CN110607820A - Control method and system of static pressure driven bulldozer and static pressure driven bulldozer - Google Patents
Control method and system of static pressure driven bulldozer and static pressure driven bulldozer Download PDFInfo
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- CN110607820A CN110607820A CN201910936366.2A CN201910936366A CN110607820A CN 110607820 A CN110607820 A CN 110607820A CN 201910936366 A CN201910936366 A CN 201910936366A CN 110607820 A CN110607820 A CN 110607820A
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- bulldozer
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying 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
Abstract
The invention discloses a control method and a system of a static pressure driven bulldozer and the static pressure driven bulldozer, wherein the method comprises the following steps: acquiring a slope value of the bulldozer body, wherein the slope value comprises a front slope value, a rear slope value, a left slope value and a right slope value of the bulldozer body, which are acquired by an inclination angle sensor; acquiring a current operation mode of the bulldozer, wherein the operation mode comprises a common mode and a ramp mode; and if the operation mode of the bulldozer is the ramp mode, controlling at least one of the driving speed, the steering and the power matching of the bulldozer according to whether the absolute value of the gradient value meets a preset condition. Through controlling at least one of the traveling speed, the steering and the power matching of the bulldozer in the ramp mode, the technical problems that the bulldozer is operated by the aid of experience fuzzy judgment of an operator during ramp operation in the prior art and is easy to control unstably or even tip over are solved, and the technical effects that the static pressure driving bulldozer is more intelligent, safe and stable and has strong working condition adaptability are achieved.
Description
Technical Field
The embodiment of the invention relates to the technical field of bulldozers, in particular to a control method and system of a static pressure driven bulldozer and the static pressure driven bulldozer.
Background
The static pressure driving bulldozer is more and more popular with markets and users due to the advantages of excellent control performance, operation performance, safety, environmental protection, high intelligent degree and the like, and the static pressure driving bulldozer is basically and completely adopted particularly for middle and small horsepower bulldozers. In addition, as the technology is continuously developed, the degree of intelligence is becoming one of the important indexes for measuring the technical level of the bulldozer, and the degree of intelligence is also becoming the main direction of development of the bulldozer in the future.
However, when the bulldozer operates on a slope, particularly when the bulldozer approaches to or exceeds the maximum allowable operating gradient, problems and potential safety hazards such as increased control difficulty, unstable control and even rollover easily occur, and the judgment can only be fuzzy through self experience of an operator.
Disclosure of Invention
The invention provides a control method and a control system of a static pressure driven bulldozer and the static pressure driven bulldozer, so as to achieve the technical effects of more intelligence, safety and stability of the static pressure driven bulldozer and strong adaptability to working conditions.
The embodiment of the invention provides a control method of a static pressure drive bulldozer, which comprises the following steps: acquiring a slope value of the bulldozer body, wherein the slope value comprises a front slope value, a rear slope value, a left slope value and a right slope value of the bulldozer body, which are acquired by an inclination angle sensor; acquiring a current operation mode of the bulldozer, wherein the operation mode comprises a common mode and a ramp mode; and if the operation mode of the bulldozer is a ramp mode, controlling at least one of the driving speed, the steering and the power matching of the bulldozer according to whether the absolute value of the gradient value meets a preset condition.
Further, controlling the traveling speed of the bulldozer according to whether the absolute value of the gradient value satisfies a preset condition includes: and if the absolute value of the gradient value is greater than or equal to a first preset gradient value, limiting the driving speed of the bulldozer.
Further, the speed limiting of the traveling speed of the bulldozer includes: the method comprises the steps of controlling the running speed of the bulldozer to be the current speed multiplied by a preset coefficient, wherein the range of the preset coefficient is 0-1, and the current speed is acquired through a motor rotating speed sensor of the bulldozer.
Further, the method further comprises: the slope value and the actual travel speed of the bulldozer are displayed on a display device of the bulldozer.
Further, controlling the steering of the bulldozer according to whether the absolute value of the grade value satisfies a preset condition comprises: if the absolute value of the gradient value is larger than a second preset gradient value, acquiring a handle stroke sent by a walking handle of the bulldozer; and slowing down the steering speed of the bulldozer based on the handle stroke and a preset gradient steering curve, wherein the preset gradient steering curve is a nonlinear curve.
