A tire rotation speed control method, system, device and medium for an electric arm vehicle

Abstract

The application discloses a tire rotating speed control method, system, device and medium of an electric arm vehicle, belongs to the technical field of engineering machinery, and relates to the technical field of engineering machinery. The electric arm vehicle comprises a steering structure, a plurality of tires and a plurality of walking motors. The steering structure comprises a left steering seat, a right steering seat, a steering bridge and a steering pull rod. The tires correspond to the walking motors one by one. The tire rotating speed control method of the electric arm vehicle comprises the following steps: determining a current steering angle of the electric arm vehicle; generating motor rotating speed control information according to a motor rotating speed relationship formula and the current steering angle; and controlling the walking motors to drive the tires to rotate according to the motor rotating speed control information. The application can reasonably control the tire rotating speed of the electric arm vehicle and reduce safety risks.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and in particular to a method, system, equipment and medium for controlling the tire speed of an electric boom truck. Background Technology

[0002] Electric boom lifts, also known as self-propelled electric boom aerial work platforms, typically consist of a chassis, turntable, and boom. During use, a common problem is mismatched speeds between the four drive motors on the chassis, leading to tire wear. In severe cases, this can cause the drive motors, drive reducers, and other components to burn out.

[0003] In related technologies, a common method for steering differential control is to use a fixed speed control within a fixed steering angle range (e.g., 0 to 1 degree; the finer the division, the higher the steering speed control accuracy). Through trial and error or experience accumulation, the speed range and corresponding speed values ​​are determined, thereby achieving steering differential control. However, this method is limited by experience and experimental methods, resulting in significant accuracy errors and high safety risks.

[0004] Therefore, how to reasonably control the tire speed of electric boom trucks and reduce safety risks is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a method, system, device, and medium for controlling the tire speed of an electric boom truck, which can reasonably control the tire speed of the electric boom truck and reduce safety risks.

[0006] To solve the above-mentioned technical problems, this application provides a tire speed control method for an electric boom truck. The electric boom truck includes a steering structure, multiple tires, and multiple travel motors. The steering structure includes a left steering seat, a right steering seat, a steering axle, and a steering tie rod. Each tire corresponds to one of the travel motors. The tire speed control method for the electric boom truck includes:

[0007] Determine the current steering angle of the electric boom truck;

[0008] Motor speed control information is generated based on the relationship between the current steering angle and the motor speed; wherein, the motor speed relationship is used to describe the speed relationship between the walking motors, and the motor speed relationship is determined based on reference data and the structural parameters of the steering structure. The reference data includes a reference steering angle and a reference turning radius, and the reference turning radius is the turning radius of the tires when the electric boom is at the reference steering angle.

[0009] The walking motor is controlled to drive the tires to rotate according to the motor speed control information.

[0010] Optionally, motor speed control information is generated based on the relationship between the current steering angle and the motor speed, including:

[0011] If the electric boom truck turns to the left, then first motor speed control information is generated based on the relationship between the current turning angle and the left-turn motor speed; wherein, the left-turn motor speed relationship is used to describe the speed relationship between the travel motors when the electric boom truck turns to the left;

[0012] If the electric boom truck turns to the right, then second motor speed control information is generated based on the relationship between the current turning angle and the right-turn motor speed; wherein, the right-turn motor speed relationship is used to describe the speed relationship between the travel motors when the electric boom truck turns to the right.

[0013] Optionally, the tires include a left front tire, a right front tire, a left rear tire, and a right rear tire, and the driving motors include a left front motor for driving the left front tire, a right front motor for driving the right front tire, a left rear motor for driving the left rear tire, and a right rear motor for driving the right rear tire.

[0014] Accordingly, based on the relationship between the current steering angle and the left-turn motor speed, first motor speed control information is generated, including:

[0015] Substituting the current steering angle into the left turn motor speed relationship formula, the first motor speed control information is obtained; wherein, the first motor speed control information includes the speed numerical relationship between the right front motor, the left rear motor, and the right rear motor and the left front motor, respectively;

[0016] The formula for the rotational speed of the left-hand motor is as follows:

[0017] ;

[0018] This indicates the rotational speed of the left front motor. This indicates the rotational speed of the right front motor. This indicates the rotational speed of the left rear motor. This indicates the rotational speed of the right rear motor. This indicates the reference turning radius of the left front tire. This indicates the reference turning radius of the right front tire. This indicates the reference turning radius of the left rear tire. This indicates the reference turning radius of the right rear tire. This indicates the reference steering angle. This indicates the current steering angle.

