Power dragging system and control method thereof

Abstract

The invention discloses a power dragging system and a control method thereof, the power dragging system comprises a power dragging mobile device, the power dragging mobile device comprises a vehicle control unit and a motor, and the control method of the power dragging system is executed by the vehicle control unit; the control method of the power dragging system comprises the following steps: when an operation position alarm signal is received, acquiring basic information of power dragging mobile equipment; the basic information of the power-dragging mobile equipment at least comprises the speed of the power-dragging mobile equipment and the whole vehicle gear of the power-dragging mobile equipment; generating a torque force according to the basic information of the power-dragging mobile device; and controlling a motor of the power-dragging mobile equipment according to the torque force so as to enable the power-dragging mobile equipment to stop moving before the limit operation position. And when the operation position alarm signal is received, torque force is generated and applied to the motor so as to quickly control the power dragging mobile equipment to stop through rotation of the motor. The towing mobile equipment is controlled to stop before the limit position, so that the whole vehicle is still in a ready state, and the problem that high voltage is difficult to recover after the whole vehicle is powered off is solved.

Description

Technical Field

[0001] This invention relates to the field of electric scooter control technology, and in particular to an electric scooter system and its control method. Background Technology

[0002] Existing mobile equipment, such as electric loaders, primarily uses battery power. Battery-powered electric loaders can meet construction needs for a certain period, typically with a runtime of 6 hours. However, in industries like domestic ports and steel mills, loaders require continuous operation, where battery-powered electric loaders are insufficient. This is where cable-operated loaders came in. Because the production characteristics of loaders involve on-site work, as long as there is a sufficient distance for cable routing and retraction to ensure power supply to the loader, on-site production operations can be achieved.

[0003] However, existing mobile charging devices do not take any countermeasures at extreme positions. Instead, they simply cut off the power supply to the mobile charging device, causing it to lose power abnormally. The subsequent operation to restore power is quite complicated. Summary of the Invention

[0004] This invention provides a power-assisted system and its control method to solve the problem of abnormal power loss of power-assisted mobile equipment when reaching the extreme working position.

[0005] According to one aspect of the present invention, a control method for a trolley system is provided, the trolley system including a trolley mobile device, the trolley mobile device including a vehicle controller and a motor, and the control method for the trolley system being executed by the vehicle controller;

[0006] The control method for the electric traction system includes:

[0007] Upon receiving an alarm signal for the work location, the basic information of the electric scooter is obtained; the basic information of the electric scooter includes at least the speed of the electric scooter and the gear position of the electric scooter.

[0008] Torque force is generated based on the basic information of the electric mobile device;

[0009] The motor of the electric mobile device is controlled according to the torque force so that the electric mobile device stops moving before reaching the extreme working position.

[0010] Optionally, the basic information of the electric mobile device includes the speed of the electric mobile device and the gear position of the electric mobile device.

[0011] The generation of torque force based on the basic information of the electric mobile device includes:

[0012] The magnitude of the torque force is determined based on the speed of the electric mobile device and a preset correspondence; wherein, the preset correspondence is the correspondence between the speed of the electric mobile device and the magnitude of the torque force applied to the motor;

[0013] The direction of the torque force is determined based on the vehicle gear position of the electric mobile device;

[0014] The torque force is determined based on its magnitude and direction.

[0015] Optionally, the electric mobile device also includes an accelerator pedal, and upon receiving an alarm signal for the work position, it further includes:

[0016] Stop responding to the accelerator pedal.

[0017] Optionally, after controlling the motor of the electric mobile device according to the torque force to stop the electric mobile device from moving before reaching the extreme working position, the method further includes:

[0018] Stop applying the torque force to the motor.

[0019] Optionally, the electric towing system includes an electric tower, on which a cable reel is installed, and a cable is wound on the cable reel. One end of the cable is connected to the output end of the electric tower, and the other end of the cable is connected to the power supply end of the electric towing mobile device. The electric towing mobile device also includes a warning module, and the vehicle controller is connected to the warning module.

[0020] After controlling the motor of the electric mobile device according to the torque force to stop the electric mobile device from moving before reaching the extreme working position, the method further includes:

[0021] A first prompt signal is generated to the prompt module to prompt the operator of the trolley mobile equipment to control the trolley mobile equipment to move a preset distance closer to the power tower.

[0022] Optionally, the electric scooter system includes an electric tower, on which a cable reel is provided, on which a cable is wound, one end of which is connected to the output end of the electric tower, and the other end of which is connected to the power supply end of the electric scooter mobile device.

