CN114481760A - Control method of paver and paver - Google Patents
Control method of paver and paver Download PDFInfo
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- CN114481760A CN114481760A CN202210134631.7A CN202210134631A CN114481760A CN 114481760 A CN114481760 A CN 114481760A CN 202210134631 A CN202210134631 A CN 202210134631A CN 114481760 A CN114481760 A CN 114481760A
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- paver
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- screed
- controlling
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
- E01C19/4866—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ with solely non-vibratory or non-percussive pressing or smoothing means for consolidating or finishing
- E01C19/4873—Apparatus designed for railless operation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
The invention provides a control method of a paver and the paver, wherein the method comprises the following steps: when an ironing plate of a paver is in contact with a target operation surface, acquiring the operation state of the paver; and when the working state of the paver is in a slipping state, controlling the screed to be separated from the target working surface. According to the control method of the paver, the screed of the paver is controlled to be separated from the target operation surface, so that the gravity of the screed can be transmitted to the ground through the host, the adhesion between the paver and the ground is further increased, the slipping condition of the paver in a walking working state is effectively improved, and the structural design difficulty and the cost are reduced under the condition that a driving mechanism is not additionally arranged.
Description
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a control method of a paver and the paver.
Background
The paver comprises an execution mechanism, and the execution mechanism can complete specific operation contents. Some paving machines operate with actuators that contact the ground or other objects to work. Under some conditions, the adhesion force between the paver and the ground is small, the paver is easy to slip in the walking process, the front wheel of the paver is driven by additionally arranging an additional driving mechanism in the related technology, the slipping condition of the paver is further improved, and the structure difficulty of additionally arranging a new driving mechanism is high and the cost is high.
Disclosure of Invention
The invention provides a control method of a paver and the paver, which are used for solving the defects of high structural difficulty and high cost of a new driving mechanism in the prior art and realizing the effect of improving the slippage by utilizing the existing structure of the paver.
The invention provides a control method of a paver, which comprises the following steps:
when an ironing plate of a paver is in contact with a target operation surface, acquiring the operation state of the paver;
and when the working state of the paver is in a slipping state, controlling the screed to be separated from the target working surface.
According to the control method of the paver provided by the invention, the control of the separation of the screed plate and the target working surface comprises the following steps:
and controlling the ironing plate to be switched from a floating state to a non-floating state.
According to the control method of the paver provided by the invention, the control of the screed to be switched from the floating state to the non-floating state comprises the following steps:
the method comprises the steps of controlling a large arm oil cylinder of the paver to lock a host of the paver and the screed, and switching the connection state between the host and the screed from a floating state to a non-floating state.
According to the control method of the paver provided by the invention, after the control of the screed to be disengaged from the target working surface, the method further comprises the following steps:
after the first target duration, acquiring the working state of the paver again;
and when the working state of the paver is in a slipping state, controlling the paver to reduce the material conveying speed and the material distributing speed.
According to the control method of the paver provided by the invention, after the control of the paver to reduce the material conveying speed and the material distributing speed, the method further comprises the following steps:
after a second target duration, acquiring the working state of the paver again;
and when the working state of the paver is in a slipping state, controlling the paver to send out alarm information.
According to the control method of the paver provided by the invention, after the control of the paver to reduce the material conveying speed and the material distributing speed, the method further comprises the following steps:
acquiring the number of times that the paver is in a slipping state in the working state of a target working area;
and under the condition that the times are greater than the target value, reducing at least one of the maximum value of the conveying speed and the maximum value of the material distribution speed as a target parameter.
According to the control method of the paver provided by the invention, the operation state of the paver is in a slipping state, and the control method comprises the following steps:
acquiring a first speed and a second speed of the paver, wherein the first speed is determined based on a walking driving mechanism of the paver, and the second speed is the walking speed of the paver;
determining that the operating state of the paving machine is in a skid state when the deviation of the first speed from the second speed is greater than a first target threshold.
The invention also provides a hydraulic control system of the paver, comprising: the auxiliary oil circuit comprises a main oil circuit, an oil return circuit and an auxiliary pump, wherein the auxiliary pump is communicated with the main oil circuit;
the large arm oil cylinder is connected between a host of the paver and a screed of the paver;
the first reversing valve comprises a first oil port, a second oil port, a third oil port and a fourth oil port; the second reversing valve comprises a fifth oil port and a sixth oil port; the first oil port is connected with the main oil way, the second oil port is connected with the oil return way, the third oil port is connected with the fifth oil port, the fourth oil port is connected with the first cavity of the large arm oil cylinder, and the sixth oil port is connected with the second cavity of the large arm oil cylinder;
under the condition that the second position of the first reversing valve is communicated, the first oil port is communicated with the third oil port, and the second oil port is communicated with the fourth oil port; under the condition that the first position of the first reversing valve is communicated, the third oil port is communicated with the fourth oil port, and the second oil port is communicated with the fourth oil port; under the condition that the first position of the second reversing valve is conducted, the first reversing valve is conducted from the fifth oil port to the sixth oil port in a one-way mode; and under the condition that the second position of the second reversing valve is communicated, the fifth oil port and the sixth oil port are communicated in a two-way mode.
The present invention also provides a control device for a paver, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the working state of the paver when an ironing plate of the paver is in contact with a target working surface;
and the first processing module is used for controlling the screed to be separated from the target working surface when the working state of the paver is in a slipping state.
The invention also provides a paver which comprises a screed plate and the control device of the paver.