Further, according to whether the absolute value of the gradient value meets a preset condition, controlling the power matching of the bulldozer comprises: if the front-rear gradient value is larger than a first preset front-rear gradient value, increasing the response speed of the engine of the bulldozer based on a first preset power matching curve, wherein the first preset power matching curve is an uphill power matching curve; if the front-rear gradient value is smaller than a second preset front-rear gradient value, reducing the response speed of the engine of the bulldozer based on a second preset power matching curve, wherein the second preset power matching curve is a downhill power matching curve; wherein the second preset front-rear gradient value is smaller than the first preset front-rear gradient value.
Further, after obtaining the value of the inclination of the bulldozer body, the method further comprises: acquiring fuel liquid level data of a bulldozer, wherein the fuel liquid level data is acquired by a fuel liquid level sensor of the bulldozer; determining an actual fuel level value according to the position of the fuel level sensor, the position of an oil outlet of a fuel tank of the bulldozer, the fuel level data and the front and rear gradient values; and sending the actual fuel level value to a display device of the bulldozer for display.
Further, determining the actual fuel level value according to the position of the fuel level sensor, the position of the fuel outlet of the fuel tank of the bulldozer, the fuel level data and the front and rear slope values comprises: and after the difference between the position of the fuel liquid level sensor and the position of the fuel outlet of the fuel tank of the bulldozer is multiplied by the tangent value of the front and rear slope values, the actual fuel liquid level value is obtained by adding the fuel liquid level data.
An embodiment of the present invention further provides a control system of a static pressure driven bulldozer, including: a controller and a tilt sensor; the inclination angle sensor is electrically connected with the controller; the inclination angle sensor is arranged on the body of the bulldozer and used for collecting the gradient value of the body of the bulldozer, wherein the gradient value comprises a front gradient value, a rear gradient value, a left gradient value and a right gradient value of the body of the bulldozer; the controller is configured to acquire an operation mode of the bulldozer and the gradient value, and control at least one of a travel speed, steering, and power matching of the bulldozer based on the acquired gradient value when the operation mode is the gradient mode.
Further, the system further comprises: the device comprises a fuel oil level sensor, a motor rotating speed sensor and a walking handle; the fuel oil level sensor, the motor rotating speed sensor and the walking handle are all electrically connected with the controller; the controller is also used for determining the actual fuel level value of the bulldozer based on the position of the fuel level sensor, the position of the fuel outlet of the fuel tank of the bulldozer, the fuel level data and the front and rear gradient values; the motor rotating speed sensor is used for acquiring the current speed of the bulldozer and transmitting the current speed to the controller; the walking handle is used for sending handle travel to the controller.
Further, the system also comprises a display device; the display device is electrically connected with the controller; the display device comprises at least two semicircular display screens; and a pointer is arranged on the semicircular display screen.
The embodiment of the invention also provides a static pressure driven bulldozer, which comprises the control system of the static pressure driven bulldozer.
The invention discloses a control method and a system of a static pressure driven bulldozer and the static pressure driven bulldozer, wherein the method comprises the following steps: acquiring a slope value of the bulldozer body, wherein the slope value comprises a front slope value, a rear slope value, a left slope value and a right slope value of the bulldozer body, which are acquired by an inclination angle sensor; acquiring a current operation mode of the bulldozer, wherein the operation mode comprises a common mode and a ramp mode; and if the operation mode of the bulldozer is the ramp mode, controlling at least one of the driving speed, the steering and the power matching of the bulldozer according to whether the absolute value of the gradient value meets a preset condition. Through controlling at least one of the traveling speed, the steering and the power matching of the bulldozer in the ramp mode, the technical problems that the bulldozer is operated by the aid of experience fuzzy judgment of an operator during ramp operation in the prior art and is easy to control unstably or even tip over are solved, and the technical effects that the static pressure driving bulldozer is more intelligent, safe and stable and has strong working condition adaptability are achieved.
Drawings
Fig. 1 is a flowchart of a control method of a static pressure driven bulldozer according to an embodiment of the present invention;
FIG. 2 is a line graph of a slope value versus a predetermined coefficient according to an embodiment of the present invention;
FIG. 3 is a schematic view of a display device of a bulldozer according to an embodiment of the present invention, showing forward and backward inclination values;
FIG. 4 is a schematic view of a display device of a bulldozer according to an embodiment of the present invention, showing left and right slope values;
FIG. 5 is a comparison of the steering curves of the bulldozer in different operating modes;
fig. 6 is a structural diagram of a control system of a static pressure driven bulldozer according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that the terms "first", "second", and the like in the description and claims of the present invention and the accompanying drawings are used for distinguishing different objects, and are not used for limiting a specific order. The following embodiments of the present invention may be implemented individually, or in combination with each other, and the embodiments of the present invention are not limited in this respect.
