WO2013003993A1 - Crane with off-road tyres and method, apparatus and system for controlling engine thereof - Google Patents

Crane with off-road tyres and method, apparatus and system for controlling engine thereof Download PDF

Info

Publication number
WO2013003993A1
WO2013003993A1 PCT/CN2011/076784 CN2011076784W WO2013003993A1 WO 2013003993 A1 WO2013003993 A1 WO 2013003993A1 CN 2011076784 W CN2011076784 W CN 2011076784W WO 2013003993 A1 WO2013003993 A1 WO 2013003993A1
Authority
WO
WIPO (PCT)
Prior art keywords
state
engine
hoisting
idle speed
tire crane
Prior art date
Application number
PCT/CN2011/076784
Other languages
French (fr)
Chinese (zh)
Inventor
彭文钦
Original Assignee
长沙中联重工科技发展股份有限公司
湖南中联重科专用车有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 长沙中联重工科技发展股份有限公司, 湖南中联重科专用车有限责任公司 filed Critical 长沙中联重工科技发展股份有限公司
Priority to PCT/CN2011/076784 priority Critical patent/WO2013003993A1/en
Publication of WO2013003993A1 publication Critical patent/WO2013003993A1/en

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/04—Introducing corrections for particular operating conditions
    • F02D41/08—Introducing corrections for particular operating conditions for idling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/0205—Circuit arrangements for generating control signals using an auxiliary engine speed control

Definitions

  • the present invention relates to the field of construction machinery, and more particularly to an off-road tire crane and a method, apparatus and system for controlling the same.
  • An off-road tire crane is a full-slewing crane that mounts a crane structure on a special chassis composed of a heavy-duty tire and an axle.
  • the upper structure is basically the same as that of a crawler crane, in order to ensure the stability of the fuselage during installation work.
  • the crane has four retractable supports. On the flat ground, small lifting weights and low speed driving can be carried out without the legs. When lifting, it is generally necessary to lower the legs, increase the bearing surface, and level the fuselage to ensure the stability of the crane.
  • Step S11 The accelerator pedal generates an analog voltage signal and then inputs it to the controller ECU of the engine; Step S13: The controller ECU controls the engine; S 15: The engine is running under the control of the controller ECU.
  • the off-road tire crane uses the same accelerator pedal regardless of the walking or hoisting state, inputs the accelerator pedal analog signal (0-5 V voltage signal) into the engine control unit (ECU), and then the ECU controls the engine.
  • ECU engine control unit
  • Output since the demand for engine output power during hoisting is higher than that during walking, it is easy to cause concurrency failure when walking in a hoisting state, posing a safety hazard.
  • the safety performance of the off-road tire crane when walking in a hoisting state is insufficient, and an effective solution has not been proposed for this problem.
  • a primary object of the present invention is to provide an off-road tire crane and a method, apparatus and system therefor for solving the problem of insufficient safety performance of an off-road tire crane in a hoisting state in the prior art.
  • a method of controlling an engine of an off-road tire crane is proposed.
  • the method for controlling an engine of an off-road tire crane of the present invention comprises: confirming an operating state of an off-road tire crane, the working state including a walking state and a hoisting state; determining an idle speed according to an operating state of the off-road tire crane, wherein The working state of the off-road tire crane is a walking state, determining that the idle speed is a preset first idle speed, and if the working state of the off-road tire crane is a hoisting state, determining that the idle speed is a preset a second idle speed, the second idle speed is greater than the first idle speed; receiving a voltage signal from the accelerator pedal of the off-road tire crane, determining the engine speed according to the voltage signal and the idle speed, and then following The rotational speed controls the engine.
  • an apparatus for controlling an engine of an off-road tire crane comprises: a confirmation device for confirming an operation state of an off-road tire crane, the working state including a walking state and a hoisting state; and an idle determining device for storing the first idle speed and a second idle speed, wherein the second idle speed is greater than the first idle speed, and is further configured to determine an idle speed according to an operating state of the off-road tire crane, wherein if the working state of the off-road tire crane is a walking state, determining the The idle speed is a preset first idle speed, if the working state of the off-road tire crane is a hoisting state, determining that the idle speed is a preset second idle speed; and a control device for receiving the off-road tire
  • the voltage signal of the accelerator pedal of the crane determines the rotational speed of the engine based on the voltage signal and the idle speed determined by the idle determining device, and then controls
  • a system for controlling an engine of an off-road tire crane comprising: a state selection device and a controller, wherein: the state selection device is configured to send a status flag signal to the controller for the The controller confirms an operating state of the off-road tire crane, the working state including a walking state and a hoisting state; and the controller includes the apparatus of the present invention for controlling an engine of an off-road tire crane.
  • an off-road tire crane is proposed.
  • the off-road tire crane of the present invention includes the system of the engine for controlling an off-road tire crane of the present invention.
  • the control of the engine in the hoisting state and the walking state is distinguished.
  • the working state of the crane is the walking state
  • the engine is controlled according to the preset first idle speed
  • the working state is the hoisting state
  • the engine is controlled according to the preset second idle speed; thus, different idle speeds are controlled for different working states, and the idle speed in the hoisting state is greater than the running state.
  • the idle speed of the engine makes the output power of the engine in the hoisting state larger, to avoid the safety caused by insufficient engine power output under the hoisting state.
  • FIG. 1 is a schematic diagram showing a control flow of an engine of an off-road tire crane according to the prior art
  • FIG. 2 is a schematic view showing a method of controlling an engine of an off-road tire crane according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram showing the basic structure of an apparatus for controlling an engine of an off-road tire crane according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of an apparatus for controlling an engine of an off-road tire crane according to an embodiment of the present invention
  • FIG. 1 is a schematic diagram showing a control flow of an engine of an off-road tire crane according to the prior art
  • FIG. 2 is a schematic view showing a method of controlling an engine of an off-road tire crane according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram showing the basic structure of an apparatus for controlling an engine of an off-road tire crane according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of an apparatus for controlling an engine of an off-road tire crane according to
  • FIG. 6 is a schematic diagram of a method of controlling an engine of an off-road tire crane based on a bus in an apparatus for controlling an engine of an off-road tire crane
  • FIG. Fig. 7 is a schematic diagram of a system for controlling an engine of an off-road tire crane according to the present embodiment
  • Fig. 8 is a schematic view showing the appearance of an off-road tire crane related to the present invention.
  • Step S21 confirming an off-road tire crane Working status.
  • the working state here includes a walking state and a hoisting state.
  • Step S23 determining the idle speed of the engine according to the working state of the off-road tire crane. In this step, specifically, if the working state of the off-road tire crane is the walking state, it is determined that the idle speed is the first idle speed, and if the working state of the off-road tire crane is the hoisting state, it is determined that the idle speed is the second idle speed.
  • Step S25 Receive a voltage signal, determine the engine speed of the off-road tire crane based on the voltage signal and the idle speed, and then control the engine according to the speed.
  • the voltage signal here comes from the accelerator pedal of an off-road tire crane.
