CN117984879A - Hydraulic device based on bulk grain transportation rollover and control system thereof - Google Patents
Hydraulic device based on bulk grain transportation rollover and control system thereof Download PDFInfo
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Abstract
The invention discloses a hydraulic device based on bulk grain transportation rollover and a control system thereof, and relates to the technical field of hydraulic devices, wherein the hydraulic device comprises a state determining link, a parameter selecting link and an intelligent control link, a sensor data acquisition module is designed in the state determining link, and the sensor data acquisition module is used for acquiring data of the inclination state of a vehicle body; the sensor data acquisition module comprises: and the vehicle-mounted sensor and the camera system. According to the invention, the sensor data acquisition module is designed, so that the function of acquiring the data of the inclination state of the vehicle body is realized, and the problems of low grain unloading speed and low economic benefit caused by incapability of knowing the inclination angle of the vehicle body and incapability of accurately controlling a hydraulic system are solved.
Description
Technical Field
The invention relates to the technical field of hydraulic devices, in particular to a hydraulic device based on bulk grain transportation rollover and a control system thereof.
Background
The short-distance transportation of grains is mainly road transportation, so that bulk grain transportation can save a large amount of packaging cost, and the application of the bulk grain transportation truck self-unloading platform can increase the grain unloading speed, reduce the labor intensity of workers, protect the physical health of the workers and reduce the grain unloading cost. The social vehicle can be put into bulk grain transportation work through simple refitting, the original purpose of the vehicle is not changed, and the bulk, bulk transportation, bulk unloading and bulk storage of grains can be promoted. The bulk grain transportation automobile platform can not damage grain seeds in the use process. Bulk grain transportation is being continuously popularized in various places, and the addition of social vehicles further promotes the development of bulk grain transportation. Most social vehicles realize about 1/3 grain self-unloading through arranging 3-4 self-flowing holes on the bottom plate at one side or two sides of the carriage in a self-flowing mode. However, about 2/3 of grains can be unloaded only by manual assistance, and the unloading is not completely carried out, so that the labor cost and the labor intensity of workers are high. The self-unloading platform of the bulk grain automobile is designed, when grains in the carriage can not flow automatically, the platform is slowly turned on one side, so that the whole automobile is inclined, grains in the carriage flow to one side of the self-flowing hole, and finally flow out of the self-flowing hole, and the function of completely self-unloading the grains in the carriage is achieved.
Bulk grain is collected and stored in a large amount by adopting automobile shipment, and most bulk grain running vehicles are common trailers and do not have self-unloading capacity, so that manual unloading is mainly adopted for unloading. The working mode has high labor cost, high working strength and low working efficiency, and can not meet the grain operation requirement in the grain harvesting season. Meanwhile, a large amount of dust is generated in the manual grain unloading process, which can cause a certain harm to the body of grain unloading workers. With the continuous development of population aging, in order to save labor cost and increase the transportation work efficiency, it is urgent to study a bulk grain transportation self-unloading platform with practical value.
1. Patent document CN116006550B discloses a maintenance-free hydraulic filtering device and a control system thereof, which effectively reduce maintenance cost and reduce the occurrence of use conditions of machine faults and shortened service life caused by forgetting to replace a filter element due to negligence, but the patent cannot realize a function of collecting data of the tilting state of a vehicle body.
2. Patent document CN107191417B discloses a wave compensation device and a hydraulic control system of a compensation cylinder thereof, which can prevent a rod cavity of the compensation cylinder from being corroded, but cannot realize an error analysis function for a tilting angle of a vehicle body.
3. Patent document CN109139580B discloses a hydraulic control system of a full-rotation rudder propeller device, and the above patent realizes not only eliminating the phenomenon of rotation shake of the full-rotation rudder propeller, but also improving the stability and positioning accuracy of the braking stopping process of the system, but the above patent cannot realize the control and state diagnosis functions of the vehicle body rollover angle.
4. Patent document CN115806202B discloses a weighing hydraulic unloading device based on self-adaptive learning and a turnover control system thereof, and the above patent realizes the turnover control of the device, can effectively reduce the system power consumption and noise pollution, and realize energy saving and emission reduction, but the above patent cannot realize the self-adaptive adjustment function of the hydraulic system.
