Arm truck operation control method and device and medium

Abstract

The application discloses an arm truck operation control method and device and medium, relates to the field of vehicle control, and solves the problem of excessive discharge caused by large-current discharge when the capacity of a lead-acid battery is insufficient during arm truck work. By establishing a voltage fitting curve under different discharge currents, a plurality of power intervals are pre-divided, and the arm truck action is limited according to the real-time power level, such as reducing the folding arm speed or climbing power, which can effectively avoid over-discharge under large-current working conditions. The setting of multiple intervals enables the operation of the arm truck to be limited in advance during work, avoids the arm truck from entering a large-current discharge state that cannot be supported by the current remaining power, intervenes in advance, and avoids over-discharge. Meanwhile, by limiting the walking speed of the arm truck and the arm action, the battery can discharge more power, and the endurance of the battery is improved. Compared with the traditional scheme that only focuses on the static voltage and fixed preset threshold, causing false shutdown and battery over-discharge, the application improves the utilization rate of the battery power and prolongs the service life of the battery.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and in particular to a method, device and medium for controlling the operation of a boom lift. Background Technology

[0002] In recent years, with increasingly stringent requirements for construction safety and efficiency, aerial work platforms have seen wider application. Lead-acid batteries, as one of the energy sources for the entire vehicle, are widely used in aerial work platforms due to their relatively low price and good safety. However, because lead-acid batteries are less stable than lithium batteries, the most common method for determining remaining charge (SOC) is to directly measure the lead-acid battery voltage. If the measured voltage drops below a preset threshold after power is applied, it indicates that charging is required. However, this method cannot accurately determine the remaining charge of the lead-acid battery during operation.

[0003] The discharge current is relatively large when the boom lift is raised or climbing. When the power is insufficient but has not dropped below the preset threshold, the power is judged to be sufficient in the low power consumption state. However, if the boom lift enters the high current discharge condition such as boom lifting / climbing, the instantaneous high current discharge will cause the battery to over-discharge. The battery voltage will be pulled very low and trigger the shutdown protection. After long-term and repeated over-discharge, it will not only affect the battery life, but also cause damage such as battery bulging and leakage in severe cases, resulting in significant economic losses.

[0004] Therefore, avoiding excessive discharge caused by high current discharge when the lead-acid battery capacity is insufficient during boom truck operation is a technical problem that urgently needs to be solved by those in this field. Summary of the Invention

[0005] The purpose of this application is to provide a boom lift operation control method, device and medium to solve the problem of over-discharge caused by high current discharge when the lead-acid battery capacity is insufficient during boom lift operation.

[0006] To address the aforementioned technical problems, this application also provides a boom lift operation control method, comprising:

[0007] Obtain the battery parameters for each lead-acid battery;

[0008] The cutoff voltage under different discharge currents is determined based on multiple battery parameters, and a fitting curve is determined.

[0009] Based on the fitted curve, multiple intervals are obtained according to the voltage proportionality coefficient to indicate the remaining battery capacity level;

[0010] When the boom truck is running, the real-time voltage of the lead-acid battery is obtained through a voltage acquisition device, and the real-time current of the lead-acid battery is obtained through a current acquisition device.

[0011] The range in which the real-time voltage is located is determined based on the real-time current, and the current remaining battery capacity level is obtained.

[0012] The boom's walking speed and boom movement are limited based on the current remaining battery power level.

[0013] As an optional solution, in the above-mentioned boom lift operation control method, multiple intervals are obtained based on the fitted curve according to the voltage proportional coefficient to indicate the remaining battery capacity level, including:

[0014] Obtain a preset first proportional coefficient and a second proportional coefficient, wherein the first proportional coefficient is greater than the second proportional coefficient and both are greater than 1;

[0015] When the real-time voltage is not less than the product of the first proportional coefficient and the cutoff voltage corresponding to the real-time current, it is located at the first battery remaining capacity level.

[0016] When the real-time voltage is less than the product of the first proportional coefficient and the cutoff voltage corresponding to the real-time current, and not less than the product of the second proportional coefficient and the cutoff voltage corresponding to the real-time current, it is located at the second battery remaining capacity level.

[0017] When the real-time voltage is less than the product of the second proportional coefficient and the cutoff voltage corresponding to the real-time current, and is not less than the cutoff voltage corresponding to the real-time current, it is located at the third battery remaining capacity level.

[0018] When the real-time voltage is less than the cutoff voltage corresponding to the real-time current, it is in the fourth battery remaining capacity level.

[0019] As an optional solution, the above-mentioned boom lift operation control method, which limits the boom lift's travel speed and boom movement based on the current remaining battery power level, includes:

[0020] If the current remaining battery power is at the first battery power level, then control the boom truck to operate normally;

[0021] If the current remaining battery power is at the second battery power level, then the maximum walking speed of the boom truck is limited, and the boom lifting is restricted.

[0022] If the current remaining battery power is at the level of the third battery remaining power, the boom travel speed is determined according to the environmental conditions to limit the boom's ascent.

[0023] If the current remaining battery power is at the fourth battery power level, then control the boom truck to stop operating.

[0024] As an optional solution, in the above-mentioned boom lift operation control method, if the current remaining battery power is at the second battery power level, the corresponding limitation on the maximum travel speed of the boom lift includes:

[0025] The maximum walking speed is limited to 50% of the normal maximum walking speed, corresponding to the product of the real-time voltage and the second proportional coefficient and the cutoff voltage corresponding to the real-time current.

[0026] The maximum walking speed corresponding to the cutoff voltage where the real-time voltage equals the real-time current is limited to 30% of the normal maximum walking speed.

