CN115506218B - 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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- CN115506218B CN115506218B CN202211296017.7A CN202211296017A CN115506218B CN 115506218 B CN115506218 B CN 115506218B CN 202211296017 A CN202211296017 A CN 202211296017A CN 115506218 B CN115506218 B CN 115506218B
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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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- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Road Repair (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The application 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: obtaining a target milling depth of a milling rotor and a preset corresponding relation model; according to the target milling depth, controlling an engine to run at a first rotating speed, driving a milling rotor to rotate at a corresponding rotating speed and descend, and performing cutting operation on the road surface; acquiring the descending speed of the milling rotor, the engine rotating speed and the engine load factor; determining a target engine speed for matching the output power of the engine with the engine load rate 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. According to the technical scheme, the rotating speed of the engine and the rotating speed of the milling rotor can be matched with the properties of the pavement materials, 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 application 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 common road construction machines that are commonly used to cut old road surfaces. In general, a milling rotor of a milling machine is driven by an engine, the rotation speed of the milling rotor and the rotation speed of the engine keep a constant corresponding relation, and the rotation speed of the milling rotor is adjusted by adjusting the rotation speed of the engine.
However, the existing milling machine is usually provided with a plurality of engine gears, an operator is required to select the gears according to the road surface state of a construction site, the dependence on operation experience is high, the operation difficulty is high, the operator usually directly selects a default gear (for example, a gear of 2200 rpm) due to insufficient experience or in order to simplify the operation when starting construction, the rotating speed of the engine is difficult to match with the property (for example, hardness and the like) of the road surface material, the engine is easy to generate a low-load high-power phenomenon, the engine power is wasted, the energy consumption is increased, and the construction cost is increased.
Disclosure of Invention
In view of the above, the present application provides a milling machine control method, a milling machine control system and a milling machine for improving at least one of the above problems existing in the prior art.
A first aspect of the present application provides a control method of a milling machine, including:
step S100: acquiring a target milling depth of a milling rotor and a preset corresponding relation model in a stopped state of the milling machine;
step S200: according to the target milling depth, controlling an engine to run at a first rotating speed, driving a milling rotor to rotate at a corresponding rotating speed and descend, and performing cutting operation on the road surface;
step S300: acquiring the descending speed of the milling rotor, the engine rotating speed and the engine load factor;
step S400: determining a target engine speed for matching the output power of the engine with the engine load factor according to the falling speed, the engine load factor 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 in the technical scheme of the application are as follows:
the selection mechanism of the engine rotating speed of the milling machine is improved, before the construction operation is formally carried out (namely, in the state of stopping the milling machine), the target engine rotating speed which can enable the output power of the engine to be matched with the engine load rate is determined according to the descending speed, the engine rotating speed and the engine load rate when the milling rotor is in contact with a road surface, and a preset corresponding relation model is referred to, so that the rotating speed of the corresponding milling rotor is determined, the target engine rotating speed is used as the operation rotating speed of a target milling depth, the rotating speed of the engine rotating speed and the rotating speed of the milling rotor are matched with the property of the road surface material when the cutting operation is carried out subsequently, 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 comprises an optimal correspondence between the descent speed of the milling rotor, the engine load factor and the engine speed.
In one possible implementation, step S200: according to the target milling depth, controlling the engine to run at a first rotation speed, driving the milling rotor to rotate and descend at a corresponding rotation speed, and performing cutting operation on the road surface, wherein the method comprises the following steps:
step S210: presetting a plurality of different initial gears, selecting one initial gear matched with a 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 descent speed, and performing cutting operation on the road surface.
In one possible embodiment, the first descent speed is a maximum descent speed of the milling rotor.
In one possible implementation, step S300: obtaining the descending speed of the milling rotor, the engine rotating speed and the engine load factor, wherein the method comprises the following steps of:
step S310: starting timing when the milling rotor contacts the road surface;
step S320: during a first time period, data of the descent speed of the milling rotor, the engine speed and the engine load factor are recorded.
