Control method and device for range extending system of electric crane, range extending system and medium

Abstract

The invention relates to the technical field of electric vehicles, and discloses a control method and device for a range extending system of an electric crane, the range extending system and a medium, and the method comprises the steps that after a high voltage increasing instruction of a whole vehicle controller is received, battery state information of each battery is obtained; screening the plurality of batteries based on the battery state information, and determining a target power supply battery; and controlling the target power supply battery to be connected with the motor controller so as to supply power to a motor of the electric crane through the motor controller. After the whole vehicle controller issues the high-voltage instruction, the battery management unit is used for obtaining the battery state information of each battery, the appropriate target power supply battery is screened out and controlled to be connected with the motor controller, a large-electric-quantity battery with redundant electric quantity and high cost does not need to be arranged for the electric crane, and the vehicle purchasing cost is reduced. The target power supply battery is used for supplying power to the motor of the electric crane, range-extending work is achieved, and the requirements of different clients for different application scenes can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to a control method, a device, a range-extending system and a medium for an electric crane range-extending system. Background Art

[0002] Construction machinery is continuously moving towards electrification, and electric cranes are one of them. The battery system is a key component of new energy cranes, and its layout and ease of use are one of the key development directions. Due to the diversity of crane operation scenarios and inconsistent customer needs, different operation scenarios correspond to different power requirements. Some operations only require short-distance vehicles and a few lifts, and the power demand is relatively low in this case; while some operations may require long-distance vehicles and continuous lifting, and the corresponding power demand is also relatively high.

[0003] At present, the battery selection of most new energy pure electric crane products is based on the working condition requirements of typical application scenarios. The battery capacity is often too large and a certain amount of redundancy will be retained, which will increase the vehicle's curb weight, increase the purchase cost, and extend the payback period. In addition, the battery accounts for a large proportion of the vehicle cost. As a production tool, the owner of the crane is more sensitive to the purchase cost and payback period of the crane. Therefore, the high-capacity battery solution is not completely applicable to the existing crane products and market, while the low-capacity battery system does not meet the power requirements of most crane operation scenarios. Summary of the invention

[0004] In view of this, the present invention provides a control method, device, range extender system and medium for an electric crane range extender system to solve the problem that the current large-capacity battery solution for cranes is relatively expensive and the small-capacity battery solution cannot meet the power requirements of the operating scenario.

[0005] In a first aspect, the present invention provides a control method for an electric crane range extension system, the system comprising a battery management unit and a plurality of batteries, the system being respectively connected to a vehicle controller and a motor controller of the electric crane, the method being applied to the battery management unit, the method comprising:

[0006] After receiving the high voltage command from the vehicle controller, the battery status information of each battery is obtained;

[0007] Screening multiple batteries based on battery status information to determine a target power supply battery;

[0008] The control target power supply battery is connected to the motor controller to supply power to the motor of the electric crane through the motor controller.

[0009] Beneficial effects: After the vehicle controller issues a high-voltage command, the battery management unit is used to obtain the battery status information of each battery, screen out the appropriate target power supply battery and control it to connect with the motor controller, so there is no need to set up redundant and costly large-capacity batteries for the electric crane, which reduces the cost of purchasing the vehicle. The target power supply battery is used to power the motor of the electric crane to achieve extended-range operation, which can meet the needs of different customers in different application scenarios.

[0010] In an optional implementation, screening multiple batteries based on battery status information to determine a target power supply battery includes:

[0011] Based on the battery status information, determine the remaining power and battery type corresponding to each battery;

[0012] Performing a preliminary screening of the plurality of batteries based on the remaining power, and obtaining at least one candidate power supply battery having a remaining power higher than a first remaining power threshold;

[0013] A secondary screening is performed on at least one candidate power supply battery based on the battery type and the remaining power to obtain a target power supply battery.

[0014] Beneficial effect: This embodiment first performs an initial screening of multiple batteries according to the remaining power to obtain at least one alternative power supply battery, and then secondary screening is performed among the alternative power supply batteries to select a target power supply battery whose battery type and remaining power meet the operating requirements, so as to maximize the use of the vehicle resources and meet the power requirements of the electric crane.

