CN109235532A - Control system, control method and excavator for excavator - Google Patents
Control system, control method and excavator for excavator Download PDFInfo
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- CN109235532A CN109235532A CN201811347154.2A CN201811347154A CN109235532A CN 109235532 A CN109235532 A CN 109235532A CN 201811347154 A CN201811347154 A CN 201811347154A CN 109235532 A CN109235532 A CN 109235532A
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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
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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
- E02F9/2004—Control mechanisms, e.g. control levers
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Selective Calling Equipment (AREA)
Abstract
The embodiment of the present invention provides a kind of control system, control method and excavator for excavator, belongs to control technology field.The system comprises: the complete machine control module being connected by CAN bus, human-computer interaction interface, operation panel and radio receiver module and/or air-conditioning module, the key of radio receiver module and/or the key of air-conditioning module are provided on operation panel, wherein, radio receiver module key or air-conditioning module actuation of keys when, the action message of the key of the action message of the key of radio receiver module or air-conditioning module is transmitted to complete machine control module by CAN bus by operation panel, complete machine control module transmits control instruction to radio receiver module or air-conditioning module by CAN bus according to the action message of the key of radio receiver module or the action message of the key of air-conditioning module, and the working condition of radio receiver module or air-conditioning module is transmitted to human-computer interaction interface by CAN bus.Technical solution provided by the invention, can reduce harness complexity, and practicability is high.
Description
Technical field
The present invention relates to control technology field, more particularly to a kind of control system for excavator, it to be used for excavator
Control method and excavator.
Background technique
With the development of electric and electronic technology, the electric control system in engineering machinery is also become more and more important.Wherein,
The CAN bus communication technology rises development from automobile industry, but since the CAN bus communication technology has reliable and stable, is easy to connect
The advantages that line and extension, it is increasingly used in construction machinery industry, for example, on board a dredger, it is especially medium-and-large-sized
Excavator all has the control system based on the CAN bus communication technology substantially.However CAN bus is only used for the logical of key modules
Letter connection.
Fig. 1 shows the structural schematic diagram of the existing control system for excavator.As shown in Figure 1, the key mould
Block includes display module 1, complete machine control module 2, engine control module 3 and remote terminal 4, is shown for realizing key parameter
Show, operation safety protection, engine start and stop and the operation such as revolving speed control, long-range lock machine and unlock.But there are also many modules and
Equipment still independently of CAN bus system except.For example, operation is equal since the equipment such as air-conditioning and radio carry control panel
Except control system, information exchange can not be realized with control system.For another example traditional block terminal usually contains in block terminal
There are fuse, relay, and since block terminal can not realize information exchange with control system, lead to the work of fuse and relay
Making state can not be perceived by complete machine, and certain difficulty can be also brought to malfunction elimination.In addition present inventor also found, these
It needs to be attached using more electric wire independently of the standalone module except control system, peace more in driver's cabin can be occupied
Space is filled, had both been unfavorable for system and has simplified, and be also unfavorable for cost control.
Summary of the invention
The purpose of the embodiment of the present invention is that providing a kind of control system for excavator, the control method for excavator
And excavator, for solving one or more of above-mentioned technical problem.
To achieve the goals above, the embodiment of the present invention provides a kind of control system for excavator, the system packet
It includes: complete machine control module, human-computer interaction interface, operation panel and the radio receiver module and/or sky being connected by CAN bus
Mode transfer block is provided with the key of the radio receiver module and/or the key of the air-conditioning module on the operation panel, wherein
The radio receiver module key or the air-conditioning module actuation of keys when, the operation panel is by the radio receiver module
The action message of key or the action message of key of the air-conditioning module complete machine control is transmitted to by the CAN bus
Molding block, the complete machine control module is according to the action message of the key of the radio receiver module or the key of the air-conditioning module
Action message control instruction is transmitted to the radio receiver module or the air-conditioning module by the CAN bus, and pass through
The CAN bus transmits the working condition of the radio receiver module or the air-conditioning module to the human-computer interaction interface.
Optionally, when the action message of the key of the radio receiver module is control radio receiver module starting or institute
When stating the action message of the key of air-conditioning module to control air-conditioning module starting, the complete machine control module passes through described
CAN bus is instructed to the radio receiver module or the air-conditioning module transmission start, and by the CAN bus to the people
Machine interactive interface is transferred into radio interface or enters the instruction at air-conditioning interface.
