CN105002943A - Control system and method of working device of remote control bulldozer - Google Patents
Control system and method of working device of remote control bulldozer Download PDFInfo
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- CN105002943A CN105002943A CN201510423129.8A CN201510423129A CN105002943A CN 105002943 A CN105002943 A CN 105002943A CN 201510423129 A CN201510423129 A CN 201510423129A CN 105002943 A CN105002943 A CN 105002943A
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Abstract
The invention relates to the technical field of engineering machines, in particular to a control system and method of a working device of a remote control bulldozer. The control system of the working device of the remote control bulldozer comprises a scraper knife control module, an input part in communication connection with the scraper knife control module, an output part and a locating module. The input part is used for collecting the working states and walking states of the bulldozer. The locating module is used for collecting position information of the bulldozer. The output part is used for adjusting the work states of the working device. The collected work states, walking states and position information of the bulldozer are transmitted to the scraper knife control module through the input part and the locating module, and the work states of the working device are controlled by the scraper knife control module according to the received information. According to the control system and method, operation efficiency can be improved, and labor intensity can be lowered; the overall structure arrangement is simple, and no special requirement for space positions exists; use is convenient, performance is stable, and the cost performance is high.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a system and a method for controlling a working device of a remote control bulldozer.
Background
The remote control of the engineering machinery is generally applied to areas with severe or dangerous environments, such as large garbage dumps, steel slag yards and the like, and the application of the wireless remote control bulldozer is successful, however, when the remote control distance is required to be relatively long or a remote operator cannot observe a remote control vehicle with naked eyes, the bulldozer needs to move back and forth and a blade needs to be continuously lifted, maintained and lowered to operate when the bulldozer carries out bulldozer or land leveling operation, and the operator often has difficulty in accurately controlling the working blade device of the bulldozer. In the prior art, an operator can only adjust the lifting oil cylinder of the scraper knife by feeling to adjust the soil cutting depth of the scraper knife, so that the operator needs to pay attention to observe the working state of the bulldozer at a distance, and needs to judge the working condition of the scraper knife at the moment by experience to continuously adjust the scraper knife, the depression of the working surface pushed out by the bulldozer is uneven, the bulldozer performs reciprocating operation back and forth, the labor intensity of remote control operators is increased, the work production efficiency of the remote control bulldozer is also reduced, and the production cost is increased.
In view of the above problems, there is a need for a system and method for controlling a work device of a remote control bulldozer, which can reduce the labor intensity of operators, improve the production efficiency, and reduce the production cost.
Disclosure of Invention
The invention aims to provide a control system of a working device of a remote control bulldozer, which can solve the problems of low production efficiency, high production cost and high labor intensity of the existing remote control bulldozer.
The invention also aims to provide a control method of the working device of the remote control bulldozer, which can solve the problems of low production efficiency, high production cost and high labor intensity of the existing remote control bulldozer.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control system of a remote control bulldozer working device comprises a blade control module, an input part, an output part and a positioning module, wherein the input part, the output part and the positioning module are in communication connection with the blade control module;
the input part is used for acquiring the working state and the walking state of the bulldozer;
the positioning module is used for acquiring the position information of the bulldozer;
the output part is used for adjusting the working state of the working device;
the input part and the positioning module transmit the acquired working state, walking state and position information of the bulldozer to the scraper control module, and the scraper control module controls the working state of the working device according to the received information.
As a preferable scheme of the above remote control bulldozer working device control system, the input portion includes a traveling device module, a working device module, an automatic control switch, a lift cylinder sensor, a vehicle body inclination angle sensor, and a pressure sensor, which are connected to an input interface of the blade control module.
