CN111650866A - Concrete pump truck construction condition recognition control system and control method - Google Patents
Concrete pump truck construction condition recognition control system and control method Download PDFInfo
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- CN111650866A CN111650866A CN202010555063.9A CN202010555063A CN111650866A CN 111650866 A CN111650866 A CN 111650866A CN 202010555063 A CN202010555063 A CN 202010555063A CN 111650866 A CN111650866 A CN 111650866A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
Abstract
The scheme relates to a concrete pump truck construction condition identification control system and a control method, wherein a construction mode selection module receives construction mode data selected by an operator; the operation signal monitoring module receives a main oil pump displacement value, an engine accelerator size and a pumping displacement value which are set by an operator on the concrete pump truck; the signal real-time monitoring module continuously collects an engine rotating speed signal, a main oil pump discharge capacity signal, a main oil pump pressure signal and an arm frame multi-way valve signal of the concrete pump truck in real time; the main controller identifies the construction working condition of the current concrete pump truck, judges whether construction can be carried out according to the construction mode selected by the operator, and determines whether to execute the corresponding construction mode according to the judgment conclusion. The scheme can not only consider the operation intention of an operator, but also consider the real-time running state of the concrete pump truck, can accurately divide the construction working condition mode, perfects the electric control system of the concrete pump truck and provides an effective basis for formulating a construction energy-saving control strategy.
Description
Technical Field
The invention belongs to the field of concrete pump trucks, and particularly relates to a concrete pump truck construction condition identification control system and a control method.
Background
The concrete pump truck is a kind of construction engineering machinery which utilizes pressure to transport concrete to construction site along pipeline, and is formed from pump body and delivery pipe. The hydraulic pump is driven by a diesel engine to generate high-pressure oil, so that the main oil cylinder and the two concrete conveying cylinders connected with the main oil cylinder are driven to alternately reciprocate, and under the orderly matching action of the mechanisms, concrete is continuously sucked into the conveying cylinders from the hopper and is conveyed to a construction site through the conveying pipes.
The concrete pump truck construction operation control is the most critical part of the concrete pump truck control, the concrete pump truck needs a plurality of devices to cooperatively operate to jointly complete the concrete pumping construction requirement of a construction site in the actual construction process, and if the relation between a pumping displacement signal given by an operator and the engine speed is not only related to the displacement current of a main oil pump, but also related to the action of a concrete boom and the pressure condition of the main oil pump, the relation is difficult to describe by an accurate mathematical model. Therefore, the construction control strategy of the concrete pump truck is often incomplete, and the conditions that the actual engine speed and the actual main oil pump discharge capacity signal do not accord with the operation intention of operators and the construction operation requirement and the like can occur, so that the construction effect, the energy consumption and the performance of the whole truck are seriously influenced.
By the analysis of the concrete pump truck electric control system, how to comprehensively analyze the construction intention of the operator and the pumping state of the current concrete pump truck through the collected signals of the engine speed, the main oil pump discharge capacity current, the pumping pressure and the like is known, the operation condition of the concrete pump truck is accurately judged, and the method is a precondition for formulating the full-working-condition control strategy for the concrete pump truck construction.
At present, the operation intention of operators is mostly considered in the construction of the working condition of the concrete pump truck, the real-time operation state and the construction type of the concrete pump truck are not comprehensively considered, and the possible states of the concrete pump truck are difficult to comprehensively consider, so that the imperfection of a control strategy is inevitably caused.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a concrete pump truck construction condition recognition control system and a control method, which divide the construction condition modes by mastering the operation intention, the construction type and the actual running state information of an operator, improve the whole concrete pump truck control system and provide an analysis basis for formulating the whole concrete pump truck working condition control strategy.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a concrete pump truck construction working condition identification control system at least comprises:
the construction mode selection module is preassembled with a plurality of construction modes and used for an operator of the concrete pump truck to select a desired construction mode;
the signal real-time monitoring module is used for monitoring an engine rotating speed signal, a main oil pump displacement signal, a main oil pump pressure signal and an arm frame multi-way valve signal of the concrete pump truck in real time;
the operation signal monitoring module is used for monitoring the main oil pump displacement value, the engine accelerator size and the pumping displacement value set by an operator of the concrete pump truck on the concrete pump truck in real time;
the main controller is in communication connection with the construction mode selection module, the signal real-time monitoring module and the operation signal monitoring module; and the main controller identifies the construction working condition of the current concrete pump truck based on the data of the signal real-time monitoring module and the operation signal monitoring module, judges whether the current concrete pump truck can carry out construction according to the construction mode selected by the operator according to the construction working condition, and finally determines whether the concrete pump truck executes the corresponding construction mode.