[0027] Based on the real-time voltage, the maximum walking speed is determined and dynamically adjusted linearly within the range of 30% to 50% of the normal maximum walking speed.

[0028] As an optional solution, in the above-mentioned boom lift operation control method, determining the boom lift's travel speed based on environmental conditions includes:

[0029] Obtain current location information and the location information of the nearest charging point;

[0030] Based on the current location information and the location information of the nearest charging point, determine whether the charging walking distance is less than a preset distance;

[0031] If so, then the boom truck is determined to travel to the charging point at a preset minimum speed;

[0032] If not, then the boom lift is determined to have stopped moving.

[0033] As an optional solution, in the above-mentioned boom lift operation control method, the cutoff voltage under different discharge currents is determined based on multiple battery parameters, and a fitting curve is determined, including:

[0034] The discharge current-cutoff dynamic voltage curve for each lead-acid battery is determined based on the battery parameters.

[0035] The fitted curve is obtained by weighted fitting based on the discharge current-cutoff dynamic voltage curve of each lead-acid battery and the usage time of each lead-acid battery.

[0036] As an optional solution, in the above-mentioned boom lift operation control method, the battery parameters of each lead-acid battery are obtained, including:

[0037] Each lead-acid battery is controlled to undergo short-time pulse discharge under multiple preset currents;

[0038] Synchronously collect instantaneous terminal voltage change data under each preset current;

[0039] Monitor battery temperature changes during discharge;

[0040] The discharge current-cutoff dynamic voltage curve of the current lead-acid battery is obtained by fitting the preset current, the instantaneous terminal voltage change data, and the battery temperature change data.

[0041] To address the aforementioned technical problems, this application also provides a boom lift operation control device, comprising:

[0042] The acquisition module is used to acquire the battery parameters for each lead-acid battery;

[0043] The fitting module is used to determine the cutoff voltage under different discharge currents based on multiple battery parameters, and to determine the fitting curve;

[0044] The segmentation module is used to obtain multiple intervals based on the fitted curve according to the voltage ratio coefficient, which are used to indicate the remaining battery capacity level;

[0045] The data acquisition module is used to acquire the real-time voltage of the lead-acid battery through a voltage acquisition device and the real-time current of the lead-acid battery through a current acquisition device when the boom truck is running.

[0046] The rating module is used to determine the range of the real-time voltage based on the real-time current and to obtain the current remaining battery capacity level.

[0047] The control output module is used to limit the walking speed and boom movement of the boom vehicle based on the current remaining battery power level.

[0048] To address the aforementioned technical problems, this application also provides a boom lift operation control device, comprising:

[0049] Memory, used to store computer programs;

[0050] A processor is used to implement the steps of the above-described boom lift operation control method when executing the computer program.

[0051] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the aforementioned boom lift operation control method.

[0052] The boom lift operation control method provided in this application establishes voltage fitting curves under different discharge currents and pre-divides multiple power ranges. Based on the real-time power level, it limits boom lift actions (such as reducing boom folding speed or climbing power), effectively preventing over-discharge under high-current conditions. The multiple range settings allow for advance restriction of boom lift operation during operation, preventing it from entering a high-current discharge state that the current remaining power cannot support, thus intervening early and avoiding over-discharge. Simultaneously, by limiting the boom lift's travel speed and boom movements, it allows the battery to discharge more power, improving battery endurance. Compared to traditional solutions that only focus on static voltage and fixed preset thresholds, leading to accidental shutdowns and battery over-discharge, this application improves battery power utilization and extends battery life.

[0053] In addition, this application also provides an apparatus and medium that correspond to the above-mentioned boom truck operation control method and have the same effect. Attached Figure Description

[0054] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 A flowchart of a boom lift operation control method is provided in this application embodiment;

[0056] Figure 2 This application provides discharge curves for different current rates in its embodiments.

[0057] Figure 3 A schematic diagram of a fitting curve is provided for an embodiment of this application;

[0058] Figure 4 A structural diagram of a boom lift operation control device provided in an embodiment of this application;

[0059] Figure 5 This is a structural diagram of another boom truck operation control device provided in an embodiment of this application. Detailed Implementation

[0060] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0061] The core of this application is to provide a boom lift operation control method, device, and medium.

[0062] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0063] To address the aforementioned problems, embodiments of this application provide a boom lift operation control method, such as... Figure 1 As shown, it includes:

[0064] S11: Obtain the battery parameters for each lead-acid battery;

[0065] S12: Determine the cutoff voltage under different discharge currents based on multiple battery parameters, and determine the fitting curve;

[0066] S13: Based on the fitted curve, multiple intervals are obtained according to the voltage proportional coefficient to indicate the remaining battery capacity level;

[0067] S14: When the boom truck is running, the real-time voltage of the lead-acid battery is obtained through the voltage acquisition device, and the real-time current of the lead-acid battery is obtained through the current acquisition device.

[0068] S15: Determine the range of the real-time voltage based on the real-time current, and obtain the current remaining battery capacity level;

[0069] S16: Limit the boom's walking speed and boom movement based on the current remaining battery power level.

[0070] This embodiment provides a boom lift operation control method. This method is applicable to all aerial work platforms or mobile machinery that use lead-acid batteries as their DC bus power source, and is not limited to voltage levels such as 48V or 80V, nor to the parallel, series, or mixed topology of the battery boxes. It replaces traditional SOC estimation with a dynamic voltage-current surface, thereby suppressing high-current discharge in advance under any operating condition and avoiding over-discharge of the lead-acid battery.

