CN114232714B - Intelligent dust-reducing, dust-reducing and dust-blocking control method, device and system for loader - Google Patents
Intelligent dust-reducing, dust-reducing and dust-blocking control method, device and system for loader Download PDFInfo
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- CN114232714B CN114232714B CN202111651312.5A CN202111651312A CN114232714B CN 114232714 B CN114232714 B CN 114232714B CN 202111651312 A CN202111651312 A CN 202111651312A CN 114232714 B CN114232714 B CN 114232714B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D47/00—Separating dispersed particles from gases, air or vapours by liquid as separating agent
- B01D47/06—Spray cleaning
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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
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
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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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
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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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters
- Y02A50/2351—Atmospheric particulate matter [PM], e.g. carbon smoke microparticles, smog, aerosol particles, dust
Abstract
The invention discloses a method, a device and a system for controlling intelligent dust reduction and dust fall resistance of a loader, and the specific steps of the control method comprise: collecting related signals, judging the correctness of each data signal, and executing related actions; in response to detecting that the loader is in a discharging state, sending out an instruction for controlling the proportional electromagnetic valve, and controlling the electric control motor to execute water pump spraying action according to the instruction; the spray rate and time are automatically adjusted in response to detecting the concentration of dust reached and the pressure at which the water pump is operating. The invention solves the problems that a large amount of dust is generated when the loader dumps materials, dust is raised, the dust flies around, the environment is polluted, and the injury to operators is caused, effectively prevents dust from flying and splashing from the source, greatly improves the dust removal effect, reduces the individual security protection requirements, saves the related cost of manpower, material resources and the like, and improves the intelligent level of the loader.
Description
Technical Field
The invention relates to an intelligent dust-reducing and dust-reducing dust-blocking control method, device and system for a loader, and belongs to the technical field of intelligent control and dust treatment of engineering machinery.
Background
At present, the treatment measures of the unorganized emission dust in China approximately comprise 4 aspects of dust reduction, dust fall, dust removal and dust resistance. In some working places with large dust yield, such as a loader, a large amount of dust can appear when the loader dumps materials, so that dust can be raised and scattered around to pollute the environment, and when three measures of dust reduction, dust fall and dust removal are taken, some non-captured respiratory dust can still be diffused in the air, and at this time, individual protective measures should be taken, especially on-site working personnel.
The conventional dust removing method is poor in effect and limited in dust removing range, such as road hardening, watering of watering vehicles, dense mesh net covering and the like, and water and labor are wasted.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide an intelligent dust-reducing, dust-reducing and dust-blocking control method, device and system for a loader, and solves the problems of heavy manual operation load and low dust-reducing efficiency in the prior art.
In order to achieve the above object, the present invention adopts the following technical scheme:
a method for controlling intelligent dust reduction, dust fall and dust resistance of a loader comprises the following steps:
collecting signals of a movable arm angle sensor, a bucket angle sensor, a particulate matter detection sensor, a liquid level meter, a pressure sensor and a manual and automatic selection switch, judging the correctness of each data signal, and controlling a proportional electromagnetic valve to stop outputting actions if the signals fail, otherwise entering a manipulator mode;
in the manipulator mode, if manual operation is selected, outputting a control signal according to the manually set spraying time and spraying speed of the system and executing the spraying system to work, otherwise, detecting whether the loader is in a unloading state, and starting the spraying system to execute the next step in response to detecting that the loader is in the unloading state, otherwise, the spraying system does not work; and detecting the concentration reached by the dust and the pressure when the water pump is operated, calculating and outputting a spraying control parameter, and responding to the spraying control parameter, and executing related actions by the spraying system.