Optionally, it is additionally provided with knob on the operation panel, in knob movement, the operation panel will be described
The action message of knob is transmitted to the complete machine control module by the CAN bus, and the complete machine control module is according to
The action message of knob transmits the action message of the knob by the CAN bus to the man-machine interface, described in selection
Option of operation on human-computer interaction interface.
Optionally, homepage key, spray key, windscreen wiper key, walking key, light key, automatic is additionally provided on the operation panel
One or more of idling key and mode key.
Optionally, the system also includes communication modules and locating module, connect with the CAN bus, by operational data
It is transmitted to the complete machine control module by the CAN bus, and is received by the CAN bus from the complete machine control module
Instruction；And/or the system also includes Power entry modules, connect with the CAN bus, and operational data is passed through the CAN bus
It is transmitted to the complete machine control module, and distribution instruction is received from the complete machine control module by the CAN bus；And/or
The system also includes engine control module, connect with the CAN bus, and operational data is transmitted by the CAN bus
The extremely complete machine control module, and action command is received from the complete machine control module by the CAN bus.
Correspondingly, the excavator includes logical the embodiment of the invention also provides a kind of control method for excavator
Cross complete machine control module, human-computer interaction interface, operation panel and the radio receiver module and/or air-conditioning mould that CAN bus is connected
Block is provided with the key of the radio receiver module and/or the key of the air-conditioning module, the method packet on the operation panel
Include: the radio receiver module key or the air-conditioning module actuation of keys when, the operation panel is by the radio
The action message of the key of the action message of the key of module or the air-conditioning module is transmitted to described whole by the CAN bus
Machine control module, the complete machine control module is according to the action message of the key of the radio receiver module or the air-conditioning module
The action message of key transmits control instruction to the radio receiver module or the air-conditioning module by the CAN bus, and
The working condition of the radio receiver module or the air-conditioning module is transmitted to the human-computer interaction interface by the CAN bus.
Optionally, the method also includes: be to control the radio reception in the action message of the key of the radio receiver module
When machine module starts or the action message of the key of the air-conditioning module is complete machine control when controlling air-conditioning module starting
Molding block is instructed by the CAN bus to the radio receiver module or the air-conditioning module transmission start, and by described
CAN bus is transferred into radio interface to the human-computer interaction interface or enters the instruction at air-conditioning interface.
Optionally, it is additionally provided with knob on the operation panel, the method also includes: in knob movement, institute
It states operation panel and the action message of the knob is transmitted to the complete machine control module, the complete machine by the CAN bus
Control module transmits the movement of the knob according to the action message of the knob by the CAN bus to the man-machine interface
Information, to select the option of operation on the human-computer interaction interface.
Optionally, the excavator further includes the communication module connecting with CAN bus and locating module and/or the digging
Pick machine further includes Power entry module and/or the excavator further includes engine control module, the method also includes: it is described logical
Believe that operational data is transmitted to the complete machine control module by the CAN bus by module and locating module, and passes through the CAN
Bus is received from the complete machine control module and is instructed；And/or the Power entry module transmits operational data by the CAN bus
The extremely complete machine control module, and distribution instruction is received from the complete machine control module by the CAN bus；And/or it is described
Operational data is transmitted to the complete machine control module by the CAN bus by engine control module, and total by the CAN
Line receives action command from the complete machine control module.
Correspondingly, the excavator includes any in above-described embodiment the embodiment of the invention also provides a kind of excavator
The control system for excavator described in.
Through the above technical solutions, air-conditioning and radio is made to be used for the control system of excavator by CAN bus access, lead to
Complete machine control module is crossed to control air-conditioning and/or radio work, space can be saved, improve and drive indoor comfort level.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the structural schematic diagram of the existing control system for excavator；
Fig. 2 is that the structural diagrams of the control system provided in an embodiment of the present invention for excavator are intended to；
Fig. 3 is the flow chart of the control method provided in an embodiment of the present invention for excavator.
Description of symbols
1 display module, 2 complete machine control module
3 engine control module, 4 remote terminal
5 human-computer interaction interface, 6 operation panel
7 radio receiver module, 8 air-conditioning module
9 communication module, 10 locating module
11 Power entry modules
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Fig. 2 is the structural schematic diagram of the control system provided in an embodiment of the present invention for excavator.As shown in Fig. 2, institute
Stating control system includes complete machine control module 2, human-computer interaction interface 5, operation panel 6, in addition, the control system can also wrap
Include radio receiver module 7 and/or air-conditioning module 8.Above-mentioned complete machine control module 2, human-computer interaction interface 5, operation panel 6, Yi Jishou
It is connected between sound machine module 7 and/or air-conditioning module 8 by CAN bus and data interaction is carried out by the CAN bus.
