CN111501891B - Fuel oil filling method and device based on automatic excavator - Google Patents
Fuel oil filling method and device based on automatic excavator Download PDFInfo
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- CN111501891B CN111501891B CN202010396110.XA CN202010396110A CN111501891B CN 111501891 B CN111501891 B CN 111501891B CN 202010396110 A CN202010396110 A CN 202010396110A CN 111501891 B CN111501891 B CN 111501891B
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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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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Abstract
The invention provides a fuel oil filling method and device based on an automatic excavator, and belongs to the technical field of intelligent excavators. The method comprises the following steps: acquiring the fuel quantity in a fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor; judging whether the fuel quantity is smaller than a preset fuel quantity threshold value or not; if so, controlling the automatic excavator to drive towards the fuel station to fill the fuel; if not, acquiring the fuel quantity in the fuel tank again according to the liquid level information of the liquid level sensor. The automatic excavator can judge the fuel oil filling time according to the fuel oil quantity in the fuel oil tank and automatically drive to the fuel oil station for fuel oil filling, the intelligent degree of fuel oil filling is improved, manpower is saved, and the fuel oil filling efficiency is improved.
Description
Technical Field
The invention relates to the technical field of intelligent excavators, in particular to a fuel oil filling method and device based on an automatic excavator.
Background
In recent years, intelligent equipment competition is increasingly stronger, excavators are gradually developed towards intellectualization, common automatic excavators have the functions of automatic walking, automatic excavation and the like, especially in large construction sites and large mines, a plurality of excavators are required to complete work at the same time, and the application of the automatic excavators can reduce the manual use of operators and improve the work efficiency.
However, when fuel needs to be filled, the existing automatic excavator needs to manually control the excavator to drive to a fuel station for fuel filling, and the fuel filling time of the automatic excavator needs to be manually monitored and judged, so that the intelligent degree of fuel filling is low, manpower is consumed, and the fuel filling efficiency is low.
Disclosure of Invention
The invention aims to provide a fuel oil filling method and a fuel oil filling device based on an automatic excavator, which can enable the automatic excavator to judge the fuel oil filling time according to the fuel oil quantity in a fuel oil tank and automatically drive to a fuel oil station for filling fuel oil, so that the intelligent degree of fuel oil filling is improved, the labor is saved, and the fuel oil filling efficiency is improved.
The embodiment of the invention is realized by the following steps:
in one aspect of the embodiment of the invention, a fuel oil filling method based on an automatic excavator is provided, wherein the automatic excavator comprises a controller and a liquid level sensor which are connected with each other, the liquid level sensor is arranged in a fuel tank of the automatic excavator, and the controller is also connected with a travelling mechanism of the automatic excavator; the method comprises the following steps:
acquiring the fuel quantity in a fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor;
judging whether the fuel quantity is smaller than a preset fuel quantity threshold value or not;
if so, controlling the automatic excavator to drive towards the fuel station to fill the fuel;
if not, acquiring the fuel quantity in the fuel tank again according to the liquid level information of the liquid level sensor.
Optionally, the fuel tank is connected with a fuel filling pump, and a fuel filling pipe is arranged at the input end of the fuel filling pump; controlling an automatic excavator to travel towards a fuel station for fueling, comprising:
sending a traveling instruction to a traveling mechanism of the automatic excavator according to the position information of the fuel station so that the automatic excavator travels towards the fuel station and extends into an oil filling pipe to a material conveying port corresponding to the fuel station;
and sending a filling instruction to the fuel filling pump so that the fuel filling pump pumps fuel into the fuel tank.
Optionally, the walking instruction comprises acquired information of a route from the automatic excavator to the fuel station according to the position information of the automatic excavator and the fuel station.
Optionally, after sending a filling instruction to the fuel filler pump to enable the fuel filler pump to pump fuel into the fuel tank, the method further comprises:
and when the fuel quantity in the fuel tank is larger than or equal to the preset full fuel quantity, sending a stop instruction to the gasoline pump so as to stop the operation of the gasoline pump.
