阅读说明：本技术 一种轨道吊电量管理方法及系统 (Rail crane electric quantity management method and system ) 是由 吕向东 栾新刚 王心成 吕学亮 赵臻 季妍 王国勇 秦洪建 高荣生 谭为宁 修方 于 2020-12-30 设计创作，主要内容包括：本发明公开了一种轨道吊电量管理方法及系统,根据接收到的指令确定轨道吊的充电工作模式；在卸船工作模式下,轨道吊完成卸船指令后,如果在第一设定时间内没有接收到后继指令,且轨道吊的主储能装置的剩余电量＜第一设定电量,则轨道吊返回充电位充电；在装船工作模式下,轨道吊完成装船指令后,轨道吊返回充电位充电；在待时工作模式下,如果轨道吊的主储能装置的剩余电量≥第二设定电量,则轨道吊原地等待；如果轨道吊的主储能装置的剩余电量＜第二设定电量,则轨道吊返回充电位充电；既能合理利用时间为主储能装置充电,又可以及时响应作业指令,避免因主储能装置电量不足造成轨道吊无法正常作业,提高轨道吊的工作效率,提高码头的装卸效率。(The invention discloses a method and a system for managing the electric quantity of a track crane, wherein the charging working mode of the track crane is determined according to a received instruction; in the unloading working mode, after the track crane finishes the unloading command, if the follow-up command is not received within the first set time and the residual electric quantity of the main energy storage device of the track crane is less than the first set electric quantity, the track crane returns to the charging position for charging; in the shipping working mode, after the track crane finishes the shipping instruction, the track crane returns to the charging position for charging; in the standby working mode, if the residual electric quantity of the main energy storage device of the track crane is more than or equal to the second set electric quantity, the track crane waits in situ; if the residual electric quantity of the main energy storage device of the track crane is less than the second set electric quantity, the track crane returns to the charging position for charging; the rail crane can charge the main energy storage device within a reasonable utilization time, can respond to an operation instruction in time, avoids the problem that the rail crane cannot normally operate due to insufficient electric quantity of the main energy storage device, improves the working efficiency of the rail crane, and improves the loading and unloading efficiency of the wharf.)

1. A rail crane electric quantity management method is characterized by comprising the following steps: the method comprises the following steps:

determining a charging working mode of the track crane according to the received instruction, wherein the charging working mode comprises an unloading working mode, a loading working mode and a waiting working mode;

in the ship unloading working mode, the rail crane executes a ship unloading command, and after the ship unloading command is finished, if a subsequent command is not received within a first set time and the residual electric quantity of a main energy storage device of the rail crane is less than a first set electric quantity, the rail crane returns to a charging position for charging;

in the shipping working mode, the rail crane executes a shipping instruction, and after the shipping instruction is finished, the rail crane returns to a charging position for charging;

in the waiting working mode, if the residual electric quantity of the main energy storage device of the track crane is more than or equal to a second set electric quantity, the track crane waits in situ; and if the residual electric quantity of the main energy storage device of the track crane is less than the second set electric quantity, the track crane returns to the charging position for charging.

2. The method of claim 1, wherein: during the operation of the track crane, determining a discharge working mode of the track crane according to the residual electric quantity of the main energy storage device, wherein the discharge working mode comprises a performance mode, an economic mode and a low-electric-quantity mode;

when the residual electric quantity of the main energy storage device is larger than or equal to a third set electric quantity, starting the performance mode, and executing operation instructions by the track crane at the operation speed of k1 Vmax in sequence in the performance mode;

when the residual electric quantity of the main energy storage device is less than a third set electric quantity and is more than or equal to a fourth set electric quantity, starting the economic mode, and under the economic mode, completing an operation instruction by the track crane at the operation speed of k2 × Vmax;

when the residual electric quantity of the main energy storage device is smaller than a fourth set electric quantity, starting the low-electric-quantity mode, in the low-electric-quantity mode, the track crane does not receive a new operation instruction any more, and after the track crane finishes the current unfinished operation instruction at the operation speed of k3 Vmax, the track crane exits the operation and enters a charging station for charging;

wherein Vmax is the maximum running speed of the rail crane, and 1 is more than or equal to k1 and more than k2 and more than k3 and more than 0.

3. The method of claim 2, wherein: and in the economic mode, the rail crane carries out reordering execution on all the operation instructions received in the second set time according to the principle of lowest operation energy consumption.

4. The method of claim 2, wherein:

in the performance mode, the output power of the main energy storage device does not exceed b1 × Pmax;

in the economy mode, the output power of the main energy storage device does not exceed b2 Pmax;

in the low-battery mode, the output power of the main energy storage device does not exceed b3 × Pmax;

wherein Pmax is the maximum output power of the main energy storage device, and 1 is more than or equal to b1 and more than b2 and more than b3 and more than 0.

