Braking energy recovery method and device, storage medium and working machine

Abstract

The embodiment of the invention provides a braking energy recovery method and device, a storage medium and an operation machine. The method comprises the steps that the first braking state of a hydraulic braking pedal and the second braking state of an electric braking pedal are obtained; determining a braking type of the working machine; when the braking type is determined to be hydraulic braking, controlling the working machine to enter a hydraulic braking mode; the first opening degree of the hydraulic brake pedal and the operation speed of the operation machine are obtained; when the first opening degree is larger than or equal to the first threshold value and the operation speed is larger than the preset speed, the operation machine is controlled to enter the electric braking mode; determining a first negative torque value generated by the walking motor in the hydraulic braking mode and the electric braking mode; determining a first electric energy feedback value which can be fed back to the power battery when the operation machine decelerates under the braking type; the electric energy of the first electric energy feedback value is recycled to the power battery, the electric braking mode is started when the operation machine is in the hydraulic braking mode, braking force is increased, and the energy recycling efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of energy recovery of working machinery, and specifically to a braking energy recovery method, device, storage medium and working machinery. Background Art

[0002] For example, electric loaders, as an important type of operating machinery, play a key role in many fields such as construction, mining, and logistics. Operating machinery relies on power batteries to drive the travel motor to move the vehicle. The endurance of operating machinery is limited by the battery capacity, and improving energy recovery efficiency is of great significance to extending the endurance of operating machinery.

[0003] At present, in addition to increasing the battery power of the power system, the braking energy of the electric loader is also recovered to extend the cruising time of the operating machinery. However, during hydraulic braking, the electric brake is not involved in the linkage, the braking force is low, the kinetic energy of the vehicle is dissipated in the form of heat, and the energy recovery efficiency is low. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a braking energy recovery method, device, storage medium and working machine, so as to solve the problems of low braking force and low energy recovery efficiency of working machines in the prior art.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a brake energy recovery method, which is applied to an operating machine, wherein the operating machine includes an electric brake pedal, a hydraulic brake pedal, a travel motor and a power battery, and the method includes:

[0006] Acquire a first braking state of a hydraulic brake pedal and a second braking state of an electric brake pedal;

[0007] determining a braking type of the working machine according to the first braking state and the second braking state;

[0008] When the braking type is determined to be hydraulic braking, controlling the working machine to enter a hydraulic braking mode;

[0009] Acquiring a first opening degree of a hydraulic brake pedal and an operating speed of the working machine;

[0010] When the first opening is greater than or equal to the first threshold value and the running speed is greater than the preset speed, the operating machine is controlled to enter the electric braking mode;

[0011] Determine a first negative torque value generated by the travel motor in the hydraulic braking mode and the electric braking mode according to the first opening and the maximum torque value of the travel motor;

[0012] Determine, according to the first negative torque value, a first electric energy feedback value that can be fed back to the power battery when the working machine decelerates under the braking type;

[0013] The electric energy of the first electric energy feedback value is recovered to the power battery.

[0014] In an embodiment of the present application, determining the first electric energy feedback value that can be fed back to the power battery when the working machine decelerates under the braking type based on the first negative torque value includes: obtaining the braking energy conversion efficiency of the working machine; determining the first speed difference between the operating speed of the walking motor and the preset speed threshold; determining the operating time of the electric braking mode under the hydraulic braking mode; determining the first electric energy feedback value based on the first negative torque value, the braking energy conversion efficiency, the first speed difference and the operating time.

[0015] In an embodiment of the present application, the method also includes: converting the first electric energy feedback value into an SOC feedback value of the power battery; obtaining the current SOC value of the power battery, and determining the total SOC value between the SOC feedback value and the current SOC value; when the total SOC value is greater than a preset SOC threshold, updating the first negative torque value according to the total SOC value and the preset SOC threshold.

[0016] In an embodiment of the present application, the method also includes: adjusting the preset SOC threshold to the maximum SOC value when the change in the first opening within a preset time period is greater than or equal to a second threshold; adjusting the first negative torque value to the maximum torque value of the walking motor.

[0017] In the embodiment of the present application, the method further includes: when the first opening is less than a first threshold value, not controlling the working machine to enter the electric braking mode.

