High-altitude operation machine charging monitoring system and high-altitude operation machine

Abstract

The invention relates to the field of high-altitude operation machinery, and discloses a high-altitude operation machinery charging monitoring system and high-altitude operation machinery, and the high-altitude operation machinery charging monitoring system comprises a battery module; the charger is used for charging the battery module; the controller is in communication connection with the charger and is configured to receive charging and discharging information of the charger, and the charging and discharging information of the charger comprises the front-end input frequency of the charger; and determining that the front-end input frequency of the charger is greater than one half of the sampling frequency, and adjusting the sampling mode from a single sampling mode to a multi-sampling mode. The high-altitude operation machine charging monitoring system and the high-altitude operation machine are beneficial to improving the reliability of charging operation.

Description

Technical Field

[0001] The present application belongs to the field of aerial work machinery, and specifically relates to an aerial work machinery charging monitoring system and an aerial work machinery. Background Art

[0002] The working environment of aerial work machinery is outdoors all year round, mostly in mechanical industrial sites. The environment is harsh and the electricity used is extremely unstable, which has an adverse effect on the operation of the battery system and may even cause it to fail to charge normally. Summary of the invention

[0003] The purpose of this application is to provide an aerial work machinery charging monitoring system and an aerial work machinery, which are beneficial to improving the reliability of charging operations.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a charging monitoring system for aerial work machinery, the charging monitoring system for aerial work machinery comprising:

[0005] Battery modules;

[0006] A charger, used to charge the battery module;

[0007] A controller is connected to the charger and is configured to:

[0008] Receiving charging and discharging information of the charger, wherein the charging and discharging information of the charger includes a front-end input frequency of the charger;

[0009] It is determined that the front-end input frequency of the charger is greater than half of the sampling frequency, and the sampling mode is adjusted from the single sampling mode to the multiple sampling mode.

[0010] In some specific embodiments, the multiple sampling mode includes:

[0011] Multiple equally spaced samples are taken within one switching cycle.

[0012] In some specific embodiments, the multiple sampling mode includes:

[0013] Quantize and encode the value of the last sampling in each switching cycle to obtain the corresponding sampling calculation result;

[0014] The control signal is updated according to the sampling calculation result of the last sampling in each switching cycle.

[0015] In some specific implementations, the multiple sampling mode further includes:

[0016] Each sample within each switching cycle is quantized and encoded.

[0017] In some specific embodiments, the aerial work machinery charging monitoring system further includes:

[0018] The cloud, including databases;

[0019] The wireless communication module communicates with the controller and the cloud respectively, and the controller can save the data signal locally and in the database through the wireless communication module.

[0020] In some specific embodiments, the aerial work machinery charging monitoring system further includes:

[0021] The mobile terminal is respectively connected to the controller and the cloud for communication, and is used to receive data from the cloud and send control instructions to the controller.

[0022] In some specific implementations, the cloud further includes a processor, and the processor is used to analyze and process the data in the database and save the analysis and processing results in the database.

[0023] In some specific embodiments, the controller is also in communication connection with the battery module, and the aerial work machinery charging monitoring system further includes:

[0024] A human-machine interface is connected to the controller for communication, and is used to receive and display real-time charging data and obtain user control operations.

[0025] A second aspect of the present application provides an aerial work machine, which includes the above-mentioned aerial work machine charging monitoring system.

[0026] Through the above technical solution, the controller is connected to the charger for communication. When the battery module is charging, the controller can receive the charging and discharging information of the charger in real time. If encountering severe working conditions of transient impact signals, the controller can adjust the sampling mode of the analog signal in time to refresh the sampling frequency, increase the sampling accuracy, reduce the control loop delay time, and ensure that the data is not distorted under complex working conditions.

[0027] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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 embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0029] Figure 1 A schematic diagram of the composition of a charging monitoring system for aerial work machinery according to a specific implementation method of the present application;

[0030] Figure 2 A control logic diagram of the controller of this application;

[0031] Figure 3 A schematic diagram of a multiple sampling mode of the controller of the present application;

[0032] Figure 4 Schematic diagram of single sampling mode.

