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

Abstract

The embodiment of the application provides a brake energy recovery method, device, storage medium and working machine. The method comprises the following steps: acquiring a first brake state of a hydraulic brake pedal and a second brake state of an electric brake pedal; determining a brake type of the working machine; when the brake type is determined as 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 degree is greater than or equal to a first threshold value and the running speed is greater than a preset speed, controlling the working machine to also enter an electric braking mode; determining a first negative torque value generated by a walking motor in the hydraulic braking mode and the electric braking mode; determining a first electric energy feedback value that can be fed back to a power battery when the working machine decelerates in the brake type; and recovering electric energy of the first electric energy feedback value to the power battery, starting the electric braking mode at the same time when the working machine is in the hydraulic braking mode, increasing brake force, and improving energy recovery efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of work machine energy recovery, in particular to a brake energy recovery method and device, a storage medium and a work machine. BACKGROUND

[0002] For example, an electric loader as an important work machine plays a key role in many fields such as construction, mining, logistics, etc. The work machine relies on the power battery to drive the walking motor to walk. The endurance of the work machine is limited by the battery capacity, and improving the energy recovery efficiency is of great significance to prolong the endurance of the work machine.

[0003] At present, in addition to increasing the battery capacity of the power system, the brake energy of the electric loader is also recovered to prolong the endurance time of the work machine. However, during hydraulic braking, the electric brake does not participate in linkage, the braking force is low, and the kinetic energy of the whole vehicle is dissipated in the form of heat, so the energy recovery efficiency is low. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a brake energy recovery method, device, storage medium and work machine, which solves the problems of low braking force and low energy recovery efficiency of the work machine in the prior art.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a brake energy recovery method applied to a work machine, the work machine comprising an electric brake pedal, a hydraulic brake pedal, a walking motor and a power battery, the method comprising:

[0006] obtaining a first brake state of the hydraulic brake pedal and a second brake state of the electric brake pedal;

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

[0008] in the case that the brake type is determined as hydraulic braking, controlling the work machine to enter a hydraulic braking mode;

[0009] obtaining a first opening degree of the hydraulic brake pedal and a running speed of the work machine;

[0010] in the case that the first opening degree is greater than or equal to a first threshold value, and the running speed is greater than a preset speed, controlling the work machine to further enter an electric braking mode;

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

[0012] determining a first electric energy feedback value that can be fed back to the power battery by the work machine decelerating in the brake type according to the first negative torque value.

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

[0014] In the embodiment of the application, the first electric energy feedback value that the working machine can feed back to the power battery in the braking type deceleration is determined according to the first negative torque value, comprising: obtaining the braking energy conversion efficiency of the working machine; determining a first speed difference value between the running speed of the walking motor and the preset speed threshold; determining the running time length of the electric braking mode in 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 value and the running time length.

[0015] In the embodiment of the application, the method further comprises: converting the first electric energy feedback value into a 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; in the case that 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 the embodiment of the application, the method further comprises: in the case that the variation of the first opening degree within the preset time period is greater than or equal to the second threshold, adjusting the preset SOC threshold to the maximum SOC value; and adjusting the first negative torque value to the maximum torque value of the walking motor.

[0017] In the embodiment of the application, the method further comprises: in the case that the first opening degree is less than the first threshold, not controlling the working machine to enter the electric braking mode.

[0018] In the embodiment of the application, the method further comprises: in the case that the braking type is determined to be electric braking, controlling the working machine to enter the electric braking mode, and obtaining a second opening degree of the electric brake pedal; determining a second negative torque value generated by the walking motor in the electric braking mode according to the second opening degree and the maximum torque value of the walking motor; determining a second electric energy feedback value that the working machine can feed back to the power battery in the braking type deceleration according to the second negative torque value; and recovering the electric energy of the second electric energy feedback value to the power battery.

[0019] In the embodiment of the application, the method further comprises: after controlling the working machine to enter the electric braking mode, obtaining the running speed of the working machine in real time; in the case that the running speed is reduced to a preset running speed, obtaining a second opening degree of the electric brake pedal; and in the case that the second opening degree is greater than a second threshold, simultaneously controlling the working machine to enter the hydraulic braking mode.

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

[0021] a memory configured to store instructions;

[0022] a processor configured to call instructions from the memory and implement the above-mentioned brake energy recovery method when the instructions are executed.

[0023] The third aspect of the present application provides a machine-readable storage medium, which stores instructions configured to cause a processor to implement the above-mentioned brake energy recovery method when the instructions are executed by the processor.

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

[0025] an electric brake pedal;

[0026] a hydraulic brake pedal;

[0027] a traveling motor configured to drive the working machine;

[0028] a power battery configured to provide electric energy;

[0029] the above-mentioned brake energy recovery device.