Optionally, when the fuel amount in the fuel tank is greater than or equal to a preset fuel amount, after sending a stop instruction to the fuel pump to stop the fuel pump, the method further comprises:
and sending a return instruction to the travelling mechanism according to the initial position information of the automatic excavator so as to return the automatic excavator to the working position.
Optionally, before determining whether the fuel amount is smaller than the preset fuel amount threshold, the method further includes:
obtaining the distance between the automatic excavator and the fuel station according to the position information of the automatic excavator and the position information of the fuel station;
and obtaining a preset oil quantity threshold value according to the distance and the average oil consumption of the automatic excavator.
In another aspect of the embodiments of the present invention, there is provided a fuel filling apparatus based on an automatic excavator, including: the controller and the liquid level sensor are connected with each other, the liquid level sensor is arranged in a fuel tank of the automatic excavator, and the controller is also connected with a travelling mechanism of the automatic excavator;
the liquid level sensor is used for measuring and obtaining liquid level information of fuel oil in the fuel tank;
the controller is used for acquiring the fuel quantity in a fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor; judging whether the fuel quantity is smaller than a preset fuel quantity threshold value or not; if so, controlling the automatic excavator to drive towards the fuel station to fill the fuel; if not, acquiring the fuel quantity in the fuel tank again according to the liquid level information of the liquid level sensor.
Optionally, the fuel tank is connected with a fuel filling pump, and a fuel filling pipe is arranged at the input end of the fuel filling pump;
the controller is specifically used for acquiring the fuel quantity in a fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor; judging whether the fuel quantity is smaller than a preset fuel quantity threshold value or not; if so, sending a traveling instruction to a traveling mechanism of the automatic excavator according to the position information of the fuel station so that the automatic excavator travels towards the fuel station and extends into the oil filling pipe to a material conveying port corresponding to the fuel station; sending a filling instruction to a refueling pump so that the refueling pump can pump fuel oil into a fuel tank; if not, acquiring the fuel quantity in the fuel tank again according to the liquid level information of the liquid level sensor.
Optionally, the controller is further configured to send a stop command to the refueling pump to stop the refueling pump when the fuel amount in the fuel tank is greater than or equal to a preset full fuel amount.
Optionally, the controller is further configured to obtain a distance between the automatic excavator and the fuel station according to the position information of the automatic excavator and the position information of the fuel station; and obtaining a preset oil quantity threshold value according to the distance and the average oil consumption of the automatic excavator.
The embodiment of the invention has the beneficial effects that:
the embodiment of the invention provides a fuel oil filling method based on an automatic excavator, wherein the automatic excavator comprises a controller and a liquid level sensor which are connected with each other, the liquid level sensor is arranged in a fuel tank of the automatic excavator, and the controller is also connected with a travelling mechanism of the automatic excavator. The fuel level information in the fuel tank can be measured and obtained through the liquid level sensor and sent to the controller. The controller can firstly acquire the fuel quantity in the fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor, then judge whether the fuel quantity is smaller than a preset fuel quantity threshold value, control the automatic excavator to drive towards the fuel station to fill the fuel when the fuel quantity is smaller than the preset fuel quantity threshold value, and judge the fuel quantity by repeating the steps when the fuel quantity is not smaller than the preset fuel quantity threshold value. By the method, the automatic excavator can automatically detect the fuel quantity in the fuel tank, can intelligently judge the time for filling the fuel, and can automatically drive to the fuel station for filling the fuel when the fuel needs to be filled. Therefore, the intelligent degree of fuel filling of the automatic excavator can be improved, manpower is saved, and the fuel filling efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a fuel filling method based on an automatic excavator according to an embodiment of the present invention;
fig. 2 is a second schematic flow chart of a fuel filling method based on an automatic excavator according to an embodiment of the present invention;
fig. 3 is a third schematic flow chart of a fuel filling method based on an automatic excavator according to an embodiment of the present invention;
fig. 4 is a fourth schematic flowchart of a fuel filling method based on an automatic excavator according to an embodiment of the present invention;
fig. 5 is a fifth flowchart of a fuel filling method based on an automatic excavator according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a fuel filling device based on an automatic excavator according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the present product is conventionally placed in use, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment of the invention provides a fuel oil filling method based on an automatic excavator, wherein the automatic excavator can comprise a controller and a liquid level sensor which are connected with each other, the liquid level sensor is arranged in a fuel tank of the automatic excavator, and the controller is also connected with a travelling mechanism of the automatic excavator.