[0033] Description of Reference Numerals

[0034] 1 Battery module 2 Charger

[0035] 3 Controller 4 Wireless communication module

[0036] 5 Cloud 6 Mobile Terminal

[0037] 7 Human-machine interface DETAILED DESCRIPTION

[0038] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0039] The working environment of aerial work machinery is outdoors all year round, mostly in mechanical industrial sites. Unlike traditional passenger cars, the environment is harsh and the electricity used is extremely unstable, which has an adverse effect on the operation of the battery system and may even cause a failure to charge normally.

[0040] The inventor of this application has thought about it and found that the current ordinary aerial work vehicle-mounted charger mainly includes charging and discharging, fault alarm and data direct transmission functions. The charger can realize the charging and discharging of lithium batteries, and has a protection function to ensure the safety of charging and discharging. The charger can support the charging of lithium batteries and lead-acid batteries, and can be switched automatically or manually, and provides charging curve burning. When the charger is in a fault, an alarm message is issued, and the abnormal fault situation is displayed through the alarm indicator. The charger data is directly transmitted to the GPRS module for local storage, and the data is retrieved through the USB port when needed. It can be seen that the on-board charger in the field of aerial work vehicles is completely an independent island system. The charger data is locally stored through the direct transmission GPRS module, and it is impossible to capture real-time fault information. In addition, it only has a single alarm function under harsh working conditions, and it is impossible to manage the fault in the first time, which brings considerable hidden dangers to normal aerial work.

[0041] In view of this, if Figure 1 and Figure 2As shown, the first aspect of the present application provides a charging monitoring system for aerial work machinery, which includes a battery module 1, a charger 2 and a controller 3. The charger 2 is used to charge the battery module 1, and the controller 3 is connected to the charger 2 for communication. When the battery module 1 is charged, the controller 3 can receive the charging and discharging information of the charger 2 in real time, and accurately monitor the real-time changes of the front-end input data of the charger 2. The controller 3 is configured as follows:

[0042] Receiving charging and discharging information of the charger 2, wherein the charging and discharging information of the charger 2 includes a front-end input frequency of the charger 2;

[0043] It is determined that the front-end input frequency of the charger 2 is greater than half of the sampling frequency, and the sampling mode is adjusted from the single sampling mode to the multiple sampling mode.

[0044] During the analog / digital signal conversion process, when half of the sampling frequency is less than or equal to the front-end input frequency, the sampled digital signal can completely retain the information in the original signal. However, under complex working conditions, half of the sampling frequency may be greater than the front-end input frequency. At this time, the sampled digital signal may not be able to completely retain the information in the original signal, resulting in signal distortion and the inability of the system to make accurate judgments and controls.

[0045] For the aerial work machinery charging monitoring system of the present application, the controller 3 can capture the abnormal charging and discharging information of the charger 2 in real time. If a severe working condition of a transient impact signal is encountered during the charging process, for example, when it is determined that the front-end input frequency of the charger 2 is greater than half of the sampling frequency, the sampling mode of the analog signal can be adjusted in time to refresh the sampling frequency, thereby increasing the sampling accuracy and reducing the control loop delay time, ensuring that the data is not distorted under complex working conditions, and improving the reliability and safety of aerial work.

[0046] Among them, the charger 2 can be a vehicle-mounted charger, which can be installed on the turntable side of the aerial work machinery, and is mainly used to charge the battery module 1 of the aerial work machinery. Secondly, the charger 2 can also receive and send charging and discharging information and fault information. The battery module 1 can communicate with the controller 3 and the charger 2 through the CAN bus network. The controller 3 can receive the charging and status data of the battery module 1, as well as the charging and discharging information of the charger 2. The charging and discharging information can also include voltage, current, temperature, working status, communication status and location information. The controller 3 can be the driving computer ECU of the aerial work machinery, so that the control structure is more reasonable.

[0047] It should be noted that the structural principles of the battery module 1 and the charger 2 are well known to those skilled in the art, and do not belong to the core improvement part of the present application, so they will not be described here in detail.