The invention also provides electronic equipment comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the control method of the paver.
The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of a method of controlling a paving machine as claimed in any one of the above-mentioned.
According to the control method of the paver and the paver provided by the invention, the screed of the paver is controlled to be separated from the target operation surface, so that the gravity of the screed can be transmitted to the ground through the host, the adhesive force between the paver and the ground is further increased, the slipping condition of the paver in a walking working state is effectively improved, and the structural design difficulty and the cost are reduced under the condition that a driving mechanism is not additionally arranged.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be 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 it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a hydraulic system of a paver provided by the present invention;
fig. 2 is a schematic structural diagram of a hydraulic control system of the paver provided in the present invention;
fig. 3 is a schematic flow chart of a control method of a paver provided in accordance with the present invention;
fig. 4 is a schematic flow chart of the working process of the paver provided by the present invention;
fig. 5 is a schematic structural diagram of a control device of the paver provided by the invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but 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.
The control method of the paver and the paver of the present invention will be described below with reference to fig. 1 to 5.
The paver of the present invention may include a travel drive mechanism, a host machine, a screed, a controller, a first sensor, and a second sensor.
The walking driving mechanism is used for outputting power to drive the paver to walk in the operation process or the non-operation process.
The host computer can be used for the operating personnel to carry out the operation control to the screed of paver. The main machine can also be provided with a walking mechanism which can be wheels or a crawler belt and the like.
The screed is used for carrying out paving and ironing operation when a walking driving mechanism of the paver drives the paver to walk.
The first sensor may be used to detect a first speed of the travel drive. The walking driving mechanism directly outputs power to the walking process of the paver, and the first speed acquired by the walking driving mechanism can reflect the theoretical speed of the paver in the walking process.
The second sensor may be configured to capture a second speed of travel of the paving machine. When the paver runs in the actual working process, the second sensor can acquire a second speed of the paver when running, and the second speed can reflect the actual speed of the paver in the running process.
When the paver slips in the walking process, the walking driving mechanism still continuously outputs power, the actual position change of the paver is very small, the actual speed is smaller than the theoretical speed, and the second speed is smaller than the first speed.
When the paver is in the process of walking operation, the controller can judge whether the paver is in a slipping state according to the deviation between the first speed acquired by the first sensor and the second speed acquired by the second sensor.
In order to accurately judge the slipping state, a first target threshold value for judging the slipping state can be determined according to historical data in the travelling process of the paver. When a deviation between the first speed and the second speed is greater than a first target threshold, it may be determined that the paving machine is in a skid state.
When the paver is judged to be in a slipping state, the controller can control the paver to switch the connection relation between the screed plate and the host machine from flexible connection to rigid connection.
It will be appreciated that the connection between the screed and the host machine is a flexible connection during operation of the screed, in which case the screed is in a floating state.
In case the connection between the screed and the host machine is switched to a rigid connection, the screed is locked and the screed is in a non-floating state.
It should be noted that, during the period when the screed is not in operation, the screed is rigidly connected to the host machine, and the screed may be fixed relative to the host machine. The pressure of the paver on the ground comprises the gravity of the main machine and the whole screed.
And in the process of the operation of the ironing board, the ironing board is flexibly connected with the host machine. When the main machine is flexibly connected with the ironing plate, certain acting force can be applied to the ground, objects and the like in the process of the ironing plate operating, and meanwhile, the ironing plate can also be supported by the ground or objects. The pressure of the paver on the ground comprises the gravity of the main machine and part of the screed plate.
When the connection relation between the host and the screed of the paver is switched from flexible connection to rigid connection, all the gravity of the screed of the paver is transmitted to the ground through the host, the supporting force of the ground to the paver is increased at the moment, the adhesive force between the paver and the ground is further increased, and the slipping state of the paver can be effectively improved.
The controller can control the actuating mechanism to switch the connection relation between the ironing board and the host from flexible connection to rigid connection, and the ironing board is switched from a floating state to a non-floating state. The control execution mechanism can be arranged between the host and the ironing board and can be used for connecting the host and the ironing board.
The control executing mechanism can be selected according to different power sources of the paver. When the paver controls the screed plate in a hydraulic mode, the control execution mechanism can select a hydraulic control system. When the paver controls the screed plate in an electric mode, the control execution mechanism can select a motor controller. Of course, the control actuator may be selected in other forms, such as selecting a start control device, and the like, and the form of the control actuator is not limited herein.
In some embodiments, as shown in fig. 1, a paving machine may implement control of various actuators via a hydraulic system. The paver may be a rubber-tyred paver or a track paver.
The power source of the paver can adopt a running pump 110, and the running pump 110 is connected with a hydraulic motor 120 through an oil way and an electromagnetic valve. In the working process of the paver, the whole paver is driven by the running pump 110 to advance for construction.
In some embodiments, the travel pump 110 of the crawler spreader generally employs a closed plunger pump, the closed plunger pump drives the hydraulic motor 120 to rotate, the hydraulic motor 120 drives the travel speed reducer, the travel speed reducer drives the crawler driving wheel, and the crawler driving wheel drives the whole crawler to rotate, thereby driving the whole spreader to perform the traveling construction. The crawler-type paver can adopt a double-pump and double-motor structure.
In some embodiments, the driving pump of the wheeled paver generally adopts a closed plunger pump to drive the hydraulic motor 120, the hydraulic motor 120 drives the rear axle, and the rear axle drives the tires to rotate, so as to drive the whole wheeled paver to perform walking construction. The rubber-tyred paver can adopt a single pump and single motor structure.
