WO2022206282A1 - 电动挖掘机工作模式控制方法、***及电动挖掘机 - Google Patents

电动挖掘机工作模式控制方法、***及电动挖掘机 Download PDF

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Publication number
WO2022206282A1
WO2022206282A1 PCT/CN2022/079265 CN2022079265W WO2022206282A1 WO 2022206282 A1 WO2022206282 A1 WO 2022206282A1 CN 2022079265 W CN2022079265 W CN 2022079265W WO 2022206282 A1 WO2022206282 A1 WO 2022206282A1
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WIPO (PCT)
Prior art keywords
power
electric excavator
working mode
module
battery pack
Prior art date
Application number
PCT/CN2022/079265
Other languages
English (en)
French (fr)
Inventor
兰周
明巧红
杨士保
Original Assignee
三一重机有限公司
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 三一重机有限公司 filed Critical 三一重机有限公司
Priority to EP22778466.7A priority Critical patent/EP4261351A1/en
Priority to JP2023553473A priority patent/JP2024509439A/ja
Publication of WO2022206282A1 publication Critical patent/WO2022206282A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/53—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells in combination with an external power supply, e.g. from overhead contact lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
    • H02J7/1438—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle in combination with power supplies for loads other than batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
    • H02J7/1446—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle in response to parameters of a vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
    • H02J2310/40—The network being an on-board power network, i.e. within a vehicle
    • H02J2310/48—The network being an on-board power network, i.e. within a vehicle for electric vehicles [EV] or hybrid vehicles [HEV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present application relates to the technical field of work machine control, and in particular, to a working mode control method and system of an electric excavator, and an electric excavator.
  • its working mode can usually include a tow line working mode and a battery discharge mode.
  • the line dragging working mode and the battery discharging mode are usually operated separately and independently, and the power battery pack in the electric excavator needs to be supplemented by a separate charging mode.
  • the above control method is more suitable for small electric excavators with low power; for medium and large electric excavators, it is very likely that the power supply power cannot meet the power requirements of the drive system of the electric excavator in the towing mode, which will lead to the failure of the electric excavator to work properly. work, reducing the digging efficiency of the electric excavator.
  • the present application provides a working mode control method and system of an electric excavator and an electric excavator, which are used to solve the defect that the power of the power supply cannot meet the power requirements of the driving system of the electric excavator in the towing line working mode in the prior art, and realize the power supply and The power battery pack supplies power to the drive system at the same time.
  • the present application provides a working mode control method of an electric excavator, including:
  • the power supply module of the electric excavator is turned on, and the required power of the driving system of the electric excavator is obtained, and the power supply module is connected to the AC power supply ;
  • the power battery pack of the electric excavator and the power supply module are controlled to supply power to the drive system at the same time.
  • the power battery pack is controlled to supply power to the drive system.
  • the battery state of charge information of the power battery pack is acquired in real time
  • the power supply module is turned on, so that the power supply module charges the power battery pack.
  • the method further includes:
  • the power supply module is controlled to supply power to the drive system, and the battery state of charge information of the power battery pack of the electric excavator is acquired in real time;
  • the power supply module is controlled to charge the power battery pack.
  • the method further includes:
  • the application also provides an electric excavator working mode controller, including:
  • the opening module is used to turn on the power supply module of the electric excavator and obtain the required power of the driving system of the electric excavator if it is judged that the trigger signal of the towline working mode of the electric excavator is received, and the power supply
  • the module is connected to the AC power supply;
  • the control module is configured to control the power battery pack of the electric excavator and the power supply module to supply power to the drive system at the same time if it is determined that the demanded power is greater than or equal to the supply power of the power supply module.
  • the present application further provides an electric excavator working mode control system, including: the electric excavator working mode controller as described above, a power supply module and a drive system of the electric excavator;
  • a first relay is connected between the power module and the drive system, and a second relay is connected between the power module and the power battery pack of the electric excavator;
  • the electric excavator working mode controller is respectively electrically connected to the first relay and the second relay, and the electric excavator working mode controller controls the first relay and the second relay to close, respectively, to Complete the power-on of the electric excavator.
  • the electric excavator working mode controller, the power supply module, the driving system and the power battery pack are connected through a CAN bus.
  • the present application also provides an electric excavator, comprising: the above-mentioned electric excavator working mode control system to control the working mode of the electric excavator.
  • the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to achieve any of the above The steps of the electric excavator working mode control method.
  • the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of any of the above-mentioned methods for controlling the working mode of an electric excavator.
  • the electric excavator working mode control method, system and electric excavator provided by the present application by judging whether the trigger signal of the electric excavator's drag line working mode is received, the power module of the electric excavator is turned on, and the electric excavator is obtained at this time.
  • the demand power of the drive system of the excavator when the demand power is greater than the supply power of the power supply module, the power supply module and the power battery pack of the electric excavator simultaneously supply power to the drive system.
  • FIG. 1 is a schematic flowchart of a method for controlling a working mode of an electric excavator provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a specific flow chart of a working mode control method of an electric excavator provided by an embodiment of the present application;
  • FIG. 3 is a schematic structural diagram of an electric excavator working mode controller provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a working mode control system for an electric excavator provided by an embodiment of the present application
  • Fig. 5 is the CAN network diagram of the electric excavator working mode control system provided by the embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of an electronic device provided by the present application.
  • the present application provides a working mode control method of an electric excavator.
  • FIG. 1 is a schematic flowchart of a method for controlling a working mode of an electric excavator provided by an embodiment of the present application. As shown in FIG. 1 , the method includes:
  • the execution subject is a complete machine controller
  • the complete machine controller is arranged on the electric excavator
  • the complete machine controller is electrically connected to the power module, and/ Or the controller of the whole machine and the power module are connected through the CAN bus.
  • the whole machine controller is connected with the drive system and the power battery pack through the CAN bus.
  • step S1 is performed, and before the electric excavator starts to enter the line dragging working mode, it is necessary to judge whether a trigger signal of the electric excavator's dragging working mode is received. If the trigger signal is received, the power supply module of the electric excavator is turned on, and the electric excavator enters the line dragging working mode to obtain the required power of the electric excavator drive system at this time.
  • the working mode of the electric excavator can include the towing working mode and the pure electric working mode; the towing working mode means that the electric excavator is electrically connected to the external AC power supply; the pure electric working mode means that the electric excavator is disconnected from the AC power supply,
  • the drive system is powered only by the internal power battery pack.
  • the power supply module is set in the electric excavator, which can be an AC/DC power supply module;
  • the AC power supply can be a power grid distribution cabinet, and the power supply module can be connected to the AC power supply through the connection socket set on the electric excavator, and the power supply module is used to connect the AC power supply.
  • the alternating current provided in the power source is converted into direct current suitable for electric excavators.
  • the AC/DC power module may be a DC generator or the like.
  • the AC power supply can be connected to the power module through a power cord connected with an AC plug-in gun, and the power cord can be a cable whose length can be controlled by an automatic cable retracting device.
  • the trigger signal can be a CC signal, which is automatically generated when the power module is connected to the AC power supply.