[0048] In addition, the charger data of existing aerial work machinery is directly transmitted to the GPRS module for local storage, and the data is retrieved through the USB port when needed. The sampling mode of the analog signal adopts a single sampling mode, and no refresh function is required. Figure 4 In the schematic diagram of the single sampling mode shown in FIG. 1 , the X-axis represents time and the Y-axis represents the amplitude of the analog signal. When the single sampling mode is used, in a sampling switching cycle, if a larger sampling period is selected according to an output signal with a smaller change rate, some sampling signals may be distorted, which in turn has an adverse effect on the control performance and stability of the system. If the sampling frequency within the preset time is increased by upgrading the hardware, the upgraded hardware can calculate, quantize and encode multiple sampling points and output data of n sampling points. In this way, the sampling accuracy can be greatly improved compared with the previous single sampling mode with a low frequency within the preset time. However, if a smaller sampling period is selected according to a signal with a faster sampling change rate, a CPU, A / D, and D / A device with a higher operating rate needs to be used, that is, the upgraded hardware requires precise and powerful chips, and the system cost will increase significantly.

[0049] To this end, the aerial work machinery charging monitoring system of the present application adjusts the sampling mode from a single sampling mode to a multiple sampling mode, that is, by increasing the number of sampling times within a switching cycle to increase the sampling frequency within a preset switching cycle. This sampling mode does not require hardware upgrades to achieve the purpose of increasing sampling accuracy and reducing control loop delay time, which can meet the use environment and economic requirements of aerial vehicle operations, and takes into account both system cost and system reliability.

[0050] Specifically, Figure 3 The schematic diagram of the multiple sampling mode is shown in the figure. The X-axis represents time and the Y-axis represents the amplitude of the analog signal. The multiple sampling in one switching cycle includes t 采样1 …t 采样n , n is greater than or equal to 2, and can be 3, 4, 5, etc. In this way, in one switching cycle, the Tall time is the total sampling time, and the sampling time of the multiple sampling mode is shorter than that of the single sampling mode. As the time is shorter, the control effect is more accurate. Among them, n is related to the front-end input frequency of the charger 2, that is, the sampling number n in the multiple sampling mode can be set according to the front-end input frequency of the charger 2.

[0051] By adopting multiple sampling modes within a switching cycle, the refresh sampling frequency can be increased, the sampling accuracy can be increased, and the control loop delay time can be reduced. When dealing with special working conditions of aerial work vehicles, the reliability and safety of system operations are better. In addition, the compromise method of multiple sampling modes within a switching cycle is that the front end collects data multiple times, and quantization encoding can be started only in the most recent data to obtain the most recent result. Therefore, compared with the previous single sampling mode, the multiple sampling mode within a switching cycle improves the sampling accuracy and reduces the loop control time, and saves costs compared to the method of increasing the sampling frequency by upgrading hardware. That is, the multiple sampling mode within a switching cycle can take into account both the system cost and the system reliability, and meet the use environment and economic needs of aerial vehicle operations.

[0052] Furthermore, the multiple sampling mode may include:

[0053] Multiple equally spaced samples are taken within one switching cycle.

[0054] That is, the time interval between each sampling point is fixed, that is, each sampling point is equidistantly distributed on the time axis. In this way, the control logic can be simple, without the need for complex algorithms or additional hardware support, which is conducive to reducing the cost of the system.

[0055] Those skilled in the art will appreciate that the multiple sampling mode of the present application may also include multiple samplings at unequal intervals within a switching cycle, that is, the sampling interval may be dynamically adjusted according to the characteristics of the signal, and unnecessary sampling points may be reduced, thereby saving storage and processing resources.

[0056] Furthermore, the multiple sampling mode may also include:

[0057] Quantizing and encoding the value of the last sampling in the switching cycle to obtain the corresponding sampling calculation result;

[0058] The control signal is updated according to the sampling calculation result of the last sampling in the switching cycle.