Further, the step of judging the correctness of each data signal, if the signal fails, controlling the proportional electromagnetic valve to stop the output action, otherwise, entering the manipulator mode comprises the following steps:
after the whole vehicle is electrified, signals of a movable arm angle sensor, a bucket angle sensor, a particulate matter detection sensor, a liquid level meter, a pressure sensor and a manual and automatic selection switch are collected;
if at least one of the angle signal of the movable arm angle sensor, the angle signal of the bucket angle sensor, the analog quantity signal of the particulate matter detection sensor, the position signal of the liquid level meter, the pressure signal of the pressure sensor and the output signal of the manual and automatic selection switch is wrong, the proportional electromagnetic valve is controlled to stop the output action, the electric control motor is stopped working, the water pump is stopped working, early warning or alarming is carried out in the touch display screen, a corresponding voice module is triggered, the fault indicator lamp starts to flash, and fault information is stored in the touch display screen;
if the data signals are normal and have no faults, the machine hand mode is entered.
Further, the step of detecting whether the loader is in the unloading state includes:
inputting a boom angle threshold value and a bucket angle threshold value;
receiving the boom angle and the bucket angle detected by the boom angle sensor and the bucket angle sensor in real time;
and executing judgment, wherein if the angle value of the movable arm is larger than the set angle threshold value of the movable arm and the bucket angle is larger than the set angle threshold value of the bucket, the loader is judged to be in a discharging state, a proportional solenoid valve control instruction is sent out, an electric control motor is started according to the instruction, and the electric control motor controls the water pump to execute spraying action.
Further, the step of detecting the concentration of the dust and the pressure of the water pump during operation, calculating and outputting a spraying control parameter, and responding to the spraying control parameter, wherein the step of executing related actions by the spraying system comprises the following steps:
inputting a concentration threshold value and a pressure threshold value;
receiving the dust concentration of the particulate matter detection sensor and the pressure detected by the water pump pressure sensor in real time;
if the concentration of dust detected by the particulate matter detection sensor is greater than a set concentration threshold value and the pressure detected by the water pump pressure sensor is greater than a set pressure threshold value, calculating, outputting control parameters, and controlling the water pump to execute spraying action according to parameter instructions, wherein the parameters comprise spraying speed and spraying time;
and detecting the spraying working time in real time, and if the spraying working time meets the output spraying time control parameter, controlling the electric control motor and the water pump to stop executing actions.
The intelligent dust-reducing, dust-reducing and dust-resisting control device for loader includes spray system and spray control system, the spray system includes proportional electromagnetic valve, electric control motor, pressure sensor, spray device, water pump and water tank, the spray control system includes control unit, manual-automatic selection switch, movable arm angle sensor, bucket angle sensor, particulate matter detection sensor and touch display screen,
the inlet of the water pump is connected with the water tank, and the outlet of the water pump is connected with the spraying device;
the port OUT1 of the control unit is connected with a proportional electromagnetic valve, and the output of the proportional electromagnetic valve is connected with an electric control motor;
the port IN2 of the control unit is connected with a pressure sensor, and the other end of the pressure sensor is connected with a water pump;
the control unit port IN3 is connected with an automatic manual selection switch which is arranged IN the cab;
the control unit ports CAN+ and CAN-are connected with a movable arm angle sensor which is arranged at a connecting twisting point of the front frame of the loader and the movable arm;
the control unit ports CAN+ and CAN-are connected with a bucket angle sensor which is arranged at a connecting twisting point of the front frame of the loader and the bucket;
the control unit ports CAN+ and CAN-are connected with the particle detection sensor through wires, and the particle detection sensor is arranged on the loader bucket connecting rod;
CAN+ and CAN-ports of the control unit are connected with a touch display screen, and the touch display screen is arranged on a cab side stand column.
Further, the control unit comprises a self-checking module, a state and fault monitoring and diagnosing module and a spray dust removing control module,
the self-checking module is used for receiving and processing data signals of the movable arm angle sensor, the bucket angle sensor, the particulate matter detection sensor, the liquid level meter, the pressure sensor and the manual and automatic selection switch and diagnosing the data correctness of the signals;
the state and fault monitoring and diagnosing module is used for detecting and diagnosing the working state of spraying, formulating a logic judging strategy, outputting the logic judging strategy to a touch display screen for display, and formulating and correcting control parameters for monitoring and controlling;
the spraying dust removal control module is in a discharging state according to the loader, and simultaneously, the spraying dust removal control module is used for executing an automatic spraying control algorithm by combining signal data fed back to the control unit by the particulate matter detection sensor and the pressure sensor, and outputting signals to control the spraying system to execute related actions.