In summary, the above-mentioned patent cannot realize the functions of collecting data of the inclination state of the vehicle body, analyzing errors of the inclination angle of the vehicle body, controlling and diagnosing the rollover angle of the vehicle body and self-adapting adjusting the hydraulic system, which results in the problems of slow grain unloading speed, incomplete grain unloading, reduced safety and low degradation efficiency;
Therefore, the application provides the bulk grain transportation rollover-based hydraulic device and the control system thereof, which can realize the functions of acquiring the vehicle body inclination state data, analyzing the error of the vehicle body inclination angle, controlling the vehicle body rollover angle, diagnosing the state and adaptively adjusting the hydraulic system.
Disclosure of Invention
The invention aims to provide a hydraulic device and a control system thereof based on bulk grain transportation rollover, which are used for solving the technical problems that the prior art cannot realize the functions of collecting data of a vehicle body inclination state, analyzing errors of the vehicle body inclination angle, controlling the vehicle body rollover angle and diagnosing the state and adaptively adjusting a hydraulic system, so that the unloading speed is low, the unloading is incomplete, the safety is reduced and the degradation benefit is low.
In order to achieve the above purpose, the present invention provides the following technical solutions: the hydraulic control system based on bulk grain transportation rollover comprises a state determining link, a parameter selecting link and an intelligent control link, wherein a sensor data acquisition module is designed in the state determining link and is used for acquiring data of the inclination state of a vehicle body;
the sensor data acquisition module comprises: a vehicle-mounted sensor and camera system;
the vehicle-mounted sensor is arranged on the side surface of the outer wall of the vehicle body, and a high-precision inertial measurement unit is integrated in the vehicle-mounted sensor, so that accurate vehicle inclination angle data can be provided, and inclination state data of the vehicle can be detected in real time;
The camera system is arranged on the side face of the outer wall of the vehicle body and used for capturing the surrounding environment of the vehicle, and an image processing algorithm and a computer vision algorithm are integrated in the camera and used for calculating the included angle between the vehicle body and the horizontal plane, accurately identifying the rollover state of the vehicle and ensuring the omnibearing visual field.
Preferably, a rollover angle automatic determining module is designed in the state determining link, and is connected with the sensor data acquisition module through a data signal line, and the rollover angle automatic determining module is used for processing vehicle body inclination state data and generating a corresponding control signal;
The automatic rollover angle determining module comprises: the data fusion processing unit and the angle judgment control signal generating unit;
the data fusion processing unit integrates a fusion algorithm, and the vehicle-mounted sensor and the data of the camera system are comprehensively utilized to perform fusion processing to obtain a final rollover angle, so that the vehicle inclination state is continuously detected in real time and timely responded;
The angle judgment control signal generation unit judges whether the rollover operation is needed according to the rollover angle data obtained by the data fusion processing unit, generates a corresponding control signal, sets a rollover triggering threshold value in the angle judgment control signal generation unit, triggers the control signal when the angle reaches and exceeds the threshold value, and ensures the high synchronization between the rollover angle and the control signal through a real-time feedback mechanism.
Preferably, a hydraulic system design module is designed in the intelligent control link, and the hydraulic system design module is used for designing a corresponding hydraulic control system according to the rollover data requirement;
the hydraulic system design module includes: hydraulic cylinder selection and layout design and valve pipeline design;
The hydraulic cylinder is selected and laid out, namely, the hydraulic cylinder with enough bearing capacity and adjustment flexibility is selected according to the vehicle type data and the rollover angle requirement, and is arranged at the joint of the bottom of the outer wall of the carriage and the frame;
the design of the valve pipeline selects a hydraulic valve, and the hydraulic pipeline is designed, so that an advanced valve technology is adopted, and the hydraulic system can respond to the control signal rapidly and accurately.