The human-computer interaction interface 5 can show the radio receiver module 7 and/or working condition of air-conditioning module etc..
Optionally, the human-computer interaction interface 5 can be the equipment having a display function such as display screen.In addition, described aobvious
Display screen can also have touch function.
When the human-computer interaction interface 5 is the display equipment with touch function, user can be by operating man-machine friendship
Mutual interface 5, and the instruction for receiving user's input is transmitted to complete machine control module 2, complete machine control module by the CAN bus
The instruction of 2 pairs of user's inputs determines the content of the instruction of user's input after handling, and defeated according to the user
The content of the instruction entered is sent by CAN bus to human-computer interaction interface 5, the radio receiver module 7 or the air-conditioning module 8
Corresponding control instruction.
Optionally, the key of radio receiver module and/or the key of air-conditioning module can be set on operation panel 6.Work as institute
When to state control system include radio receiver module 7, the key of radio receiver module is provided on the operation panel 6, when the control
When system includes air-conditioning module 8, the key of air-conditioning module is provided on the operation panel 6.
The radio receiver module 7 is for receiving broadcast singal, can also having Bluetooth function and reading the function such as U disk file
Energy.
The course of work between complete machine control module 2, human-computer interaction interface 5, operation panel 6 and radio receiver module 7 is as follows
It is shown.
In the actuation of keys of the radio receiver module, the operation panel 6 is moved the key of the radio receiver module
Make information and the complete machine control module 2 is transmitted to by CAN bus, the complete machine control module 2 is according to the radio receiver module
Key action message by the CAN bus to the radio receiver module 7 transmit control instruction, and pass through the CAN
Bus transmits the working condition of the radio receiver module to the human-computer interaction interface 5.
Wherein, described when the action message of the key of the radio receiver module is to control the radio receiver module 7 starting
Complete machine control module 2 is instructed by the CAN bus to 7 transmission start of radio receiver module, and passes through the CAN bus
The instruction at radio interface is transferred into the human-computer interaction interface 5.
Optionally, the radio interface can show the information such as FM/AM mode, USB flash disk mode or bluetooth mode.
Wherein, described when the action message of the key of the radio receiver module is to control the radio receiver module 7 to close
Complete machine control module 2 transmits out code to the radio receiver module 7 by the CAN bus, and passes through the CAN bus
The instruction for closing radio interface is transmitted to the human-computer interaction interface 5.
When radio receiver module 7 has Bluetooth function, radio and mobile device (such as mobile phone plane plate etc.) can be made
Pass through bluetooth connection.When radio receiver module 7 is connected with mobile device, and mobile device has phone to dial in or transfer to, radio reception
The call-information of mobile device can be sent to complete machine control module 2 by CAN bus by machine module 7, and complete machine control module 2 is again
The instruction of the call-information of display mobile device is sent, to human-computer interaction interface 5 by CAN bus to control human-computer interaction interface
5 display call pages etc..Or radio receiver module 7 can also pass through bluetooth connection with mobile device to play in mobile device
Audio-frequency information, and the content of the audio-frequency information can also be shown by human-computer interaction interface 5.
When radio receiver module 7 has USB interface, the information in USB flash disk can also be read by the USB interface, and lead to
Cross human-computer interaction interface 5 and show information in USB flash disk, can also be selected by the key on operation panel 6 file in USB flash disk into
Row is read.
The air-conditioning module 8 can be set according to user data and temperature sensor data adjust air-conditioning damper motor and
Compressor, to realize refrigeration or heat-production functions.
Similar, the process between complete machine control module 2, human-computer interaction interface 5, operation panel 6 and air-conditioning module 8 is as follows
It is shown.
In the actuation of keys of the air-conditioning module, the operation panel 6 believes the movement of the key of the air-conditioning module
Breath is transmitted to the complete machine control module 2 by CAN bus, and the complete machine control module 2 is according to the key of the air-conditioning module
Action message control instruction is transmitted to the air-conditioning module 8 by the CAN bus, and by the CAN bus to institute
State the working condition that human-computer interaction interface 5 transmits the air-conditioning module.
Wherein, when the action message of the key of the air-conditioning module is to control the air-conditioning module 8 starting, the complete machine
Control module 2 is instructed by the CAN bus to 8 transmission start of air-conditioning module, and by the CAN bus to described
Human-computer interaction interface 5 is transferred into the instruction at air-conditioning interface.