As a preferable scheme of the control system of the remote control bulldozer working device, the lift cylinder sensor comprises a cylinder displacement sensor and a cylinder angle sensor;
the oil cylinder displacement sensors are arranged on two sides of the left lifting oil cylinder and the right lifting oil cylinder of the bulldozer and are used for detecting the extending and retracting lengths of the left lifting oil cylinder and the right lifting oil cylinder;
the oil cylinder angle sensor is arranged on a rotating hinge point on two sides of the left lifting oil cylinder and the right lifting oil cylinder of the bulldozer and used for detecting the rotating angle of the left lifting oil cylinder and the right lifting oil cylinder, so that the inclination action state of the scraper knife can be judged.
As a preferable mode of the above remote control bulldozer working apparatus control system, the pressure sensor includes a cylinder pressure sensor and a working pump pressure sensor;
the oil cylinder pressure sensors are arranged on working oil paths of left and right lifting oil cylinders of the bulldozer and used for detecting the working pressure of the left and right lifting oil cylinders, so that the load state of the scraper knife working oil cylinder can be judged;
the working pump pressure sensor is arranged on a shell of the bulldozer working pump and used for detecting the pressure of the working pump, so that the load state of the scraper knife of the working device can be judged.
As a preferable mode of the above remote control bulldozer work implement control system, the blade control module exchanges data via CAN buses, and resistors are connected in parallel between the CAN buses.
As a preferable mode of the above remote-controlled bulldozer working implement control system, the resistance of the resistor is 120 Ω.
As a preferable mode of the above remote control bulldozer working apparatus control system, the output device is a proportional control valve of a lift cylinder.
A remote-controlled bulldozer working implement control method which is applied to the remote-controlled bulldozer working implement control system described above, comprising:
when the bulldozer is in an open state, the input part and the positioning module transmit the acquired working state, walking state and position information of the bulldozer to the scraper control module, and the scraper control module controls the working state of the working device according to the received information.
As a preferable scheme of the control method for the remote control bulldozer working device, the input part comprises a lifting cylinder sensor, the lifting cylinder sensor collects the extension distance of a scraper blade lifting cylinder and the rotation angle of the descending of the cylinder, the collected information is transmitted to the scraper blade control module, the scraper blade control module judges the state of the lifting cylinder under the current scraper blade soil cutting depth according to the information, and then judges the state of the scraper blade according to the state of the lifting cylinder.
As a preferable scheme of the control method of the remote control bulldozer working device, the input part comprises a pressure sensor, the pressure sensor collects the working pump pressure and the working pressure of the oil cylinder in real time and transmits the collected information to the blade control module, and the blade control module judges the load state of the blade according to the information.
The invention has the beneficial effects that: the application realizes better and convenient operation of operators by controlling the working state of the working device according to the information detected by the input part, improves the remote control operation efficiency and reduces the operation labor intensity, has simple integral structure arrangement, has no special requirement on space positions, is convenient to use, stable in performance and high in cost performance, and can be widely applied to various remote control bulldozers.
Drawings
FIG. 1 is a schematic structural view of a control system for a work implement of a remote-controlled bulldozer according to an embodiment of the present invention;
FIGS. 2 and 3 are schematic views showing the arrangement positions of the control system for the work implement of the remote-controlled bulldozer according to the embodiment of the present invention;
4a, 4b and 4c are schematic views of the reciprocating operation of the bulldozer according to the embodiment of the present invention;
fig. 5 is a schematic operation timing diagram of the remote control bulldozer working implement control system according to the embodiment of the present invention.
Wherein:
1: a blade control module; 2: an input section; 3: an output section; 4: a positioning module; 5: a running gear module; 6: a working device module; 7: an automatic control switch; 8: a lift cylinder sensor; 9: a vehicle body inclination angle sensor; 10: a pressure sensor; 11: a cylinder displacement sensor; 12: an oil cylinder angle sensor; 13: lifting the oil cylinder; 14: a cylinder pressure sensor; 15: a working pump pressure sensor; 16: a CAN bus.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1 to 3, the present embodiment provides a remote control bulldozer working device control system, which includes a blade control module 1, an input section 2 communicatively connected to the blade control module, an output section 3, and a positioning module 4.