  • the engine can have a large rotating speed when the crane is in the hoisting state, thereby outputting a large power, which helps to avoid the hidden troubles caused by the walking under the hoisting state, and improves the hoisting state of the off-road tire crane. Safety performance when walking down. This will be further explained below in conjunction with FIG. 3.
  • FIG. 3 is a schematic diagram showing the relationship between the engine speed and the voltage signal output from the accelerator pedal according to an embodiment of the present invention.
  • the abscissa indicates the voltage
  • the ordinate indicates the engine speed
  • line 1 corresponds to the walking state
  • line 2 corresponds to the hoisting state.
  • the figure shows the first preset value of the voltage (0.5V) and the second preset value of the voltage (4.5V).
  • the engine is at idle speed when the voltage output from the accelerator pedal is at the first preset value (0.5 V).
  • the control engine is at an idle speed; when the voltage signal is greater than the first preset value and less than the second preset value, the speed of the control engine is linearly changed from the idle speed to the voltage signal (as shown in FIG. 3).
  • the slope of line 2 is shown); in the case where the voltage signal is greater than or equal to the second predetermined value, the engine speed is controlled to be the maximum engine speed.
  • the control mode of the engine in the walking state is similar, except that when the voltage signal sent from the accelerator pedal is greater than the first preset value and less than the second preset value, the speed of the control engine is linearly changed from the idle speed to the voltage signal. This is done according to the ramp section of line 1 in Figure 3.
  • the controller has different ways of confirming the working condition of the off-road tire crane.
  • a button can be set in the crane. When the driver needs to make the crane in the hoisting work state, the button is pressed, and the circuit connected to the button emits a hoisting status flag signal, which is used to mark that the crane is in a hoisting state.
  • the circuit is connected to the controller, so that the controller detects whether the hoisting status flag signal is received during operation, and confirms that the working state of the off-road tire crane is walking when the hoisting status flag signal is not received, after receiving In the case of hoisting the status flag signal, it is confirmed that the working state of the off-road tire crane is the hoisting state.
  • a switch device having two positions can be arranged in the crane for transmitting the working state signal of the crane, and the working state signal has two specific types: a walking state flag signal and a hoisting state signal.
  • the control device 41 mainly includes: a confirming device 42 for confirming an operating state of the off-road tire crane, the working state including a walking state and a hoisting state; and an idle determining device 43 for storing the first idle speed and a second idle speed, wherein the second idle speed is greater than the first idle speed, and is further configured to determine an idle speed according to an operating condition of the off-road tire crane, wherein if the working state of the off-road tire crane is a walking state, determining that the idle speed is the first idle speed The rotational speed, if the working state of the off-road tire crane is the hoisting state, determining that the idle speed is the second idle speed; the control device 44 is configured to receive a voltage signal from the accelerator pedal of the off-road tire crane, according to the voltage signal and the idle speed determining device 43 The determined idle speed determines the engine speed and then controls the engine according to the speed.
  • the confirmation device 42 can also be used to: detect whether the hoisting status flag signal is received, and if yes, confirm that the working state of the crane is the hoisting state, otherwise confirm that the working state of the crane is the walking state; the hoisting status flag signal is used to mark the off-road The tire crane is in a hoisting state.
  • the confirmation device 42 can also be used to: receive the working state flag signal of the off-road tire crane; and confirm that the working state of the off-road tire crane is walking when the received working state flag signal is the walking state flag signal, in the received work When the status flag signal is the hoisting status flag signal, it is confirmed that the working state of the off-road tire crane is the hoisting state.
  • control device 44 is shown in Figure 5, which is a schematic illustration of one configuration of a control device in an apparatus for controlling an engine of an off-road tire crane in accordance with an embodiment of the present invention.
  • the control device 44 mainly includes: a receiving component 441 for detecting a voltage signal of an accelerator pedal of an off-road tire crane; a voltage value storage device 442 for storing a first preset value of the voltage signal and a second pre- Setting a value, wherein the second preset value is greater than the first preset value; the first control component 443 is configured to control the engine speed to be an idle speed when the voltage signal is less than or equal to the first preset value;
  • the component 444 is configured to: when the voltage signal is greater than the first preset value and less than the second preset value, control the rotational speed of the engine to linearly change from the idle speed to the voltage signal; the third control unit
  • the component 445 is configured to control the engine speed to be the maximum engine speed when the voltage signal is greater than or equal to the second
  • the control system 70 mainly includes a state selection device 71 and a controller 72, wherein: the state selection device 71 is for a controller 72 transmitting a hoisting status flag signal of the off-road tire crane, the hoisting status flag signal is used to mark that the off-road tire crane is in a hoisting state; and the controller 72 can use the device for controlling the engine of the off-road tire crane in the embodiment of the present invention. Structure to achieve.
  • the control system 70 shown in Figure 7 can also include a bus device (not shown) that is coupled to the controller 72 and the engine (not shown) such that control signals from the controller 72 can pass through the bus. The device is sent to the engine instead of being sent directly to the engine.
  • the bus device can be a CAN bus.
  • the control system for controlling the engine speed of the off-road tire crane in the off-road tire crane can be realized by the control system 70 in the embodiment of the present invention.
  • the control of the engine in the hoisting state and the walking state is distinguished, and the idle speed of the engine when the off-road tire crane is in the hoisting state is adjusted, so that the engine is in the hoisting state.
  • the output power is increased to avoid the safety hazard caused by insufficient engine power output under hoisting conditions.
  • the control signal for the engine speed is outputted in the bus mode in this embodiment, which helps to reduce system wiring and improve the reliability of the control system.
  • modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or they may be Multiple modules or steps are made into a single integrated circuit module.
  • the invention is not limited to any specific combination of hardware and software.
  • the above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the scope of the present invention are intended to be included within the scope of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The present invention provides a crane with off-road tyres and a method, apparatus and system for controlling the engine thereof, used for solving the problem in the prior art that the safety performance of cranes with off-road tyres is lacking when moving with a suspended weight. The method comprises: confirming the operating status of a crane with off-road tyres, the operating status comprising a moving status and a suspended weight status; determining the idle speed of the engine thereof according to the operating status, wherein, if the operating status is moving status, determining the idle speed as a first idle speed and, if the operating status is suspended weight status, determining the idle speed as a second idle speed, the second idle speed being greater than the first idle speed; and receiving a voltage signal from a throttle pedal, determining the rotational speed of the engine according to the voltage signal and the idle speed, and then controlling the engine according to the rotational speed. Use of the technical solution of the present invention helps to avoid the risk of failure caused by moving with a suspended weight, and improves the safety performance of cranes with off-road tyres when moving with a suspended weight.

