Coupler control method, device, equipment, medium, program product and vehicle

Abstract

The invention relates to the technical field of vehicle control, and discloses a coupler control method, device and equipment, a medium, a program product and a vehicle, and the method comprises the steps: obtaining the switching information of a coupler and the state information of the vehicle; determining a protection state and an opening and closing state of the coupler according to the switching information, and determining a preparation state of the vehicle according to the protection state of the coupler and the state information of the vehicle; it is determined whether to execute a control operation of the coupler based on the protected state of the coupler, the open / close state of the coupler, and the ready state of the vehicle. Whether the control action is executed or not can be determined according to the vehicle state and the coupler state, automatic control over the coupler is achieved, the axle is protected, and vehicle damage caused by misoperation of a driver is avoided.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a control method, device, equipment, medium, program product and vehicle for a coupler. Background Art

[0002] Among the all-terrain cranes on the market, axle platforms with more than five axles often have an auxiliary drive steering axle (abbreviated as axle). This type of crane can control whether the auxiliary drive steering axle is involved in the transmission through a coupler; during operation, the driver opens the coupler, the auxiliary drive steering axle works, and the torque is transmitted to the auxiliary drive steering axle through the drive shaft, forming a power chain with other axles. At this time, the vehicle cannot turn. If a turning operation occurs, it is easy to cause abnormal noise in the bridge or even axle teeth knocking.

[0003] At present, the coupler of the existing auxiliary drive steering axle is opened and closed only by the driver's experience, so the driver's operation requirements are high. When the auxiliary drive steering axle is working, misoperation such as speeding and turning will cause damage to the axle. Summary of the invention

[0004] In view of this, the present invention provides a control method, device, equipment, medium, program product and vehicle for a coupler to solve the problem that the coupler cannot be automatically controlled.

[0005] In a first aspect, the present invention provides a method for controlling a coupler, the method comprising:

[0006] Obtain the switch information of the coupler and the status information of the vehicle;

[0007] Determine the protection state and the open / close state of the coupler according to the switch information, and determine the readiness state of the vehicle according to the protection state of the coupler and the state information of the vehicle;

[0008] Whether to execute the control action of the coupler is determined based on the protection state of the coupler, the open / closed state of the coupler, and the readiness state of the vehicle.

[0009] The control method of the coupler provided by the embodiment of the present invention determines the protection state and the on-off state of the coupler according to the switch information of the coupler, determines the ready state of the vehicle according to the protection state and the state information of the vehicle, and determines whether to execute the control action of the coupler based on the protection state, the on-off state and the ready state. The present invention can determine whether to execute the control action according to the vehicle state and the coupler state, realize automatic control of the coupler, protect the axle, and avoid damage to the vehicle caused by the driver's misoperation.

[0010] In an optional embodiment, the switch information of the coupler includes: the first switch information of the enable switch, the second switch information of the coupler switch and the on and off status of the switch indicator light; determining the protection status and the open and closed status of the coupler according to the switch information includes: if the first switch information and the second switch information are both open, then the protection status of the coupler is determined to be a preventive protection status; if the first switch information and the second switch information are both closed, then the protection status of the coupler is determined to be a disconnection protection status; if the on and off status changes from a normally off status to a normally on status, then the protection status of the coupler is determined to be a process protection status; if the on and off status is a normally off status, then the open and closed status of the coupler is determined to be a disconnection status; if the on and off status is a normally off status, then the open and closed status of the coupler is determined to be a closed status.

[0011] The present invention divides the protection logic into three protection states, and can obtain corresponding information according to the current operating state, so as to control the coupler in a targeted manner and ensure the safety of the axle throughout the entire process.

[0012] In an optional implementation manner, the vehicle status information includes: first gear information of the transfer case, second gear information of the gearbox, first switch information of the inter-wheel differential, second switch information of the inter-axle differential, gear-engaging air pressure, vehicle speed and steering angle; determining the preparation state according to the protection state of the coupler and the vehicle status information includes: if the protection state is the preventive protection state, determining whether the first gear information is low gear, whether the second gear information is neutral, whether the first switch information is on, whether the second switch information is on, whether the gear-engaging air pressure is greater than a preset air pressure threshold, and whether the vehicle speed is equal to the first preset speed. degree threshold, if all of them are satisfied, it is determined that the ready state is the prepared state, otherwise the ready state is the unprepared state; if the protection state is the process protection state, it is determined whether the first gear information is high gear, whether the vehicle speed is greater than the second preset speed threshold, and whether the steering angle is not equal to the preset angle threshold. If at least one of them is satisfied, it is determined that the ready state is the prepared state, otherwise the ready state is the unprepared state; if the protection state is the disconnected protection state, it is determined whether the second gear information is neutral and whether the vehicle speed is equal to the first preset speed threshold. If all of them are satisfied, it is determined that the ready state is the prepared state, otherwise the ready state is the unprepared state.