5. The method of claim 2, wherein: in the performance mode, the method further comprises the following steps:

when the fact that the residual electric quantity of the main energy storage device is smaller than a third set electric quantity is detected, a plurality of instructions are not executed on the track crane, and the residual electric quantity of an auxiliary energy storage device of the track crane is larger than a set auxiliary threshold value, the auxiliary energy storage device is started to charge the main energy storage device, so that the residual electric quantity of the main energy storage device reaches the third set electric quantity;

and when the fact that the residual electric quantity of the main energy storage device is smaller than the third set electric quantity is detected, a plurality of instructions are not executed on the track crane, and the residual electric quantity of the auxiliary energy storage device of the track crane is smaller than or equal to the set auxiliary threshold value, the auxiliary energy storage device is closed, if the residual electric quantity of the main energy storage device is larger than or equal to the fourth set electric quantity, the economic mode is started, and if the residual electric quantity of the main energy storage device is smaller than the fourth set electric quantity, the low-electric-quantity mode is started.

6. The method of claim 2, wherein: in the low-power mode, the track crane does not receive a new operation instruction any more, after the track crane finishes the current unfinished operation instruction with the output power of k3 × Vmax, the auxiliary energy storage device is started to charge the main energy storage device, and the track crane exits from operation and enters a charging position to be charged.

7. The method of claim 1, wherein: the method further comprises, during charging of the rail-mounted gantry at the charging station:

if the residual capacity of the main energy storage device is less than the first set charging threshold value in the valley period, the main energy storage device is charged with set large current; when the electric quantity of the main energy storage device is larger than or equal to a first set charging threshold value, trickle charging is carried out on the main energy storage device at a set low current;

if the main energy storage device is in the electric peak time period, when the residual electric quantity of the main energy storage device is smaller than a second set charging threshold value, trickle charging is carried out on the main energy storage device by set low current; and when the residual electric quantity of the main energy storage device is larger than or equal to the second set charging threshold value, stopping charging the main energy storage device.

8. The method of claim 1, wherein: the interaction area is provided with a charging device, and when the rail crane works in the interaction area, the charging device charges the main energy storage device;

if in the valley period, the charging device charges the main energy storage device with a set large current;

if in the peak period, the charging current of the main energy storage device charged by the charging device is inversely proportional to the residual capacity of the main energy storage device.

9. The method of claim 2, wherein: during the operation of the track crane, the power consumption of each power utilization mechanism and the whole track crane is detected and stored in a database.

10. The utility model provides a rail hangs electric quantity management system which characterized in that: the method comprises the following steps:

the main energy storage device electric quantity management module is used for controlling charging and discharging of the main energy storage device;

the auxiliary energy storage device electric quantity management module is used for controlling the discharge of the auxiliary energy storage device;

the operation electric quantity management module is used for controlling the operation speed of the track crane;

a master control module for performing the method of any one of claims 1 to 9.

Technical Field

The invention belongs to the technical field of rail cranes, and particularly relates to a rail crane electric quantity management method and system.

Background

The rail crane is an important device of the automatic wharf, and the operation efficiency of the rail crane is directly related to the operation efficiency of the automatic wharf.

The battery is arranged on the track crane, and the cruising ability of the battery restricts the operating efficiency of the track crane. The current power management strategy of the rail crane is charged only when the electric quantity of a battery is smaller than a certain value, so that the time is not reasonably utilized, and the working efficiency of the rail crane is influenced.

Disclosure of Invention

The invention provides a method for managing the electric quantity of a track crane, which can charge the track crane reasonably by using time and improve the working efficiency of the track crane.

In order to solve the technical problems, the invention adopts the following technical scheme:

a rail crane electric quantity management method comprises the following steps:

determining a charging working mode of the track crane according to the received instruction, wherein the charging working mode comprises an unloading working mode, a loading working mode and a waiting working mode;

in the ship unloading working mode, the rail crane executes a ship unloading command, and after the ship unloading command is finished, if a subsequent command is not received within a first set time and the residual electric quantity of a main energy storage device of the rail crane is less than a first set electric quantity, the rail crane returns to a charging position for charging;

in the shipping working mode, the rail crane executes a shipping instruction, and after the shipping instruction is finished, the rail crane returns to a charging position for charging;

in the waiting working mode, if the residual electric quantity of the main energy storage device of the track crane is more than or equal to a second set electric quantity, the track crane waits in situ; and if the residual electric quantity of the main energy storage device of the track crane is less than the second set electric quantity, the track crane returns to the charging position for charging.