[0018] In an embodiment of the present application, the method also includes: when the braking type is determined to be electric braking, controlling the working machine to enter the electric braking mode and obtaining a second opening of the electric brake pedal; determining a second negative torque value generated by the walking motor in the electric braking mode based on the second opening and the maximum torque value of the walking motor; determining a second electric energy feedback value that can be fed back to the power battery when the working machine decelerates under the braking type based on the second negative torque value; and recovering the electric energy of the second electric energy feedback value to the power battery.

[0019] In an embodiment of the present application, the method also includes: after controlling the working machine to enter the electric braking mode, obtaining the operating speed of the working machine in real time; when the operating speed drops to a preset operating speed, obtaining the second opening of the electric brake pedal; when the second opening is greater than a second threshold, simultaneously controlling the working machine to enter the hydraulic braking mode.

[0020] A second aspect of the present application provides a braking energy recovery device, comprising:

[0021] a memory configured to store instructions;

[0022] The processor is configured to call instructions from the memory and implement the above-mentioned braking energy recovery method when executing the instructions.

[0023] A third aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configure the processor to execute the above-mentioned braking energy recovery method.

[0024] A fourth aspect of the present application provides a working machine, comprising:

[0025] Electric brake pedal;

[0026] Hydraulic brake pedal;

[0027] Travel motor, used to drive the operating machinery;

[0028] Power battery, used to provide electrical energy;

[0029] The above-mentioned braking energy recovery device.

[0030] Through the above technical scheme, the first braking state of the hydraulic brake pedal and the second braking state of the electric brake pedal are obtained; the braking type of the working machine is determined according to the first braking state and the second braking state; when the braking type is determined to be hydraulic braking, the working machine is controlled to enter the hydraulic braking mode; the first opening of the hydraulic brake pedal and the running speed of the working machine are obtained; when the first opening is greater than or equal to the first threshold, and the running speed is greater than the preset speed, the working machine is controlled to also enter the electric braking mode; according to the first opening and the maximum torque value of the walking motor, the first negative torque value generated by the walking motor in the hydraulic braking mode and the electric braking mode is determined; according to the first negative torque value, the first electric energy feedback value that can be fed back to the power battery when the working machine decelerates under the braking type is determined; the electric energy of the first electric energy feedback value is recovered to the power battery, and the electric braking mode is started at the same time when the working machine is in the hydraulic braking mode, so as to increase the braking force, improve the energy recovery efficiency of the walking motor, and extend the endurance of the working machine.

[0031] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0033] Figure 1 The schematic diagram shows a flow chart of a braking energy recovery method according to an embodiment of the present application;

[0034] Figure 2 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0036] It should be noted that if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0037] Figure 1 The schematic diagram of the process flow of the braking energy recovery method according to the embodiment of the present application is shown schematically. Figure 1 As shown, in one embodiment of the present application, a braking energy recovery method is provided, which is applied to a working machine, wherein the working machine includes an electric brake pedal, a hydraulic brake pedal, a travel motor and a power battery, and includes the following steps:

[0038] Step 101: Acquire a first braking state of a hydraulic brake pedal and a second braking state of an electric brake pedal.

[0039] The working machine includes an electric brake pedal, a hydraulic brake pedal, a travel motor and a power battery. The electric brake pedal is used to brake the working machine by electric braking, the hydraulic brake pressure plate is used to brake the working machine by hydraulic braking, the travel motor is used to drive the working machine to operate, and the power battery is used to provide electrical energy to the working machine. The working machine may include an electric loader.

[0040] When the working machine is braked for energy recovery, the processor can obtain the first braking state of the hydraulic brake pedal and the second braking state of the electric brake pedal. That is, the first braking state refers to the braking state of the hydraulic brake pedal, and the second braking state refers to the braking state of the electric brake pedal. The braking state may include an activated state and an inactivated state.

[0041] Step 102: Determine the braking type of the working machine according to the first braking state and the second braking state.

[0042] The processor may determine the braking type of the working machine according to the first braking state and the second braking state. For example, if the first braking state is an on state, it may be determined that the user has stepped on the hydraulic brake pedal and the opening of the hydraulic brake pedal is within the valid range. If the second braking state is an on state, it may be determined that the user has stepped on the electric brake pedal and the opening of the electric brake pedal is within the valid range.