  • the whole machine controller detects the trigger signal, it means that the power module has been powered on, and the electric excavator is ready to enter the towing mode.
  • the power supply module of the electric excavator may be turned on by means of the CAN bus, or the power supply module of the electric excavator may be turned on by the SN enable signal.
  • the power supply module When the power supply module is turned on through the CAN bus, the current operating status of each module can be reported on the CAN bus, and a turn-on command can be sent on the CAN bus according to the current operating status.
  • the AC/DC power supply module in the power supply module receives the It can be turned on after the corresponding command; when the power module of the electric excavator is turned on through the SN enable signal, the power module can be turned on according to the state of charge (SOC) value of the power battery pack read on the CAN bus
  • SOC state of charge
  • different SOC values correspond to different SN enable signals
  • the AC/DC power supply module in the power supply module is controlled to be turned on according to the instructions of the different SN enable signals.
  • the electric excavator After the power module of the electric excavator is turned on, the electric excavator has entered the towing working mode, and starts to work in this working mode, and the required power of the driving system of the electric excavator can be obtained at this time.
  • the drive system of the electric excavator may include a motor controller and a motor, and the motor controller is used to control the output torque and rotational speed of the motor, thereby driving the electric excavator to work.
  • the required power of the driving system refers to the power required by the driving system, which can be obtained by setting the data acquisition module on the controller of the whole machine.
  • the required power can be the peak power of the driving system, that is, the maximum power, or the actual average power.
  • Step S2 is then executed to determine the magnitude relationship between the power demand of the drive system and the power supply of the power supply module. If it is known through the judgment that the demand power of the drive system is greater than the supply power of the power supply module, it means that the power supply module can provide the power at this time. The power can no longer meet the demands of the drive system, so the control power module and the power battery pack of the electric excavator supply power to the drive system at the same time.
  • the power supply of the power module is used to represent the power that the power module can provide. It is the same as the required power of the above-mentioned drive system. It can be either the peak power of the power module or the rated power of the power module. The peak power of the power module is also It can be obtained from the data acquisition module. The rated power of the power module is the rated power marked by the AC/DC power module in the power module.
  • the required power of the drive system is related to the connected load, and changes with the load. When the connected load is too large, the required power of the drive system will also increase. Therefore, when the peak power of the drive system is greater than the peak power of the power module or the actual average power of the drive system is greater than the rated power of the power module, it means that the power supplied by the power module cannot meet the demand power of the drive system.
  • the power battery pack supplies power to the drive system, that is, the power module and the power battery pack supply power to the drive system at the same time.
  • the power battery pack may include a power battery pack and a battery management system (Battery Management System, BMS) installed on the power battery pack, and the BMS can monitor the running data of the power battery pack in real time.
  • BMS Battery Management System
  • the batteries in the power battery pack can be lithium batteries or lead storage batteries, etc.
  • the number of batteries in the power battery pack can be set according to actual needs, which is not specifically limited in this application.
  • the power supply module can give priority to providing all the supply power, and the remaining required power of the drive system is provided by the power battery pack; it can also be based on actual needs and the battery charge of the power battery pack.
  • State of charge distributes the power provided by the power module and the power battery pack to the drive system.
  • the power battery pack can send its SOC value to the whole machine controller through the CAN bus, and the SOC value can represent the maximum dischargeable current of the power battery pack.
  • the power module can provide 80kw of power to the drive system, and the power battery pack can provide 20kw to the drive system; it is also possible to make the power module provide 75kw to the drive system, and the power battery pack to provide 25kw to the drive system.
  • the power battery pack and the power supply module supply power to the drive system at the same time, the power of the power battery pack will be slowly consumed from a fully-charged state to a power-deficient state.
  • the power module of the electric excavator is turned on by judging whether a trigger signal of the towing line working mode of the electric excavator is received, and the drive of the electric excavator at this time is obtained.
  • the demanded power of the system when the demanded power is greater than the supply power of the power supply module, the power supply module and the power battery pack of the electric excavator simultaneously supply power to the drive system.
  • the working mode control method of the electric excavator provided by the embodiment of the present application further includes:
  • the power battery pack is controlled to supply power to the drive system.
  • the trigger signal if the trigger signal is not received, it means that the power supply module is not connected to the AC power supply, so the power supply module cannot supply power to the drive system. At this time, the whole machine controller controls the power battery pack to be the drive system. powered by.
  • the electric excavator When the power battery pack is controlled to supply power to the drive system, the electric excavator is in the pure electric working mode, the electric excavator has no external AC power supply, and the pure electric working circuit consists of the power battery pack and the drive system.
  • the electric excavator and the AC power supply can be connected by inserting the AC plug connected to one end of the power cord into the connection socket set on the electric excavator, and the AC plug gun can be unplugged from the connection socket, and the electric excavator can enter the pure electric working mode. Plug in the connection socket, and the electric excavator can enter the towing mode.
  • the working mode control method of the electric excavator controls the power battery pack to supply power to the drive system when no trigger signal is received, so that the excavator can work normally without external AC power supply. , which improves the guarantee of the normal operation of the excavator, thereby improving the work efficiency, and in the pure electric working mode, the electric excavator is not constrained by the power cord, which expands the operating range of the electric excavator.
  • the working mode control method of the electric excavator provided by the embodiment of the present application further includes:
  • the power supply module is turned on, so that the power supply module charges the power battery pack.
  • the power module if no trigger signal is received, it means that the power module is not connected to the AC power supply, and the electric excavator is in a pure electric working mode, and the power battery pack supplies power to the drive system.
  • the power of the power battery pack starts to be consumed from the fully charged state, and the consumable time at this time is much less than the consumable time when the power module and the power battery pack supply power to the drive system at the same time.
  • the battery state of charge of the power battery pack can be acquired in real time through the data acquisition module when the complete machine controller does not receive the trigger signal.
  • the state of charge (SOC) of the battery is used to characterize the remaining power of the power battery pack, and its value is defined as the ratio of the remaining capacity to the battery capacity, usually expressed as a percentage.
  • the power threshold may be set according to the actual situation, for example, the power threshold may be set to 0 or 10%, which is not specifically limited in this application.
  • the power battery pack can be charged through the power module, that is, when the remaining power of the power battery pack is less than the power threshold, the AC plug gun is plugged into the connection socket to connect the electric excavator to the AC power supply.
  • the whole machine controller automatically receives the trigger signal, then turns on the power module, and charges the power battery pack through the power module, and the electric excavator enters the charging mode.
  • the charging working circuit is composed of a power supply module and a power battery pack module.
  • the working mode control method of the electric excavator provided by the embodiment of the present application, by turning on the power module to charge the power battery pack when the battery state of charge information of the power battery pack is that the remaining power is lower than the power threshold, avoids the operation in the pure electric working mode.
  • the working efficiency of the electric excavator is reduced due to the insufficient power supply of the power battery pack, and the power module can charge the power battery pack in time, which protects the power battery pack from self-loss caused by low power and improves the working efficiency of the electric excavator. .