[0015] In an optional embodiment, the battery type includes a main battery fixedly connected to the electric crane and a secondary battery detachably connected to the electric crane, and the multiple batteries include a main battery and at least one secondary battery; and secondary screening is performed on at least one candidate power supply battery based on the battery type and the remaining power to obtain a target power supply battery, including:

[0016] determining whether there is a main battery in at least one of the alternative power supply batteries;

[0017] If there is a main battery in at least one of the candidate power supply batteries, the main battery is used as the target power supply battery;

[0018] If the main battery does not exist in at least one of the candidate power supply batteries, the candidate power supply battery with the largest remaining power is used as the target power supply battery.

[0019] Beneficial effect: When there is at least one alternative power supply battery, first determine whether there is a main battery fixedly connected to the electric crane among the alternative power supply batteries. If so, the main battery is used as the target power supply battery to power the motor to maximize the use of vehicle resources. If not, it means that the alternative power supply batteries are all auxiliary batteries, then the battery with the largest remaining power is selected as the target power supply battery, so as to meet the power demand of the current operation scenario of the electric crane when the resources of the vehicle are insufficient.

[0020] In an optional embodiment, the system further includes a pre-charging circuit consisting of a pre-charging control switch and a pre-charging resistor, each battery includes a positive side switch and a negative side switch, the positive side switch of each battery is connected to one end of the motor controller after passing through the pre-charging circuit, and the negative side switch of each battery is connected to the other end of the motor controller; controlling the target power supply battery to be connected to the motor controller, including:

[0021] Control the positive side switch and the negative side switch of the target power supply battery to be closed, and at the same time control the pre-charge control switch to be closed to connect the pre-charge resistor between the target power supply battery and the motor controller, and record the pre-charge time;

[0022] When it is detected that the pre-charging time reaches the pre-charging time threshold, the pre-charging control switch is controlled to be disconnected, and the positive side switch and the negative side switch of the target power supply battery are maintained in the closed state.

[0023] Beneficial effect: When controlling the target power supply battery to power the motor, the embodiment of the present invention first performs pre-charging for a period of time through a pre-charging circuit, effectively preventing the large current at the moment of high-voltage power-on from causing damage to other electronic components, thereby ensuring the safety of high-voltage power supply.

[0024] In an optional embodiment, the method further includes:

[0025] When it is detected that the remaining power of the target power supply battery is not higher than the first remaining power threshold, and / or the target power supply battery fails, a high voltage lowering request is sent to the vehicle controller;

[0026] After receiving the lower high voltage instruction returned by the vehicle controller based on the lower high voltage request, the target power supply battery is controlled to disconnect from the motor controller, and the step of obtaining the battery status information of each battery after receiving the upper high voltage instruction from the vehicle controller is returned.

[0027] Beneficial effects: The battery management unit monitors the remaining power and fault status of the target power supply battery in real time. When it detects that the remaining power of the current power supply battery is insufficient and / or a fault occurs, the battery management unit promptly requests the vehicle controller to lower the high voltage so that a new battery can be replaced in time to prevent damage to the battery and meet the crane's operating requirements.

[0028] In an optional embodiment, the method further includes:

[0029] When it is detected that the electric crane is powered on at low voltage, at least one battery to be charged is determined to have a remaining power lower than a second remaining power threshold; wherein the second remaining power threshold is greater than the first remaining power threshold;

[0030] Control at least one battery to be charged to be connected to the on-board charger on the electric crane in sequence, until the remaining power of the battery to be charged is not less than a second remaining power threshold.

[0031] Beneficial effect: After the electric crane is powered on at low voltage, the on-board charger is used to charge the battery with insufficient remaining power to restore the battery status.

[0032] In an optional embodiment, the on-board charger includes a first charging interface and a second charging interface; controlling at least one battery to be charged to be connected to the on-board charger on the electric crane in sequence, respectively, includes:

[0033] For each battery to be charged, the positive side switch of the current battery to be charged is controlled to be connected to the first charging interface of the on-board charger, and the negative side switch of the current battery to be charged is controlled to be connected to the second charging interface of the on-board charger to charge the current battery to be charged.

[0034] Beneficial effect: This embodiment controls the positive side switch of the battery to be charged to be connected to the first charging interface of the vehicle charger, and the negative side switch of the battery to be charged to be connected to the second charging interface of the vehicle charger, so as to restore the battery to be charged to a sufficient power state so as to continue to supply energy to the electric crane.

[0035] In a second aspect, the present invention provides a control device for an electric crane range extension system, the system comprising a battery management unit and a plurality of batteries, the system being connected to a vehicle controller and a motor controller of the electric crane respectively, the device being applied to the battery management unit, the device comprising:

[0036] An acquisition module is used to acquire the battery status information of each battery after receiving the high voltage command from the vehicle controller;

[0037] A processing module, used for screening multiple batteries based on battery status information to determine a target power supply battery;

[0038] The control module is used to control the target power supply battery to be connected to the motor controller so as to supply power to the motor of the electric crane through the motor controller.

