CN115506218A - Milling machine control method, milling machine control system and milling machine - Google Patents
Milling machine control method, milling machine control system and milling machine Download PDFInfo
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- CN115506218A CN115506218A CN202211296017.7A CN202211296017A CN115506218A CN 115506218 A CN115506218 A CN 115506218A CN 202211296017 A CN202211296017 A CN 202211296017A CN 115506218 A CN115506218 A CN 115506218A
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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
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/09—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges
- E01C23/0906—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges
- E01C23/0926—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges with power-driven tools, e.g. vibrated, percussive cutters
- E01C23/0933—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges with power-driven tools, e.g. vibrated, percussive cutters rotary, e.g. circular-saw joint cutters
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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
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Road Repair (AREA)
Abstract
The invention belongs to the technical field of engineering machinery, and particularly relates to a milling machine control method, a milling machine control system and a milling machine. The milling machine control method comprises the following steps: acquiring a target milling depth of a milling rotor and a preset corresponding relation model; controlling an engine to run at a first rotating speed according to the target milling depth, driving a milling rotor to rotate at a corresponding rotating speed and descend, and cutting the road surface; acquiring the descending speed, the engine speed and the engine load rate of a milling rotor; determining a target engine speed for matching the output power of the engine with the load rate of the engine according to a preset corresponding relation model; and adjusting the engine speed according to the target engine speed, and controlling the milling rotor to descend to the target milling depth. Through the technical scheme of the invention, the rotating speed of the engine and the rotating speed of the milling rotor can be matched with the properties of the pavement material, so that the output power of the engine is fully utilized, the energy consumption is reduced, and the production efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, and particularly relates to a milling machine control method, a milling machine control system and a milling machine.
Background
Milling machines are one of the most common road construction machines, and are commonly used for cutting old roads. Typically, the milling rotor of a milling machine is driven by an engine, the rotational speed of the milling rotor and the rotational speed of the engine are kept in a constant correspondence, and the rotational speed of the milling rotor is adjusted by adjusting the rotational speed of the engine.
However, the existing milling machine is usually provided with a plurality of engine gears, an operator needs to select the gear according to the road surface state of a construction site, the dependency on operation experience is high, the operation difficulty is high, when the operator starts construction, due to insufficient experience or for simplifying operation, the operator often directly selects a default gear (for example, a 2200rpm gear), the rotating speed of the operation engine is difficult to match with the property (for example, hardness and the like) of a road surface material, the low-load high-power phenomenon of the engine is easily caused, the power waste of the engine is caused, the energy consumption is increased, and the construction cost is increased.
Disclosure of Invention
In view of the above, in order to improve at least one of the above problems in the prior art, the present invention provides a milling machine control method, a milling machine control system, and a milling machine.
A first aspect of the present invention provides a milling machine control method, including:
step S100: under the parking state of the milling machine, acquiring a target milling depth of a milling rotor and a preset corresponding relation model;
step S200: controlling an engine to run at a first rotating speed according to the target milling depth, driving a milling rotor to rotate at a corresponding rotating speed and descend, and cutting the road surface;
step S300: acquiring the descending speed of a milling rotor, the rotating speed of an engine and the load rate of the engine;
step S400: determining a target engine speed for matching the output power of the engine with the engine load rate according to the descent speed, the engine load rate and a preset corresponding relation model;
step S500: and adjusting the engine speed according to the target engine speed, and controlling the milling rotor to descend to the target milling depth.
The beneficial effects of the technical scheme of the invention are as follows:
the method improves a selection mechanism of the engine rotating speed of the milling machine, determines a target engine rotating speed which can enable the output power of the engine to be matched with the engine load rate according to the descending speed, the engine rotating speed and the engine load rate when the milling rotor is in contact with the road surface and by referring to a preset corresponding relation model before the construction operation is carried out formally (namely in a state that the milling machine is stopped), further determines the corresponding rotating speed of the milling rotor, and takes the target engine rotating speed as the operation rotating speed of the target milling depth so as to enable the engine rotating speed and the rotating speed of the milling rotor to be matched with the road surface material property when the subsequent cutting operation is carried out, so that the output power of the engine can be fully utilized, the energy consumption and the construction cost are reduced, and the production efficiency is improved.