  • the method further includes:
  • the power supply module is controlled to supply power to the drive system, and the battery state of charge information of the power battery pack of the electric excavator is acquired in real time;
  • the power supply module is controlled to charge the power battery pack.
  • Supply power refers to the power that the power module can provide, which can be the peak power of the power module or the rated power of the power module.
  • the required power is less than the supplied power, that is, the peak power of the drive system is less than the peak power of the power module or the actual average power of the drive system is less than the rated power of the power module, it means that the power of the power module can meet the power required by the drive system, and the control power module is The power supply of the drive system can ensure the normal operation of the electric excavator, and there will be surplus. At this time, the state of charge information of the power battery pack can be acquired in real time, and based on the state of charge information, the power supply module is controlled to charge the power battery pack.
  • the power supply module can be controlled to charge the power battery pack based on the state-of-charge information.
  • the peak power of the drive system is 50kw, and the peak power of the power module is 100kw.
  • the required power of the drive system is less than that of the power module.
  • control the power module to supply power to the drive system; obtain the load of the power battery pack at this time. If the power status information is 50%, that is, the remaining power is 50%, it means that the remaining capacity of the power battery pack is not much, and the power module can be controlled to charge the power battery pack.
  • the working mode control method of the electric excavator provided by the embodiment of the present application, when the required power of the driving system is less than the supply power of the power supply module, firstly controlling the power supply module to supply power to the driving system, and then based on the acquired SOC value of the power battery pack, controlling The power supply module charges the power battery pack, so that the electric excavator can be charged while working, which shortens the charging time of the power battery pack and improves the efficiency.
  • the power battery pack in the working mode of the electric excavator, is equivalent to an accumulator, which plays the role of “shaving peaks and filling valleys” for the required power of the drive system. .
  • the power of the power battery will always remain in a high power state, which improves the efficiency of the electric excavator.
  • the method further includes:
  • the electric excavator before the power supply module of the electric excavator is turned on, the electric excavator also needs to be powered on.
  • the power-on of the electric excavator can be completed by first completing the low-voltage power-on and then completing the high-voltage power-on.
  • the low-voltage power-on can be completed automatically after receiving the low-voltage power-on instruction.
  • the high-voltage power-on needs to receive the high-voltage power-on instruction, and after receiving the high-voltage power-on instruction, the power module, power battery pack and the drive of the electric excavator
  • the systems are connected two by two, and the high voltage power-on is completed after the two by two connections are completed.
  • the power-on switch of the electric excavator can be controlled by rotating the key to issue a low-voltage power-on instruction and a high-voltage power-on instruction; rotate the key to the gear position corresponding to the power-on switch, for example, first rotate to the low-voltage power-on At this time, the low-voltage power-on instruction can be issued.
  • the electric excavator After receiving the low-voltage power-on instruction, the electric excavator automatically completes the low-voltage power-on; then turn the key to the high-voltage power-on position, and the high-voltage power-on instruction can be issued at this time.
  • the circuit between the power module, the power battery pack and the drive system of the electric excavator can be connected through the relay control circuit, that is, the power module, the power battery pack and the drive system reach two levels. The two are connected, and the high-voltage power-on is completed at this time.
  • the relay may be any relay capable of controlling the opening and closing of the circuit, and may be set according to the actual situation, which is not specifically limited in this application.
  • the working mode control method of the electric excavator provided by the embodiment of the present application, by energizing the electric excavator with low voltage and high voltage before the power module is started, so that the electric excavator can quickly enter the state of preparation before the power module is started, Improve the working efficiency of the electric excavator.
  • FIG. 2 is a schematic flowchart of a specific flow of a method for controlling a working mode of an electric excavator provided by an embodiment of the present application. As shown in Figure 2, the method includes:
  • the power supply module and the power battery pack module supply power to the drive system at the same time; at this time, the electric excavator enters the towing working mode and can continue to execute S27;
  • the power supply module supplies power to the drive system and simultaneously charges the power battery pack; at this time, the electric excavator is charged while working, and S27 can be continued;
  • the power module supplies power to the drive system
  • FIG. 3 is a schematic structural diagram of a working mode controller of an electric excavator provided by an embodiment of the present application. As shown in Figure 3, the electric excavator working mode controller includes:
  • the turning-on module 301 is configured to turn on the power supply module of the electric excavator and obtain the required power of the driving system of the electric excavator if it is judged that a trigger signal of the towline working mode of the electric excavator is received, and the The power module is connected to the AC power supply;
  • the control module 302 is configured to control the power battery pack of the electric excavator and the power supply module to supply power to the drive system at the same time if it is determined that the demanded power is greater than or equal to the supply power of the power supply module.
  • control module of the electric excavator working mode controller provided by the embodiment of the present application is also used for:
  • the power battery pack is controlled to supply power to the drive system.
  • the opening module of the electric excavator working mode controller provided in the embodiment of the present application is further used for:
  • the power supply module is turned on, so that the power supply module charges the power battery pack.
  • control module is further used for:
  • the power supply module is controlled to supply power to the drive system, and the battery state of charge information of the power battery pack of the electric excavator is acquired in real time;
  • the power supply module is controlled to charge the power battery pack.
  • the working mode controller of the electric excavator provided by the embodiment of the present application further includes:
  • the low-voltage power-on module is used to receive the low-voltage power-on instruction of the electric excavator, and automatically complete the low-voltage power-on;
  • the high-voltage power-on module is used to receive the high-voltage power-on instruction of the electric excavator after the low-voltage power-on is completed, and control the power supply module, the power battery pack of the electric excavator, and all other components based on the high-voltage power-on instruction.
  • the drive systems of the electric excavator are connected in pairs to complete high-voltage power-on.
  • the electric excavator working mode controller provided in the embodiment of the present application may be a complete machine controller in the electric excavator, wherein the functions of each module are the same as the above-mentioned method embodiments with the complete machine controller as the execution body
  • the operation flow of each step in the above is in one-to-one correspondence, and the effect achieved is also the same.
  • FIG. 4 is a schematic structural diagram of a working mode control system of an electric excavator provided by an embodiment of the present application. As shown in Figure 4, the working mode control system of the electric excavator includes:
  • the electric excavator working mode controller 401 the electric excavator power supply module 402 and the drive system 403;
  • a first relay 405 is connected between the power module and the drive system, and a second relay 406 is connected between the power module and the power battery pack 404 of the electric excavator;
  • the electric excavator working mode controller is respectively electrically connected to the first relay and the second relay, and the electric excavator working mode controller controls the first relay and the second relay to close, respectively, to Complete the power-on of the electric excavator.
  • the electric excavator after receiving the low-voltage power-on instruction, the electric excavator automatically completes the low-voltage power-on; after receiving the high-voltage power-on instruction, the electric excavator working mode controller controls the first relay through the control signal and the second relay is closed. At this time, the power module, the power battery pack and the drive system are connected in pairs, the high-voltage power-on of the electric excavator is completed, and the power-on of the electric excavator is completed.
  • the control signal may include a relay control signal, and the control signal may be transmitted through an electrical connection.