[0023] After controlling the motor of the electric mobile device according to the torque force to stop the electric mobile device from moving before reaching the extreme working position, the method further includes:

[0024] A preset torque is applied to the motor to move the electric mobile device a preset distance toward the power tower.

[0025] Optionally, the electric scooter system includes an electric tower, on which a cable reel is provided, on which a cable is wound, one end of which is connected to the output end of the electric tower, and the other end of which is connected to the power supply end of the electric scooter mobile device.

[0026] The work position alarm signal is generated by a sensor installed on the cable reel when it detects that the cable has been laid out to a first length, where the first length is less than the total length of the cable.

[0027] The first length is less than the second length, where the second length is the cable length when the electric mobile device is in the extreme operating position.

[0028] Optionally, the sensor installed on the cable reel is also used to generate a power-off signal when it detects that the cable length has reached the second length, so that the power tower stops supplying power to the trolley mobile device and the trolley mobile device is de-energized.

[0029] According to another aspect of the present invention, a power-carrying system is provided, which is controlled by the power-carrying system control method described in any of the preceding aspects.

[0030] Optionally, the electric scooter system includes an electric scooter mobile device, which includes one of an electric scooter loader, an electric scooter excavator, and an electric scooter material handler.

[0031] The technical solution of this invention, upon receiving an alarm signal for the work position, generates a torque force matching the current basic information of the electric mobile device and applies this torque force to the motor. This motor rotation quickly stops the electric mobile device, ensuring it stops as soon as it reaches the warning position. This prevents the electric mobile device from continuing to travel to the limit work position, exceeding the cable length and causing power outages on the power tower or abnormal high voltage drops. By stopping the electric mobile device before reaching the limit position, the entire vehicle remains in a ready state, avoiding power outages and the difficulty of restoring high voltage later.

[0032] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A flowchart of a control method for a traction power system provided in an embodiment of the present invention;

[0035] Figure 2 A flowchart of another control method for a power-driven system provided in an embodiment of the present invention. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] Figure 1 This is a flowchart illustrating a control method for an electric-to-electric system according to an embodiment of the present invention. The electric-to-electric system includes a mobile device, which comprises a vehicle controller and a motor. The control method for the electric-to-electric system is executed by the vehicle controller. The mobile device is a device that does not carry its own primary power source (such as a battery or fuel engine), but is connected to an external power source via a long cable, and can move and operate within a certain range. (Reference) Figure 1 The control methods for electric traction systems include:

[0039] S110: Upon receiving an alarm signal for the work location, acquire basic information about the electric mobile equipment; the basic information about the electric mobile equipment includes at least the speed of the electric mobile equipment and the gear position of the electric mobile equipment.

[0040] Because the mobile electric scooter is connected to an external power source, such as a power tower, via a cable, and the cable has a limited length, if the scooter continues to move away from the power tower beyond the cable's maximum length, it will strain the tower and cause damage. Therefore, the working boundary position of the mobile electric scooter needs to be marked according to the cable length. For example, when the mobile electric scooter moves to a certain position and the cable's length reaches a preset length, which is less than but close to the total cable length, the position of the mobile electric scooter is the working boundary position, and it cannot continue to move away from the power tower. The working position alarm signal indicates that the mobile electric scooter is at the working boundary position. The working boundary position is not unique; the trajectory of the working boundary position is a circle with the power tower as the center and the preset length as the radius.

[0041] The vehicle controller interacts with various components within the electric mobile device in real time. For example, it acquires and calculates vehicle speed information from other actuators and sensors via the vehicle network, specifically through the Anti-lock Braking System (ABS) or Electronic Stability Program (ESP) control modules. The ABS or ESP control module monitors the rotational speed of each wheel in real time using four wheel speed sensors. Based on its internal algorithm, it calculates a reference speed from the signals from the four wheel speed sensors. The ABS or ESP control module broadcasts this calculated reference speed to the CAN bus according to a prescribed format and period. The vehicle controller, acting as a node on the CAN bus, acquires data from the bus. When it captures a CAN message containing vehicle speed information, it parses it to obtain the speed of the electric mobile device.