[0043] If the first braking state is in the on state and the second braking state is in the off state, it can be determined that the braking type of the working machine is hydraulic braking. If the first braking state is in the off state and the second braking state is in the on state, it can be determined that the braking type of the working machine is electric braking. If both the first braking state and the second braking state are in the off state, it can be determined that the working machine has not entered the braking mode. If both the first braking state and the second braking state are in the on state, it can be determined that the braking type of the working machine is the dual braking mode. At this time, the hydraulic braking signal can be responded to first to ensure the safe braking of the working machine.

[0044] Step 103: When the braking type is determined to be hydraulic braking, control the working machine to enter a hydraulic braking mode.

[0045] When the braking type is determined to be hydraulic braking, the processor can control the working machine to enter the hydraulic braking mode. In the hydraulic braking mode, the positive torque of the travel motor stops outputting, the hydraulic braking system is started, the hydraulic solenoid valve is energized, and the hydraulic system pressure is transmitted to the brake caliper through the pipeline, pushing the brake pad to contact the brake disc, and quickly achieving braking.

[0046] Step 104: Obtain a first opening degree of the hydraulic brake pedal and a running speed of the working machine.

[0047] In the hydraulic braking mode, the electric brake can be turned on according to actual needs to enhance the braking force and improve the energy recovery efficiency. Specifically, the processor can obtain the first opening of the hydraulic brake pedal and the operating speed of the working machine. For example, the working machine can be equipped with a speed sensor. The speed sensor can detect the operating speed of the travel motor, and the operating speed of the working machine can be determined according to the operating speed of the travel motor. For another example, the working machine can be equipped with a speed sensor, and the speed sensor can collect the operating speed of the working machine.

[0048] Step 105: When the first opening is greater than or equal to the first threshold and the running speed is greater than a preset speed, the working machine is controlled to enter an electric braking mode.

[0049] When the first opening is greater than or equal to the first threshold and the running speed is greater than the preset speed, the processor can control the working machine to enter the electric braking mode. The first threshold and the preset speed can be customized according to actual conditions. For example, the first threshold can be set to 0.5, and the preset speed can be set to 10 km / h.

[0050] In the embodiment of the present application, the method further includes: when the first opening is less than a first threshold value, not controlling the working machine to enter the electric braking mode.

[0051] When the first opening degree is less than the first threshold, the processor may not control the working machine to enter the electric braking mode.

[0052] Step 106: Determine a first negative torque value generated by the travel motor in the hydraulic braking mode and the electric braking mode according to the first opening and the maximum torque value of the travel motor.

[0053] The processor can determine the first negative torque value generated by the travel motor in the hydraulic braking mode and the electric braking mode according to the first opening and the maximum torque value of the travel motor. Specifically, the processor can determine the product of the first opening and the maximum torque value of the travel motor as the first negative torque value generated by the travel motor in the hydraulic braking mode and the electric braking mode.

[0054] In one embodiment, the first negative torque value generated by the travel motor in the hydraulic braking mode and the electric braking mode can be determined by the following formula:

[0055] T1=b*Tmax

[0056] Wherein, T1 refers to the first negative torque value, b refers to the first opening of the hydraulic brake pedal, and Tmax refers to the maximum torque value of the travel motor. The value of b is determined by the depth of the hydraulic brake pedal stepped on by the user in the cab, and its range is [0, 1].

[0057] Step 107: Determine, according to the first negative torque value, a first electric energy feedback value that can be fed back to the power battery when the working machine decelerates under the braking type.

[0058] Step 108: Recover the electric energy of the first electric energy feedback value to the power battery.

[0059] The processor can determine the first electric energy feedback value that can be fed back to the power battery when the working machine decelerates under the braking type according to the first negative torque value. Specifically, in the embodiment of the present application, determining the first electric energy feedback value that can be fed back to the power battery when the working machine decelerates under the braking type according to the first negative torque value includes: obtaining the braking energy conversion efficiency of the working machine; determining the first speed difference between the running speed of the walking motor and the preset speed threshold; determining the running time of the electric braking mode under the hydraulic braking mode; determining the first electric energy feedback value according to the first negative torque value, the braking energy conversion efficiency, the first speed difference and the running time. The processor can recover the electric energy of the first electric energy feedback value to the power battery.