The paver main machine 150 and the screed plate can be connected through a large arm oil cylinder, various working condition conversion such as lifting, floating and the like can be carried out between the paver main machine and the screed plate through the control of a hydraulic system, and meanwhile, the conversion between rigid connection and flexible connection between the paver main machine and the screed plate is realized.
The paver is always in a floating state in the paving process, the paver host machine 150 and the screed belong to flexible connection, the adhesion force of the paver is mainly related to the weight of the paver host machine 150, and the adhesion force of the paver is positively related to the weight of the paver. Because the weight of the main machine 150 is relatively smaller than the total weight of the main machine 150 and the screed, the adhesion force of the paver is relatively smaller when the paver is in a floating state, and meanwhile, because of the gravity center distribution problem, the adhesion force of rear tires of the tire type paver becomes smaller, so that the tire type paver is more prone to skidding.
Slipping can occur with either track pavers or rubber-tyred pavers. Because the tire type paver is driven by tires, the contact area between the tires and the ground is small, so that the tire type paver is poorer in adhesion condition and more prone to slipping compared with a crawler type paver, the paver cannot be constructed normally, and the use of a user is seriously influenced.
When the tire type paver is not driven by a front wheel, under the condition that the ditch ridge exceeds about 5cm in the construction process, the construction becomes more difficult because the resistance becomes large. The driving capability of the whole machine is improved by increasing the front wheel drive in the related technology, but the cost is increased more, the structure is relatively complex, and the popularization and application difficulty is higher. The invention realizes the improvement of the slippage through the hydraulic system of the paver, and reduces the structural difficulty and the cost.
The electromagnetic valve of the travel pump 110 in the hydraulic system of the paver according to the embodiment of the invention may include an electromagnetic directional valve 111, a pressure limiting valve 112, a high-pressure overflow valve 113, and an oil-supplementing overflow valve 114, and the travel pump 110 further includes an oil-supplementing pump 115. First sensor 130 may be coupled to hydraulic motor 120 and collect data from hydraulic motor 120 to obtain a first speed, and second sensor 140 may be coupled directly to the paving machine, such as to a host 150 of the paving machine.
In the present embodiment, the paver controls the travel drive mechanism and the screed plate via a hydraulic system. The paver can realize the switching of the connection relation between the screed and the host 150 through a hydraulic system, so that the pressure of the paver on the ground and the gravity center position are changed, and the adhesive force between the host and the ground is changed.
According to the paver provided by the embodiment of the invention, the first speed and the second speed of the paver during walking are determined by arranging the first sensor 130 and the second sensor 140, whether the paver is in a slipping state is judged according to the deviation between the first speed and the second speed, the slipping state of the paver is improved by controlling the connection relation between the host 150 and the screed plate, the use stability of the paver is improved, the complexity and the cost of the structural design of the paver can be reduced without additionally arranging an additional driving mechanism, and the product performance of the paver is enhanced.
The embodiment of the invention also provides a hydraulic control system of the paver. The hydraulic control system of the paver can be used as a control execution mechanism to be applied to the paver.
As shown in fig. 2, the hydraulic control system of the paver of the present invention includes a main oil path 210, an oil return path 220, and an auxiliary pump 230, wherein the main oil path 210 and the auxiliary pump 230 are connected and communicated, the auxiliary pump can pump hydraulic oil in the main oil path 210 to a relevant position, and the auxiliary pump 230 is further connected to a main overflow valve 240 at an outlet position of the main oil path 210.
The boom cylinder 290 is connected between the main frame of the paver and the screed of the paver. When the screed is in a non-working state, the arm cylinder 290 can lift the screed, so that the screed and the host machine are in a rigid connection state and are kept fixed.
When the screed is in a working state, the oil rod of the large arm oil cylinder 290 can float up and down in the oil cavity of the large arm oil cylinder 290 under the action of hydraulic oil, so that the screed can keep a floating state up and down during working, and at the moment, the screed is flexibly connected with the host machine.
The hydraulic control system of the paving machine also includes a first directional valve 250, a second directional valve 260, a third directional valve 270, and a fourth directional valve 280. The first direction valve 250 and the third direction valve 270 may be three-position four-way valves, the second direction valve 260 may be two-position two-way valves, and the fourth direction valve 280 may be two-position four-way valves.
The first direction valve 250 includes a first oil port 251, a second oil port 252, a third oil port 253, and a fourth oil port 254, and the first oil port 251, the second oil port 252, the third oil port 253, and the fourth oil port 254 correspond to the oil ports distributed in the counterclockwise direction from the upper left corner of the first direction valve 250 as shown in fig. 2 in sequence. The second direction valve 260 includes a fifth port 261 and a sixth port 262, the fifth port 261 being a right port as shown in fig. 5, and the sixth port 262 being a right port as shown in fig. 5.
The first direction valve 250 and the second direction valve 260 are at different positions, and the conduction mode between the oil ports is different. A pressure reducing valve 211 is connected between the first and second oil ports 251 and 252 and the main and return oil passages 210 and 220.
The first port 251 may be connected to the main oil passage 210, the second port 252 may be connected to the oil return passage 220, the third port 253 may be connected to the fifth port 261, the fourth port 254 may be connected to the first chamber of the arm cylinder 290, and the sixth port 262 may be connected to the second chamber of the arm cylinder 290.