Further, the touch display screen further comprises a voice module for warning and reminding the whole vehicle state of the manipulator and a fault indicator lamp for reminding the fault state of the whole vehicle of the manipulator.
Further, the battery is further provided with a storage battery, the positive electrode of the storage battery is connected with the BAT+ port of the control unit, and the negative electrode of the storage battery is connected with the BAT-port of the control unit.
Further, the spraying control system further comprises a liquid level meter, one end of the liquid level meter is connected with the port IN1 of the control unit, and the other end of the liquid level meter is connected with the water tank.
The intelligent dust-reducing, dust-reducing and dust-preventing control system for the loader comprises the intelligent dust-reducing, dust-reducing and dust-preventing control device for the loader.
The invention has the beneficial effects that:
1. the automatic control is adopted, so that the defects of no basis and untimely manual operation are effectively avoided, and meanwhile, the operation burden of operators is greatly reduced;
2. the spraying speed and the spraying time are automatically regulated, the intelligent level of the loader is improved, a large amount of dust is prevented from occurring when the loader dumps materials, dust is formed and scattered everywhere, the environment is polluted, and the operator is injured; and three measures of dust reduction, dust removal and dust resistance are adopted, so that dust scattering and splashing can be effectively prevented from the source, and the dust removal effect is greatly improved.
Drawings
FIG. 1 is a control electro-hydraulic schematic of the present invention;
FIG. 2 is a block diagram of the control logic of the control system of the present invention;
FIG. 3 is a flow chart of a control method of the present invention;
fig. 4 is a component layout of the present invention.
Meaning of reference numerals in the drawings: 1-an electromagnetic valve; 2-an electric control motor; 3-a pressure sensor; 4-spraying device; 5-a water pump; 6-a liquid level meter; 7-a water tank; 8-a control unit; 9-a storage battery; 10-a boom angle sensor; 11-bucket angle sensor; 12-a particulate matter detection sensor; 13-a manual automatic selection switch; 14-touching the display screen; 15-a voice module; 16-fault indicator light.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1, 2 and 4, the invention discloses an intelligent dust-reducing, dust-reducing and dust-preventing control device of a loader, which comprises a spraying system and a spraying control system, wherein the spraying system comprises a proportional electromagnetic valve 1, an electric control motor 2, a pressure sensor 3, a water pump 5, a water tank 7 and a spraying device 4, the spraying control system comprises a control unit 8, a liquid level meter 6, a movable arm angle sensor 10, a bucket angle sensor 11, a particulate matter detection sensor 12, a manual and automatic selection switch 13 and a touch display screen 14, and the control unit 8 is used for executing intelligent dust-reducing, dust-reducing and dust-preventing operation of the loader.
Referring to fig. 2, the control unit 8 includes a self-checking module, a status and fault monitoring and diagnosing module, and a spray dust removal control module:
the self-checking module is used for receiving and processing data signals of the pressure sensor 3, the liquid level meter 6, the movable arm angle sensor 10, the bucket angle sensor 11, the particulate matter detection sensor 12 and the manual automatic selection switch 13, and is used for diagnosing the data correctness of the signals.
The state and fault monitoring and diagnosing module is used for detecting and diagnosing the working state of spraying, formulating a logic judging strategy, outputting the logic judging strategy to the touch display screen 14 for display, and formulating and correcting control parameters for monitoring and controlling; when the signal faults are diagnosed, the state is output to the voice module 15, and the fault indicator lamp 16 flashes according to the fault codes to remind operators of the running state of spraying work.