[0019] Optionally, before substituting the current steering angle into the formula for the left-turn motor speed, the method further includes:

[0020] The maximum left-turn angle of the electric boom truck is selected as the reference steering angle so that the left-turn motor speed relationship can be generated based on the maximum left-turn angle.

[0021] Optionally, second motor speed control information is generated based on the relationship between the current steering angle and the right-turn motor speed, including:

[0022] Substituting the current steering angle into the right turn motor speed relationship formula, the second motor speed control information is obtained; wherein, the second motor speed control information includes the speed numerical relationship between the left front motor, the left rear motor, and the right rear motor and the right front motor, respectively;

[0023] The formula for the rotational speed of the right-turn motor is as follows:

[0024] .

[0025] Optionally, before substituting the current steering angle into the right-turn motor speed formula, the method further includes:

[0026] The maximum right turn angle of the electric boom truck is selected as the reference steering angle so that the right turn motor speed relationship can be generated based on the maximum right turn angle.

[0027] Optionally, the electric boom truck further includes a first steering angle sensor disposed on the left steering seat and a second steering angle sensor disposed on the right steering seat;

[0028] Accordingly, determining the current steering angle of the electric boom truck includes:

[0029] The current steering angle of the electric boom truck is determined based on the measurements from the first steering angle sensor and the second steering angle sensor.

[0030] Accordingly, after determining the current steering angle of the electric boom truck, the process also includes:

[0031] Determine whether the current steering angle is greater than the maximum left turn angle or the maximum right turn angle;

[0032] If so, prompt the user to activate the steering reset function;

[0033] If not, proceed to the step of generating motor speed control information based on the relationship between the current steering angle and motor speed.

[0034] This application also provides a tire speed control system for an electric boom truck. The electric boom truck includes a steering structure, multiple tires, and multiple travel motors. The steering structure includes a left steering seat, a right steering seat, a steering axle, and a steering tie rod. Each tire corresponds to one of the travel motors. The tire speed control system for the electric boom truck includes:

[0035] An angle determination module is used to determine the current steering angle of the electric boom truck;

[0036] The control information determination module is used to generate motor speed control information based on the relationship between the current steering angle and the motor speed; wherein, the motor speed relationship is used to describe the speed relationship between the walking motors, and the motor speed relationship is determined based on reference data and the structural parameters of the steering structure, the reference data including a reference steering angle and a reference turning radius, the reference turning radius being the turning radius of the tires when the electric boom is at the reference steering angle;

[0037] The speed control module is used to control the walking motor to drive the tire to rotate according to the motor speed control information.

[0038] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the above-described electric boom truck tire speed control method.

[0039] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the above-described electric boom truck tire speed control method.

[0040] This application provides a tire speed control method for an electric boom truck. The method acquires the current steering angle of the electric boom truck and generates motor speed control information based on the relationship between the current steering angle and the motor speed. The motor speed relationship is determined based on a reference steering angle, a reference turning radius, and structural parameters of the steering structure. The motor speed control information generated using this relationship enables each tire to rotate at a suitable speed at the current steering angle. After obtaining the motor speed control information, the travel motor can be controlled to drive the tires to rotate according to the motor speed control information. The above process dynamically sets the travel motor speed based on the current steering angle, allowing the tires to rotate at a reasonable speed. Therefore, this application can reasonably control the tire speed of the electric boom truck, reducing safety risks. This application also provides a tire speed control system for an electric boom truck, a storage medium, and an electronic device, all with the above-mentioned beneficial effects, which will not be elaborated further here. Attached Figure Description

[0041] 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.

[0042] Figure 1 A flowchart illustrating a tire speed control method for an electric boom truck provided in an embodiment of this application;

[0043] Figure 2 A flowchart illustrating a method for automatically controlling the steering differential of a chassis travel motor, provided in an embodiment of this application;

[0044] Figure 3 This is a schematic diagram of the structure of an electric boom truck provided in an embodiment of this application;

[0045] Figure 4 This is a schematic diagram of a steering structure provided in an embodiment of this application;

[0046] Figure 5 A simplified model diagram of a steering structure in a centered position, provided in an embodiment of this application;

[0047] Figure 6 A simplified model diagram of a steering structure in an extreme position, provided in an embodiment of this application;

[0048] Figure 7 This is a schematic diagram of the parameters of a steering mechanism provided in an embodiment of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] Please see below. Figure 1 , Figure 1 This is a flowchart illustrating a tire speed control method for an electric boom truck provided in an embodiment of this application.