[0071] Step S11 involves acquiring the battery parameters for each lead-acid battery. These parameters specifically refer to key data reflecting the characteristics of the lead-acid battery, including but not limited to the battery model, nominal capacity, voltage values ​​at different discharge currents, discharge curve data provided by the manufacturer, the number of individual battery cells, and the connection method (series or parallel). This data can be obtained manually by the operator through a human-machine interface, or automatically by reading the battery's identification information or accessing the manufacturer's database. This step is fundamental to all subsequent analyses because lead-acid batteries vary significantly; batteries of different specifications may exhibit drastically different voltage performances at the same discharge current. Only by basing the data on specific parameters can the accuracy of subsequent analyses be ensured.

[0072] Step S12 determines the cutoff voltage under different discharge currents based on multiple battery parameters and establishes a fitting curve. The cutoff voltage is not a fixed threshold but varies with the discharge current I and temperature T. The cutoff voltage refers to the critical voltage value at which, under a certain discharge current, continued discharge below the battery voltage will lead to over-discharge. Different discharge currents correspond to different cutoff voltages, such as... Figure 2 As shown, curves 0.05C, 0.1C, 0.2C, 0.33C, 1C, 2C, and 3C represent the changes in battery voltage over discharge time at different discharge rates at 25 degrees Celsius. For example, during high-current discharge, the battery's cutoff voltage is usually lower than that during low-current discharge. The fitted curve, on the other hand, is obtained by mathematically fitting multiple discharge current-cutoff voltage data points to obtain a functional relationship between voltage and current, such as... Figure 3As shown, the vertical axis represents voltage, and the horizontal axis represents current. The core of this process is to transform discrete parameter data into a continuous functional relationship, ignoring the influence of secondary factors such as temperature, so that the corresponding safe voltage boundary can be quickly determined through the function under any discharge current. The reason for determining the fitting curve is that the discharge current of the boom truck changes dynamically in actual operation (such as boom lifting, walking, etc., which cause current fluctuations), and a continuous functional relationship can meet the needs of real-time judgment.

[0073] Step S13 divides the fitted curve into multiple intervals based on voltage proportionality coefficients to indicate the remaining battery capacity level. The voltage proportionality coefficients are K1, K2…Kn (n≥2), with values ​​>1 and adjustable manually or adaptively. Figure 3 As shown, U=f(I), U=K1*f(I), U=K2*f(I) divides multiple intervals by voltage proportionality coefficients, where I represents current and U=f(I) represents cutoff voltage.

[0074] The number of intervals is unlimited; three, four, or five intervals can be used, depending on the manufacturer's need for balancing range and protection. Because the voltage drop slope of lead-acid batteries differs significantly between 0.2C and 1C, the intervals are divided in the current domain rather than the time domain to ensure timely early intervention. For example, if a three-stage interval is used, with K1 set to 1.15 and K2 set to 1.05, speed limiting can begin when the voltage drops to 1.15 times the dynamic cutoff voltage, and further power limiting can be implemented when it drops to 1.05 times the dynamic cutoff voltage, avoiding abrupt shutdown. The dynamic cutoff voltage is determined based on the current temperature and real-time current.

[0075] Step S14: When the boom lift is running, the real-time voltage of the lead-acid battery is acquired through a voltage acquisition device, and the real-time current of the lead-acid battery is acquired through a current acquisition device. The voltage acquisition device can directly acquire the voltage across the positive and negative terminals of the battery using a voltage sensor, while the current acquisition device can directly detect the current using a Hall sensor, or acquire the voltage through a shunt and then convert it into current. The core of this step is to achieve real-time monitoring of the battery's operating status, because the boom lift's movements (such as boom raising and walking) will cause frequent changes in the discharge current. Only by acquiring voltage and current data in real time can the battery's charge range be dynamically determined.

[0076] Step S15 determines the range of the real-time voltage based on the real-time current and obtains the current remaining battery capacity level. Essentially, this step substitutes the real-time current into the fitted curve U=f(I) to obtain the reference voltage at that current. Then, it compares the real-time voltage with the range boundaries defined by proportional coefficients, such as K1*f(I) and K2*f(I), to determine the range of the real-time voltage and thus correspond it to the specific remaining battery capacity level. For example, if the real-time voltage is higher than K1*f(I), it is judged as high capacity; if it is between K2*f(I) and K1*f(I), it is judged as medium capacity. Using the fitted curve eliminates the difference in absolute voltage values ​​under different currents, and judging the capacity by relative position is more consistent with the characteristics of lead-acid battery voltage changing with current.

[0077] Step S16 limits the boom's travel speed and boom movement based on the current remaining battery power level. This limitation can be either stepped (e.g., 50% speed limit in zone 2, 30% speed limit in zone 3) or linear interpolation (50% → 30% within zone 2 changes linearly with voltage). The actuators can directly constrain the travel inverter via pulse width modulation (PWM) duty cycle; limit the main pump flow via proportional valve current; or send the maximum acceptable current to each actuator electronic control unit via the Controller Area Network (CAN) bus.

[0078] Preferably, because the boom lift needs to return to the charging station at low speed even when the battery is low, a bypass button or knob is provided as an emergency low-speed mode. However, after bypassing, the maximum current is clamped at 0.15C to ensure that it does not exceed the safety limit. For example, when the battery level falls into range 3, the controller first limits the maximum travel speed to 3km / h and prohibits boom lifting; if the driver presses the bypass button, only a creeping speed of 1.5km / h is allowed until the charging station is reached.

