect that the dump bucket moving switch is in the long pressing state, the gear shift limit and power take-off limit will not be released, and the vehicle is prohibited from driving at this time.

[0073] S450: In the moving and lifting state of the tipping bucket, in order to ensure driving safety, the vehicle is in driving gear and moves slowly at a maximum speed of 5km / h. The vehicle controller requests the motor drive of the gearbox with a small torque, and the vehicle speed gradually increases. When the speed reaches 5km / h, the requested torque gradually decreases to keep the speed at 5km / h and no longer increase. During the process, the vehicle is stopped by decelerating or stepping on the brake pedal, so that the vehicle stops (suddenly) by accelerating to make the tipping bucket shake. Because the acceleration of the tipping bucket and the materials in it are different, the effect of completely unloading all materials from the upper loading tipping bucket is achieved.

[0074] The upper loading bucket is locked by the fixing mechanism and does not need to be lifted by power. The vehicle stops suddenly to make the bucket vibrate briefly to unload materials. In this process, the bucket movement switch needs to be pressed for a long time. In the mobile bucket lifting state of the bucket, in order to ensure driving safety, if the bucket movement switch is released, the vehicle controller detects that the bucket movement switch is invalid and immediately stops the torque output of the gearbox motor. At this time, the vehicle resumes the shift restriction and power take-off restriction. The vehicle cannot switch the gear to the driving gear or reverse gear and can only switch back to neutral. If another short-term movement is required, re-execute step S540 to drive.

[0075] S460. After the material is unloaded, release the bucket movement switch. After the vehicle controller detects that the bucket movement switch is reset, it stops the torque output of the gearbox motor, and the vehicle's hydraulic device controls the upper loading bucket to descend. The throttle control or the bucket adjustment switch controls the lowering speed of the bucket. Specifically, the power take-off value of the power take-off is adjusted according to the depth of the accelerator pedal, that is, the gearbox speed is controlled according to different throttle openings to control the lowering speed of the bucket. Turn off the power take-off switch, the vehicle controller sends a signal to the gearbox, and the gearbox disconnects the meshing connection with the power take-off, so that the vehicle speed gradually decreases to 0, ending a complete upper loading bucket control process and returning to normal driving mode.

[0076] As an implementation method, the tipping bucket movement signal is triggered by any of the following methods:

[0077] If it is detected that the bucket movement switch is triggered, a bucket movement signal is sent to the controller.

[0078] If a tipping bucket movement trigger operation is detected on the instrument interface, a tipping bucket movement signal is sent to the controller.

[0079] If a voice command to start the dump bucket movement function is detected, a dump bucket movement signal is sent to the controller.

[0080] Specifically, a voice recognition API can be used to recognize voice commands, and in order to distinguish them from those used in daily life and reduce the possibility of accidental touches, specific command words such as "start the dump box movement" are set to trigger the dump box movement signal.

[0081] As an implementation mode, the working mode of the upper loading dumper also includes a parking dumper lowering mode, and the method may further include:

[0082] In the parking dumper lifting mode, the lifting speed of the upper dumper is accelerated or decelerated.

[0083] Or in the parking dumper lowering mode, the lowering speed of the upper dumper is accelerated or decelerated.

[0084] As an implementation mode, the lifting speed or the lowering speed is adjusted by a dump bucket adjustment switch.

[0085] The dump bucket adjustment switch is used to enter the dump bucket adjustment mode by long pressing for a preset time or short pressing for a preset number of times in the parking dump bucket lifting mode or the parking dump bucket lowering mode. After entering the dump bucket adjustment mode, long pressing for a preset time is used to exit the dump bucket adjustment mode, and after exiting, the mode returns to the parking dump bucket lifting mode or the parking dump bucket lowering mode.

[0086] In the parking bucket lifting mode or the parking bucket lowering mode, the bucket adjustment switch is long pressed for a preset time or short pressed continuously for a preset number of times to enter the bucket adjustment mode. After entering the bucket adjustment mode, the bucket adjustment mode is exited by long pressing the bucket adjustment switch for a preset time, and the mode is returned to the parking bucket lifting mode or the parking bucket lowering mode after exiting.

