Driving mode switching method and system of single-engine cleaning and sweeping vehicle

Abstract

The invention relates to a driving mode switching method and system for a single-engine cleaning and sweeping vehicle, and the method comprises the following steps: obtaining vehicle detection data when the cleaning and sweeping vehicle switches a driving mode; determining a vehicle fault degree according to the vehicle detection data; the fault degree grade of the vehicle fault degree is evaluated, and if the fault degree grade is a dangerous grade, switching of the driving mode is stopped, and an alarm signal is sent; if the fault degree level is a security level, sending a drive switching request; driving mode switching is carried out according to the driving switching request; and vehicle control is conducted according to the vehicle control strategy corresponding to the driving mode. Different fault signals of the cleaning and sweeping vehicle are subjected to grading processing, and the situation that a power system is damaged due to the fact that an inexperienced driver misjudges dangerous faults or cleaning and sweeping operation is delayed due to the fact that the inexperienced driver misjudges safety faults can be avoided.

Description

Technical Field

[0001] The present application relates to the technical field of power control for washing and sweeping vehicles, and in particular to a driving mode switching method and system for a single-engine washing and sweeping vehicle. Background Art

[0002] A washing and sweeping vehicle is a highly efficient sanitation vehicle with multiple washing and sweeping functions such as road cleaning, curb surface brushing, spray dust reduction, and low-pressure washing. In order to achieve the above-mentioned washing and sweeping functions, the structure of a washing and sweeping vehicle is generally composed of a vehicle body, washing and sweeping equipment, and a drive system.

[0003] The washing and sweeping equipment of the washing and sweeping vehicle is composed of a plurality of special operation equipment, such as fans, travel pumps, high-pressure water pumps, hydraulic valve groups and gas valve groups, etc. The operation intensity of special operation equipment is relatively high, and before the operation task is carried out, the driver needs to check whether each operation equipment is operating normally.

[0004] Especially in a single-engine washing and sweeping vehicle, when the washing and sweeping vehicle needs to perform washing and sweeping operations, the power of its engine needs to be output to the hydraulic motor and various operating equipment through the transfer case; when the washing and sweeping vehicle finishes the operation, the power of its engine needs to be output to the direct-drive shaft.

[0005] Therefore, if the transfer case is damaged or the engine speed is too high, switching the power at this time will cause the power system to explode, damaging the engine, transfer case and transmission.

[0006] Existing washing and sweeping vehicles generally have two power systems to avoid failure of a single power system when switching power output, which would cause the washing and sweeping vehicle to be unable to operate and move. The solution of decoupling the power system also increases the cost.

[0007] Currently, in single-engine washing and sweeping vehicles, the driver's driving experience is still relied upon to determine whether the driving mode can be switched safely.

[0008] Therefore, in order to prevent a single-engine washing and sweeping vehicle from switching driving modes when the gear shifting conditions are not met, the present application provides a drive switching method and system for a single-engine washing and sweeping vehicle. Summary of the invention

[0009] In order to overcome the problems existing in the related art, the present application provides a driving mode switching method of a single-engine washing and sweeping vehicle, comprising:

[0010] When the washing and sweeping vehicle switches the driving mode, the vehicle detection data is obtained; the driving mode includes a liquid drive mode and a direct drive mode;

[0011] Determining the vehicle fault degree according to the vehicle detection data; the vehicle detection data is the operation data acquired by the vehicle system;

[0012] Evaluate the fault level of the vehicle fault degree, if the fault level is a dangerous level, stop switching the driving mode and send a warning signal; if the fault level is a safe level, send a driving switching request;

[0013] switching the driving mode according to the driving switching request;

[0014] The vehicle is controlled according to the vehicle control strategy corresponding to the driving mode.

[0015] In one implementation, evaluating the fault level of the vehicle fault level, if the fault level is a dangerous level, stopping switching of the driving mode and sending a warning signal; if the fault level is a safe level, sending a driving switching request, specifically includes:

[0016] Obtaining the vehicle fault degree;

[0017] Determining whether the vehicle connection fault degree is greater than or equal to a preset fault threshold, and if so, determining the fault degree level of the vehicle fault degree as a dangerous level;

[0018] If not, the fault level of the vehicle fault level is determined as a safety level.