[0013] The present invention can determine whether the current vehicle operating state meets the operating conditions of the axle in different protection states by judging the preparation state, thereby protecting the axle and preventing the vehicle from being damaged due to driver's misoperation.

[0014] In an optional embodiment, whether to execute the control action of the coupler is determined based on the protection state of the coupler, the opening and closing state of the coupler and the ready state of the vehicle, including: in the preventive protection state, if the opening and closing state is in the disconnected state and the ready state is in the prepared state, the closing action is executed; if the opening and closing state is in the disconnected state and the ready state is in the unprepared state, the closing action is not executed; in the process protection state, if the opening and closing state is in the closed state and the ready state is in the prepared state, the braking action is executed; if the opening and closing state is in the closed state and the ready state is in the unprepared state, the braking action is not executed; in the disconnection protection state, if the opening and closing state is in the closed state and the ready state is in the prepared state, the disconnection action is executed; if the opening and closing state is in the closed state and the ready state is in the unprepared state, the disconnection action is not executed.

[0015] The present invention can control the coupler according to the current actual operating conditions by successively judging the closed state and the ready state before, during and after the axle participates in the transmission work, thereby realizing full-process automatic control of the coupler, thereby protecting the axle by controlling the coupler to open and close and avoiding damage to the vehicle.

[0016] In an optional implementation, after not performing the closing action or not performing the opening action, the method further includes: generating prompt information, and displaying the prompt information on a display screen.

[0017] The present invention can remind the user that the conditions for closing or disconnecting the coupler are not met by displaying prompt information, and check the current vehicle according to the reminder to prevent the user from forcibly closing or disconnecting the coupler, thereby causing damage to the axle.

[0018] In a second aspect, the present invention provides a control device for a coupler, the device comprising:

[0019] An information collection module is used to obtain the switch information of the coupler and the status information of the vehicle;

[0020] A logic judgment module, used to determine the protection state and the open / close state of the coupler according to the switch information, and determine the vehicle's readiness state according to the protection state of the coupler and the vehicle's state information;

[0021] The action execution module is used to determine whether to execute the control action of the coupler based on the protection state of the coupler, the open and closed state of the coupler and the ready state of the vehicle.

[0022] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the control method of the coupler of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0023] 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 method for controlling a coupler of the first aspect or any corresponding embodiment thereof.

[0024] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the method for controlling a coupler according to the first aspect or any corresponding embodiment thereof.

[0025] In a sixth aspect, the present invention provides a vehicle, comprising:

[0026] Auxiliary drive steering axle, used to assist the vehicle in steering;

[0027] A coupler is connected to the auxiliary drive steering axle and is used to drive and control the auxiliary drive steering axle;

[0028] The controller is connected to the coupler and is used to execute the control method of the coupler of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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.

[0030] Figure 1 is a schematic flow chart of a method for controlling a coupler according to an embodiment of the present invention;

[0031] Figure 2 is a flow chart of another method for controlling a coupler according to an embodiment of the present invention;

[0032] Figure 3 is a flow chart of another method for controlling a coupler according to an embodiment of the present invention;

[0033] Figure 4 is a structural block diagram of a control device for a coupler according to an embodiment of the present invention;

[0034] Figure 5 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] 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.

[0036] The embodiment of the present invention is applicable to the application scenario of controlling whether the auxiliary driving steering axle participates in the transmission work of the vehicle by operating the coupling, taking an all-terrain crane as an example. The embodiment of the present invention provides a method for controlling a coupling, which automatically controls the coupling and protects the axle by judging whether to execute the execution action of the coupling according to the state.

[0037] According to an embodiment of the present invention, a control method embodiment of a coupler 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.