Preferably, the concrete pump truck construction condition identification control system, wherein the construction mode includes: a power saving mode, a quantum mode, and a full manual mode.
Preferably, the concrete pump truck construction condition identification control system, wherein the construction condition includes: standby working condition, stable construction working condition, variable displacement construction working condition and cantilever crane combined construction working condition.
A control method of the concrete pump truck construction condition identification control system comprises the following steps:
the construction mode selection module receives construction mode data selected by a concrete pump truck operator;
the operation signal monitoring module receives a main oil pump displacement value, an engine accelerator size and a pumping displacement value which are set by a concrete pump truck operator on the concrete pump truck;
the signal real-time monitoring module continuously collects an engine rotating speed signal, a main oil pump discharge capacity signal, a main oil pump pressure signal and an arm frame multi-way valve signal of the concrete pump truck in real time;
the main controller identifies the construction working condition of the current concrete pump truck according to the data collected by the signal real-time monitoring module and the operation signal monitoring module;
and the main controller judges whether the current concrete pump truck can carry out construction according to the construction mode selected by the operator according to the identified construction working condition, and finally determines whether the concrete pump truck executes the corresponding construction mode according to the judgment conclusion.
Preferably, the control method, wherein the construction mode includes: a power saving mode, a quantum mode, and a full manual mode.
Preferably, the control method, wherein the construction conditions include: standby working condition, stable construction working condition, variable displacement construction working condition and cantilever crane combined construction working condition.
Preferably, in the control method, the identification rule of the standby condition is as follows: the rotating speed of the engine is lower than 900r/min, the displacement signal of the main oil pump is 0, and the pressure signal of the main oil pump is 0.
Preferably, the control method, wherein the identification rule of the stable construction condition is: the engine speed is greater than 900r/min, the main oil pump displacement signal is not 0, and the pumping displacement change rate is less than a set value.
Preferably, the control method, wherein the identification rule of the variable displacement construction working condition is as follows: the engine speed is greater than 900r/min, the main oil pump displacement signal is not 0, and the pumping displacement change rate is greater than or equal to a set value.
Preferably, in the control method, the identification rule of the boom combination construction condition is as follows: when the rotating speed of the engine is greater than 900r/min, the discharge capacity signal of the main oil pump is not 0, and the boom multi-way valve signal shows that the boom multi-way valve is opened.
The invention has the beneficial effects that: the working condition of the concrete pump truck during actual construction operation can be simplified, and the working condition can be divided into a standby working condition, a stable construction working condition, a variable displacement construction working condition and an arm support combined construction working condition; the scheme can not only consider the operation intention of an operator, but also consider the real-time running state of the concrete pump truck, can accurately divide the construction working condition mode, perfects the electric control system of the concrete pump truck and provides an effective basis for formulating a construction energy-saving control strategy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a concrete pump truck construction condition identification control system.
FIG. 2 is a flow chart of the recognition control system for the construction conditions of the concrete pump truck.
Detailed Description
The technical solutions of the present invention are described clearly and completely below, and it is obvious that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, the present application provides a concrete pump truck construction condition identification control system, which at least comprises:
the construction mode selection module is preassembled with a plurality of construction modes and used for an operator of the concrete pump truck to select a desired construction mode; the construction mode may preferably include: an energy-saving mode, a volume mode and a full-manual mode; of course, the construction mode can also adopt other division modes expected by users;
the signal real-time monitoring module is used for monitoring an engine rotating speed signal, a main oil pump displacement signal, a main oil pump pressure signal and an arm frame multi-way valve signal of the concrete pump truck in real time;
the operation signal monitoring module is used for monitoring the main oil pump displacement value, the engine accelerator size and the pumping displacement value set by an operator of the concrete pump truck on the concrete pump truck in real time;
the main controller is in communication connection with the construction mode selection module, the signal real-time monitoring module and the operation signal monitoring module; and the main controller identifies the construction working condition of the current concrete pump truck based on the data of the signal real-time monitoring module and the operation signal monitoring module, judges whether the current concrete pump truck can carry out construction according to the construction mode selected by the operator according to the construction working condition, and finally determines whether the concrete pump truck executes the corresponding construction mode.