  • the relay may be any relay capable of controlling circuit opening and closing, and may be set according to actual conditions, which is not specifically limited in this application.
  • the electric excavator working mode control system provided by the embodiments of the present application, the electric excavator working mode controller, the power supply module, the driving system and the power battery pack are connected through the CAN bus connect.
  • FIG. 5 is a CAN network diagram of the electric excavator working mode control system provided by the embodiment of the present application.
  • the electric excavator working mode controller, the power module, the driving system and the power battery pack Connected via CAN bus.
  • the CAN (Controller Area Network, CAN) bus refers to a controller area network, which is a multi-host serial bus standard for connecting electronic control units.
  • the real-time data communication between each node of the CAN bus network is strong, so the working mode controller of the electric excavator, the power supply module, the drive system and the power battery pack can be connected through the CAN bus in a timely manner.
  • the CAN bus carries out real-time data communication, so that the electric excavator can switch the working mode in time, and the working efficiency of the electric excavator is improved.
  • the electric excavator working mode control system provided in the embodiment of the present application includes the above-mentioned electric excavator working mode controller, the two have the same technical effect.
  • the above-mentioned embodiment which is not repeated in the embodiment of the present application. Repeat.
  • An embodiment of the present application further provides an electric excavator, including: the above-mentioned electric excavator working mode control system to control the working mode of the electric excavator.
  • the excavator provided in the embodiment of the present application has the same technical effect as the above-mentioned working mode control system for the electric excavator, which will not be repeated in the embodiment of the present application.
  • FIG. 6 illustrates a schematic diagram of the physical structure of an electronic device.
  • the electronic device may include: a processor (processor) 610, a communication interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640,
  • the processor 610 , the communication interface 620 , and the memory 630 communicate with each other through the communication bus 640 .
  • the processor 610 can call the logic instructions in the memory 630 to execute the method for controlling the working mode of the electric excavator provided by the above embodiments.
  • the above-mentioned logic instructions in the memory 630 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
  • the present application also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer
  • the computer can execute the working mode control method of the electric excavator provided by the above embodiments, the method includes: if it is judged that a trigger signal of the towing working mode of the electric excavator is received, turning on the power supply of the electric excavator module, and obtain the required power of the drive system of the electric excavator; if it is determined that the required power is greater than or equal to the supply power of the power supply module, control the power battery pack of the electric excavator and the power supply module at the same time Power is supplied to the drive system.