The spraying dust removal control module executes an automatic spraying control algorithm according to the unloading state of the loader and the signal data fed back to the control unit 8 by the pressure sensor 3 and the particulate matter detection sensor 12, and outputs signals to control the spraying system to execute related actions;
a step of detecting a discharge state of the loader, the step comprising: if the angle detected by the boom angle sensor 10 is greater than the set angle threshold and the angle detected by the bucket angle sensor 11 is greater than the set angle threshold, the loader is in a discharge state, otherwise, the loader is in a non-discharge state. In the unloading state, if the concentration of dust detected by the particulate matter detection sensor 12 is greater than a set concentration threshold value and the working pressure of the water pump 5 detected by the pressure sensor 3 is greater than a set pressure threshold value, according to different threshold values met by the two data, the control unit 8 calculates control parameters, outputs an optimal speed control signal and control time, the proportional electromagnetic valve 1 controls the electric control motor 2 to act according to the control signal output by the control unit 8, the electric control motor 2 controls the water pump 5 to act, and the spraying device 4 is controlled to execute spraying action until the loader is in a non-unloading state or the spraying time is reached; the loader is in a non-unloading state or the spraying time meets the preset threshold requirement, and the electric control motor 5 and the water pump 8 stop executing actions.
During the working process of the loader, the control unit 8 automatically detects the states of the elements, outputs the states to the touch display screen 14 to display the working states in real time, and stores data.
The port OUT1 of the control unit 8 is connected with the proportional electromagnetic valve 1 through a wire, and the output end of the proportional electromagnetic valve 1 is connected with the electric control motor 2.
The port IN2 of the control unit 8 is connected with the liquid level meter 6 by a wire, the liquid level meter 6 outputs a position signal to the control unit 8, and the liquid level meter 6 is connected with the water tank 7.
The port IN1 of the control unit 8 is connected with the pressure sensor 3 by a wire, the pressure sensor 3 outputs a pressure signal to the control unit 8, and the pressure sensor 3 is connected with the water pump 5.
The port IN3 of the control unit 8 is connected with the manual automatic selection switch 13 by a wire, the manual automatic selection switch 13 outputs a signal to the control unit 8, the manual automatic selection switch 13 is arranged IN a cab, and the manual automatic selection switch 13 is operated to open or close the automatic triggering and activating state of the system.
The ports CAN+ and CAN-of the control unit 8 are connected with the movable arm angle sensor 10 through wires, the movable arm angle sensor 10 outputs an angle signal to the control unit 8, and the movable arm angle sensor 10 is arranged at a connecting twisted point of the front frame of the loader and the movable arm and is used for detecting an angle value when the movable arm works.
The ports CAN+ and CAN-of the control unit 8 are connected with a bucket angle sensor 11 through wires, the bucket angle sensor 11 outputs an angle signal to the control unit 8, and the bucket angle sensor 11 is arranged at a connecting twisting point of the front frame of the loader and the bucket and is used for detecting an angle value when the bucket works.
The ports CAN+ and CAN-of the control unit 8 are connected with the particle detection sensor 12 through wires, the particle detection sensor 12 outputs analog signals to the control unit 8, and the particle detection sensor 12 is arranged on a bucket connecting rod of the loader and is used for detecting dust concentration values during working.
The BAT+ port of the control unit 8 is connected with the positive electrode of the storage battery 9 by a wire, and the BAT-port of the control unit 8 is connected with the negative electrode of the storage battery 9 by a wire.
The CAN+ and CAN-ports of the control unit 8 are connected with the touch display screen 14 by leads, the touch display screen 14 is arranged on a side column of the cab, the touch display screen 14 carries out online diagnosis on the working state of the loader, the working state of the spraying of the manipulator is reminded according to the diagnosis result, and the touch display screen 14 is communicated with the control unit 8 through CAN signals; the touch display screen 14 is internally provided with a voice module 15 and a fault indicator lamp 16, wherein the voice module 15 is used for warning and reminding the whole automobile state of the locomotive, and the fault indicator lamp 16 is used for reminding the whole automobile state of the locomotive.