[0038] In this embodiment, a control method for a coupler is provided, which can be used in the controller of the above-mentioned all-terrain crane. Figure 1 is a flow chart of a control method of a coupler according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0039] Step S101, obtaining switch information of the coupler and status information of the vehicle.

[0040] Specifically, in an embodiment of the present invention, a coupler is deployed on an all-terrain crane, and the coupler is operated to control whether the auxiliary drive steering axle participates in the transmission work, wherein an enabling switch and a coupler switch are provided. After the user presses the enabling switch and the coupler switch at the same time, the coupler is closed, and the auxiliary drive steering axle participates in the transmission work. When the enabling switch and the coupler switch are pressed at the same time again, the coupler is disconnected, and the auxiliary drive steering axle ends the transmission work. Before the auxiliary drive steering axle participates in the transmission work, during the work, or before the work ends, it is necessary to ensure that disconnecting the coupler at this time will not cause damage to the auxiliary drive steering axle. For example, during the operation, the torque is transmitted to the auxiliary drive steering axle through the transmission shaft, forming a power chain with other axles. At this time, the vehicle cannot turn. If a turning operation occurs, it is easy to cause abnormal noise in the bridge or even axle teeth. Therefore, the embodiment of the present invention divides the protection control of the coupler into three states: preventive protection state, process protection state and disconnection protection state. Before controlling the coupler, the switch information of the coupler is obtained, and the current protection state of the coupler and the current opening and closing state (closed state or disconnected state) of the coupler are determined according to the switch information. The switch information includes the switch information of the enable switch, the switch information of the coupler switch and the on and off state of the coupler indicator light. At the same time, the state information that may affect the operation of the auxiliary drive steering axle in the current protection state is obtained. The state information represents the state of different functional components of the vehicle, including the gear information of the transfer case, the gear information of the gearbox, the switch information of the inter-wheel differential, the switch information of the inter-axle differential, the gear-engaging air pressure, the vehicle speed and the steering angle.

[0041] In some optional embodiments, the embodiments of the present invention collect the pressure switch signal on the transfer case and determine the gear information of the transfer case according to the pressure switch signal; collect the pressure switch signal on the differential and determine whether the differential switch is open according to the pressure switch signal; determine the gear pressure by collecting the resolved air pressure message on the instrument; determine the gear information of the transmission by collecting the resolved transmission gear message on the instrument; determine the vehicle speed by collecting the vehicle speed sensor signal from the transfer case; and determine the steering angle by collecting the angle sensor signal from the axle.

[0042] Step S102, determining the protection state and the open / close state of the coupler according to the switch information, and determining the ready state of the vehicle according to the protection state of the coupler and the state information of the vehicle.

[0043] Specifically, in an embodiment of the present invention, the current protection state of the coupler is determined according to the user's control of the enable switch and the coupler switch, and is divided into a preventive protection state, a process protection state, and a disconnection protection state. The current on-off state of the coupler is determined according to the on-off state of the coupler indicator light. If the coupler indicator light is always on, it means that the coupler is in a closed state. If the coupler indicator light is always off, it means that the coupler is in a disconnected state. After determining the current protection state and on-off state of the coupler, it is necessary to determine the vehicle's preparation state in combination with the vehicle's current state information to determine whether the vehicle is currently ready to perform the coupler control action. There are differences in the judgment logic under different protection states, and the state information used for judgment will also be different. In the preventive protection state, it is necessary to determine whether the vehicle is currently in a ready state to perform the coupler closing action. In the process protection state, it is necessary to determine whether the vehicle is currently in a ready state to perform the coupler braking action. In the disconnection protection state, it is necessary to determine whether the vehicle is currently in a ready state to perform the coupler disconnection action. The ready state includes a ready state and an unready state.

[0044] Step S103 , determining whether to execute a control action of the coupler based on the protection state of the coupler, the open / closed state of the coupler, and the ready state of the vehicle.

[0045] Specifically, in the embodiment of the present invention, before executing the control action of the coupler, it is necessary to comprehensively judge whether the open and closed state of the coupler and the ready state of the vehicle under the current protection state meet the protection judgment logic. Only when both the open and closed state and the ready state meet the judgment conditions under the protection state can the corresponding control action be executed, including the closing action before the auxiliary drive steering axle participates in the transmission work, the braking action during the transmission work, and the disconnection action before the end of the transmission work, so as to ensure that the safety of the auxiliary drive steering axle can be guaranteed when executing any control action to avoid damage to the vehicle.