[0030] According to the above technical solution, the first brake state of the hydraulic brake pedal and the second brake state of the electric brake pedal are obtained; the brake type of the working machine is determined according to the first brake state and the second brake state; in the case that the brake type is determined as hydraulic braking, the working machine is controlled to enter the hydraulic braking mode; the first opening degree of the hydraulic brake pedal and the running speed of the working machine are obtained; in the case that the first opening degree is greater than or equal to the first threshold value and the running speed is greater than the preset speed, the working machine is further controlled to enter the electric braking mode; the first negative torque value generated by the traveling motor in the hydraulic braking mode and the electric braking mode is determined according to the first opening degree and the maximum torque value of the traveling motor; the first electric energy feedback value that can be fed back to the power battery by the working machine in the brake type during deceleration is determined according to the first negative torque value; 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 traveling motor, and prolong the endurance time of the working machine.

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

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

[0033] Figure 1 a flowchart of the brake energy recovery method according to the embodiments of the present application is schematically shown;

[0034] Figure 2 Fig. 1 schematically shows an internal structure diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are merely used to explain and illustrate the embodiments of the present application and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort fall within the scope of protection of the present application.

[0036] It should be noted that if the present application has a description of "first", "second", etc., the description of "first", "second", etc. is only for the purpose of description and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions appears to be contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0037] Figure 1 Fig. 1 schematically shows a flowchart of a brake energy recovery method according to an embodiment of the present application. As shown in Fig. 1, in an embodiment of the present application, a brake energy recovery method is provided and applied to a working machine, the working machine comprising an electric brake pedal, a hydraulic brake pedal, a traveling motor and a power battery, and comprising the following steps: Figure 1

[0038] Step 101: obtaining a first brake state of the hydraulic brake pedal and a second brake state of the electric brake pedal.

[0039] The working machine comprises an electric brake pedal, a hydraulic brake pedal, a traveling motor and a power battery. The electric brake pedal is used to brake the working machine in an electric brake mode, the hydraulic brake pedal is used to brake the working machine in a hydraulic brake mode, the traveling motor is used to drive the working machine to run, and the power battery is used to provide electric energy for the working machine. The working machine can comprise an electric loader.

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

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

[0042] The processor can determine the brake type of the working machine according to the first brake state and the second brake state. For example, if the first brake state is the opened state, it can be determined that the user steps on the hydraulic brake pedal, and the opening degree of the hydraulic brake pedal is in the effective range. If the second brake state is the opened state, it can be determined that the user steps on the electric brake pedal, and the opening degree of the electric brake pedal is in the effective range.

[0043] If the first brake state is the opened state and the second brake state is the unopened state, it can be determined that the brake type of the working machine is hydraulic brake. If the first brake state is the unopened state and the second brake state is the opened state, it can be determined that the brake type of the working machine is electric brake. If the first brake state and the second brake state are both unopened states, it can be determined that the working machine does not enter the brake mode. If the first brake state and the second brake state are both opened states, it can be determined that the brake type of the working machine is the double brake mode, at this time, the hydraulic brake signal can be responded preferentially to ensure the safe braking of the working machine.

[0044] Step 103: controlling the working machine to enter the hydraulic brake mode when the brake type is determined as the hydraulic brake.

[0045] When the brake type is determined as the hydraulic brake, the processor can control the working machine to enter the hydraulic brake mode. In the hydraulic brake mode, the positive torque of the traveling motor stops outputting, the hydraulic brake system is started, the hydraulic electromagnetic valve is controlled to be powered on, the hydraulic system pressure is transmitted to the brake caliper through the pipeline, the brake pad is pushed to contact the brake disc, and the braking is quickly realized.

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

[0047] In the hydraulic brake mode, the electric brake can be started according to the actual demand to enhance the braking force and improve the energy recovery efficiency. Specifically, the processor can obtain the first opening degree of the hydraulic brake pedal and the running speed of the working machine. For example, the working machine can be installed with a rotating speed sensor. The rotating speed sensor can detect the running rotating speed of the traveling motor, and the running speed of the working machine can be determined according to the running rotating speed of the traveling motor. For another example, the working machine can be installed with a speed sensor, and the speed sensor can collect the running speed of the working machine.

[0048] Step 105: controlling the working machine to also enter the electric brake mode when the first opening degree is greater than or equal to the first threshold value, and the running speed is greater than the preset speed.