The input part 2 is used for acquiring the working state and the walking state of the bulldozer, the positioning module 4 is used for acquiring the position information of the bulldozer, and the output part 3 is used for adjusting the working state of the working device; the input part 3 and the positioning module 4 transmit the acquired working state, walking state and position information of the bulldozer to the blade control module 1, and the blade control module 1 controls the working state of the working device according to the received information.
Specifically, the input part 2 comprises a traveling device module 5, a working device module 6, an automatic control switch 7, a lifting oil cylinder sensor 8, a vehicle body inclination angle sensor 9 and a pressure sensor 10 which are connected with an input interface of the scraper knife control module 1.
Wherein,
the running gear module 5 has three states, which represent the states of the vehicle, respectively, including: forward motion, reverse motion, and neutral state.
The work device module 6 includes three blade operating states, including: the scraper knife is lifted, the scraper knife action is kept, and the scraper knife is descended.
The automatic control switch 7 is used to start or stop the control system for controlling the work implement of the remote bulldozer.
The lifting oil cylinder sensor 8 comprises an oil cylinder displacement sensor 11 and an oil cylinder angle sensor 12, the oil cylinder sensor 8 transmits acquired signals to the scraper knife control module 1, and the scraper knife control module 1 determines the characteristic state of the oil cylinder at the moment according to the technical characteristics of the acquired parameters of the sensors. The cylinder displacement sensors 11 are arranged on two sides of the left and right lifting cylinders 13 of the bulldozer and are used for detecting the extending and retracting lengths of the left and right lifting cylinders 13; the cylinder angle sensor 12 is disposed at a pivot point at both sides of the left and right lift cylinders 13 of the bulldozer, and is used to detect the angle of rotation of the left and right lift cylinders 13, whereby the tilting action state of the blade can be judged.
The vehicle body tilt angle sensor 9 is a dual-axis dual-redundancy tilt angle sensor, and is used for judging the tilt angle of the vehicle in space, and the scraper knife control module 1 detects the tilt state of the vehicle body according to the tilt angle to judge whether the adjustment of the scraper knife tilt action is needed.
The pressure sensor 10 comprises an oil cylinder pressure sensor 14 and a working pump pressure sensor 15, the pressure sensor 14 is mainly used for obtaining the load of the scraper knife in the current state, the scraper knife control module detects the pressure parameters collected by the pressure sensor in real time, and the scraper knife load is judged by integrating signals of other sensors.
The cylinder pressure sensors 14 are arranged on the working oil paths of the left and right lifting cylinders 13 of the bulldozer and are used for detecting the working pressure of the left and right lifting cylinders 13, so that the load state of the scraper knife working cylinder can be judged;
the working pump pressure sensor 15 is disposed on the casing of the bulldozer working pump for detecting the pressure of the working pump, whereby the load state of the working device blade can be judged.
The output part 3 mainly comprises a lifting oil cylinder proportional control valve, the type of a driving signal of the proportional control valve is PWM proportional adjustment type, and the proportional control valve is connected to the PWM output end of the scraper knife control module.
The positioning module 4 is a GPS position receiver, data interaction and communication are carried out between the scraper knife control module and the GPS position receiver through a CAN bus 16, and in order to ensure the communication stability between the scraper knife control module and the GPS position receiver, a 120 omega resistor is connected in parallel between the CAN bus 16. The GPS position receiver is mainly used for receiving the position information of the bulldozer body in real time, sending the position information to the blade control module 1 through the CAN bus 16 in the format of CAN data, and the control module CAN judge the distance of one-time bulldozer movement in the reciprocating work of the remote control bulldozer according to the position information and the walking state acquired by the vehicle walking device module, so as to provide a basis for the action of the blade working device.