[0079] The boom lift operation control method provided in this application establishes voltage fitting curves under different discharge currents and pre-divides multiple power ranges. Based on the real-time power level, it limits boom lift actions (such as reducing boom folding speed or climbing power), effectively preventing over-discharge under high-current conditions. The multiple range settings allow for advance restriction of boom lift operation during operation, preventing it from entering a high-current discharge state that the current remaining power cannot support, thus intervening early and avoiding over-discharge. Simultaneously, by limiting the boom lift's travel speed and boom movements, it allows the battery to discharge more power, improving battery endurance. Compared to traditional solutions that only focus on static voltage and fixed preset thresholds, leading to accidental shutdowns and battery over-discharge, this application improves battery power utilization and extends battery life.

[0080] According to the above embodiments, specifically, multiple intervals are obtained based on the fitted curve and a voltage proportionality coefficient to indicate the remaining battery capacity level, including:

[0081] Obtain the preset first proportional coefficient and second proportional coefficient, wherein the first proportional coefficient is greater than the second proportional coefficient and both are greater than 1;

[0082] When the real-time voltage is not less than the product of the first proportional coefficient and the cutoff voltage corresponding to the real-time current, it is located at the first battery remaining capacity level.

[0083] When the real-time voltage is less than the product of the first proportional coefficient and the cutoff voltage corresponding to the real-time current, and not less than the product of the second proportional coefficient and the cutoff voltage corresponding to the real-time current, it is located at the second battery remaining capacity level.

[0084] When the real-time voltage is less than the product of the second proportional coefficient and the cutoff voltage corresponding to the real-time current, and is not less than the cutoff voltage corresponding to the real-time current, it is located at the third battery remaining capacity level.

[0085] When the real-time voltage is less than the cutoff voltage corresponding to the real-time current, it is in the fourth battery remaining capacity level.

[0086] Based on the original multi-level interval strategy, this embodiment further clarifies the four quantization boundaries: the first proportional coefficient, the second proportional coefficient, and the 1x coefficient, thereby dividing the power space into four control intervals.

[0087] When the real-time voltage is not less than the product of the first proportional coefficient and the cutoff voltage corresponding to the real-time current, it is determined to be at the first battery remaining capacity level. Here, the first proportional coefficient and the product of the cutoff voltage corresponding to the real-time current (i.e., K1*f(Ia)) represent the real-time current, which is a high capacity boundary obtained based on the fitted curve: this value is higher than the battery's cutoff voltage at the current current, meaning that the battery has sufficient remaining capacity to support all boom movements (including high-current-consuming boom lifting, rapid walking, etc.) without causing over-discharge. At this time, no movements are restricted to ensure operational efficiency.

[0088] When the real-time voltage is less than the product of the first proportional coefficient and the cutoff voltage corresponding to the real-time current, and not less than the product of the second proportional coefficient and the cutoff voltage corresponding to the real-time current, it belongs to the second battery remaining capacity level. The product of the second proportional coefficient and the cutoff voltage corresponding to the real-time current (i.e., K2*f(Ia)) serves as the lower limit of the medium capacity. At this point, the battery capacity begins to decrease. If high-current operations (such as boom raising) continue, the voltage may drop rapidly below the cutoff voltage. Therefore, limiting high-energy-consuming operations and reducing walking speed in this range can reduce power consumption, prevent battery damage due to high-current discharge, and retain basic operational capabilities.

[0089] When the real-time voltage is less than the product of the second proportionality coefficient and the cut-off voltage corresponding to the real-time current, and is not less than the cut-off voltage corresponding to the real-time current, it is the third battery remaining charge level. The cut-off voltage corresponding to the real-time current is the critical value for over-discharge. In this range, the battery power is close to the critical state, and continuing to perform actions other than necessary movement will greatly increase the risk of over-discharge. Therefore, most actions are restricted, and only low-speed walking via the bypass button is allowed, with the purpose of enabling the boom lift to move to the charging point on the premise of protecting the battery, so as to avoid stranding problems caused by complete shutdown.

[0090] When the real-time voltage is less than the cut-off voltage corresponding to the real-time current, the system enters the fourth battery remaining charge level. At this time, the battery voltage has dropped below the critical value, and continued discharge will directly lead to over-discharge, causing permanent damage such as battery swelling and liquid leakage. Therefore, all actions need to be completely restricted (the restriction cannot be lifted even via the bypass button), fundamentally cutting off the discharge circuit to ensure battery safety.

[0091] In addition, to prompt the user, corresponding indicator lights can be added to display the current status. First level (green light): U≥K1*f(Ia), full-power operation; Second level (yellow light): K2*f(Ia)≤U<K1*f(Ia), the walking speed is reduced to 50%, and the luffing boom lifting current is capped at 70%; Third level (orange light): f(Ia)≤U<K2*f(Ia), the walking speed is reduced to 30%, luffing boom lifting is prohibited, and only lowering or low-speed returning to the charging station is allowed; Fourth level (red light): U<f(Ia), the vehicle is completely locked, and only buzzer / light flashing prompts are retained.

[0092] Through the stepwise strategy of two-speed limit, one current limit, and one-level vehicle locking, instantaneous over-discharge is avoided, and a controllable self-rescue window is reserved for the user.

[0093] The controller only needs to store two floating-point numbers K1 and K2 in the random access memory (RAM), perform calculations at intervals, and then make three comparisons to complete the interval judgment.