Optionally, the air-conditioning interface can show the information such as automatic mode and manual mode.
Wherein, when the action message of the key of the air-conditioning module is to control the air-conditioning module 8 to close, the complete machine
Control module 2 transmits out code to the air-conditioning module 8 by the CAN bus, and by the CAN bus to described
The instruction at air-conditioning interface is closed in the transmission of human-computer interaction interface 5.
In addition, can be set according to the emergency of display information for the content of the page shown by human-computer interaction interface 5
Set different display levels.For example, the information for the broadcasting channel that radio plays currently is shown in human-computer interaction interface 5, this
When a certain component of excavator break down, can be by CAN bus by number of faults and after complete machine control module 2 receives the failure
According to show the failure instruction be transmitted to human-computer interaction interface 5, human-computer interaction interface 5 receives number of faults by CAN bus
According to after instruction, it will the preferential display alarm page, to remind staff's currently a certain component malfunction, need to check and
Processing.
Optionally, it is also provided with knob on the operation panel 6, in knob movement, the operation panel
The action message of the knob is transmitted to the complete machine control module, the complete machine control module root by the CAN bus
The action message of the knob is transmitted, to the man-machine interface by the CAN bus according to the action message of the knob with fast
Speed selects the option of operation above the human-computer interaction interface 5, for example, the selection operational module of air-conditioning, the temperature of air-conditioning, radio reception
The file etc. in USB flash disk that the volume and selection that machine sowing is put are read.
Optionally, other keys can also be set on the operation panel 6.For example, energy can be arranged on operation panel 6
It enough shows the homepage key of homepage, control spray key, the windscreen wiper key of control wiper work, control excavation that excavator is sprayed
The walking key of machine walking, the lamps work such as indicator light on control excavator light key, control excavator and enter auto idle speed shape
The auto idle speed key of state and the mode key etc. of selection excavator operation mode.
The course of work between human-computer interaction interface 5, operation panel 6 and complete machine control module 2 are as follows: on operation panel 6
When any key is acted, the code of corresponding actuation of keys, complete machine can be sent to complete machine control module 2 by CAN bus
After control module 2 receives the code of corresponding actuation of keys by CAN bus, according to the code, by CAN bus to specific
It executes equipment and sends the corresponding movement of execution key code, and is simultaneously that the specific status data for executing equipment is total by CAN
Line is transmitted to human-computer interaction interface 5, or the specific equipment that executes feeds back current status data to complete machine control module 2, complete machine
Received current status data is transmitted to human-computer interaction interface 5 by CAN bus again by control module 2, and human-computer interaction interface 5 connects
After the instruction for receiving display data, corresponding data will be shown.
Specifically, pressing homepage key for example when showing any page on human-computer interaction interface 5, homepage key code will lead to
It crosses CAN bus and is transmitted to complete machine control module 2, complete machine control module 2 is sent by CAN bus to human-computer interaction interface 5 aobvious again
The instruction for showing homepage, after human-computer interaction interface receives instruction by CAN bus, it will switch to homepage.Wherein, the homepage
It may include engine coolant temperature, hydraulic fluid temperature, working hours meter, real-time clock, malfunction icon or windscreen wiper, spray
Leaching, mode, idling mode etc..
For example, it is single windscreen wiper key action code can be sent to complete machine control by CAN bus when windscreen wiper key is acted
Member 2, complete machine control unit 2 send work to windscreen wiper operational module (not shown) and refer to according to the windscreen wiper key action situation
It enables.For example, can act with windscreen wiper key three times as a circulation, relevant work instruction: windscreen wiper key is issued to windscreen wiper operational module
When being pressed for the first time, issues and open windscreen wiper action command at a slow speed；When windscreen wiper key is pressed for the second time, issues and open quick windscreen wiper
Action command；When windscreen wiper key third time is pressed, issues and stop windscreen wiper action command.
For example, can will spray key action code by CAN bus when spray key is acted and be sent to complete machine control list
Member 2, complete machine control unit 2 is according to the spray key action situation, to windscreen wiper operational module and spray module (not shown)
Send work order.For example, starting to open to spray module when complete machine control unit 2 is pressed by CAN bus reception spray key
The instruction that the motor of dynamic control bath of glass sprinkling works three seconds, and sent to windscreen wiper operational module and open the finger that windscreen wiper acts at a slow speed
It enables.