As shown in fig. 1, the fuel filling method based on the automatic excavator may include:
s101: and acquiring the fuel quantity in the fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor.
S102: and judging whether the fuel quantity is smaller than a preset fuel quantity threshold value or not.
If yes, go to S103: the automatic excavator is controlled to travel towards the fuel station for fueling. If not, returning to execute S101, and circulating until the obtained fuel quantity in the fuel tank is smaller than a preset fuel quantity threshold value so as to control the automatic excavator to drive towards the fuel station and fill fuel.
Wherein, the liquid level sensor can measure the fuel liquid level in the fuel tank to obtain the depth (liquid level information) of the fuel. A proportional parameter between the fuel depth and the fuel volume (fuel amount) in the fuel tank can be preset (for example, the proportional parameter is the cross-sectional area of the fuel tank, and the product of the cross-sectional area and the fuel depth is the fuel volume, namely the fuel amount), so that the controller can obtain the fuel volume, namely the fuel amount according to the liquid level information (depth) of the fuel.
In practical application, the preset oil quantity threshold value can be preset according to an empirical value of the minimum oil quantity of the automatic excavator in actual operation. So that the automatic excavator automatically drives to the fuel station to refuel when detecting that the oil quantity is lower than the value. Of course, the preset oil amount threshold may also be adjusted according to preset conditions to more accurately represent the minimum oil amount required by the current state of the automatic excavator, and no specific limitation is made here.
It should be noted that when the fuel quantity is judged to be not less than the preset fuel quantity threshold value, the fuel quantity in the fuel tank can be obtained again after the preset time interval, so that the situation that the controller continuously works to increase power consumption is avoided. Of course, in practical applications, the above steps may also be performed continuously, and are not limited herein.
Generally, the fuel station may be provided with a positioning module to enable a controller of the automatic excavator to acquire position information of the fuel station, thereby controlling the automatic excavator to travel toward the fuel station. Of course, in practical applications, the fuel station may further set a pilot signal to enable the controller to drive toward the fuel station according to the pilot signal, and the embodiment of the present invention is not particularly limited.
In the embodiment of the invention, after the automatic excavator runs to the fuel station, the controller can control the automatic excavator to automatically fill fuel, and the fuel can be filled through manual operation or manual assistance, which is not limited here.
The embodiment of the invention provides a fuel oil filling method based on an automatic excavator, wherein the automatic excavator comprises a controller and a liquid level sensor which are connected with each other, the liquid level sensor is arranged in a fuel tank of the automatic excavator, and the controller is also connected with a travelling mechanism of the automatic excavator. The fuel level information in the fuel tank can be measured and obtained through the liquid level sensor and sent to the controller. The controller can firstly acquire the fuel quantity in the fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor, then judge whether the fuel quantity is smaller than a preset fuel quantity threshold value, control the automatic excavator to drive towards the fuel station to fill the fuel when the fuel quantity is smaller than the preset fuel quantity threshold value, and judge the fuel quantity by repeating the steps when the fuel quantity is not smaller than the preset fuel quantity threshold value. By the method, the automatic excavator can automatically detect the fuel quantity in the fuel tank, can intelligently judge the time for filling the fuel, and can automatically drive to the fuel station for filling the fuel when the fuel needs to be filled. Therefore, the intelligent degree of fuel filling of the automatic excavator can be improved, manpower is saved, and the fuel filling efficiency is improved.