The first embodiment is as follows:
fig. 1 is a flowchart of a control method of a static pressure driven bulldozer according to an embodiment of the present invention. As shown in fig. 1, the control method of the static pressure driven bulldozer includes the steps of:
and S101, obtaining a slope value of the bulldozer body, wherein the slope value comprises a front slope value, a rear slope value, a left slope value and a right slope value of the bulldozer body, which are acquired by an inclination angle sensor.
Specifically, the slope value of the bulldozer body is acquired through an inclination angle sensor, the inclination angle sensor of the bulldozer is horizontally installed on the bulldozer body, namely a main frame of the bulldozer, the inclination angle sensor can acquire the front and rear slope values alpha of the bulldozer body in real time, when the bulldozer is in an uphill state, the front and rear slope values alpha are positive values, and when the bulldozer is in a downhill state, the front and rear slope values alpha are negative values. The slope value of the bulldozer also includes a left-right slope value β of the body of the bulldozer, which is positive when the bulldozer is leaning left and negative when the bulldozer is leaning right.
Step S102, acquiring the current work mode of the bulldozer, wherein the work mode comprises a normal mode and a ramp mode.
In the embodiment of the invention, the operation mode of the bulldozer comprises a normal mode and a ramp mode, and the bulldozer can adapt to different working conditions more safely and reliably. Generally, a bulldozer can execute common operation functions of the bulldozer when working in a normal mode, when the bulldozer works on a slope, an operator can select the slope mode to work, operation curves and operation parameters such as the driving speed, the steering speed and the steering sensitivity, the engine power matching and the like of the bulldozer in the slope mode are different from those of the bulldozer in the normal mode, the driving speed is slower, the steering sensitivity is reduced, the engine response speed is faster or slower, and the operation safety of the bulldozer during working on the slope can be effectively ensured.
And step S103, if the operation mode of the bulldozer is a ramp mode, controlling at least one of the driving speed, the steering and the power matching of the bulldozer according to whether the absolute value of the gradient value meets a preset condition.
Specifically, when the bulldozer works in the ramp mode, if the absolute value of the gradient value of the bulldozer body is judged to meet the preset condition, different control strategies are adopted for driving speed control, steering control, power matching control and the like correspondingly compared with the control strategies adopted in the common mode, so that the safety and the stability of driving and operation on the ramp are realized, the operation of the bulldozer is more intelligent, and the bulldozer can still work safely and stably under different working conditions.
Specifically, the power matching control refers to a matching control method between an engine and a walking hydraulic system (such as a walking pump and a walking motor), the method enables the bulldozer to work in the best state of powerful power, high efficiency, energy conservation and stability, and the walking hydraulic system and the motor displacement are adjusted in real time through a proportional-integral-derivative (PID) control algorithm according to the rotation speed drop condition of the engine, so that the whole system operates in the best working state, and the automatic control is usually realized through a control program of a controller.
The operation mode of the bulldozer is selected by the operator according to different operation conditions.
The embodiment of the invention discloses a control method of a static pressure driven bulldozer, which comprises the following steps: acquiring a slope value of the bulldozer body, wherein the slope value comprises a front slope value, a rear slope value, a left slope value and a right slope value of the bulldozer body, which are acquired by an inclination angle sensor; acquiring a current operation mode of the bulldozer, wherein the operation mode comprises a common mode and a ramp mode; and if the operation mode of the bulldozer is the ramp mode, controlling at least one of the driving speed, the steering and the power matching of the bulldozer according to whether the absolute value of the gradient value meets a preset condition. Through controlling at least one of the traveling speed, the steering and the power matching of the bulldozer in the ramp mode, the technical problems that the bulldozer is operated by the aid of experience fuzzy judgment of an operator during ramp operation in the prior art and is easy to control unstably or even tip over are solved, and the technical effects that the static pressure driving bulldozer is more intelligent, safe and stable and has strong working condition adaptability are achieved.
Alternatively, in step S103, controlling the travel speed of the bulldozer according to whether the absolute value of the slope value satisfies a preset condition includes: and if the absolute value of the gradient value is greater than or equal to a first preset gradient value, limiting the driving speed of the bulldozer.
Fig. 2 is a line graph of a slope value and a preset coefficient provided by the embodiment of the invention.
Alternatively, the speed limiting the traveling speed of the bulldozer comprises: the method comprises the steps of controlling the running speed of the bulldozer to be the current speed multiplied by a preset coefficient, wherein the range of the preset coefficient is 0-1, and the current speed is acquired through a motor rotating speed sensor of the bulldozer.