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 greater than zero, determining that the milling rotor is in contact with the road surface;
step S312: the descent speed of the milling rotor is reduced to a second descent speed and the timing is started.
In one possible implementation, step S400: determining a target engine speed for matching the output power of the engine with the engine load factor according to the dropping speed, the engine load factor and a preset corresponding relation model, wherein the method comprises the following steps of:
step S410: inputting data of the falling speed, the engine speed and the engine load rate into a preset corresponding relation model, and fitting an optimal speed curve of the engine;
step S420: and determining the 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 a target milling depth, comprising:
step S510: controlling the engine to run 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 in a leveling mode to a target milling depth.
The second aspect of the present application also provides a control system for a milling machine, comprising: an engine; the milling rotor is in transmission connection with the engine; the detection assembly is suitable for detecting the rotation speed of the engine, the load factor of the engine and the descending speed of the milling rotor; a controller in communication with 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 above.
The third aspect of the present application also provides a milling machine comprising: a vehicle body; the milling machine control system according to any one of the second aspects above, provided on a vehicle body.
A fourth aspect of the present application also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of controlling a milling machine as in any one of the first aspects above when executing the computer program.
A fifth aspect of the present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling a milling machine as in any of the first aspects above.
Drawings
Fig. 1 is a schematic flow chart of a control method of a milling machine according to an embodiment of the present application.
Fig. 2 is a schematic flow chart of a control method of a milling machine according to an embodiment of the present application.
Fig. 3 is a schematic flow chart of a control method of a milling machine according to an embodiment of the present application.
Fig. 4 is a schematic flow chart of a control method of a milling machine according to an embodiment of the present application.
Fig. 5 is a schematic flow chart of a control method of a milling machine according to an embodiment of the present application.
Fig. 6 is a schematic flow chart of a control method of a milling machine according to an embodiment of the present application.
Fig. 7 is a schematic block diagram of a control system for a milling machine according to an embodiment of the present application.
Fig. 8 is a schematic view of a milling machine according to an embodiment of the present application.
Detailed Description
In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. All directional indications (such as up, down, left, right, front, rear, top, bottom … …) in embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the figures), and if the particular gesture changes, the directional indication changes accordingly. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Furthermore, references herein to "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases 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. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Summary of the application
During road construction, milling machines are often used to cut old road surfaces. The milling machine is provided with a milling rotor which can rotate and lift, and the milling rotor is driven to rotate by an engine so as to cut the road surface. In general, the rotation speed of the milling rotor is adjusted by adjusting the rotation speed of the engine in such a way that the rotation speed of the milling rotor and the rotation speed of the engine keep a constant corresponding relation.
Because the environment of the construction site is complex, when the material properties (such as hardness) of the pavement to be cut are different, the load of the milling rotor during cutting operation is also different, and correspondingly, the load of the engine is also different. The existing milling machine is generally provided with a plurality of engine gears, an operator is required to select gears according to the road surface state of a construction site, dependence on operation experience is high, and operation difficulty is high. When the construction is started, due to insufficient experience of operators or in order to simplify the operation, a default gear (for example, a gear of 2200 rpm) is often directly selected, the rotating speed of the engine is difficult to match with the properties of pavement materials, the phenomenon of low load and high power of the engine is easy to occur, the power of the engine is wasted, the energy consumption is increased, and the construction cost is increased.
Some embodiments of the milling machine control method, the milling machine control system, the milling machine, the electronic device and the computer readable storage medium in the technical solutions of the present application are provided below. 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 vehicle body of the milling machine.