In one possible implementation, the preset correspondence model includes an optimal correspondence between the milling rotor descent speed, the engine load rate, and the engine speed.
In one possible implementation, step S200: according to the target milling depth, the engine is controlled to run at a first rotating speed, the milling rotor is driven to rotate and descend at a corresponding rotating speed, and the cutting operation is carried out on the road surface, and the method comprises the following steps:
step S210: presetting a plurality of different initial gears, selecting one initial gear matched with the target milling depth, and taking the rotating speed corresponding to the initial gear as a first rotating speed;
step S220: controlling the engine to run at a first rotating speed, and driving the milling rotor to rotate at a corresponding rotating speed;
step S230: and controlling the milling rotor to descend at a preset first descending speed, and cutting the road surface.
In one possible implementation, the first lowering speed is the maximum lowering speed of the milling rotor.
In one possible implementation, step S300: acquiring the descending speed, the engine speed and the engine load factor of the milling rotor, wherein the method comprises the following steps:
step S310: starting timing when the milling rotor is in contact with the road surface;
step S320: during a first time period, data are recorded of the lowering speed of the milling rotor, the engine speed and the engine load rate.
In one possible implementation, step S310: starting timing when the milling rotor is in contact with the road surface, comprising:
step S311: when the milling depth is larger than zero, determining that the milling rotor is in contact with the road surface;
step S312: the lowering speed of the milling rotor is reduced to a second lowering speed and the time counting is started.
In one possible implementation, step S400: determining a target engine speed at which the output power of the engine matches the engine load rate according to the descent speed, the engine load rate, and a preset correspondence model, including:
step S410: inputting the data of the descending speed, the engine rotating speed and the engine load rate into a preset corresponding relation model, and fitting an optimal rotating speed curve of the engine;
step S420: and determining a second rotating speed according to the optimal rotating speed curve, and taking the second rotating speed as the target engine rotating speed.
In one possible implementation, step S500: adjusting the engine speed according to the target engine speed and controlling the milling rotor to descend to the target milling depth, comprising:
step S510: controlling the engine to operate at a second rotating speed, and driving the milling rotor to rotate at a corresponding rotating speed;
step S520: the milling rotor is controlled to descend to the target milling depth in a leveling mode.
The second aspect of the present invention also provides a milling machine control system, including: an engine; the milling rotor is in transmission connection with an engine; a detection assembly adapted to detect an engine speed, an engine load rate and a rate of descent of the milling rotor; a controller communicatively connected to the engine, the milling rotor, and the detection assembly, and adapted to control the engine, the milling rotor, and the detection assembly to perform the milling machine control method of any of the first aspects described above.
A third aspect of the present invention also provides a milling machine, comprising: a vehicle body; the milling machine control system of any one of the above second aspects is provided on the vehicle body.
The fourth aspect of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the milling machine control method according to any one of the first aspect.
A fifth aspect of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the milling machine control method as in any one of the first aspects described above.
Drawings
Fig. 1 is a schematic flow chart illustrating a control method of a milling machine according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart illustrating a control method of a milling machine according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart illustrating a control method of a milling machine according to an embodiment of the present invention.
Fig. 4 is a schematic flow chart illustrating a control method of a milling machine according to an embodiment of the present invention.
Fig. 5 is a schematic flow chart illustrating a control method of a milling machine according to an embodiment of the present invention.
Fig. 6 is a schematic flow chart illustrating a control method of a milling machine according to an embodiment of the present invention.
Fig. 7 is a schematic block diagram of a milling machine control system according to an embodiment of the present invention.
Fig. 8 is a schematic view of a milling machine according to an embodiment of the present invention.
Detailed Description
In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. In the embodiment of the present application, all directional indicators (such as upper, lower, left, right, front, rear, top, bottom … …) are used only for explaining the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed correspondingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
Summary of the application
Milling machines are often used for cutting old road surfaces during road construction. The milling machine is provided with a rotatable and liftable milling rotor, and the milling rotor is driven to rotate by an engine so as to cut a road surface. In general, the rotational speed of the milling rotor is adjusted by adjusting the rotational speed of the engine while maintaining a constant correspondence between the rotational speed of the milling rotor and the rotational speed of the engine.