[0046] The control method of the coupler provided by the embodiment of the present invention determines the protection state and the on-off state of the coupler according to the switch information of the coupler, determines the ready state of the vehicle according to the protection state and the state information of the vehicle, and determines whether to execute the control action of the coupler based on the protection state, the on-off state and the ready state. The present invention can determine whether to execute the control action according to the vehicle state and the coupler state, realize automatic control of the coupler, protect the axle, and avoid damage to the vehicle caused by the driver's misoperation.

[0047] In this embodiment, a control method for a coupler is provided, which can be used in the controller of the above-mentioned all-terrain crane. Figure 2 is a flow chart of a control method of a coupler according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0048] Step S201, obtain the switch information of the coupler and the status information of the vehicle. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0049] Step S202, determining the protection state and the open / close state of the coupler according to the switch information, and determining the ready state of the vehicle according to the protection state of the coupler and the state information of the vehicle.

[0050] Specifically, the above step S202 includes:

[0051] Step S2021, if the first switch information and the second switch information are both on, the protection state of the coupler is determined to be a preventive protection state; if the first switch information and the second switch information are both off, the protection state of the coupler is determined to be a disconnection protection state; if the on-off state changes from a normally off state to a normally on state, the protection state of the coupler is determined to be a process protection state.

[0052] Specifically, in an embodiment of the present invention, an enabling switch and a coupler switch are provided to control the closing or disconnection of the coupler. When the user presses the enabling switch and the coupler switch at the same time, the corresponding switch information is obtained through the first information acquisition module, and it is determined whether the user intends to close the coupler or disconnect the coupler at this time based on the switch information. If it is determined based on the switch information that the user wants to close the coupler at this time, it is determined that it is in a preventive protection state at this time, that is, the coupler is not closed but is about to be closed, and under normal circumstances, the coupler switch indicator light is in a normally off state. If it is determined based on the switch information that the user wants to disconnect the closer at this time, it is determined that it is in a disconnection protection state at this time, that is, the coupler is closed but is about to be disconnected, and under normal circumstances, the switch indicator light should be in a normally on state. If the coupler indicator light changes from a normally off state to a normally on state, it means that the auxiliary drive axle is working and participating in the transmission, and it is determined that it is in a process protection state at this time.

[0053] Step S2022: if the on-off state is the normally off state, then the on-off state of the coupler is determined to be the disconnected state; if the on-off state is the normally on state, then the on-off state of the coupler is determined to be the closed state.

[0054] Specifically, in an embodiment of the present invention, a switch indicator light corresponding to the coupler is provided, and the on and off state of the switch indicator light indicates whether the current coupler is closed. The on and off state of the coupler indicator light is obtained by the first information acquisition module, and a corresponding signal is output. If the output signal of the first information acquisition module is "0", it means that the coupler indicator light is in a normally off state, and the corresponding coupler is in a disconnected state; if the output signal of the first information acquisition module is "1", it means that the coupler indicator light is in a normally on state, and the corresponding coupler is in a closed state.

[0055] Step S2023, if the protection state is the preventive protection state, determine whether the first gear information is low gear, whether the second gear information is neutral, whether the first switch information is open, whether the second switch information is open, whether the gear pressure is greater than the preset pressure threshold, and whether the vehicle speed is equal to the first preset speed threshold. If all are met, determine that the ready state is the prepared state, otherwise the ready state is the unprepared state.