Further, during the operation of the track crane, determining a discharge working mode of the track crane according to the residual electric quantity of the main energy storage device, wherein the discharge working mode comprises a performance mode, an economic mode and a low-electric-quantity mode;

when the residual electric quantity of the main energy storage device is larger than or equal to a third set electric quantity, starting the performance mode, and executing operation instructions by the track crane at the operation speed of k1 Vmax in sequence in the performance mode;

when the residual electric quantity of the main energy storage device is less than a third set electric quantity and is more than or equal to a fourth set electric quantity, starting the economic mode, and under the economic mode, completing an operation instruction by the track crane at the operation speed of k2 × Vmax;

when the residual electric quantity of the main energy storage device is smaller than a fourth set electric quantity, starting the low-electric-quantity mode, in the low-electric-quantity mode, the track crane does not receive a new operation instruction any more, and after the track crane finishes the current unfinished operation instruction at the operation speed of k3 Vmax, the track crane exits the operation and enters a charging station for charging;

wherein Vmax is the maximum running speed of the rail crane, and 1 is more than or equal to k1 and more than k2 and more than k3 and more than 0.

Still further, in the economic mode, the track crane reorders and executes all the operation instructions received within the second set time according to the principle that the operation energy consumption is the lowest.

In a still further aspect of the present invention,

in the performance mode, the output power of the main energy storage device does not exceed b1 × Pmax;

in the economy mode, the output power of the main energy storage device does not exceed b2 Pmax;

in the low-battery mode, the output power of the main energy storage device does not exceed b3 × Pmax;

wherein Pmax is the maximum output power of the main energy storage device, and 1 is more than or equal to b1 and more than b2 and more than b3 and more than 0.

Still further, in the performance mode, the method further includes the following steps:

when the fact that the residual electric quantity of the main energy storage device is smaller than a third set electric quantity is detected, a plurality of instructions are not executed on the track crane, and the residual electric quantity of an auxiliary energy storage device of the track crane is larger than a set auxiliary threshold value, the auxiliary energy storage device is started to charge the main energy storage device, so that the residual electric quantity of the main energy storage device reaches the third set electric quantity;

and when the fact that the residual electric quantity of the main energy storage device is smaller than the third set electric quantity is detected, a plurality of instructions are not executed on the track crane, and the residual electric quantity of the auxiliary energy storage device of the track crane is smaller than or equal to the set auxiliary threshold value, the auxiliary energy storage device is closed, if the residual electric quantity of the main energy storage device is larger than or equal to the fourth set electric quantity, the economic mode is started, and if the residual electric quantity of the main energy storage device is smaller than the fourth set electric quantity, the low-electric-quantity mode is started.

Further, in the low power mode, the track crane does not receive a new operation instruction any more, after the track crane completes the current unfinished operation instruction with the output power of k3 × Vmax, the auxiliary energy storage device is started to charge the main energy storage device, and the track crane exits from operation and enters a charging position to be charged.

Still further, during charging at the charging station, the rail crane further comprises:

if the residual capacity of the main energy storage device is less than the first set charging threshold value in the valley period, the main energy storage device is charged with set large current; when the electric quantity of the main energy storage device is larger than or equal to a first set charging threshold value, trickle charging is carried out on the main energy storage device at a set low current;

if the main energy storage device is in the electric peak time period, when the residual electric quantity of the main energy storage device is smaller than a second set charging threshold value, trickle charging is carried out on the main energy storage device by set low current; and when the residual electric quantity of the main energy storage device is larger than or equal to the second set charging threshold value, stopping charging the main energy storage device.

Furthermore, a charging device is arranged in the interaction area, and when the track crane works in the interaction area, the charging device charges the main energy storage device;

if in the valley period, the charging device charges the main energy storage device with a set large current;

if in the peak period, the charging current of the main energy storage device charged by the charging device is inversely proportional to the residual capacity of the main energy storage device.

And further, during the operation of the track crane, detecting each power utilization mechanism and the whole power consumption of the track crane, and storing the power consumption in a database.

A rail crane power management system comprising:

the main energy storage device electric quantity management module is used for controlling charging and discharging of the main energy storage device;

the auxiliary energy storage device electric quantity management module is used for controlling the discharge of the auxiliary energy storage device;

the operation electric quantity management module is used for controlling the operation speed of the track crane;

and the main control module is used for executing the rail crane electric quantity management method.