In this embodiment, there is also provided a method of controlling a remotely controlled bulldozer work implement, which is applied to the remotely controlled bulldozer work implement control system described above, and which comprises:
when the bulldozer is in an open state, the input part and the positioning module transmit the acquired working state, walking state and position information of the bulldozer to the scraper control module, and the scraper control module controls the working state of the working device according to the received information.
The input part comprises a lifting oil cylinder sensor, the lifting oil cylinder sensor collects the extending distance of a scraper knife lifting oil cylinder and the rotating angle of descending of the oil cylinder, collected information is transmitted to a scraper knife control module, the scraper knife control module judges the state of the lifting oil cylinder under the current scraper knife soil cutting depth according to the information, and then judges the state of the scraper knife according to the state of the lifting oil cylinder.
The input part comprises a pressure sensor which collects the pressure of the working pump and the working pressure of the oil cylinder in real time and transmits the collected information to the scraper knife control module, and the scraper knife control module judges the load state of the scraper knife according to the information.
Specifically, the remote control bulldozer working device control system provided by the application adopts an intelligent judgment system, when an automatic control switch is in an open state, a scraper knife control module collects the extending distance of a lifting oil cylinder and the descending rotation angle of the oil cylinder of a remote control bulldozer scraper knife in real time according to the current walking state and working state of the bulldozer to judge the state of the lifting oil cylinder under the soil cutting depth of the scraper knife at this time, the state of the lifting oil cylinder can reflect the state of the scraper knife, a pressure sensor collects the working pump pressure of the working device and the working pressure of the oil cylinder in real time, the load state of the scraper knife is judged in real time by combining a working device pressure signal collected by the pressure sensor, the action of a lifting oil cylinder proportional control valve is carried out by combining position information of the bulldozer, which is received by a GPS position receiver when the walking state is shifted from a forward state to, After the gear is reversed, the moving distance of the bulldozer in the bulldozing process can be detected according to the signal of the GPS position receiver. When the bulldozing operation in the process of one forward movement is finished, the blade control module detects that the traveling device module is shifted to a backward gear, and then the vehicle can be detected to be in a backward empty load state, so that the proportional control valve of the lifting oil cylinder is output and controlled to execute the blade lifting action until the blade control module detects that the backward state action of the traveling device module of the bulldozer stops, and when the position information transmitted by the GPS position receiver is at the initial position, the backward empty load action is judged to be finished. The system and the technology of the invention are convenient for remote control operators to operate the intelligent scraper knife in the remote control operation process, thereby not only improving the operation capability and the work efficiency of the operators and lightening the labor intensity, but also improving the operability and the intelligent control level of the scraper knife of the bulldozer.
In order to further explain the control system and the control method for the remote control bulldozer working device, in the present embodiment, a specific working process of the remote control bulldozer is also provided:
referring to fig. 4a to 5, in the initial operation, the vehicle is stopped on a horizontal plane, the blade is horizontally placed on the ground without inclination, the working device automatic control switch 7 is turned on, and signals collected by the cylinder displacement sensor 11, the cylinder angle sensor 12, the vehicle body inclination angle sensor 9 and the GPS position receiver are sent to the blade control module 1, and the collected numerical signals can be calibrated to the initial state of the vehicle. During operation, after the engine is started, pressure signals collected by the oil cylinder pressure sensor 14 and the working pump pressure sensor 15 are sent to the scraper knife control module 1, the collected numerical signals can be calibrated to be no-load pressure signals, and a certain load threshold value can be set according to a working object. At the time of T1, a traveling control advancing signal is triggered, when the blade control module 1 detects that the state of the traveling device module 5 is changed from a neutral gear to an advancing state and the vehicle starts to travel, at the time of T2, a blade action control signal of a working device is triggered, the blade control