The first chamber of the big arm cylinder 290 may be the rodless chamber of the big arm cylinder 290 and the second chamber of the big arm cylinder 290 may be the rod chamber of the big arm cylinder 290.
In some embodiments, when the second position of the first direction valve 250 is turned on, the first port 251 is turned on with the third port 253, and the second port 252 is turned on with the fourth port 254; when the first position of the first direction valve 250 is turned on, the third port 253 and the fourth port 254 are turned on, and the second port 252 and the fourth port 254 are turned on.
When the first position of the second direction valve 260 is conducted, the first direction valve 250 is conducted from the fifth oil port 261 to the sixth oil port 262 in a one-way mode; when the second position of the second direction valve 260 is turned on, the fifth port 261 and the sixth port 262 are turned on in both directions.
The hydraulic control system of the paving machine also includes a third directional valve 270 and a fourth directional valve 280. Third directional valve 270 may be a three-position, four-way valve and fourth directional valve 280 may be a two-position, four-way valve.
The third directional valve 270 includes a seventh port, an eighth port, a ninth port, and a tenth port. The seventh oil port, the eighth oil port, the ninth oil port and the tenth oil port correspond to the oil ports distributed counterclockwise from the upper left corner of the valve body as shown in fig. 2. The third direction valve 270 and the fourth direction valve 280 are at different positions, and the conduction modes between the oil ports are different.
The fifth oil port 261 may be connected with the main oil passage 210, the sixth oil port 262 may be connected with the oil return passage 220, and the seventh oil port and the eighth oil port may be connected with an oil passage of the entire paver. The ninth port is connected to the main oil passage 210, and the tenth port is connected to the oil return passage 220.
When the third directional valve 270 is turned on at the first position, hydraulic oil in the oil path of the whole paver can flow into the main oil path 210, so that the hydraulic control system of the paver can work normally.
Under the condition of flexible connection between the screed and the main machine, the second position of the first reversing valve 250 is conducted, the first oil port 251 is conducted with the third oil port 253, and the second oil port 252 is conducted with the fourth oil port 254. The second position of the second direction valve 260 is conducted, and the fifth oil port 261 and the sixth oil port 262 are conducted in both directions.
Hydraulic oil can pass through the main oil path 210 through the auxiliary pump 230 and then sequentially pass through the first oil port 251, the third oil port 253, the fifth oil port 261 and the sixth oil port 262 to enter the first cavity of the large arm cylinder 290, hydraulic oil in the first cavity of the large arm cylinder 290 can also sequentially pass through the sixth oil port 262, the fifth oil port 261, the third oil port 253 and the first oil port 251 to flow back to the main oil path 210, hydraulic oil in the second cavity of the large arm cylinder 290 can sequentially pass through the fourth oil port 254 and the second oil port 252 and flow back to the oil return path 220, and hydraulic oil in the oil return path 220 can also flow back to the second cavity of the large arm cylinder 290 through the second oil port 252 and the fourth oil port 254.
In this embodiment, the screed is connected to the boom cylinder 290. The hydraulic oil in the first cavity and the second cavity of the boom cylinder 290 can freely flow in the hydraulic control system of the paver, and the oil rod can float up and down in the oil cavity of the boom cylinder 290 under the action of the hydraulic oil, so that the screed can also keep a state of floating up and down during working. In this case, the screed can float up and down according to the road surface material having an uneven road surface and flatten the road material.
With the screed plate raised, the second direction valve 260 is in the second position, and the second direction valve 260 is in one-way communication from the fifth port 261 to the sixth port 262. The hydraulic oil enters the first cavity of the boom cylinder 290 through the second direction valve 260 to press out the hydraulic oil in the second cavity of the boom cylinder 290, so as to lift the screed plate.
Under the condition of rigid connection between the screed and the main machine, the first position of the first reversing valve 250 is communicated, the third oil port 253 is communicated with the fourth oil port 254, and the second oil port 252 is communicated with the fourth oil port 254.
Hydraulic oil can sequentially enter the first cavity of the large arm cylinder 290 through the second oil port 252, the third oil port 253, and the fifth oil port 261 by the auxiliary pump 230, and hydraulic oil in the second cavity of the large arm cylinder 290 flows into the oil return path 220 through the fourth oil port 254 and the second oil port 252. The hydraulic oil pumped by the auxiliary pump 230 has a large pressure, so that the oil rod in the large arm cylinder 290 can be balanced, and the locking of the screed plate is realized.
Under the condition of rigid connection between the screed and the host machine, the screed can be separated from the road surface and the road surface material, and the screed is fixed relative to the host machine.
In some embodiments, two large arm cylinders 290 may be provided, and the two large arm cylinders 290 are connected to both ends of the screed plate, respectively. It can be understood that, when the boom cylinder 290 is provided in two, the number of the second direction changing valves 260 is also provided in two, and the two second direction changing valves 260 are respectively connected to the two boom cylinders 290, and the two boom cylinders 290 are provided to improve stability of the lifting capability of the screed. Of course, in some embodiments, the number of the boom cylinders 290 may be set to other numbers, and is not limited herein.
According to the hydraulic control system of the paver provided by the embodiment of the invention, the first reversing valve 250 and the second reversing valve 260 are arranged to control the large arm oil cylinder 290, so that the connection state between the screed and the host machine can be conveniently and timely switched in the walking process of the paver, the response efficiency of the screed of the paver is improved, and the stability of the response effect of the screed is ensured.