For example, it is single that the key action code that can will be walked by CAN bus is sent to complete machine control when key of walking is acted
Member 2, complete machine control unit 2 switch to fast valve or low speed valve according to the walking key action situation, to hydraulic system sending
Instruction.
For example, it is single light key action code can be sent to complete machine control by CAN bus when light key is acted
Member 2, complete machine control unit 2 issue the instruction for opening/closing swing arm lamp or turntable lamp according to the light key action situation.
For example, auto idle speed key action code can be sent to by CAN bus whole when auto idle speed key is acted
Machine control unit 2, complete machine control unit 2 determine whether to execute according to the auto idle speed key action situation and current system pressure
Engine idling, such as when system pressure is less than 8bar, determine that hydraulic system may be at standby mode, it will be to engine control
Unit processed sends the instruction that control engine is in idling mode, is directly down to idling to control engine by current shift, saves
Fuel consumption is saved, if system pressure is greater than 8bar, sends control engine according to current shift to control unit of engine
Speed operation instruction.
For example, it is single mode key action code can be sent to complete machine control by CAN bus when mode key is acted
Member 2, complete machine control unit 2 send control engine according to certain according to the mode key action situation, to control unit of engine
The instruction of the speed operation of one gear.Different modes, the mode packet can be set according to the different action situations of mode key
It includes and matches different engine speed according to different operating conditions, to play the maximal efficiency of system.
Correspondingly, the human-computer interaction interface 5 can also show complete machine working condition, such as engine speed, oil pressure
Power, hydraulic system pressure, light status, radio and/or air conditioning function selection page etc..
The control system for excavator that this embodiment of the invention provides, will be each in excavator by CAN bus
For block combiner at a complete bus system, each module in the modules is used as one in CAN bus to save
Point can send the working condition of itself to CAN bus, also can other corresponding modules control request.
Technical solution provided in an embodiment of the present invention, is also integrated into control system for radio receiver module and/or air-conditioning module
It is interior, and connected in CAN bus, the instruction that complete machine control module issues based on the received works, and can simplify excavator and drives
Interior wiring is sailed, optimization harness layout saves and beautifies the indoor space of driving.
Control system provided in an embodiment of the present invention for excavator further includes human-computer interaction interface and operation panel, and
The key for controlling radio receiver module and/or for controlling air-conditioning module is integrated on operation panel, user passes through operation
The signal for controlling radio or air-conditioning is input in complete machine control module, complete machine by the key on control panel by CAN bus
Control module passes through CAN bus again and control instruction is sent to radio receiver module or air-conditioning mould, easy to operate in this way, can also subtract
Few installation space.
It can be pressed on operation panel provided in an embodiment of the present invention with the operation that the equipment in integrated control excavator works
Key can show the corresponding page according to the action situation of different keys on human-computer interaction interface, realize good man-machine
Interactive operation.
Optionally, the control system can also include communication module 9 and locating module 10, the communication module 9 and fixed
Position module 10 is connect with CAN bus, and the data such as the working condition of itself can be sent to CAN bus, can also pass through CAN bus
It is received from complete machine control module 2 and instructs and execute corresponding operating.
Optionally, the communication module 9 can support the communication modes such as bluetooth, WiFi, 3G, 4G and ZigBee.
Optionally, the locating module 10 may include GPS positioning module or Beidou positioning module, or can wrap simultaneously
Containing GPS positioning module and Beidou positioning module, the location data of two kinds of locating modules detection can be calibrated mutually, to improve positioning
Precision.
For example, it is desired to operating state data when excavator is in different location is uploaded to terminal or server, it is fixed
Position module 10 can be real-time or be separated by the position that a fixed time period positions excavator, and passes through CAN bus for the position of excavator
Data transmission is set to complete machine control module 2, complete machine control module 2 will acquire the work of excavator according to the location information of excavator
Make after the data such as state are handled, it will treated data and treated that data are uploaded to clothes by described by CAN bus
The instruction of business device or terminal is transmitted to communication module 9, and communication module 9 is by the CAN bus data that receive that treated and will handle
After data afterwards are uploaded to the instruction of server or terminal, by any one mode, treated that data are uploaded to clothes by described
Business device or terminal.
Optionally, complete machine control module 2 can by the received instruction that data are uploaded to server or terminal of CAN bus
To come from human-computer interaction interface 5 or operation panel 6.
Optionally, the control system can also include Power entry module 11, also connect with CAN bus, can be by described
CAN bus transmits operational data to complete machine control module 2, can also be connect by the CAN bus from the complete machine control module 2
Receive distribution instruction.