For example, the first preset gradient value may be set to 15 °, and in the hill mode, when the absolute value of the gradient value is less than 15 °, the running speed of the bulldozer is equal to the current vehicle speed; and when the absolute value of the gradient value is more than or equal to 15 degrees, starting to limit the driving speed of the bulldozer, wherein the driving speed of the bulldozer is equal to the current speed multiplied by a preset coefficient.
Specifically, as shown in fig. 2, when the absolute value of the gradient value is in the range of 15 ° to 30 °, the preset coefficient is in the range of 0.5 to 1, and the preset coefficient decreases as the gradient increases and is in a linear relationship; when the absolute value of the gradient value is within the range of 30-35 degrees, the speed limiting coefficient is 0-0.5, the preset coefficient is reduced along with the increase of the gradient, and the preset coefficient is in a linear relation.
FIG. 3 is a schematic view showing the front-rear slope value displayed on the display device of the bulldozer according to the embodiment of the present invention.
Fig. 4 is a schematic view showing a left-right gradient value displayed on the display device of the bulldozer according to the embodiment of the present invention.
Optionally, the control method of the static pressure driven bulldozer further comprises: the slope value and the actual travel speed of the bulldozer are displayed on a display device of the bulldozer.
Illustratively, as shown in fig. 3 and 4, the semicircular display screen in fig. 3 has a green safety area 31 and a red danger warning area 32 for displaying the front and rear slope values α; the semicircular display screens in fig. 4 are provided with a green safety area 41 and a red danger warning area 42 for displaying a left slope value and a right slope value beta, and each semicircular display screen is provided with a pointer for indicating the front slope value alpha, the rear slope value alpha and the left slope value beta and the right slope value beta of the area where the bulldozer is located through bright colors, so that the effect of visually prompting the slope of an operator is achieved. Since the bulldozer is more likely to tip over when the inclination angle of the vehicle body exceeds 30 °, particularly in the range of 30 ° to 35 °, the angle range of 30 ° to 35 ° is set in the red region in the present application to indicate that the bulldozer is at an angle at which tipping is likely to occur, thereby providing a warning effect to the operator. Certainly, the size that slope value was distinguished to red and green using not being restricted to on the semicircle display screen, can also use other colours, does not describe in this application repeatedly.
Optionally, in step S103, controlling the steering of the bulldozer according to whether the absolute value of the slope value satisfies a preset condition includes: if the absolute value of the gradient value is larger than a second preset gradient value, acquiring a handle stroke sent by a walking handle of the bulldozer; and slowing down the steering speed of the bulldozer based on the handle stroke and a preset gradient steering curve, wherein the preset gradient steering curve is a nonlinear curve.
For example, the second predetermined slope value may be set to 10 °, and the curve relating the steering command received by the bulldozer to the handle stroke transmitted by the walking handle is referred to herein as the steering curve.
When the bulldozer operates in a common mode, the steering command received by the bulldozer and the handle stroke sent by the walking handle are in a linear relationship or a certain curve relationship, and the steering curve of the bulldozer is called as a common steering curve; when the bulldozer is working in the hill mode, the following cases are classified: (1) when the absolute value of the gradient value is less than or equal to a second preset gradient value, namely the absolute value of the gradient value is less than or equal to 10 degrees, the steering curve of the bulldozer is the same as that in the common mode; (2) when the absolute value of the slope value is greater than a second preset slope value, namely the absolute value of the slope value is greater than 10 degrees, the steering curve of the bulldozer is slower than the ordinary steering curve, and the steering curve at the moment is called a slope steering curve (namely the preset slope steering curve).
FIG. 5 is a comparison of the steering curves of the bulldozer in different operating modes. As shown in fig. 5, the abscissa indicates the handle stroke, the ordinate indicates the steering command, the broken line 51 indicates the steering curve of the bulldozer in the normal mode, and the broken line 52 indicates the steering curve of the bulldozer in the hill mode, and it can be seen that the curve steering command in the hill mode is smaller than the curve steering command in the normal mode at the same handle stroke, so that the steering speed of the bulldozer is controlled based on the preset gradient steering curve in the hill mode, and the steering control of the bulldozer can be made more gentle, so as to ensure the stability of the bulldozer during the hill work, and further improve the safety of the hill work of the bulldozer.
In addition, in the slope mode, the steering sensitivity of the bulldozer can be controlled based on the preset slope steering curve, so that the steering operation of the bulldozer is slower, the stability of the bulldozer in the slope operation is further ensured, and the safety of the slope operation of the bulldozer is further improved.