The following describes a method for controlling a paver according to the present invention, and the method for controlling a paver described below and the paver described above may be referred to in correspondence with each other.
The control method of the paver provided by the invention can control the connection relation between the screed plate and the paver host under the condition that the paver slips, thereby realizing the improvement of the slipping condition of the paver.
As shown in fig. 3, the control method of the paving machine provided by the invention comprises steps 310 and 320.
And 310, acquiring the working state of the paver when the screed of the paver is in contact with the target working surface.
It will be understood that the target work surface may be the surface of the paving machine that is in contact with the screed, or the surface of the paving material that is in contact with the screed, or, of course, other surfaces that support the screed, and the specific form of the target work surface is not limited herein.
The work state of the paving machine includes a normal running state and a slipping state when paving is performed, and the like. In some embodiments, the operating state of a paving machine may be determined by sensors that acquire parameters of various actuators of the paving machine, or by human intervention.
And step 320, controlling the screed plate to be separated from the target working surface when the working state of the paver is in a slipping state.
When the working state of the paver is in a slipping state, the adhesive force between the paver and the ground is small. After the screed is detached from the target work surface, the greater weight of the screed can be converted into the weight of the main machine.
All gravity of the screed of the paver is transmitted to the ground through the host, the supporting force of the ground to the paver is increased at the moment, the gravity center position of the paver is changed simultaneously, the adhesive force between the paver and the ground is further increased, and the slipping state of the paver can be effectively improved.
According to the control method of the paver provided by the embodiment of the invention, the screed plate of the paver is controlled to be separated from the target operation surface, so that the gravity of the screed plate can be transmitted to the ground through the host machine, the adhesion between the paver and the ground is further increased, the slipping condition of the paver in a walking working state is effectively improved, and the structural design difficulty and the cost are reduced under the condition that a driving mechanism is not additionally arranged.
In some embodiments, the operating state of the paving machine in the skid state includes acquiring a first speed and a second speed of the paving machine; when the deviation of the first speed from the second speed is greater than a first target threshold, the operating state of the paving machine is determined to be in a skid state.
It will be appreciated that the first speed is determined based on a travel drive mechanism of the paving machine and the second speed is a travel speed of the paving machine.
The paving machine may include the travel drive mechanism described above, a screed, a first sensor, and a second sensor.
The walking driving mechanism outputs power to drive the paver to walk in the operation process or the non-operation process. The screed plate operates when a walking driving mechanism of the paver drives the paver to walk.
The first speed is used for representing the theoretical speed of the paver in the walking process, and the second speed is used for representing the actual speed of the paver in the walking process.
The walking driving mechanism can output power to drive the paver to walk, and the theoretical speed of the paver walking can be determined by collecting data of the walking driving mechanism, so that the first speed is obtained.
For example, when the travel drive includes a hydraulic motor, the theoretical speed at which the paving machine travels may be determined by collecting the rotational speed of the hydraulic motor. The first sensor may be a speed sensor that is capable of acquiring the rotational speed of the hydraulic motor. Of course, other sensors may be used to acquire the travel drive data to obtain the first speed, and are not limited thereto.
When the paver is in construction operation in an actual operation area, the actual speed of the paver in the walking process is related to the actual walking distance and walking time of the paver. When the paver runs in the actual working process, the second sensor can acquire the second speed of the paver when running.
For example, a radar sensor may be employed as the second sensor. The radar sensor is arranged on the paver and can acquire data in the paving machine walking process so as to obtain the actual speed of the paving machine in the paving machine walking process. Of course, other sensors may be used to acquire the travel data of the paving machine to obtain the first speed of the paving machine, and this is not limiting.
It can be understood that, during the traveling of the paving machine, since the power output by the traveling driving mechanism is lost during the transmission of the power in the paving machine, and the paving machine is likely to receive resistance from the ground when traveling in the actual working area, the actual traveling speed of the paving machine will be lower than the theoretical speed, that is, there will be a certain deviation between the second speed and the first speed.
When the paver slips in the process of re-walking, the walking driving mechanism still continuously outputs power, the actual position change of the paver is very small, the actual speed is far less than the theoretical speed, namely the second speed is far less than the first speed.
If the deviation between the first speed and the second speed of the paver when slipping is X1 and the deviation between the first speed and the second speed of the paver when normally running in a non-slipping state is X2, X1 is much larger than X2.
The paving machine may be determined to be in a skid state if the deviation of the first speed from the second speed is greater than a first target threshold. The paving machine is determined to be in a non-skid state when a deviation of the first speed from the second speed is less than or equal to a first target threshold.
The deviation of the first speed from the second speed may be a difference between the first speed and the second speed or a ratio of the first speed to the second speed, although in some embodiments, the deviation of the first speed from the second speed may be measured by other criteria, and is not limited herein.
For example, the ratio of the first speed to the second speed may be used as the deviation of the first speed from the second speed, the first target threshold may be set to 1.25, and when the ratio of the first speed to the second speed is greater than 1.25, that is, the ratio of the real speed to the theoretical speed is less than 80%, it may be determined that the paving machine is in the slipping state.
When the first threshold value is set, the first threshold value can be determined by acquiring a deviation value of the first speed and the second speed in a slipping state and a non-slipping state in the historical running process of the paver.
In order to accurately judge the slipping state, a first target threshold value for judging the slipping state can be determined according to historical data in the travelling process of the paver. The historical data in the travelling process of the paver comprises data of whether the paver is in a slipping or non-slipping state, the historical data also comprises a first speed and a second speed of the paver, and an accurate first target threshold value can be obtained through the historical data.