[0060] The processor can obtain the braking energy conversion efficiency of the working machine, and determine the first speed difference between the running speed of the travel motor and the preset speed threshold. Among them, the preset speed threshold refers to the speed of the travel motor when the working machine is at the braking speed threshold. The braking speed threshold is 5km / h. The processor can determine the operating time of the electric braking mode under the hydraulic braking mode. The processor can determine the first electric energy feedback value based on the first negative torque value, the braking energy conversion efficiency, the first speed difference and the operating time. Specifically, the processor can determine the product between the braking energy conversion efficiency, the first negative torque value and the first speed difference, and weight the operating time, and determine the ratio between the determined product and the weighted operating time as the first electric energy feedback value.

[0061] In one embodiment, the first electric energy feedback value that can be fed back to the power battery when the working machine decelerates under the braking type is determined by the following formula:

[0062] E1_Feedback=η*T1*(n0-*n 阈值 ) / 9550*t

[0063] Wherein, E1_feedback refers to the first electric energy feedback value, η refers to the braking energy conversion efficiency of the operating machine, T1 refers to the first negative torque value generated by the travel motor in the hydraulic braking mode and the electric braking mode, n0 refers to the running speed of the travel motor, and n 阈值 It refers to the preset speed threshold, that is, the speed of the travel motor when the operating machinery is at the braking speed threshold, and t refers to the operating time of the electric braking mode under the hydraulic braking mode.

[0064] In an embodiment of the present application, the method also includes: converting the first electric energy feedback value into an SOC feedback value of the power battery; obtaining the current SOC value of the power battery, and determining the total SOC value between the SOC feedback value and the current SOC value; when the total SOC value is greater than a preset SOC threshold, updating the first negative torque value according to the total SOC value and the preset SOC threshold.

[0065] The processor may convert the first electric energy feedback value into the SOC feedback value of the power battery. Specifically, the ratio between the first electric energy feedback value and the rated power of the vehicle may be determined as the SOC feedback value of the power battery. The processor may obtain the current SOC value of the power battery and determine the total SOC value between the SOC feedback value and the current SOC value. The processor may compare the total SOC value with a preset SOC threshold. The preset SOC threshold may be set to 95%.

[0066] When the total SOC value is greater than the preset SOC threshold, the processor may update the first negative torque value according to the total SOC value and the preset SOC threshold. Specifically, the processor may update the first negative torque value according to the difference between the total SOC value and the preset SOC threshold.

[0067] In one embodiment, the updated first negative torque value may be determined by the following formula:

[0068] T Δ负 =[1-(SOC_expected-SOC_threshold)]*T1

[0069] Among them, T Δ负 It refers to the updated first negative torque value, T1 refers to the first negative torque value, SOC_expected refers to the total SOC value between the SOC feedback value of the power battery and the current SOC value of the power battery, and SOC_threshold refers to the preset SOC threshold.

[0070] In an embodiment of the present application, the method also includes: adjusting the preset SOC threshold to the maximum SOC value when the change in the first opening within a preset time period is greater than or equal to a second threshold; adjusting the first negative torque value to the maximum torque value of the walking motor.

[0071] When the change in the first opening within the preset time period is greater than or equal to the second threshold, the operating machine may be in an emergency situation, and the processor may adjust the preset SOC threshold to the maximum SOC value, and the processor may adjust the first negative torque value to the maximum torque value of the travel motor. The preset time period and the second threshold can be set according to actual conditions. For example, the preset time period can be set to 0.1s, and the second threshold can be set to 0.5.

[0072] In an embodiment of the present application, the method also includes: when the braking type is determined to be electric braking, controlling the working machine to enter the electric braking mode and obtaining a second opening of the electric brake pedal; determining a second negative torque value generated by the walking motor in the electric braking mode based on the second opening and the maximum torque value of the walking motor; determining a second electric energy feedback value that can be fed back to the power battery when the working machine decelerates under the braking type based on the second negative torque value; and recovering the electric energy of the second electric energy feedback value to the power battery.

[0073] When the braking type is determined to be electric braking, the processor can control the working machine to enter the electric braking mode and obtain the second opening of the electric brake pedal. The processor can determine the second negative torque value generated by the travel motor in the electric braking mode according to the second opening and the maximum torque value of the travel motor.