[0019] In one embodiment, the vehicle detection data includes m component fault reporting data respectively sent by m component sensors; m is an integer greater than or equal to 1;

[0020] Determining the vehicle fault degree according to the vehicle detection data specifically includes:

[0021] Obtaining m pieces of component fault reporting data from the vehicle detection data;

[0022] The vehicle fault degree is determined based on the m component fault reporting data.

[0023] In one implementation, determining the vehicle fault degree according to the m component fault reporting data includes:

[0024] Calculating component failure values ​​of each component according to the component failure reporting data;

[0025] The vehicle failure degree is calculated according to each of the component failure values.

[0026] In one implementation, in calculating the vehicle fault degree according to the fault values ​​of each component, the calculation formula of the vehicle fault degree is:

[0027]

[0028] Among them, V mrepresents the component failure value of the Mth component, f(V) is the vehicle failure degree, α m Represents the preset failure threshold of the mth component.

[0029] In one embodiment, the component fault reporting data includes i fault reporting signals, where i is an integer greater than or equal to 1;

[0030] In the step of calculating the component failure value of each component according to each component failure reporting data, the calculation formula of the component failure value is:

[0031]

[0032] Among them, x i represents the weight value of the i-th fault signal of the m-th component, f(V m ) represents the component failure value of the mth component, and n is an integer greater than or equal to 1.

[0033] In one embodiment, when the washing and sweeping vehicle switches the driving mode, obtaining vehicle detection data specifically includes:

[0034] Detect clutch travel value;

[0035] Determine whether the clutch stroke value is greater than or equal to a preset stroke threshold,

[0036] If yes, enter the drive switching mode;

[0037] If not, the drive switching is stopped and an alarm message is sent.

[0038] In one implementation, matching a corresponding vehicle control strategy according to the driving mode specifically includes:

[0039] According to the driving mode, a corresponding vehicle control strategy is matched, and if the driving mode is a hydraulic driving mode, a hydraulic driving control strategy is selected as the current vehicle control strategy;

[0040] If the driving mode is a direct drive driving mode, the direct drive control strategy is selected as the current vehicle control strategy.

[0041] In one embodiment, in the hydraulic drive mode, the hydraulic drive control strategy specifically includes:

[0042] Control the power output unit of the washing and sweeping vehicle through the backstage vehicle computer;

[0043] Switch the throttle output signal from the engine controller to the backend vehicle computer.

[0044] A second aspect of the present application provides a driving mode switching system for a single-engine washing and sweeping vehicle, comprising an engine controller, a washing and sweeping equipment controller bus, and a transfer case, each of which is communicatively connected to a vehicle controller;

[0045] The vehicle controller is used to execute the driving mode switching method described in this application.

[0046] The technical solution provided by this application may have the following beneficial effects:

[0047] When the vehicle system receives a driver's request to switch the driving mode, the vehicle system obtains the vehicle detection data, calculates the vehicle fault degree through the vehicle detection data, and then evaluates the calculated vehicle fault degree. If the current vehicle fault degree belongs to the dangerous level, the driving mode switch is exited. If the current vehicle fault degree belongs to the safe level, the driving mode is switched and the corresponding vehicle control strategy is obtained. The present application performs graded processing on different fault signals of washing and sweeping vehicles, which can prevent inexperienced drivers from misjudging dangerous faults and causing damage to the power system, or misjudging safe faults and delaying washing and sweeping operations.

[0048] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0050] Figure 1 is a schematic flow chart of the driving mode switching method shown in the first embodiment;

[0051] Figure 2 It is a flowchart of the driving mode switching method shown in the second embodiment;

[0052] Figure 3 This is a logical structure diagram of the driving mode switching system shown in Example 3. DETAILED DESCRIPTION

[0053] The preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0054] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0055] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0056] Embodiment 1

[0057] At present, in single-engine washing and sweeping vehicles, it still depends on the driver's driving experience to determine whether the driving mode can be switched safely. Experienced drivers can judge whether the gear shift is safe by the abnormal noise of the gearbox when shifting gears. Single-engine washing and sweeping vehicles also have components such as transfer cases and hydraulic motors, which have higher matching requirements for the torque and speed output by the engine. Rashly switching the driving mode can easily cause damage to the power system of the washing and sweeping vehicle.