According to the control method of the paver provided by the embodiment of the invention, whether the operation state of the paver is in the slipping state or not is judged by acquiring the theoretical speed and the actual traveling speed of the traveling driving mechanism of the paver, the slipping state can be automatically identified and judged, the operation performance of the paver is improved, and meanwhile, the accuracy of determining the slipping state is also improved.
In some embodiments, the step of controlling disengagement of the screed from the target work surface comprises: the ironing board is controlled to be switched from a floating state to a non-floating state.
It will be appreciated that the screed is in a floating condition, in which it can be screeded against uneven road materials, without the screed disengaging from the target work surface.
Under the condition that the screed is separated from the target operation surface, the screed does not contact the target operation surface, all gravity of the screed is transmitted to the ground through the host, the supporting force of the ground to the paver is increased, and the adhesive force of the paver and the ground is further improved.
Controlling the screed to switch from the floating state to the non-floating state comprises: the method comprises the steps of controlling a large arm oil cylinder of the paver to lock a host of the paver and an ironing plate, and switching the connection state between the host and the ironing plate from a floating state to a non-floating state.
It can be understood that during the operation of the screed plate, the flexible connection is made between the screed plate and the host machine, and the screed plate is in a floating state.
Because the state of the pavement material on the pavement is constantly changed, the ironing plate is in a floating state in the working process, and the ironing plate irons the pavement material in the floating process.
When the connection state between the main machine and the screed is a floating state, a certain acting force is applied to the ground, articles and the like in the process of the operation of the screed, and meanwhile, the screed is also supported by the ground or objects. The pressure of the paver on the ground comprises the gravity of the main machine and part of the screed plate.
When the connection state between the main machine and the screed is a non-floating state, the pressure of the paver on the ground comprises the gravity of the main machine and all the screed. In this case, the pressure of the paver on the ground is greater than that in the floating state, improving the adhesion between the paver and the ground.
In this embodiment, the connection between the main machine and the screed plate may be made using the hydraulic control system described above. The connection relationship between the screed plate and the main machine can be determined by the conduction positions of all reversing valves in the hydraulic system.
It can be understood that when the first position of the third reversing valve of the hydraulic control system is conducted, the second position of the first reversing valve is conducted, and the connection relationship between the screed plate and the main machine is floating connection.
When the first position of the third reversing valve of the hydraulic control system is communicated, the first position of the first reversing valve is communicated, the large arm oil cylinder of the paver locks the main machine of the paver and the screed, and the connection relation between the screed and the main machine is in non-floating connection.
According to the control method of the paver provided by the embodiment of the invention, the hydraulic control system is arranged and the communication state of the reversing valve in the hydraulic control system is controlled, so that the connection state between the screed and the host is switched, and a user can conveniently and effectively control the paver and the screed.
In some embodiments, after controlling the screed plate to disengage from the target work surface, the method of controlling a paving machine further comprises:
and after the first target duration, acquiring the operation state of the paver again, and controlling the paver to reduce the material conveying speed and the material distributing speed when the operation state of the paver is in a slipping state.
It can be understood that after the paver slips, the connection relation between the screed plate and the host machine is changed to control the screed plate of the paver to be separated from the target working surface, so that the slipping condition can be effectively improved.
In extreme slip situations, such as where a deep, wide furrow exists in the ground, or where the road surface is extremely slippery, the paving machine may still be slipping after a first target amount of time by switching the connection state of the screed.
The first target time period may be 5 seconds, 8 seconds or 10 seconds, but the first target time period may be other time periods, which is not limited herein. The first target duration is not suitable to be too long, and the too long target duration can cause the paver to be in a slipping state for a long time, so that the normal operation of the paver is not facilitated.
In order to realize accurate judgment of the slipping state, a second target threshold value for judging the slipping state can be determined according to historical data in the travelling process of the paver.
In some embodiments, the operational status of the paving machine is again obtained. When the deviation between the first speed and the second speed is greater than a second target threshold, it may be determined that the paving machine is in a skid state.
When the paver is judged to be in the slipping state, the material conveying speed and the material distributing speed of the paver can be reduced after the paver continuously slips for a plurality of seconds.
According to the control method of the paver provided by the embodiment of the invention, the material conveying speed and the material distributing speed of the paver are reduced, so that the material pile resistance in front of the screed plate can be effectively reduced, and the overlarge driving force of the paver is further reduced, thereby improving the slipping condition.
In some embodiments, after controlling the paving machine to reduce the material delivery speed and the material distribution speed, the method for controlling the paving machine further comprises: and after the second target duration, acquiring the working state of the paver again, and controlling the paver to send out alarm information when the working state of the paver is in a slipping state.
It can be understood that after the paver slips, the slip condition can be effectively improved by reducing the material conveying speed and the material distributing speed of the paver.
In extreme slip situations, such as where deep, wide ravines are present in the ground, or where the road surface is extremely slippery, the paver is still slipping after a second target period of time by switching the screed connections and reducing the feed and divide speeds.
The second target duration is not suitable to be too long, and the too long target duration can cause the paver to be in a slipping state for a long time, so that the normal operation of the paver is not facilitated. The second target time period may be set according to the experience of the user.
In order to realize accurate judgment of the slipping state, a third target threshold value for judging the slipping state can be determined according to historical data in the travelling process of the paver. When the deviation between the first speed and the second speed is greater than a third target threshold, it may be determined that the paving machine is in a skid state.