[0074] In one embodiment, the second negative torque value generated by the travel motor in the electric braking mode can be determined by the following formula:

[0075] T2=a*Tmax

[0076] Wherein, T2 refers to the second negative torque value, a refers to the second opening of the electric brake pedal, and Tmax refers to the maximum torque value of the travel motor. The value of a is determined by the depth of the electric brake pedal stepped on by the user in the cab, and its range is [0, 1].

[0077] The processor can determine the second electric energy feedback value that can be fed back to the power battery by the deceleration of the working machine under the braking type according to the second negative torque value, and can recycle the electric energy of the second electric energy feedback value to the power battery. Specifically, the processor can obtain the braking energy conversion efficiency of the working machine, and determine the first speed difference between the running speed of the walking motor and the preset speed threshold. Among them, the preset speed threshold refers to the speed of the walking motor when the working machine is at the braking speed threshold. The braking speed threshold is 5km / h. The processor can determine the operating time of the electric braking mode. The processor can determine the second electric energy feedback value according to the second negative torque value, the braking energy conversion efficiency, the first speed difference and the operating time. Specifically, the processor can determine the product between the braking energy conversion efficiency, the second negative torque value and the first speed difference, and weight the operating time, and determine the ratio between the determined product and the weighted operating time as the second electric energy feedback value.

[0078] In one embodiment, the second electric energy feedback value that can be fed back to the power battery when the working machine decelerates under electric braking is determined by the following formula:

[0079] E2_feedback=η*T2*(n0-*n 阈值 ) / 9550*t

[0080] Wherein, E2_feedback refers to the second electric energy feedback value, η refers to the braking energy conversion efficiency of the operating machine, T2 refers to the second negative torque value generated by the travel motor in the electric braking mode, n0 refers to the running speed of the travel motor, and n 阈值 It refers to the preset speed threshold, that is, the speed of the travel motor when the operating machine is at the braking speed threshold, and t refers to the operating time of the electric braking mode.

[0081] In an embodiment of the present application, the method also includes: after controlling the working machine to enter the electric braking mode, obtaining the operating speed of the working machine in real time; when the operating speed drops to a preset operating speed, obtaining the second opening of the electric brake pedal; when the second opening is greater than a second threshold, simultaneously controlling the working machine to enter the hydraulic braking mode.

[0082] After controlling the working machine to enter the electric braking mode, the processor can obtain the operating speed of the working machine in real time. When the operating speed drops to the preset operating speed, the second opening of the electric brake pedal is obtained. Among them, the preset operating speed can be customized according to the actual situation. For example, the preset operating speed can be set to 5km / h. When the second opening is greater than the second threshold, it means that the user in the cab is still stepping on the electric brake plate at this time, and there is a need for further braking. The electric braking force is insufficient at low speed. At this time, the processor can simultaneously control the working machine to enter the hydraulic braking mode, so that the working machine can be parked smoothly and safely at low speed. Among them, the larger the second opening of the electric brake pedal, the greater the hydraulic braking force invested. For example, if the electric brake pedal opening a is within [0.5-0.9], hydraulic braking is invested. If the electric brake pedal opening a>0.9 or above, the maximum hydraulic braking force is invested.

[0083] Through the above technical scheme, the first braking state of the hydraulic brake pedal and the second braking state of the electric brake pedal are obtained; the braking type of the working machine is determined according to the first braking state and the second braking state; when the braking type is hydraulic braking, the working machine is controlled to enter the hydraulic braking mode, and the first opening of the hydraulic brake pedal and the running speed of the working machine are obtained; when the first opening is greater than or equal to the first threshold, and the running speed is greater than the preset speed, the working machine is controlled to enter the electric braking mode at the same time; according to the first opening and the maximum torque value of the walking motor, the first negative torque value required for the walking motor to start the electric braking mode simultaneously in the hydraulic braking mode is determined; according to the first negative torque value, the energy of the walking motor is recovered to the power battery, and the electric braking mode is started simultaneously when the working machine is in the hydraulic braking mode, so as to increase the braking force, improve the energy recovery efficiency of the walking motor, and extend the endurance of the working machine.