[0042] The vehicle controller obtains the vehicle's gear position from the automatic transmission controller (TCU) or integrated controller (ICU) via the CAN bus; this embodiment uses the TCU as an example. Specifically, the operator operates the gear shift lever, which contains sensors or a resistor network that converts the physical position of the lever into an electrical signal. The gear shift lever signal is directly sent to the TCU. The TCU combines the gear shift lever signal with the current vehicle speed, engine speed, and brake signal to perform safety logic judgments (e.g., prohibiting shifting into reverse gear R when the vehicle speed is too high), ultimately confirming the current valid gear. The TCU broadcasts the finally confirmed gear position information to the vehicle's CAN bus according to the designed CAN message format and period. The vehicle controller obtains the gear position information, i.e., the vehicle's gear position, from the TCU by parsing the corresponding CAN message.

[0043] S120: Generates torque force based on the basic information of the electric mobile device.

[0044] In this embodiment, the vehicle controller generates torque based on the speed of the electric mobile device and the vehicle's gear position. The magnitude of the torque is directly proportional to the speed of the electric mobile device; the higher the speed, the greater the generated torque.

[0045] S130: Controls the motor of the electric mobile device based on torque force to stop the electric mobile device from moving before reaching the extreme working position.

[0046] When the trolley mobile device is in its extreme working position, the power tower cuts off power to the trolley mobile device, causing it to lose power abnormally. The vehicle controller receives a working position alarm signal when the trolley mobile device is at the working boundary. Upon receiving the alarm signal, it immediately acquires the basic information of the trolley mobile device, generates torque based on this information, and applies it to the motor. The motor constitutes the drive system of the trolley mobile device, controlling its movement. By applying the torque obtained in S120 to the motor, the trolley mobile device is stopped, thus stopping it before reaching the extreme working position, preventing strain on the power tower and abnormal power loss. In this embodiment, the vehicle will not switch main power beyond the extreme position, thus avoiding damage to the vehicle's electrical appliances and relays. Operators of the trolley mobile device do not need to constantly monitor the distance between the trolley mobile device and the power tower; the vehicle controller handles the situation when the device is at the working edge, improving both the user experience and safety.

[0047] The technical solution of this invention, upon receiving an alarm signal for the work position, generates a torque force matching the current basic information of the electric mobile device and applies this torque force to the motor. This motor rotation quickly stops the electric mobile device, ensuring it stops as soon as it reaches the warning position. This prevents the electric mobile device from continuing to travel to the limit work position, exceeding the cable length and causing power outages on the power tower or abnormal high voltage drops. By stopping the electric mobile device before reaching the limit position, the entire vehicle remains in a ready state, avoiding power outages and the difficulty of restoring high voltage later.

[0048] Optionally, the electric trolley system includes an electric tower with a cable reel wound around it. One end of the cable is connected to the output end of the electric tower, and the other end is connected to the power supply end of the electric trolley mobile device. The electric tower serves as the external power source for the electric trolley mobile device, supplying power to it via the cable. A work position alarm signal is generated by a sensor on the cable reel when it detects that the cable's length has reached a first length, which is less than the total cable length. The sensor transmits the generated work position alarm signal to the control module in the electric tower. The control module then interacts with the vehicle controller, transmitting the work position alarm signal to the vehicle controller. The first length is less than a second length, which is the cable's length when the electric trolley mobile device is in its extreme work position.

[0049] The sensors installed on the cable reel are also used to generate a power-off signal when the cable length reaches the second length, so that the power tower stops supplying power to the electric mobile equipment and the electric mobile equipment is de-energized.

[0050] When the cable reaches its first length, the sensor generates a work position alarm signal, prompting the vehicle controller to promptly stop the electric trailer before it reaches its limit working position, thus preventing the power tower from directly cutting off power and causing abnormal power loss to the trailer. If the vehicle controller malfunctions when controlling the electric trailer to stop upon receiving the work position alarm signal, and the trailer continues to move and reaches its limit working position, the power tower will directly cut off power to the electric trailer, causing it to stop under high voltage to prevent further movement and potential damage to the power tower due to insufficient cable length.

[0051] Figure 2 A flowchart of another control method for a power-driven system provided in an embodiment of the present invention is shown below. Figure 2 The control method of the electric traction system includes:

[0052] S111: Upon receiving an alarm signal for the work location, acquire basic information about the electric mobile equipment. This basic information includes the speed of the electric mobile equipment and its gear position.

[0053] S121: Determine the magnitude of the torque force based on the speed of the electric mobile device and a preset correspondence; wherein, the preset correspondence is the correspondence between the speed of the electric mobile device and the magnitude of the torque force applied to the motor.