[0058] Therefore, in order to prevent the single-engine washing and sweeping vehicle from switching the driving mode when the gear shifting condition is not met, the embodiment of the present application provides a driving mode switching method for a single-engine washing and sweeping vehicle, such as Figure 1 As shown, the following steps are included:

[0059] S1. When the washing and sweeping vehicle switches the driving mode, obtaining vehicle detection data;

[0060] Specifically, the driving modes include a hydraulic drive mode and a direct drive mode. In the hydraulic drive mode, the crankshaft of the engine is meshed with the input shaft of the transfer case, the hydraulic motor takes power from one of the output shafts of the transfer case, and then the washing and sweeping vehicle is driven to move by the hydraulic motor. In the direct drive mode, the crankshaft of the engine is meshed with the driving shaft of the washing and sweeping vehicle, and the washing and sweeping vehicle is driven to move by the engine.

[0061] The driver starts the control console in the washing and sweeping vehicle and instructs the washing and sweeping vehicle to switch the driving mode state. The control console obtains the vehicle detection data.

[0062] It is understandable that the console can be an onboard vehicle computer or an external remote control device.

[0063] S2. determining the degree of vehicle failure according to the vehicle detection data;

[0064] Specifically, the vehicle detection data is the operating data acquired by the vehicle computer system, such as the crankshaft operating status, the opening and closing of the fuel metering valve, and the oil pressure.

[0065] S3, evaluating the fault level of the vehicle fault, if the fault level is a dangerous level, stopping the switching of the driving mode and sending a warning signal; if the fault level is a safe level, sending a driving switching request;

[0066] The embodiment of the present application classifies the degree of vehicle faults. For example, engine monitoring layer fault, transfer case main clutch fault and transfer case secondary clutch fault are dangerous faults, which may cause damage to the power system of the washing and sweeping vehicle. Faults that do not affect the normal operation of the engine, such as crankshaft signal fault and abnormal speed fault, are safe faults.

[0067] When a dangerous level fault exists, the driver is not allowed to switch the driving mode.

[0068] S4, switching the driving mode according to the driving switching request;

[0069] S5. Control the vehicle according to the vehicle control strategy corresponding to the driving mode.

[0070] In an embodiment of the present application, when the vehicle system receives a request from the driver to switch the drive mode, the vehicle system obtains vehicle detection data, calculates the vehicle fault degree through the vehicle detection data, and then performs a level assessment on the calculated vehicle fault degree. If the current vehicle fault degree belongs to a dangerous level, the drive mode switch is exited; if the current vehicle fault degree belongs to a safe level, the drive mode switch is performed and the corresponding vehicle control strategy is obtained.

[0071] The embodiment of the present application performs graded processing on different fault signals of a washing and sweeping vehicle, which can prevent inexperienced drivers from misjudging dangerous faults and causing damage to the power system, or misjudging safety faults and delaying washing and sweeping operations.

[0072] Embodiment 2

[0073] In order to specifically illustrate the specific processing steps of the driving mode switching method of embodiment 1, the embodiment of the present application also provides a driving mode switching method for a single-engine washing and sweeping vehicle, such as Figure 2 As shown, the following steps are included:

[0074] S10, when the washing and sweeping vehicle switches the driving mode, obtaining vehicle detection data;

[0075] Furthermore, before entering the driving mode switching state, it also includes:

[0076] S101, detecting the clutch stroke value;

[0077] S102, determining whether the clutch stroke value is greater than or equal to a preset stroke threshold, if so, entering a drive switching mode; if not, stopping the drive switching and sending an alarm message.

[0078] In the embodiment of the present application, before the output shaft of the engine is switched to the transfer case, it is necessary to detect whether the clutch is fully depressed.

[0079] S20, obtaining m pieces of component fault reporting data in the vehicle detection data;

[0080] S30, calculating the component failure value of each component according to the component failure reporting data;

[0081] Specifically, the calculation formula of the component failure value is:

[0082]

[0083] Among them, x i represents the weight value of the i-th fault signal of the m-th component, f(V m ) represents the component failure value of the mth component, and i and n are both integers greater than or equal to 1.

[0084] Exemplarily, as shown in Table 1, among the engine components, weight values ​​are pre-defined for fault warning signals of the crankshaft, fuel metering valve, and oil pressure.