As shown in fig. 2 and fig. 3, the intelligent dust-reducing, dust-reducing and dust-blocking control method for a loader provided by the embodiment of the invention comprises the following steps:
s1, after the whole vehicle is electrified, acquiring related signals of a control system, entering a self-checking module, judging correctness of various signals on line, and making judgment in real time;
s2, judging whether the acquired signals have faults or not, if so, executing S3; if not, executing S6;
and S3, controlling the proportional electromagnetic valve 1 to stop outputting according to the fault condition, stopping the electric control motor 2, stopping the water pump 5, and executing S4.
S4, outputting the information to the touch display screen 14 according to the execution condition of the S3, carrying out early warning or alarm prompt, and executing the S5;
s5, triggering a corresponding voice module 15, flashing a fault indicator lamp 16 according to fault codes, and storing data in the touch display screen 14;
s6, selecting a manipulator mode, operating a manipulator automatic selection switch 13, and executing S7 if manual operation is performed; if automatic, S8 is executed.
S7, executing according to the manual setting parameters of the system, outputting control signals, and executing S13;
s8, the manipulator operates the loader, judges the unloading position, and executes S9;
s9, judging that the angle value detected by the movable arm angle sensor 10 is larger than a set angle threshold value and the angle value detected by the bucket angle sensor 11 is larger than the set angle threshold value, and executing S10 if the two conditions are simultaneously met; if not, executing S15;
s10, collecting a concentration value detected by the particulate matter sensor 12 and a pressure value detected by the pressure sensor 3, and executing S11;
s11, calculating control parameters according to the sensor data acquired in the S10, outputting an optimal proportion control signal, and executing the S12;
s12, judging that the spraying working time is smaller than a set time threshold, if yes, executing S13; if not, S15 is executed.
S13, the proportional solenoid valve 1 operates according to the calculated proportional control signal;
s14, detecting the working state of spraying operation in real time, outputting the working state to the touch display screen 14, and displaying the corresponding working state;
s15, ending the control flow.
The intelligent dust-reducing, dust-reducing and dust-blocking control method for the loader provided by the embodiment of the invention uses the high-precision sensor, and the actual working conditions in the spray dust-removing control process are accurately judged through the data processing of the high-speed algorithm of the controller, so that the intelligent dust-reducing, dust-blocking and dust-blocking control method for the loader is quick in response, small in error and high in controllability.
The specific operation process of this embodiment is as follows: in response to detecting that the loader is in a discharging state, an instruction for controlling the proportional electromagnetic valve 1 is sent, the electric control motor 2 is started according to the instruction, the electric control motor 2 controls the water pump 5 to execute spraying action, meanwhile, according to concentration data of dust detected by the particulate matter sensor 12 and a pressure value of the water pump 5 when in operation, the spraying speed and the spraying time are automatically adjusted until the loader is detected to be in a non-discharging state or the spraying time meets a preset threshold requirement, and the electric control motor 2 and the water pump 5 stop executing action;
whether the loader is in a discharging state is judged through the movable arm angle sensor 10 and the bucket angle sensor 11, if the angle detected by the movable arm angle sensor 10 is larger than a set angle threshold value and the angle detected by the bucket angle sensor 11 is larger than the set angle threshold value, the loader is in the discharging state, otherwise, the loader is in a non-discharging state.