[0051] Specific steps may include:

[0052] S101: Determine the current steering angle of the electric boom truck;

[0053] This embodiment can be applied to the control device of an electric boom truck. The electric boom truck may also include a steering structure, multiple tires, and multiple travel motors. The steering structure includes a left steering seat, a right steering seat, a steering axle, and a steering tie rod. Each tire corresponds to one of the travel motors. This embodiment does not limit the number of tires on the electric boom truck; for example, it may include at least three tires.

[0054] The current steering angle is the steering angle of the electric boom truck at the current moment, that is, the angle between the steering seat (left or right steering seat) and the steering centerline; the steering angle is at its maximum when the steering reaches the limit position. In this embodiment, the orientation of the steering seat when the electric boom truck is moving straight can be set as the reference direction, and the angle between the current orientation of the steering seat and the reference direction can be used as the aforementioned steering angle.

[0055] The current steering angle can be detected using a steering angle sensor.

[0056] S102: Generate motor speed control information based on the relationship between the current steering angle and motor speed;

[0057] Prior to this step, reference data and structural parameters of the steering structure can be obtained, and then the motor speed relationship can be determined based on the reference data and structural parameters of the steering structure. The aforementioned motor speed relationship is used to describe the speed relationship between the travel motors; specifically, the motor speed relationship describes the speed of each travel motor at each steering angle that enables a preset condition to be met, the preset condition being: the steering centers of all tires coincide.

[0058] The reference data includes a reference steering angle and a reference turning radius. The reference turning radius is the turning radius of the tires when the electric boom is at the reference steering angle. This reference data can be obtained through numerical simulation or actual testing. For example, the reference steering angle can be any value, either the maximum steering angle or less than the maximum steering angle. The reference turning radius is the distance between each tire and the steering center point when the travel motor speeds are matched at the reference steering angle (i.e., there is no tire wear due to speed mismatch). The structural parameters of the steering structure can include the dimensions of the left steering seat, right steering seat, steering axle, and steering tie rod.

[0059] This step calculates the ideal speed of each drive motor based on the current steering angle and using a pre-set motor speed formula. This motor speed formula integrates factors such as steering angle, tire turning radius, and vehicle structural parameters to ensure that the tires rotate at an appropriate speed under different steering conditions, achieving precise steering control. The generated motor speed control information is directly used to adjust the speed of each motor, ensuring the vehicle completes steering maneuvers smoothly and safely.

[0060] S103: Control the walking motor to drive the tire to rotate according to the motor speed control information.

[0061] The motor speed control information includes the speed relationship between each walking motor. In this embodiment, the walking motors can be controlled to rotate according to the speed relationship corresponding to the above motor speed control information, thereby driving each tire to rotate.

[0062] Specifically, in this embodiment, a speed control command for the travel motor corresponding to each tire can be generated based on the motor speed control information, and the speed control command is sent to the controller of each travel motor to achieve control of the tire speed.

[0063] This embodiment acquires the current steering angle of the electric boom truck and generates motor speed control information based on the relationship between the current steering angle and the motor speed. The motor speed relationship is determined based on the reference steering angle, reference turning radius, and structural parameters of the steering structure. The motor speed control information generated using this relationship enables each tire to rotate at a suitable speed at the current steering angle. After obtaining the motor speed control information, the travel motor can be controlled to drive the tires to rotate according to this information. This process dynamically sets the travel motor speed based on the current steering angle, allowing the tires to rotate at a reasonable speed. Therefore, this embodiment can effectively control the tire speed of the electric boom truck, reducing safety risks.

