CN112746648A - Excavator control method and system based on parallel driving technology - Google Patents
Excavator control method and system based on parallel driving technology Download PDFInfo
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- CN112746648A CN112746648A CN202011639966.1A CN202011639966A CN112746648A CN 112746648 A CN112746648 A CN 112746648A CN 202011639966 A CN202011639966 A CN 202011639966A CN 112746648 A CN112746648 A CN 112746648A
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- vehicle
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- end controller
- engine
- mounted end
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005516 engineering process Methods 0.000 title claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 39
- 238000004891 communication Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 19
- 239000002699 waste material Substances 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
Abstract
The invention discloses an excavator control method and system based on a parallel driving technology, wherein two shutdown request triggering mechanisms are arranged, the first mechanism is an infrared monitoring mechanism, namely whether personnel in a remote cab exists or not is actively monitored through an infrared monitoring module, and the second mechanism is a command sensing mechanism, namely whether a shutdown request is sent or not is judged according to whether a vehicle-mounted end controller receives an action command within a certain time or not. According to the invention, whether the engine of the excavator needs to be stopped is judged by two parallel monitoring methods, and the engine can be controlled to be stopped more accurately and timely, so that energy waste caused by idling of the excavator is effectively avoided.
Description
Technical Field
The invention relates to the technical field of parallel driving excavator control, in particular to an excavator control method and system based on a parallel driving technology.
Background
With the continuous development of intelligent excavators, excavators based on a parallel driving technology are being gradually popularized, in view of the characteristics of engineering operation, the excavators often need to perform intermittent work, in the prior art, generally, when the excavators do not work for a short time, in order to achieve the purpose of saving fuel, engines are often turned off through manual control, however, under the parallel driving technology, operators are located in a remote cab and are difficult to feel the on-site vehicle environment, such as vehicle vibration, noise and the like, when the excavators do not work or the operators leave the remote cab, the turning off of the engines is easily ignored, idle running of the engines is caused, and energy is wasted, so that an excavator automatic stop system and a method are needed to be provided to solve the problems.
Disclosure of Invention
In order to solve the technical problems, the invention provides an excavator control method and system based on a parallel driving technology, which are used for timing command action sending time, carrying out infrared monitoring on a remote cab, judging whether an operator leaves or not, and finally executing a decision of whether to shut down or not according to a judgment result.
The invention is realized by the following technical scheme:
excavator control system based on parallel driving technique:
the system comprises a vehicle-mounted end controller, a vehicle-mounted engine, a remote end controller, a remote infrared monitoring module, a timer, a prompter and a wireless communication module;
the vehicle-mounted end controller is connected with the vehicle-mounted engine through a CAN bus, the vehicle-mounted end controller controls the start and stop of the engine through a control command, and the vehicle-mounted end controller is connected with the timer; the remote end controller is connected with the remote infrared monitoring module and the prompter;
specifically, the vehicle-mounted end and the remote end are both provided with a wireless communication module, and the vehicle-mounted end and the remote end transmit data through the wireless communication module.
The invention also provides an excavator control method based on the parallel driving technology, which comprises the following steps:
setting a threshold value T of shutdown time, and recording a time interval T between the time when the vehicle-mounted end controller receives the action command for the last time and the current time by a timer1When T is1When the time is more than or equal to T, the vehicle-mounted end controller sends a shutdown request;
the remote end controller immediately wakes up the infrared monitoring module to perform infrared monitoring after receiving a shutdown request sent by the vehicle-mounted end, controls the prompter to perform shutdown operation prompting when people are monitored in the remote cab, directly sends a shutdown command when no people are monitored in the remote cab, and controls the engine to stop through the vehicle-mounted end controller;
every interval T of infrared monitoring module2The monitoring is carried out by automatic starting, when the driver's cab is detected to be unmanned, the monitoring time interval is changed to T3Wherein, T2>T3When no person in the remote cab is monitored twice continuously, the remote end controller directly sends a shutdown command to control the engine of the vehicle-mounted end to stop.
The control strategy of the excavator automatic stop method based on the parallel driving technology is as follows: two shutdown request triggering mechanisms are set, the first mechanism is an infrared monitoring mechanism, namely, whether personnel in a remote cab exists or not is actively monitored through an infrared monitoring module, and the second mechanism is a command sensing mechanism, namely, whether a shutdown request is sent or not is judged according to whether an action command is received by a vehicle-mounted end controller within a certain time or not. In two kinds of above shutdown request trigger mechanism, can set up to the coexistence and go on, can effectively avoid someone in the driver's cabin, but the excavator need not the during operation, and the engine continues the energy waste that the work caused, and further, can be with near infrared monitoring module setting is controlling the seat, conveniently monitors the operator.