module outputs a PWM signal to a proportional control valve of a lifting oil cylinder 13, so that the state of a blade is changed from a maintaining state to a descending state, the descending depth can be controlled according to the detected blade load, meanwhile, the lifting oil cylinder 13 stretches out, an oil cylinder displacement sensor 11 records the stretching length M of the oil cylinder, the height of the blade synchronously descends, after the duration time reaches T3, the descending action is released, the blade action is recovered to the maintaining action signal, after a torque converter of the vehicle is matched with the load at the time of T4, the remote control bulldozer keeps a certain fixed speed for traveling, and the soil cutting depth of the blade also reaches a value matched with the, the scraper knife is continuously in a holding state to carry out the operation of walking and bulldozing/leveling, when the state of a walking device module of the vehicle is changed from forward to neutral after reaching a specified operation position, the scraper knife is triggered to carry out a lifting operation signal, a scraper knife control module outputs a PWM signal to a lifting oil cylinder proportional control valve to ensure that the state of the scraper knife is changed from holding to lifting, meanwhile, a lifting oil cylinder 13 retracts, an oil cylinder displacement sensor 14 records the retracting length of the oil cylinder, after the lifting operation is finished, the scraper knife finishes soil unloading, a GPS receiver receives the position of the remote control bulldozer in the current state, the position difference of the position information and the initial state position information is compared, the position difference is a working stroke L of the remote control bulldozer, after the scraper knife finishes soil unloading, the state of the walking device module 5 of the remote control bulldozer is triggered to retract from neutral until the scraper knife retracts to the last initial position, that is, at the end of an operation cycle, the blade control module 1 records and stores the extending and retracting distance of the lift cylinder displacement sensor 11, the rotation state of the cylinder angle sensor 12, the values of the cylinder pressure sensor 14 and the working pump pressure sensor 15 in the first operation cycle in the state that the automatic control switch 7 is closed.
When the second operation cycle is carried out, a walking operation advancing signal is triggered, when the scraper control module 1 detects that the state of the walking device module 5 is changed from a neutral gear to an advancing state and the vehicle starts to walk, a scraper action control signal of a working device is triggered, the scraper control module outputs a PWM signal to the lifting oil cylinder proportional control valve, so that the state of a scraper is changed from a maintaining state to a descending state, at the moment, when the scraper control module 1 detects that a displacement sensor of the lifting oil cylinder 13 reaches M + S, the output of the PWM signal is stopped, and the value of the extending distance S is calibrated according to the scraper load detected by the last lifting oil cylinder and the working pressure sensor detected by the scraper control module. And the scraper knife stops descending, the height of the scraper knife cutting soil is S' compared with the first descending, the remote control bulldozer continues to walk and doze until the scraper knife control module detects that the position information sent by the GPS receiver is consistent with the position signal for first stopping walking and the scraper knife unloading soil, the bulldozer stops walking again to unload soil, the walking distance is still L, and the remote control bulldozer returns to the initial point along the same route.
In the same way, the third and fourth working cycles are the same as above and are not described.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. A control system of a remote control bulldozer working device is characterized by comprising a scraper knife control module (1), an input part (2) in communication connection with the scraper knife control module (1), an output part (3) and a positioning module (4);
the input part (2) is used for acquiring the working state and the walking state of the bulldozer;
the positioning module (4) is used for acquiring the position information of the bulldozer;
the output part (3) is used for adjusting the working state of the working device;
the input part (2) and the positioning module (4) transmit the acquired working state, walking state and position information of the bulldozer to the scraper knife control module (1), and the scraper knife control module (1) controls the working state of the working device according to the received information.
2. The control system for the working device of the remote-controlled bulldozer according to claim 1, characterised in that said input section (2) comprises a running gear module (5), a working device module (6), an automatic control switch (7), a lift cylinder sensor (8), a body tilt sensor (9), a pressure sensor (10) connected to an input interface of the blade control module (1).