Compared with the prior art, the invention has the advantages and positive effects that: according to the method and the system for managing the electric quantity of the track crane, the charging working mode of the track crane is determined according to the received instruction; in the ship unloading working mode, the rail crane executes a ship unloading command, and after the ship unloading command is finished, if a subsequent command is not received within a first set time and the residual electric quantity of a main energy storage device of the rail crane is less than a first set electric quantity, the rail crane returns to a charging position for charging; in the shipping working mode, the rail crane executes a shipping instruction, and after the shipping instruction is completed, the rail crane returns to a charging position for charging; in the standby working mode, if the residual electric quantity of the main energy storage device of the track crane is more than or equal to the second set electric quantity, the track crane waits in situ; if the residual electric quantity of the main energy storage device of the track crane is less than the second set electric quantity, the track crane returns to the charging position for charging; the time can be rationally utilized to charge the main energy storage device, the operation instruction can be responded in time, the problem that the track crane cannot normally operate due to insufficient electric quantity of the main energy storage device is avoided, the working efficiency of the track crane is improved, and the loading and unloading efficiency of the wharf is improved.

Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.

Drawings

Fig. 1 is a block diagram of a power management system for a rail crane according to an embodiment of the present invention;

fig. 2 is a flowchart of an embodiment of a method for managing power of a track crane according to the present invention;

fig. 3 is a flowchart of an embodiment of a method for managing power of a track crane according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.

The invention provides a method and a system for managing electric quantity of a track crane, aiming at the problem that the working efficiency of the track crane is influenced due to unreasonable charging of the track crane at present, and the time is reasonably utilized for charging so as to improve the working efficiency of the track crane. The following describes the method and system for managing the electric quantity of the track crane in detail through specific embodiments with reference to the accompanying drawings.

The track crane is provided with a main energy storage device and an auxiliary energy storage device which are used for supplying power to the track crane. The main energy storage device can be a lithium battery, and when the residual electric quantity of the lithium battery is insufficient, the lithium battery needs to be charged; the auxiliary energy storage device may be selected from a hydrogen fuel cell, which requires refueling when the remaining charge/fuel of the hydrogen fuel cell is insufficient. The power supply of the track crane is hybrid power supply.

The track crane electric quantity management system of the embodiment mainly comprises a main control module, a main energy storage device electric quantity management module, an auxiliary energy storage device electric quantity management module, an operation electric quantity management module, a surplus detection module, a health detection module, a power consumption detection statistic module and the like, and is shown in fig. 1.

And the main energy storage device electric quantity management module is used for controlling the charging and discharging of the main energy storage device.

And the auxiliary energy storage device electric quantity management module is used for controlling the discharge of the auxiliary energy storage device.

And the operation electric quantity management module is used for controlling the operation speed of the track crane.

And the surplus detection module is used for detecting the surplus electric quantity of the main energy storage device and the auxiliary energy storage device, transmitting the surplus electric quantity to the main control module and transmitting the surplus electric quantity to the wharf production system through the main control module.

And the health detection module is used for detecting the health degree of the main energy storage device and the auxiliary energy storage device, transmitting the health degree to the main control module, and transmitting the health degree to the wharf production system through the main control module, so that monitoring personnel can timely know the health state of the main energy storage device and the auxiliary energy storage device. Parameters reflecting the health degree of the main energy storage device and the auxiliary energy storage device comprise charging efficiency, discharging efficiency, maximum electric quantity capacity and the like, and the health degree of the main energy storage device and the auxiliary energy storage device can be judged by detecting the parameters.

And the power consumption detection and statistics module is used for detecting each power utilization mechanism and the whole power consumption of the track crane during the operation of the track crane, storing the power consumption mechanisms and the whole power consumption into a database and facilitating subsequent checking.

The main control module is used for controlling the main energy storage device electric quantity management module, the auxiliary energy storage device electric quantity management module, the operation electric quantity management module, the allowance detection module, the health detection module, the power consumption detection statistic module and the operation of the whole track crane, and is used for executing the track crane electric quantity management method of the embodiment. The main control module is responsible for interacting with a wharf production system, and simultaneously customizing a battery charging and discharging strategy according to different time periods and operation amount.

The method for managing the electric quantity of the track crane mainly comprises the following steps, which are shown in fig. 2.

Step S11: an instruction is received.

The main control module interacts with the wharf production system, receives an instruction sent by the wharf production system, obtains an operation instruction and an operation amount in a future period of time, and formulates a charging and discharging plan.

Step S12: and determining a charging working mode of the track crane according to the received instruction, wherein the charging working mode comprises an unloading working mode, a loading working mode and a waiting working mode.

And the main control module determines the charging working mode of the track crane according to the received instruction type sent by the wharf production system.

When the main control module receives a ship unloading command, the ship unloading operation is set to be carried out in a certain period of time in the future, and the main control module and the track crane enter a ship unloading operation mode.

When the main control module receives a ship loading instruction, the ship loading operation is set to be carried out in a certain period of time in the future, and the main control module and the track crane enter a ship unloading operation mode.