In this embodiment, when the paver is in the slipping state, the effect of improving the slipping by automatically adjusting the working state of the paver is not obvious enough. At this point, the paver needs manual intervention to solve the slippage problem.
The paving machine may send an alarm message. The paver can send out alarm information through voice broadcast's mode, and in some embodiments, the paver can also send light signal through the signal lamp and carry out the alarm, and of course, in other embodiments, the paver can also send out alarm information through modes such as display screen display alarm information, and here does not do the restriction to alarm information's form.
In some cases, when a user hears a voice alert message from a paving machine, the user learns that the paving machine is in a slip state and that the paving machine is unable to execute a break-away from the slip state, and the user may take further measures to improve the slip condition of the paving machine.
According to the control method of the paver provided by the embodiment of the invention, the alarm information is sent out under the condition that the paver cannot automatically break away from the slipping state, so that a user can be informed of the working state of the paver in time, and the user can conveniently take corresponding measures in time to control the paver to break away from the slipping state.
As shown in fig. 4, after the paver is started, one end of the third electromagnetic valve is energized, the third electromagnetic valve is in the second position, and the hydraulic control system of the paver is enabled. The second electromagnetic valve is located at a second position, the screed plate can be in a floating state under the action of the large arm oil cylinder and the pavement material in the working process, and the screed plate is in floating connection with the host machine at the moment.
The first sensor and the second sensor can respectively acquire a first speed and a second speed of the paver, and then the deviation of the first speed and the second speed is compared with a first target threshold value.
And under the condition that the deviation between the first speed and the second speed is smaller than a first target threshold value, the paver is in a non-slip state, and the screed of the paver can continue to work normally.
The paving machine is in a skid state if a deviation of the first speed from the second speed is greater than a first target threshold. And switching the first electromagnetic valve to a second position, wherein the ironing plate is in a non-floating state and is rigidly connected with the host machine.
And after the steps, continuously judging the deviation of the current first speed and the second target threshold.
And under the condition that the deviation between the first speed and the second speed is smaller than a second target threshold value, the paver is in a non-slip state, and the screed of the paver can continue to work normally.
And under the condition that the deviation between the first speed and the second speed is greater than a second target threshold value, the paver is in a slipping state, and the material conveying speed and the material distributing speed of the paver are reduced.
And after the steps, continuously judging the deviation of the current first speed and the second target threshold.
And under the condition that the deviation between the first speed and the second speed is smaller than a third target threshold value, the paver is in a non-slip state, and the screed of the paver can continue to work normally.
And under the condition that the deviation between the first speed and the second speed is greater than a third target threshold value, the paver is in a slipping state, manual intervention is needed to solve the slipping problem of the paver at the moment, and the paver sends out alarm information.
In the actual working process of the paver, when the paver slips, the paver can automatically respond in multiple levels to improve the slipping condition, the intelligentization and automation level of products is improved, and the product performance is improved.
In some embodiments, after controlling the paving machine to reduce the material delivery speed and the material distribution speed, the method for controlling the paving machine further comprises: acquiring the frequency of the paver in a slipping state in the operation state of a target operation area; and under the condition that the times are greater than the target value, reducing at least one of the maximum value of the conveying speed and the maximum value of the material distribution speed to be a target parameter.
It will be appreciated that the target work area is the area where the screed of the paving machine is performing the paving operation. The target work area may be a section of a construction road, although in some embodiments the target work area may also be an area where the paving machine is being constructed for a certain length of time, and the specific form of the target work area is not limited herein.
And after the material conveying speed and the material distributing speed of the paver are controlled to be reduced, counting the slipping times of the paver in the target area. When the number of times the paver slips is greater than the target value, it is considered that the paver is likely to slip in the target work area.
Under the condition that the conveying speed and the material distributing speed of the paver are overlarge, more pavement materials are conveyed by the paver, and larger resistance can be generated on the paver, so that the output power of the paver is overlarge, and the paver is easy to slip.
In some embodiments, one of the maximum value of the delivery speed of the paving machine and the maximum value of the material distribution speed may be set as the target parameter. For example, only the maximum value of the material conveying speed is reduced to the target parameter corresponding to the material conveying speed, or only the maximum value of the material distributing speed is reduced to the target parameter corresponding to the material distributing speed.
It should be noted that the target parameter corresponding to the material conveying speed is smaller than the maximum value of the material conveying speed output by the spreading machine, and the target parameter corresponding to the material distributing speed is smaller than the maximum value of the material distributing speed output by the spreading machine.
In other embodiments, the maximum delivery rate and the maximum dispensing rate may be reduced simultaneously. Namely, the maximum value of the material conveying speed is reduced to the target parameter corresponding to the material conveying speed, and the maximum value of the material distributing speed is reduced to the target parameter corresponding to the material distributing speed.
According to the control method of the paver provided by the embodiment of the invention, the maximum values of the material conveying speed and the material distributing speed are reduced by setting the target parameters, the quantity of the pavement materials conveyed by the paver can be controlled, and then the pavement materials are prevented from generating larger resistance to the paver, and the output power of the paver is reduced.
The following describes a control device of a paving machine according to an embodiment of the present invention, and the control device of the paving machine described below and the control method of the paving machine described above may be referred to in correspondence.
As shown in fig. 5, a control device of a paving machine according to an embodiment of the present invention may include: an acquisition module 510 and a first processing module 520.