The method for automatically adjusting the spraying speed and time of the loader comprises the following steps:
if the concentration of dust detected by the particulate matter detection sensor 12 is larger than a set concentration threshold value and the working pressure of the water pump 5 detected by the pressure sensor 3 is larger than a set pressure threshold value, calculating control parameters according to different threshold values met by the two data, and outputting an optimal speed control signal and a time control signal;
the spraying time meets the requirement of a preset threshold value, namely the spraying time reaches a set time threshold value;
and judging the correctness of each data signal, if the data signal is wrong, controlling the electric control motor 2 to stop acting and giving an early warning or an alarm, triggering the corresponding voice module 15, flashing the fault indicator lamp 16 according to the fault code, and storing the data in the touch display screen 14.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (9)
1. The intelligent dust-reducing, dust-reducing and dust-blocking control method for the loader is characterized by comprising the following steps of:
collecting signals of a movable arm angle sensor, a bucket angle sensor, a particulate matter detection sensor, a liquid level meter, a pressure sensor and a manual and automatic selection switch, judging the correctness of each data signal, and controlling a proportional electromagnetic valve to stop outputting actions if the signals fail, otherwise entering a manipulator mode;
in the manipulator mode, if manual operation is selected, outputting a control signal according to the manually set spraying time and spraying speed of the system and executing the spraying system to work, otherwise, detecting whether the loader is in a unloading state, and starting the spraying system to execute the next step in response to detecting that the loader is in the unloading state, otherwise, the spraying system does not work;
detecting the concentration reached by the dust and the pressure when the water pump operates, calculating and outputting a spraying control parameter, and responding to the spraying control parameter, executing related actions by the spraying system:
inputting a concentration threshold value and a pressure threshold value;
receiving the dust concentration of the particulate matter detection sensor and the pressure detected by the water pump pressure sensor in real time;
if the concentration of dust detected by the particulate matter detection sensor is greater than a set concentration threshold value and the pressure detected by the water pump pressure sensor is greater than a set pressure threshold value, calculating, outputting control parameters, and controlling the water pump to execute spraying action according to parameter instructions, wherein the parameters comprise spraying speed and spraying time;
and detecting the spraying working time in real time, and if the spraying working time meets the output spraying time control parameter, controlling the electric control motor and the water pump to stop executing actions.
2. The intelligent dust-reducing, dust-reducing and dust-preventing control method for loader according to claim 1, wherein said step of judging correctness of each data signal, if the signal fails, controlling the proportional solenoid valve to stop the output operation, otherwise, entering the robot mode comprises:
after the whole vehicle is electrified, signals of a movable arm angle sensor, a bucket angle sensor, a particulate matter detection sensor, a liquid level meter, a pressure sensor and a manual and automatic selection switch are collected;
if at least one of the angle signal of the movable arm angle sensor, the angle signal of the bucket angle sensor, the analog quantity signal of the particulate matter detection sensor, the position signal of the liquid level meter, the pressure signal of the pressure sensor and the output signal of the manual and automatic selection switch is wrong, the proportional electromagnetic valve is controlled to stop the output action, the electric control motor is stopped working, the water pump is stopped working, early warning or alarming is carried out in the touch display screen, a corresponding voice module is triggered, the fault indicator lamp starts to flash, and fault information is stored in the touch display screen;
if the data signals are normal and have no faults, the machine hand mode is entered.
3. The intelligent dust-reducing, dust-reducing and dust-blocking control method for a loader according to claim 1, wherein the step of detecting whether the loader is in a discharge state comprises:
inputting a boom angle threshold value and a bucket angle threshold value;
receiving the boom angle and the bucket angle detected by the boom angle sensor and the bucket angle sensor in real time;
and executing judgment, wherein if the angle value of the movable arm is larger than the set angle threshold value of the movable arm and the bucket angle is larger than the set angle threshold value of the bucket, the loader is judged to be in a discharging state, a proportional solenoid valve control instruction is sent out, an electric control motor is started according to the instruction, and the electric control motor controls the water pump to execute spraying action.