[0056] Specifically, in the embodiment of the present invention, the second information collection module collects the vehicle status information, including: the gear information of the transfer case, the gear information of the transmission, the switch information of the inter-wheel differential, the switch information of the inter-axle differential, the gear-engaging air pressure, the vehicle speed and the steering angle, and determines the vehicle's ready state at this time by judging different status information in different protection states. In the preventive protection state, the status information used includes: the gear information of the transfer case, the gear information of the transmission, the switch information of the inter-wheel differential, the switch information of the inter-axle differential, the gear-engaging air pressure and the vehicle speed. If the second information acquisition module collects the transfer case gear position information as low gear, the output signal is "1", otherwise the output signal is "0"; if the inter-wheel differential switch is in the open state, the output signal is "1", otherwise the output signal is "0", and the screen prompts "Please turn on the inter-wheel differential lock"; if the inter-axle differential switch is in the open state, the output signal is "1", otherwise the output signal is "0", and the screen prompts "Please turn on the inter-axle differential lock"; if the gear pressure is greater than 6 bar, the output signal is "1", otherwise the output signal is "0"; if the gearbox gear is neutral, the output signal is "1", otherwise the output signal is "0"; if the vehicle speed is equal to 0, the output signal is "1", otherwise the output signal is "0", which is only for example and not limited to this. The embodiment of the present invention determines whether the transfer case gear information is low gear, whether the inter-wheel differential switch is in the open state, whether the inter-axle differential switch is in the open state, whether the gear-engaging air pressure is greater than 6 bar, whether the gear position of the transmission is neutral, and whether the vehicle speed is equal to 0 according to the output signal of the second information acquisition module. Only when the output signals of the transfer case gear, the inter-wheel differential switch, the inter-axle differential switch, the gear-engaging air pressure, the gear position of the transmission and the vehicle speed are all "1", the second information acquisition module finally outputs a state signal of "1", corresponding to the ready state, otherwise the second information acquisition module outputs a state signal of "0", corresponding to the unready state.

[0057] Step S2024, if the protection state is the process protection state, determine whether the first gear information is high, whether the vehicle speed is greater than the second preset speed threshold, and whether the steering angle is not equal to the preset angle threshold. If at least one of the conditions is met, determine that the ready state is the prepared state, otherwise the ready state is the unprepared state.

[0058] Specifically, in the embodiment of the present invention, in the process protection state, the state information used includes: the gear information of the transfer case, the vehicle speed and the steering angle. If the second information acquisition module collects that the vehicle speed is greater than 5km / h, the output signal is "1", otherwise the output signal is "0"; if the vehicle steering angle is not equal to 0, the output signal is "1", otherwise the output signal is "0"; if the transfer case gear information is collected as high-grade, the output signal is "1", otherwise the output signal is "0". The embodiment of the present invention determines whether the transfer case gear information is high-grade, whether the vehicle speed is greater than 5km / h, and whether the steering angle is 0 according to the output signal of the second information acquisition module. Only if one of the transfer case gear, vehicle speed and steering angle output signals is "1", the second information acquisition module outputs a state signal of "1", corresponding to the ready state, otherwise the output state signal is "0", corresponding to the unready state.

[0059] Step S2025, if the protection state is the disconnected protection state, determine whether the second gear information is neutral and whether the vehicle speed is equal to the first preset speed threshold. If both are satisfied, determine that the preparation state is the prepared state, otherwise the preparation state is the unprepared state.

[0060] Specifically, in an embodiment of the present invention, in the process protection state, the status information used includes: the gear position information of the gearbox and the vehicle speed. If the second information acquisition module collects that the gear position of the gearbox is neutral, the output signal is "1", otherwise the output signal is "0"; if the vehicle speed is equal to 0, the output signal is "1", otherwise the output signal is "0". The embodiment of the present invention determines whether the gear position of the gearbox is neutral and whether the vehicle speed is equal to 0 based on the output signal of the second information acquisition module. Only when the output signals of the gear position and the vehicle speed are both "1", the second information acquisition module finally outputs a status signal of "1", corresponding to the prepared state, otherwise the second information acquisition module outputs a status signal of "0", corresponding to the unprepared state.

[0061] Step S203, determining whether to execute the control action of the coupler based on the protection state of the coupler, the open and closed state of the coupler and the ready state of the vehicle. Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0062] The control method of the coupler provided by the embodiment of the present invention determines the protection state and the on-off state of the coupler according to the switch information of the coupler, determines the ready state of the vehicle according to the protection state and the state information of the vehicle, and determines whether to execute the control action of the coupler based on the protection state, the on-off state and the ready state. The present invention can determine whether to execute the control action according to the vehicle state and the coupler state, realize automatic control of the coupler, protect the axle, and avoid damage to the vehicle caused by the driver's misoperation.

[0063] In this embodiment, a control method for a coupler is provided, which can be used in the controller of the above-mentioned all-terrain crane. Figure 3 is a flow chart of a control method of a coupler according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0064] Step S301, obtain the switch information of the coupler and the status information of the vehicle. Figure 2 Step S201 of the illustrated embodiment will not be described in detail here.

[0065] Step S302: Determine the protection state and the open / close state of the coupler according to the switch information, and determine the vehicle's readiness state according to the protection state of the coupler and the vehicle's state information. Figure 2 Step S202 of the illustrated embodiment will not be described in detail here.