Due to the complex environment of the construction site, the different material properties (e.g. hardness) of the road surface to be cut, the different load sizes of the milling rotor during the cutting operation, and correspondingly, the different engine load rates. The existing milling machine is usually provided with a plurality of engine gears, an operator needs to select the gears according to the road surface state of a construction site, the dependency on operation experience is high, and the operation difficulty is high. During construction, due to insufficient experience of operators or for simplifying operation, a default gear (for example, a gear of 2200 rpm) is often directly selected, and the rotating speed of the engine is difficult to match with the property of a pavement material, so that the phenomenon of low load and high power of the engine is easily caused, the power of the engine is wasted, the energy consumption is increased, and the construction cost is increased.
The following provides some embodiments of a milling machine control method, a milling machine control system, a milling machine, an electronic device, and a computer-readable storage medium in the technical solutions of the present invention. The milling machine is provided with an engine and a milling rotor which are in transmission connection, and the milling rotor can be lifted relative to a milling machine body.
In an embodiment of the first aspect of the present invention, there is provided a milling machine control method, as shown in fig. 1, including:
step S100: under the parking state of the milling machine, acquiring a target milling depth of a milling rotor and a preset corresponding relation model;
step S200: controlling an engine to run at a first rotating speed according to the target milling depth, driving a milling rotor to rotate at a corresponding rotating speed and descend, and cutting the road surface;
step S300: acquiring the descending speed, the engine speed and the engine load rate of a milling rotor;
step S400: determining a target engine speed for matching the output power of the engine with the engine load rate according to the descent speed, the engine load rate and a preset corresponding relation model;
step S500: and adjusting the engine speed according to the target engine speed, and controlling the milling rotor to descend to the target milling depth.
In the milling machine control method of the present embodiment, through steps S100 to S200, in the milling machine parking state, the milling rotor is lowered from the initial position to be in contact with the road surface, and the cutting operation on the road surface is started; through steps S300 to S400, a target engine speed corresponding to the target milling depth is determined by the descent speed of the milling rotor in the descent process, the engine speed, and the engine load factor in combination with a preset correspondence model, and then through step S500, the engine speed and the actual milling depth of the milling rotor are adjusted so that the engine operates at the target engine speed, and the milling rotor is caused to descend to the target milling depth.
The milling machine control method in the embodiment improves a control mechanism of the engine rotation speed of the milling machine, determines a target engine rotation speed which can enable the output power of the engine to be matched with the engine load rate according to the descending speed of the milling rotor in contact with the road surface, the engine rotation speed and the engine load rate in a preset corresponding relation model before the construction operation is carried out formally (namely in a state that the milling machine is stopped), further determines the corresponding rotation speed of the milling rotor, and takes the target engine rotation speed as the operation rotation speed of the target milling depth so that the engine rotation speed and the rotation speed of the milling rotor are matched with the road surface material property in the subsequent cutting operation, so that the output power of the engine can be fully utilized, the energy consumption and the construction cost are reduced, and the production efficiency is improved.
It should be noted that the engine speed and the milling rotor speed are in a direct proportional relationship, and the milling rotor speed increases with the increase of the engine speed. The ratio between the engine speed and the milling rotor speed is a transmission ratio, when a speed change mechanism (such as a speed reducer) is arranged between the engine and the milling rotor, the ratio between the milling rotor speed and the engine speed is greater than 1 or less than 1, and when the speed change mechanism is not arranged between the output shaft of the engine and the milling rotor, the ratio between the milling rotor speed and the engine speed is 1, that is, the milling rotor speed and the engine speed are equal in size.
Further, the preset correspondence model includes an optimal correspondence between a descent speed of the milling rotor, an engine load rate, and an engine rotation speed. The corresponding optimal engine speed curve can be fitted by combining the descending speed, the engine speed and the engine load rate of the milling rotor in the process of descending and cutting the road surface with the optimal corresponding relation of the preset corresponding relation model, so that the corresponding target engine speed can be obtained.
The preset corresponding relation model can be set and established according to historical data, and can be called at any time as a reference in the construction process.