[0039] In a third aspect, the present invention provides an electric crane range extension system, the system comprising a battery management unit and a plurality of batteries, the system being respectively connected to a vehicle controller and a motor controller of the electric crane;

[0040] The battery management unit includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the control method of the electric crane range extender system of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0041] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the control method for an electric crane range extender system according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the specific implementation methods of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 is a structural block diagram of an electric crane range extension system according to an embodiment of the present invention;

[0044] Figure 2 is a schematic structural diagram of an electric crane range extension system according to an embodiment of the present invention;

[0045] Figure 3 is a flow chart of a control method of an electric crane range extension system according to an embodiment of the present invention;

[0046] Figure 4 is a flow chart of another control method of an electric crane range extension system according to an embodiment of the present invention;

[0047] Figure 5 is a structural block diagram of a control device for an electric crane range extension system according to an embodiment of the present invention;

[0048] Figure 6 Schematic diagram of the hardware structure of the battery management unit according to the embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0050] With the popularization of electrification, more and more construction machinery is gradually moving towards electrification, and cranes are one of them. Due to the complex structure of cranes and diverse application scenarios, a large-capacity battery system will lead to a sharp increase in vehicle purchase costs and does not meet the requirements of lightweight vehicles. A small-capacity battery system does not meet the power requirements of most crane operation scenarios.

[0051] Plug-in cranes cannot meet the application requirements of scenarios without grid access. Hybrid cranes are driven by traditional internal combustion engines, which reduces the true economic and environmental value of electric cranes. Pure electric cranes are likely to increase vehicle purchase costs and extend the payback period.

[0052] Therefore, the embodiment of the present invention provides a control scheme for an electric crane range extender system, which can power the electric crane through multiple batteries, which can not only reduce the cost of purchasing a vehicle, but also meet the needs of different customers in different application scenarios. It comprehensively considers factors such as cost, convenience and lightweight, and is of certain significance for the lightweighting of the entire vehicle and battery fault redundancy.

[0053] According to an embodiment of the present invention, an electric crane range extension system is provided, such as Figure 1 As shown, the system includes a battery management unit (BMU) 101 and multiple batteries 102. The system is also connected to a vehicle control unit (VCU) and a motor controller of an electric crane, respectively. One end of the battery management unit 101 is connected to the vehicle control unit VCU, and the other end of the battery management unit 101 is connected to the multiple batteries 102, respectively, and the multiple batteries 102 are connected to the motor controller, respectively.

[0054] Specifically, after receiving the high-voltage instruction from the vehicle controller, the battery management unit 101 obtains the battery status information of each battery, and then screens the multiple batteries 102 based on the battery status information to determine the target power supply battery, and finally controls the target power supply battery to be connected to the motor controller to supply power to the motor of the electric crane through the motor controller.

[0055] The electric crane range extension system provided in the embodiment of the present invention uses the battery management unit 101 to obtain the battery status information of each battery 102, screens out a suitable target power supply battery and controls it to be connected to the motor controller, thereby supplying power to the motor of the electric crane and realizing extended-range operation, which can not only reduce the cost of purchasing a vehicle, but also meet the needs of different customers in different application scenarios.

[0056] In some optional embodiments, such as Figure 2 As shown, the above system also includes a pre-charging circuit composed of a pre-charging control switch and a pre-charging resistor, each battery 102 includes a positive side switch and a negative side switch, the positive side switch of each battery 102 is connected to one end of the motor controller after passing through the pre-charging circuit, and the negative side switch of each battery is connected to the other end of the motor controller.

[0057] It should be noted that the positive side switch of the battery can be realized by the main positive relay, and the negative side switch of the battery can be realized by the main negative relay. The pre-charge control switch can also be a relay. The pre-charge control switch is mainly used to control the opening and closing of the pre-charge circuit, that is, before the battery officially works, the pre-charge circuit is turned on for self-test. The pre-charge resistor is equivalent to a protective resistor, which has a current limiting effect and can effectively prevent the large current at the moment of high voltage power-on from damaging other electronic components in the high voltage system.