Optionally, in step S103, controlling the power matching of the bulldozer according to whether the absolute value of the slope value satisfies a preset condition includes: and if the front-rear gradient value is greater than the first preset front-rear gradient value, increasing the response speed of the engine of the bulldozer based on a first preset power matching curve, wherein the first preset power matching curve is an uphill power matching curve. If the front-rear gradient value is smaller than a second preset front-rear gradient value, reducing the response speed of the engine of the bulldozer based on a second preset power matching curve, wherein the second preset power matching curve is a downhill power matching curve; and the second preset front-back gradient value is smaller than the first preset front-back gradient value.
Specifically, when the bulldozer performs uphill operation, the self weight of the bulldozer can play a role in load synergy, and at the moment, if the bulldozer performs soil pushing with the same volume, the system load of the bulldozer is larger than that of the bulldozer during level road operation, and in order to ensure the power performance, the engine needs to respond faster; when the bulldozer operates downhill, the self weight of the bulldozer plays a role in reducing the load, and when the bulldozer operates with the same volume of bulldozing amount, the system load of the bulldozer is smaller, so that the response of the engine is required to be slower to ensure the operation stability.
Illustratively, a first predetermined front-to-rear slope value may be set to 10 ° and a second predetermined front-to-rear slope value may be set to-10 °. In the slope mode, when the current back slope value alpha is more than or equal to a second preset front and back slope value and less than or equal to a first preset front and back slope value, namely when alpha is more than or equal to-10 degrees and less than or equal to 10 degrees, the power matching curve and related parameter values of the bulldozer are consistent with those of the bulldozer in the normal mode; when the front rear gradient value alpha is larger than the first preset front rear gradient value, namely when alpha is larger than 10 degrees, the bulldozer is in an uphill stage, and different curves and parameter values are needed for power matching control of the engine, so that the response of the engine is faster, and the control is called uphill power matching control. Specifically, a first preset power matching curve is adopted for power matching control, and the first preset power matching curve is an uphill power matching curve of the bulldozer; when the front rear gradient value alpha is smaller than the second preset front rear gradient value, namely when alpha is less than-10 degrees, the bulldozer is in a downhill stage, and the power matching control of the engine also needs to use different curves and parameter values, so that the response of the engine is slower, and the control is called downhill power matching control. Specifically, a second preset power matching curve is adopted for power matching control, and the second preset power matching curve is a downhill power matching curve of the bulldozer.
Alternatively, after the gradient value of the bulldozer body is acquired in step S101, the control method for a static pressure driven bulldozer further includes: acquiring fuel liquid level data of the bulldozer, wherein the fuel liquid level data is acquired by a fuel liquid level sensor of the bulldozer; determining an actual fuel level value X according to the position S1 of the fuel level sensor, the position S2 of an oil outlet of a fuel tank of the bulldozer, the fuel level data a and the front and back gradient values alpha; and sending the actual fuel level value X to a display device of the bulldozer for display.
Preferably, the determining the actual fuel level value X based on the fuel level sensor position S1, the bulldozer fuel tank outlet position S2, the fuel level data a, and the front-to-rear slope value α comprises: the difference between the position S1 of the fuel level sensor and the position S2 of the fuel outlet of the bulldozer fuel tank is multiplied by the tangent value of the front and rear slope values alpha, and then the fuel level data a is added to obtain the actual fuel level value X.
In general, a bulldozer is provided with only one fuel level sensor, which is located at the center of the fuel tank in the left-right direction, but at a certain distance S from the fuel outlet of the fuel tank. When the bulldozer operates on a ramp, the liquid level at the fuel outlet of the fuel tank is not consistent with the liquid level at the position of the fuel liquid level sensor, and the liquid level is higher or lower than the data value directly acquired by the fuel liquid level sensor, namely the fuel liquid level data.
In order to ensure the normal operation of the fuel system during the ramp operation, the actual fuel level value X of the bulldozer is determined according to the position S1 of the fuel level sensor, the position S2 of the fuel outlet of the fuel tank of the bulldozer, the fuel level data a acquired by the fuel level sensor and the front and rear slope values alpha, and the actual fuel level value X is sent to a display device of the bulldozer to be displayed so as to help an operator to judge the condition of the fuel system.
Specifically, the distance S between the fuel level sensor and the oil outlet of the bulldozer fuel tank is obtained by subtracting the position S1 of the fuel level sensor from the position S2 of the oil outlet of the bulldozer fuel tank, namely S1-S2; the actual fuel level value X is obtained by multiplying the tangent value of the front and rear slope values alpha by the difference between the position S1 of the fuel level sensor and the position S2 of the fuel outlet of the bulldozer fuel tank and adding fuel level data a, namely X is a + S tan alpha, wherein S is S1-S2.