When the main control module does not receive the instruction sent by the production system within a certain time (for example, within 20 minutes), the main control module and the track crane enter a standby working mode. The standby working mode means that preparation work is already done and the operation instruction can be received at any time.

Step S13: in the ship unloading work mode, the rail crane executes a ship unloading command, and after the ship unloading command is completed, if a subsequent command is not received within a first set time (for example, within 10 minutes), and the remaining electric quantity of the main energy storage device of the rail crane is less than a first set electric quantity (for example, the first set electric quantity is Qmax 50%, and Qmax is the electric quantity when the main energy storage device is fully charged), the main control module sends a command of returning to the charging position for charging to the rail crane, controls the rail crane to return to the charging position for charging, and waits for the next command.

Therefore, after the track crane finishes the ship unloading command, if other commands are not received within the first set time, the idle moment is indicated, and when the residual electric quantity of the main energy storage device is less than the first set electric quantity, the track crane returns to the charging position for charging, so that the electric quantity is supplemented in time; when the residual electric quantity of the main energy storage device is larger than or equal to the first set electric quantity, the track crane waits in place without charging, so that timely response is facilitated, and operation is prevented from being influenced.

Step S14: and in the shipping working mode, the track crane executes a shipping instruction, after the shipping instruction is finished, the main control module sends an instruction of returning to the charging position for charging to the track crane, controls the track crane to return to the charging position for charging, and waits for the next instruction, namely waits for the next instruction in the charging process.

Step S15: in the standby working mode, if the residual electric quantity of the main energy storage device of the track crane is more than or equal to a second set electric quantity (if the second set electric quantity is Qmax 50%), which indicates that the residual electric quantity of the main energy storage device is more and is enough to complete the next operation instruction, the track crane waits in place so as to respond in time and avoid influencing the operation; if the residual electric quantity of the main energy storage device of the track crane is less than the second set electric quantity, which indicates that the residual electric quantity of the main energy storage device is less, the main control module sends a charging position charging instruction back to the track crane, controls the track crane to return to the charging position for charging, supplements the electric quantity in time, and waits for the next instruction.

The first set electric quantity and the second set electric quantity may be equal or unequal.

According to the electric quantity management method for the track crane, the charging working mode of the track crane is determined according to the received instruction; in the ship unloading working mode, the rail crane executes a ship unloading command, and after the ship unloading command is finished, if a subsequent command is not received within a first set time and the residual electric quantity of a main energy storage device of the rail crane is less than a first set electric quantity, the rail crane returns to a charging position for charging; in the shipping working mode, the rail crane executes a shipping instruction, and after the shipping instruction is completed, the rail crane returns to a charging position for charging; in the standby working mode, if the residual electric quantity of the main energy storage device of the track crane is more than or equal to the second set electric quantity, the track crane waits in situ; if the residual electric quantity of the main energy storage device of the track crane is less than the second set electric quantity, the track crane returns to the charging position for charging; the time can be rationally utilized to charge the main energy storage device, the operation instruction can be responded in time, the problem that the track crane cannot normally operate due to insufficient electric quantity of the main energy storage device is avoided, the working efficiency of the track crane is improved, and the loading and unloading efficiency of the wharf is improved.

During the operation of the track crane, such as in an unloading work mode and a loading work mode, the main control module determines a discharging work mode of the track crane according to the residual electric quantity of the main energy storage device, wherein the discharging work mode comprises a performance mode, an economic mode and a low-electric-quantity mode; specifically, during the operation of the track crane in the ship unloading mode, the ship loading mode, etc., the following steps are performed, as shown in fig. 3.

Step S21: and detecting the residual capacity of the main energy storage device.

Step S22: and determining the discharge working mode of the rail crane according to the residual electric quantity of the main energy storage device.

When the remaining capacity of the main energy storage device is larger than or equal to the third set capacity, it indicates that the remaining capacity of the main energy storage device is sufficient, the performance mode is started, and S23 is executed: and in the performance mode, controlling the track crane to sequentially execute each job instruction at the running speed of k1 × Vmax. Therefore, when the residual electric quantity of the main energy storage device is sufficient, the running speed of the track crane is high, and the operation efficiency is improved.

When the remaining capacity of the main energy storage device is less than the third set capacity and is greater than or equal to the fourth set capacity, the remaining capacity of the main energy storage device is less, the economic mode is started, and the step S24 is executed: in the economy mode, the track crane completes the operation command at the running speed of k2 × Vmax. Therefore, when the residual capacity of the main energy storage device is small, the running speed of the track crane is low, and the command is guaranteed to be completed.