  • the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to execute the method for controlling the working mode of an electric excavator provided by the above embodiments , the method includes: if it is judged that a trigger signal of the towing line working mode of the electric excavator is received, turning on the power supply module of the electric excavator, and obtaining the required power of the driving system of the electric excavator; If the demanded power is greater than or equal to the supply power of the power supply module, the power battery pack of the electric excavator and the power supply module are controlled to supply power to the drive system at the same time.
  • the device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
  • each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware.
  • the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

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  • Mining & Mineral Resources (AREA)
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  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
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  • Operation Control Of Excavators (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

本申请提供一种电动挖掘机工作模式控制方法、***及电动挖掘机，所述电动挖掘机工作模式控制方法包括，若判断获知接收到电动挖掘机的拖线工作模式的触发信号，则开启所述电动挖掘机的电源模块，并获取所述电动挖掘机的驱动***的需求功率，所述电源模块与交流电源连接；若判断获知所述需求功率大于等于所述电源模块的供给功率，则控制所述电动挖掘机的动力电池组与所述电源模块同时为所述驱动***供电。该方法能够使电源模块和动力电池组同时给驱动***供电，使得电动挖掘机驱动***的需求功率能够一直被满足，电动挖掘机可以一直正常工作，提高了电动挖掘机的工作效率。

Description

电动挖掘机工作模式控制方法、***及电动挖掘机
相关申请的交叉引用
本申请要求于2021年03月31日提交的申请号为202110349017.8，发明名称为“电动挖掘机工作模式控制方法、***及电动挖掘机”的中国专利申请的优先权，其通过引用方式全部并入本文。
技术领域
本申请涉及作业机械控制技术领域，尤其涉及一种电动挖掘机工作模式控制方法、***及电动挖掘机。
背景技术
目前，国内纯电动挖掘机处于研发阶段，电机、电控、动力电池等三电控制技术大多借用成熟的新能源汽车技术，但挖掘机使用环境较新能源汽车有很大区别。挖掘机的工作区域更多偏向于固定场所，对拖线工作模式有很强适用性，但由于新能源汽车具有很强机动特性，并不适用拖线工作模式。
对于电动挖掘机来说，其工作模式通常可以包括拖线工作模式以及电池放电模式。现有技术中，在对电动挖掘机工作模式进行控制时，通常是将拖线工作模式以及电池放电模式分开独立运行，并且电动挖掘机中的动力电池组需要通过单独的充电模式进行补电。
上述控制方式较为适用小功率的微小电动挖掘机；对于中大型电动挖掘机，极有可能出现拖线工作模式下电源功率无法满足电动挖掘机的驱动***的功率要求，进而导致电动挖掘机无法正常工作，降低电动挖掘机的挖掘效率。
发明内容
本申请提供一种电动挖掘机工作模式控制方法、***及电动挖掘机，用以解决现有技术中拖线工作模式下电源功率无法满足电动挖掘机的驱动***的功率要求的缺陷，实现电源和动力电池组同时给驱动***供电。
本申请提供一种电动挖掘机工作模式控制方法，包括：
若判断获知接收到电动挖掘机的拖线工作模式的触发信号，则开启所述电动挖掘机的电源模块，并获取所述电动挖掘机的驱动***的需求功率，所述电源模块与交流电源连接；
若判断获知所述需求功率大于等于所述电源模块的供给功率，则控制所述电动挖掘机的动力电池组与所述电源模块同时为所述驱动***供电。
根据本申请提供一种的电动挖掘机工作模式控制方法，若判断获知未接收到所述触发信号，则控制所述动力电池组为所述驱动***供电。
根据本申请提供的一种电动挖掘机工作模式控制方法，若判断获知未接收到所述触发信号，则实时获取所述动力电池组的电池荷电状态信息；
若判断获知所述电池荷电状态信息是剩余电量低于电量阈值，则在接收到所述触发信号后，开启所述电源模块，以使所述电源模块为所述动力电池组充电。
根据本申请提供的一种电动挖掘机工作模式控制方法，所述获取所述电动挖掘机的驱动***的需求功率后，还包括：
若判断获知所述需求功率小于所述供给功率，则控制所述电源模块为所述驱动***供电，并实时获取所述电动挖掘机的动力电池组的电池荷电状态信息；
基于所述电池荷电状态信息，控制所述电源模块为所述动力电池组充电。
根据本申请提供的一种电动挖掘机工作模式控制方法，所述开启所述电动挖掘机的电源模块，之前还包括：
接收所述电动挖掘机的低压上电指示，自动完成低压上电；
低压上电完成后，接收所述电动挖掘机的高压上电指示，并基于所述高压上电指示控制所述电源模块、所述电动挖掘机的动力电池组以及所述电动挖掘机的驱动***两两连接，以完成高压上电。
本申请还提供一种电动挖掘机工作模式控制器，包括：
开启模块，用于若判断获知接收到电动挖掘机的拖线工作模式的触发信号，则开启所述电动挖掘机的电源模块，并获取所述电动挖掘机的驱动***的需求功率，所述电源模块与交流电源连接；
控制模块，用于若判断获知所述需求功率大于等于所述电源模块的供给功率，则控制所述电动挖掘机的动力电池组与所述电源模块同时为所述驱动***供电。
本申请还提供一种电动挖掘机工作模式控制***，包括：如上述的电动挖掘机工作模式控制器、所述电动挖掘机的电源模块以及驱动***；
所述电源模块与所述驱动***之间连接有第一继电器，所述电源模块与电动挖掘机的动力电池组之间连接有第二继电器；
所述电动挖掘机工作模式控制器分别与所述第一继电器和所述第二继电器电连接，所述电动挖掘机工作模式控制器分别控制所述第一继电器和所述第二继电器闭合，以完成所述电动挖掘机上电。
根据本申请提供的一种电动挖掘机工作模式控制***，所述电动挖掘机工作模式控制器、所述电源模块、所述驱动***以及所述动力电池组通过CAN总线连接。
本申请还提供一种电动挖掘机，包括：如上述的电动挖掘机工作模式控制***，以控制所述电动挖掘机的工作模式。
本申请还提供一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上述任一种所述电动挖掘机工作模式控制方法的步骤。
本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如上述任一种所述电动挖掘机工作模式控制方法的步骤。
本申请提供的电动挖掘机工作模式控制方法、***及电动挖掘机的技术效果为：