[0066] Step S303 , determining whether to execute a control action of the coupler based on the protection state of the coupler, the open / closed state of the coupler and the ready state of the vehicle.

[0067] Specifically, the above step S303 includes:

[0068] Step S3031, in the preventive protection state, if the switch state is the open state and the ready state is the prepared state, the closing action is performed; if the switch state is the open state and the ready state is the unprepared state, the closing action is not performed.

[0069] Specifically, in an embodiment of the present invention, when the driver presses the enabling switch and the coupler switch at the same time, and the first information acquisition module outputs a status signal of "0" for the open and closed state, and the second information acquisition module outputs a status signal of "1" for the ready state, the action execution module receives the closing instruction of the switch and controls the coupler to close. At this time, the coupler switch indicator light changes from normally off to normally on, and the auxiliary drive steering axle works and participates in the transmission. However, if the first information acquisition module outputs a status signal of "0" for the open and closed state, and the second information acquisition module outputs a status signal of "0" for the ready state, it means that the vehicle has not reached the condition of not damaging the auxiliary drive steering axle at this time, so the action execution module does not perform the closing action.

[0070] Step S3032, in the process protection state, if the switch state is the closed state and the ready state is the prepared state, the braking action is performed; if the switch state is the closed state and the ready state is the unprepared state, the braking action is not performed.

[0071] Specifically, in an embodiment of the present invention, when the coupler switch is always on, that is, the auxiliary drive steering axle is working and participating in the transmission, the first information acquisition module and the second information acquisition module collect relevant signals in real time, and update the opening and closing state of the coupler and the ready state of the vehicle in real time. If the status signal of the opening and closing state output by the first information acquisition module is "1", and the status signal of the ready state output by the second information acquisition module is "1", then after the action execution module receives the braking instruction and automatically controls the brake to brake, the coupler switch is automatically disconnected and the coupler switch is turned off. However, if the status signal of the opening and closing state output by the first information acquisition module is "1", and the status signal of the ready state output by the second information acquisition module is "0", the action execution module does not perform the braking action.

[0072] Step S3033, in the disconnection protection state, if the switch state is the closed state and the ready state is the prepared state, the disconnection action is performed; if the switch state is the closed state and the ready state is the unprepared state, the disconnection action is not performed.

[0073] Specifically, in the embodiment of the present invention, when the driver presses the enabling switch and the coupler switch at the same time again, and the first information acquisition module outputs the status signal of the open and closed state as "1", and the second information acquisition module outputs the status signal of the ready state as "1", the action execution module receives the disconnection instruction of the switch and controls the coupler to disconnect. At this time, the coupler switch indicator light changes from being always on to being always off, and the auxiliary drive steering axle ends its work. However, if the first information acquisition module outputs the status signal of the open and closed state as "1", and the second information acquisition module outputs the status signal of the ready state as "0", it means that the vehicle has not reached the condition of not damaging the auxiliary drive steering axle at this time, so the action execution module does not perform the disconnection action.

[0074] Step S304: generate prompt information and display the prompt information on a display screen.

[0075] Specifically, in an embodiment of the present invention, when the status signal output by the second information acquisition module is "0", it means that executing the control action at this time will cause damage to the auxiliary drive steering axle, and therefore a prompt message is generated and displayed on the display screen. For example, in the preventive protection state, if the status signal output by the second information acquisition module is "0", the feedback screen prompts "the auxiliary drive opening condition is not met"; in the disconnection protection state, if the status signal output by the second information acquisition module is "0", the feedback screen prompts "the auxiliary drive closing condition is not met". This is only an example and is not limited to this.

[0076] The control method of the coupler provided by the embodiment of the present invention determines the protection state and the on-off state of the coupler according to the switch information of the coupler, determines the ready state of the vehicle according to the protection state and the state information of the vehicle, and determines whether to execute the control action of the coupler based on the protection state, the on-off state and the ready state. The present invention can determine whether to execute the control action according to the vehicle state and the coupler state, realize automatic control of the coupler, protect the axle, and avoid damage to the vehicle caused by the driver's misoperation.

[0077] In this embodiment, a control device for a coupler 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 implement a combination of software and / or hardware of 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.