Preferably, a control system design is designed in the intelligent control link, and the control system design is used for realizing accurate control on the hydraulic system;
The control system design includes: an intelligent control algorithm unit and a self-diagnosis safety protection unit;
an intelligent control algorithm is integrated in the intelligent control algorithm unit, accurate control of the hydraulic system is realized by utilizing PID feedback control according to the rollover angle data, a closed-loop control strategy is adopted to combine with dynamic adjustment of the rollover angle, and a friendly man-machine interaction interface is utilized to perform real-time monitoring and manual intervention;
The self-diagnosis safety protection unit is integrated with a self-diagnosis function, detects the system state and timely reports potential faults, and a safety protection mechanism is arranged, so that the rollover operation is stopped immediately once an abnormal condition is detected, and the safety of vehicles and personnel is ensured.
Preferably, a safety protection module is designed in the hydraulic control system and is used for carrying out system safety protection on emergency;
the security protection module includes: an emergency stop unit, an overload protection unit and an anti-overflow safety valve unit;
the emergency stopping unit is provided with an emergency stopping button which is manually triggered by an operator, an automatic emergency stopping system is arranged, and whether dangerous situations occur or not is judged by detecting sensor data;
the overload protection unit is integrated with an overload sensor, the overload sensor is arranged in the oil cylinder, the stress condition of the oil cylinder is detected, an overload protection algorithm is designed, and once overload is detected, the hydraulic system is immediately cut off;
the anti-overflow safety valve unit is provided with an anti-overflow valve to prevent the hydraulic system from being damaged due to overpressure, and the safety valve is arranged to ensure that the hydraulic pressure of the hydraulic system can be rapidly released under abnormal conditions, so that dangers are avoided.
Preferably, the hydraulic control system is internally provided with a man-machine interaction module, the man-machine interaction module is connected with the rollover angle automatic determining module and the safety protection module through data signal lines, and the man-machine interaction module is used for intuitively knowing and controlling state information of the hydraulic system;
The man-machine interaction module comprises: the remote monitoring system comprises an operation panel unit, a remote monitoring unit and a fault diagnosis display unit;
The operation panel unit is a visual touch screen operation panel, displays the state, parameters and operation buttons of the hydraulic system, provides manual and automatic mode switching buttons and flexibly operates and controls;
The remote monitoring unit is provided with a communication module, supports WIFI and mobile network connection, provides an encrypted remote monitoring platform, and an operator can monitor the state of the hydraulic system through a remote end and receive real-time alarms;
The fault diagnosis display unit integrates a display screen, displays the state, fault codes and maintenance information of the hydraulic system, provides detailed fault diagnosis guidance, and is convenient for maintenance personnel to quickly solve the problems.
Preferably, the control system is internally provided with an intelligent adjusting module, the intelligent adjusting module is connected with the rollover angle automatic determining module through a data signal line, and the intelligent adjusting module is used for detecting the state of the hydraulic system in real time and adaptively adjusting hydraulic parameters;
the intelligent regulation module includes: a sensor unit, a central controller unit and an ECU unit;
The sensor unit includes: a pressure sensor and an inertial sensor;
The pressure sensor is arranged in the hydraulic cylinder and used for detecting the oil pressure in the hydraulic cylinder in real time, the inertial sensor is arranged on the side surface of the outer wall of the vehicle and used for detecting the motion state of the vehicle and providing vehicle motion information for the hydraulic system;
The central controller unit is a high-performance embedded system, can process a large amount of real-time data, and is integrated with a redundant system, so that the hydraulic system can still safely operate when one unit fails;
The ECU unit is integrated with a program control logic algorithm and an emergency stop algorithm, unsafe rollover is prevented by actively cutting off a power supply and a valve, oil flow is regulated according to the inclination angle and the speed, a programmable interface is provided, and future system upgrading and function expansion are supported.
Preferably, the intelligent control algorithm is designed as follows:
Calculating rollover angle errors: the rollover angle data acquired through the vehicle-mounted sensor and the camera system is theta 1, the set target rollover angle is theta 2, and the error e represents the difference value between the actual rollover angle and the target rollover angle: e=θ 2-θ1;
PID control:
Wherein u (t) is the output of the controller, namely the control signal of the hydraulic system, K P、Ki、Kd is the proportional, integral and differential coefficients, e (t) is the rollover angle error at the current moment,/>, respectively Integration of the representation errors is used to handle errors over a long period of time,/>The differential representing the error is used to predict future trends.