In an embodiment of the first aspect of the present application, there is provided a milling machine control method, as shown in fig. 1, including:
step S100: acquiring a target milling depth of a milling rotor and a preset corresponding relation model in a stopped state of the milling machine;
step S200: according to the target milling depth, controlling an engine to run at a first rotating speed, driving a milling rotor to rotate at a corresponding rotating speed and descend, and performing cutting operation on the road surface;
step S300: acquiring the descending speed of the milling rotor, the engine rotating speed and the engine load factor;
step S400: determining a target engine speed for matching the output power of the engine with the engine load factor according to the falling speed, the engine load factor 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 control method of the milling machine in the present embodiment, through steps S100 to S200, in a state where the milling machine is stopped, the milling rotor is lowered from the initial position to contact with the road surface, and the cutting operation is started on the road surface; through the steps S300 to S400, the target engine rotating speed corresponding to the target milling depth is determined by combining the descending speed of the milling rotor in the descending process, the engine rotating speed and the engine load factor and combining a preset corresponding relation model, and then through the step S500, the engine rotating speed and the actual milling depth of the milling rotor are adjusted, so that the engine runs at the target engine rotating speed, and the milling rotor is descended to the target milling depth.
According to the milling machine control method, the control mechanism of the engine rotating speed of the milling machine is improved, before the formal construction operation is carried out (namely, in the state that the milling machine is stopped), the target engine rotating speed which can enable the output power of the engine to be matched with the engine load rate is determined according to the descending speed, the engine rotating speed and the engine load rate when the milling rotor is in contact with a road surface by referring to a preset corresponding relation model, the corresponding rotating speed of the milling rotor is further determined, the target engine rotating speed is used as the operation rotating speed of a target milling depth, and when the subsequent cutting operation is carried out, the engine rotating speed and the rotating speed of the milling rotor are matched with the road surface material property, 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.
The rotation speed of the milling rotor increases with the increase of the rotation speed of the engine. The ratio between the rotation speed of the engine and the rotation speed of the milling rotor is the transmission ratio, when a speed change mechanism (such as a speed reducer) exists between the engine and the milling rotor, the ratio between the rotation speed of the milling rotor and the rotation speed of the engine is greater than 1 or less than 1, and when no speed change mechanism is arranged between the output shaft of the engine and the milling rotor, the ratio between the rotation speed of the milling rotor and the rotation speed of the engine is 1, namely, the rotation speed of the milling rotor is equal to the rotation speed of the engine.
Further, the preset correspondence model includes an optimal correspondence between a descent speed of the milling rotor, an engine load factor, and an engine speed. The corresponding optimal engine speed curve can be fitted by combining the optimal corresponding relation of the descending speed of the milling rotor, the engine speed and the engine load rate in the cutting process of the road surface with 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 as a reference at any time in the construction process.
In a further embodiment of the present application, there is provided a milling machine control method, as shown in fig. 2, including:
step S100: acquiring a target milling depth of a milling rotor and a preset corresponding relation model in a stopped state of the milling machine;
step S210: presetting a plurality of different initial gears, selecting one initial gear matched with a 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 descent speed, and performing cutting operation on the road surface;
step S300: acquiring the descending speed of the milling rotor, the engine rotating speed and the engine load factor;
step S400: determining a target engine speed for matching the output power of the engine with the engine load factor according to the falling speed, the engine load factor 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 improved on the basis of the above embodiment. Through step S210, a plurality of different initial gears are preset, when the milling rotor begins to descend, an initial gear matched with the milling rotor can be automatically matched according to the target milling depth, so that the engine speed corresponding to the initial gear is determined as the initial speed of the engine and is recorded as the first speed; the initial gear that matches the target milling depth may specifically be the one closest to the target milling depth. Through steps S220 to S230, the engine is controlled to operate at a first rotational speed, the milling rotor is driven to rotate at a corresponding rotational speed, and the milling rotor is controlled to descend, so that the milling rotor descends from an initial position to contact with the road surface, and the cutting operation of the road surface is started. Wherein the initial descent speed of the milling rotor is a preset first descent speed.