Has the advantages that: according to the invention, whether the engine of the excavator needs to be stopped is judged by two parallel monitoring methods, and the engine can be controlled to be stopped more accurately and timely, so that energy waste caused by idling of the excavator is effectively avoided.
Drawings
FIG. 1 is a logic diagram of the control method of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The invention is realized by the following technical scheme:
excavator control system based on parallel driving technique:
the system comprises a vehicle-mounted end controller, a vehicle-mounted engine, a remote end controller, a remote infrared monitoring module, a timer, a prompter and a wireless communication module;
the vehicle-mounted end controller is connected with the vehicle-mounted engine through a CAN bus, the vehicle-mounted end controller controls the start and stop of the engine through a control command, and the vehicle-mounted end controller is connected with the timer; the remote end controller is connected with the remote infrared monitoring module and the prompter;
specifically, the vehicle-mounted end and the remote end are both provided with a wireless communication module, and the vehicle-mounted end and the remote end transmit data through the wireless communication module.
The excavator control method based on the parallel driving technology comprises the following steps:
setting a threshold value T of shutdown time, and recording a time interval T between the time when the vehicle-mounted end controller receives the action command for the last time and the current time by a timer1When T is1When the time is more than or equal to T, the vehicle-mounted end controller sends a shutdown request;
the remote end controller immediately wakes up the infrared monitoring module to perform infrared monitoring after receiving a shutdown request sent by the vehicle-mounted end, controls the prompter to perform shutdown operation prompting when people are monitored in the remote cab, directly sends a shutdown command when no people are monitored in the remote cab, and controls the engine to stop through the vehicle-mounted end controller;
every interval T of infrared monitoring module2The monitoring is carried out by automatic starting, when the driver's cab is detected to be unmanned, the monitoring time interval is changed to T3Wherein, T2>T3When no person in the remote cab is monitored twice continuously, the remote end controller directly sends a shutdown command to control the engine of the vehicle-mounted end to stop.
The excavator control strategy based on the parallel driving technology in the invention is as follows: two shutdown request triggering mechanisms are set, the first mechanism is an infrared monitoring mechanism which actively monitors whether personnel in a remote cab exists or not through an infrared monitoring module, and the second mechanism is a commandThe sensing mechanism judges whether to send a shutdown request according to whether the vehicle-mounted end controller receives an action command within a certain time. Specifically, in the first mechanism, the infrared monitoring module is arranged at intervals of T2The monitoring is carried out by automatic starting, when the driver's cab is detected to be unmanned, the monitoring time interval is changed to T3Wherein, T2>T3When no person in the remote cab is monitored twice continuously, the remote end controller directly sends a shutdown command to control the engine of the vehicle-mounted end to stop. In the second mechanism, a threshold value T of shutdown time is set, and a timer records a time interval T between the time when the vehicle-mounted end controller receives the action command last time and the current time1When T is1When the time is more than or equal to T, the vehicle-mounted end controller sends a wake-up request, the remote end controller wakes up the infrared monitoring module to perform infrared monitoring after receiving the wake-up request, when the situation that people exist in the remote cab is monitored, the remote end controller controls the prompter to perform shutdown operation prompting, and when the situation that no people exist in the remote cab is monitored, the remote end controller directly sends a shutdown command to control the engine of the vehicle-mounted end to stop.
In two kinds of above shutdown request trigger mechanism, can set up to the coexistence and go on, can effectively avoid someone in the driver's cabin, but the excavator need not the during operation, and the engine continues the energy waste that the work caused, and further, can be with near infrared monitoring module setting is controlling the seat, conveniently monitors the operator.
In particular, regarding the infrared monitoring module, it should be noted that the function is to determine whether a person is in the remote cab, which is only described as an example of the detection of the vital signs, the method of the present invention is not limited to this specific form, and those skilled in the art may adopt other vital signs detecting modules or determining methods as needed without departing from the basic principle of the present invention, for example: in addition, although the scheme describes that infrared signals in the remote cab are detected by infrared signals to judge whether people exist in the cab, the technical personnel in the field can understand that the operation of judging whether life signs exist in the remote cab can be also completed by a control system, and the infrared detection module only collects images in the remote cab and judges whether people exist in the remote cab through image analysis
The detection signal is sent to the control system without departing from the basic principle and the scope of protection of the present invention.