In a further embodiment of the present invention, there is provided a milling machine control method, as shown in fig. 2, including:
step S100: under the parking state of the milling machine, acquiring a target milling depth of a milling rotor and a preset corresponding relation model;
step S210: presetting a plurality of different initial gears, selecting one initial gear matched with the target milling depth, and taking the rotating speed corresponding to the initial gear as a first rotating speed;
step S220: controlling the engine to run at a first rotating speed, and driving the milling rotor to rotate at a corresponding rotating speed;
step S230: controlling the milling rotor to descend at a preset first descending speed, and cutting the road surface;
step S300: acquiring the descending speed, the engine speed and the engine load rate of a milling rotor;
step S400: determining a target engine speed for matching the output power of the engine with the engine load rate according to the descent speed, the engine load rate and a preset corresponding relation model;
step S500: and adjusting the engine speed according to the target engine speed, and controlling the milling rotor to descend to the target milling depth.
In the present embodiment, step S200 is further modified on the basis of the above-described embodiment. Through step S210, a plurality of different initial gears are preset, and when the milling rotor starts to descend, an initial gear adapted to the target milling depth may be automatically matched according to the target milling depth, so as to determine the engine speed corresponding to the initial gear as the initial speed of the engine, which is recorded as a first speed; the initial gear matched with the target milling depth may be, in particular, the initial gear closest to the target milling depth. Through steps S220 to S230, the engine is controlled to operate at the first rotation speed, the milling rotor is driven to rotate at the corresponding rotation speed, and the milling rotor is controlled to descend, so that the milling rotor descends from the initial position to be in contact with the road surface, and the cutting operation on the road surface is started. The initial descending speed of the milling rotor is a preset first descending speed.
Furthermore, because a certain distance exists between the initial position of the milling rotor and the road surface, the first lowering speed of the milling rotor can be a larger value, preferably, the first lowering speed can be the maximum lowering speed of the milling rotor, so that the milling rotor can be quickly lowered to the height of the road surface, the waiting time is shortened, and the operation efficiency is improved.
In a further embodiment of the present invention, there is provided a milling machine control method, as shown in fig. 3, including:
step S100: under the parking state of the milling machine, acquiring a target milling depth of a milling rotor and a preset corresponding relation model;
step S210: presetting a plurality of different initial gears, selecting one initial gear matched with the target milling depth, and taking the rotating speed corresponding to the initial gear as a first rotating speed;
step S220: controlling an engine to run at a first rotating speed, and driving a milling rotor to rotate at a corresponding rotating speed;
step S230: controlling the milling rotor to descend at a preset first descending speed, and cutting the road surface;
step S310: starting timing when the milling rotor is in contact with the road surface;
step S320: recording data of the lowering speed, milling depth and engine load rate of the milling rotor during a first time period;
step S400: determining a target engine speed for matching the output power of the engine with the engine load rate according to the descent speed, the engine load rate and a preset corresponding relation model;
step S500: and adjusting the engine speed according to the target engine speed, and controlling the milling rotor to descend to the target milling depth.
In the present embodiment, step S300 is further modified on the basis of the above-described embodiment. Data support for the subsequent steps is provided by recording data relating to the lowering speed of the milling rotor in a first time period after contact with the road surface, the engine speed and the engine load rate. The first time period can be set according to the environment of the construction site and other practical conditions so as to be matched with the descending process of the milling rotor, and therefore the acquired data are accurate and sufficient. For example, the first time period may be set to a time period within 2 seconds, within 3 seconds, or within 5 seconds after the milling rotor comes into contact with the road surface.
In one embodiment of the present invention, there is provided a milling machine control method, as shown in fig. 4, including:
step S100: acquiring a target milling depth of a milling rotor and a preset corresponding relation model in a milling machine parking state;
step S210: presetting a plurality of different initial gears, selecting one initial gear matched with the target milling depth, and taking the rotating speed corresponding to the initial gear as a first rotating speed;
step S220: controlling the engine to run at a first rotating speed, and driving the milling rotor to rotate at a corresponding rotating speed;
step S230: controlling the milling rotor to descend at a preset first descending speed, and cutting the road surface;
step S311: when the milling depth is larger than zero, determining that the milling rotor is in contact with the road surface;
step S312: reducing the descending speed of the milling rotor to a second descending speed, and starting timing;
step S320: recording data of the lowering speed, milling depth and engine load rate of the milling rotor during a first time period;
step S400: determining a target engine speed for matching the output power of the engine with the engine load rate according to the descent speed, the engine load rate and a preset corresponding relation model;
step S500: and adjusting the engine speed according to the target engine speed, and controlling the milling rotor to descend to the target milling depth.