[0064] Since the speed control strategies for each tire differ when the electric boom truck turns left and right, the aforementioned motor speed relationship can include a left-turn motor speed relationship and a right-turn motor speed relationship. Accordingly, the process of generating motor speed control information based on the current steering angle and the motor speed relationship is as follows:

[0065] If the electric boom truck turns to the left, then first motor speed control information is generated based on the relationship between the current turning angle and the left-turn motor speed; wherein, the left-turn motor speed relationship is used to describe the speed relationship between the travel motors when the electric boom truck turns to the left;

[0066] If the electric boom truck turns to the right, then second motor speed control information is generated based on the relationship between the current turning angle and the right-turn motor speed; wherein, the right-turn motor speed relationship is used to describe the speed relationship between the travel motors when the electric boom truck turns to the right.

[0067] Furthermore, the aforementioned tires may include a left front tire, a right front tire, a left rear tire, and a right rear tire, and the driving motor includes a left front motor for driving the left front tire, a right front motor for driving the right front tire, a left rear motor for driving the left rear tire, and a right rear motor for driving the right rear tire.

[0068] Accordingly, the process of generating the first motor speed control information based on the relationship between the current steering angle and the left turn motor speed is as follows: substituting the current steering angle into the left turn motor speed relationship to obtain the first motor speed control information; wherein, the first motor speed control information includes the numerical relationship between the right front motor, the left rear motor, and the right rear motor and the left front motor, respectively;

[0069] The formula for the rotational speed of the left-hand motor is as follows:

[0070] ;

[0071] This indicates the rotational speed of the left front motor. This indicates the rotational speed of the right front motor. This indicates the rotational speed of the left rear motor. This indicates the rotational speed of the right rear motor. This indicates the reference turning radius of the left front tire. This indicates the reference turning radius of the right front tire. This indicates the reference turning radius of the left rear tire. This indicates the reference turning radius of the right rear tire. This indicates the reference steering angle. This indicates the current steering angle.

[0072] The aforementioned first motor speed control information includes and Relationship and Relationship and The relationship.

[0073] Furthermore, before substituting the current steering angle into the left-turn motor speed formula, this embodiment can also select the maximum left-turn angle of the electric boom truck as the reference steering angle, so as to generate the left-turn motor speed formula based on the maximum left-turn angle. Accordingly, this embodiment can generate the above-mentioned left-turn motor speed formula based on the maximum left-turn angle, the turning radius corresponding to the maximum left-turn angle, and the structural parameters of the steering structure.

[0074] Based on the tires including a left front tire, a right front tire, a left rear tire, and a right rear tire, and the drive motors including a left front motor, a right front motor, a left rear motor, and a right rear motor, the process of generating second motor speed control information according to the relationship between the current steering angle and the right turn motor speed includes: substituting the current steering angle into the right turn motor speed relationship to obtain the second motor speed control information; wherein, the second motor speed control information includes the numerical relationship between the speeds of the left front motor, the left rear motor, and the right rear motor and the right front motor, respectively;

[0075] The formula for the rotational speed of the right-turn motor is as follows:

[0076] .

[0077] The aforementioned second motor speed control information includes and Relationship and Relationship and and The relationship.

[0078] Furthermore, before substituting the current steering angle into the right-turn motor speed formula, the maximum right-turn angle of the electric boom truck can be selected as the reference steering angle so that the right-turn motor speed formula can be generated based on the maximum right-turn angle. Accordingly, this embodiment can generate the above-mentioned right-turn motor speed formula based on the maximum right-turn angle, the turning radius corresponding to the maximum right-turn angle, and the structural parameters of the steering structure.

[0079] In this embodiment, the steering angle at the maximum stroke of the steering cylinder (when the steering cylinder is at its longest or shortest stroke) can be set as the maximum left turn angle or the maximum right turn angle. When the steering angle is at its maximum, it corresponds to the theoretical maximum turning radius.

[0080] As a further description of the above embodiments, the electric boom truck also includes a first steering angle sensor disposed on the left steering seat and a second steering angle sensor disposed on the right steering seat.

[0081] Accordingly, the process of determining the current steering angle of the electric boom truck includes: determining the current steering angle of the electric boom truck based on the measurements of the first steering angle sensor and the second steering angle sensor.

[0082] Accordingly, after determining the current steering angle of the electric boom truck, it can also be determined whether the current steering angle is greater than the maximum left turn angle or the maximum right turn angle; if so, the user is prompted to activate the steering reset function; if not, the process proceeds to the step of generating motor speed control information based on the relationship between the current steering angle and the motor speed. The steering reset function is a mechanism that automatically adjusts the steering system to a safe state, ensuring that the vehicle can resume normal steering operation after a false alarm or abnormality.