[0058] In some optional embodiments, see again Figure 2 The battery management unit 101, i.e. the main BMU, the pre-charging circuit, and the positive side switch and the negative side switch of each battery can be integrated in the control box, so that the user can realize battery management, pre-charging, battery switching and charging operations through the control box, which is very convenient.

[0059] In some optional embodiments, the battery type includes a main battery fixedly connected to the electric crane and a secondary battery detachably connected to the electric crane, see again Figure 2 The multiple batteries 102 may include a main battery and at least one secondary battery. The secondary battery output terminal is connected in parallel with the main battery output terminal, and each battery pack is controlled to output energy individually by turning on and off the positive and negative side switches.

[0060] It should be noted that the main battery is generally fixedly installed on the electric crane. At the beginning of the design, the power of the main battery can be selected according to the basic power demand of the electric crane and the requirements of vehicle weight reduction. Generally, the main battery selection just meets the basic power demand of the electric crane, which helps to reduce the cost of the vehicle and thus meet the lightweight requirements.

[0061] In addition, there can be one or more auxiliary batteries. The number and power of the auxiliary batteries mainly depend on the operating scenario, working conditions and control box interface restrictions of the electric crane. In actual applications, the owner can decide the number and power of the auxiliary batteries to carry based on the mileage, operating time and other scenarios. Generally speaking, the more mileage and the longer the operating time, the larger the power and the more number of auxiliary batteries should be carried. The auxiliary batteries are installed on the electric crane in a battery replacement manner.

[0062] In some optional implementations, the main and auxiliary batteries can also have their own BMU modules respectively. All battery packs communicate and interact with the vehicle controller VCU through the main BMU (i.e., battery management unit 101) of the control box. The communication method can be CAN communication. The main BMU is responsible for controlling the on and off of the relay in the control box to control the connection between the corresponding battery and the motor controller, so as to provide the motor ( Figure 2 M in the figure) for power supply.

[0063] See again Figure 2 The main and auxiliary batteries can be recharged through the charging interface of the on-board charger (OBC), wherein the on-board charger includes a first charging interface and a second charging interface. When charging the battery, the positive side switch of the battery is connected to the first charging interface of the on-board charger, and the negative side switch is connected to the second charging interface of the on-board charger.

[0064] According to an embodiment of the present invention, a control method embodiment of an electric crane range extension system is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0065] In this embodiment, a control method for an electric crane range extension system is provided, which can be used as follows: Figure 1 The battery management unit 101 shown, such as a microcontroller unit (MCU), a single chip microcomputer, etc., Figure 3 is a flow chart of a control method of an electric crane range extension system according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0066] Step S301, after receiving the high voltage instruction from the vehicle controller, obtain the battery status information of each battery.

[0067] Specifically, after the electric crane is powered on, the battery management unit, i.e., the main BMU, is awakened. The main BMU can first perform a self-test to determine whether the relevant components are faulty. If there is no fault, the main BMU will feedback the information of the test pass to the vehicle controller VCU and wait for the high-voltage command sent by the vehicle controller VCU. After receiving the high-voltage command sent by the VCU, the main BMU obtains the battery status information of each battery, which may include information such as the remaining power (State of Charge, SOC), voltage, and temperature.

[0068] Step S302: Screen multiple batteries based on the battery status information to determine a target power supply battery.

[0069] Specifically, the main BMU will screen the batteries based on the estimated power demand of the electric crane operation scenario and the battery status information of each battery, such as SOC and voltage, to determine the target power supply battery that meets the requirements of the current operation task.

[0070] Step S303, controlling the target power supply battery to be connected to the motor controller so as to supply power to the motor of the electric crane through the motor controller.

[0071] Specifically, the master BMU can control Figure 2 The relay shown is turned on and off to control the connection between the target power supply battery and the motor controller, and the target power supply battery is used to power the motor alone to meet the power demand of the current operating scenario of the electric crane.

[0072] The control method of the range-extending system of an electric crane provided in this embodiment, after the vehicle controller issues a high-voltage command, uses the battery management unit to obtain the battery status information of each battery, selects a suitable target power supply battery and controls it to connect with the motor controller, without setting a large-capacity battery with redundant power and high cost for the electric crane, thus reducing the cost of purchasing the vehicle. The target power supply battery is used to power the motor of the electric crane to achieve range-extending operation, which can meet the needs of different customers and different application scenarios.