[0087] After the vehicle controller detects the control signal of the dump bucket adjustment switch, it confirms that the control signal is valid and enters the dump bucket adjustment mode. In the dump bucket adjustment mode, the lifting speed or lowering speed of the upper dump bucket can be adjusted. The speed value change of a single adjustment is fixed. After the motor speed is adjusted to the target speed value, the target speed value is maintained unchanged to maintain power output. Furthermore, the maximum adjustment speed value is set. When the maximum adjustment speed value is reached, the target speed value will not change even if it is adjusted again.

[0088] Furthermore, in the parking dump bucket lifting mode or the parking dump bucket lowering mode, long press the dump bucket adjustment switch for 3 seconds or short press it 5 times in a row to enter the dump bucket adjustment mode, adjust the lifting speed or lowering speed of the upper dump bucket, long press the dump bucket adjustment switch for 3 seconds to exit the dump bucket adjustment mode, and return to the original parking dump bucket lifting mode or parking dump bucket lowering mode after exiting.

[0089] As an implementation mode, in the parking dump bucket lifting mode, the method may further include:

[0090] If it is detected that the height of the upper loading bucket reaches the allowable bucket height, a lifting stop command is sent to the power take-off to make the power take-off stop driving the upper loading bucket.

[0091] As an implementation mode, the method may further include: if no engagement state information is received within a first preset time period, starting a timer; wherein the engagement state information is used to represent the engagement state between the power take-off and the gearbox;

[0092] When the timing reaches the second preset time period, an engagement command signal is sent to the power take-off, so that the power take-off drives the upper loading dumper.

[0093] If it is determined that the meshing state information is not received within the first preset time period, the meshing signal is resent to the power take-off after the second preset time period, thus eliminating the possible problems in the transmission of the meshing signal. Further, if the meshing state information is not received within the first preset time period for multiple times in a row, the power take-off switch of the power take-off is reclosed, that is, the power take-off switch is turned off and then reopened to perform the meshing process again, thus eliminating the possible problems with the power take-off switch.

[0094] As an implementation mode, the upper loading dumper enters the parking dumper lifting mode, including:

[0095] When the power take-off switch of the power take-off is in the closed state, the upper loading dumper is driven by the power take-off from the horizontal parking mode to the parking dumper lifting mode.

[0096] Reference Figure 4 The battery supplies power to the motor controller through high-voltage DC electricity, and the motor controller supplies power to the motor through three-phase AC electricity to achieve the upper load power take-off drive. The motor can also power the gearbox and the power take-off. The gearbox and the power take-off are meshed and connected. The motor outputs a part of the power torque to the wheels to drive the vehicle, and the other part is used to drive the upper load dumper to take power.

[0097] The gearbox provides power to the axle through torque control or torque control, and then provides power to the wheels through torque control or torque control to achieve vehicle driving; after the power take-off switch is closed, the power take-off provides power to the upper motor through torque control or torque control, and then provides power to the hydraulic transmission dump bucket lifting device through torque control or torque control to achieve vehicle electric drive.

[0098] The present application provides a control device for an upper loading dump bucket, comprising a controller, a gear selector, a dump bucket movement switch, a power take-off and a gearbox; the controller is electrically connected to the gear selector, the dump bucket movement switch, the power take-off and the gearbox, the upper loading dump bucket is meshingly connected to the power take-off gear, and the working modes of the upper loading dump bucket include a parking dump bucket lifting mode, a moving dump bucket mode, a parking dump bucket lowering mode and a horizontal parking mode.

[0099] The controller is used to control the gear selector to switch to neutral if the upper loading dumper enters the parking dumper lifting mode, and set the gear shift limit and power take-off limit for the vehicle; when the upper loading dumper is lifted to the target height, the controller receives the dumper movement signal; wherein the dumper movement signal is used to instruct the controller to release the gear shift limit and power take-off limit so that the upper loading dumper enters the moving dumper mode at the target height; in the moving dumper mode, the controller controls the gear selector to switch from neutral to driving gear so that when the upper loading dumper is at the target height, the vehicle travels at a speed not higher than the preset limit. In summary, the controller is used to switch different vehicle control modes under different working modes of the upper loading dumper.