In the present embodiment, step S310 in the above embodiment is further improved. Through step S311, it is determined whether the milling rotor is in contact with the road surface by comparing whether the milling depth is greater than zero, and then through step S312, when the milling rotor is in contact with the road surface, the milling rotor starts to perform a cutting operation, that is, the milling rotor starts to rotate with a load, and through reducing the descending speed of the milling rotor, the milling rotor continues to descend at a second descending speed to be matched with the cutting operation, so as to prevent the cutter from being damaged due to the excessively fast descending speed of the milling rotor. And meanwhile, timing is started and the descending speed of the milling rotor, the engine speed and the engine load rate data in the descending process are recorded.
The second lowering speed can be set as a function of the target milling depth. Due to the different properties of materials at different depths of the road surface, the load is different in the descending process of the milling rotor, and the descending speed and the engine load rate of the milling rotor are changed to a certain extent along with the increase of the milling depth, so that the adaptive engine speed needs to be selected, and the output power of the engine is matched with the engine load rate.
In one embodiment of the present invention, there is provided a milling machine control method, as shown in fig. 5, including:
step S100: under the parking state of the milling machine, acquiring a target milling depth of a milling rotor and a preset corresponding relation model;
step S200: controlling an engine to run at a first rotating speed according to the target milling depth, driving a milling rotor to rotate at a corresponding rotating speed and descend, and cutting the road surface;
step S300: acquiring the descending speed, the engine speed and the engine load rate of a milling rotor;
step S410: inputting the data of the descending speed, the engine rotating speed and the engine load rate into a preset corresponding relation model, and fitting an optimal rotating speed curve of the engine;
step S420: determining a second rotating speed according to the optimal rotating speed curve, and taking the second rotating speed as a target engine rotating speed;
step S500: and adjusting the engine speed according to the target engine speed, and controlling the milling rotor to descend to the target milling depth.
In the present embodiment, step S400 in the above embodiment is further improved. Through step S410, fitting an optimal rotation speed curve of the engine by using a preset correspondence model, and further through step S420, determining a second rotation speed that matches the output power of the engine with the load factor of the engine according to the target milling depth and the optimal rotation speed curve of the engine, and taking the second rotation speed as the target engine rotation speed.
It can be understood that, depending on the nature of the road material, the milling rotor is subjected to different load levels during the cutting operation, and the corresponding engine load ratios are different. The target engine rotating speed determined by the method steps in the embodiment can drive the milling rotor to perform cutting operation at a rotating speed matched with the property of the pavement material, the output power of the engine is matched with the load rate of the engine, and the self-adaptive matching of the rotating speed of the engine and the property of the pavement material is realized, so that the output power of the engine can be fully utilized, the construction efficiency is improved, and the energy consumption is reduced.
In one embodiment of the present invention, there is provided a milling machine control method, as shown in fig. 6, including:
step S100: under the parking state of the milling machine, acquiring a target milling depth of a milling rotor and a preset corresponding relation model;
step S200: controlling an engine to run at a first rotating speed according to the target milling depth, driving a milling rotor to rotate at a corresponding rotating speed and descend, and cutting the road surface;
step S300: acquiring the descending speed, the engine speed and the engine load rate of a milling rotor;
step S410: inputting the data of the descending speed, the engine rotating speed and the engine load rate into a preset corresponding relation model, and fitting an optimal rotating speed curve of the engine;
step S420: determining a second rotating speed according to the optimal rotating speed curve, and taking the second rotating speed as a target engine rotating speed;
step S510: controlling the engine to operate at a second rotating speed, and driving the milling rotor to rotate at a corresponding rotating speed;
step S520: the milling rotor is controlled to descend to the target milling depth in a leveling mode.
In the present embodiment, step S500 in the above embodiment is further improved. After determining that the second rotating speed which enables the output power of the engine to be matched with the load factor of the engine is used as the target engine rotating speed, the rotating speed of the engine is adjusted to be the second rotating speed through step S510, then the working mode of the milling rotor is adjusted to be the leveling mode through step S520, the milling rotor is controlled to continuously descend to the target milling depth in the leveling mode, and therefore initialization of the position and the rotating speed of the milling rotor is completed, and formal construction operation is carried out on a subsequent milling machine in the driving process.