The construction conditions preferably comprise: standby working condition, stable construction working condition, variable displacement construction working condition and cantilever crane combined construction working condition. The energy saving mode can be performed only under a stable construction condition. Of course, the construction condition can also adopt other division modes expected by users.
Referring to fig. 2, the control method of the concrete pump truck construction condition recognition control system may include:
the construction mode selection module receives construction mode data selected by a concrete pump truck operator;
the operation signal monitoring module receives a main oil pump displacement value, an engine accelerator size and a pumping displacement value which are set by a concrete pump truck operator on the concrete pump truck;
the signal real-time monitoring module continuously collects an engine rotating speed signal, a main oil pump discharge capacity signal, a main oil pump pressure signal and an arm frame multi-way valve signal of the concrete pump truck in real time;
the main controller identifies the construction working condition of the current concrete pump truck according to the data collected by the signal real-time monitoring module and the operation signal monitoring module;
and the main controller judges whether the current concrete pump truck can carry out construction according to the construction mode selected by the operator according to the identified construction working condition, and finally determines whether the concrete pump truck executes the corresponding construction mode according to the judgment conclusion.
The identification rule of the standby working condition is as follows: the rotating speed of the engine is lower than 900r/min, the displacement signal of the main oil pump is 0, and the pressure signal of the main oil pump is 0.
Wherein, the identification rule of stabilizing the construction working condition is as follows: the engine speed is greater than 900r/min, the main oil pump displacement signal is not 0, and the pumping displacement change rate is less than a set value.
Wherein, the identification rule of the variable displacement construction working condition is as follows: the engine speed is greater than 900r/min, the main oil pump displacement signal is not 0, and the pumping displacement change rate is greater than or equal to a set value.
The identification rule of the boom combination construction working condition is as follows: when the rotating speed of the engine is greater than 900r/min, the discharge capacity signal of the main oil pump is not 0, and the boom multi-way valve signal shows that the boom multi-way valve is opened.
As the following embodiments, the construction mode selection module is pre-assembled with three construction modes: an energy-saving mode, a volume mode and a full-manual mode; wherein the content of the first and second substances,
the energy saving mode is set to: the main oil pump displacement signal and the engine rotating speed signal of the concrete pump truck take the operation of the engine rotating speed in the economic oil consumption area as priority according to the pumping displacement numerical value set by an operator, and the requirement of reducing the comprehensive oil consumption of pumping operation construction can be met.
The vector mode is set to: the main oil pump displacement signal and the engine rotating speed signal control the engine and the main oil pump to operate at the maximum power or the maximum load according to the total amount of the concrete required by the construction site set by an operator, and the requirement of quick pumping can be met.
The full manual mode is set to: the concrete pump truck does not execute other preset mode programs any longer, the main oil pump displacement signal and the engine speed signal run according to numerical values manually set by an operator, and the requirements of manual control construction, flexible construction, construction debugging and the like can be met.