[0078] This embodiment provides a control device for a coupler, such as Figure 4 As shown, including:

[0079] The information acquisition module 401 is used to obtain the switch information of the coupler and the status information of the vehicle.

[0080] The logic judgment module 402 is used to determine the protection state and the open / close state of the coupler according to the switch information, and determine the ready state of the vehicle according to the protection state of the coupler and the state information of the vehicle.

[0081] The action execution module 403 is used to determine whether to execute the control action of the coupler based on the protection state of the coupler, the open and closed state of the coupler and the ready state of the vehicle.

[0082] In some optional implementations, the switch information of the coupler includes: first switch information of the enable switch, second switch information of the coupler switch, and the on and off state of the switch indicator light; the logic judgment module 402 includes:

[0083] The first judgment unit is used to determine that the protection state of the coupler is a preventive protection state if the first switch information and the second switch information are both on, and to determine that the protection state of the coupler is a disconnection protection state if the first switch information and the second switch information are both off; if the on-off state changes from a normally off state to a normally on state, then the protection state of the coupler is determined to be a process protection state.

[0084] The second judgment unit is used to judge that the on / off state of the coupler is an open state if the on / off state is a normally off state, and to judge that the on / off state of the coupler is a closed state if the on / off state is a normally on state.

[0085] In some optional implementations, the vehicle status information includes: first gear information of the transfer case, second gear information of the gearbox, first switch information of the inter-wheel differential, second switch information of the inter-axle differential, gear-engaging air pressure, vehicle speed and steering angle, and the logic judgment module 402 further includes:

[0086] The third judgment unit is used to judge whether the first gear information is low gear, whether the second gear information is neutral, whether the first switch information is open, whether the second switch information is open, whether the gear pressure is greater than a preset pressure threshold, and whether the vehicle speed is equal to a first preset speed threshold if the protection state is a preventive protection state. If all of them are met, the ready state is determined to be a prepared state, otherwise the ready state is an unprepared state.

[0087] The fourth judgment unit is used to judge whether the first gear information is high, whether the vehicle speed is greater than the second preset speed threshold, and whether the steering angle is not equal to the preset angle threshold if the protection state is the process protection state. If at least one of the above is met, the ready state is determined to be the prepared state, otherwise the ready state is the unprepared state.

[0088] The fifth judgment unit is used to judge whether the second gear information is neutral and whether the vehicle speed is equal to the first preset speed threshold if the protection state is the disconnected protection state. If both are satisfied, the preparation state is determined to be the prepared state, otherwise the preparation state is the unprepared state.

[0089] In some optional implementations, the action execution module 403:

[0090] The first action execution unit is used for executing the closing action in the preventive protection state if the opening and closing state is the disconnected state and the ready state is the prepared state, and not executing the closing action if the opening and closing state is the disconnected state and the ready state is the unprepared state.

[0091] The second action execution unit is used to execute the braking action if the opening and closing state is the closed state and the ready state is the prepared state in the process protection state, and not execute the braking action if the opening and closing state is the closed state and the ready state is the unprepared state.

[0092] The third action execution unit is used to, in the disconnection protection state, execute the disconnection action if the switch state is the closed state and the ready state is the prepared state, and not execute the disconnection action if the switch state is the closed state and the ready state is the unprepared state.

[0093] In some optional implementations, the device further includes: a reminder module, configured to generate reminder information and display the reminder information on a display screen.

[0094] 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.

[0095] The control device of the coupler 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.

[0096] The embodiment of the present invention also provides a computer device having the above Figure 4 The control device of the coupler is shown.

[0097] See also Figure 5 , Figure 5 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 5 As shown, the computer device includes: one or more processors 10, a memory 20, 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). Figure 5 A processor 10 is taken as an example.

[0098] 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.

[0099] 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.

[0100] 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 computer device, 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 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.

[0101] 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.

[0102] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0103] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0104] 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.

[0105] 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.

[0106] An embodiment of the present invention further provides a vehicle, such as an all-terrain crane, comprising:

[0107] Auxiliary drive steering axle, used to assist the vehicle in steering;

[0108] A coupler is connected to the auxiliary drive steering axle and is used to drive and control the auxiliary drive steering axle;

[0109] The controller is connected to the coupler to perform the above Figure 1 , Figure 2 or Figure 3 The control method of the coupler shown.