Specifically, when the obtained second rotating speed is smaller than the first rotating speed, the rotating speed of the engine needs to be reduced to the second rotating speed, which indicates that the load rate of the engine is too small before adjustment and the output power of the engine is wasted, and the output power after adjustment is matched with the load rate of the engine by reducing the output power and increasing the load rate of the engine; and otherwise, when the obtained second rotating speed is greater than the first rotating speed, the rotating speed of the engine needs to be increased to the second rotating speed, which indicates that the load rate of the engine before adjustment is overlarge and the output power of the engine is insufficient, and the output power after adjustment is matched with the load rate of the engine by increasing the output power and reducing the load rate of the engine.
It should be noted that, the method steps in the foregoing embodiments may also be combined with each other as needed, and are not described herein again.
In an embodiment of the second aspect of the present invention, a milling machine control system 1 is also provided, as shown in fig. 7 and 8, the milling machine control system 1 including an engine 11, a milling rotor 12, a detection assembly 13 and a controller 15, applied to a milling machine 2.
The engine 11 is in driving connection with the milling rotor 12 to drive the milling rotor 12 to rotate, and the milling rotor 12 is used to perform cutting work on the road surface. The corresponding relationship between the rotation speed of the milling rotor 12 and the engine rotation speed is constant, and the rotation speed of the milling rotor 12 can be adjusted by adjusting the engine rotation speed. The detection assembly 13 is adapted to detect the engine speed, the engine load rate and the descent speed of the milling rotor 12; the controller 15 is connected to the engine 11, the milling rotor 12 and the detection assembly 13 in a communication manner, and the controller 15 is capable of acquiring detection data of the detection assembly 13 and controlling the engine 11, the milling rotor 12 and the detection assembly 13 to operate, so as to implement the milling machine control method in any of the above embodiments.
The milling machine control system 1 in this embodiment can match the rotation speed of the milling rotor 12 with the material property of the road surface to be cut, and accordingly, the engine 11 is operated at the target engine rotation speed when the milling rotor 12 is at the target milling depth, so that the output power of the engine 11 is matched with the engine load factor, thereby preventing the occurrence of the phenomena of low load, high power and the like, fully utilizing the power of the engine 11, reducing the energy consumption and improving the efficiency.
Further, the detecting assembly 13 may specifically include a plurality of different detecting modules, such as an engine speed detecting module, a descending speed detecting module of the milling rotor 12, a milling depth detecting module, and the like, wherein the detecting modules are respectively arranged corresponding to corresponding detecting objects according to different detecting objects.
In addition, the milling machine control system 1 in this embodiment also has all the advantages of the milling machine control method in any embodiment of the first aspect, which are not described herein again.
In an embodiment of the third aspect of the present invention, a milling machine 2 is also provided. As shown in fig. 7 and 8, the milling machine 2 includes a vehicle body 21 and the milling machine control system 1 in any of the embodiments described above. The vehicle body 21 serves as a main structure of the milling machine, and the milling machine control system 1 is disposed on the vehicle body 21 to perform a traveling operation under the driving of the vehicle body 21. The engine 11 in the milling machine control system 1 is a driving device of the vehicle body 21 and provides power for the vehicle body 21; milling rotor 12 is in particular connected to the bottom of vehicle 21 and is capable of an elevating movement relative to vehicle 21. The milling machine control system 1 is capable of executing the milling machine control method in any of the above-described embodiments with the vehicle body 21 in a parked state.
In addition, the milling machine 2 in this embodiment has all the advantages of the milling machine control system 1 in any embodiment of the second aspect and the milling machine control method in any embodiment of the first aspect, which are not described herein again.
In one embodiment of the present invention, an electronic device is provided. The electronic device comprises a processor and a memory, wherein the memory has stored therein a computer program adapted to be run in the processor. The milling machine control method of any of the embodiments described above can be implemented when the processor runs a computer program in memory. Further, the electronic device may further include a communication interface and a communication bus, wherein the processor, the communication interface, and the memory are configured to communicate with each other through the communication bus. The electronic device in this embodiment has all the beneficial effects of the milling machine control method in any one of the above embodiments, and details are not described herein.