Wherein, there is integrated multichannel large driven current density circuit in Power entry module 11, the electric current of battery can be distributed
To different electrical equipments.
Optionally, the Power entry module 11 can also have short circuit and current foldback circuit, be judged by protection circuit
Line status.The short circuit of the Power entry module and current foldback circuit can arbitrarily can be realized short circuit and overcurrent protection to be existing
Circuit, to this without limit.
When the corresponding output port of Power entry module 11 is not connected in load, Power entry module 11, which determines, generates open-circuit fault,
And open-circuit fault code is transmitted to by complete machine control module 2 by CAN bus；When the appearance pair of the corresponding output port of Power entry module 11
When ground short circuit, short trouble code is transmitted to complete machine control module 2 by CAN bus for Power entry module 11 and cutting immediately exports；
When the corresponding output port load current of Power entry module 11 is excessive, Power entry module 11 is passed over current fault code by CAN bus
Transport to complete machine control module 2, complete machine control module 2 is according to duration of over current fault, it is determined whether it needs to switch output,
When determining that needs switch output, the instruction of switching output is transmitted to by Power entry module 11 by CAN bus, Power entry module 11 passes through
After CAN bus receives instruction, the movement of switching output is executed.
Optionally, the open-circuit fault code, short of the sending of Power entry module 11 is received by CAN bus when complete machine control module 2
When road error code or over current fault code, can also by CAN bus by received error code and display fault code indications instruction
It is sent to human-computer interaction interface 5, to remind staff's current power distribution module 11 that open-circuit fault, short trouble or overcurrent has occurred
Failure needs to handle in time.
Optionally, the control system can also include engine control module 3, also connect, can pass through with CAN bus
The CAN bus transmits operational data to complete machine control module 2, also can control mould from the complete machine by the CAN bus
Block 2 receives distribution instruction.
The engine control module 3 is connected with engine, the available sensor acquisition connecting with engine
Data judge the revolving speed and torque request of engine, control engine movement.Wherein, the engine control module 3 with start
Data interaction is preferably carried out by standard J1939 agreement between machine.
Wherein, the course of work of the control in relation to engine and protection is as follows.
When complete machine control module 2 detects that key switch is located at start gear, the shape of guide's safety switch is first obtained
State, by No starting engine, is in guide's safety switch and opens when guide's safety switch is in close state
When opening state, complete machine control module 2 obtains the revolving speed of the engine detected from engine control module 3 by CAN bus,
The revolving speed of engine, which is higher than, a preset rotation speed value (such as 800rpm) and continues a preset time, then confirm engine start at
Function, when confirming that engine start is failed, complete machine control module 2 is received from remote by CAN bus acquisition communication module 9
The data of journey terminal or server, and according to the data determine excavator whether lock machine, can be into the case where non-lock machine
Row detects in next step.
In addition, the complete machine control module 2 detects that key switch is located at start gear in engine starting process
When start timing, if engine is more than a default starting time still inactive success, the complete machine control module 2 passes through
CAN bus starts the instruction for not allowing engine to restart to engine control module 3.
In addition, complete machine control module 2 receives the engine failure number sent by engine control module 3 by CAN bus
According to determining engine, there is no in the case where failure, could complete to start.
When complete machine control module 2 detects that key switch is located on gear, if engine start success, complete machine control
Module 2 is sent the failure of engine oil pressure, coolant temperature and engine by receiving by CAN bus by engine control module 3
Data are in normal condition in engine oil pressure and coolant temperature, and when engine does not break down, and complete machine control module 2 will
According to the setting content of accelerator gear, the instruction of adjustment engine speed is conveyed to engine control module 3 by CAN bus,
When complete machine control module 2 gets engine failure data, is conveyed send out to engine control module 3 by CAN bus immediately
The instruction that motivation is shut down, to protect the job security of anode.
Technical solution provided in an embodiment of the present invention, by complete machine control module according to the work shape of guide's safety switch
State, the working condition of engine, remote terminal or server whether issue lock machine or unlock instruction control the start and stop of engine,
Speed regulation and speed limit.
Fig. 3 is the flow chart of the control method provided in an embodiment of the present invention for excavator.As shown, described be used for
The control method of excavator includes: when the key on operation panel is acted, and actuation of keys code is passed through CAN by operation panel
Bus transfer is to complete machine control module；The complete machine control module receives the actuation of keys code, and dynamic according to the key
The content for making code is instructed to relevant device sending action, and is transmitted by CAN bus to human-computer interaction interface and shown certain one page
The instruction in face；After human-computer interaction interface and relevant device receive the instruction from complete machine control module, according to described instruction
Content executes corresponding operation.