[0054] Torque is a vector force, including both magnitude and direction. Based on experience or multiple test data, a relationship between the speed of the electric mobile device and the magnitude of the torque force is generated in the early stages. This ensures that applying the torque force corresponding to the current speed to the motor at that speed can control the electric mobile device to stop moving and reduce its speed to zero within a short time. The preset correspondence can be a lookup table, which includes multiple speeds of the electric mobile device and the corresponding torque force magnitudes for each speed. After determining the speed of the electric mobile device, the torque force magnitude is determined by looking up the table or by interpolation. Specifically, when the acquired speed of the electric mobile device equals a speed in the table, the torque force magnitude corresponding to that speed is directly determined by looking up the table. If the acquired speed of the electric mobile device does not equal any speed in the table, the torque force magnitude corresponding to the acquired speed is calculated by interpolation using the two adjacent speeds in the table and the corresponding torque force magnitudes of those two speeds.

[0055] S131: Determine the direction of torque force based on the vehicle gear position of the electric mobile device.

[0056] The vehicle's gears include forward and reverse gears. The direction of motor rotation is determined by the vehicle's gear position, such as counter-clockwise. Therefore, to stop the electric mobile device, the direction of the torque force applied to the motor should be opposite to the motor's current rotation direction, such as rotating the motor clockwise to gradually decelerate the electric mobile device to zero. Thus, the direction of the torque force is determined by the motor's current rotation direction based on the vehicle's gear position.

[0057] S141: Determine the torque force based on the magnitude and direction of the torque force.

[0058] S151: Controls the motor of the electric mobile device based on torque force to stop the electric mobile device from moving before reaching the extreme working position.

[0059] Optionally, upon receiving a work position alarm signal, the function may also include: ceasing response to the accelerator pedal.

[0060] When the vehicle controller receives an alarm signal indicating the work position, it needs to stop the trolley mobile device via the motor. If the operator, unaware that the work boundary has been reached, continues to press the accelerator pedal, the vehicle controller will continue to respond to the accelerator, increasing the speed of the trolley mobile device and making it difficult to stop. Therefore, the vehicle controller stops responding to the accelerator pedal. Even if the operator tries to continue pressing the accelerator, the vehicle controller will not respond, allowing it to stop the trolley mobile device via the motor in a shorter time and preventing it from moving to the extreme work position.

[0061] Optionally, after S130 or S151, the following may also be included: stopping the application of torque force to the motor.

[0062] When the vehicle controller receives the alarm signal for the work position, it applies torque to the motor to control the electric mobile device to stop moving, and then stops applying torque to the motor.

[0063] Optionally, the electric mobile equipment also includes a prompting module, and the vehicle controller is connected to the prompting module; after S130 or S151, it also includes: generating a first prompting signal to the prompting module to prompt the operator of the electric mobile equipment to control the electric mobile equipment to move a preset distance toward the power tower.

[0064] After the vehicle controller stops the electric mobile device via the motor, it generates a first warning signal. In one embodiment, the warning module includes a warning light located in the operator's driving area. The warning light flashes or illuminates in response to the first warning signal. Upon seeing the warning light, the operator confirms that the electric mobile device needs to be moved a preset distance closer to the power tower, ensuring it is no longer at the edge of the work area and allowing it to continue operating. In another optional embodiment, the warning module can be a speaker, and the first warning signal is a voice broadcast signal. The speaker broadcasts a warning signal such as "Please move a preset distance closer to the power tower," so that the operator, upon hearing the voice broadcast signal, can move the electric mobile device a preset distance closer to the power tower. The preset distance is less than the total length of the cable and can be 10% of the total cable length.

[0065] Alternatively, after S130 or S151, it may also include: applying a preset torque to the motor to move the electric mobile device a preset distance toward the power tower.

[0066] After the electric mobile device stops via the motor, the vehicle controller can enter automatic driving mode, temporarily disabling manual operation by the operator. The vehicle controller sends a default torque (preset torque) to the motor via the CAN bus, controlling the electric mobile device to move a preset distance towards the power tower at a low or constant speed. If the device then moves backward a preset distance and is no longer at the work boundary, the vehicle controller exits automatic driving mode, allowing the operator to continue working on the electric mobile device.

[0067] In this embodiment, the prompting module can prompt the operator to control the electric mobile device to travel a preset distance closer to the power tower. Alternatively, the vehicle controller can enter the automatic driving mode to directly control the electric mobile device to travel a preset distance closer to the power tower, so that the electric mobile device is no longer at the work boundary position and can continue to work.