Description

越野轮胎起重机以及控制其发动机的方法、 装置和*** 技术领域 本发明涉及工程机械领域， 尤其涉及一种越野轮胎起重机以及控制其发动 机的方法、 装置和***。 背景技术 越野轮胎起重机是把起重机构安装在加重型轮胎和轮轴组成的特制底盘 上的一种全回转式起重机， 其上部构造与履带式起重机基本相同， 为了保证安 装作业时机身的稳定性， 起重机设有四个可伸缩的支逸。 在平坦地面上可不用 支腿进行小起重量吊装及吊物低速行驶。 吊重时一般需放下支腿，增大支承面， 并将机身调平， 以保证起重机的稳定。 越野轮胎起重机由于空间限制， 只设有一个驾驶室控制行走和吊重， 并利 用同一套模拟量油门踏板信号输入进发动机控制发动机， 如图 1所示， 图 1是 根据现有技术中的越野轮胎起重机的发动机的控制流程示意图， 该流程主要包 括如下步 4聚： 步骤 S 11 : 油门踏板产生模拟电压信号然后输入到发动机的控制器 ECU; 步骤 S 13： 控制器 ECU对发动机进行控制； 步骤 S 15: 发动机在控制器 ECU的控制下运行。 根据上述现有的控制方式， 越野轮胎起重机无论行走或者吊重状态， 使用 同一油门踏板， 将油门踏板模拟信号 （ 0— 5V电压信号）输入进发动机的控制 单元 （ECU ), 然后由 ECU控制发动机输出， 由于吊重时发动机输出功率的需 求比行走时的要高， 因此在吊重状态下行走时容易带来并发故障， 产生安全隐 患。 在现有技术中， 越野轮胎起重机在吊重状态下行走时的安全性能不足， 对 于该问题， 目前尚未提出有效解决方案。 发明内容 本发明的主要目的是提供一种越野轮胎起重机以及控制其发动机的方法、 装置和***， 以解决现有技术中越野轮胎起重机在吊重状态下行走时的安全性 能不足的问题。 为解决上述问题， 才艮据本发明的一个方面， 提出了一种控制越野轮胎起重 机的发动机的方法。 本发明的这种控制越野轮胎起重机的发动机的方法包括： 确认越野轮胎起 重机的工作状态， 所述工作状态包括行走状态和吊重状态； 根据所述越野轮胎 起重机的工作状态确定怠速转速， 其中如果所述越野轮胎起重机的工作状态为 行走状态， 确定所述怠速转速为预设的第一怠速转速， 如果所述越野轮胎起重 机的工作状态为吊重状态， 确定所述怠速转速为预设的第二怠速转速， 所述第 二怠速转速大于所述第一怠速转速； 接收来自所述越野轮胎起重机的油门踏板 的电压信号， 根据该电压信号以及所述怠速转速确定所述发动机的转速， 然后 按照所述转速对所述发动机进行控制。 根据本发明的另一方面， 提出了一种控制越野轮胎起重机的发动机的装 置。 本发明的控制越野轮胎起重机的发动机的装置包括： 确认设备， 用于确认 越野轮胎起重机的工作状态， 所述工作状态包括行走状态和吊重状态； 怠速确 定设备， 用于存储第一怠速转速和第二怠速转速， 其中第二怠速转速大于第一 怠速转速， 并且还用于根据所述越野轮胎起重机的工作状态确定怠速转速， 其 中如果所述越野轮胎起重机的工作状态为行走状态， 确定所述怠速转速为预设 的第一怠速转速， 如果所述越野轮胎起重机的工作状态为吊重状态， 确定所述 怠速转速为预设的第二怠速转速； 控制设备， 用于接收来自所述越野轮胎起重 机的油门踏板的电压信号， 根据该电压信号以及所述怠速确定设备确定的怠速 转速确定所述发动机的转速， 然后按照所述转速对所述发动机进行控制。 根据本发明的又一方面， 提出了一种控制越野轮胎起重机的发动机的系 统。 本发明的控制越野轮胎起重机的发动机的***， 包括状态选择设备和控制 器， 其中： 所述状态选择设备， 用于向所述控制器发送状态标志信号以供所述 控制器确认所述越野轮胎起重机的工作状态， 所述工作状态包括行走状态和吊 重状态； 所述控制器包括本发明的的控制越野轮胎起重机的发动机的装置。 根据本发明的又一方面， 提出了一种越野轮胎起重机。 本发明的越野轮胎起重机包括本发明的控制越野轮胎起重机的发动机的 ***。 根据本发明的技术方案， 对发动机在吊重状态和行走状态时的控制进行区 分， 在起重机的工作状态为行走状态的情况下， 根据预设的第一怠速转速对发 动机进行控制； 在起重机的工作状态为吊重状态的情况下， 根据预设的第二怠 速转速对发动机进行控制； 由此对于不同的工作状态进行不同的怠速转速进行 控制， 且吊重状态下的怠速转速大于行走状态下的怠速转速， 使发动机在吊重 状态时的输出功率更大， 以避免在吊重状态下发动机功率输出不足带来的安全 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the field of construction machinery, and more particularly to an off-road tire crane and a method, apparatus and system for controlling the same. BACKGROUND OF THE INVENTION An off-road tire crane is a full-slewing crane that mounts a crane structure on a special chassis composed of a heavy-duty tire and an axle. The upper structure is basically the same as that of a crawler crane, in order to ensure the stability of the fuselage during installation work. The crane has four retractable supports. On the flat ground, small lifting weights and low speed driving can be carried out without the legs. When lifting, it is generally necessary to lower the legs, increase the bearing surface, and level the fuselage to ensure the stability of the crane. Due to space constraints, the off-road tire crane has only one cab to control walking and hoisting, and uses the same set of analog accelerator pedal signals to enter the engine control engine, as shown in Figure 1, Figure 1 is an off-road according to the prior art. Schematic diagram of the control flow of the engine of the tire crane, the process mainly includes the following steps: Step S11: The accelerator pedal generates an analog voltage signal and then inputs it to the controller ECU of the engine; Step S13: The controller ECU controls the engine; S 15: The engine is running under the control of the controller ECU. According to the above existing control method, the off-road tire crane uses the same accelerator pedal regardless of the walking or hoisting state, inputs the accelerator pedal analog signal (0-5 V voltage signal) into the engine control unit (ECU), and then the ECU controls the engine. Output, since the demand for engine output power during hoisting is higher than that during walking, it is easy to cause concurrency failure when walking in a hoisting state, posing a safety hazard. In the prior art, the safety performance of the off-road tire crane when walking in a hoisting state is insufficient, and an effective solution has not been proposed for this problem. SUMMARY OF THE INVENTION A primary object of the present invention is to provide an off-road tire crane and a method, apparatus and system therefor for solving the problem of insufficient safety performance of an off-road tire crane in a hoisting state in the prior art. In order to solve the above problems, according to an aspect of the present invention, a method of controlling an engine of an off-road tire crane is proposed. The method for controlling an engine of an off-road tire crane of the present invention comprises: confirming an operating state of an off-road tire crane, the working state including a walking state and a hoisting state; determining an idle speed according to an operating state of the off-road tire crane, wherein The working state of the off-road tire crane is a walking state, determining that the idle speed is a preset first idle speed, and if the working state of the off-road tire crane is a hoisting state, determining that the idle speed is a preset a second idle speed, the second idle speed is greater than the first idle speed; receiving a voltage signal from the accelerator pedal of the off-road tire crane, determining the engine speed according to the voltage signal and the idle speed, and then following The rotational speed controls the engine. According to another aspect of the invention, an apparatus for controlling an engine of an off-road tire crane is presented. The apparatus for controlling an engine of an off-road tire crane of the present invention comprises: a confirmation device for confirming an operation state of an off-road tire crane, the working state including a walking state and a hoisting state; and an idle determining device for storing the first idle speed and a second idle speed, wherein the second idle speed is greater than the first idle speed, and is further configured to determine an idle speed according to an operating state of the off-road tire crane, wherein if the working state of the off-road tire crane is a walking state, determining the The idle speed is a preset first idle speed, if the working state of the off-road tire crane is a hoisting state, determining that the idle speed is a preset second idle speed; and a control device for receiving the off-road tire The voltage signal of the accelerator pedal of the crane determines the rotational speed of the engine based on the voltage signal and the idle speed determined by the idle determining device, and then controls the engine according to the rotational speed. According to still another aspect of the present invention, a system for controlling an engine of an off-road tire crane is proposed. A system for controlling an engine of an off-road tire crane according to the present invention, comprising: a state selection device and a controller, wherein: the state selection device is configured to send a status flag signal to the controller for the The controller confirms an operating state of the off-road tire crane, the working state including a walking state and a hoisting state; and the controller includes the apparatus of the present invention for controlling an engine of an off-road tire crane. According to still another aspect of the present invention, an off-road tire crane is proposed. The off-road tire crane of the present invention includes the system of the engine for controlling an off-road tire crane of the present invention. According to the technical solution of the present invention, the control of the engine in the hoisting state and the walking state is distinguished. When the working state of the crane is the walking state, the engine is controlled according to the preset first idle speed; When the working state is the hoisting state, the engine is controlled according to the preset second idle speed; thus, different idle speeds are controlled for different working states, and the idle speed in the hoisting state is greater than the running state. The idle speed of the engine makes the output power of the engine in the hoisting state larger, to avoid the safety caused by insufficient engine power output under the hoisting state.