[0100] The dump bucket movement switch is used to send a dump bucket movement signal to the controller when the upper dump bucket is lifted to the target height; wherein the dump bucket movement signal is used to instruct the controller to release the gear shift restriction and the power take-off restriction, control the upper dump bucket to enter the moving dump bucket mode from the parking dump bucket lifting mode, and control the gear selector to switch from the neutral gear to the driving gear, so that the vehicle can travel at a speed not higher than the preset limit speed.

[0101] The power take-off is provided with a power take-off switch. When the power take-off switch is in the closed state, the power take-off is controlled to provide power to the upper loading bucket through gear meshing, driving the upper loading bucket from the horizontal parking mode to the parking bucket lifting mode. The power take-off is also provided with a state feedback device, which is used to feedback the meshing state information between the power take-off and the gearbox, and the meshing state information includes meshing success state information and meshing failure state information.

[0102] The gearbox is meshingly connected with the power take-off gear, and the gearbox is electrically connected with the controller.

[0103] The upper-mounted dump truck is a vehicle-wide power take-off control method based on new energy. The motor drives the gearbox and then the power take-off, and the power is distributed to the upper-mounted dump truck through gear meshing. The torque value obtained by the upper-mounted dump truck depends on the power take-off. Part of the motor output power torque is distributed to the wheels to drive the vehicle, and the other part is distributed to the upper-mounted dump truck to lift the dump truck.

[0104] The controller is also used to receive the meshing status information fed back by the status feedback device. If it is determined that the meshing status information is not received within the first preset time period, or if it is determined that the meshing status information received within the first preset time period is meshing failure status information, the timing is started. When the timing reaches the second preset time period, the meshing command signal is sent to the power take-off. The meshing command signal controls the power take-off to provide power to the upper loading dump bucket through gear meshing, drives the upper loading dump bucket, and eliminates possible problems in the transmission of the meshing command signal.

[0105] Furthermore, if the engagement status information is not received within the first preset time period for multiple consecutive times, the power take-off switch of the power take-off is reclosed, that is, the power take-off switch is turned off and then reopened to execute the engagement process again to eliminate possible problems with the power take-off switch.

[0106] Specifically, the vehicle controller, that is, the controller detects that the meshing state information fed back by the state feedback device is not fed back within the fixed time T1, such as: 1s, or the meshing state information fed back by the controller detects that the state feedback device is meshing failure state information, then it is judged that the process has failed, and after T2 time, such as: 5s, an engagement command signal is sent to the power take-off to enable the power take-off to drive the upper dump box.

[0107] Reference Figure 5 The vehicle controller is connected to the key switch to receive the power-on switch request; connected to the upper load power take-off switch to identify the constant speed or graded assistance requirements; connected to the brake pedal, i.e. the brake, to receive the braking requirement; connected to the accelerator pedal to receive the driving acceleration requirement; connected to the vehicle speed detector to detect the vehicle speed signal; connected to the ABS anti-lock braking system to receive the ABS activation signal; connected to the upper load position sensor to receive the position signal of the upper load dump box.

[0108] The vehicle controller is connected to the dump box movement switch to receive the dump box movement switch signal; connected to the rear axle to obtain the braking torque, speed ratio and tire radius information; connected to the gearbox and power take-off to receive the gear position, speed ratio and power take-off engagement signal; connected to the motor controller to receive the maximum allowable driving and braking recovery torque, current speed, fault status and other signals; connected to the battery management system to obtain the maximum allowable available charging and discharging power, fault status, SOC and other signals; connected to the EBS electronic braking system to receive the current control mode and control torque percentage signal; connected to the motor controller, and also used to transmit the requested target torque or target speed, requested control mode and IGBT switch signal to the motor controller; the vehicle controller sends the power take-off mode status to the instrument; the vehicle controller sends the power take-off engagement signal to the power take-off.