Operation panel include the key and/or air-conditioning module for being provided with radio receiver module key, setting can show master
Page homepage key, control excavator sprayed spray key, control wiper work windscreen wiper key, control excavator walking
Light key, the control excavator of the lamps work such as the indicator light on walking key, control excavator enter the automatic of auto idle speed state
The mode key etc. of idling key and selection excavator operation mode.
Optionally, it is also provided with knob on the operation panel, in knob movement, the operation panel will
The action message of the knob is transmitted to the complete machine control module by the CAN bus, the complete machine control module according to
The action message of the knob transmits the action message of the knob by the CAN bus to the man-machine interface, with quick
Select the option of operation above the human-computer interaction interface 5.
Now explain that the present invention provides by taking the key of key or air-conditioning module on operation panel with radio receiver module as an example
Technical solution.
The radio receiver module key or the air-conditioning module actuation of keys when, the operation panel is by the receipts
The action message of the key of the action message or air-conditioning module of the key of sound machine module is transmitted to institute by the CAN bus
State complete machine control module, action message or the air-conditioning mould of the complete machine control module according to the key of the radio receiver module
The action message of the key of block transmits control instruction to the radio receiver module or the air-conditioning module by the CAN bus,
And the work shape of the radio receiver module or the air-conditioning module is transmitted to the human-computer interaction interface by the CAN bus
State.
For example, when the action message of the key of the radio receiver module is to control radio receiver module starting or described
The action message of the key of air-conditioning module is when controlling air-conditioning module starting, and the complete machine control module passes through the CAN
Bus is instructed to the radio receiver module or the air-conditioning module transmission start, and by the CAN bus to described man-machine
Interactive interface is transferred into radio interface or enters the instruction at air-conditioning interface.Alternatively, in the key of the radio receiver module
Action message is when controlling radio receiver module closing or the action message of the key of the air-conditioning module is to control the sky
When mode transfer block is closed, the complete machine control module is passed by the CAN bus to the radio receiver module or the air-conditioning module
Defeated out code, and radio interface is exited to human-computer interaction interface transmission by the CAN bus or exits air-conditioning
The instruction at interface.
Optionally, when excavator further includes the communication module connecting with CAN bus and locating module, the embodiment of the present invention
The control method of offer further include: operational data is transmitted to institute by the CAN bus by the communication module and locating module
Complete machine control module is stated, and is received and is instructed from the complete machine control module by the CAN bus.
Optionally, when excavator further includes the Power entry module connecting with CAN bus, control provided in an embodiment of the present invention
Method further include: operational data is transmitted to the complete machine control module by the CAN bus by the Power entry module, and is passed through
The CAN bus receives distribution instruction from the complete machine control module.
Optionally, when excavator further includes the engine control module connecting with CAN bus, the embodiment of the present invention is provided
Control method further include: operational data is transmitted to the complete machine control by the CAN bus by the engine control module
Molding block, and action command is received from the complete machine control module by the CAN bus.
Detail and benefit in relation to the above-mentioned control method for excavator provided by the invention, see above-mentioned needle
Description to the control system provided by the present invention for excavator, repeats no more in this.
Correspondingly, the embodiment of the present invention also provides a kind of excavator, the excavator includes any of the above-described kind for excavating
The control system of machine.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of control system for excavator, which is characterized in that the system comprises:
The complete machine control module, human-computer interaction interface, operation panel and the radio receiver module that are connected by CAN bus and/or
Air-conditioning module is provided with the key of the radio receiver module and/or the key of the air-conditioning module on the operation panel,
Wherein, in the actuation of keys of the key of the radio receiver module or the air-conditioning module, the operation panel will be described
The action message of the key of the action message of the key of radio receiver module or the air-conditioning module is transmitted to by the CAN bus
The complete machine control module, action message or the air-conditioning of the complete machine control module according to the key of the radio receiver module
The action message of the key of module is referred to by the CAN bus to the radio receiver module or air-conditioning module transmission control
It enables, and transmits the work of the radio receiver module or the air-conditioning module to the human-computer interaction interface by the CAN bus
Make state.