Example 1
The construction site is a foundation structure, the demand volume of concrete is 400 cubes, and the construction requirements are as follows: it is necessary to keep the pumping capacity of the concrete per unit time substantially the same. Therefore, an operator of the concrete pump truck selects an energy-saving mode in the construction mode selection module, and sets the displacement value of the main oil pump to be 1 cubic meter per minute, the size of the engine throttle to be 1300r/min and the pumping displacement value to be 400 cubic meters in the operation signal monitoring module. After the system is started, the signal real-time monitoring module finds that the engine speed of the concrete pump truck is greater than 900r/min, the main oil pump displacement signal is not 0, the pumping displacement change rate is 4%, the set value is less than 5% (the set value can be freely set according to needs, the set value in the embodiment is 5%), and the boom multi-way valve signal is closed; therefore, the main controller identifies that the construction working condition of the current concrete pump truck is as follows: and stabilizing the construction working condition. Considering that the intention of the operator is to adopt the energy-saving mode, the main controller judges that under the stable construction working condition, construction can be carried out according to the energy-saving mode selected by the operator, and makes a decision to enable the concrete pump truck to execute the energy-saving mode. Assuming that the main controller finds that the concrete pump truck is in the variable displacement construction working condition, at the moment, even if the operator selects the energy-saving mode in the construction mode selection module, the main controller judges that the concrete pump truck can not carry out construction according to the energy-saving mode selected by the operator under the variable displacement construction working condition, and determines to enable the concrete pump truck to execute the square mode or the full-manual mode allowed under the variable displacement construction working condition. The square quantity mode can be further prioritized to be executed in the full-manual mode, namely when the operator does not change the set parameters again through the operation signal monitoring module (namely the full-manual mode), the main controller preferentially enables the concrete pump truck to execute the square quantity mode.
Example 2
The construction site is a single beam column, the demand volume of concrete is 60 cubes, and the pumping volume is not large but needs to be completed as soon as possible. Therefore, an operator of the concrete pump truck selects a 'square displacement mode' in the construction mode selection module, and sets a main oil pump displacement value of 0.8 cubic meter per minute, an engine accelerator size of 1400r/min and a pumping displacement value of 60 cubic meters in the operation signal monitoring module. After the system is started, the signal real-time monitoring module finds that the engine speed of the concrete pump truck is greater than 900r/min, the main oil pump displacement signal is not 0, the pumping displacement change rate is 10%, the set value is less than 5% (the set value can be freely set according to needs, the set value in the embodiment is 5%), and the boom multi-way valve signal is closed; therefore, the main controller identifies that the construction working condition of the current concrete pump truck is as follows: and (5) variable displacement construction working conditions. Considering that the intention of the operator is to adopt the square quantity mode, the main controller judges that the construction can be carried out according to the square quantity mode selected by the operator under the variable displacement construction working condition, and makes a decision to enable the concrete pump truck to execute the square quantity mode. Assuming that the intention of an operator is to adopt a 'full-manual mode', under the 'variable displacement construction working condition', construction can be carried out according to the 'full-manual mode' selected by the operator, and the main controller determines to enable the concrete pump truck to execute the 'full-manual mode'.
Example 3
When the construction site is combined by various construction conditions due to the fact that concrete materials are not ideal, pumping amount is small, pumping positions are scattered, the pumping amount of each position is less than 100, and a pump truck needs to be shifted. Therefore, an operator of the concrete pump truck selects a full-manual mode in the construction mode selection module, and sets a main oil pump displacement value of 1 cubic meter per minute, an engine accelerator of 1400r/min and a pumping displacement value of 100 cubic meters in the operation signal monitoring module. After the system is started, the signal real-time monitoring module finds that the rotating speed of an engine of the concrete pump truck is greater than 900r/min, the displacement signal of the main oil pump is not 0, and the boom multi-way valve signal shows that the boom multi-way valve is opened; therefore, the main controller identifies that the construction working condition of the current concrete pump truck is as follows: and combining the arm supports to construct a working condition. Considering that the intention of the operator is to adopt a full-manual mode, the main controller judges that the construction can be carried out according to the full-manual mode selected by the operator under the boom combined construction working condition, and makes a decision to enable the concrete pump truck to execute the full-manual mode. Assuming that the intention of the operator is to adopt the square mode, under the arm support combination construction working condition, construction can be carried out according to the square mode selected by the operator. Assuming that the intention of the operator is to adopt an energy-saving mode, the main controller judges that construction can not be carried out according to the energy-saving mode selected by the operator under the arm support combination construction working condition, and determines to enable the concrete pump truck to execute the square mode or the full-manual mode allowed under the arm support combination construction working condition. The square quantity mode can be further prioritized to be executed in the full-manual mode, namely when the operator does not change the set parameters again through the operation signal monitoring module (namely the full-manual mode), the main controller preferentially enables the concrete pump truck to execute the square quantity mode.
While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.