[0109] As an implementation mode, the control device of the upper loading dumper further includes a sensor, and the sensor is used for detecting the height of the upper loading dumper in real time.

[0110] The controller is also used to send a lifting stop command to the power take-off when the height signal detected by the sensor reaches the preset dump bucket height position, that is, when the allowable dump bucket height is reached, to avoid the dump bucket from being lifted insufficiently or over-lifted.

[0111] As an implementation mode, the upper loading bucket is provided with a bucket adjustment switch, and the working mode of the upper loading bucket also includes a parking bucket lowering mode. The bucket adjustment switch is used to enter the bucket adjustment mode by pressing and holding a preset time or continuously pressing a preset number of times in the parking bucket lifting mode or the parking bucket lowering mode to adjust the lifting speed or the lowering speed. After entering the bucket adjustment mode, the bucket adjustment mode can be exited by pressing and holding a preset time, and the original parking bucket lifting mode or the parking bucket lowering mode can be returned after exiting.

[0112] Furthermore, the control device of the upper dump truck also includes an accelerator pedal, which is used to adjust the motor speed of the gearbox according to the pedal angle in the parking dump truck lifting mode or the parking dump truck lowering mode of the upper dump truck to adjust the lifting speed or the lowering speed.

[0113] As an implementation method, the bucket movement switch can be a self-resetting switch, which sends a bucket movement signal to the controller after being triggered, and the controller is connected to the gearbox and the power take-off through hard wires. Specifically, the switch state of the bucket movement switch is identified by judging the voltage of the preset collection point of the bucket movement switch.

[0114] The control device of the upper loading bucket also includes an instrument. The bucket movement switch can be a bucket movement control on the instrument. The instrument is used to send CAN message instructions to the controller. The controller is connected to the gearbox and the power take-off through the message instructions. The bucket movement switch switches the switch state through the input signal of the bucket movement control in the instrument dial.

[0115] The control device of the upper loading dump box also includes a voice recognizer, and the dump box movement switch can be a voice command for turning on the dump box movement function in the voice recognizer. If a voice command for turning on the dump box movement function is detected, a dump box movement signal is sent to the controller.

[0116] The present application provides a vehicle, the vehicle comprising the above-mentioned control device for a top loading dump box, referring to Figure 6 , including a cab, a chassis and a rear box. The vehicle controller is arranged on the chassis to facilitate communication with the electrically connected upper loading bucket, the gear selector and the power take-off to convey various command signals. The power take-off switch and the bucket movement switch are arranged in the cab. The position sensor and the upper loading bucket are arranged in the rear box. The position sensor is the bucket height sensor. The type can be a pressure sensor, which indirectly determines the height of the bucket by monitoring the pressure change of the hydraulic system; the type can also be a displacement sensor, which indirectly calculates the height change by measuring the displacement of the bucket relative to the chassis. It can be installed on the hydraulic cylinder or the hinge point to monitor the lifting height of the bucket.

[0117] Furthermore, the position sensor can also be set on the chassis. When the position sensor is set on the chassis, the type of the position sensor can be a laser sensor, which uses a laser beam to measure distance with high precision and can quickly and accurately detect the height of the dump bucket; it can also be an ultrasonic sensor, which calculates the distance between the dump bucket and the chassis of the vehicle body by emitting ultrasonic waves and measuring the return time, and can monitor the height of the dump bucket in real time.

[0118] The present application provides a computer device, comprising: 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 execute a control method for an upper loading dump box as provided in the above embodiment.

[0119] The computer device includes: one or more processors, memory, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system).

[0120] The processor may be a central processing unit, a network processor or a combination thereof. The processor may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0121] The memory stores instructions executable by at least one processor, so that the at least one processor executes the method shown in the above embodiment.

[0122] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the storage may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0123] The memory may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid state drive; the memory may also include a combination of the above types of memory.