Preferably, the hydraulic control device includes: the intelligent control system comprises a hydraulic cylinder, a valve, a vehicle-mounted sensor, a camera system, a touch screen operation panel, a display screen, a pressure sensor, an inertial sensor and a central controller, wherein the pressure sensor is arranged inside the hydraulic cylinder, the valve, the vehicle-mounted sensor, the camera system and the inertial sensor are all arranged on the outer wall of a vehicle body, and the touch screen operation panel and the central controller are arranged at an operation control center.
Compared with the prior art, the invention has the beneficial effects that:
1. According to the invention, by designing the sensor data acquisition module, the function of acquiring the data of the inclination state of the vehicle body is realized, and the problems of low grain unloading speed and low economic benefit caused by incapability of knowing the inclination angle of the vehicle body and incapability of accurately controlling a hydraulic system are solved;
2. According to the invention, the automatic rollover angle determining module is designed, so that an error analysis function on the inclination angle of the vehicle body is realized, the control accuracy of a hydraulic system is improved, the grain unloading speed is improved, and the labor intensity of workers is reduced;
3. according to the invention, the control system is designed, so that the control and state diagnosis functions of the side turning angle of the vehicle body are realized, the adaptability and the safety of the control system are improved, the grain unloading speed is improved, the physical health of workers is protected, the grain unloading cost is reduced, and the economic benefit is improved;
4. According to the invention, the intelligent adjusting module is designed, so that the self-adaptive adjusting function of the hydraulic system is realized, the requirement on stable operation of the hydraulic system in the grain unloading process is met, the grain unloading speed and efficiency are improved, and the control fluency of the hydraulic system is improved.
Drawings
FIG. 1 is a schematic diagram of a sensor data acquisition module according to the present invention;
FIG. 2 is a schematic diagram of an automatic rollover angle determination module according to the present invention;
FIG. 3 is a schematic diagram of a design control system according to the present invention;
FIG. 4 is a schematic diagram of a security module according to the present invention;
Fig. 5 is a schematic diagram of an intelligent adjusting module according to the present invention.
Detailed Description
The following description of the embodiments of the present invention 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 invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1, an embodiment of the present invention is provided: the hydraulic control system based on bulk grain transportation rollover comprises a state determining link, a parameter selecting link and an intelligent control link, wherein a sensor data acquisition module is designed in the state determining link and is used for acquiring data of the inclination state of a vehicle body;
the sensor data acquisition module comprises: a vehicle-mounted sensor and camera system;
the vehicle-mounted sensor is arranged on the side surface of the outer wall of the vehicle body, and a high-precision inertial measurement unit is integrated in the vehicle-mounted sensor, so that accurate vehicle inclination angle data can be provided, and inclination state data of the vehicle can be detected in real time;
The camera system is arranged on the side surface of the outer wall of the vehicle body and used for capturing the surrounding environment of the vehicle, and an image processing algorithm and a computer vision algorithm are integrated in the camera and used for calculating the included angle between the vehicle body and the horizontal plane, accurately identifying the rollover state of the vehicle and ensuring the omnibearing visual field;
Further, a suitable gyroscope and accelerometer sensors are selected and mounted at the bottom of the outer wall of a bulk grain transport vehicle chassis, the sensors detect the inclination state of the vehicle in real time, angular speed and acceleration data are continuously collected, a camera system collects images of the surrounding environment of the vehicle, an image processing algorithm and a computer vision algorithm are utilized to conduct recognition processing on the images, the data collected by the vehicle-mounted sensors and the camera system are transmitted into an operation control center through data signal lines, the operation control center conducts filtering processing on raw data collected by the vehicle-mounted sensors and the camera system, noise and interference which may exist are eliminated through a digital filtering algorithm, and accurate inclination state information is ensured to be obtained.