[0085] Table 1: Weight value table of fault signal

[0086]

[0087]

[0088] In the embodiment of the present application, the weight values ​​of i fault alarm signals of one component are queried, and the weighted sum of the weight values ​​of the fault alarm signals of the component is calculated, and finally the weighted sum is used as the component fault value of the mth component. The component fault values ​​of all m components are calculated one by one.

[0089] S40, calculating the vehicle fault degree according to the fault values ​​of the components.

[0090] Specifically, the formula for calculating the vehicle failure degree is:

[0091]

[0092] Among them, V mrepresents the component failure value of the mth component, f(V 总 ) is the vehicle fault degree, α m Represents the preset failure threshold of the mth component.

[0093] Specifically, a component that exceeds a preset fault threshold has a dangerous level of fault.

[0094] In an embodiment of the present application, if one of the components has a dangerous level of failure, the total vehicle failure degree is assigned a value of 1; if all components do not have dangerous level of failure or only have safe level of failure, the vehicle failure degree is assigned a value of 0.

[0095] S50, obtaining the vehicle fault degree, determining whether the vehicle connection fault degree is greater than or equal to a preset fault threshold, and if so, determining the fault degree level of the vehicle fault degree as a dangerous level; if not, determining the fault degree level of the vehicle fault degree as a safe level.

[0096] S60, evaluating the fault level of the vehicle fault, if the fault level is a dangerous level, stopping the switching of the driving mode and sending a warning signal; if the fault level is a safe level, sending a driving switching request;

[0097] In the embodiment of the present application, if the vehicle fault degree is 1, it is a dangerous level; if the vehicle fault degree is 0, it is a safe level.

[0098] S70, switching the driving mode according to the driving switching request;

[0099] S80: Control the vehicle according to the vehicle control strategy corresponding to the driving mode.

[0100] Specifically, after the drive mode is switched, the corresponding vehicle control strategy is matched according to the drive mode. If the drive mode is a hydraulic drive mode, the hydraulic drive control strategy is selected as the current vehicle control strategy; if the drive mode is a direct drive mode, the direct drive control strategy is selected as the current vehicle control strategy.

[0101] In the hydraulic drive control strategy, the throttle sends a throttle travel signal to the vehicle computer system, and the communication connection between the throttle and the engine controller is disconnected, and the engine speed is no longer controlled. The vehicle computer system controls the forward hydraulic motor and the reverse hydraulic motor through the received throttle travel signal, thereby controlling the travel speed of the washing and sweeping vehicle.

[0102] Furthermore, the vehicle system performs human-machine interaction through the vehicle display screen. After switching to the hydraulic drive mode, the driver can perform manual control through the vehicle display screen.

[0103] Specifically, the on-board display screen is equipped with control keys for the washing and sweeping equipment. After the driver activates the corresponding control keys, the equipment that needs to be operated is sent to the vehicle computer system through CAN messages. The vehicle computer system can perform port detection on the equipment that needs to be operated. When the washing and sweeping equipment has a short circuit or an open circuit, the port output is stopped to prevent the port from being damaged by overcurrent. In addition, the fault information is displayed to the driver through the on-board display screen to ensure the safety of vehicle operation.

[0104] Embodiment 3

[0105] A driving mode switching system for a single-engine washing and sweeping vehicle comprises an engine controller, a washing and sweeping equipment controller bus and a transfer case which are respectively communicatively connected to a vehicle controller;

[0106] The vehicle controller is used to execute the driving mode switching method in the first embodiment and the second embodiment, and the vehicle controller is equipped with the vehicle system.

[0107] Regarding the device in the above embodiment, the specific way in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0108] The scheme of the present application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. Those skilled in the art should also be aware that the actions and modules involved in the description are not necessarily required for the present application.

[0109] In addition, it can be understood that the steps in the method of the embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the modules in the device of the embodiment of the present application can be combined, divided and deleted according to actual needs.

[0110] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0111] Alternatively, the present application can also be implemented as a non-temporary machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) on which executable code (or computer program, or computer instruction code) is stored. When the executable code (or computer program, or computer instruction code) is executed by a processor of an electronic device (or electronic device, server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0112] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the application herein may be implemented as electronic hardware, computer software, or combinations of both.