Claims (10)
1. The utility model provides a concrete pump truck construction operating mode discernment control system which characterized in that, at least including:
the construction mode selection module is preassembled with a plurality of construction modes and used for an operator of the concrete pump truck to select a desired construction mode;
the signal real-time monitoring module is used for monitoring an engine rotating speed signal, a main oil pump displacement signal, a main oil pump pressure signal and an arm frame multi-way valve signal of the concrete pump truck in real time;
the operation signal monitoring module is used for monitoring the main oil pump displacement value, the engine accelerator size and the pumping displacement value set by an operator of the concrete pump truck on the concrete pump truck in real time;
the main controller is in communication connection with the construction mode selection module, the signal real-time monitoring module and the operation signal monitoring module; and the main controller identifies the construction working condition of the current concrete pump truck based on the data of the signal real-time monitoring module and the operation signal monitoring module, judges whether the current concrete pump truck can carry out construction according to the construction mode selected by the operator according to the construction working condition, and finally determines whether the concrete pump truck executes the corresponding construction mode.
2. The concrete pump truck construction work condition recognition control system as claimed in claim 1, wherein the construction mode includes: a power saving mode, a quantum mode, and a full manual mode.
3. The concrete pump truck construction work condition recognition control system as claimed in claim 1, wherein the construction work condition comprises: standby working condition, stable construction working condition, variable displacement construction working condition and cantilever crane combined construction working condition.
4. The control method of the concrete pump truck construction condition recognition control system as claimed in claim 1, characterized by comprising:
the construction mode selection module receives construction mode data selected by a concrete pump truck operator;
the operation signal monitoring module receives a main oil pump displacement value, an engine accelerator size and a pumping displacement value which are set by a concrete pump truck operator on the concrete pump truck;
the signal real-time monitoring module continuously collects an engine rotating speed signal, a main oil pump discharge capacity signal, a main oil pump pressure signal and an arm frame multi-way valve signal of the concrete pump truck in real time;
the main controller identifies the construction working condition of the current concrete pump truck according to the data collected by the signal real-time monitoring module and the operation signal monitoring module;
and the main controller judges whether the current concrete pump truck can carry out construction according to the construction mode selected by the operator according to the identified construction working condition, and finally determines whether the concrete pump truck executes the corresponding construction mode according to the judgment conclusion.
5. The control method according to claim 4, wherein the construction mode includes: a power saving mode, a quantum mode, and a full manual mode.
6. The control method according to claim 4, wherein the construction conditions include: standby working condition, stable construction working condition, variable displacement construction working condition and cantilever crane combined construction working condition.
7. The control method according to claim 6, characterized in that the identification rule of the standby condition is: the rotating speed of the engine is lower than 900r/min, the displacement signal of the main oil pump is 0, and the pressure signal of the main oil pump is 0.
8. The control method according to claim 6, wherein the identification rule of the stable construction condition is: the engine speed is greater than 900r/min, the main oil pump displacement signal is not 0, and the pumping displacement change rate is less than a set value.
9. The control method according to claim 6, wherein the identification rule of the variable displacement construction condition is: the engine speed is greater than 900r/min, the main oil pump displacement signal is not 0, and the pumping displacement change rate is greater than or equal to a set value.
10. The control method according to claim 6, wherein the identification rule of the boom combination construction condition is as follows: when the rotating speed of the engine is greater than 900r/min, the discharge capacity signal of the main oil pump is not 0, and the boom multi-way valve signal shows that the boom multi-way valve is opened.
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| CN202010555063.9A CN111650866A (en) | 2020-06-17 | 2020-06-17 | Concrete pump truck construction condition recognition control system and control method |
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| CN202010555063.9A CN111650866A (en) | 2020-06-17 | 2020-06-17 | Concrete pump truck construction condition recognition control system and control method |
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| CN113094873A (en) * | 2021-03-15 | 2021-07-09 | 中联重科股份有限公司 | Stable working condition identification method, working condition evaluation method and concrete pumping equipment |
| CN113696839A (en) * | 2021-10-29 | 2021-11-26 | 南京易砼科技有限公司 | Pumping state detection method and device for concrete pumping vehicle |
| CN113915008A (en) * | 2021-09-29 | 2022-01-11 | 广西柳工机械股份有限公司 | Control method and control system of concrete pump truck and concrete pump truck |
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