Example 2
Referring to fig. 1 and 2, an embodiment of the present invention is provided: the hydraulic control system based on bulk grain transportation rollover is characterized in that a rollover angle automatic determining module is designed in a state determining link, the rollover angle automatic determining module is connected with a sensor data acquisition module through a data signal line, and the rollover angle automatic determining module is used for processing vehicle body inclination state data and generating corresponding control signals;
The automatic rollover angle determining module comprises: the data fusion processing unit and the angle judgment control signal generating unit;
the data fusion processing unit integrates a fusion algorithm, and the vehicle-mounted sensor and the data of the camera system are comprehensively utilized to perform fusion processing to obtain a final rollover angle, so that the vehicle inclination state is continuously detected in real time and timely responded;
The angle judgment control signal generation unit judges whether the rollover operation is needed according to the rollover angle data obtained by the data fusion processing unit, generates a corresponding control signal, sets a rollover triggering threshold value in the angle judgment control signal generation unit, triggers the control signal when the angle reaches and exceeds the threshold value, and ensures the high synchronization between the rollover angle and the control signal through a real-time feedback mechanism;
Further, the data fusion processing unit receives real-time data transmitted by the sensor module, analyzes angle information in the real-time data, calculates the rollover angle of the vehicle through integration by utilizing angular speed and time information provided by the vehicle-mounted sensor and the camera system, sets a target rollover angle according to vehicle type data and process requirements, calculates an error between the actual rollover angle and the target rollover angle, applies a PID (proportion integration differentiation) control algorithm, and the angle judgment control signal generating unit calculates and generates a control signal according to the rollover angle error, wherein the control signal is used for adjusting the operation of the hydraulic system and is transmitted to the hydraulic system as feedback to adjust the working state of the hydraulic cylinder so as to realize the accurate control of the opposite rollover angle.
Example 3
Referring to fig. 1,2 and 3, an embodiment of the present invention provides: a hydraulic control system based on bulk grain transportation rollover is characterized in that a control system design is designed in an intelligent control link, and the control system design is used for realizing accurate control of a hydraulic system;
The control system design includes: an intelligent control algorithm unit and a self-diagnosis safety protection unit;
an intelligent control algorithm is integrated in the intelligent control algorithm unit, accurate control of the hydraulic system is realized by utilizing PID feedback control according to the rollover angle data, a closed-loop control strategy is adopted to combine with dynamic adjustment of the rollover angle, and a friendly man-machine interaction interface is utilized to perform real-time monitoring and manual intervention;
the self-diagnosis safety protection unit is internally integrated with a self-diagnosis function, detects the system state and timely reports potential faults, and is provided with a safety protection mechanism, once an abnormal condition is detected, the rollover operation is stopped immediately, so that the safety of vehicles and personnel is ensured;
Further, an intelligent control algorithm is designed, accurate control of the hydraulic system is achieved according to real-time rollover angle data, parameters of the PID control algorithm are adjusted to improve response speed and stability of the system, a user-friendly interface is designed, functions of real-time monitoring and manual intervention are provided, real-time rollover angle, system state and the like are displayed for reference of operators, a self-diagnosis function in a self-diagnosis safety protection unit monitors rollover angle data in real time and timely feeds abnormal diagnosis conditions back to an operation control center, a safety protection mechanism is triggered, and a safety protection module is communicated timely to make shutdown response measures.
Example 4
Referring to fig. 2, 3 and 4, an embodiment of the present invention is provided: a hydraulic control system based on bulk grain transportation rollover is characterized in that a safety protection module is designed in the hydraulic control system and used for carrying out system safety protection on emergency;
the security protection module includes: an emergency stop unit, an overload protection unit and an anti-overflow safety valve unit;
the emergency stopping unit is provided with an emergency stopping button which is manually triggered by an operator, an automatic emergency stopping system is arranged, and whether dangerous situations occur or not is judged by detecting sensor data;
the overload protection unit is integrated with an overload sensor, the overload sensor is arranged in the oil cylinder, the stress condition of the oil cylinder is detected, an overload protection algorithm is designed, and once overload is detected, the hydraulic system is immediately cut off;
the anti-overflow safety valve unit is provided with an anti-overflow valve to prevent the hydraulic system from being damaged due to overpressure, and the safety valve is arranged to ensure that the hydraulic pressure of the hydraulic system can be rapidly released under abnormal conditions, so that dangers are avoided;
Further, an operator starts the hydraulic side-turning system, the safety protection module performs self-checking, ensures that all key elements work normally, the pressure sensor detects abnormal oil pressure, the abnormal detection is triggered, the alarm is triggered, the operator and other related personnel are reminded of abnormal conditions, the emergency stop program is started, the power supply is cut off, the valve is closed, the movement of the oil cylinder is stopped, if the overload sensor detects that the load of the oil cylinder exceeds a threshold value, the overload protection is triggered, the movement of the oil cylinder is stopped, the overload alarm is sent, the pressure of the hydraulic system is monitored, and if abnormal conditions exist, the anti-overflow valve and the safety valve are triggered, and the flow and the release pressure are limited.