In order to further save the electricity, in the economic mode, the track crane reorders and executes all the operation instructions received within the second set time (such as within 30 minutes) according to the principles of optimal operation path and lowest energy consumption, so as to achieve the purpose of minimum electricity consumption.

When the remaining capacity of the main energy storage device is less than the fourth setting capacity, which indicates that the remaining capacity of the main energy storage device is very small, the low-capacity mode is started, and S25 is executed: in the low-power mode, the track crane does not receive new operation instructions any more, and after the track crane finishes the current unfinished operation instructions at the operation speed of k3 × Vmax, the track crane exits the operation and enters a charging station for charging. Therefore, when the residual capacity of the main energy storage device is very low, the running speed of the track crane is very low, and after the current unfinished instruction is finished, the operation is quitted, so that the charging is smoothly returned to the charging position for charging.

Wherein Vmax is the maximum running speed of the rail crane, and 1 is more than or equal to k1 and more than k2 and more than k3 and more than 0.

Therefore, the running speed of the track crane is determined according to the residual electric quantity of the main energy storage device, so that the normal running of the track crane is ensured, and the power consumption is reduced.

In the present embodiment, the third setting electric quantity > the fourth setting electric quantity, for example, the third setting electric quantity = Qmax 60%, the fourth setting electric quantity = Qmax 20%, k1=1, k2=70%, k3= 40%. Specifically, the method comprises the following steps:

(11) when the residual electric quantity of the main energy storage device is larger than or equal to Qmax 60%, the main control module starts a performance mode, and in the performance mode, the main control module sends a control instruction to the operation electric quantity management module, and the operation electric quantity management module controls the track crane to execute each operation instruction at the maximum operation speed Vmax in sequence.

(12) When the residual electric quantity of the main energy storage device is less than Qmax 60% and more than or equal to Qmax 20%, the main control module starts an economic mode, and in the economic mode, the main control module sends a control instruction to the operation electric quantity management module, the operation electric quantity management module sends a parameter switching operation control to the track crane, and the track crane is controlled to complete an operation instruction at the operation speed of 70% Vmax.

(13) When the residual electric quantity of the main energy storage device is less than Qmax 20%, the main control module starts a low-electric-quantity mode, the track crane does not receive a new operation instruction any more in the low-electric-quantity mode, the main control module sends a control instruction to the operation electric quantity management module, the operation electric quantity management module sends parameter switching operation control to the track crane, and the track crane is controlled to quit operation and enter a charging station for charging after completing the current unfinished operation instruction at the operation speed of 40% Vmax.

And the main energy storage device electric quantity management module is used for controlling the charging and discharging of the main energy storage device, detecting the residual electric quantity of the main energy storage device and controlling the charging current and the output power of the main energy storage device. And the main energy storage device electric quantity management module is used for managing the charging and discharging of the main energy storage device according to a specific charging and discharging strategy by combining the peak-valley time period of the current power utilization time and the residual current of the current main energy storage device according to the charging and discharging mode selected by the main control module.

In this embodiment, in order to further reduce power consumption, the method for managing power consumption of a track crane of this embodiment further includes the following discharging strategy:

(21) in the performance mode, the residual capacity of the main energy storage device is sufficient, the running speed of the track crane is high, and the output power of the main energy storage device does not exceed b1 Pmax, so that the power supply of the track crane is ensured as much as possible.

(22) In the economic mode, the residual capacity of the main energy storage device is less, the running speed of the track crane is lower, and the output power of the main energy storage device does not exceed b2 Pmax so as to ensure the power supply of the track crane as much as possible

(23) In the low-power mode, the residual power of the main energy storage device is very low, the running speed of the track crane is very low, and the output power of the main energy storage device does not exceed b3 Pmax so as to ensure the power supply of the track crane as much as possible

Wherein Pmax is the maximum output power of the main energy storage device, and 1 is more than or equal to b1 and more than b2 and more than b3 and more than 0.

In the present embodiment, b1=1, b2=70%, b3= 40%. Specifically, the method comprises the following steps:

(31) in the performance mode, the residual electric quantity of the main energy storage device is sufficient, the running speed of the track crane is high, and the output power of the main energy storage device does not exceed the maximum output power Pmax so as to ensure the power supply of the track crane as much as possible.

(32) In the economic mode, the residual electric quantity of the main energy storage device is less, the running speed of the track crane is lower, and the output power of the main energy storage device is not more than 70% Pmax so as to ensure the power supply of the track crane as much as possible

(33) In the low-power mode, the residual power of the main energy storage device is very small, the running speed of the track crane is very small, and the output power of the main energy storage device does not exceed 40% Pmax so as to ensure the power supply of the track crane as much as possible.