Further, since 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, and 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 application, there is provided a milling machine control method, as shown in fig. 3, including:
step S100: acquiring a target milling depth of a milling rotor and a preset corresponding relation model in a stopped state of the milling machine;
step S210: presetting a plurality of different initial gears, selecting one initial gear matched with a 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 descent speed, and performing cutting operation on the road surface;
step S310: starting timing when the milling rotor contacts the road surface;
step S320: recording data of the descending speed, milling depth and engine load rate of the milling rotor in a first time period;
step S400: determining a target engine speed for matching the output power of the engine with the engine load factor according to the falling speed, the engine load factor 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 improved on the basis of the above embodiment. Data support is provided for subsequent steps by recording data of the descent speed of the milling rotor, the engine speed and the engine load factor during a first period of time after contact with the road surface. The first time period can be set according to the environment of a construction site and other practical conditions so as to be matched with the descending process of the milling rotor, so that 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 application, 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 stopped state of the milling machine;
step S210: presetting a plurality of different initial gears, selecting one initial gear matched with a 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 descent speed, and performing cutting operation on the road surface;
step S311: when the milling depth is greater 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 descending speed, milling depth and engine load rate of the milling rotor in a first time period;
step S400: determining a target engine speed for matching the output power of the engine with the engine load factor according to the falling speed, the engine load factor 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 this embodiment, step S310 in the above embodiment is further improved. Through step S311, whether the milling rotor is in contact with the road surface is determined 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 cutting operation, namely, the milling rotor starts to rotate with load, and the milling rotor is enabled to continuously descend at a second descending speed by reducing the descending speed of the milling rotor so as to be matched with the cutting operation, and damage to a cutter caused by too high descending speed of the milling rotor is prevented. Simultaneously, starting timing and recording the descending speed of the milling rotor, the engine rotating speed and the engine load rate data in the descending process.
Wherein the second descent speed may be set in accordance with the target milling depth. Due to the fact that the materials of different depths of the pavement are different in properties, in the process of descending of the milling rotor, the load is different, and along with the increase of the milling depth, the descending speed of the milling rotor and the engine load rate are also changed to a certain extent, so that the adaptive engine rotating speed is required to be selected, and the output power of the engine is matched with the engine load rate.
In one embodiment of the present application, there is provided a milling machine control method, as shown in fig. 5, including:
step S100: acquiring a target milling depth of a milling rotor and a preset corresponding relation model in a stopped state of the milling machine;
step S200: according to the target milling depth, controlling an engine to run at a first rotating speed, driving a milling rotor to rotate at a corresponding rotating speed and descend, and performing cutting operation on the road surface;
step S300: acquiring the descending speed of the milling rotor, the engine rotating speed and the engine load factor;
step S410: inputting data of the falling speed, the engine speed and the engine load rate into a preset corresponding relation model, and fitting an optimal 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 this embodiment, step S400 in the above embodiment is further improved. The optimal rotation speed curve of the engine is fitted by using the preset corresponding relation model through step S410, and then a second rotation speed which enables the output power of the engine to be matched with the engine load factor is determined as the target engine rotation speed according to the target milling depth and the optimal rotation speed curve of the engine through step S420.
It will be appreciated that the load of the milling rotor during the cutting operation will vary depending on the nature of the road surface material and the corresponding engine load factor. The target engine rotating speed determined through the method steps in the embodiment can drive the milling rotor to perform cutting operation at the rotating speed matched with the pavement material property, so that the output power of the engine is matched with the engine load rate, the self-adaptive matching of the engine rotating speed and the pavement material property is realized, 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 application, there is provided a milling machine control method, as shown in fig. 6, including:
step S100: acquiring a target milling depth of a milling rotor and a preset corresponding relation model in a stopped state of the milling machine;
step S200: according to the target milling depth, controlling an engine to run at a first rotating speed, driving a milling rotor to rotate at a corresponding rotating speed and descend, and performing cutting operation on the road surface;
step S300: acquiring the descending speed of the milling rotor, the engine rotating speed and the engine load factor;
step S410: inputting data of the falling speed, the engine speed and the engine load rate into a preset corresponding relation model, and fitting an optimal 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 run 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 in a leveling mode to a target milling depth.