[0094] It should be noted that the specific values of K1 and K2 are not limited to 1.15 / 1.05, and can be modified in real time on the human-machine interface (HMI) according to the battery model, aging degree or on-site regulations; when the battery degradation is severe, K1 can be lowered to 1.10 and K2 to 1.02, so that the advance intervention band moves backward synchronously with aging to maintain the protection effectiveness.

[0095] According to the above embodiments, specifically, restricting the walking speed and boom movements of the boom lift according to the current battery remaining charge level includes:

[0096] If the current battery remaining charge is at the first battery remaining charge level, the boom lift is controlled to operate normally;

[0097] If the current remaining battery power is at the second battery power level, then the maximum walking speed of the boom truck is limited, and the boom lifting is also limited.

[0098] If the current remaining battery power is at the level of the third battery power level, then the boom travel speed is determined according to the environmental conditions, and the boom rise is limited.

[0099] If the current remaining battery power is at the fourth battery power level, then the boom truck will stop operating.

[0100] The controller determines that the battery is at its first remaining charge level. At this time, the system maintains the factory default parameters: 100% PWM duty cycle for the travel driver, 100% current limit for the folding arm / main arm proportional valve, and all actions can be executed at full speed according to operator commands. Because the battery's internal resistance voltage drop is small and the capacity margin is sufficient within this range, even a peak current of 1.5C will not fall below the safety threshold, so no restrictions are required. If the ambient temperature drops sharply (<0℃), K1 can be dynamically adjusted down to ensure that the reserved capacity at low temperatures is still sufficient.

[0101] The system enters the second battery remaining power level. The controller limits the travel speed via the CAN bus, setting the maximum travel current to 50% of the rated value, corresponding to approximately half the normal maximum speed. The boom lift limit restricts the maximum current of the folding boom and main boom lifting solenoid valves to 70% of the rated value and disables the handle's lift position. Lowering, slewing, and telescopic movements are unaffected. The aim is to strike a balance between continued operation and early load reduction, preventing a direct drop to the third level due to a single heavy-load climb. If the operator presses the bypass button, the controller only releases the travel speed limit; the boom lift remains capped at 70% current to ensure no instantaneous over-discharge.

[0102] The system enters the third battery remaining power level. To maximize its ability to autonomously return to the charging station and avoid towing, all actions prioritize returning to the charging station to prevent wasting power. Preferably, if the ambient temperature T ≥ 10℃ and the ground slope < 5%, a maximum speed of 30% creeping is allowed; if T < 10℃ or the slope ≥ 5%, the travel current is further limited to 20% to prevent instantaneous voltage drop caused by low temperature or uphill slope. The boom remains prohibited from ascending, retaining only the descent function to ensure the equipment can self-rescue back to a lower position.

[0103] When the system enters the fourth battery remaining power level, the controller immediately shuts off the PWM output of the walking inverter, forcing the walking speed to 0; it outputs 0mA to all hydraulic solenoid valves, locking all boom movements; the buzzer sounds continuously, and the red light stays on, reminding the user that charging is necessary.

[0104] Even if the bypass button is pressed, the controller remains locked because re-discharging would cross the irreversible damage zone of the lead-acid battery, posing a very high risk of bulging and leakage. It should be noted that the locking logic does not restrict 24V auxiliary power (such as lighting or buzzers), ensuring the nighttime warning function remains operational. The system will only automatically unlock the vehicle after an external charger is connected and a charging current >2A is detected.

[0105] According to the above embodiments, specifically, if the current remaining battery power is at the second battery power level, the corresponding maximum travel speed of the boom lift is limited to:

[0106] The maximum walking speed is limited to 50% of the normal maximum walking speed, corresponding to the product of the real-time voltage and the second proportional coefficient and the cutoff voltage corresponding to the real-time current.

[0107] The maximum walking speed corresponding to the cutoff voltage where the real-time voltage equals the real-time current is limited to 30% of the normal maximum walking speed.

[0108] Based on the real-time voltage, the maximum walking speed is determined and dynamically adjusted linearly within the range of 30% to 50% of the normal maximum walking speed.

[0109] In this embodiment, when the remaining battery power is determined to be at the second level, the walking driver no longer uses a fixed speed limit, but instead executes a linear proportional dynamic speed regulation strategy.

[0110] Upper boundary: When the real-time voltage U is exactly equal to K2*f(Ia), the controller limits the maximum walking speed to 50% of the rated maximum speed. Lower boundary: When the real-time voltage U is exactly equal to f(Ia), the controller further reduces the maximum walking speed to 30% of the rated maximum speed. Between the upper and lower boundaries, the walking speed changes linearly with the voltage, allowing the speed limit to match the real-time decay of the remaining battery power, avoiding the problem of overly strict limitation when the battery is fully charged or overly slack limitation when the battery is low, which can occur with a fixed speed limit.

[0111] Because the speed changes continuously with the voltage, the current demand is also continuously compressed, avoiding the current spikes caused by stepped speed limiting.

[0112] According to the above embodiments, specifically, determining the boom lift's travel speed based on environmental conditions includes:

[0113] Obtain current location information and the location information of the nearest charging point;

[0114] Determine whether the charging walking distance is less than the preset distance based on the current location information and the location information of the nearest charging point;

[0115] If so, then ensure that the boom lift travels to the charging point at the preset minimum speed;

[0116] If not, then confirm that the boom lift has stopped moving.

[0117] This embodiment further introduces environmental distance coupling logic into the third battery remaining power level, so that the walking speed is no longer determined by the voltage curve alone, but by the spatial condition of whether it can safely reach the charging point, forming a voltage and distance dual-axis decision.