本申请提供的电动挖掘机工作模式控制方法、***及电动挖掘机，通过判断是否接收到电动挖掘机的拖线工作模式的触发信号，开启所述电动挖掘机的电源模块，并获取此时电动挖掘机的驱动***的需求功率，当所述需求功率大于电源模块的供给功率时，电源模块和电动挖掘机的动力电池组同时给驱动***供电。这使得电动挖掘机驱动***的需求功率能够一直被满足，电动挖掘机可以一直正常工作，提高了电动挖掘机的工作效率，并且动力电池组与电源模块同时给电动挖掘机供电，可以减少动力电池组 的配电量，降低了成本。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种电动挖掘机工作模式控制方法的流程示意图；
图2是本申请实施例提供的电动挖掘机工作模式控制方法的具体流程示意图；
图3是本申请实施例提供的电动挖掘机工作模式控制器的结构示意图；
图4是本申请实施例提供的电动挖掘机工作模式控制***结构示意图；
图5是本申请实施例提供的电动挖掘机工作模式控制***的CAN网络图；
图6是本申请提供的电子设备的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
由于大中型电动挖掘机在拖线工作模式下可能出现电源功率无法满足电动挖掘机的驱动***所需要的功率的情况，进而会导致电动挖掘机无法正常工作，降低电动挖掘机的挖掘效率。因此，为了避免上述这种情况的发生，本申请提供一种电动挖掘机工作模式控制方法。
图1是本申请实施例提供的一种电动挖掘机工作模式控制方法的流程示意图，如图1所示，该方法包括：
S1，若判断获知接收到电动挖掘机的拖线工作模式的触发信号，则开启所述电动挖掘机的电源模块，并获取所述电动挖掘机的驱动***的需求 功率，所述电源模块与交流电源连接；
S2，若判断获知所述需求功率大于等于所述电源模块的供给功率，则控制所述电动挖掘机的动力电池组与所述电源模块同时为所述驱动***供电。
具体地，本申请实施例中提供的电动挖掘机工作模式控制方法，其执行主体为整机控制器，该整机控制器设置于电动挖掘机上，整机控制器与电源模块电连接，和/或整机控制器与电源模块通过CAN总线连接。整机控制器与驱动***和动力电池组通过CAN总线连接。
首先执行步骤S1，在电动挖掘机开始进入拖线工作模式前，需要先判断是否接收到了电动挖掘机的拖线工作模式的触发信号。如果接收到了所述触发信号，则开启电动挖掘机的电源模块，电动挖掘机进入拖线工作模式，获取此时电动挖掘机驱动***的需求功率。
电动挖掘机工作模式可以包括拖线工作模式和纯电工作模式；拖线工作模式是指电动挖掘机与外部的交流电源电连接；纯电工作模式是指电动挖掘机与交流电源断开连接，仅由内部的动力电池组给驱动***供电。
其中，电源模块设置于电动挖掘机内，可以是AC/DC电源模块；交流电源可以是电网配电柜，电源模块可以通过电动挖掘机上设置的连接插座与交流电源连接，电源模块用于将交流电源中提供的交流电转换成电动挖掘机适用的直流电。本申请实施例中，AC/DC电源模块可以是直流发电机等。交流电源可以通过连接有交流插枪的电源线与电源模块连接，电源线可以是电缆，该电缆可以通过电缆自动收放装置控制长度。
触发信号可以是CC信号，通过电源模块与交流电源连接时自动产生，当整机控制器检测到触发信号时，即证明电源模块已经通电，电动挖掘机准备进入拖线工作模式。
本申请实施例中，可以通过CAN总线的方式开启电动挖掘机的电源模块，也可以通过SN使能信号开启电动挖掘机的电源模块。在通过CAN总线的方式开启电源模块时，可以通过在CAN总线上上报当前各模块的运行状态，根据当前的运行状态在CAN总线上下达开启指令，电源模块中的AC/DC电源模块在接收到相应的指令后即可开启；在通过SN使能信号开启电动挖掘机的电源模块时，可以依据CAN总线上读取的动力电池 组的荷电状态(State of Charge，SOC)值来开启电源模块中的AC/DC电源模块，不同的SOC值对应着不同的SN使能信号，根据不同的SN使能信号的指示控制电源模块中的AC/DC电源模块的开启。
在电动挖掘机的电源模块开启后，电动挖掘机已经进入拖线工作模式，开始在此工作模式下工作，此时可以获取电动挖掘机的驱动***的需求功率。
其中，电动挖掘机的驱动***可以包括电机控制器和电机，所述电机控制器用于控制所述电机输出转矩和转速，从而带动电动挖掘机工作。驱动***的需求功率是指驱动***需要的功率，可以通过在整机控制器上设置数据采集模块来获取，需求功率可以是驱动***的峰值功率，即最大功率，也可以是实际平均功率。
然后执行步骤S2，判断驱动***的需求功率与电源模块的供给功率之间的大小关系，若通过判断得知，上述驱动***的需求功率大于电源模块的供给功率，说明此时电源模块能够提供的功率已经无法满足驱动***的需求，则控制电源模块和电动挖掘机的动力电池组同时给驱动***供电。
其中，电源模块的供给功率用于表征电源模块能够提供的功率，与上述驱动***的需求功率相同，既可以是电源模块的峰值功率，也可以是电源模块的额定功率，电源模块的峰值功率也可以根据数据采集模块获取，电源模块的额定功率是电源模块中的AC/DC电源模块标注的额定功率。
驱动***的需求功率和接入的负载有关，随着负载的变化而变化，当接入的负载过大时，驱动***的需求功率也会变大。因此，当驱动***的峰值功率大于电源模块的峰值功率或驱动***的实际平均功率大于电源模块的额定功率时，均表明此时电源模块的供给功率无法满足驱动***的需求功率，因此，还需要动力电池组给驱动***供电，即电源模块和动力电池组同时给驱动***供电。
其中，动力电池组可以包括动力电池组和安装在动力电池组上的电池管理***(Battery Management System，BMS)，BMS能够实时监测动力电池组的运行数据。动力电池组中电池可以是锂电池，也可以是铅蓄电池等，动力电池组中电池的数量可以根据实际需要进行设置，本申请对此不作具体限定。
在电源模块和动力电池组同时给驱动***供电时，可以是电源模块优先提供所有的供给功率，驱动***剩余的需求功率由动力电池组提供；也可以根据实际的需要以及动力电池组的电池荷电状态(State of charge，SOC)分配电源模块和动力电池组提供给驱动***的功率。动力电池组可以通过CAN总线将其SOC值发送至整机控制器，SOC值可以表征动力电池组的最大可放电电流。例如，若驱动***的实际平均功率是100kw，电源模块的额定功率是80kw，动力电池组能够提供的功率是30kw，则可以使电源模块提供80kw的功率给驱动***，动力电池组提供20kw给驱动***；也可以使电源模块提供75kw给驱动***，动力电池组提供25kw给驱动***。
本申请实施例中，当动力电池组和电源模块同时给驱动***供电时，动力电池组的电量会从满电状态缓慢消耗到亏电状态。
本申请实施例提供的电动挖掘机工作模式控制方法，通过判断是否接收到电动挖掘机的拖线工作模式的触发信号，开启所述电动挖掘机的电源模块，并获取此时电动挖掘机的驱动***的需求功率，当所述需求功率大于电源模块的供给功率时，电源模块和电动挖掘机的动力电池组同时给驱动***供电。这使得电动挖掘机驱动***的需求功率能够一直被满足，电动挖掘机可以一直正常工作，提高了电动挖掘机的工作效率，并且动力电池组与电源模块同时给电动挖掘机供电，可以减少动力电池组的配电量，降低了成本。
在上述实施例的基础上，本申请实施例提供的电动挖掘机工作模式控制方法，还包括：
若判断获知未接收到所述触发信号，则控制所述动力电池组为所述驱动***供电。
具体地，本申请实施例中，如果没有接受到触发信号，则说明电源模块与交流电源并未连接，因此电源模块并不能为驱动***供电，此时整机控制器控制动力电池组为驱动***供电。
当控制动力电池组为驱动***供电时，电动挖掘机即处于纯电工作模式，电动挖掘机没有外接交流电源，纯电工作回路由动力电池组和驱动***组成。其中，电动挖掘机和交流电源可以通过电源线一端连接的交流插 枪***电动挖掘机上设置的连接插座实现连接，交流插枪拔下连接插座，电动挖掘机可以进入纯电工作模式，交流插枪插上连接插座，电动挖掘机可以进入拖线工作模式。
本申请实施例提供的电动挖掘机工作模式控制方法，通过在未接收到触发信号时，控制动力电池组为驱动***供电，使得挖掘机在没有外部的交流电源接入的情况下也能正常工作，提高了挖掘机正常工作的保障，进而提高了工作效率，且在纯电工作模式下，电动挖掘机不用受电源线的约束，扩大了电动挖掘机的作业范围。
在上述实施例的基础上，本申请实施例提供的电动挖掘机工作模式控制方法，还包括：