[0073] In this embodiment, a control method for an electric crane range extension system is provided, which can be used as follows: Figure 1 The battery management unit shown, such as MCU, microcontroller, etc., Figure 4 is a flow chart of a control method of an electric crane range extension system according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps:

[0074] Step S401, after receiving the high voltage command from the vehicle controller, obtain the battery status information of each battery. Figure 3 Step S301 of the illustrated embodiment will not be described in detail here.

[0075] Step S402: screening multiple batteries based on battery status information to determine a target power supply battery.

[0076] Specifically, the above step S402 includes:

[0077] Step S4021, based on the battery status information, determine the remaining power and battery type corresponding to each battery.

[0078] Specifically, the battery types include a main battery fixedly connected to the electric crane and a secondary battery detachably connected to the electric crane. Before the electric crane is deployed, the number of secondary batteries required can be evaluated based on the remaining power of the main battery, the estimated power demand of the operation scenario, and the power of the secondary batteries, and the secondary batteries carried can be placed on the crane and the electrical connections can be completed.

[0079] Exemplarily, during the driving and operating phases of the electric crane, the main BMU receives the upper high voltage command from the VCU, and obtains information such as the SOC, voltage, and temperature of the main battery and each slave battery based on the battery status information of each battery.

[0080] Step S4022: Preliminarily screen the multiple batteries based on the remaining power to obtain at least one candidate power supply battery whose remaining power is higher than a first remaining power threshold.

[0081] Exemplarily, the first remaining power threshold may be 20%, and the main BMU screens batteries with SOC higher than 20%, and uses these batteries as alternative power supply batteries.

[0082] Step S4023: performing secondary screening on at least one candidate power supply battery based on the battery type and the remaining power to obtain a target power supply battery.

[0083] Specifically, the main BMU determines whether there is a main battery in at least one backup power supply battery. If there is a main battery, the main battery is used as the target power supply battery; if there is no main battery, that is, the backup power supply batteries are all slave batteries, the backup power supply battery with the largest remaining power is used as the target power supply battery.

[0084] In this embodiment, when there is at least one alternative power supply battery, it is first determined whether there is a main battery fixedly connected to the electric crane among the alternative power supply batteries. If so, the main battery is used as the target power supply battery to power the motor to maximize the utilization of the vehicle resources. If not, it means that the alternative power supply batteries are all auxiliary batteries, and the battery with the largest remaining power is selected as the target power supply battery to meet the power demand of the current operation scenario of the electric crane when the resources of the vehicle are insufficient.

[0085] This embodiment first performs an initial screening of multiple batteries according to the remaining power to obtain at least one candidate power supply battery, and then secondary screening is performed among the candidate power supply batteries to select a target power supply battery whose battery type and remaining power meet the operation requirements, so as to maximize the use of the vehicle resources and meet the power requirements of the electric crane.

[0086] Step S403, controlling the target power supply battery to be connected to the motor controller so as to supply power to the motor of the electric crane through the motor controller.

[0087] Specifically, the electric crane range extension system also includes a pre-charging circuit composed of a pre-charging control switch and a pre-charging resistor, each battery includes a positive side switch and a negative side switch, the positive side switch of each battery is connected to one end of the motor controller after passing through the pre-charging circuit, and the negative side switch of each battery is connected to the other end of the motor controller, wherein the positive and negative side switches can be realized by relays. Exemplarily, if the target power supply battery is the main battery, the main BMU closes the main positive and main negative relays of the main battery, and performs the high-voltage pre-charging process on the main circuit, and enters the upper high-voltage state to start energy supply.

[0088] In some optional implementations, the main BMU controls the positive side switch and the negative side switch of the target power supply battery to close, and controls the pre-charge control switch to close to connect the pre-charge resistor between the target power supply battery and the motor controller, and records the pre-charge time. Then, when the main BMU detects that the pre-charge time reaches the pre-charge time threshold, it controls the pre-charge control switch to open, and maintains the closed state of the positive side switch and the negative side switch of the target power supply battery, and officially enters the power supply process.

[0089] When controlling the target power supply battery to power the motor, the embodiment of the present invention first performs pre-charging for a period of time through a pre-charging circuit, effectively preventing the large current at the moment of high voltage power-on from causing damage to other electronic components, thereby ensuring the safety of high voltage power supply.

[0090] Step S404: when it is detected that the remaining power of the target power supply battery is not higher than the first remaining power threshold, and / or the target power supply battery fails, a high voltage lowering request is sent to the vehicle controller.

[0091] Exemplarily, if the SOC of the target power supply battery currently supplying power is consumed to 20% or less, and / or the target power supply battery fails, the main BMU sends a high voltage lowering request to the VCU.