[0118] Current location information can be output in real time by the onboard Global Navigation Satellite System (GNSS) module; the location information of the nearest charging point comes from the local map cache. The controller calculates the charging distance based on the latitude and longitude of the two points and the map navigation information. The preset distance can be pre-set or dynamically calculated based on the total capacity of the battery pack, the current ambient temperature, and the minimum allowable creep current.

[0119] When the charging distance is less than the preset distance, the vehicle is allowed to creep to the charging point at a preset minimum speed. Otherwise, the parking lock will be triggered to shut down the driving inverter, the buzzer will sound continuously, and the vehicle will wait for external assistance or charging. It should be noted that even if the distance allows, if the real-time voltage continues to drop to level four, the vehicle will be forced to stop, forming a secondary safety feature.

[0120] It should be noted that during the creeping process, the controller recalculates the charging walking distance and remaining capacity every preset time (2s). If it finds that the charging walking distance has become longer due to detours or the remaining capacity has decreased rapidly, the walking speed is reduced in real time to achieve an adaptive strategy of slower speed as the distance increases.

[0121] The bypass button can still be pressed briefly in Level 3 to limit the maximum speed to the minimum speed and display a countdown timer on the HMI to show the remaining driving time, preventing driver misjudgment.

[0122] This embodiment quantifies the risk of whether or not a vehicle can return to a charging station into a calculable distance, allowing for early vehicle locking or distance restriction at the third level, thus avoiding a hard lockout at the fourth level that could lead to operational interruption.

[0123] According to the above embodiments, specifically, the cutoff voltage under different discharge currents is determined based on multiple battery parameters, and a fitting curve is determined, including:

[0124] The discharge current-cutoff dynamic voltage curve for each lead-acid battery is determined based on the battery parameters.

[0125] The fitted curve is obtained by weighted fitting of the discharge current-cutoff dynamic voltage curve of each lead-acid battery and the usage time of each lead-acid battery.

[0126] The core of this embodiment is to merge the individual curves of multiple lead-acid batteries with different aging levels into a single overall curve usable by the whole machine.

[0127] The first step is to establish the individual cell curves. The discharge current-cutoff dynamic voltage curve refers to the curve showing the critical voltage at which a single lead-acid battery avoids over-discharge under different discharge currents (such as the different rate discharge curves mentioned in the document). Battery parameters include the specifications of the individual battery provided by the manufacturer (such as nominal voltage and capacity), and cutoff voltage data at different discharge currents (such as the critical voltage at 0.1C, 1C, 3C, etc.). Based on these parameters, the discharge current-cutoff dynamic voltage relationship curve of a single battery can be plotted. This is the original data for fitting and reflects the safe voltage boundary of the battery under ideal conditions (such as a new battery).

[0128] For lead-acid batteries with unclear data, laboratory pulse calibration can be performed. For example, in a 25°C constant temperature chamber, each battery is discharged with five pulses at 0.1C, 0.2C, 0.5C, 1C, and 3C, and the cutoff voltage is recorded. Temperature and internal resistance can also be collected simultaneously for subsequent temperature compensation.

[0129] The current-cutoff voltage curve of the current battery in its current healthy state is obtained by the above method. The same formula can be used to calculate the current-cutoff voltage curve for subsequent parallel or series connections.

[0130] Secondly, the aging weight is determined by making usage time an adjustable weight. The performance of lead-acid batteries degrades with usage time (such as the number of charge-discharge cycles and usage duration): at the same discharge current, the cutoff dynamic voltage of an aged battery will be lower than that of a new battery (i.e., it is more likely to reach the over-discharge threshold). For example, if the capacity remains at 80% after 300 cycles, the weight is set to 0.8; the weight of a new battery is 1.0. The higher the weight, the greater the influence of the battery on the overall curve. If a battery is severely aged (retention rate <0.7), its weight will decrease exponentially to avoid the old battery raising the overall threshold and misleading the system.

[0131] Finally, multiple curves are compressed into a single curve through weighted fusion. The discrete data points (current, cutoff voltage, weight) of each battery are fed into weighted least squares to obtain a fitted curve for the entire system. The fitted curve can dynamically adapt to the characteristic changes of the battery throughout its entire life cycle: it retains the accurate judgment basis when the battery is new, and avoids protection failure caused by characteristic deviations in aging batteries by using time-weighted correction. The final fitted curve can more accurately reflect the actual cutoff voltage under different discharge currents.

[0132] Preferably, online updates are also possible. Specifically, every preset update time (e.g., 30 days), the system automatically performs a recalibration, refreshes the battery weight, and ensures that the overall curve always matches the real aging state. This preserves individual differences while avoiding frequent on-site disassembly and inspection, achieving one-time calibration and long-term usability.

[0133] Therefore, the above scheme specifically determines the discharge current-cutoff dynamic voltage curve for each lead-acid battery based on battery parameters, including:

[0134] Collect basic parameters and discharge data of a single lead-acid battery and obtain discrete data of discharge current-cutoff dynamic voltage;

[0135] The discrete data is fitted to the current discharge current-cutoff dynamic voltage curve of the current lead-acid battery.

[0136] Based on the discharge current-cutoff dynamic voltage curve of each lead-acid battery and the usage time of each lead-acid battery, a weighted fitting is performed to obtain the fitted curve, including:

[0137] Obtain the usage time of each lead-acid battery and get the aging assessment results;

[0138] The current evaluation weight of the lead-acid battery is obtained based on the aging assessment results;

[0139] The fitted curve is obtained based on the evaluation weight of each lead-acid battery and the discharge current-cutoff dynamic voltage curve.