[0083] The process described in the above embodiments is illustrated below through examples in practical applications.

[0084] To address the safety risks and control accuracy issues associated with current industry practices that rely on trial and error or experience accumulation to determine speed ranges and corresponding speed values, this embodiment proposes a method for automatically controlling the steering differential of the chassis's travel motors. When the equipment is turning, the travel motors corresponding to the four tires can provide corresponding speeds based on real-time changes in the steering angle. The travel motor speeds can be automatically controlled in real time, significantly improving the accuracy of the steering differential.

[0085] This embodiment provides a method for differential steering of the travel motors in the automatic control chassis of an electric boom truck. When the equipment is turning, the travel motors corresponding to the four tires can provide corresponding speeds according to the real-time changes in the steering angle, thereby ensuring that components such as the travel motors and travel reducers do not burn out, reducing tire wear, and eliminating safety risks. The speed of the travel motors can be automatically controlled in real time, greatly improving the accuracy of the differential steering.

[0086] Please see Figure 2 , Figure 2 The flowchart of an automatic control method for differential steering of a chassis travel motor provided in this application embodiment is as follows: The steering structure of the electric boom truck is decomposed to confirm the correspondence between the steering angle and the turning radius. The chassis steering angle is acquired in real time using a steering angle sensor. Based on the actual steering angle and calculation formula, the theoretical steering speed of each travel motor is obtained. It is determined whether the vehicle is under normal operating conditions; if so, the travel motor is controlled to move using a motor driver to reach the theoretical speed; if not, the steering reset function is activated, and the steering action is performed again.

[0087] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of an electric boom truck provided in an embodiment of this application. In the figure, a represents a tire, b1 represents a left steering seat, b2 represents a right steering seat, c represents a steering angle sensor, d represents a steering axle, e represents a travel motor driver, f represents a steering cylinder, g represents a steering tie rod, h represents a frame, and i represents a rear axle.

[0088] Please see Figure 4 , Figure 4This is a schematic diagram of a steering structure provided in an embodiment of this application. In the figure, b1 represents the left steering seat, b2 represents the right steering seat, d represents the steering axle, g represents the steering tie rod, and A, B, C, D, E, and F represent hinge points.

[0089] Please see Figure 5 , Figure 5 For a simplified model diagram of a steering structure in a centered position as provided in this application embodiment, please refer to [link / reference]. Figure 6 , Figure 6 This is a simplified model diagram of a steering structure in its extreme position, as provided in an embodiment of this application. Figure 5 and Figure 6 The figures show the relative positions of hinge points A, B, C, and D when the hinge points are in the central and extreme positions, respectively.

[0090] This embodiment allows for the decomposition of the electric boom truck's steering structure, determining the correspondence between the steering angle and the turning radius. The steering structure includes a left steering seat, a right steering seat, a steering axle, steering tie rods, and steering cylinders. For example... Figure 5 and Figure 6 As shown, the trapezoidal structure ABCD formed by the left steering seat, right steering seat, steering axle, and steering tie rod of the steering mechanism is the theoretical steering trapezoid. The steering angle sensor is mounted on the left steering seat, and the drive motor driver is mounted on the frame. The steering angle sensor can detect the steering angle. In combination, the travel motor driver is used to control the speed of the travel motor.

[0091] Please see Figure 7 , Figure 7 This is a schematic diagram of parameters for a steering mechanism provided in an embodiment of this application. a1 represents the left front tire, a2 represents the right front tire, a3 represents the left rear tire, a4 represents the right rear tire, and A, B, C, and D represent hinge points. R1 represents the maximum left turn angle, O represents the steering center point, R2 represents the turning radius of the left front tire at the maximum left turn angle (i.e., the reference turning radius of the left front tire), R3 represents the turning radius of the left rear tire at the maximum left turn angle (i.e., the reference turning radius of the left rear tire), and R4 represents the turning radius of the right rear tire at the maximum left turn angle (i.e., the reference turning radius of the right rear tire). Numerical simulation methods can be used to obtain... Figure 7 The maximum left turn angle shown The relationship between turning radius and steering angle is obtained by calculating the turning radii R1, R2, R3, and R4 for different tires.