Example two:
fig. 6 is a structural diagram of a control system of a static pressure driven bulldozer according to an embodiment of the present invention. As shown in fig. 6, the control system of the static pressure driven bulldozer includes: a controller 61 and a tilt sensor 62; the tilt sensor 62 is electrically connected to the controller 61. The inclination angle sensor 62 is arranged on the body of the bulldozer and is used for collecting the gradient value of the body of the bulldozer, wherein the gradient value comprises a front gradient value, a rear gradient value, a left gradient value and a right gradient value of the body of the bulldozer; the controller 61 is configured to acquire an operation mode of the bulldozer and a gradient value, and control at least one of a travel speed, steering, and power matching of the bulldozer based on the acquired gradient value when the operation mode is the hill mode.
The tilt angle sensor 62 in the present application is provided on the body of the bulldozer, i.e., on the main frame of the bulldozer, unlike the conventional case where the tilt angle sensor 62 is mounted on the blade of the bulldozer. The inclination angle sensor 62 is mounted on the body of the bulldozer, so that the front and rear gradient values and the left and right gradient values of the body of the bulldozer can be effectively acquired, and an operator can conveniently judge the operation condition of the bulldozer. It should be noted that the tilt sensor 62 may be provided in one or more as needed, and will not be described herein.
The controller 61 further acquires the work mode of the bulldozer after acquiring the inclination value acquired by the inclination sensor 62, and controls at least one of the traveling speed, steering, and power matching of the bulldozer according to the actual operating condition of the bulldozer if the work mode of the bulldozer is the hill mode, so that the bulldozer is more smooth and safer in work.
In the embodiment of the invention, at least one of the driving speed, the steering and the power matching of the bulldozer is controlled in the ramp mode, so that the technical problem that the bulldozer is easy to operate unstably and even topple due to the fact that the bulldozer is operated only by experience fuzzy judgment of an operator during ramp operation in the prior art is solved, and the technical effects that the bulldozer driven by static pressure is more intelligent, safe and stable and has strong working condition adaptability are realized.
Alternatively, as shown in fig. 6, the control system of the static pressure driven bulldozer further includes: a fuel level sensor 63, a motor speed sensor 64, and a travel handle 65. The fuel level sensor 63, the motor speed sensor 64 and the travel handle 65 are all electrically connected to the controller 61.
The fuel level sensor 63 is used for collecting fuel level data, and the controller 61 is further used for determining the actual fuel level value of the bulldozer based on the position of the fuel level sensor 63, the position of the fuel tank outlet of the bulldozer, the fuel level data and the front and rear slope values. The motor speed sensor 64 is used to collect the current vehicle speed of the bulldozer and transmit it to the controller 61. The travel handle 65 is used to send handle travel to the controller 61.
Specifically, the fuel level sensor 63 is configured to collect fuel level data a, and after the controller 61 acquires the fuel level data a, determine an actual fuel level value of the bulldozer by X + S tan α, where X represents the actual fuel level value, S represents a distance between the fuel level sensor and an outlet of a fuel tank of the bulldozer, S is S1-S2, S1 represents a position of the fuel level sensor, S2 represents a position of the outlet of the fuel tank of the bulldozer, and α represents a front-rear slope value of a body of the bulldozer.
Specifically, the motor speed sensor 64 is used for acquiring the current speed of the bulldozer and transmitting the current speed to the controller 61, the controller 61 judges whether the current operation mode of the bulldozer is a ramp mode or not after acquiring the current speed, and if the current operation mode of the bulldozer is judged to be the ramp mode, the running speed of the bulldozer is controlled to be the current speed multiplied by a preset coefficient so that the running speed of the bulldozer is slower, and the stability and the safety of the ramp operation of the bulldozer are improved, wherein the range of the preset coefficient is 0-1.