Optionally, the fuel tank is connected with a fuel filling pump, and a fuel filling pipe is arranged at the input end of the fuel filling pump; controlling an automatic excavator to travel toward a fuel station for fueling, as shown in fig. 2, includes:
s201: and sending a traveling instruction to a traveling mechanism of the automatic excavator according to the position information of the fuel station so that the automatic excavator travels towards the fuel station and extends into the oil filling pipe to a corresponding material conveying port of the fuel station.
S202: and sending a filling instruction to the refueling pump so that the refueling pump pumps fuel into the fuel tank.
The fuel station can be provided with a positioning module to send position information to the controller, so that the controller controls the automatic excavator to move towards the fuel station according to the position information of the fuel station. The travel route of the automatic excavator may be a straight line toward the fuel station. Of course, if the automatic excavator is provided with the obstacle avoidance system, when the controller controls the automatic excavator to travel towards the fuel station, the travel route may also be an obstacle avoidance route for avoiding an obstacle, and no specific limitation is made here.
In practical application, a relay may be arranged in a working circuit of the refueling pump, and the controller is used to control the relay to control the opening and closing of the refueling pump, and certainly, a logic circuit may also be arranged to connect the refueling pump into the logic circuit to control the refueling pump by the controller, and no specific limitation is made here.
By arranging the refueling pump on the fuel tank of the automatic excavator and arranging the refueling pipe at the input end of the refueling pump, the controller can control the refueling pump to operate to automatically fill fuel, the fuel filling intelligence of the automatic excavator can be further improved, and the fuel filling efficiency is improved. Wherein, the oil filler pipe that the gasoline pump set up stretches into the conveying mouth that the fuel station corresponds, can be through corresponding on oil filler pipe and conveying mouth and set up butt joint induction system to the walking direction and the position of automatic excavator are controlled according to the sensing signal who corresponds induction system to the controller through, also can be through setting up the slow-witted device of preventing that corresponds on oil filler pipe and conveying mouth respectively, so that the automatic excavator of controller control walks to the quick butt joint of oil filler pipe and conveying mouth through preventing slow-witted device behind the corresponding conveying mouth. Of course, in practical applications, the oil filling pipe may also be extended into the delivery port (for example, in a form of manual assistance) after the controller controls the automatic excavator to travel to the fuel station, which is not limited herein.
Optionally, the walking instruction includes route information of the automatic excavator to the fuel station, which is acquired according to the position information of the automatic excavator and the fuel station.
In practical application, the automatic excavator and the fuel station can be respectively provided with a positioning module, and the controller can plan a route according to the position information of the automatic excavator and the position information of the fuel station and a preset route, so that a walking instruction containing the route information is sent to a walking mechanism of the automatic excavator to control the automatic excavator to travel to the fuel station according to the planned route.
In the embodiment of the invention, a plurality of fuel stations can be arranged on a construction site, and the controller can select the nearest fuel station to plan a route according to the position information of the automatic excavator and the position information of the fuel stations and control the automatic excavator to drive towards the nearest fuel station. Of course, in practical applications, the automatic excavator may also select the fuel station at random for route planning, or select the fuel station according to other rules, which is not limited herein.
Optionally, as shown in fig. 3, after sending a filling command to the fuel pump to make the fuel pump fuel into the fuel tank, the method further comprises:
s301: and when the fuel quantity in the fuel tank is larger than or equal to the preset full fuel quantity, sending a stop instruction to the gasoline pump so as to stop the operation of the gasoline pump.