[0140] According to the above embodiments, specifically, obtaining the battery parameters of each lead-acid battery includes:

[0141] Control each lead-acid battery to perform short-time pulse discharge under multiple preset currents;

[0142] Synchronously collect instantaneous terminal voltage change data under each preset current;

[0143] Monitor battery temperature changes during discharge;

[0144] The discharge current-cutoff dynamic voltage curve of the lead-acid battery is obtained by fitting the preset current, instantaneous terminal voltage change data, and battery temperature change data.

[0145] Each lead-acid battery is controlled to undergo short-time pulse discharge under multiple preset currents. Specifically, firstly, in a constant temperature chamber or air-cooled battery compartment at 25℃±2℃, five stepped currents of 0.1C, 0.2C, 0.5C, 1.0C, and 1.5C are applied to each battery in sequence. Each current is maintained for 10 seconds, and the adjacent two currents are left to stand still for 30 seconds to eliminate the polarization effect.

[0146] The instantaneous terminal voltage change data under each preset current is collected synchronously. The terminal voltage of the lead-acid battery drops rapidly due to the change in current at the moment of discharge, and then gradually stabilizes. The instantaneous data can accurately reflect the instantaneous voltage state of the battery under a specific current, especially the change process of voltage from the initial value to the stable value, which is used to determine the critical cut-off voltage of the battery under that current. Different preset currents correspond to different instantaneous voltage changes.

[0147] Monitoring battery temperature changes during discharge serves as a supplement and correction to voltage data. Temperature is one of the factors affecting lead-acid battery performance. By recording temperature changes during discharge at different preset currents, temperature compensation can be applied to voltage data in subsequent data processing, reducing errors caused by differences in ambient temperature and resulting in more accurate battery parameters.

[0148] The process of fitting the current-cutoff dynamic voltage curve of a lead-acid battery based on preset current, instantaneous terminal voltage change data, and battery temperature change data is a process of transforming multi-dimensional data into a practical model. By mathematically fitting the preset current-instantaneous voltage data and fine-tuning it with temperature data, a curve is finally generated that reflects the critical voltage at which the lead-acid battery can avoid over-discharge under different discharge currents.

[0149] The boom lift operation control method has been described in detail in the above embodiments. This application also provides embodiments corresponding to the boom lift operation control device. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional modules, and the other is based on the hardware.

[0150] From the perspective of functional modules Figure 4 A structural diagram of a boom lift operation control device provided in an embodiment of this application is shown below. Figure 4 As shown, a boom lift operation control device includes:

[0151] Module 21 is used to acquire the battery parameters of each lead-acid battery;

[0152] Fitting module 22 is used to determine the cutoff voltage under different discharge currents based on multiple battery parameters and to determine the fitting curve;

[0153] The segmentation module 23 is used to obtain multiple intervals based on the fitted curve and the voltage proportional coefficient, which are used to indicate the remaining battery capacity level;

[0154] The acquisition module 24 is used to acquire the real-time voltage of the lead-acid battery through the voltage acquisition device and the real-time current of the lead-acid battery through the current acquisition device when the boom truck is running.

[0155] The rating module 25 is used to determine the range of the real-time voltage based on the real-time current and to obtain the current remaining battery capacity level.

[0156] The control output module 26 is used to limit the walking speed and boom movement of the boom truck based on the current remaining battery power level.

[0157] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0158] Figure 5 A structural diagram of another boom lift operation control device provided in this application embodiment is shown below. Figure 5 As shown, the boom truck operation control device includes: a memory 30 for storing computer programs;

[0159] The processor 31 is used to execute a computer program to implement the steps of the method for obtaining user operation habit information as described in the above embodiment (arm wagon operation control method).

[0160] The boom lift operation control device provided in this embodiment may include, but is not limited to, mobile terminals, personal computers, workstations, etc.

[0161] The processor 31 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 31 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 31 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 31 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 31 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0162] The memory 30 may include one or more computer-readable storage media, which may be non-transitory. The memory 30 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 30 is used to store at least the following computer program 301, which, after being loaded and executed by the processor 31, is capable of implementing the relevant steps of the boom lift operation control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 30 may also include an operating system 302 and data 303, and the storage method may be temporary or permanent storage. The operating system 302 may include Windows, Unix, Linux, etc. The data 303 may include, but is not limited to, the data involved in implementing the boom lift operation control method.

[0163] In some embodiments, the boom truck operation control device may further include a display screen 32, an input / output interface 33, a communication interface 34, a power supply 35, and a communication bus 36.

[0164] Those skilled in the art will understand that Figure 5 The structure shown does not constitute a limitation on the boom lift operation control device and may include more or fewer components than shown.

[0165] The boom lift operation control device provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: boom lift operation control method.

[0166] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above-described boom lift operation control method embodiment.

[0167] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0168] The computer-readable storage medium provided in this embodiment stores a computer program thereon. When the processor executes the program, the following method can be implemented: boom lift operation control method.