In this embodiment, step S500 in the above embodiment is further improved. After determining the second rotation speed which enables the output power of the engine to be matched with the engine load factor as the target engine rotation speed, adjusting the engine rotation speed to the second rotation speed through step S510, adjusting the working mode of the milling rotor to a leveling mode through step S520, and controlling the milling rotor to continuously descend to the target milling depth in the leveling mode, so that the position and the rotation speed of the milling rotor are initialized, and formal construction operation is carried out in the running process of the subsequent milling machine.
Specifically, when the obtained second rotation speed is smaller than the first rotation speed, the rotation speed of the engine needs to be reduced to the second rotation speed, which indicates that the load factor of the engine is too small before adjustment, the output power of the engine is wasted, and the adjusted output power is matched with the load factor of the engine by reducing the output power and increasing the load factor of the engine; otherwise, when the obtained second rotating speed is larger than the first rotating speed, the rotating speed of the engine needs to be increased to the second rotating speed, which indicates that the engine load rate before adjustment is overlarge, the output power of the engine is insufficient, and the adjusted output power is matched with the engine load rate by increasing the output power and reducing the engine load rate.
It should be noted that, the method steps in the above embodiments may also be combined according to needs, which is not described herein.
In an embodiment of the second aspect of the present application, there is also provided a milling machine control system 1, as shown in fig. 7 and 8, the milling machine control system 1 comprising an engine 11, a milling rotor 12, a detection assembly 13 and a controller 15, for use with a milling machine 2.
The motor 11 is in transmission connection with the milling rotor 12 to drive the milling rotor 12 to rotate, and the road surface is cut through the milling rotor 12. Wherein, the corresponding relation between the rotating speed of the milling rotor 12 and the rotating speed of the engine is kept constant, and the rotating speed of the milling rotor 12 can be adjusted by adjusting the rotating speed of the engine. The detection assembly 13 is adapted to detect the engine speed, the engine load factor and the descent speed of the milling rotor 12; the controller 15 is communicatively connected to the engine 11, the milling rotor 12 and the detection assembly 13, and the controller 15 can acquire detection data of the detection assembly 13 and can control the operation of the engine 11, the milling rotor 12 and the detection assembly 13 to execute the milling machine control method in any of the above embodiments.
The milling machine control system 1 in this embodiment can make the rotation speed of the milling rotor 12 match with the material property of the road surface to be cut, and accordingly, when the milling rotor 12 is at the target milling depth, the engine 11 runs at the target engine rotation speed, so that the output power of the engine 11 matches with the engine load factor, thereby preventing the occurrence of phenomena such as low load and high power, fully utilizing the power of the engine 11, reducing energy consumption and improving efficiency.
Further, the detection assembly 13 may specifically include a plurality of different detection modules, such as an engine rotation speed detection module, a descent speed detection module and a milling depth detection module of the milling rotor 12, and the detection modules are respectively configured corresponding to the corresponding detection objects according to the difference of the detection objects.
In addition, the milling machine control system 1 in this embodiment further has all the advantages of the milling machine control method in any of the embodiments of the first aspect, which are not described herein.
In an embodiment of the third aspect of the application there is also provided a milling machine 2. 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 is a main body structure of the milling machine, and the milling machine control system 1 is arranged on the vehicle body 21 to carry out running operation under the drive of the vehicle body 21. Wherein, the engine 11 in the milling machine control system 1 is a driving device of the car body 21 and provides power for the car body 21; milling rotor 12 is specifically connected to the bottom of body 21 and is capable of elevating movement relative to body 21. The milling machine control system 1 is capable of executing the milling machine control method in any of the above embodiments with the vehicle body 21 in a stopped state.
In addition, the milling machine 2 in this embodiment further has all the advantages of the milling machine control system 1 in any of the above second aspect and the milling machine control method in any of the above first aspect, which are not described herein.