[0059] In this way, the sampling accuracy can be further increased and the control loop delay time can be reduced, making it more suitable for coping with the special working conditions of aerial work vehicles.

[0060] Alternatively, if Figure 3 As shown, the multiple sampling mode may also include:

[0061] Each sample within a switching cycle is quantized and encoded.

[0062] In this way, the charging data during the charging process can be fully monitored and saved, which is conducive to the later big data analysis and processing of the charging data and the summary of conclusions, greatly improving the system's fault analysis capabilities to reduce the possibility of false alarms and missed alarms, making the system operation more reliable and safe.

[0063] In some specific embodiments, Figure 1 As shown, the aerial work machinery charging monitoring system may also include a cloud 5 and a wireless communication module 4. The cloud 5 includes a database, and the wireless communication module 4 communicates with the controller 3 and the cloud 5 respectively. The database is used to store data. The controller 3 can save the data signal locally and in the database through the wireless communication module 4, without the need to retrieve data through the USB port, which is more reasonable and convenient.

[0064] Among them, the data of the cloud 5 can support multiple platforms and multiple models, and the wireless communication module 4 can include one or more of a GPRS module, a Bluetooth module, a WiFi module, a GSM module, a CDMA module, a CDMA2000 module, a WCDMA module, a TD-SCDMA module, a Zigbee module or a LoRa module.

[0065] In addition, for existing on-board chargers, R&D personnel can only retrieve data from the fault time period on site for analysis. And due to insufficient sample data and no big data platform support, systematic analysis conditions cannot be supported.

[0066] In order to further improve the reliability of the system, the cloud can be used to process and save big data. At this time, the cloud 5 can also include a processor, which is used to analyze and process the big data in the database and save the analysis and processing results to the database to reduce the possibility of false alarms and missed alarms.

[0067] In addition, if Figure 1 As shown, the charging monitoring system for aerial work machinery may also include a mobile terminal 6, which is respectively connected to the controller 3 and the cloud 5 in communication. The mobile terminal 6 includes an APP, an application program, etc. The mobile terminal 6 is used to receive data from the cloud 5, download data packets uploaded by the wireless communication module 4 via Bluetooth, and issue control instructions to the controller 3. Specifically, the controller 3 can read the operating data of the charger 2 in real time, such as charging current, temperature, voltage and other information, and transmit it to the mobile terminal 6 for display via the wireless communication module 4 using a communication protocol. The operator can view the relevant charging data through the mobile terminal 6 and issue control commands to the controller 3. The charging and discharging control module of the charger 2 executes the control commands, thereby realizing remote and convenient control of the charger 2 through the mobile terminal 6, without the need to operate the charger control and visually inspect the charger failure on site, effectively reducing time and labor costs.

[0068] In some specific embodiments, Figure 1 As shown, the battery module 1 can also be connected to the controller 3 and the charger 2 for communication, and exchange data with the controller 3 and the charger 2 respectively, for example, including the real-time battery power, charging time, etc.

[0069] In addition, if Figure 1 As shown, the charging monitoring system for aerial work machinery may also include a human-machine interface 7, which is connected to the controller 3 for communication and is used to receive and display real-time charging data. The human-machine interface 7 displays real-time data in a timely manner through screen refresh, and can perform human-computer interaction. In addition, compared with the existing charger data, which is directly transmitted to the GPS module for local storage, can only be retrieved through the USB port when needed, and has the disadvantage of low refresh frequency, the data of the charger 2 of the present application can be transmitted to the wireless communication module 4 through the controller 3, which can increase the data sampling frequency, increase the sampling accuracy and reduce the control loop delay time. At the same time, the data is displayed in real time on the human-machine interface and communicated to the mobile terminal, which can help the operator to more effectively monitor the real-time status of the charger and conveniently control it, improve the safety of the operation, and collect and integrate all charger data to provide big data support for product technology optimization.

[0070] Optionally, the aerial work machinery charging monitoring system can support optimization and upgrading, providing convenience for the functions required for subsequent research and development.