Through the steps, after the fuel filling pump starts to operate to pump fuel so as to fill the fuel, the fuel amount in the fuel tank can be detected so that the automatic excavator can automatically stop filling when the fuel is filled to the extent that the fuel amount is larger than or equal to the preset full fuel amount. The intellectualization of fuel filling of the automatic excavator is further improved, and the fuel filling efficiency is improved. The determination that the fuel amount in the fuel tank is greater than or equal to the preset full fuel amount can be achieved by acquiring liquid level information of a liquid level sensor in the fuel tank (for a specific process, reference may be made to the embodiment for acquiring the fuel amount, and details are not described here).
Optionally, as shown in fig. 4, after sending a stop command to the fuel pump to stop the fuel pump when the fuel amount in the fuel tank is greater than or equal to a preset fuel amount, the method further includes:
s401: and sending a return instruction to the travelling mechanism according to the initial position information of the automatic excavator so as to return the automatic excavator to the working position.
Through the steps, after the controller controls the fuel filling pump to stop running, the automatic excavator returns to the working position to perform normal operation, the intellectualization of fuel filling of the automatic excavator can be further improved, and the fuel filling efficiency is improved.
Optionally, as shown in fig. 5, before determining whether the fuel amount is smaller than the preset fuel amount threshold, the method further includes:
s501: and obtaining the distance between the automatic excavator and the fuel station according to the position information of the automatic excavator and the position information of the fuel station.
S502: and obtaining a preset oil quantity threshold value according to the distance and the average oil consumption of the automatic excavator.
When the number of the fuel stations is multiple, the preset fuel quantity threshold value can be obtained according to the distance between the fuel station and the nearest fuel station of the automatic excavator. In addition, the average oil consumption may be preset oil consumption of the automatic excavator, or may be a current average oil consumption value obtained by implementing detection, and is not specifically limited herein.
The preset oil quantity threshold value is obtained through the steps, the preset oil quantity threshold value can meet the requirement that the automatic excavator runs to the fuel station, and therefore the situation that the preset oil quantity threshold value which is fixedly arranged is too low and the automatic excavator cannot run to the fuel station can be avoided.
For example, the specific calculation algorithm of the preset oil quantity threshold value may be a product between the average oil consumption and the distance or a multiple of the product (a multiple greater than 1). The specific calculation formula may be as follows:
L＝1.1×L 1 ×d
wherein L is a preset oil mass threshold value, L 1 D is the distance between the automatic excavator and the fuel station for average fuel consumption.
In another aspect of the embodiments of the present invention, there is provided a fuel filling apparatus based on an automatic excavator, as shown in fig. 6, including: the controller 610 and the liquid level sensor 620 are connected with each other, the liquid level sensor 620 is arranged in a fuel tank (not shown in the figure) of the automatic excavator, and the controller 610 is further connected with a travelling mechanism (not shown in the figure) of the automatic excavator;
the liquid level sensor 620 is used for measuring and obtaining liquid level information of fuel in the fuel tank;
the controller 610 is used for acquiring the fuel quantity in a fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor 620; judging whether the fuel quantity is smaller than a preset fuel quantity threshold value or not; if so, controlling the automatic excavator to drive towards the fuel station to fill the fuel; if not, acquiring the fuel quantity in the fuel tank again according to the liquid level information of the liquid level sensor 620.
The fuel filling device based on the automatic excavator, which is provided by the embodiment of the invention, is arranged on the automatic excavator and comprises a controller 610 and a liquid level sensor 620 which are mutually connected, wherein the liquid level sensor 620 is arranged in a fuel tank of the automatic excavator, and the controller 610 is also connected with a travelling mechanism of the automatic excavator. Fuel level information in the fuel tank can be measured by the level sensor 620 and sent to the controller 610. The controller 610 may first obtain a fuel amount in a fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor 620, then determine whether the fuel amount is smaller than a preset fuel amount threshold, control the automatic excavator to travel toward the fuel station to fill the fuel when the fuel amount is smaller than the preset fuel amount threshold, and determine the fuel amount by repeating the above steps when the fuel amount is not smaller than the preset fuel amount threshold. By the method, the automatic excavator can automatically detect the fuel quantity in the fuel tank, can intelligently judge the time for filling the fuel, and can automatically drive to the fuel station for filling the fuel when the fuel needs to be filled. Therefore, the intelligent degree of fuel filling of the automatic excavator can be improved, manpower is saved, and the fuel filling efficiency is improved.