The obtaining module 510 is configured to obtain an operation state of the paver when a screed of the paver is in contact with a target operation surface;
the first processing module 520 is used to control the screed to disengage from the target work surface when the work state of the paving machine is in a skid state.
According to the control device of the paver provided by the embodiment of the invention, the gravity of the screed can be transmitted to the ground through the host by controlling the screed of the paver to be separated from the target operation surface, so that the adhesive force between the paver and the ground is increased, the slipping condition of the paver in a walking working state is effectively improved, and the structural design difficulty and the cost are reduced under the condition that a driving mechanism is not additionally arranged.
In some embodiments, the first processing module 520 is further configured to control the screed to switch from a floating state to a non-floating state.
In some embodiments, the first processing module 520 is further configured to control a boom cylinder of the paving machine to lock a main machine and a screed plate of the paving machine, and a connection state between the main machine and the screed plate is switched from a floating state to a non-floating state.
In some embodiments, the control device of the paver according to the embodiments of the present invention further includes a second processing module, where the second processing module is configured to obtain the operating state of the paver again after the first target duration; and when the working state of the paver is in a slipping state, controlling the paver to reduce the material conveying speed and the material distributing speed.
In some embodiments, the control device of the paving machine provided by the embodiments of the present disclosure further includes a third processing module, where the third processing module is configured to obtain the operation state of the paving machine again after a second target duration; when the working state of the paver is in a slipping state, the paver is controlled to send out alarm information.
In some embodiments, the control device of the paver according to the embodiment of the present invention further includes a fourth processing module, where the fourth processing module is configured to obtain the number of times that the paver is in a slip state in the operation state of the target operation area; and under the condition that the times are greater than the target value, reducing at least one of the maximum value of the conveying speed and the maximum value of the material distribution speed to be a target parameter.
In some embodiments, the obtaining module 510 is further configured to obtain a first speed and a second speed of the paving machine, where the first speed is determined based on a travel drive mechanism of the paving machine, and the second speed is a travel speed of the paving machine; when the deviation of the first speed from the second speed is greater than a first target threshold, the operating state of the paving machine is determined to be in a skid state.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)610, a communication Interface (Communications Interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. Processor 610 may invoke logic instructions in memory 630 to perform a method of controlling a paving machine, the method comprising: when an ironing plate of the paver is in contact with a target operation surface, acquiring the operation state of the paver; and when the working state of the paver is in a slipping state, controlling the screed to be separated from the target working surface.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present disclosure also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method of controlling a paving machine provided by the above-described methods, the method comprising: when a screed of the paver is in contact with a target operation surface, acquiring the operation state of the paver; and when the working state of the paver is in a slipping state, controlling the screed to be separated from the target working surface.
In yet another aspect, the present disclosure also provides a non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform a method of controlling a paving machine provided as each above, the method comprising: when an ironing plate of the paver is in contact with a target operation surface, acquiring the operation state of the paver; and when the working state of the paver is in a slipping state, controlling the screed to be separated from the target working surface.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of controlling a paving machine, comprising:
when an ironing plate of a paver is in contact with a target operation surface, acquiring the operation state of the paver;
and when the working state of the paver is in a slipping state, controlling the screed to be separated from the target working surface.
2. The method of controlling a paving machine as recited in claim 1, wherein the controlling the screed plate out of engagement with the target work surface comprises:
and controlling the ironing plate to be switched from a floating state to a non-floating state.
3. The method of controlling a paving machine as recited in claim 2, wherein the controlling the screed to switch from a floating state to a non-floating state includes:
the method comprises the steps of controlling a large arm oil cylinder of the paver to lock a host of the paver and the screed, and switching the connection state between the host and the screed from a floating state to a non-floating state.
4. The method of controlling a paving machine as recited in claim 1, wherein after the controlling the screed plate out of engagement with the target work surface, the method further comprises:
after the first target duration, acquiring the working state of the paver again;
and when the working state of the paver is in a slipping state, controlling the paver to reduce the material conveying speed and the material distributing speed.
5. The method of controlling a paving machine as claimed in claim 4, wherein after the controlling the paving machine to reduce the feed rate and the material-dividing rate, the method further comprises:
after a second target duration, acquiring the working state of the paver again;
and when the working state of the paver is in a slipping state, controlling the paver to send out alarm information.
6. The method of controlling the paving machine of claim 4 or 5, wherein after the controlling the paving machine to reduce the feed rate and the material distribution rate, the method further comprises:
acquiring the number of times that the paver is in a slipping state in the operation state of a target operation area;
and under the condition that the times are greater than the target value, reducing at least one of the maximum value of the conveying speed and the maximum value of the material distribution speed to be a target parameter.
7. The method of controlling a paving machine as claimed in any one of claims 1-5, wherein the operating state of the paving machine is in a skid state, comprising:
acquiring a first speed and a second speed of the paver, wherein the first speed is determined based on a walking driving mechanism of the paver, and the second speed is the walking speed of the paver;
determining that the operating state of the paving machine is in a skid state when the deviation of the first speed from the second speed is greater than a first target threshold.
8. A control device of a paver, characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the working state of the paver when an ironing plate of the paver is in contact with a target working surface;
and the first processing module is used for controlling the screed to be separated from the target working surface when the working state of the paver is in a slipping state.
9. A paving machine, comprising: a screed and a control for a paver according to claim 8.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of a method of controlling a paver according to one of the claims 1 to 7.
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