附图说明 说明书附图用来提供对本发明的进一步理解， 构成本申请的一部分， 本发 明的示意性实施例及其说明用于解释本发明， 并不构成对本发明的不当限定。 在附图中： 图 1是根据现有技术中的越野轮胎起重机的发动机的控制流程示意图； 图 2 是根据本发明实施例的控制越野轮胎起重机的发动机的方法的示意 图； 图 3是根据本发明实施例的发动机转速与油门踏板输出的电压信号之间关 系的示意图； 图 4是根据本发明实施例的一种控制越野轮胎起重机的发动机的装置的基 本结构示意图； 图 5是根据本发明实施例的控制越野轮胎起重机的发动机的装置中， 控制 设备的一种结构的示意图； 图 6是根据本发明实施例的基于总线对越野轮胎起重机的发动机进行控制 的方法的示意图； 图 7是根据本实施例的控制越野轮胎起重机的发动机的***的示意图； 以 及 图 8是与本发明相关的越野轮胎起重机外观的示意图。 具体实施方式 需要说明的是， 在不冲突的情况下， 本申请中的实施例及实施例中的特征 可以相互组合。 下面将参考附图并结合实施例来详细说明本发明。 图 2 是根据本发明实施例的控制越野轮胎起重机的发动机的方法的示意 图， 如图 2所示， 该方法可由越野轮胎起重机的控制器执行， 主要包括如下步 骤： 步骤 S21 : 确认越野轮胎起重机的工作状态。 这里的工作状态包括行走状 态和吊重状态。 步骤 S23: 根据越野轮胎起重机的工作状态确定其发动机的怠速转速。 在 本步骤中， 具体是， 如果越野轮胎起重机的工作状态为行走状态， 确定怠速转 速为第一怠速转速， 如果越野轮胎起重机的工作状态为吊重状态， 确定怠速转 速为第二怠速转速。 这里的第一怠速转速和第二怠速转速预先设定， 并且第二 怠速转速大于第一怠速转速。 步骤 S25: 接收电压信号， 根据该电压信号以及怠速转速确定越野轮胎起 重机的发动机的转速， 然后按照该转速对发动机进行控制。 这里的电压信号来 自越野轮胎起重机的油门踏板。 居上述步骤， 能够使发动机在起重机处于吊重状态时具有较大的转速从 而输出较大的功率， 这有助于避免吊重状态下行走带来的故障隐患， 提高越野 轮胎起重机在吊重状态下行走时的安全性能。 对此， 以下结合图 3作进一步说 明。 图 3是根据本发明实施例的发动机转速与油门踏板输出的电压信号之间关 系的示意图。 如图 3所示， 横坐标表示电压， 纵坐标表示发动机转速， 线条 1对应于行 走状态， 线条 2对应于吊重状态。 图中示出了电压的第一预设值 （0.5V ) 和电 压的第二预设值 （ 4.5 V ) , 在油门踏板输出的电压处于第一预设值 （ 0.5 V ) 内， 发动机处于怠速状态； 在起重机处于行走状态时， 发动机在怠速状态下的怠速 转速为图 3 中的第一怠速转速 （ 800转 /分钟）， 在起重机处于吊重状态时， 发 动机在怠速状态下的转速为图 3中的第二怠速转速（ 1000转 /分钟）。 上述的第 一怠速转速、 第二怠速转速、 第一预设值以及第二预设值都可以通过对起重机 的调试整定而获得。 这样， 在起重机工作时， 例如发动机处于吊重状态， 就可 以根据此时发动机的怠速转速为第二怠速转速来确定发动机的转速与油门踏 板发来的电压信号之间按线条 2的关系变化， 于是根据当前油门踏板发来的具 体的电压信号就可以按线条 2得出发动机应有的转速。 在发动机处于行走状态 的处理相类似， 是根据当前油门踏板发来的具体的电压信号， 按线条 2得出发 动机应有的转速。 仍以发动机处于吊重状态为例， 按线条 2和当前油门踏板发来的具体的电 压信号对发动机进行控制时， 先检测油门踏板的电压信号； 在该电压信号小于 或等于第一预设值的情况下， 控制发动机处于怠速转速； 在该电压信号大于第 一预设值并且小于第二预设值的情况下， 控制发动机的转速从怠速转速起按电 压信号线性变化 （如图 3 中的线条 2的斜坡段所示）； 在该电压信号大于或等 于第二预设值的情况下， 控制发动机的转速为发动机最大转速。 发动机处于行 走状态的控制方式相类似， 只是在油门踏板发来的电压信号大于第一预设值并 且小于第二预设值的情况下， 控制发动机的转速从怠速转速起按电压信号线性 变化时是根据图 3中的线条 1的斜坡段进行。 以下再对步骤 S21中的确认越野轮胎起重机的工作状态的步骤加以说明。 根据起重机内不同的元件设置， 控制器有不同的确认越野轮胎起重机的工作状 态的方式。 例如可以在起重机内设置一个按钮， 在驾驶员需要使起重机处于吊重工作 状态时， 按下该按钮， 此时按钮相连的电路发出吊重状态标志信号， 用来标志 起重机处于吊重状态。 该电路与控制器连接， 这样控制器在工作时检测是否收 到吊重状态标志信号， 在未收到吊重状态标志信号的情况下， 确认越野轮胎起 重机的工作状态为行走状态， 在收到吊重状态标志信号的情况下， 确认越野轮 胎起重机的工作状态为吊重状态。 又如可以在起重机内设置具有两个位置的开关装置， 用来发送起重机的工 作状态信号， 工作状态信号具体有两种： 行走状态标志信号和吊重状态信号。 该开关装置被拨到第一位置时发出第一种信号， 可将其定义为行走状态标志信 号， 该开关装置被拨到第二位置时发出第二种信号， 可将其定义为吊重状态信 号， 驾驶员根据这种定义进行操作， 例如在需要使起重机处于吊重工作状态时 将该开关装置拨到第二位置。 这样控制器在工作时检测工作状态信号， 在收到 的工作状态信号为行走状态标志信号的情况下， 确认越野轮胎起重机的工作状 态为行走状态， 在收到的工作状态信号为吊重状态标志信号的情况下， 确认越 野轮胎起重机的工作状态为吊重状态。 在起重机内设置相关的元件例如上述的按钮或开关装置， 可以使驾驶员对 起重机的工作状态进行选择， 控制器根据该选择对发动机进行控制， 使发动机 的输出功率更适合于起重机的具体工作状态。 图 4是根据本发明实施例的一种控制越野轮胎起重机的发动机的装置的基 本结构示意图。 该装置可以安装在越野轮胎起重机的控制器中。 如图 4所示， 控制装置 41主要包括： 确认设备 42, 用于确认越野轮胎起重机的工作状态， 该工作状态包括行走状态和吊重状态； 怠速确定设备 43 , 用于存储第一怠速转 速和第二怠速转速， 其中第二怠速转速大于第一怠速转速， 并且还用于根据越 野轮胎起重机的工作状态确定怠速转速， 其中如果越野轮胎起重机的工作状态 为行走状态， 确定怠速转速为第一怠速转速， 如果越野轮胎起重机的工作状态 为吊重状态， 确定怠速转速为第二怠速转速； 控制设备 44, 用于接收来自越野 轮胎起重机的油门踏板的电压信号， 根据该电压信号以及怠速确定设备 43 确 定的怠速转速确定发动机的转速， 然后按照该转速对发动机进行控制。 确认设备 42 还可用于： 检测是否收到吊重状态标志信号， 若是， 则确认 起重机的工作状态为吊重状态， 否则确认起重机的工作状态为行走状态； 该吊 重状态标志信号用于标志越野轮胎起重机处于吊重状态。 确认设备 42 还可用于： 接收越野轮胎起重机的工作状态标志信号； 在收 到的工作状态标志信号为行走状态标志信号的情况下， 确认越野轮胎起重机的 工作状态为行走状态， 在收到的工作状态标志信号为吊重状态标志信号的情况 下， 确认越野轮胎起重机的工作状态为吊重状态。 控制设备 44的一种可选结构示于图 5 , 图 5是根据本发明实施例的控制越 野轮胎起重机的发动机的装置中， 控制设备的一种结构的示意图。 如图 5所示， 控制设备 44主要包括： 接收部件 441 , 用于检测越野轮胎起 重机的油门踏板的电压信号； 电压值存储设备 442, 用于存储电压信号的第一 预设值和第二预设值， 其中第二预设值大于第一预设值； 第一控制部件 443 , 用于在电压信号小于或等于第一预设值的情况下， 控制发动机的转速为怠速转 速； 第二控制部件 444, 用于在电压信号大于第一预设值并且小于第二预设值 的情况下， 控制发动机的转速从怠速转速起按电压信号线性变化； 第三控制部 件 445 , 用于在电压信号大于或等于第二预设值的情况下， 控制发动机的转速 为发动机最大转速。 应用本实施例中的控制越野轮胎起重机的发动机的装置， 能够使越野轮胎 起重机在吊重工作状态下具有较大的怠速转速从而增大了发动机的输出， 这有 助于避免发动机输出功率不足带来的故障隐患， 从而提高整车的安全性。 在本实施例中， 越野轮胎起重机的控制器可以釆用总线的方式对发动机进 行控制， 如图 6所示， 图 6是根据本发明实施例的基于总线对越野轮胎起重机 的发动机进行控制的方法的示意图。 步骤 S61 : 控制器检测是否收到吊重状态标志信号， 若是， 进入步骤 S65 , 否则进入步骤 S63。 这里的吊重状态标志信号用于标志越野轮胎起重机处于吊 重状态。 步骤 S63: 读取预设的第一怠速转速。 本步骤之后进入步骤 S67。 步骤 S65: 读取预设的第二怠速转速。 本步骤之后进入步骤 S67。 步骤 S67: 将收到的越野轮胎起重机的油门踏板的电压信号转化为总线信 号。 该总线信号为一个通过总线传输的数据包， 仅包含发动机转速信息， 该转 速是基于读取的第一怠速转速或者第二怠速转速得出， 且同一发动机油门开度 信息对应唯一的数据值。 本步骤之后进入步骤 S69。 步骤 S69: 将总线信号通过总线发送给发动机。 这样发动机的 ECU在接收 到该总线信号时根据该信号对发动机的运行进行控制。 按照图 6的上述步骤，在吊重状态下，控制器能够根据较大的怠速转速（大 于非吊重状态下即行走状态下的怠速转速）对发动机进行控制， 从而能够增大 发动机的功率，避免发动机功率不足带来的安全隐患，提高整车工作的安全性。 上述的总线可以是国际通用的 CAN通信协议的总线，简称 CAN总线（ Controller Area Network )。 图 7是根据本实施例的控制越野轮胎起重机的发动机的***的示意图， 如 图 7所示， 控制*** 70主要包括状态选择设备 71和控制器 72, 其中： 状态选 择设备 71用于向控制器 72发送越野轮胎起重机的吊重状态标志信号， 该吊重 状态标志信号用于标志越野轮胎起重机处于吊重状态； 控制器 72 可以釆用本 发明实施例中的控制越野轮胎起重机的发动机的装置的结构来实现。 图 7所示的控制*** 70还可以包括总线设备（图中未示出）， 该总线设备 与控制器 72和发动机（图中未示出）连接， 这样控制器 72的控制信号可以通 过该总线设备发送至发动机， 而不是直接发送给发动机。 该总线设备可以是 CAN总线。 应用图 7所示的***， 能够使越野轮胎起重机在吊重状态下具有较大的发 动机怠速转速， 从而发动机有着较大的输出功率， 能够避免发动机功率输出不 足带来的安全隐患。 图 8是与本发明相关的越野轮胎起重机外观的示意图， 越野轮胎起重机由 上车和下车两部分组成， 如图 1B所示， 设有主臂 1、 副臂 2、 司机室 3、 副卷 扬 4、 主卷扬 5、 配重 6、 主员钩 7、 前支^ % 8、 变幅机构 9、 回转机构 10、 起 重机专用底盘 11 , 以及后支腿 12。 上、 下车之间用回转支承连接。 在本实施 例中， 越野轮胎起重机中的用于控制越野轮胎起重机的发动机转速的控制*** 可以釆用本发明实施例中的控制*** 70来实现。 才艮据本发明实施例的技术方案， 对发动机在吊重状态和行走状态时的控制 进行区分， 调整了发动机在越野轮胎起重机处于吊重状态时的怠速转速， 使发 动机在吊重状态时的输出功率增大， 以避免在吊重状态下发动机功率输出不足 带来的安全隐患。 另外本实施例中对于发动机的转速的控制信号釆用总线方式 输出， 有助于减小***接线， 提高控制***的可靠性。 显然， 本领域的技术人员应该明白， 上述的本发明的各模块或各步骤可以 用通用的计算装置来实现， 它们可以集中在单个的计算装置上， 或者分布在多 个计算装置所组成的网络上， 可选地， 它们可以用计算装置可执行的程序代码 来实现， 从而， 可以将它们存储在存储装置中由计算装置来执行， 或者将它们 分别制作成各个集成电路模块， 或者将它们中的多个模块或步骤制作成单个集 成电路模块来实现。 这样， 本发明不限制于任何特定的硬件和软件结合。 以上所述仅为本发明的优选实施例而已， 并不用于限制本发明， 对于本领 域的技术人员来说， 本发明可以有各种更改和变化。 凡在本发明的 ^"神和原则 之内， 所作的任何修改、 等同替换、 改进等， 均应包含在本发明的保护范围之 内。 BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings are intended to provide a further understanding of the invention In the drawings: FIG. 1 is a schematic diagram showing a control flow of an engine of an off-road tire crane according to the prior art; FIG. 2 is a schematic view showing a method of controlling an engine of an off-road tire crane according to an embodiment of the present invention; FIG. 4 is a schematic diagram showing the basic structure of an apparatus for controlling an engine of an off-road tire crane according to an embodiment of the present invention; FIG. 5 is a schematic diagram of an apparatus for controlling an engine of an off-road tire crane according to an embodiment of the present invention; FIG. 6 is a schematic diagram of a method of controlling an engine of an off-road tire crane based on a bus in an apparatus for controlling an engine of an off-road tire crane; FIG. Fig. 7 is a schematic diagram of a system for controlling an engine of an off-road tire crane according to the present embodiment; and Fig. 8 is a schematic view showing the appearance of an off-road tire crane related to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments. 