[0113] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system and method according to multiple embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a part of a module, a program segment or a code, and the part of the module, the program segment or the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or the flow chart, and the combination of the square boxes in the block diagram and / or the flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0114] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A driving mode switching method for a single-engine washing and sweeping vehicle, characterized in that: include: When the washing and sweeping vehicle switches the driving mode, the vehicle detection data is obtained; The driving mode includes a liquid driving mode and a direct driving mode; Determining the vehicle fault degree according to the vehicle detection data; the vehicle detection data is the operation data acquired by the vehicle system; evaluating a fault level of the vehicle fault, and if the fault level is a dangerous level, stopping switching of the driving mode and sending a warning signal; If the fault level is a safety level, sending a drive switching request; switching the driving mode according to the driving switching request; The vehicle is controlled according to the vehicle control strategy corresponding to the driving mode.

2. The driving mode switching method of a single-engine washing and sweeping vehicle according to claim 1, characterized in that: evaluating a fault level of the vehicle fault, and if the fault level is a dangerous level, stopping switching of the driving mode and sending a warning signal; If the fault level is a safety level, a drive switching request is sent, specifically including: Obtaining the vehicle fault degree; Determining whether the vehicle connection fault degree is greater than or equal to a preset fault threshold, and if so, determining the fault degree level of the vehicle fault degree as a dangerous level; If not, the fault level of the vehicle fault level is determined as a safety level.

3. The driving mode switching method of a single-engine washing and sweeping vehicle according to claim 2, characterized in that: The vehicle detection data includes m component fault reporting data respectively sent by m component sensors; m is an integer greater than or equal to 1; Determining the vehicle fault degree according to the vehicle detection data specifically includes: Obtaining m pieces of component fault reporting data from the vehicle detection data; The vehicle fault degree is determined based on the m component fault reporting data.

4. The driving mode switching method of a single-engine washing and sweeping vehicle according to claim 3, characterized in that: The determining the vehicle fault degree according to the m component fault reporting data includes: Calculating component failure values ​​of each component according to the component failure reporting data; The vehicle failure degree is calculated according to each of the component failure values.

5. The driving mode switching method of a single-engine washing and sweeping vehicle according to claim 4, characterized in that: In the calculation of the vehicle fault degree according to the fault values ​​of each component, the calculation formula of the vehicle fault degree is: Among them, V m represents the component failure value of the Mth component, f(V) is the vehicle failure degree, α m Represents the preset failure threshold of the mth component.

6. The driving mode switching method of a single-engine washing and sweeping vehicle according to claim 5, characterized in that: The component fault reporting data includes i fault reporting signals, where i is an integer greater than or equal to 1; In the process of calculating the component failure value of each component according to the component failure reporting data, the calculation formula of the component failure value is: Among them, x i represents the weight value of the i-th fault signal of the m-th component, f(V m ) represents the component failure value of the mth component, and n is an integer greater than or equal to 1.

7. The driving mode switching method of a single-engine washing and sweeping vehicle according to claim 1, characterized in that: When the washing and sweeping vehicle switches the driving mode, obtaining vehicle detection data specifically includes: Detect clutch travel value; Determine whether the clutch stroke value is greater than or equal to a preset stroke threshold, If yes, enter the drive switching mode; If not, the drive switching is stopped and an alarm message is sent.

8. The driving mode switching method of a single-engine washing and sweeping vehicle according to claim 1, characterized in that: The vehicle control is performed according to the vehicle control strategy corresponding to the driving mode, specifically including: According to the driving mode, a corresponding vehicle control strategy is matched, and if the driving mode is a hydraulic driving mode, a hydraulic driving control strategy is selected as the current vehicle control strategy; If the driving mode is a direct drive driving mode, the direct drive control strategy is selected as the current vehicle control strategy.

9. The driving mode switching method of a single-engine washing and sweeping vehicle according to claim 8, characterized in that: In the hydraulic drive mode, the hydraulic drive control strategy specifically includes: Control the power output unit of the washing and sweeping vehicle through the backstage vehicle computer; Switch the throttle output signal from the engine controller to the backend vehicle computer.

10. A driving mode switching system for a single-engine washing and sweeping vehicle, characterized in that: It includes an engine controller, a cleaning equipment controller bus and a transfer case which are respectively connected to the vehicle controller in communication; The vehicle controller is used to execute the driving mode switching method described in any one of claims 1 to 9.

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