[0092] Step S405, after receiving the lower high voltage instruction returned by the vehicle controller based on the lower high voltage request, control the target power supply battery to disconnect from the motor controller and return to step S401.

[0093] In some optional embodiments, if the main battery is currently supplying power, when the main battery SOC is consumed below 20%, the main BMU sends a request to lower the high voltage to the VCU. After the VCU identifies that the main battery meets the lower high voltage conditions based on the main battery's SOC, voltage, temperature and other information, it issues a lower high voltage instruction, and the main BMU controls the main battery to disconnect from the main circuit. When the main battery is disconnected from the high voltage connection, when the VCU issues a higher high voltage instruction again, the main BMU returns to step S401, and executes the judgment of the battery SOC status in sequence. When the SOC is greater than 20%, it is allowed to close the main circuit, and each battery is powered separately.

[0094] In some optional implementations, if the main battery that is supplying energy during operation fails and triggers a fault in the fault list that requests stopping, the main BMU will send a high-voltage down request to the VCU, and the vehicle will disconnect the high-voltage connection and stop. When the vehicle is restarted and the VCU sends a high-voltage up request again, the main BMU will identify the fault status of the main battery and close the main positive and main negative relay switches of the auxiliary battery 1, completing the high-voltage process of the main circuit and continuing to supply energy.

[0095] In an embodiment of the present application, the battery management unit monitors the remaining power and fault status of the target power supply battery in real time. When it is detected that the remaining power of the current power supply battery is insufficient and / or a fault occurs, the battery management unit promptly requests the vehicle controller to lower the high voltage so that a new battery can be replaced in time for power supply, thereby preventing damage to the battery and meeting the operation requirements of the crane.

[0096] Step S406, when it is detected that the electric crane is powered on at low voltage, at least one battery to be charged whose remaining power is lower than a second remaining power threshold is determined; wherein the second remaining power threshold is greater than the first remaining power threshold.

[0097] Exemplarily, the second remaining power threshold may be 100%.

[0098] Step S407, controlling at least one battery to be charged to be connected to the on-board charger on the electric crane in sequence, until the remaining power of the battery to be charged is not less than a second remaining power threshold.

[0099] Specifically, the on-board charger includes a first charging interface and a second charging interface. For each battery to be charged, the positive side switch of the current battery to be charged is controlled to be connected to the first charging interface of the on-board charger, and the negative side switch of the current battery to be charged is controlled to be connected to the second charging interface of the on-board charger to charge the current battery to be charged.

[0100] This embodiment controls the positive side switch of the battery to be charged to connect with the first charging interface of the vehicle charger, and the negative side switch of the battery to be charged to connect with the second charging interface of the vehicle charger, so as to restore the battery to be charged to a sufficient power state so as to continue to supply energy to the electric crane.

[0101] In some optional implementations, the main and auxiliary batteries can be charged and replenished through the on-board charger OBC. The physical connection of the OBC AC power is completed first. After the crane is powered on at low voltage, the main BMU obtains the SOC status of all batteries and determines in turn whether the SOC of the main battery, auxiliary battery 1, auxiliary battery 2, etc. is less than 100%. For example, when the main battery SOC is less than 100%, the main positive and main negative relays of the main battery circuit are closed, and the charging handshake and parameter configuration stage is entered. After the main battery is charged to 100%, the charging process is terminated and the high voltage connection of the main battery is disconnected. Then the main BMU determines the SOC of slave battery 1. If the SOC of slave battery 1 is less than 100%, it will enter the charging mode like the main battery until it is fully charged, and then jump to slave battery 2 for judgment, and so on; if the SOC of slave battery 1 is 100%, it will directly jump to slave battery 2 to judge its SOC status until the battery SOC is less than 100%, then enter the charging mode for charging, and exit the charging mode when the SOC of all batteries is 100%.

[0102] In the embodiment of the present application, after the electric crane is powered on at a low voltage, the on-board charger is used to charge the battery to be charged with insufficient remaining power to restore the battery status.

[0103] In this embodiment, a control device for an electric crane range extension system is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0104] This embodiment provides a control device for an electric crane range extension system, the system includes a battery management unit and a plurality of batteries, the system is respectively connected to a vehicle controller and a motor controller of the electric crane, and the device is applied to the battery management unit, such as Figure 5 As shown, the device comprises:

[0105] The acquisition module 501 is used to acquire the battery status information of each battery after receiving the high voltage instruction from the vehicle controller;

[0106] The processing module 502 is used to screen multiple batteries based on the battery status information and determine a target power supply battery;

[0107] The control module 503 is used to control the target power supply battery to be connected to the motor controller so as to supply power to the motor of the electric crane through the motor controller.