2 is a schematic diagram of a method of controlling an engine of an off-road tire crane according to an embodiment of the present invention. As shown in FIG. 2, the method may be performed by a controller of an off-road tire crane, mainly comprising the following steps: Step S21: confirming an off-road tire crane Working status. The working state here includes a walking state and a hoisting state. Step S23: determining the idle speed of the engine according to the working state of the off-road tire crane. In this step, specifically, if the working state of the off-road tire crane is the walking state, it is determined that the idle speed is the first idle speed, and if the working state of the off-road tire crane is the hoisting state, it is determined that the idle speed is the second idle speed. Here, the first idle speed and the second idle speed are preset, and the second idle speed is greater than the first idle speed. Step S25: Receive a voltage signal, determine the engine speed of the off-road tire crane based on the voltage signal and the idle speed, and then control the engine according to the speed. The voltage signal here comes from the accelerator pedal of an off-road tire crane. In the above steps, the engine can have a large rotating speed when the crane is in the hoisting state, thereby outputting a large power, which helps to avoid the hidden troubles caused by the walking under the hoisting state, and improves the hoisting state of the off-road tire crane. Safety performance when walking down. This will be further explained below in conjunction with FIG. 3. 3 is a schematic diagram showing the relationship between the engine speed and the voltage signal output from the accelerator pedal according to an embodiment of the present invention. As shown in Fig. 3, the abscissa indicates the voltage, the ordinate indicates the engine speed, line 1 corresponds to the walking state, and line 2 corresponds to the hoisting state. The figure shows the first preset value of the voltage (0.5V) and the second preset value of the voltage (4.5V). The engine is at idle speed when the voltage output from the accelerator pedal is at the first preset value (0.5 V). State; when the crane is in the running state, the idle speed of the engine in the idle state is the first idle speed (800 rev / min) in Figure 3, when the crane is in the hoisting state, The rotational speed of the motive in the idle state is the second idle speed (1000 rpm) in FIG. The first idle speed, the second idle speed, the first preset value and the second preset value can be obtained by commissioning the crane. In this way, when the crane is working, for example, the engine is in the hoisting state, the relationship between the speed of the engine and the voltage signal sent by the accelerator pedal can be determined according to the relationship of the line 2 according to the idle speed of the engine at the time of the second idle speed. Therefore, according to the specific voltage signal sent by the current accelerator pedal, the rotation speed of the engine can be obtained according to the line 2. The processing in the running state of the engine is similar, based on the specific voltage signal from the current accelerator pedal, and the speed that the engine should have is obtained according to the line 2. Taking the engine in the hoisting state as an example, when the engine is controlled according to the specific voltage signal sent by the line 2 and the current accelerator pedal, the voltage signal of the accelerator pedal is detected first; the voltage signal is less than or equal to the first preset value. In the case of the engine, the control engine is at an idle speed; when the voltage signal is greater than the first preset value and less than the second preset value, the speed of the control engine is linearly changed from the idle speed to the voltage signal (as shown in FIG. 3). The slope of line 2 is shown); in the case where the voltage signal is greater than or equal to the second predetermined value, the engine speed is controlled to be the maximum engine speed. The control mode of the engine in the walking state is similar, except that when the voltage signal sent from the accelerator pedal is greater than the first preset value and less than the second preset value, the speed of the control engine is linearly changed from the idle speed to the voltage signal. This is done according to the ramp section of line 1 in Figure 3. Next, the procedure of confirming the operating state of the off-road tire crane in step S21 will be described. Depending on the different component settings in the crane, the controller has different ways of confirming the working condition of the off-road tire crane. For example, a button can be set in the crane. When the driver needs to make the crane in the hoisting work state, the button is pressed, and the circuit connected to the button emits a hoisting status flag signal, which is used to mark that the crane is in a hoisting state. The circuit is connected to the controller, so that the controller detects whether the hoisting status flag signal is received during operation, and confirms that the working state of the off-road tire crane is walking when the hoisting status flag signal is not received, after receiving In the case of hoisting the status flag signal, it is confirmed that the working state of the off-road tire crane is the hoisting state. For example, a switch device having two positions can be arranged in the crane for transmitting the working state signal of the crane, and the working state signal has two specific types: a walking state flag signal and a hoisting state signal. When the switch device is dialed to the first position, a first type of signal is issued, which can be defined as a walking state flag signal, and when the switch device is dialed to the second position, a second signal is issued, which can be defined as a hoisting state. The signal, the driver operates according to this definition, for example when the crane is in a hoisting state, the switch is turned to the second position. In this way, the controller detects the working status signal while it is working, and receives it. When the working state signal is the walking state flag signal, it is confirmed that the working state of the off-road tire crane is the walking state, and when the received working state signal is the hoisting state flag signal, it is confirmed that the working state of the rough terrain tire crane is the hanging state. Heavy state. Providing relevant components in the crane, such as the above-mentioned buttons or switch devices, allows the driver to select the working state of the crane, and the controller controls the engine according to the selection, so that the output power of the engine is more suitable for the specific working state of the crane. . 