Alternatively, as shown in fig. 6, a fuel tank (not shown) is connected with a fuel filler pump 630, and the input end of the fuel filler pump 630 is provided with a fuel filler pipe (not shown);
the controller 610 is specifically used for acquiring the fuel quantity in a fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor 620; judging whether the fuel quantity is smaller than a preset fuel quantity threshold value or not; if so, sending a traveling instruction to a traveling mechanism of the automatic excavator according to the position information of the fuel station so that the automatic excavator travels towards the fuel station and extends into the oil filling pipe to a material conveying port corresponding to the fuel station; sending a filling instruction to the fuel pump 630 to enable the fuel pump 630 to pump fuel into the fuel tank; if not, acquiring the fuel quantity in the fuel tank again according to the liquid level information of the liquid level sensor 620.
Optionally, the walking instruction includes route information of the automatic excavator to the fuel station, which is acquired according to the position information of the automatic excavator and the fuel station.
Optionally, the controller 610 is further configured to send a stop command to the fuel pump 630 to stop the fuel pump 630 when the fuel amount in the fuel tank is greater than or equal to a preset full fuel amount.
Optionally, the controller 610 is further configured to obtain a distance between the automatic excavator and the fuel station according to the position information of the automatic excavator and the position information of the fuel station; and obtaining a preset oil quantity threshold value according to the distance and the average oil consumption of the automatic excavator.
Optionally, the controller 610 is further configured to send a return command to the traveling mechanism according to the initial position information of the automatic excavator, so as to return the automatic excavator to the working position.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process of the method in the foregoing method embodiment, and is not described in detail herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A fuel oil filling method based on an automatic excavator is characterized in that the automatic excavator comprises a controller and a liquid level sensor which are connected with each other, the liquid level sensor is arranged in a fuel tank of the automatic excavator, the controller is also connected with a traveling mechanism of the automatic excavator, a plurality of fuel stations are arranged, the fuel tank is provided with an oil filling pump, an input end of the oil filling pump is provided with an oil filling pipe, and a butt joint sensing device or a fool-proof device is correspondingly arranged on the oil filling pipe and a delivery port of the fuel station; the method comprises the following steps:
acquiring the fuel quantity in a fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor;
obtaining the distance between the automatic excavator and the nearest fuel station according to the position information of the automatic excavator and the position information of the nearest fuel station;
obtaining a preset oil quantity threshold value according to the distance and the average oil consumption of the automatic excavator;
judging whether the fuel quantity is smaller than the preset fuel quantity threshold value or not;
if yes, controlling the automatic excavator to drive towards the nearest fuel station along an obstacle avoidance route so as to fill fuel, wherein the method comprises the following steps: sending a traveling instruction to a traveling mechanism of the automatic excavator according to the position information of the fuel station so that the automatic excavator can travel towards the nearest fuel station and extend into the oil filling pipe to a corresponding delivery port of the fuel station, and controlling the traveling direction and position of the automatic excavator by a controller according to a sensing signal corresponding to a sensing device or a foolproof device so as to realize quick butt joint of the oil filling pipe and the delivery port; sending a filling instruction to the fuel filling pump so that the fuel filling pump can pump fuel into the fuel tank;
if not, acquiring the fuel quantity in the fuel tank again according to the liquid level information of the liquid level sensor after a preset time interval.
2. The method of claim 1, wherein the walking instruction comprises route information of the automatic excavator to the fuel station, which is acquired according to the position information of the automatic excavator and the fuel station.
