阅读说明：本技术 除冰车的行驶控制方法、控制系统以及除冰车 (Running control method and system of deicing vehicle and deicing vehicle ) 是由 卿丽纯 郭方云 陈国平 陈奕松 姚学军 于 2020-04-29 设计创作，主要内容包括：本申请公开了一种除冰车的行驶控制方法、控制系统以及除冰车,包括：确定所述除冰车的臂架抬起；控制与发动机传动连接的变速箱锁定在目标档位以限制除冰车的最大行驶速度。本申请的除冰车的行驶控制方法、控制系统以及除冰车,能有效确保安全。(The application discloses deicing vehicle's control method that traveles, control system and deicing vehicle includes: determining that an arm support of the deicing vehicle is lifted; and controlling a gearbox in transmission connection with the engine to be locked at a target gear to limit the maximum running speed of the deicing vehicle. The driving control method and system of the deicing vehicle and the deicing vehicle can effectively ensure safety.)

1. The running control method of the deicing vehicle is characterized by comprising the following steps:

determining that an arm support (1) of the deicing vehicle is lifted;

controlling a gearbox (4) in transmission connection with an engine (5) to be locked at a target gear to limit the maximum running speed of the deicing vehicle.

2. The travel control method according to claim 1, wherein the step of determining that an arm support (1) of the deicing vehicle is lifted comprises:

receiving a control signal for sensing the lifting of the arm support (1);

and determining that the arm support (1) is lifted according to the control signal.

3. The running control method according to claim 1, wherein the step of controlling the gearbox (4) drivingly connected to the engine (5) to be locked in a target gear to limit the maximum running speed of the ice-removing vehicle comprises:

controlling the gearbox (4) to be locked at a target gear;

controlling the rotational speed of the engine (5) to limit the maximum travel speed of the ice-removing vehicle.

4. The running control method according to claim 1, wherein the target gear is a reverse gear or a forward gear.

5. The running control method according to claim 3, wherein the step of controlling the rotation speed of the engine (5) to limit the maximum running speed of the ice-removing vehicle includes:

acquiring a preset theoretical opening upper limit L of the throttle valve of the target gear;

controlling the upper limit of the opening degree of the throttle valve to be a theoretical upper limit L of the opening degree;

controlling the rotating speed of the engine (5) according to a preset control rule, wherein the preset control rule is as follows:

when the actual opening degree of the throttle valve is smaller than the upper opening degree limit, the throttle valve, the actual opening degree of the throttle valve and the rotating speed of the engine (5) are in a direct proportional relation; and when the actual opening degree of the throttle valve is equal to the upper opening degree limit, the throttle valve is increased, the actual opening degree of the throttle valve and the rotating speed of the engine (5) are kept unchanged, the throttle valve is decreased, and the actual opening degree of the throttle valve and the rotating speed of the engine (5) are decreased.

6. The running control method according to claim 3, wherein the step of controlling the rotation speed of the engine (5) to limit the maximum running speed of the ice-removing vehicle includes:

acquiring an actual vehicle speed A;

acquiring a preset target vehicle speed range of the engine (5) in the target gear;

controlling the rotating speed of the engine (5) according to a preset control rule, wherein the preset control rule is as follows: if the actual vehicle speed A is lower than the target vehicle speed range, controlling to increase the rotating speed of the engine (5); and if the actual vehicle speed A is higher than the target vehicle speed range, controlling to reduce the rotating speed of the engine (5).

7. The running control method according to claim 3, wherein the step of controlling the rotation speed of the engine (5) to limit the maximum running speed of the ice-removing vehicle includes:

acquiring an actual vehicle speed A and an actual rotating speed B of the engine (5);

acquiring a preset target vehicle speed range under the target gear;

acquiring a preset target rotating speed range of the engine (5) at the target gear;

acquiring a preset theoretical opening upper limit L of the throttle valve of the target gear;

when the actual rotating speed B is lower than the target rotating speed range, controlling the upper limit of the opening degree of the throttle valve to be L;

when the actual rotating speed B is in the target rotating speed range and the actual vehicle speed A is in the target vehicle speed range, controlling the upper limit of the opening degree of the throttle valve to be L;

when the actual rotating speed B is in the target rotating speed range and the actual vehicle speed A is higher than the target vehicle speed range, controlling the upper limit of the opening degree of the throttle valve to be L2, wherein L2 is less than L;

when the actual rotating speed B is in the target rotating speed range and the actual vehicle speed A is lower than the target vehicle speed range, controlling the upper limit of the opening degree of the throttle valve to be L3, wherein L3 is larger than L;

controlling the rotating speed of the engine (5) according to a preset control rule, wherein the preset control rule is as follows:

when the actual opening degree of the throttle valve is smaller than the upper opening degree limit, the throttle valve, the actual opening degree of the throttle valve and the rotating speed of the engine (5) are in a direct proportional relation; and when the actual opening degree of the throttle valve is equal to the upper opening degree limit, the throttle valve is increased, the actual opening degree of the throttle valve and the rotating speed of the engine (5) are kept unchanged, the throttle valve is decreased, and the actual opening degree of the throttle valve and the rotating speed of the engine (5) are decreased.

8. A control system characterized by comprising a processor storing a program of the running control method according to any one of claims 1 to 7.

9. An ice removing vehicle, characterized by comprising a vehicle body, a power assembly, an arm support (1) and the control system of claim 8, wherein the power assembly comprises a transmission (4) and an engine (5) which are in transmission connection, the arm support (1) is movably arranged on the vehicle body, and the control system is electrically connected with the arm support (1), the engine (5) and the transmission (4).

10. An ice-removing vehicle as claimed in claim 9, characterized in that it comprises first sensing means (11) for sensing the raising of the boom (1); the first sensing device (11) is in signal connection with the control system;

when the arm support (1) is lifted, the first sensing device (11) generates a control signal, and the control system determines that the arm support is lifted according to the control signal.