[0071] The second aspect of the present application also provides an aerial work machine, which includes the above-mentioned aerial work machine charging monitoring system. Since the aerial work machine includes the above-mentioned liquid collection device, it also has all the technical effects brought by the aerial work machine charging monitoring system, so it will not be repeated. Among them, the aerial work machine can be a telescopic aerial work vehicle, a folding arm aerial work vehicle, a hybrid aerial work vehicle, a vertical lifting aerial work vehicle and other aerial work vehicles.

[0072] It should be noted that the structural principles of components such as the wireless communication module 4, the cloud 5, the mobile terminal 6 and the human-machine interface 7 are well known to those skilled in the art and do not belong to the core improvement part of the present application, so they will not be repeated here.

[0073] In summary, the aerial work machinery charging monitoring system and the controller of the aerial work machinery of the present application adopt multiple sampling modes, refresh the sampling frequency, increase the sampling accuracy and reduce the control loop delay time, which can effectively cope with the special working conditions of the aerial work vehicle and monitor the data in real time through the human-machine interface. The controller can communicate with the mobile terminal directly through the cloud or other protocols such as Bluetooth and GPRS to monitor the charger in real time, collect data, upload it wirelessly and save it to the cloud. In addition, the controller can remotely control the status of the charger, issue control instructions through the mobile terminal APP, and the monitoring module of the charger receives and processes the control commands to realize remote control of the charging and discharging of the charger. In addition, the cloud database can save big data, send it to the processing module for comparative analysis, summarize the conclusions, and save it to the cloud for retrieval. In addition, the user can send a remote update command through the mobile terminal, transmit the upgrade data through Bluetooth, and remotely upgrade the version of the aerial work machinery charging monitoring system.

[0074] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0075] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0076] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0077] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A charging monitoring system for aerial work machinery, characterized in that: include: Battery module (1); A charger (2), used for charging the battery module (1); A controller (3) is connected to the charger (2) for communication and is configured to: Receiving charging and discharging information of the charger (2), wherein the charging and discharging information of the charger (2) includes a front-end input frequency of the charger (2); It is determined that the front-end input frequency of the charger (2) is greater than half of the sampling frequency, and the sampling mode is adjusted from a single sampling mode to a multiple sampling mode.

2. The aerial work machinery charging monitoring system according to claim 1, characterized in that: The multiple sampling modes include: Multiple equally spaced samples are taken within one switching cycle.

3. The aerial work machinery charging monitoring system according to claim 1, characterized in that: The multiple sampling modes include: Quantizing and encoding the value of the last sampling in the switching cycle to obtain the corresponding sampling calculation result; The control signal is updated according to the sampling calculation result of the last sampling in the switching cycle.

4. The aerial work machinery charging monitoring system according to claim 1, characterized in that: The multiple sampling mode also includes: Each sample within a switching cycle is quantized and encoded.

5. The aerial work machinery charging monitoring system according to claim 1, characterized in that: The aerial work machinery charging monitoring system further includes: Cloud (5), including databases; The wireless communication module (4) communicates with the controller (3) and the cloud (5) respectively, and the controller (3) can save the data signal locally and in the database through the wireless communication module (4).

6. The aerial work machinery charging monitoring system according to claim 5, characterized in that: The aerial work machinery charging monitoring system further includes: The mobile terminal (6) is respectively connected to the controller (3) and the cloud (5) for communication, and the mobile terminal (6) is used to receive data from the cloud (5) and issue control instructions to the controller (3).

7. The aerial work machinery charging monitoring system according to claim 5, characterized in that: The cloud (5) also includes a processor, which is used to analyze and process the data in the database and save the analysis and processing results in the database.

8. The aerial work machinery charging monitoring system according to claim 1, characterized in that: The controller (3) is also in communication connection with the battery module (1), and the aerial work machinery charging monitoring system further comprises: A human-machine interface (7) is connected in communication with the controller (3) and is used to receive and display real-time charging data.

9. A high-altitude working machine, characterized in that: It comprises a charging monitoring system for aerial work machinery according to any one of claims 1 to 8.

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