[0110] 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 method for controlling a coupler, characterized in that: The method comprises: Obtain the switch information of the coupler and the status information of the vehicle; Determine the protection state and the open / close state of the coupler according to the switch information, and determine the readiness state of the vehicle according to the protection state of the coupler and the state information of the vehicle; Whether to execute a control action of the coupler is determined based on a protection state of the coupler, an open / closed state of the coupler, and a ready state of the vehicle.

2. The method according to claim 1, characterized in that The switch information of the coupler includes: first switch information of the enable switch, second switch information of the coupler switch and the on and off status of the switch indicator light; Determining the protection state and the on / off state of the coupler according to the switch information includes: If the first switch information and the second switch information are both on, the protection state of the coupler is determined to be a preventive protection state; if the first switch information and the second switch information are both off, the protection state of the coupler is determined to be a disconnection protection state; if the on-off state changes from a normally off state to a normally on state, the protection state of the coupler is determined to be a process protection state; If the on-off state is the normally off state, the on-off state of the coupler is determined to be the disconnected state; if the on-off state is the normally on state, the on-off state of the coupler is determined to be the closed state.

3. The method according to claim 2, characterized in that The vehicle status information includes: first gear information of the transfer case, second gear information of the gearbox, first switch information of the inter-wheel differential, second switch information of the inter-axle differential, gear-engaging air pressure, vehicle speed and steering angle; The determining of the preparation state according to the protection state of the coupler and the state information of the vehicle comprises: If the protection state is the preventive protection state, it is determined whether the first gear information is low gear, whether the second gear information is neutral gear, whether the first switch information is on, whether the second switch information is on, whether the gear-engaging air pressure is greater than a preset air pressure threshold, and whether the vehicle speed is equal to a first preset speed threshold. If all of them are satisfied, it is determined that the preparation state is a prepared state, otherwise the preparation state is an unprepared state; If the protection state is the process protection state, then determining whether the first gear information is high gear, whether the vehicle speed is greater than a second preset speed threshold, and whether the steering angle is not equal to a preset angle threshold, if at least one of the above is satisfied, determining that the preparation state is a prepared state, otherwise the preparation state is an unprepared state; If the protection state is the disconnected protection state, it is determined whether the second gear position information is neutral and whether the vehicle speed is equal to a first preset speed threshold. If both are satisfied, it is determined that the preparation state is a prepared state, otherwise the preparation state is an unprepared state.

4. The method according to claim 2, characterized in that: The determining whether to execute the control action of the coupler based on the protection state of the coupler, the open / closed state of the coupler and the ready state of the vehicle comprises: In the preventive protection state, if the opening and closing state is the open state and the ready state is the prepared state, the closing action is performed; if the opening and closing state is the open state and the ready state is the unprepared state, the closing action is not performed; In the process protection state, if the opening and closing state is the closed state and the ready state is the prepared state, the braking action is performed; if the opening and closing state is the closed state and the ready state is the unprepared state, the braking action is not performed; In the disconnection protection state, if the switch state is the closed state and the ready state is the prepared state, the disconnection action is performed; if the switch state is the closed state and the ready state is the unprepared state, the disconnection action is not performed.

5. The method according to claim 4, characterized in that After not performing the closing action or not performing the opening action, the method further includes: Generate prompt information, and display the prompt information on a display screen.

6. A control device for a coupler, characterized in that: The device comprises: An information collection module is used to obtain the switch information of the coupler and the status information of the vehicle; a logic judgment module, used to determine the protection state and the open / close state of the coupler according to the switch information, and determine the readiness state of the vehicle according to the protection state of the coupler and the state information of the vehicle; An action execution module is used to determine whether to execute a control action of the coupler based on a protection state of the coupler, an open / closed state of the coupler, and a ready state of the vehicle.

7. A computer device, characterized in that: include: 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 control method of the coupler according to any one of claims 1 to 5 by executing the computer instructions.

8. 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 coupler according to any one of claims 1 to 5.

9. A computer program product, characterized in that The invention comprises computer instructions, wherein the computer instructions are used to make a computer execute the control method of the coupler according to any one of claims 1 to 5.

10. A vehicle, characterized in that: include: Auxiliary drive steering axle, used to assist the vehicle in steering; A coupler connected to the auxiliary drive steering axle and used for driving and controlling the auxiliary drive steering axle; A controller is connected to the coupler and is used to execute the coupler control method according to any one of claims 1 to 5.

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