[0108] In some optional implementations, the processing module 502 is further configured to:

[0109] Based on the battery status information, determine the remaining power and battery type corresponding to each battery;

[0110] Performing a preliminary screening of the plurality of batteries based on the remaining power, and obtaining at least one candidate power supply battery having a remaining power higher than a first remaining power threshold;

[0111] A secondary screening is performed on at least one candidate power supply battery based on the battery type and the remaining power to obtain a target power supply battery.

[0112] In some optional embodiments, the battery type includes a main battery fixedly connected to the electric crane and a secondary battery detachably connected to the electric crane, and the plurality of batteries include a main battery and at least one secondary battery; the processing module 502 is further used for:

[0113] determining whether there is a main battery in at least one of the alternative power supply batteries;

[0114] If there is a main battery in at least one of the candidate power supply batteries, the main battery is used as the target power supply battery;

[0115] If the main battery does not exist in at least one of the candidate power supply batteries, the candidate power supply battery with the largest remaining power is used as the target power supply battery.

[0116] In some optional embodiments, the system further includes a pre-charging circuit consisting of a pre-charging control switch and a pre-charging resistor, each battery includes a positive side switch and a negative side switch, the positive side switch of each battery is connected to one end of the motor controller after the pre-charging circuit, and the negative side switch of each battery is connected to the other end of the motor controller; the control module 503 is also used for:

[0117] Control the positive side switch and the negative side switch of the target power supply battery to be closed, and at the same time control the pre-charge control switch to be closed to connect the pre-charge resistor between the target power supply battery and the motor controller, and record the pre-charge time;

[0118] When it is detected that the pre-charging time reaches the pre-charging time threshold, the pre-charging control switch is controlled to be disconnected, and the positive side switch and the negative side switch of the target power supply battery are maintained in the closed state.

[0119] In some optional embodiments, the device is also used for:

[0120] When it is detected that the remaining power of the target power supply battery is not higher than the first remaining power threshold, and / or the target power supply battery fails, a high voltage lowering request is sent to the vehicle controller;

[0121] After receiving the lower high voltage instruction returned by the vehicle controller based on the lower high voltage request, the target power supply battery is controlled to disconnect from the motor controller, and the step of obtaining the battery status information of each battery after receiving the upper high voltage instruction from the vehicle controller is returned.

[0122] In some optional embodiments, the device is also used for:

[0123] When it is detected that the electric crane is powered on at low voltage, at least one battery to be charged is determined to have a remaining power lower than a second remaining power threshold; wherein the second remaining power threshold is greater than the first remaining power threshold;

[0124] Control at least one battery to be charged to be connected to the on-board charger on the electric crane in sequence, until the remaining power of the battery to be charged is not less than a second remaining power threshold.

[0125] In some optional embodiments, the on-board charger includes a first charging interface and a second charging interface; the device is also used for:

[0126] For each battery to be charged, the positive side switch of the current battery to be charged is controlled to be connected to the first charging interface of the on-board charger, and the negative side switch of the current battery to be charged is controlled to be connected to the second charging interface of the on-board charger to charge the current battery to be charged.

[0127] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0128] The control device of the electric crane range extension system in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0129] The embodiment of the present invention further provides a battery management unit 101 having the above Figure 5 The control device of the electric crane range extension system is shown.

[0130] See also Figure 6 , Figure 6 is a schematic diagram of the structure of a battery management unit provided by an optional embodiment of the present invention, such as Figure 6As shown, the battery management unit includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed in the battery management unit, including instructions stored in or on the memory to display 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 devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 6 A processor 10 is taken as an example.

[0131] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 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.

[0132] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0133] The memory 20 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 battery management unit, etc. In addition, the memory 20 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 memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the battery management unit 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.

[0134] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0135] The battery management unit also includes a communication interface 30 for the battery management unit to communicate with other devices or a communication network.

[0136] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention 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.

[0137] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0138] Although the embodiments of the present invention 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 invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A control method for an electric crane range extension system, characterized in that: The system includes a battery management unit and a plurality of batteries. The system is respectively connected to a vehicle controller and a motor controller of an electric crane. The method is applied to the battery management unit. The method includes: After receiving the high voltage command from the vehicle controller, obtaining the battery status information of each battery; Screening the plurality of batteries based on the battery status information to determine a target power supply battery; The target power supply battery is controlled to be connected to the motor controller so as to supply power to the motor of the electric crane through the motor controller.