4. An intelligent dust-reducing, dust-resisting and controlling device for a loader, which is characterized by comprising a spraying system and a spraying control system, wherein the spraying system comprises a proportional electromagnetic valve (1), an electric control motor (2), a pressure sensor (3), a spraying device (4), a water pump (5) and a water tank (7), the spraying control system comprises a control unit (8), a manual-automatic selection switch (13), a movable arm angle sensor (10), a bucket angle sensor (11), a particulate matter detection sensor (12) and a touch display screen (14),
an inlet of the water pump (5) is connected with the water tank (7), and an outlet of the water pump is connected with the spraying device (4);
the port OUT1 of the control unit (8) is connected with the proportional electromagnetic valve (1), and the output of the proportional electromagnetic valve (1) is connected with the electric control motor (2);
the port IN2 of the control unit (8) is connected with the pressure sensor (3), and the other end of the pressure sensor (3) is connected with the water pump (5);
the port IN3 of the control unit (8) is connected with a manual automatic selection switch (13), and the manual automatic selection switch (13) is arranged IN a cab;
the ports CAN+ and CAN-of the control unit (8) are connected with the movable arm angle sensor (10), and the movable arm angle sensor (10) is arranged at a connecting twisting point of the front frame of the loader and the movable arm;
the ports CAN+ and CAN-of the control unit (8) are connected with a bucket angle sensor (11), and the bucket angle sensor (11) is arranged at a connecting twisting point of the front frame of the loader and the bucket;
the ports CAN+ and CAN-of the control unit (8) are connected with the particulate matter detection sensor (12) through wires, and the particulate matter detection sensor (12) is arranged on a bucket connecting rod of the loader;
CAN+ and CAN-ports of the control unit (8) are connected with a touch display screen (14), and the touch display screen (14) is arranged on a cab side stand column.
5. The intelligent dust-reducing, dust-reducing and dust-preventing control device for a loader according to claim 4, wherein the control unit (8) comprises a self-checking module, a state and fault monitoring and diagnosing module and a spray dust-removing control module,
the self-checking module is used for receiving and processing data signals of the movable arm angle sensor (10), the bucket angle sensor (11), the particulate matter detection sensor (12), the liquid level meter (6), the pressure sensor (3) and the manual automatic selection switch (13) and is used for diagnosing the data correctness of the signals;
the state and fault monitoring and diagnosing module is used for detecting and diagnosing the working state of spraying, formulating a logic judging strategy, outputting the logic judging strategy to a touch display screen (14) for display, and formulating and correcting control parameters for monitoring and controlling;
the spraying dust removal control module executes an automatic spraying control algorithm according to the unloading state of the loader and simultaneously combines signal data fed back to the control unit (8) by the particulate matter detection sensor (12) and the pressure sensor (3), and outputs signals to control the spraying system to execute related actions.
6. The intelligent dust-reducing, dust-reducing and dust-preventing control device for the loader according to claim 4, wherein the touch display screen (14) further comprises a voice module (15) for warning the state of the whole car of the loader and a fault indicator lamp (16) for warning the fault state of the whole car of the loader.
7. The intelligent dust-reducing, dust-reducing and dust-resisting control device for the loader according to claim 4, further comprising a storage battery (9), wherein the positive electrode of the storage battery (9) is connected with a BAT+ port of the control unit (8), and the negative electrode of the storage battery (9) is connected with a BAT-port of the control unit (8).
8. The intelligent dust-reducing dust-resisting control device for the loader according to claim 4, wherein the spraying control system further comprises a liquid level meter (6), one end of the liquid level meter (6) is connected with a port IN1 of the control unit (8), and the other end of the liquid level meter (6) is connected with the water tank (7).
9. A system for controlling intelligent dust reduction, dust reduction and dust resistance of a loader, which is characterized by comprising the intelligent dust reduction, dust reduction and dust resistance control device of the loader according to any one of claims 4-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111651312.5A CN114232714B (en) | 2021-12-30 | 2021-12-30 | Intelligent dust-reducing, dust-reducing and dust-blocking control method, device and system for loader |
Applications Claiming Priority (1)
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| CN115009885B (en) * | 2022-07-02 | 2023-03-24 | 中国矿业大学 | Fault monitoring method and device for ore tank discharging and dust removing system |
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