[0092] Based on the maximum left turn angle The turning radii R1, R2, R3, and R4 of different tires determine the corresponding drive motor speeds, as shown in the following formula. The drive motor speed corresponding to the left front tire is defined as... The corresponding drive motor speeds for the other tires are as follows:

[0093] The driving motor speed corresponding to the right front tire :

[0094] ;

[0095] Left rear tire corresponding to the drive motor speed :

[0096] ;

[0097] The driving motor speed corresponding to the right rear tire :

[0098] .

[0099] In the formula, The real-time steering angle of the boom lift (i.e., the current steering angle) is detected by a steering angle sensor. The calculation formula for the left rear tire is different because the turning radius R3 is smaller than the turning radius R1; a value substitution has been made in the calculation formula.

[0100] Based on the maximum right turn angle The turning radii R1, R2, R3, and R4 of different tires determine the corresponding drive motor speeds, as shown in the calculation formula below. The drive motor speed corresponding to the right front tire is defined as... The corresponding drive motor speeds for the other tires are as follows:

[0101] The driving motor speed corresponding to the left front tire :

[0102] ;

[0103] Left rear tire corresponding to the drive motor speed :

[0104] ;

[0105] The driving motor speed corresponding to the right rear tire :

[0106] .

[0107] After establishing the motor speed control relationship for different tires in this embodiment, errors in the steering structure or steering sensor also need to be considered. When the overall controller detects that the real-time steering angle is greater than the maximum steering angle (including the maximum left turn angle and the maximum right turn angle) or less than 0 (normal working condition judgment), the equipment structure is in a normal state and there is no structural damage. It can be determined that the cause is a false alarm from the steering sensor, etc. At this time, if the steering button is pressed again to perform a steering action, the steering reset function can be activated. This embodiment can perform steering differential calculation again according to the flowchart. Finally, when the equipment determines that it meets the normal working conditions, the walking motor driver controls the walking motor to realize the steering differential function, achieve real-time automatic control, and improve steering accuracy.

[0108] As can be seen, the method for automatically controlling the steering differential of the chassis travel motor provided in this embodiment can provide a corresponding rotational speed according to the real-time changes in the steering angle. In the solution of this embodiment, the rotational speed of the travel motor can be automatically controlled in real time, greatly improving the accuracy of the steering differential. This embodiment can be extended to the steering differential control of other equipment steering mechanisms to improve steering accuracy.

[0109] This application provides a tire speed control system for an electric boom truck. The electric boom truck includes a steering structure, multiple tires, and multiple travel motors. The steering structure includes a left steering seat, a right steering seat, a steering axle, and a steering tie rod. Each tire corresponds to one of the travel motors. The tire speed control system for the electric boom truck includes:

[0110] An angle determination module is used to determine the current steering angle of the electric boom truck;

[0111] The control information determination module is used to generate motor speed control information based on the relationship between the current steering angle and the motor speed; wherein, the motor speed relationship is used to describe the speed relationship between the walking motors, and the motor speed relationship is determined based on reference data and the structural parameters of the steering structure, the reference data including a reference steering angle and a reference turning radius, the reference turning radius being the turning radius of the tires when the electric boom is at the reference steering angle;

[0112] The speed control module is used to control the walking motor to drive the tire to rotate according to the motor speed control information.

[0113] This embodiment acquires the current steering angle of the electric boom truck and generates motor speed control information based on the relationship between the current steering angle and the motor speed. The motor speed relationship is determined based on the reference steering angle, reference turning radius, and structural parameters of the steering structure. The motor speed control information generated using this relationship enables each tire to rotate at a suitable speed at the current steering angle. After obtaining the motor speed control information, the travel motor can be controlled to drive the tires to rotate according to this information. This process dynamically sets the travel motor speed based on the current steering angle, allowing the tires to rotate at a reasonable speed. Therefore, this embodiment can effectively control the tire speed of the electric boom truck, reducing safety risks.

[0114] Furthermore, the process by which the control information determination module generates motor speed control information based on the relationship between the current steering angle and the motor speed includes: if the turning direction of the electric boom truck is left, then generating first motor speed control information based on the relationship between the current steering angle and the left-turn motor speed; wherein, the left-turn motor speed relationship is used to describe the speed relationship between the travel motors when the electric boom truck turns left; if the turning direction of the electric boom truck is right, then generating second motor speed control information based on the relationship between the current steering angle and the right-turn motor speed; wherein, the right-turn motor speed relationship is used to describe the speed relationship between the travel motors when the electric boom truck turns right.