[0084] Figure 1 FIG. 1 is a flow chart of a braking energy recovery method in one embodiment. It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0085] In one embodiment, a braking energy recovery device is provided, comprising:

[0086] a memory configured to store instructions;

[0087] The processor is configured to call instructions from the memory and implement the above-mentioned braking energy recovery method when executing the instructions.

[0088] In one embodiment, a storage medium is provided, on which a program is stored, and when the program is executed by a processor, the above-mentioned braking energy recovery method is implemented.

[0089] In one embodiment, a processor is provided, and the processor is used to run a program, wherein the above-mentioned braking energy recovery method is executed when the program is run.

[0090] In an embodiment of the present application, a working machine is provided, comprising:

[0091] Electric brake pedal;

[0092] Hydraulic brake pedal;

[0093] Travel motor, used to drive the operating machinery;

[0094] Power battery, used to provide electrical energy;

[0095] The above-mentioned braking energy recovery device.

[0096] Among them, the electric brake pedal is used to brake the operating machinery by electric braking, the hydraulic brake pressure plate is used to brake the operating machinery by hydraulic braking, the travel motor is used to drive the operating machinery to operate, and the power battery is used to provide electrical energy to the operating machinery.

[0097] In one embodiment, the operating machine further includes a speed sensor. The operating speed of the travel motor can be monitored by the speed sensor. The operating speed of the operating machine can be determined based on the operating speed of the travel motor, or can be monitored by the speed sensor.

[0098] In one embodiment, the operating machine further includes a rotation speed sensor and a speed sensor. The operating rotation speed of the travel motor can be monitored by the rotation speed sensor. The operating speed of the operating machine can be monitored by the speed sensor.

[0099] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 2 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as the first electric energy feedback value. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a braking energy recovery method is implemented.

[0100] Those skilled in the art will understand that Figure 2 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0101] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: obtaining a first braking state of a hydraulic brake pedal and a second braking state of an electric brake pedal; determining a braking type of an operating machine according to the first braking state and the second braking state; when the braking type is determined to be hydraulic braking, controlling the operating machine to enter a hydraulic braking mode; obtaining a first opening of the hydraulic brake pedal and a running speed of the operating machine; when the first opening is greater than or equal to a first threshold value, and the running speed is greater than a preset speed, controlling the operating machine to also enter an electric braking mode; determining a first negative torque value generated by the travel motor in the hydraulic braking mode and the electric braking mode according to the first opening and the maximum torque value of the travel motor; determining a first electric energy feedback value that can be fed back to a power battery when the operating machine decelerates under the braking type according to the first negative torque value; and recovering the electric energy of the first electric energy feedback value to the power battery.

[0102] In one embodiment, determining the first electric energy feedback value that can be fed back to the power battery when the working machine decelerates under the braking type based on the first negative torque value includes: obtaining the braking energy conversion efficiency of the working machine; determining the first speed difference between the operating speed of the travel motor and the preset speed threshold; determining the operating time of the electric braking mode under the hydraulic braking mode; determining the first electric energy feedback value based on the first negative torque value, the braking energy conversion efficiency, the first speed difference and the operating time.

[0103] In one embodiment, the method also includes: converting the first electric energy feedback value into an SOC feedback value of the power battery; obtaining the current SOC value of the power battery, and determining a total SOC value between the SOC feedback value and the current SOC value; when the total SOC value is greater than a preset SOC threshold, updating the first negative torque value according to the total SOC value and the preset SOC threshold.

[0104] In one embodiment, the method further includes: when the change in the first opening within a preset time period is greater than or equal to a second threshold, adjusting the preset SOC threshold to a maximum SOC value; and adjusting the first negative torque value to the maximum torque value of the walking motor.

[0105] In one embodiment, the method further includes: when the first opening degree is less than a first threshold, not controlling the working machine to enter the electric braking mode.

[0106] In one embodiment, the method also includes: when the braking type is determined to be electric braking, controlling the working machine to enter the electric braking mode and obtaining a second opening of the electric brake pedal; determining a second negative torque value generated by the walking motor in the electric braking mode based on the second opening and the maximum torque value of the walking motor; determining a second electric energy feedback value that can be fed back to the power battery when the working machine decelerates under the braking type based on the second negative torque value; and recovering the electric energy of the second electric energy feedback value to the power battery.