[0068] This invention also provides a power-assisted towing system, controlled using the control method described in any of the above embodiments. When the vehicle controller in the power-assisted towing system receives an alarm signal for the work position, it generates a torque force matching the current basic information of the power-assisted towing device and applies this torque force to the motor. This allows the motor to rotate and quickly stop the power-assisted towing device, ensuring it stops as soon as it reaches the warning position. This prevents the device from continuing to travel to the limit work position, exceeding the cable length and causing power outages on the power tower or abnormal high voltage drops. By stopping the power-assisted towing device before reaching the limit position, the entire vehicle remains in a ready state, avoiding power outages and the difficulty of restoring high voltage later.

[0069] Optionally, the electric scooter system includes an electric scooter mobile device, which may include one of an electric loader, an electric excavator, and an electric material handler. In other embodiments, the electric scooter mobile device may also be other equipment that requires access to an external power supply for operation, without specific limitations.

[0070] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0071] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control method for a power-driven system, characterized in that, The electric trailer system includes an electric trailer mobile device, which includes a vehicle controller and a motor. The control method of the electric trailer system is executed by the vehicle controller. The control method for the electric traction system includes: Upon receiving an alarm signal for the work location, the basic information of the electric scooter is obtained; the basic information of the electric scooter includes at least the speed of the electric scooter and the gear position of the electric scooter. Torque force is generated based on the basic information of the electric mobile device; The motor of the electric mobile device is controlled according to the torque force so that the electric mobile device stops moving before reaching the extreme working position.

2. The control method for the electric drive system according to claim 1, characterized in that, The basic information of the electric mobile device includes the speed of the electric mobile device and the gear position of the electric mobile device. The generation of torque force based on the basic information of the electric mobile device includes: The magnitude of the torque force is determined based on the speed of the electric mobile device and a preset correspondence; wherein, the preset correspondence is the correspondence between the speed of the electric mobile device and the magnitude of the torque force applied to the motor; The direction of the torque force is determined based on the vehicle gear position of the electric mobile device; The torque force is determined based on its magnitude and direction.

3. The control method for the electric drive system according to claim 1, characterized in that, The electric mobile device also includes an accelerator pedal, and upon receiving an alarm signal at the work location, it further includes: Stop responding to the accelerator pedal.

4. The control method for the electric drive system according to claim 1, characterized in that, After controlling the motor of the electric mobile device according to the torque force to stop the electric mobile device from moving before reaching the extreme working position, the method further includes: Stop applying the torque force to the motor.

5. The control method for the electric drive system according to claim 1, characterized in that, The electric towing system includes an electric tower, on which a cable reel is installed, and a cable is wound on the cable reel. One end of the cable is connected to the output end of the electric tower, and the other end of the cable is connected to the power supply end of the electric towing mobile device. The electric towing mobile device also includes a prompting module, and the vehicle controller is connected to the prompting module. After controlling the motor of the electric mobile device according to the torque force to stop the electric mobile device from moving before reaching the extreme working position, the method further includes: A first prompt signal is generated to the prompt module to prompt the operator of the trolley mobile equipment to control the trolley mobile equipment to move a preset distance closer to the power tower.

6. The control method for the electric drive system according to claim 1, characterized in that, The electric scooter system includes an electric tower, on which a cable reel is mounted, and a cable is wound on the cable reel. One end of the cable is connected to the output end of the electric tower, and the other end of the cable is connected to the power supply end of the electric scooter. After controlling the motor of the electric mobile device according to the torque force to stop the electric mobile device from moving before reaching the extreme working position, the method further includes: A preset torque is applied to the motor to move the electric mobile device a preset distance toward the power tower.

7. The control method for the electric drive system according to claim 1, characterized in that, The electric scooter system includes an electric tower, on which a cable reel is mounted, and a cable is wound on the cable reel. One end of the cable is connected to the output end of the electric tower, and the other end of the cable is connected to the power supply end of the electric scooter. The work position alarm signal is generated by a sensor installed on the cable reel when it detects that the cable has been laid out to a first length, where the first length is less than the total length of the cable. The first length is less than the second length, where the second length is the cable length when the power-assisted mobile device is in the extreme operating position.

8. The control method for the electric drive system according to claim 7, characterized in that, The sensor installed on the cable reel is also used to generate a power-off signal when it detects that the cable length has reached the second length, so that the power tower stops supplying power to the electric mobile equipment and the electric mobile equipment is de-energized.

9. A power-carrying system, characterized in that, The control method of the electric drive system according to any one of claims 1-8 is used for control.

10. The control method for the electric drive system according to claim 9, characterized in that, The electric scooter system includes electric scooter mobile equipment, which includes one of an electric scooter loader, an electric scooter excavator, and an electric scooter material handler.

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