Specifically, the travel handle 65 is used for sending a handle stroke to the controller 61, and when the bulldozer is in a normal mode for operation, the steering command received by the bulldozer and the handle stroke sent by the travel handle are in a linear relationship or a certain curve relationship, and at this time, the steering curve of the bulldozer is called as a normal steering curve; when the bulldozer is working in the hill mode, the controller 61, after acquiring the handle stroke, is divided into the following cases (taking the second preset gradient value of 10 ° as an example): (1) when the absolute value of the gradient value is less than or equal to a second preset gradient value, namely the absolute value of the gradient value is less than or equal to 10 degrees, the steering curve of the bulldozer is the same as that in the normal mode, and the controller 61 controls the bulldozer to operate according to the steering curve parameters in the normal mode; (2) when the absolute value of the slope value is greater than the second preset slope value, that is, the absolute value of the slope value is greater than 10 °, the steering curve of the bulldozer becomes slower than the ordinary steering curve, the steering curve at this time is called a slope steering curve (that is, the preset slope steering curve in the above embodiment), and the controller 61 controls the bulldozer to operate according to the preset slope steering curve parameters, so that the steering control of the bulldozer becomes more gentle, the stability of the bulldozer during the operation of the slope is ensured, and the safety of the operation of the slope of the bulldozer is further improved.
Alternatively, as shown in fig. 6, the control system of the static pressure driven bulldozer further includes a display device 66; the display device 66 is electrically connected with the controller 61; the display device 66 includes at least two semicircular display screens; and a pointer is arranged on the semicircular display screen.
Specifically, the display device 66 of the bulldozer is provided with two semicircular display screens for displaying a front-rear slope value α and a left-right slope value β, respectively, each of the semicircular display screens is provided with a pointer, and for example, referring to fig. 3 and 4, the semicircular display screens are respectively provided with a green safety region 31, a red danger warning region 32, a green safety region 41 and a red danger warning region 42, and the front-rear slope value α and the left-right slope value β of the region where the bulldozer is located are indicated by distinct colors, so that the effect of visually prompting the slope of the operator is achieved. Since the bulldozer is more likely to tip over when the inclination angle of the vehicle body exceeds 30 °, particularly in the range of 30 ° to 35 °, the angle range of 30 ° to 35 ° is set in the red region in the present application to indicate that the bulldozer is at an angle at which tipping is likely to occur, thereby providing a warning effect to the operator. Certainly, the size that slope value was distinguished to red and green using not being restricted to on the semicircle display screen, can also use other colours, does not describe in this application repeatedly.
In general, the display device 66 of the bulldozer displays only the current vehicle speed collected by the gear position of the bulldozer or the motor speed sensor 64, and the current vehicle speed is not the actual traveling speed of the bulldozer. In the hill mode of the present application, the controller 61 calculates the actual traveling speed of the bulldozer according to the current vehicle speed acquired by the motor speed sensor 64, and displays the actual traveling speed on the display device 66 in real time.
Display device 66 in this application not only can show the front and back slope value of bull-dozer automobile body, control the slope value to and actual speed of traveling, can also show actual fuel liquid level value, and the operation state of helping the operative hand to know the bull-dozer in real time for the operative hand is more accurate, convenient, safe to the control of bull-dozer.
In the embodiment of the invention, as shown in fig. 6, the communication between each part in the control system of the static pressure driven bulldozer is performed through the CAN bus.
By using the control system of the static pressure driven bulldozer provided by the embodiment of the invention, the following beneficial effects can be realized:
(1) with a dual mode control system: ordinary mode and ramp mode, adaptable different operating mode demands, the operating mode adaptability of bull-dozer that is stronger.
(2) Compared with a common mode, the bulldozer is safer and more stable in ramp driving and construction by adopting different control strategies for driving speed, steering, power matching and the like in the ramp mode.
(3) The display device has the advantages that the display device is more complete, the front and back slope values, the left and right slope values, the actual fuel level value, the actual driving speed and the like of the bulldozer can be intelligently displayed, an operator can accurately know the operation state of the bulldozer in real time, potential safety hazards caused by inaccurate manual judgment are reduced, and the display device is more intelligent, convenient and safe.
Example three:
the embodiment of the invention also provides a static pressure driven bulldozer, which comprises the control system of the static pressure driven bulldozer in any embodiment, so that the beneficial effects of the embodiment are achieved, and the detailed description is omitted.
In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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.
Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A method of controlling a hydrostatic-drive bulldozer, comprising:
acquiring a slope value of the bulldozer body, wherein the slope value comprises a front slope value, a rear slope value, a left slope value and a right slope value of the bulldozer body, which are acquired by an inclination angle sensor;
acquiring a current operation mode of the bulldozer, wherein the operation mode comprises a common mode and a ramp mode;
and if the operation mode of the bulldozer is a ramp mode, controlling at least one of the driving speed, the steering and the power matching of the bulldozer according to whether the absolute value of the gradient value meets a preset condition.
2. The method according to claim 1, wherein controlling the travel speed of the bulldozer according to whether the absolute value of the gradient value satisfies a preset condition comprises:
and if the absolute value of the gradient value is greater than or equal to a first preset gradient value, limiting the driving speed of the bulldozer.