Has the advantages that: according to the invention, whether the engine of the excavator needs to be stopped is judged by two parallel monitoring methods, and the engine can be controlled to be stopped more accurately and timely, so that energy waste caused by idling of the excavator is effectively avoided.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (5)
1. The excavator control method based on the parallel driving technology is characterized by comprising two parallel control methods, which are respectively as follows:
s1, setting a threshold value T for shutdown time, and recording the time interval T between the time when the vehicle-mounted end controller receives the action command last time and the current time by a timer1When T is1When the time is more than or equal to T, the vehicle-mounted end controller sends a shutdown request;
s2 every interval T of infrared monitoring module2The monitoring is carried out by automatic starting, when the driver's cab is detected to be unmanned, the monitoring time interval is changed to T3Wherein, T2>T3When no person in the remote cab is monitored twice continuously, the remote end controller directly sends a shutdown command to control the engine of the vehicle-mounted end to stop.
2. The excavator control method based on the parallel driving technology as claimed in claim 1, wherein in S1, the remote end controller immediately wakes up the infrared monitoring module to perform infrared monitoring after receiving a shutdown request sent by the vehicle-mounted end, when it is monitored that there is a person in the remote cab, the remote end controller controls the prompter to perform shutdown operation prompting, and when it is monitored that there is no person in the remote cab, the remote end controller directly sends a shutdown command to control the engine to stop through the vehicle-mounted end controller.
3. The excavator control system based on the parallel driving technology is characterized by comprising a vehicle-mounted end controller, a vehicle-mounted engine, a remote end controller, a remote infrared monitoring module, a timer, a prompter and a wireless communication module; the vehicle-mounted end controller is connected with the vehicle-mounted engine, the vehicle-mounted end controller controls the start and stop of the engine through a control command, and the vehicle-mounted end controller is connected with the timer; the remote end controller is connected with the remote infrared monitoring module and the prompter; the vehicle-mounted end and the remote end are both provided with wireless communication modules, and data transmission is carried out between the vehicle-mounted end and the remote end through the wireless communication modules.
4. The excavator control system based on the parallel driving technology as claimed in claim 3, wherein the on-board end controller is connected with the on-board engine through a CAN bus.
5. The excavator control system based on the parallel driving technique according to claim 3 or 4, wherein the control system is configured to execute the control method according to claim 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011639966.1A CN112746648A (en) | 2020-12-31 | 2020-12-31 | Excavator control method and system based on parallel driving technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011639966.1A CN112746648A (en) | 2020-12-31 | 2020-12-31 | Excavator control method and system based on parallel driving technology |
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| CN112746648A true CN112746648A (en) | 2021-05-04 |
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| CN202011639966.1A Pending CN112746648A (en) | 2020-12-31 | 2020-12-31 | Excavator control method and system based on parallel driving technology |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107514023A (en) * | 2017-09-12 | 2017-12-26 | 徐州徐工挖掘机械有限公司 | A kind of excavator energy-saving control device and control method |
| US20180065637A1 (en) * | 2014-10-27 | 2018-03-08 | Brian Bassindale | Idle reduction system and method |
| CN108944673A (en) * | 2018-07-25 | 2018-12-07 | 芜湖彰鸿工程技术有限公司 | Automotive control system |
| CN111845271A (en) * | 2020-07-30 | 2020-10-30 | 安徽江淮汽车集团股份有限公司 | Vehicle air conditioner control method, device, equipment and storage medium |
-
2020
- 2020-12-31 CN CN202011639966.1A patent/CN112746648A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180065637A1 (en) * | 2014-10-27 | 2018-03-08 | Brian Bassindale | Idle reduction system and method |
| CN107514023A (en) * | 2017-09-12 | 2017-12-26 | 徐州徐工挖掘机械有限公司 | A kind of excavator energy-saving control device and control method |
| CN108944673A (en) * | 2018-07-25 | 2018-12-07 | 芜湖彰鸿工程技术有限公司 | Automotive control system |
| CN111845271A (en) * | 2020-07-30 | 2020-10-30 | 安徽江淮汽车集团股份有限公司 | Vehicle air conditioner control method, device, equipment and storage medium |
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Application publication date: 20210504 |