Example 5
Referring to fig. 3, 4 and 5, an embodiment of the present invention is provided: the hydraulic control system based on bulk grain transportation rollover is characterized in that an intelligent adjusting module is further designed in the design of the control system, the intelligent adjusting module is connected with the rollover angle automatic determining module through a data signal line, and the intelligent adjusting module is used for detecting the state of the hydraulic system in real time and adaptively adjusting hydraulic parameters;
the intelligent regulation module includes: a sensor unit, a central controller unit and an ECU unit;
The sensor unit includes: a pressure sensor and an inertial sensor;
The pressure sensor is arranged in the hydraulic cylinder and used for detecting the oil pressure in the hydraulic cylinder in real time, the inertial sensor is arranged on the side surface of the outer wall of the vehicle and used for detecting the motion state of the vehicle and providing vehicle motion information for the hydraulic system;
The central controller unit is a high-performance embedded system, can process a large amount of real-time data, and is integrated with a redundant system, so that the hydraulic system can still safely operate when one unit fails;
the ECU unit is integrated with a program control logic algorithm and an emergency stop algorithm, unsafe rollover is prevented by actively cutting off a power supply and a valve, oil flow is regulated according to the inclination angle and the speed, a programmable interface is provided, and future system upgrading and function expansion are supported;
Further, the user starts the hydraulic rollover system, the central controller unit initializes each subsystem, the hydraulic rollover system comprises a sensor unit and an ECU unit, the sensor unit starts to collect data in real time, information such as inclination angle, oil pressure and temperature of a vehicle is obtained, the central controller unit receives the data of the sensor unit and processes and filters the data, the obtained data is ensured to be accurate and reliable, the central controller unit monitors the states of the system in real time, including the inclination state of the vehicle, the working state of the hydraulic system and the like, the central controller unit feeds back the state of the system in real time through a display screen or an indicator lamp, visual information is provided for an operator, whether the system is in a normal working state is judged according to the monitoring result, the ECU unit monitors the sensor data in real time, a control algorithm is dynamically adjusted according to actual conditions, and unsafe rollover is prevented by actively cutting off a power supply and a valve.