3. The method of claim 1, wherein after sending a refueling command to the refueling pump to cause the refueling pump to draw fuel into the fuel tank, the method further comprises:
and when the fuel quantity in the fuel tank is larger than or equal to the preset full fuel quantity, sending a stop instruction to the refueling pump so as to stop the refueling pump.
4. The method of claim 3, wherein after sending a stop command to the refueling pump to stop the refueling pump when the amount of fuel in the fuel tank is greater than or equal to a preset amount of fuel, the method further comprises:
and sending a return instruction to the travelling mechanism according to the initial position information of the automatic excavator so as to enable the automatic excavator to return to a working position.
5. A fuel filling device based on an automatic excavator is characterized by comprising a controller and a liquid level sensor which are connected with each other, wherein the liquid level sensor is arranged in a fuel tank of the automatic excavator, the controller is also connected with a traveling mechanism of the automatic excavator, the fuel tank is provided with a refueling pump, the input end of the refueling pump is provided with a refueling pipe, and a butt joint sensing device or a fool-proof device is correspondingly arranged on the refueling pipe and a delivery port of a fuel station;
the liquid level sensor is used for measuring and obtaining liquid level information of fuel oil in the fuel tank;
the controller is used for acquiring the fuel quantity in the fuel tank of the automatic excavator according to the liquid level information of the liquid level sensor; obtaining the distance between the automatic excavator and the nearest fuel station according to the position information of the automatic excavator and the position information of the nearest fuel station; obtaining a preset oil quantity threshold value according to the distance and the average oil consumption of the automatic excavator; judging whether the fuel quantity is smaller than a preset fuel quantity threshold value or not; if yes, controlling the automatic excavator to drive towards the nearest fuel station along the obstacle avoidance route so as to fill fuel, and the method comprises the following steps: sending a traveling instruction to a traveling mechanism of the automatic excavator according to the position information of the fuel station so that the automatic excavator can travel towards the nearest fuel station and extend into the oil filling pipe to a corresponding delivery port of the fuel station, and controlling the traveling direction and position of the automatic excavator by a controller according to a sensing signal corresponding to a sensing device or a foolproof device so as to realize quick butt joint of the oil filling pipe and the delivery port; sending a filling instruction to the fuel filling pump so that the fuel filling pump can pump fuel into the fuel tank; if not, acquiring the fuel quantity in the fuel tank again according to the liquid level information of the liquid level sensor after a preset time interval.
6. The apparatus of claim 5, wherein the controller is further configured to send a stop command to the bowser pump to stop the bowser pump when the amount of fuel in the fuel tank is greater than or equal to a predetermined full amount of fuel.
7. The apparatus of claim 6, wherein the controller is further configured to obtain a distance between the automatic excavator and the fuel station based on the position information of the automatic excavator and the position information of the fuel station; and obtaining the preset oil quantity threshold value according to the distance and the average oil consumption of the automatic excavator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010396110.XA CN111501891B (en) | 2020-05-12 | 2020-05-12 | Fuel oil filling method and device based on automatic excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010396110.XA CN111501891B (en) | 2020-05-12 | 2020-05-12 | Fuel oil filling method and device based on automatic excavator |
Publications (2)
| Publication Number | Publication Date |
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| CN111501891A CN111501891A (en) | 2020-08-07 |
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| CN112875634B (en) * | 2021-01-08 | 2023-02-03 | 浙江三一装备有限公司 | Fuel oil filling method and device for working machine |
| CN114108737A (en) * | 2021-11-24 | 2022-03-01 | 雷沃工程机械集团有限公司 | Oiling control method and device for excavator |
| CN114228481A (en) * | 2022-01-10 | 2022-03-25 | 北京雷神博峰信息技术有限责任公司 | Mechanical claw control method for opening fuel tank cover of automobile fuel port |
| CN114394569A (en) * | 2022-01-19 | 2022-04-26 | 广东皓耘科技有限公司 | Liquid filling system |
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