3. The method of claim 2, wherein limiting the travel speed of the bulldozer comprises:
the method comprises the steps of controlling the running speed of the bulldozer to be the current speed multiplied by a preset coefficient, wherein the range of the preset coefficient is 0-1, and the current speed is acquired through a motor rotating speed sensor of the bulldozer.
4. The method of claim 1, further comprising: the slope value and the actual travel speed of the bulldozer are displayed on a display device of the bulldozer.
5. The method according to claim 1, wherein controlling the steering of the bulldozer according to whether the absolute value of the grade value satisfies a preset condition comprises:
if the absolute value of the gradient value is larger than a second preset gradient value, acquiring a handle stroke sent by a walking handle of the bulldozer;
and slowing down the steering speed of the bulldozer based on the handle stroke and a preset gradient steering curve, wherein the preset gradient steering curve is a nonlinear curve.
6. The method of claim 1, wherein controlling power matching of the bulldozer according to whether the absolute value of the grade value satisfies a preset condition comprises:
if the front-rear gradient value is larger than a first preset front-rear gradient value, increasing the response speed of the engine of the bulldozer based on a first preset power matching curve, wherein the first preset power matching curve is an uphill power matching curve;
if the front-rear gradient value is smaller than a second preset front-rear gradient value, reducing the response speed of the engine of the bulldozer based on a second preset power matching curve, wherein the second preset power matching curve is a downhill power matching curve;
wherein the second preset front-rear gradient value is smaller than the first preset front-rear gradient value.
7. The method of claim 1, wherein after obtaining the grade value for the dozer body, the method further comprises:
acquiring fuel liquid level data of a bulldozer, wherein the fuel liquid level data is acquired by a fuel liquid level sensor of the bulldozer;
determining an actual fuel level value according to the position of the fuel level sensor, the position of an oil outlet of a fuel tank of the bulldozer, the fuel level data and the front and rear gradient values;
and sending the actual fuel level value to a display device of the bulldozer for display.
8. The method of claim 7, wherein said determining said actual fuel level value as a function of said fuel level sensor position, a bulldozer fuel tank outlet position, said fuel level data, and said forward and backward slope values comprises:
and after the difference between the position of the fuel liquid level sensor and the position of the fuel outlet of the fuel tank of the bulldozer is multiplied by the tangent value of the front and rear slope values, the actual fuel liquid level value is obtained by adding the fuel liquid level data.
9. A control system for a hydrostatic drive bulldozer, said system comprising: a controller and a tilt sensor; the inclination angle sensor is electrically connected with the controller;
the inclination angle sensor is arranged on the body of the bulldozer and used for collecting the gradient value of the body of the bulldozer, wherein the gradient value comprises a front gradient value, a rear gradient value, a left gradient value and a right gradient value of the body of the bulldozer;
the controller is configured to acquire an operation mode of the bulldozer and the gradient value, and control at least one of a travel speed, steering, and power matching of the bulldozer based on the acquired gradient value when the operation mode is the gradient mode.
10. The system of claim 9, further comprising: the device comprises a fuel oil level sensor, a motor rotating speed sensor and a walking handle;
the fuel oil level sensor, the motor rotating speed sensor and the walking handle are all electrically connected with the controller;
the controller is also used for determining the actual fuel level value of the bulldozer based on the position of the fuel level sensor, the position of the fuel outlet of the fuel tank of the bulldozer, the fuel level data and the front and rear gradient values;
the motor rotating speed sensor is used for acquiring the current speed of the bulldozer and transmitting the current speed to the controller;
the walking handle is used for sending handle travel to the controller.
11. The system of claim 10, further comprising a display device; the display device is electrically connected with the controller;
the display device comprises at least two semicircular display screens; and a pointer is arranged on the semicircular display screen.
12. A statically-driven bulldozer, characterized in that it comprises a control system for a statically-driven bulldozer according to any one of claims 9 to 10.
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| CN201910936366.2A CN110607820A (en) | 2019-09-29 | 2019-09-29 | Control method and system of static pressure driven bulldozer and static pressure driven bulldozer |
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| CN201910936366.2A CN110607820A (en) | 2019-09-29 | 2019-09-29 | Control method and system of static pressure driven bulldozer and static pressure driven bulldozer |
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| CN117449371A (en) * | 2023-12-25 | 2024-01-26 | 山西太重数智科技股份有限公司 | Intelligent electric shovel attitude adjusting control system and method |
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