It should be noted that the computer program in the memory in the above embodiments may be implemented in the form of a software functional unit. When implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. 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 milling machine control 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 addition, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the milling machine control method in any one of the above embodiments is implemented. Therefore, the computer-readable storage medium in this embodiment has all the advantages of the milling machine control method in any one of the above embodiments, and will not be described herein again.
The basic principles of the present invention have been described above with reference to specific embodiments, but it should be noted that the advantages, effects, etc. mentioned in the present invention are only examples and are not limiting, and the advantages, effects, etc. must not be considered to be possessed by various embodiments of the present invention. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the invention is not limited to the specific details described above.
The block diagrams of devices, apparatuses, systems involved in the present invention are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to". It should also be noted that in the apparatus and device of the present invention, the components may be disassembled and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention.
The computer program product of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + +, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
The readable storage medium of the present invention may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalents and the like within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A milling machine control method is characterized by comprising the following steps:
step S100: acquiring a target milling depth of a milling rotor and a preset corresponding relation model in the parking state of the milling machine;
step S200: controlling an engine to run at a first rotating speed according to the target milling depth, driving the milling rotor to rotate at a corresponding rotating speed and descend, and cutting the road surface;
step S300: acquiring the descending speed, the engine speed and the engine load factor of the milling rotor;
step S400: determining a target engine speed for matching the output power of the engine with the engine load rate according to the descent speed, the engine load rate and the preset corresponding relation model;
step S500: adjusting the engine speed according to the target engine speed, and controlling the milling rotor to descend to the target milling depth.
2. The milling machine control method of claim 1,
the preset correspondence model includes an optimal correspondence between a descent speed of the milling rotor, an engine load rate, and an engine speed.
3. The milling machine control method of claim 2,
the step S200: according to the target milling depth, controlling an engine to run at a first rotating speed, driving the milling rotor to rotate and descend at a corresponding rotating speed, and performing cutting operation on a road surface, wherein the method comprises the following steps:
step S210: presetting a plurality of different initial gears, selecting one initial gear matched with the target milling depth, and taking the rotating speed corresponding to the initial gear as the first rotating speed;
step S220: controlling the engine to run at the first rotating speed, and driving the milling rotor to rotate at a corresponding rotating speed;
step S230: and controlling the milling rotor to descend at a preset first descending speed, and cutting the road surface.
4. The milling machine control method of claim 3,
the first lowering speed is the maximum lowering speed of the milling rotor.
5. The milling machine control method of claim 3,
the step S300: acquiring a descent speed, an engine speed, and an engine load factor of the milling rotor, including:
step S310: starting timing when the milling rotor is in contact with a road surface;
step S320: during a first time period, data of the lowering speed of the milling rotor, the engine speed and the engine load factor are recorded.
6. The milling machine control method of claim 5,
the step S310: starting timing when the milling rotor is in contact with a road surface, comprising:
step S311: when the milling depth is greater than zero, determining that the milling rotor is in contact with the road surface;
step S312: and reducing the descending speed of the milling rotor to a second descending speed, and starting timing.
7. The milling machine control method of claim 2,
the step S400: determining a target engine speed at which the output power of the engine matches the engine load rate, based on the descent speed, the engine load rate, and the preset correspondence model, including:
step S410: inputting the data of the descending speed, the engine speed and the engine load rate into the preset corresponding relation model, and fitting out an optimal speed curve of the engine;
step S420: and determining a second rotating speed according to the optimal rotating speed curve, and taking the second rotating speed as the target engine rotating speed.
8. The milling machine control method of claim 7,
the step S500: adjusting the engine speed according to the target engine speed and controlling the milling rotor to descend to the target milling depth, including:
step S510: controlling the engine to operate at the second rotating speed, and driving the milling rotor to rotate at a corresponding rotating speed;
step S520: controlling the milling rotor to descend to the target milling depth in a leveling mode.
9. A milling machine control system, comprising:
an engine;
the milling rotor is in transmission connection with the engine;
a detection assembly adapted to detect an engine speed, an engine load rate and a descent speed of the milling rotor;
a controller communicatively connected to the engine, the milling rotor, and the detection assembly, and adapted to control the engine, the milling rotor, and the detection assembly to perform the milling machine control method of any one of claims 1-8.
10. A milling machine, comprising:
a vehicle body;
the milling machine control system of claim 9, provided on the vehicle body.
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| CN115506218B (en) | 2023-08-15 |
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