若判断获知未接收到所述触发信号，则实时获取所述动力电池组的电池荷电状态信息；
若判断获知所述电池荷电状态信息是剩余电量低于电量阈值，则在接收到所述触发信号后，开启所述电源模块，以使所述电源模块为所述动力电池组充电。
具体地，本申请实施例中，如果没有接收到触发信号，则说明电源模块与交流电源没有连接，此时电动挖掘机处于纯电工作模式，由动力电池组为驱动***供电。动力电池组的电量开始从满电状态被消耗，此时的可消耗时间远小于电源模块和动力电池组同时给驱动***供电时的可消耗时间。本申请实施例中，可以在整机控制器未接收到触发信号时，通过数据采集模块实时获取动力电池组的电池荷电状态。电池荷电状态(State of charge，SOC)用于表征动力电池组的剩余电量，其数值上定义为剩余容量占电池容量的比值，常用百分数表示。
然后判断动力电池组的电池荷电状态是否是剩余电量低于电量阈值，如果获取到的电池荷电状态信息是剩余电量低于电量阈值，则在接收到触发信号后，开启电源模块，此时通过电源模块为动力电池组充电。当动力电池组的剩余电量低于电量阈值时，说明此时动力电池组的剩余容量已经不多，动力电池组的电量即将耗尽，动力电池组即将无法为电动挖掘机供电，需要对动力电池组充电。其中，电量阈值可以根据实际情况进行设置，例如可以将电量阈值设置为0或10％，本申请对此不作具体限定。
在上述情况下，可以通过电源模块对动力电池组进行充电，即在动力电池组的剩余电量小于电量阈值时，将交流插枪插上连接插座，使电动挖掘机接入交流电源。当电动挖掘机接入交流电源，则整机控制器自动接收触发信号，然后开启电源模块，通过电源模块为动力电池组充电，电动挖掘机进入充电模式。此时，充电工作回路由电源模块、动力电池组模块构成。
本申请实施例提供的电动挖掘机工作模式控制方法，通过在动力电池组的电池荷电状态信息是剩余电量低于电量阈值时，开启电源模块为动力电池组充电，避免了在纯电工作模式下，因动力电池组供电不足造成电动挖掘机工作效率降低，并且电源模块能够及时给动力电池组充电，保护了动力电池组因电量过低造成的自身损失，也提升了电动挖掘机的工作效率。
在上述实施例的基础上，本申请实施例提供的的电动挖掘机工作模式控制方法，所述获取所述电动挖掘机的驱动***的需求功率后，还包括：
若判断获知所述需求功率小于所述供给功率，则控制所述电源模块为所述驱动***供电，并实时获取所述电动挖掘机的动力电池组的电池荷电状态信息；
基于所述电池荷电状态信息，控制所述电源模块为所述动力电池组充电。
具体地，本申请实施例中，在获取到电动挖掘机的驱动***的需求功率后，判断驱动***的需求功率与电源模块的供给功率之间的大小关系。供给功率是指电源模块能提供的功率，可以是电源模块的峰值功率，也可以是电源模块的额定功率。
如果需求功率小于供给功率，即驱动***的峰值功率小于电源模块的峰值功率或驱动***的实际平均功率小于电源模块的额定功率，说明电源模块的功率能够满足驱动***需要的功率，控制电源模块为驱动***供电就能够保证电动挖掘机正常工作，并且还会有剩余。此时可以实时获取动力电池组的荷电状态信息，基于荷电状态信息，控制电源模块给动力电池组充电。
在获取到动力电池组的荷电状态信息后，可以基于荷电状态信息，控制电源模块为动力电池组充电。例如，驱动***的峰值功率是50kw，电 源模块的峰值功率是100kw，此时，驱动***的需求功率小于电源模块的需求功率，首先控制电源模块给驱动***供电；获取此时动力电池组的荷电状态信息是50％，即剩余电量为50％，则说明动力电池组的剩余容量不多，可以控制电源模块给动力电池组充电。
本申请实施例提供的电动挖掘机工作模式控制方法，通过在驱动***的需求功率小于电源模块的供给功率时，先控制电源模块给驱动***供电，再基于获取的动力电池组的SOC值，控制电源模块给动力电池组充电，可以使电动挖掘机边工作边充电，缩短了动力电池组的充电时间，提高了效率。
本申请实施例提供的电动挖掘机工作模式控制方法，电动挖掘机在拖线工作模式下，动力电池组相当于一个蓄能器，对驱动***的需求功率起到“削峰填谷”的作用。当AC/DC电源模块额定功率不小于驱动***实际平均功率时，动力电池电量会始终保持在高电量状态，提高了电动挖掘机的效率。
在上述实施例的基础上，本申请实施例提供的电动挖掘机工作模式控制方法，所述开启所述电动挖掘机的电源模块，之前还包括：
接收所述电动挖掘机的低压上电指示，自动完成低压上电；
低压上电完成后，接收所述电动挖掘机的高压上电指示，并基于所述高压上电指示控制所述电源模块、所述电动挖掘机的动力电池组以及所述电动挖掘机的驱动***两两连接，以完成高压上电。
具体地，本申请实施例中，在开启电动挖掘机的电源模块前，还需要给电动挖掘机上电。电动挖掘机的上电可以是先完成低压上电再完成高压上电。低压上电可以在接收到低压上电指示后自动完成，高压上电需要接收高压上电指示，并在接收到高压上电指示后，将电源模块、动力电池组以及所述电动挖掘机的驱动***两两连接，在两两连接完成后，即完成高压上电。
本申请实施例中，可以通过旋转钥匙控制电动挖掘机的上电开关从而发出低压上电指示和高压上电指示；将钥匙旋转到上电开关对应的档位，例如，首先旋转到低压上电档位，此时可发出低压上电指示，在接收到低压上电指示后，电动挖掘机自动完成低压上电；再将钥匙旋转到高压上电 档位，此时可发出高压上电指示，在接收到高压上电指示后，可以通过继电器控制电路使得电动挖掘机的电源模块、动力电池组以及所述驱动***之间的电路连通，即电源模块、动力电池组以及所述驱动***达到两两连接的状态，此时高压上电完成。其中，继电器可以是任一能够控制电路开合的继电器，可以根据实际情况进行设置，本申请对此不作具体限定。
本申请实施例提供的电动挖掘机工作模式控制方法，通过在电源模块启动前给电动挖掘机低压上电和高压上电，使得电动挖掘机在电源模块启动前即可快速进入准备工作的状态，提高了电动挖掘机的工作效率。
图2是本申请实施例提供的电动挖掘机工作模式控制方法的具体流程示意图。如图2所示，该方法包括：
S21，低压上电，通过控制信号控制继电器关闭，检测触发信号，控制电源模块工作；
S22，判断驱动***的需求功率是否小于等于电源模块供给功率；如果否，则执行S23，如果是，则执行S24；
S23，电源模块和动力电池组模块同时给驱动***供电；此时电动挖掘机进入拖线工作模式工作，可以继续执行S27；
S24，判断动力电池组是否请求充电；如果是，则执行S25，如果否，则执行S26；
S25，电源模块给驱动***供电的同时给动力电池组充电；此时电动挖掘机边工作边充电，可以继续执行S27；
S26，电源模块给驱动***供电；
S27，判断是否接收到下电指令；如果是，则执行S28；如果否，则返回执行S22；
S28，电动挖掘机停止工作。
图3是本申请实施例提供的电动挖掘机工作模式控制器的结构示意图。如图3所示，该电动挖掘机工作模式控制器包括：
开启模块301，用于若判断获知接收到电动挖掘机的拖线工作模式的触发信号，则开启所述电动挖掘机的电源模块，并获取所述电动挖掘机的驱动***的需求功率，所述电源模块与交流电源连接；
控制模块302，用于若判断获知所述需求功率大于等于所述电源模块 的供给功率，则控制所述电动挖掘机的动力电池组与所述电源模块同时为所述驱动***供电。
在上述实施例的基础上，本申请实施例提供的电动挖掘机工作模式控制器的控制模块还用于：
若判断获知未接收到所述触发信号，则控制所述动力电池组为所述驱动***供电。
在上述实施例的基础上，本申请实施例提供的电动挖掘机工作模式控制器的开启模块还用于：
若判断获知未接收到所述触发信号，则实时获取所述动力电池组的电池荷电状态信息；
若判断获知所述电池荷电状态信息是剩余电量低于电量阈值，则在接收到所述触发信号后，开启所述电源模块，以使所述电源模块为所述动力电池组充电。
在上述实施例的基础上，本申请实施例提供的电动挖掘机工作模式控制器获取所述电动挖掘机的驱动***的需求功率后，控制模块还用于：
若判断获知所述需求功率小于所述供给功率，则控制所述电源模块为所述驱动***供电，并实时获取所述电动挖掘机的动力电池组的电池荷电状态信息；
基于所述电池荷电状态信息，控制所述电源模块为所述动力电池组充电。
在上述实施例的基础上，本申请实施例提供的电动挖掘机工作模式控制器，所述开启所述电动挖掘机的电源模块，之前还包括：
低压上电模块，用于接收所述电动挖掘机的低压上电指示，自动完成低压上电；