2. system according to claim 1, which is characterized in that the radio receiver module key action message be control
When making radio receiver module starting or when the action message of the key of the air-conditioning module is controls air-conditioning module starting,
The complete machine control module is instructed by the CAN bus to the radio receiver module or the air-conditioning module transmission start, and
And radio interface is transferred into the human-computer interaction interface by the CAN bus or enters the instruction at air-conditioning interface.
3. system according to claim 1, which is characterized in that knob is additionally provided on the operation panel, in the rotation
When button acts, the action message of the knob is transmitted to the complete machine by the CAN bus and controls mould by the operation panel
Block, the complete machine control module transmit institute to the man-machine interface by the CAN bus according to the action message of the knob
The action message of knob is stated, to select the option of operation on the human-computer interaction interface.
4. system according to claim 1, which is characterized in that be additionally provided on the operation panel homepage key, spray key,
One or more of windscreen wiper key, walking key, light key, auto idle speed key and mode key.
5. system according to claim 1, which is characterized in that
The system also includes communication modules and locating module, connect with the CAN bus, and operational data is passed through the CAN
Bus transfer is received from the complete machine control module by the CAN bus and is instructed to the complete machine control module；And/or
The system also includes Power entry modules, connect with the CAN bus, and operational data is transmitted to by the CAN bus
The complete machine control module, and distribution instruction is received from the complete machine control module by the CAN bus；And/or
The system also includes engine control module, connect with the CAN bus, and operational data is passed through the CAN bus
It is transmitted to the complete machine control module, and action command is received from the complete machine control module by the CAN bus.
6. a kind of control method for excavator, which is characterized in that the excavator include be connected by CAN bus it is whole
Machine control module, human-computer interaction interface, operation panel and radio receiver module and/or air-conditioning module are set on the operation panel
It is equipped with the key of the radio receiver module and/or the key of the air-conditioning module, which comprises
The radio receiver module key or the air-conditioning module actuation of keys when, the operation panel is by the radio
The action message of the key of the action message of the key of module or the air-conditioning module is transmitted to described whole by the CAN bus
Machine control module, the complete machine control module is according to the action message of the key of the radio receiver module or the air-conditioning module
The action message of key transmits control instruction to the radio receiver module or the air-conditioning module by the CAN bus, and
The working condition of the radio receiver module or the air-conditioning module is transmitted to the human-computer interaction interface by the CAN bus.
7. according to the method described in claim 6, it is characterized in that, the method also includes:
The radio receiver module key action message be control the radio receiver module starting when or the air-conditioning module
The action message of key be when controlling air-conditioning module starting, the complete machine control module is by the CAN bus to institute
Radio receiver module or air-conditioning module transmission start instruction are stated, and by the CAN bus to the human-computer interaction interface
It is transferred into radio interface or enters the instruction at air-conditioning interface.
8. according to the method described in claim 6, it is characterized in that, being additionally provided with knob, the method on the operation panel
Further include:
In knob movement, the action message of the knob is transmitted to institute by the CAN bus by the operation panel
State complete machine control module, the complete machine control module is according to the action message of the knob by the CAN bus to the people
The action message of the knob is transmitted at machine interface, to select the option of operation on the human-computer interaction interface.
9. according to the method described in claim 6, it is characterized in that, the excavator further includes the communication connecting with CAN bus
Module and locating module and/or the excavator further include Power entry module and/or the excavator further includes engine control
Module, the method also includes:
Operational data is transmitted to the complete machine control module by the CAN bus by the communication module and locating module, and
It is received and is instructed from the complete machine control module by the CAN bus；And/or
Operational data is transmitted to the complete machine control module by the CAN bus by the Power entry module, and passes through the CAN
Bus receives distribution instruction from the complete machine control module；And/or
Operational data is transmitted to the complete machine control module by the CAN bus by the engine control module, and is passed through
The CAN bus receives action command from the complete machine control module.
10. a kind of excavator, which is characterized in that the excavator includes being used for described in any one of the claims 1-5
The control system of excavator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811347154.2A CN109235532A (en) | 2018-11-13 | 2018-11-13 | Control system, control method and excavator for excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811347154.2A CN109235532A (en) | 2018-11-13 | 2018-11-13 | Control system, control method and excavator for excavator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109235532A true CN109235532A (en) | 2019-01-18 |
Family
ID=65078368
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811347154.2A Pending CN109235532A (en) | 2018-11-13 | 2018-11-13 | Control system, control method and excavator for excavator |
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| Country | Link |
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| CN (1) | CN109235532A (en) |
Cited By (1)
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Application publication date: 20190118 |