4 is a basic structural diagram of an apparatus for controlling an engine of an off-road tire crane according to an embodiment of the present invention. The device can be installed in the controller of an off-road tire crane. As shown in FIG. 4, the control device 41 mainly includes: a confirming device 42 for confirming an operating state of the off-road tire crane, the working state including a walking state and a hoisting state; and an idle determining device 43 for storing the first idle speed and a second idle speed, wherein the second idle speed is greater than the first idle speed, and is further configured to determine an idle speed according to an operating condition of the off-road tire crane, wherein if the working state of the off-road tire crane is a walking state, determining that the idle speed is the first idle speed The rotational speed, if the working state of the off-road tire crane is the hoisting state, determining that the idle speed is the second idle speed; the control device 44 is configured to receive a voltage signal from the accelerator pedal of the off-road tire crane, according to the voltage signal and the idle speed determining device 43 The determined idle speed determines the engine speed and then controls the engine according to the speed. The confirmation device 42 can also be used to: detect whether the hoisting status flag signal is received, and if yes, confirm that the working state of the crane is the hoisting state, otherwise confirm that the working state of the crane is the walking state; the hoisting status flag signal is used to mark the off-road The tire crane is in a hoisting state. The confirmation device 42 can also be used to: receive the working state flag signal of the off-road tire crane; and confirm that the working state of the off-road tire crane is walking when the received working state flag signal is the walking state flag signal, in the received work When the status flag signal is the hoisting status flag signal, it is confirmed that the working state of the off-road tire crane is the hoisting state. An alternative configuration of control device 44 is shown in Figure 5, which is a schematic illustration of one configuration of a control device in an apparatus for controlling an engine of an off-road tire crane in accordance with an embodiment of the present invention. As shown in FIG. 5, the control device 44 mainly includes: a receiving component 441 for detecting a voltage signal of an accelerator pedal of an off-road tire crane; a voltage value storage device 442 for storing a first preset value of the voltage signal and a second pre- Setting a value, wherein the second preset value is greater than the first preset value; the first control component 443 is configured to control the engine speed to be an idle speed when the voltage signal is less than or equal to the first preset value; The component 444 is configured to: when the voltage signal is greater than the first preset value and less than the second preset value, control the rotational speed of the engine to linearly change from the idle speed to the voltage signal; the third control unit The component 445 is configured to control the engine speed to be the maximum engine speed when the voltage signal is greater than or equal to the second preset value. The apparatus for controlling the engine of the off-road tire crane in the embodiment can enable the off-road tire crane to have a large idle speed in the hoisting operation state, thereby increasing the output of the engine, which helps to avoid the engine output power shortage. The hidden troubles come, so as to improve the safety of the whole vehicle. In the present embodiment, the controller of the off-road tire crane can control the engine by means of a bus, as shown in FIG. 6, FIG. 6 is a method for controlling an engine of an off-road tire crane based on a bus according to an embodiment of the present invention. Schematic diagram. Step S61: The controller detects whether the hoisting status flag signal is received, and if yes, proceeds to step S65, otherwise proceeds to step S63. The hoisting status flag signal here is used to indicate that the off-road tire crane is in a hoisting state. Step S63: Read the preset first idle speed. After this step, the process proceeds to step S67. Step S65: Read the preset second idle speed. After this step, the process proceeds to step S67. Step S67: Converting the voltage signal of the accelerator pedal of the received off-road tire crane into a bus signal. The bus signal is a data packet transmitted through the bus, and only includes engine speed information, which is obtained based on the read first idle speed or the second idle speed, and the same engine throttle opening information corresponds to a unique data value. After this step, the process proceeds to step S69. Step S69: The bus signal is sent to the engine through the bus. Thus, the ECU of the engine controls the operation of the engine based on the signal when receiving the bus signal. According to the above steps of FIG. 6, in the hoisting state, the controller can control the engine according to a large idle speed (greater than the idle speed in the non-lifting state, that is, the running state), thereby increasing the power of the engine. Avoid the safety hazard caused by insufficient engine power and improve the safety of the whole vehicle. The above bus may be a bus of an internationally accepted CAN communication protocol, referred to as a CAN bus (Controller Area Network). 7 is a schematic diagram of a system for controlling an engine of an off-road tire crane according to the present embodiment. As shown in FIG. 7, the control system 70 mainly includes a state selection device 71 and a controller 72, wherein: the state selection device 71 is for a controller 72 transmitting a hoisting status flag signal of the off-road tire crane, the hoisting status flag signal is used to mark that the off-road tire crane is in a hoisting state; and the controller 72 can use the device for controlling the engine of the off-road tire crane in the embodiment of the present invention. Structure to achieve. The control system 70 shown in Figure 7 can also include a bus device (not shown) that is coupled to the controller 72 and the engine (not shown) such that control signals from the controller 72 can pass through the bus. The device is sent to the engine instead of being sent directly to the engine. The bus device can be a CAN bus. Applying the system shown in Fig. 7, the off-road tire crane can have a large engine idle speed in the hoisting state, so that the engine has a large output power, and can avoid the safety hazard caused by insufficient engine power output. Figure 8 is a schematic view showing the appearance of an off-road tire crane relating to the present invention. The off-road tire crane is composed of two parts, an upper vehicle and a lower vehicle. As shown in Fig. 1B, a main arm 1, a jib 2, a cab 3, and a secondary roller are provided. Yang 4, main winch 5, counterweight 6, main hook 7, front branch ^ 8 , luffing mechanism 9, slewing mechanism 10, crane-dedicated chassis 11, and rear leg 12. The upper and lower vehicles are connected by a slewing ring. In the present embodiment, the control system for controlling the engine speed of the off-road tire crane in the off-road tire crane can be realized by the control system 70 in the embodiment of the present invention. According to the technical solution of the embodiment of the present invention, the control of the engine in the hoisting state and the walking state is distinguished, and the idle speed of the engine when the off-road tire crane is in the hoisting state is adjusted, so that the engine is in the hoisting state. The output power is increased to avoid the safety hazard caused by insufficient engine power output under hoisting conditions. In addition, the control signal for the engine speed is outputted in the bus mode in this embodiment, which helps to reduce system wiring and improve the reliability of the control system. Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or they may be Multiple modules or steps are made into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the scope of the present invention are intended to be included within the scope of the present invention.