In order to ensure the smooth operation of the track crane, when the main energy storage device breaks down, the residual electric quantity is insufficient, and the working amount is large, the auxiliary energy storage device is started, and the auxiliary energy storage device electric quantity management module controls the discharge of the auxiliary energy storage device. The discharge working modes are different, and the starting conditions of the auxiliary energy storage device are different.

Firstly, in the performance mode, the starting conditions of the auxiliary energy storage device are as follows:

and under the performance mode, detecting the residual electric quantity of the main energy storage device, the residual electric quantity of the auxiliary energy storage device and the quantity of unexecuted instructions of the track crane.

(41) And when the fact that the residual electric quantity of the main energy storage device is smaller than the third set electric quantity is detected, a plurality of instructions are not executed by the track crane, and the residual electric quantity of the auxiliary energy storage device of the track crane is larger than the set auxiliary threshold value, the auxiliary energy storage device is started to charge the main energy storage device, so that the residual electric quantity of the main energy storage device reaches the third set electric quantity.

The track crane is not executed by a plurality of instructions, which shows that the track crane is frequently assembled and disassembled in a storage yard and cannot timely supplement the charging energy to a charging position. When the auxiliary energy storage device is a hydrogen fuel cell, the residual capacity of the auxiliary energy storage device corresponds to the residual capacity of the hydrogen fuel. When the remaining capacity of the auxiliary energy storage device is greater than the set auxiliary threshold, it indicates that the remaining capacity of the auxiliary energy storage device (or the remaining capacity of the hydrogen fuel) is large, and the auxiliary energy storage device can be used for charging the main energy storage device.

Therefore, when the residual electric quantity of the main energy storage device is less than the third set electric quantity and a plurality of instructions of the track crane are not executed, and the residual electric quantity of the auxiliary energy storage device is greater than the set auxiliary threshold value, the auxiliary energy storage device is started to charge the main energy storage device, so that the residual electric quantity of the main energy storage device is kept in a performance mode, the track crane is efficiently loaded and unloaded at full speed, and the operating efficiency of the track crane is ensured.

(42) When the fact that the residual electric quantity of the main energy storage device is smaller than a third set electric quantity is detected, a plurality of instructions are not executed on the track crane, and the residual electric quantity of an auxiliary energy storage device of the track crane is smaller than or equal to a set auxiliary threshold value, the auxiliary energy storage device is closed; and if the residual electric quantity of the main energy storage device is larger than or equal to the fourth set electric quantity, starting the economic mode, and if the residual electric quantity of the main energy storage device is smaller than the fourth set electric quantity, starting the low-electric-quantity mode.

When the residual capacity of the auxiliary energy storage device is less than or equal to the set auxiliary threshold, it is indicated that the residual capacity (or the residual capacity of the hydrogen fuel) of the auxiliary energy storage device is less, and the auxiliary main energy storage device cannot be continuously maintained in the performance mode, so that the auxiliary energy storage device can supply power to the track crane to quit the loading and unloading production under the condition that other abnormal conditions occur in the main energy storage device.

Therefore, when the residual electric quantity of the main energy storage device is less than the third set electric quantity, a plurality of instructions are not executed on the track crane, and the residual electric quantity of the auxiliary energy storage device of the track crane is less than or equal to the set auxiliary threshold value, the economic mode or the low-electric-quantity mode is entered according to the residual electric quantity of the main energy storage device. And if the residual electric quantity of the main energy storage device is larger than or equal to the fourth set electric quantity, starting the economic mode, and if the residual electric quantity of the main energy storage device is smaller than the fourth set electric quantity, starting the low-electric-quantity mode.

In the present embodiment, the third set electric quantity = Qmax 60%, the fourth set electric quantity = Qmax 20%, and the set assist threshold = 20% of the full electric quantity of the auxiliary energy storage device.

And (4) when the charging device/charging position of the main energy storage device fails and cannot be charged, executing the steps (41) to (42) to enable the track crane to finish the loading and unloading operation production.

And secondly, in a low-power mode, the track crane does not receive a new operation instruction any more, after the track crane finishes the current unfinished operation instruction by using the output power of k3 Vmax, the auxiliary energy storage device is started to charge the main energy storage device, and the track crane exits from operation and enters a charging position to be charged. The auxiliary energy storage device is started to ensure that the track crane can quit production as soon as possible to supplement electric energy and avoid influencing the operation of other equipment in the wharf.

When the main energy storage device breaks down, the auxiliary energy storage device provides control and a power supply for the whole track crane, and the short-time running capacity of the track crane is ensured so as to enter a maintenance area and exit a production area.