高压上电模块，用于低压上电完成后，接收所述电动挖掘机的高压上电指示，并基于所述高压上电指示控制所述电源模块、所述电动挖掘机的动力电池组以及所述电动挖掘机的驱动***两两连接，以完成高压上电。
具体地，本申请实施例中提供的电动挖掘机工作模式控制器，可以为电动挖掘机中的整机控制器，其中各模块的作用与上述以整机控制器为执行主体的方法类实施例中各步骤的操作流程是一一对应的，实现的效果也 是一致的，具体参见上述实施例，本申请实施例中对此不再赘述。
图4是本申请实施例提供的电动挖掘机工作模式控制***结构示意图。如图4所示，该电动挖掘机工作模式控制***包括：
如上述的电动挖掘机工作模式控制器401、所述电动挖掘机的电源模块402以及驱动***403；
所述电源模块与所述驱动***之间连接有第一继电器405，所述电源模块与电动挖掘机的动力电池组404之间连接有第二继电器406；
所述电动挖掘机工作模式控制器分别与所述第一继电器和所述第二继电器电连接，所述电动挖掘机工作模式控制器分别控制所述第一继电器和所述第二继电器闭合，以完成所述电动挖掘机上电。
具体地，本申请实施例中，当接收到低压上电指示后，电动挖掘机自动完成低压上电；在接收到高压上电指示后，电动挖掘机工作模式控制器通过控制信号控制第一继电器和第二继电器闭合，此时电源模块、动力电池组以及驱动***两两连接，电动挖掘机的高压上电完成，电动挖掘机完成上电。
其中，控制信号可以包括继电器控制信号，所述控制信号可以通过电连接传输，继电器可以是任一能够控制电路开合的继电器，可以根据实际情况进行设置，本申请对此不作具体限定。
在上述实施例的基础上，本申请实施例提供的电动挖掘机工作模式控制***，所述电动挖掘机工作模式控制器、所述电源模块、所述驱动***以及所述动力电池组通过CAN总线连接。
图5是本申请实施例提供的电动挖掘机工作模式控制***的CAN网络图，如图5所示，电动挖掘机工作模式控制器、所述电源模块、所述驱动***以及所述动力电池组通过CAN总线连接。具体地，CAN(Controller Area Network，CAN)总线是指控制器局域网络，是一个用于连接电子控制单元的多主机串行总线标准。CAN总线的网络各节点之间的数据通信实时性强，因此电动挖掘机工作模式控制器、所述电源模块、所述驱动***以及所述动力电池组在通过CAN总线连接时，可以及时地通过CAN总线进行实时数据通信，使电动挖掘机能够及时切换工作模式，提高了电动挖掘机的工作效率。
由于本申请实施例中提供的电动挖掘机工作模式控制***包括上述的电动挖掘机工作模式控制器，因此二者具有相同的技术效果，具体参见上述实施例，本申请实施例中对此不再赘述。
本申请实施例还提供一种电动挖掘机，包括：如上述的电动挖掘机工作模式控制***，以控制所述电动挖掘机的工作模式。
本申请实施例提供的挖掘机与上述的电动挖掘机工作模式控制***具有相同的技术效果，本申请实施例中对此不再赘述。
图6示例了一种电子设备的实体结构示意图，如图6所示，该电子设备可以包括：处理器(processor)610、通信接口(Communications Interface)620、存储器(memory)630和通信总线640，其中，处理器610，通信接口620，存储器630通过通信总线640完成相互间的通信。处理器610可以调用存储器630中的逻辑指令，以执行上述各实施例提供的电动挖掘机工作模式控制方法，该方法包括：若判断获知接收到电动挖掘机的拖线工作模式的触发信号，则开启所述电动挖掘机的电源模块，并获取所述电动挖掘机的驱动***的需求功率；若判断获知所述需求功率大于等于所述电源模块的供给功率，则控制所述电动挖掘机的动力电池组与所述电源模块同时为所述驱动***供电。
此外，上述的存储器630中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
另一方面，本申请还提供一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各实施例提供的电动挖掘机工作模式控制方法，该方法包括：若判断获知接 收到电动挖掘机的拖线工作模式的触发信号，则开启所述电动挖掘机的电源模块，并获取所述电动挖掘机的驱动***的需求功率；若判断获知所述需求功率大于等于所述电源模块的供给功率，则控制所述电动挖掘机的动力电池组与所述电源模块同时为所述驱动***供电。
又一方面，本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各实施例提供的电动挖掘机工作模式控制方法，该方法包括：若判断获知接收到电动挖掘机的拖线工作模式的触发信号，则开启所述电动挖掘机的电源模块，并获取所述电动挖掘机的驱动***的需求功率；若判断获知所述需求功率大于等于所述电源模块的供给功率，则控制所述电动挖掘机的动力电池组与所述电源模块同时为所述驱动***供电。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (10)

  1. 一种电动挖掘机工作模式控制方法，包括：
    若判断获知接收到电动挖掘机的拖线工作模式的触发信号，则开启所述电动挖掘机的电源模块，并获取所述电动挖掘机的驱动***的需求功率，所述电源模块与交流电源连接；
    若判断获知所述需求功率大于等于所述电源模块的供给功率，则控制所述电动挖掘机的动力电池组与所述电源模块同时为所述驱动***供电。
  2. 根据权利要求1所述的电动挖掘机工作模式控制方法，还包括：
    若判断获知未接收到所述触发信号，则控制所述动力电池组为所述驱动***供电。
  3. 根据权利要求1所述的电动挖掘机工作模式控制方法，其中，还包括：
    若判断获知未接收到所述触发信号，则实时获取所述动力电池组的电池荷电状态信息；
    若判断获知所述电池荷电状态信息是剩余电量低于电量阈值，则在接收到所述触发信号后，开启所述电源模块，以使所述电源模块为所述动力电池组充电。
  4. 根据权利要求1所述的电动挖掘机工作模式控制方法，其中，所述获取所述电动挖掘机的驱动***的需求功率后，还包括：
    若判断获知所述需求功率小于所述供给功率，则控制所述电源模块为所述驱动***供电，并实时获取所述电动挖掘机的动力电池组的电池荷电状态信息；
    基于所述电池荷电状态信息，控制所述电源模块为所述动力电池组充电。
  5. 根据权利要求1-4中任一项所述的电动挖掘机工作模式控制方法，其中，所述开启所述电动挖掘机的电源模块，之前还包括：
    接收所述电动挖掘机的低压上电指示，自动完成低压上电；
    低压上电完成后，接收所述电动挖掘机的高压上电指示，并基于所述高压上电指示控制所述电源模块、所述电动挖掘机的动力电池组以及所述电动挖掘机的驱动***两两连接，以完成高压上电。
  6. 一种电动挖掘机工作模式控制器，包括：
    开启模块，用于若判断获知接收到电动挖掘机的拖线工作模式的触发信号，则开启所述电动挖掘机的电源模块，并获取所述电动挖掘机的驱动***的需求功率，所述电源模块与交流电源连接；
    控制模块，用于若判断获知所述需求功率大于等于所述电源模块的供给功率，则控制所述电动挖掘机的动力电池组与所述电源模块同时为所述驱动***供电。
  7. 一种电动挖掘机工作模式控制***，包括：如权利要求6所述的电动挖掘机工作模式控制器、所述电动挖掘机的电源模块以及驱动***；
    所述电源模块与所述驱动***之间连接有第一继电器，所述电源模块与电动挖掘机的动力电池组之间连接有第二继电器；
    所述电动挖掘机工作模式控制器分别与所述第一继电器和所述第二继电器电连接，所述电动挖掘机工作模式控制器分别控制所述第一继电器和所述第二继电器闭合，以完成所述电动挖掘机上电。
  8. 根据权利要求7所述的电动挖掘机工作模式控制***，其中，所述电动挖掘机工作模式控制器、所述电源模块、所述驱动***以及所述动力电池组通过CAN总线连接。
  9. 一种电动挖掘机，包括：如权利要求7或8所述的电动挖掘机工作模式控制***，以控制所述电动挖掘机的工作模式。
  10. 一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其中，所述处理器执行所述程序时实现如权利要求1至5任一项所述电动挖掘机工作模式控制方法的步骤。
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