Claims

权 利 要 求 书  Claims
1. 一种控制越野轮胎起重机的发动机的方法， 其特征在于， 包括： A method of controlling an engine of an off-road tire crane, comprising:
确认越野轮胎起重机的工作状态， 所述工作状态包括行走状态和吊 重状态；  Confirming the working state of the off-road tire crane, the working state including the walking state and the lifting state;
才艮据所述越野轮胎起重机的工作状态确定其发动机的怠速转速， 其 中如果所述越野轮胎起重机的工作状态为行走状态， 确定所述怠速转速 为预设的第一怠速转速， 如果所述越野轮胎起重机的工作状态为吊重状 态， 确定所述怠速转速为预设的第二怠速转速， 所述第二怠速转速大于 所述第一怠速转速；  Determining an idle speed of the engine according to the working state of the off-road tire crane, wherein if the working state of the off-road tire crane is a walking state, determining that the idle speed is a preset first idle speed, if the off-road The working state of the tire crane is a hoisting state, determining that the idle speed is a preset second idle speed, and the second idle speed is greater than the first idle speed;
接收来自所述越野轮胎起重机的油门踏板的电压信号， 根据该电压 信号以及所述怠速转速确定所述发动机的转速， 然后按照所述转速对所 述发动机进行控制。  A voltage signal from the accelerator pedal of the off-road tire crane is received, the engine speed is determined based on the voltage signal and the idle speed, and the engine is then controlled in accordance with the speed.
2. 根据权利要求 1所述的方法， 其特征在于， 确认越野轮胎起重机的工作 状态包括： 2. The method according to claim 1, wherein the working state of the off-road tire crane is confirmed to include:
检测是否收到吊重状态标志信号， 所述吊重状态标志信号用于标志 所述越野轮胎起重机处于吊重状态；  Detecting whether a hoisting status flag signal is received, and the hoisting status flag signal is used to indicate that the off-road tire crane is in a hoisting state;
在未收到所述吊重状态标志信号的情况下， 确认越野轮胎起重机的 工作状态为行走状态， 在收到所述吊重状态标志信号的情况下， 确认越 野轮胎起重机的工作状态为吊重状态。  When the hoisting weight state flag signal is not received, it is confirmed that the working state of the off-road tire crane is the walking state, and when the hoisting weight state flag signal is received, it is confirmed that the working state of the rough terrain tire crane is hoisting status.
3. 根据权利要求 1所述的方法， 其特征在于， 确认越野轮胎起重机的工作 状态包括： 3. The method according to claim 1, wherein the working state of the off-road tire crane is confirmed to include:
接收越野轮胎起重机的工作状态标志信号；  Receiving a working status sign signal of an off-road tire crane;
在收到的所述工作状态标志信号为行走状态标志信号的情况下， 确 认越野轮胎起重机的工作状态为行走状态， 在收到的所述工作状态标志 信号为吊重状态标志信号的情况下， 确认越野轮胎起重机的工作状态为 吊重状态。  When the received working state flag signal is a walking state flag signal, it is confirmed that the working state of the off-road tire crane is a walking state, and when the received working state flag signal is a hoisting state flag signal, Confirm that the working condition of the off-road tire crane is hoisting.
4. 居权利要求 1、 2或 3所述的方法， 其特征在于， 所述 -据所述怠速转 速和所述油门踏板的电压信号确定所述发动机的转速包括： 在所述电压信号小于或等于第一预设值的情况下， 控制所述发动机 的转速为所述怠速转速； 在所述电压信号大于所述第一预设值并且小于 第二预设值的情况下， 控制所述发动机的转速从所述怠速转速起按所述 电压信号线性变化； 在所述电压信号大于或等于所述第二预设值的情况 下， 控制所述发动机的转速为发动机最大转速。 一种控制越野轮胎起重机的发动机的装置， 其特征在于， 包括： 4. The method of claim 1, 2 or 3, wherein the determining the rotational speed of the engine based on the idle speed and the voltage signal of the accelerator pedal comprises: Controlling the engine speed as the idle speed when the voltage signal is less than or equal to the first preset value; wherein the voltage signal is greater than the first preset value and less than the second preset value In the case of controlling the engine speed, the voltage signal is linearly changed from the idle speed; and when the voltage signal is greater than or equal to the second preset value, the engine speed is controlled as an engine. Maximum speed. An apparatus for controlling an engine of an off-road tire crane, comprising:
确认设备， 用于确认越野轮胎起重机的工作状态， 所述工作状态包 括行走状态和吊重状态；  a confirmation device for confirming an operation state of the off-road tire crane, the working state including a walking state and a hoisting state;
怠速确定设备， 用于存储第一怠速转速和第二怠速转速， 其中第二 怠速转速大于第一怠速转速， 并且还用于根据所述越野轮胎起重机的工 作状态确定怠速转速， 其中如果所述越野轮胎起重机的工作状态为行走 状态， 确定所述怠速转速为第一怠速转速， 如果所述越野轮胎起重机的 工作状态为吊重状态， 确定所述怠速转速为第二怠速转速；  An idle determining device, configured to store a first idle speed and a second idle speed, wherein the second idle speed is greater than the first idle speed, and further configured to determine an idle speed according to an operating state of the off-road tire crane, wherein if the off-road The working state of the tire crane is a walking state, determining that the idle speed is a first idle speed, and if the working state of the off-road tire crane is a hoisting state, determining that the idle speed is a second idle speed;
控制设备， 用于接收来自所述越野轮胎起重机的油门踏板的电压信 号， 根据该电压信号以及所述怠速确定设备确定的怠速转速确定所述发 动机的转速， 然后按照所述转速对所述发动机进行控制。 根据权利要求 5所述的装置， 其特征在于， 所述确认设备还用于： 检测是否收到吊重状态标志信号， 若是， 则确认所述起重机的工作 状态为吊重状态， 否则确认所述起重机的工作状态为行走状态；  a control device, configured to receive a voltage signal from an accelerator pedal of the off-road tire crane, determine a rotational speed of the engine according to the voltage signal and an idle speed determined by the idle determining device, and then perform the engine according to the rotational speed control. The device according to claim 5, wherein the confirming device is further configured to: detect whether a hoisting status flag signal is received, and if yes, confirm that the working state of the crane is a hoisting state, otherwise confirm the The working state of the crane is walking state;
所述吊重状态标志信号用于标志所述越野轮胎起重机处于吊重状 态。 根据权利要求 5所述的装置， 其特征在于， 所述确认设备还用于： 接收越野轮胎起重机的工作状态标志信号；  The hoisting status flag signal is used to indicate that the off-road tire crane is in a hoisting state. The device according to claim 5, wherein the confirmation device is further configured to: receive an operation status flag signal of the off-road tire crane;
在收到的所述工作状态标志信号为行走状态标志信号的情况下， 确 认越野轮胎起重机的工作状态为行走状态， 在收到的所述工作状态标志 信号为吊重状态标志信号的情况下， 确认越野轮胎起重机的工作状态为 吊重状态。  When the received working state flag signal is a walking state flag signal, it is confirmed that the working state of the off-road tire crane is a walking state, and when the received working state flag signal is a hoisting state flag signal, Confirm that the working condition of the off-road tire crane is hoisting.
8. 根据权利要求 5所述的装置， 其特征在于， 所述控制设备包括： The device according to claim 5, wherein the control device comprises:
接收部件， 用于检测所述越野轮胎起重机的油门踏板的电压信号; 电压值存储设备， 用于存储所述电压信号的第一预设值和第二预设 值， 其中第二预设值大于第一预设值； a receiving component, configured to detect a voltage signal of an accelerator pedal of the off-road tire crane; a voltage value storage device, configured to store a first preset value and a second preset value of the voltage signal, where the second preset value is greater than the first preset value;
第一控制部件， 用于在所述电压信号小于或等于第一预设值的情况 下， 控制所述发动机的转速为所述怠速转速；  a first control unit, configured to control a rotation speed of the engine to be the idle speed when the voltage signal is less than or equal to a first preset value;
第二控制部件， 用于在所述电压信号大于所述第一预设值并且小于 第二预设值的情况下， 控制所述发动机的转速从所述怠速转速起按所述 电压信号线性变化；  a second control unit, configured to control, when the voltage signal is greater than the first preset value and less than a second preset value, to control a linear speed of the engine from the idle speed to linearly change according to the voltage signal ;
第三控制部件， 用于在所述电压信号大于或等于所述第二预设值的 情况下， 控制所述发动机的转速为发动机最大转速。  And a third control unit, configured to control the rotation speed of the engine to be the maximum engine speed when the voltage signal is greater than or equal to the second preset value.
9. 一种控制越野轮胎起重机的发动机的***， 其特征在于， 包括状态选择 设备和控制器， 其中： A system for controlling an engine of an off-road tire crane, comprising: a state selection device and a controller, wherein:
所述状态选择设备， 用于向所述控制器发送状态标志信号以供所述 控制器确认所述越野轮胎起重机的工作状态， 所述工作状态包括行走状 态和吊重状态；  The state selection device is configured to send a status flag signal to the controller for the controller to confirm an operating state of the off-road tire crane, the working state including a walking state and a hoisting state;
所述控制器包括权利要求 5或 8所述的控制越野轮胎起重机的发动 机的装置。  The controller includes the apparatus for controlling an engine of an off-road tire crane according to claim 5 or 8.
10. 根据权利要求 9所述的***， 其特征在于， 10. The system of claim 9 wherein:
所述状态选择设备还用于向所述控制器发送越野轮胎起重机的吊重 状态标志信号， 所述吊重状态标志信号用于标志所述越野轮胎起重机处 于吊重状态；  The state selection device is further configured to send a hoisting status flag signal of the off-road tire crane to the controller, where the hoisting status flag signal is used to indicate that the off-road tire crane is in a hoisting state;
所述控制器还用于在收到所述吊重状态标志信号的情况下确认所述 起重机的工作状态为吊重状态， 在未收到所述吊重状态标志信号的情况 下确认所述起重机的工作状态为行走状态。  The controller is further configured to confirm that the working state of the crane is a hoisting state when the hoisting state flag signal is received, and confirm the crane if the hoisting state flag signal is not received The working state is walking state.
11. 根据权利要求 9所述的***， 其特征在于， 11. The system of claim 9 wherein:
所述状态选择设备还用于向所述控制器发送越野轮胎起重机的工作 状态标志信号；  The state selection device is further configured to send an operation status flag signal of the off-road tire crane to the controller;
所述控制器还用于在收到的所述工作状态标志信号为行走状态标志 信号的情况下确认所述起重机的工作状态为行走状态， 在收 1的所述工 作状态标志信号为吊重状态标志信号的情况下确认所述起重机的工作状 态为吊重状态。 The controller is further configured to confirm that the working state of the crane is a walking state when the received working state flag signal is a walking state flag signal, and the working state flag signal of the receiving state is a hoisting state In the case of the flag signal, it is confirmed that the working state of the crane is a hoisting state.
12. 一种越野轮胎起重机， 其特征在于， 包括权利要求 9, 10或 11所述的控 制越野轮胎起重机的发动机的***。 12. An off-road tire crane, characterized by comprising the system for controlling an engine of an off-road tire crane according to claim 9, 10 or 11.
PCT/CN2011/076784 2011-07-01 2011-07-01 Crane with off-road tyres and method, apparatus and system for controlling engine thereof WO2013003993A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2011/076784 WO2013003993A1 (en) 2011-07-01 2011-07-01 Crane with off-road tyres and method, apparatus and system for controlling engine thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2011/076784 WO2013003993A1 (en) 2011-07-01 2011-07-01 Crane with off-road tyres and method, apparatus and system for controlling engine thereof