According to the electricity prices at different time intervals, the adaptability adjustment of the operation amount of the storage yard is combined by the principle of 'peak clipping and valley filling', and the priority of the electric quantity and the operation production is ensured. The method for managing the electric quantity of the track crane in the embodiment further comprises the following charging strategies:

during the track crane is charging at the charging position, whether the electricity consumption time interval is the electricity valley time interval or the electricity peak time interval is judged. In the valley period, the electricity price is lower; in the peak period, the electricity price is high.

(51) If the energy storage device is in the valley period, when the residual capacity of the main energy storage device is less than a first set charging threshold (for example, the first set charging threshold is Qmax x 80%), the main energy storage device is charged with a set large current; when the electric quantity of the main energy storage device is larger than or equal to a first set charging threshold value, trickle charging is carried out on the main energy storage device at a set low current. Therefore, charging is required to be performed as soon as possible in the valley period to reduce the electricity cost.

(52) If the energy storage device is in the electric peak period, when the residual electric quantity of the main energy storage device is less than a second set charging threshold (for example, the second set charging threshold is Qmax 50%), trickle charging the main energy storage device at a set low current; and when the residual capacity of the main energy storage device is larger than or equal to a second set charging threshold (50%), stopping charging the main energy storage device. Therefore, in the peak period, on the premise of ensuring the power supply of the rail crane, the charging is performed as less as possible, and the increase of the power consumption cost is avoided.

By designing the charging strategies of (51) - (52), charging is carried out as soon as possible in the valley period, charging is carried out as little as possible in the peak period, and the power utilization cost is reduced on the premise of meeting the power utilization requirement of the track crane. The charging strategy utilizes the low-price electricity quantity in the valley time to the maximum extent, reduces the charging electricity quantity in the peak time and effectively prolongs the service life of the lithium battery.

In this embodiment, the first set charging threshold > the second set charging threshold, such as the first set charging threshold = Qmax x 80%, and the second set charging threshold = Qmax x 50%. Specifically, the method comprises the following steps:

in the valley period, when the residual capacity of the main energy storage device is less than Qmax 80%, the large current is charged; when the residual electric quantity is more than or equal to Qmax 80%, trickle charging is carried out.

In the electric peak period, when the residual electric quantity of the main energy storage device is less than Qmax 50%, trickle charging with small current; when the residual capacity is more than or equal to Qmax 50%, the charging is not carried out.

The position of charging generally sets up in the place of piling yard and the sea and land side of automatic pier do not influence the position of operation, and the rail crane of being convenient for is berthhed and is charged. Of course, a charging device can be arranged in the interaction area, and when the rail crane works in the interaction area, the charging device charges the main energy storage device, so that the concomitant charging is realized. The concomitant charging is realized by installing a charging device in the interaction area, and the track crane works in the interaction area and simultaneously supplying the main energy storage device by the charging device. Therefore, the charging strategy of the present embodiment further includes the following steps:

(61) if in the valley period, the charging device charges the main energy storage device with a set large current.

(62) If the charging current of the main energy storage device charged by the charging device is inversely proportional to the residual capacity of the main energy storage device in the peak period, the larger the residual capacity is, the smaller the charging current is.

Through setting up charging device in the interactive area, when the track hangs when the operation of interactive area, charging device charges main energy memory, will charge as soon as possible in the electric valley period, and the electric current that charges is inversely proportional with the residual capacity in the electric peak period, charges as far as possible, under the prerequisite that satisfies the track and hangs the power consumption demand, reduces the power consumption cost.

The charging strategy of the embodiment is combined with the discharging strategy, so that the production efficiency is considered, the electric energy with low electricity price at the valley time is utilized to the maximum extent, and the using amount of the electric energy with high electricity price at the peak time is reduced.

During the operation of the track crane, the power consumption detection and statistics module monitors the power consumption conditions of the track crane in different box weights, sizes, time periods, operation routes, operation modes and the whole track crane under operation conditions, integrates all the track cranes in the whole automatic wharf yard, and establishes a database for classification and statistics, so that big data analysis is facilitated, specific power management plans of specific track cranes are further accurately optimized, the working efficiency of each track crane can be accurately regulated and controlled by combining the working efficiency of a wharf production system, and economic operation is realized.

The track crane electric quantity management system and the track crane electric quantity management method effectively optimize a track crane power system, reduce the energy cost of equipment, realize energy conservation and emission reduction, intelligently formulate a charging and discharging strategy according to wharf operation working conditions, self electric quantity and electricity prices in different time periods, control the normal operation of the track crane, and have the advantages of high economy and environmental protection; and moreover, the analysis is carried out according to the statistical data in the database, and the electric quantity management system can be further optimized, so that the effects of improving the performance of the track crane and reducing the energy consumption are achieved.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.