2. The method according to claim 1, characterized in that Screening the plurality of batteries based on the battery status information to determine a target power supply battery includes: Based on the battery status information, determining the remaining power and battery type corresponding to each battery; Performing a preliminary screening of the plurality of batteries based on the remaining power to obtain at least one candidate power supply battery having a remaining power higher than a first remaining power threshold; A secondary screening is performed on at least one of the candidate power supply batteries based on the battery type and the remaining power to obtain a target power supply battery.

3. The method according to claim 2, characterized in that The battery types include a main battery fixedly connected to the electric crane and a secondary battery detachably connected to the electric crane, and the plurality of batteries include a main battery and at least one secondary battery; The second screening of at least one of the candidate power supply batteries based on the battery type and the remaining power to obtain a target power supply battery includes: Determining whether there is a main battery in at least one of the alternative power supply batteries; If at least one of the alternative power supply batteries includes a main battery, taking the main battery as a target power supply battery; If at least one of the alternative power supply batteries does not include a main battery, the alternative power supply battery with the largest remaining power is used as the target power supply battery.

4. The method according to claim 2, characterized in that: The system also includes a pre-charging circuit composed of a pre-charging control switch and a pre-charging resistor, each of the batteries includes a positive side switch and a negative side switch, the positive side switch of each battery is connected to one end of the motor controller after passing through the pre-charging circuit, and the negative side switch of each battery is connected to the other end of the motor controller; The controlling the target power supply battery to be connected to the motor controller comprises: Controlling the positive side switch and the negative side switch of the target power supply battery to be closed, and controlling the pre-charge control switch to be closed to connect the pre-charge resistor between the target power supply battery and the motor controller, and recording the pre-charge time; When it is detected that the pre-charging time reaches a pre-charging time threshold, the pre-charging control switch is controlled to be opened, and the positive side switch and the negative side switch of the target power supply battery are maintained in a closed state.

5. The method according to any one of claims 2 to 4, characterized in that: The method further comprises: When it is detected that the remaining power of the target power supply battery is not higher than the first remaining power threshold, and / or the target power supply battery fails, sending a high voltage lowering request to the vehicle controller; After receiving the lower high voltage instruction returned by the vehicle controller based on the lower high voltage request, the target power supply battery is controlled to disconnect from the motor controller, and the step of obtaining the battery status information of each battery after receiving the upper high voltage instruction from the vehicle controller is returned.

6. The method according to claim 4, characterized in that The method further comprises: When it is detected that the electric crane is powered on at low voltage, at least one battery to be charged is determined to have a remaining power lower than a second remaining power threshold; wherein the second remaining power threshold is greater than the first remaining power threshold; Control at least one of the batteries to be charged to be connected to the on-board charger on the electric crane in sequence, until the remaining power of the battery to be charged is not less than the second remaining power threshold.

7. The method according to claim 6, characterized in that The on-board charger comprises a first charging interface and a second charging interface; the controlling at least one of the batteries to be charged is sequentially connected to the on-board charger on the electric crane respectively, comprising: For each battery to be charged, the positive side switch of the current battery to be charged is controlled to be connected to the first charging interface of the on-board charger, and the negative side switch of the current battery to be charged is controlled to be connected to the second charging interface of the on-board charger, so as to charge the current battery to be charged.

8. A control device for an electric crane range extension system, characterized in that: The system includes a battery management unit and a plurality of batteries. The system is respectively connected to a vehicle controller and a motor controller of an electric crane. The device is applied to the battery management unit. The device includes: An acquisition module, used to acquire battery status information of each battery after receiving a high voltage instruction from the vehicle controller; A processing module, configured to screen the plurality of batteries based on the battery status information to determine a target power supply battery; The control module is used to control the target power supply battery to be connected to the motor controller so as to supply power to the motor of the electric crane through the motor controller.

9. An electric crane range extension system, characterized in that: The system includes a battery management unit and a plurality of batteries, and the system is respectively connected to a vehicle controller and a motor controller of the electric crane; The battery management unit includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the control method of the electric crane range extender system according to any one of claims 1 to 7 by executing the computer instructions.

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 the electric crane range extension system according to any one of claims 1 to 7.

Images