Publications (1)

Publication Number Publication Date
WO2013003993A1 true WO2013003993A1 (en) 2013-01-10

Family

ID=47436440

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2011/076784 WO2013003993A1 (en) 2011-07-01 2011-07-01 Crane with off-road tyres and method, apparatus and system for controlling engine thereof

Country Status (1)

Country Link
WO (1) WO2013003993A1 (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020062815A1 (en) * 2000-11-24 2002-05-30 Young-Jae Kim System and a method for running a diesel engine when starting a vehicle
JP2006220042A (en) * 2005-02-09 2006-08-24 Toyota Motor Corp Start control device of vehicle
JP2007071135A (en) * 2005-09-08 2007-03-22 Hitachi Constr Mach Co Ltd Prime mover control device of work vehicle
CN101025118A (en) * 2007-02-12 2007-08-29 三一重机有限公司 Automatic idling control method for digger engine
CN201484193U (en) * 2009-08-31 2010-05-26 戚方洪 Engine accelerator idle speed controller
JP2010223164A (en) * 2009-03-25 2010-10-07 Komatsu Ltd Idle speed automatic control method of engine for working vehicle and idle speed automatic control device of engine for working vehicle
CN201778903U (en) * 2010-08-14 2011-03-30 徐州徐工基础工程机械有限公司 Automatic idle speed control system of rotary drilling rig

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020062815A1 (en) * 2000-11-24 2002-05-30 Young-Jae Kim System and a method for running a diesel engine when starting a vehicle
JP2006220042A (en) * 2005-02-09 2006-08-24 Toyota Motor Corp Start control device of vehicle
JP2007071135A (en) * 2005-09-08 2007-03-22 Hitachi Constr Mach Co Ltd Prime mover control device of work vehicle
CN101025118A (en) * 2007-02-12 2007-08-29 三一重机有限公司 Automatic idling control method for digger engine
JP2010223164A (en) * 2009-03-25 2010-10-07 Komatsu Ltd Idle speed automatic control method of engine for working vehicle and idle speed automatic control device of engine for working vehicle
CN201484193U (en) * 2009-08-31 2010-05-26 戚方洪 Engine accelerator idle speed controller
CN201778903U (en) * 2010-08-14 2011-03-30 徐州徐工基础工程机械有限公司 Automatic idle speed control system of rotary drilling rig

Similar Documents

Publication Publication Date Title
US8972084B2 (en) Control system for equipment on a vehicle with a hybrid-electric powertrain
CA2568488C (en) System for integrating body equipment with a vehicle hybrid powertrain
US20110017533A1 (en) Hybrid traction motor initiated remote start-stop system
CN103879306A (en) Automobile ramp auxiliary system and control method thereof
CN101300415A (en) Engine controller of hydraulic shovel
WO2011056277A1 (en) Control system for equipment on a vehicle with a hybridelectric powertrain
AU2010348363B2 (en) Vehicle with primary and secondary air system control for electric power take off capability
WO2013086889A1 (en) Method, device and system for controlling crane rotation, and crane
CN102392746A (en) Off-the-highway tyre crane as well as method, device and system for controlling engine of same
US20120290151A1 (en) Control system for equipment on a vehicle with a hybrid-electric powertrain
US8489254B2 (en) Control system for equipment on a vehicle with a hybrid-electric powertrain
WO2013086884A1 (en) Rotatable engineering machinery and method and device for controlling rotation thereof
WO2013003993A1 (en) Crane with off-road tyres and method, apparatus and system for controlling engine thereof
JP2010127098A (en) Engine control device
WO2017073571A1 (en) Work vehicle
WO2017141667A1 (en) Identification system for work machines
WO2011056276A1 (en) Control system for equipment on a vehicle with a hybrid-electric powertrain
JP2018119293A (en) Working machine
US20120239226A1 (en) Control system for equipment on a vehicle with a hybrid-electric powertrain
WO2017073570A1 (en) Work machine and engine stopping control device
CN110696745A (en) Electrical system of large-scale cable drum transport vechicle
KR100788163B1 (en) Rpm control and outrigger control system for electronic engine of crane vehicle
US20130030632A1 (en) Hybrid vehicle prime movers communication control strategy
JP2017089497A (en) Engine control device of work vehicle, and work vehicle
JP2017089496A (en) Engine control system for crane truck, and crane truck

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11869117

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 11869117

Country of ref document: EP

Kind code of ref document: A1