[0049] In a case that the first opening degree is greater than or equal to the first threshold value and the running speed is greater than the preset speed, the processor can control the working machine to further enter the electric braking mode. The first threshold value and the preset speed can be self-defined according to actual conditions. For example, the first threshold value 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: in a case that the first opening degree is less than the first threshold value, not controlling the working machine to enter the electric braking mode.

[0051] In a case that the first opening degree is less than the first threshold value, the processor can not control the working machine to enter the electric braking mode.

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

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

[0054] In one embodiment, the first negative torque value generated by the traveling 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 degree of the hydraulic brake pedal, and Tmax refers to the maximum torque value of the traveling motor. The size of b is determined by the depth of the hydraulic brake pedal stepped by the user in the cab, and the range is [0, 1].

[0057] Step 107: determining a first electric energy feedback value that can be fed back to the power battery by the working machine in the braking type according to the first negative torque value.

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

[0059] The processor may determine, based on the first negative torque value, a first electrical energy feedback value that can be fed back to the power battery when the working machine decelerates under braking. Specifically, in an embodiment of the present application, determining, based on the first negative torque value, the first electrical energy feedback value that can be fed back to the power battery when the working machine decelerates under braking includes: obtaining the braking energy conversion efficiency of the working machine; determining a first speed difference between the operating speed of the travel motor and a preset speed threshold; determining the operating duration of the electric braking mode under the hydraulic braking mode; and determining the first electrical energy feedback value based on the first negative torque value, the braking energy conversion efficiency, the first speed difference, and the operating duration. The processor may recycle the electrical energy of the first electrical energy feedback value back 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. 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 running 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 running time. Specifically, the processor can determine the product of the braking energy conversion efficiency, the first negative torque value and the first speed difference, and weight the running time, and determine the ratio between the determined product and the weighted running 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 in the braking mode 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 working 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 working machine 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 an SOC feedback value for the power battery. Specifically, the ratio of the first electric energy feedback value to the rated power of the vehicle may be determined as the SOC feedback value for the power battery. The processor may obtain a current SOC value of the power battery and determine a 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 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] If the change in the first opening within a preset time period is greater than or equal to a second threshold, indicating that the operating machine may be in an emergency, 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 based on 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] In a case where the brake type is determined as the electric brake, the processor can control the working machine to enter an electric brake mode, and acquire a second opening degree of the electric brake pedal. The processor can determine a second negative torque value generated by the traveling motor in the electric brake mode according to the second opening degree and the maximum torque value of the traveling motor.

[0074] In an embodiment, the second negative torque value generated by the traveling motor in the electric brake 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 degree of the electric brake pedal, and Tmax refers to the maximum torque value of the traveling motor. The size of a is determined by the depth of the electric brake pedal stepped by the user in the cab, and ranges from [0, 1].

[0077] The processor can determine a second electric energy feedback value that can be fed back to the power battery by the working machine decelerating in the brake type, and can recover the electric energy of the second electric energy feedback value to the power battery. Specifically, the processor can acquire a brake energy conversion efficiency of the working machine, and determine a first speed difference value between an operating speed of the traveling motor and a preset speed threshold. The preset speed threshold refers to the speed of the traveling motor when the working machine is at a brake speed threshold. The brake speed threshold is 5 km / h. The processor can determine a running duration of the electric brake mode. The processor can determine the second electric energy feedback value according to the second negative torque value, the brake energy conversion efficiency, the first speed difference value, and the running duration. Specifically, the processor can determine the product between the brake energy conversion efficiency, the second negative torque value, and the first speed difference value, and weight the running duration, and determine the ratio between the determined product and the weighted running duration as the second electric energy feedback value.

[0078] In an embodiment, the second electric energy feedback value that can be fed back to the power battery by the working machine decelerating in the electric brake 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 brake energy conversion efficiency of the working machine, T2 refers to the second negative torque value generated by the traveling motor in the electric brake mode, n0 refers to the operating speed of the traveling motor, n 阈值 refers to the preset speed threshold, i.e., the speed of the traveling motor when the working machine is at a brake speed threshold, and t refers to the running duration of the electric brake 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 work machine to enter electric braking mode, the processor can obtain the operating speed of the work machine in real time. When the operating speed drops to a preset operating speed, the second opening of the electric brake pedal is obtained. The preset operating speed can be customized according to actual conditions; for example, the preset operating speed can be set to 5 km / h. If the second opening is greater than a second threshold, it indicates that the user in the cab is still pressing the electric brake pedal and further braking is required. The electric braking force is insufficient at low speeds. In this case, the processor can simultaneously control the work machine to enter hydraulic braking mode, ensuring a smooth and safe stop at low speeds. The greater the second opening of the electric brake pedal, the greater the hydraulic braking force applied. For example, if the electric brake pedal opening a is within [0.5-0.9], hydraulic braking is applied. If the electric brake pedal opening a is greater than 0.9, maximum hydraulic braking force is applied.