[0169] The boom lift operation control method, device, and medium provided in this application have been described in detail above. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0170] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "include," "comprise," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the statement "includes a…" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A boom lift operation control method, characterized in that, include: Obtain the battery parameters for each lead-acid battery; The cutoff voltage under different discharge currents is determined based on multiple battery parameters, and a fitting curve is determined. Based on the fitted curve, multiple intervals are obtained according to voltage proportional coefficients to indicate the remaining battery capacity level; including: obtaining a preset first proportional coefficient and a second proportional coefficient, wherein the first proportional coefficient is greater than the second proportional coefficient and both are greater than 1; when the real-time voltage is not less than the product of the first proportional coefficient and the cutoff voltage corresponding to the real-time current, it is located at the first battery remaining capacity level; when the real-time voltage is less than the product of the first proportional coefficient and the cutoff voltage corresponding to the real-time current, and not less than the product of the second proportional coefficient and the cutoff voltage corresponding to the real-time current, it is located at the second battery remaining capacity level; when the real-time voltage is less than the product of the second proportional coefficient and the cutoff voltage corresponding to the real-time current, and not less than the cutoff voltage corresponding to the real-time current, it is located at the third battery remaining capacity level; when the real-time voltage is less than the cutoff voltage corresponding to the real-time current, it is located at the fourth battery remaining capacity level; When the boom truck is running, the real-time voltage of the lead-acid battery is obtained through a voltage acquisition device, and the real-time current of the lead-acid battery is obtained through a current acquisition device. The range of the real-time voltage is determined based on the real-time current, and the current remaining battery capacity level is obtained. The boom lift's travel speed and boom movement are limited based on the current remaining battery power level; this includes: if the current remaining battery power level is the first level, the boom lift is controlled to operate normally; if the current remaining battery power level is the second level, the maximum travel speed of the boom lift is limited, and the boom's ascent is restricted; if the current remaining battery power level is the third level, the travel speed of the boom lift is determined based on environmental conditions, and the boom's ascent is restricted; if the current remaining battery power level is the fourth level, the boom lift is controlled to stop operating.

2. The boom lift operation control method according to claim 1, characterized in that, If the current remaining battery power is at the second battery power level, the corresponding limit on the maximum travel speed of the boom lift includes: The maximum walking speed is limited to 50% of the normal maximum walking speed, corresponding to the product of the real-time voltage and the second proportional coefficient and the cutoff voltage corresponding to the real-time current. The maximum walking speed corresponding to the cutoff voltage where the real-time voltage equals the real-time current is limited to 30% of the normal maximum walking speed. Based on the real-time voltage, the maximum walking speed is determined and dynamically adjusted linearly within the range of 30% to 50% of the normal maximum walking speed.

3. The boom lift operation control method according to claim 1, characterized in that, Determining the boom lift's travel speed based on environmental conditions includes: Obtain current location information and the location information of the nearest charging point; Based on the current location information and the location information of the nearest charging point, determine whether the charging walking distance is less than a preset distance; If so, then the boom truck is determined to travel to the charging point at a preset minimum speed; If not, then the boom lift is determined to have stopped moving.

4. The boom lift operation control method according to claim 1, characterized in that, The cutoff voltage under different discharge currents is determined based on multiple battery parameters, and a fitting curve is determined, including: The discharge current-cutoff dynamic voltage curve for each lead-acid battery is determined based on the battery parameters. The fitted curve is obtained by weighted fitting based on the discharge current-cutoff dynamic voltage curve of each lead-acid battery and the usage time of each lead-acid battery.

5. The boom lift operation control method according to claim 1, characterized in that, Obtain the battery parameters for each lead-acid battery, including: Each lead-acid battery is controlled to undergo short-time pulse discharge under multiple preset currents; Synchronously collect instantaneous terminal voltage change data under each preset current; Monitor battery temperature changes during discharge; The discharge current-cutoff dynamic voltage curve of the current lead-acid battery is obtained by fitting the preset current, the instantaneous terminal voltage change data, and the battery temperature change data.

6. A boom lift operation control device, characterized in that, include: The acquisition module is used to acquire the battery parameters for each lead-acid battery; The fitting module is used to determine the cutoff voltage under different discharge currents based on multiple battery parameters, and to determine the fitting curve; The segmentation module is used to obtain multiple intervals based on the fitted curve according to voltage proportional coefficients, for indicating the remaining battery capacity level; it includes: obtaining preset first proportional coefficients and second proportional coefficients, wherein the first proportional coefficient is greater than the second proportional coefficient and both are greater than 1; when the real-time voltage is not less than the product of the first proportional coefficient and the cutoff voltage corresponding to the real-time current, it is located at the first battery remaining capacity level; when the real-time voltage is less than the product of the first proportional coefficient and the cutoff voltage corresponding to the real-time current, and not less than the product of the second proportional coefficient and the cutoff voltage corresponding to the real-time current, it is located at the second battery remaining capacity level; when the real-time voltage is less than the product of the second proportional coefficient and the cutoff voltage corresponding to the real-time current, and not less than the cutoff voltage corresponding to the real-time current, it is located at the third battery remaining capacity level; when the real-time voltage is less than the cutoff voltage corresponding to the real-time current, it is located at the fourth battery remaining capacity level; The data acquisition module is used to acquire the real-time voltage of the lead-acid battery through a voltage acquisition device and the real-time current of the lead-acid battery through a current acquisition device when the boom truck is running. The rating module is used to determine the range of the real-time voltage based on the real-time current and to obtain the current remaining battery capacity level. The control output module is used to limit the boom's travel speed and boom movement based on the current remaining battery power level; including: if the current remaining battery power is at the first remaining battery power level, controlling the boom to operate normally; if the current remaining battery power is at the second remaining battery power level, limiting the boom's maximum travel speed and restricting boom elevation; if the current remaining battery power is at the third remaining battery power level, determining the boom's travel speed based on environmental conditions and restricting boom elevation; if the current remaining battery power is at the fourth remaining battery power level, controlling the boom to stop operating.

7. A boom lift operation control device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the boom lift operation control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the boom lift operation control method as described in any one of claims 1 to 5.

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