[0107] In one embodiment, the method also includes: after controlling the working machine to enter the electric braking mode, obtaining the operating speed of the working machine in real time; when the operating speed drops to a preset operating speed, obtaining a second opening of the electric brake pedal; when the second opening is greater than a second threshold, simultaneously controlling the working machine to enter the hydraulic braking mode.

[0108] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initializes the steps of the braking energy recovery method.

[0109] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0110] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0111] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0112] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0113] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0114] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0115] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0116] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0117] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A braking energy recovery method, characterized in that: Applied to a working machine, the working machine includes an electric brake pedal, a hydraulic brake pedal, a travel motor and a power battery, and the method includes: Acquiring a first braking state of the hydraulic brake pedal and a second braking state of the electric brake pedal; determining a braking type of the working machine according to the first braking state and the second braking state; When the braking type is determined to be hydraulic braking, controlling the working machine to enter a hydraulic braking mode; acquiring a first opening degree of the hydraulic brake pedal and a running speed of the working machine; When the first opening is greater than or equal to a first threshold value and the operating speed is greater than a preset speed, controlling the working machine to enter an electric braking mode; Determining a first negative torque value generated by the travel motor in the hydraulic braking mode and the electric braking mode according to the first opening and the maximum torque value of the travel motor; Determining, according to the first negative torque value, a first electric energy feedback value that can be fed back to the power battery by decelerating the working machine under the braking type; The electric energy of the first electric energy feedback value is recovered to the power battery.

2. The braking energy recovery method according to claim 1, characterized in that: The step of determining the first electric energy feedback value that can be fed back to the power battery by the deceleration of the working machine under the braking type according to the first negative torque value includes: Obtaining the braking energy conversion efficiency of the working machine; Determine a first speed difference between the running speed of the travel motor and a preset speed threshold; determining an operating duration of the electric braking mode in the hydraulic braking mode; A first electric energy feedback value is determined according to the first negative torque value, the braking energy conversion efficiency, the first speed difference value, and the operating time.

3. The braking energy recovery method according to claim 2, characterized in that: The method further comprises: Converting the first electric energy feedback value into an SOC feedback value of the power battery; Obtaining a current SOC value of the power battery, and determining a total SOC value between the SOC feedback value and the current SOC value; When the total SOC value is greater than a preset SOC threshold, the first negative torque value is updated according to the total SOC value and the preset SOC threshold.

4. The braking energy recovery method according to claim 3, characterized in that: The method further comprises: When the change amount of the first opening within a preset time period is greater than or equal to a second threshold, adjusting the preset SOC threshold to a maximum SOC value; The first negative torque value is adjusted to be the maximum torque value of the walking motor.

5. The braking energy recovery method according to claim 1, characterized in that: The method further comprises: When the first opening degree is smaller than the first threshold value, the working machine is not controlled to enter the electric braking mode.

6. The braking energy recovery method according to claim 1, characterized in that: The method further comprises: When the braking type is determined to be electric braking, controlling the working machine to enter an electric braking mode, and acquiring a second opening degree of the electric brake pedal; Determining a second negative torque value generated by the travel motor in the electric braking mode according to the second opening and the maximum torque value of the travel motor; Determine, according to the second negative torque value, a second electric energy feedback value that can be fed back to the power battery by decelerating the working machine under the braking type; The electric energy of the second electric energy feedback value is recovered to the power battery.

7. The braking energy recovery method according to claim 6, characterized in that: The method further comprises: After controlling the working machine to enter the electric braking mode, obtaining the operating speed of the working machine in real time; When the running speed drops to a preset running speed, obtaining a second opening degree of the electric brake pedal; When the second opening degree is greater than a second threshold, the working machine is simultaneously controlled to enter a hydraulic braking mode.

8. A braking energy recovery device, characterized in that: The device comprises: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the braking energy recovery method according to any one of claims 1 to 7 when executing the instructions.

9. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to perform the braking energy recovery method according to any one of claims 1 to 7.

10. A working machine, characterized in that: include: Electric brake pedal; Hydraulic brake pedal; Travel motor, used to drive the operating machinery; Power battery, used to provide electrical energy; The braking energy recovery device according to claim 8.

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