3. The remote-controlled dozer work device control system as claimed in claim 2, wherein said lift cylinder sensor (8) comprises a cylinder displacement sensor (11) and a cylinder angle sensor (12);
the oil cylinder displacement sensors (11) are arranged on two sides of the left and right lifting oil cylinders (13) of the bulldozer and are used for detecting the extending and retracting lengths of the left and right lifting oil cylinders (13);
the cylinder angle sensor (12) is arranged on the rotating hinge points on the two sides of the left lifting cylinder (13) and the right lifting cylinder (13) of the bulldozer and is used for detecting the rotating angle of the left lifting cylinder and the right lifting cylinder (13), so that the inclination action state of the scraper knife can be judged.
4. The remote-controlled dozer work device control system as claimed in claim 2, wherein said pressure sensor (10) comprises a cylinder pressure sensor (14) and a work pump pressure sensor (15);
the cylinder pressure sensor (14) is arranged on the working oil paths of the left lifting cylinder and the right lifting cylinder (13) of the bulldozer and is used for detecting the working pressure of the left lifting cylinder and the right lifting cylinder (13), so that the load state of the scraper knife working cylinder can be judged;
the working pump pressure sensor (15) is arranged on a shell of the bulldozer working pump and used for detecting the pressure of the working pump, so that the load state of the scraper knife of the working device can be judged.
5. The control system for a work apparatus of a remote dozer as claimed in claim 1, wherein said blade control module (1) performs data exchange through CAN bus (16) and resistance is connected in parallel between CAN bus (16).
6. The control system of a work implement of a remote-controlled bulldozer according to claim 5, in which said resistance value of said resistor is 120 Ω.
7. A control system for a work device of a remote-controlled bulldozer according to claim 1, in which said output device (3) is a proportional control valve for a lift cylinder (13).
8. A method of controlling a remotely controlled bulldozer working implement, which is applied to the remotely controlled bulldozer working implement control system defined in any one of claims 1 through 6, comprising:
when the bulldozer is in an open state, the input part (2) and the positioning module (4) transmit the acquired working state, walking state and position information of the bulldozer to the scraper knife control module (1), and the scraper knife control module (1) controls the working state of the working device according to the received information.
9. The method for controlling the work implement of the remote-controlled bulldozer according to claim 8, wherein said input unit (2) includes a lift cylinder sensor (8), said lift cylinder sensor (8) collects the extension distance of a blade lift cylinder (13) and the rotation angle of cylinder lowering, and transmits the collected information to the blade control module (1), and the blade control module (1) determines the state of the lift cylinder (13) at the current depth of blade cutting according to the information, and then determines the state of the blade according to the state of the lift cylinder.
10. The method of controlling a work implement of a remote-controlled bulldozer according to claim 8, in which said input section (2) includes a pressure sensor (10), said pressure sensor (10) collects the pressure of the work pump and the work pressure of the cylinder in real time, and transmits the collected information to the blade control module (1), and the blade control module (1) determines the load state of the blade based on the information.
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| CN201510423129.8A CN105002943A (en) | 2015-07-17 | 2015-07-17 | Control system and method of working device of remote control bulldozer |
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| CN105862950A (en) * | 2016-05-27 | 2016-08-17 | 徐工集团工程机械股份有限公司科技分公司 | Intelligent control system for push shovel of wheel type bulldozer |
| CN106404253A (en) * | 2016-08-31 | 2017-02-15 | 山推工程机械股份有限公司 | Bulldozer push rod stress measurement method |
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| CN107958110A (en) * | 2017-11-21 | 2018-04-24 | 山推工程机械股份有限公司 | A kind of bull-dozer working status dynamic monitoring method |
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| CN111936706A (en) * | 2018-01-30 | 2020-11-13 | 卡特彼勒特林布尔控制技术有限责任公司 | Flat mode integration |
| CN113404101A (en) * | 2021-07-14 | 2021-09-17 | 山推工程机械股份有限公司 | Bulldozer scene model construction and updating method and bulldozer |
| CN113513055A (en) * | 2021-04-25 | 2021-10-19 | 潍柴动力股份有限公司 | Control method and device of bulldozer and bulldozer |
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