[0083] Through the above technical solution, 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 operating speed of the working machine are obtained; when the first opening is greater than or equal to the first threshold, and the operating speed is greater than the preset speed, the working machine is simultaneously controlled to enter the electric braking mode; 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 simultaneously start the electric braking mode 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 simultaneously started when the working machine is in the hydraulic braking mode, thereby increasing the braking force, improving the energy recovery efficiency of the walking motor, and extending the cruising time 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. In addition, Figure 1At least one of the steps in the above method can comprise a plurality of sub-steps or a plurality of stages, which sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the order of the sub-steps or stages is not necessarily sequential, but can be performed alternately or in rotation with other steps or sub-steps or stages of other steps.

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

[0086] a memory configured to store instructions;

[0087] a processor configured to call the instructions from the memory and implement the above brake energy recovery method when the instructions are executed.

[0088] In one embodiment, a storage medium is provided, on which a program is stored, which program is executed by a processor to implement the above brake energy recovery method.

[0089] In one embodiment, a processor is provided, which processor is used to run a program, wherein the program is executed to implement the above brake energy recovery method when the program is run.

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

[0091] an electric brake pedal;

[0092] a hydraulic brake pedal;

[0093] a traveling motor for driving the working machine;

[0094] a power battery for providing electric energy;

[0095] the above brake energy recovery device.

[0096] The electric brake pedal is used to brake the working machine in an electric brake mode, the hydraulic brake pedal is used to brake the working machine in a hydraulic brake mode, the traveling motor is used to drive the working machine to run, and the power battery is used to provide electric energy for the working machine.

[0097] In one embodiment, the working machine further comprises a speed sensor. The running speed of the traveling motor can be monitored by the speed sensor. The running speed of the working machine can be determined according to the running speed of the traveling motor, or can be monitored by a speed sensor.

[0098] In one embodiment, the working machine further comprises a speed sensor and a speed sensor. The running speed of the traveling motor can be monitored by the speed sensor. The running speed of the working 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 shown in the figure, or combine certain components, or have a different component arrangement.

[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 the 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 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 traveling motor in the hydraulic braking mode and the electric braking mode according to the first opening and the maximum torque value of the traveling 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 the work machine can feed back to the power battery under the braking type deceleration comprises: obtaining a braking energy conversion efficiency of the work machine; determining a first speed difference value between the running speed of the traveling motor and the preset speed threshold; determining a running time length 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 value and the running time length.

[0103] In one embodiment, the method further comprises: converting the first electric energy feedback value into a 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; in a case where 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 comprises: in a case where the variation of the first opening degree within the preset time period is greater than or equal to the second threshold, adjusting the preset SOC threshold to the maximum SOC value; and adjusting the first negative torque value to the maximum torque value of the traveling motor.

[0105] In one embodiment, the method further comprises: in a case where the first opening degree is less than the first threshold, not controlling the work machine to enter the electric braking mode.

[0106] In one embodiment, the method further comprises: in a case where the braking type is determined to be the electric braking, controlling the work machine to enter the electric braking mode, and obtaining a second opening degree of the electric brake pedal; determining a second negative torque value generated by the traveling motor under the electric braking mode according to the second opening degree and the maximum torque value of the traveling motor; determining a second electric energy feedback value that the work machine can feed back to the power battery under the braking type deceleration according to 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 further comprises: after controlling the work machine to enter the electric braking mode, obtaining a running speed of the work machine in real time; in a case where the running speed is reduced to a preset running speed, obtaining a second opening degree of the electric brake pedal; and in a case where the second opening degree is greater than a second threshold, simultaneously controlling the work machine to enter the hydraulic braking mode.

[0108] The application also provides a computer program product adapted to execute the steps of the method for initializing the braking energy recovery when executed on a data processing device.

[0109] Those skilled in the art will appreciate that embodiments of the application can be readily used as software, hardware, or a combination of software and hardware. In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0110] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0111] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0112] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

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

[0114] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. A

[0115] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic 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 transitory media such as modulated data signals and carrier waves.

[0116] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0117] The above are merely 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 modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A braking energy recovery method, characterized in that: Applied to an operating machine, the operating 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 an operating speed of the working machine; When the first opening is greater than or equal to a first threshold 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 determining, based on the first negative torque value, of a first electric energy feedback value that can be fed back to the power battery by decelerating the working machine under the braking type includes: Obtaining the braking energy conversion efficiency of the working machine; Determining 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, 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 a 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; The first negative torque value is adjusted to the maximum torque value of the travel 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; determining, 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 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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