An embodiment of the application provides an electronic device. The electronic device comprises a processor and a memory, wherein the memory has stored therein a computer program adapted to run in the processor. The control method of the milling machine of any of the embodiments described above can be implemented when the processor runs a computer program in the memory. Further, the electronic device may further be provided with a communication interface and a communication bus, wherein the processor, the communication interface, and the memory perform communication with each other through the communication bus. The electronic device in this embodiment has all the advantages of the control method of the milling machine in any of the above embodiments, and will not be described herein.
It should be noted that the computer program in the memory in the above embodiment may be implemented in the form of a software functional unit. When implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the control method of the milling machine of the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In addition, in one embodiment of the present application, there is also provided a computer readable storage medium having a computer program stored therein, which when executed by a processor, implements the control method of the milling machine in any of the above embodiments. Thus, the computer readable storage medium in this embodiment has all the advantages of the control method of the milling machine in any of the above embodiments, and will not be described herein.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not necessarily limited to practice with the above described specific details.
The block diagrams of the devices, apparatuses, devices, systems referred to in the present application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, 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 application, the components may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present application.
The computer program product in the present application 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, partly on a remote computing device, or entirely on the remote computing device or server.
The readable storage medium of the present application may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The 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 would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk 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, this description is not intended to limit embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. 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 application. Thus, the present application 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 herein.
The foregoing is only illustrative of the present application and is not to be construed as limiting thereof, but rather as presently claimed, and is intended to cover all modifications, alternatives, and equivalents falling within the spirit and scope of the application.
Claims (8)
1. A method of controlling a milling machine, comprising:
step S100: acquiring a target milling depth of a milling rotor and a preset corresponding relation model in a stopped state of the milling machine;
step S200: according to the target milling depth, controlling an engine to run at a first rotating speed, driving the milling rotor to rotate at a corresponding rotating speed and descend, and performing cutting operation on the road surface;
step S300: acquiring the descending speed of the milling rotor, the engine rotating speed and the engine load rate;
step S400: determining a target engine speed for matching the output power of the engine with the engine load factor according to the falling speed, the engine load factor 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;
the preset corresponding relation model comprises an optimal corresponding relation among the descending speed of the milling rotor, the engine load rate and the engine rotating speed;
the step S400: determining a target engine speed for matching the output power of the engine with the engine load factor according to the descent speed, the engine load factor and the preset correspondence model, including:
step S410: inputting the data of the falling speed, the engine speed and the engine load rate into the preset corresponding relation model, and fitting 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.
2. The control method of a milling machine according to claim 1, wherein,
the step S200: according to the target milling depth, controlling an engine to run at a first rotation speed, driving a milling rotor to rotate at a corresponding rotation speed and descend, 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 the corresponding rotating speed;
step S230: and controlling the milling rotor to descend at a preset first descent speed, and performing cutting operation on the road surface.
3. The control method of a milling machine according to claim 2, wherein,
the first descent speed is a maximum descent speed of the milling rotor.
4. The control method of a milling machine according to claim 2, wherein,
the step S300: obtaining the descending speed of the milling rotor, the engine rotating speed and the engine load rate, wherein the method comprises the following steps of:
step S310: starting timing when the milling rotor is in contact with the road surface;
step S320: during a first time period, data of the descent speed of the milling rotor, the engine speed and the engine load factor are recorded.
5. The control method of a milling machine according to claim 4, wherein,
the step S310: starting timing when the milling rotor contacts 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.
6. The control method of a milling machine according to claim 1, wherein,
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 run at the second rotating speed, and driving the milling rotor to rotate at the corresponding rotating speed;
step S520: and controlling the milling rotor to descend to the target milling depth in a leveling mode.
7. A milling machine control system, comprising:
an engine;
the milling rotor is in transmission connection with the engine;
the detection assembly is suitable for detecting the rotation speed of the engine, the load factor of the engine and the descending speed of the milling rotor;
a controller in communication with 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 1-6.
8. A milling machine, comprising:
a vehicle body;
the milling machine control system of claim 7, disposed on said vehicle body.
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| CN202211296017.7A CN115506218B (en) | 2022-10-21 | 2022-10-21 | Milling machine control method, milling machine control system and milling machine |
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