[0115] Furthermore, the tires include a left front tire, a right front tire, a left rear tire, and a right rear tire, and the driving motors include a left front motor for driving the left front tire, a right front motor for driving the right front tire, a left rear motor for driving the left rear tire, and a right rear motor for driving the right rear tire.

[0116] Accordingly, the process by which the control information determination module generates first motor speed control information based on the relationship between the current steering angle and the left turn motor speed includes: substituting the current steering angle into the left turn motor speed relationship to obtain the first motor speed control information; wherein, the first motor speed control information includes the numerical relationship between the right front motor, the left rear motor, and the right rear motor and the left front motor, respectively;

[0117] The formula for the rotational speed of the left-hand motor is as follows:

[0118] ;

[0119] This indicates the rotational speed of the left front motor. This indicates the rotational speed of the right front motor. This indicates the rotational speed of the left rear motor. This indicates the rotational speed of the right rear motor. This indicates the reference turning radius of the left front tire. This indicates the reference turning radius of the right front tire. This indicates the reference turning radius of the left rear tire. This indicates the reference turning radius of the right rear tire. This indicates the reference steering angle. This indicates the current steering angle.

[0120] Furthermore, it also includes:

[0121] The first relation generation module is used to select the maximum left-turn angle of the electric boom truck as the reference turning angle before substituting the current turning angle into the left-turn motor speed relation, so as to generate the left-turn motor speed relation based on the maximum left-turn angle.

[0122] Furthermore, the control information determination module generates second motor speed control information based on the relationship between the current steering angle and the right turn motor speed, including: substituting the current steering angle into the right turn motor speed relationship to obtain the second motor speed control information; wherein, the second motor speed control information includes the numerical relationship between the left front motor, the left rear motor, and the right rear motor and the right front motor, respectively;

[0123] The formula for the rotational speed of the right-turn motor is as follows:

[0124] .

[0125] Furthermore, it also includes:

[0126] The second relation generation module is used to select the maximum right turn angle of the electric boom truck as the reference turn angle before substituting the current steering angle into the right turn motor speed relation, so as to generate the right turn motor speed relation based on the maximum right turn angle.

[0127] Furthermore, the electric boom truck also includes a first steering angle sensor disposed on the left steering seat and a second steering angle sensor disposed on the right steering seat;

[0128] Accordingly, the process by which the angle determination module determines the current steering angle of the electric boom truck includes: determining the current steering angle of the electric boom truck based on the measurement values ​​of the first steering angle sensor and the second steering angle sensor;

[0129] Correspondingly, it also includes:

[0130] The judgment module is used to determine whether the current steering angle of the electric boom truck is greater than the maximum left turn angle or the maximum right turn angle after determining the current steering angle. If yes, it prompts the user to start the steering reset function; if no, it proceeds to the step of generating motor speed control information based on the relationship between the current steering angle and the motor speed.

[0131] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and they will not be repeated here.

[0132] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0133] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0134] The various embodiments in this 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 systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various 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 this application.

[0135] 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 "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises 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 phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method of controlling the speed of a tire of an electrically powered arm vehicle, characterized by, The electric boom truck includes a steering structure, multiple tires, and multiple travel motors. The steering structure includes a left steering seat, a right steering seat, a steering axle, and a steering tie rod. Each tire corresponds to one of the travel motors. The tire speed control method of the electric boom truck includes: Determine the current steering angle of the electric boom truck; Motor speed control information is generated based on the relationship between the current steering angle and the motor speed; wherein, the motor speed relationship is used to describe the speed relationship between the walking motors, and the motor speed relationship is determined based on reference data and the structural parameters of the steering structure. The reference data includes a reference steering angle and a reference turning radius, and the reference turning radius is the turning radius of the tires when the electric boom is at the reference steering angle. The walking motor is controlled to drive the tires to rotate according to the motor speed control information.