[0124] The computer device also includes a communication interface, which is used for the computer device to communicate with other devices or a communication network.

[0125] The present application provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to enable a computer to execute a control method for a top loading dump box as provided in the above embodiment.

[0126] The embodiment of the present application also provides a computer-readable storage medium. The above method according to the embodiment of the present application can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0127] The embodiment of the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method of any embodiment of the present application.

[0128] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

[0129] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0130] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0131] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0132] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0133] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0134] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0135] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0136] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0137] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

[0138] Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for controlling a top loading dump bucket, characterized in that: include: If the upper loading dumper enters the parking dumper lifting mode, the gear selector is controlled to switch to neutral, and the vehicle is set with gear shift restrictions and power take-off restrictions; When the upper loading dumper is lifted to the target height, a dumper movement signal is received; wherein the dumper movement signal is used to instruct the controller to release the shift restriction and the power take-off restriction so that the upper loading dumper enters a moving dumper mode at the target height; In the moving dumper mode, the gear selector is controlled to switch from the neutral gear to the driving gear, so that when the upper dumper is at the target height, the vehicle travels at a speed not higher than a preset limit speed.

2. The method according to claim 1, characterized in that The tipping bucket movement signal is triggered by any of the following methods: If it is detected that the bucket movement switch is triggered, the bucket movement signal is sent to the controller; If a tipping bucket movement triggering operation is detected on the instrument interface, the tipping bucket movement signal is sent to the controller; If a voice command for starting the dump bucket movement function is detected, the dump bucket movement signal is sent to the controller.

3. The method according to claim 1, characterized in that: The working mode of the upper loading dumper also includes a parking dumper lowering mode, and the method further includes: In the parking dumper lifting mode, accelerating or decelerating the lifting speed of the upper loading dumper; Or in the parking dumper lowering mode, the lowering speed of the upper loading dumper is accelerated or decelerated.

4. The method according to claim 3, characterized in that: The lifting speed or the lowering speed is adjusted by a dump bucket adjusting switch.

5. The method according to claim 1, characterized in that In the parking dump bucket lifting mode, the method further includes: If it is detected that the height of the upper loading dumper reaches the allowable dumper height, a lifting stop command is sent to the power take-off to make the power take-off stop driving the upper loading dumper.

6. The method according to claim 1, characterized in that The method further comprises: If no meshing state information is received within a first preset time period, the timing starts; wherein the meshing state information is used to represent the meshing state between the power take-off and the gearbox; When the timing reaches a second preset time period, an engagement command signal is sent to the power take-off, so that the power take-off drives the upper loading dumper.

7. The method according to claim 1, characterized in that The upper loading dumper enters the parking dumper lifting mode, including: When the power take-off switch of the power take-off is in a closed state, the upper loading dumper is driven by the power take-off to enter the parking dumper lifting mode from the horizontal parking mode.

8. A control device for a top loading dump bucket, characterized in that: It includes a controller, a gear selector and a dump bucket movement switch; the controller is electrically connected to the gear selector and the dump bucket movement switch, and the working modes of the upper loading dump bucket include a parking dump bucket lifting mode and a moving dump bucket mode; The controller is used to control the gear selector to switch to neutral if the upper loading dumper enters the parking dumper lifting mode, and set the gear shift restriction and the power take-off restriction for the vehicle; when the upper loading dumper is lifted to the target height, receive the dumper movement signal; wherein the dumper movement signal is used to instruct the controller to release the gear shift restriction and the power take-off restriction, so that the upper loading dumper enters the moving dumper mode at the target height; in the moving dumper mode, control the gear selector to switch from neutral to driving gear, so that when the upper loading dumper is at the target height, the vehicle travels at a speed not higher than a preset limit speed; The bucket movement switch is used to send a bucket movement signal to the controller when the upper loading bucket is lifted to a target height.

9. A vehicle, characterized in that: The vehicle comprises a control device for a top loading dump box as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the control method of a top loading dump box according to any one of claims 1 to 7.

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