2. The method of claim 1, wherein the tire rotation speed control method is characterized by: Motor speed control information is generated based on the relationship between the current steering angle and the motor speed, including: If the electric boom truck turns to the left, then first motor speed control information is generated based on the relationship between the current turning angle and the left-turn motor speed; wherein, the left-turn motor speed relationship is used to describe the speed relationship between the travel motors when the electric boom truck turns to the left; If the electric boom truck turns to the right, then second motor speed control information is generated based on the relationship between the current turning angle and the right-turn motor speed; wherein, the right-turn motor speed relationship is used to describe the speed relationship between the travel motors when the electric boom truck turns to the right.

3. The method of claim 2, wherein the tire rotation speed control method is characterized by, The tires include a left front tire, a right front tire, a left rear tire, and a right rear tire. The driving motors include a left front motor for driving the left front tire, a right front motor for driving the right front tire, a left rear motor for driving the left rear tire, and a right rear motor for driving the right rear tire. Accordingly, based on the relationship between the current steering angle and the left-turn motor speed, first motor speed control information is generated, including: Substituting the current steering angle into the left turn motor speed relationship formula, the first motor speed control information is obtained; wherein, the first motor speed control information includes the speed numerical relationship between the right front motor, the left rear motor, and the right rear motor and the left front motor, respectively; The formula for the rotational speed of the left-hand motor is as follows: ； This indicates the rotational speed of the left front motor. This indicates the rotational speed of the right front motor. This indicates the rotational speed of the left rear motor. This indicates the rotational speed of the right rear motor. This indicates the reference turning radius of the left front tire. This indicates the reference turning radius of the right front tire. This indicates the reference turning radius of the left rear tire. This indicates the reference turning radius of the right rear tire. This indicates the reference steering angle. This indicates the current steering angle.

4. The tire speed control method for the electric boom truck according to claim 3, characterized in that, Before substituting the current steering angle into the formula for the left-turn motor speed, the process also includes: The maximum left-turn angle of the electric boom truck is selected as the reference steering angle so that the left-turn motor speed relationship can be generated based on the maximum left-turn angle.

5. The method of claim 3, wherein the tire rotation speed control method is characterized by, The second motor speed control information is generated based on the relationship between the current steering angle and the right-turn motor speed, including: Substituting the current steering angle into the right turn motor speed relationship formula, the second motor speed control information is obtained; wherein, the second motor speed control information includes the speed numerical relationship between the left front motor, the left rear motor, and the right rear motor and the right front motor, respectively; The formula for the rotational speed of the right-turn motor is as follows: 。 6. The tire speed control method for the electric boom truck according to claim 5, characterized in that, Before substituting the current steering angle into the right-turn motor speed formula, the process also includes: The maximum right turn angle of the electric boom truck is selected as the reference steering angle so that the right turn motor speed relationship can be generated based on the maximum right turn angle.

7. The tire speed control method for the electric boom truck according to claim 1, characterized in that, The electric boom truck also includes a first steering angle sensor disposed on the left steering seat and a second steering angle sensor disposed on the right steering seat; Accordingly, determining the current steering angle of the electric boom truck includes: The current steering angle of the electric boom truck is determined based on the measurements from the first steering angle sensor and the second steering angle sensor. Accordingly, after determining the current steering angle of the electric boom truck, the process also includes: Determine whether the current steering angle is greater than the maximum left turn angle or the maximum right turn angle; If so, prompt the user to activate the steering reset function; If not, proceed to the step of generating motor speed control information based on the relationship between the current steering angle and motor speed.

8. A tire speed control system for an electric boom truck, characterized in that, The electric boom truck includes a steering structure, multiple tires, and multiple travel motors. The steering structure includes a left steering seat, a right steering seat, a steering axle, and a steering tie rod. Each tire corresponds to one of the travel motors. The tire speed control system of the electric boom truck includes: An angle determination module is used to determine the current steering angle of the electric boom truck; The control information determination module is used to generate motor speed control information based on the relationship between the current steering angle and the motor speed; wherein, the motor speed relationship is used to describe the speed relationship between the walking motors, and the motor speed relationship is determined based on reference data and the structural parameters of the steering structure, the reference data including a reference steering angle and a reference turning radius, the reference turning radius being the turning radius of the tires when the electric boom is at the reference steering angle; The speed control module is used to control the walking motor to drive the tire to rotate according to the motor speed control information.

9. An electronic device, comprising: It includes a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the tire speed control method of the electric boom truck as described in any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the tire speed control method for the electric boom truck as described in any one of claims 1 to 7.

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