The system can continuously collect data required by the tilting state of the vehicle, including angular velocity and acceleration, so as to ensure accurate monitoring of the tilting state of the vehicle, and the collected original data can be subjected to filtering treatment to remove noise and interference, thereby obtaining accurate tilting state information;
Then, the rollover angle automatic determining module calculates the rollover angle of the vehicle according to the data acquired by the sensor data acquisition module, the actual rollover angle is obtained by using a mathematical integration method through an analysis angle system, meanwhile, the system sets a target rollover angle according to the vehicle type data and the process requirements, and a PID control algorithm is adopted to generate a control signal by calculating the error between the actual rollover angle and the target rollover angle, and the signal is used for adjusting a hydraulic system to ensure that the vehicle is kept stable in the transportation process and rollover is prevented;
Finally, the hydraulic system adjusts the working state of the hydraulic cylinder according to the control signal so as to realize the accurate control of the rollover angle, the selection, layout and valve design of the hydraulic cylinder ensure that the hydraulic system can respond to the control signal rapidly and reliably, the whole system simultaneously comprises an intelligent control algorithm, the intelligent control is carried out according to factors such as the vehicle speed and the load by dynamically adjusting PID parameters, the adaptability and the stability of the system are improved, the rollover angle of the vehicle can be continuously monitored in real time in the working process, the control signal is ensured to be timely adjusted to adapt to different working states, and the system can also immediately stop rollover operation when abnormal conditions are detected through a safety protection mechanism, so that the safety of the vehicle and personnel is ensured.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. A hydraulic control system based on bulk grain transportation is turned on one's side and is used, its characterized in that: the intelligent vehicle body inclination state detection system comprises a state determination link, a parameter selection link and an intelligent control link, wherein a sensor data acquisition module is designed in the state determination link and is used for acquiring data of the vehicle body inclination state;
the sensor data acquisition module comprises: a vehicle-mounted sensor and camera system;
the vehicle-mounted sensor is arranged on the side surface of the outer wall of the vehicle body, and a high-precision inertial measurement unit is integrated in the vehicle-mounted sensor, so that accurate vehicle inclination angle data can be provided, and inclination state data of the vehicle can be detected in real time;
The camera system is arranged on the side face of the outer wall of the vehicle body and used for capturing the surrounding environment of the vehicle, and an image processing algorithm and a computer vision algorithm are integrated in the camera and used for calculating the included angle between the vehicle body and the horizontal plane, accurately identifying the rollover state of the vehicle and ensuring the omnibearing visual field.
2. The bulk grain transportation rollover-based hydraulic control system according to claim 1, wherein: the automatic rollover angle determining module is connected with the sensor data acquisition module through a data signal line and is used for processing vehicle body inclination state data and generating corresponding control signals;
The automatic rollover angle determining module comprises: the data fusion processing unit and the angle judgment control signal generating unit;
the data fusion processing unit integrates a fusion algorithm, and the vehicle-mounted sensor and the data of the camera system are comprehensively utilized to perform fusion processing to obtain a final rollover angle, so that the vehicle inclination state is continuously detected in real time and timely responded;
The angle judgment control signal generation unit judges whether the rollover operation is needed according to the rollover angle data obtained by the data fusion processing unit, generates a corresponding control signal, sets a rollover triggering threshold value in the angle judgment control signal generation unit, triggers the control signal when the angle reaches and exceeds the threshold value, and ensures the high synchronization between the rollover angle and the control signal through a real-time feedback mechanism.
3. The bulk grain transportation rollover-based hydraulic control system according to claim 1, wherein: the intelligent control link is internally provided with a hydraulic system design module which is used for designing a corresponding hydraulic control system according to the rollover data requirement;
the hydraulic system design module includes: hydraulic cylinder selection and layout design and valve pipeline design;
The hydraulic cylinder is selected and laid out, namely, the hydraulic cylinder with enough bearing capacity and adjustment flexibility is selected according to the vehicle type data and the rollover angle requirement, and is arranged at the joint of the bottom of the outer wall of the carriage and the frame;
the design of the valve pipeline selects a hydraulic valve, and the hydraulic pipeline is designed, so that an advanced valve technology is adopted, and the hydraulic system can respond to the control signal rapidly and accurately.
4. The hydraulic control system for bulk grain transportation rollover as claimed in claim 3, wherein: a control system design is designed in the intelligent control link, and the control system design is used for realizing accurate control of a hydraulic system;
The control system design includes: an intelligent control algorithm unit and a self-diagnosis safety protection unit;
an intelligent control algorithm is integrated in the intelligent control algorithm unit, accurate control of the hydraulic system is realized by utilizing PID feedback control according to the rollover angle data, a closed-loop control strategy is adopted to combine with dynamic adjustment of the rollover angle, and a friendly man-machine interaction interface is utilized to perform real-time monitoring and manual intervention;
The self-diagnosis safety protection unit is integrated with a self-diagnosis function, detects the system state and timely reports potential faults, and a safety protection mechanism is arranged, so that the rollover operation is stopped immediately once an abnormal condition is detected, and the safety of vehicles and personnel is ensured.
5. The bulk grain transportation rollover-based hydraulic control system according to claim 1, wherein: the hydraulic control system is internally provided with a safety protection module which is used for carrying out system safety protection on emergency;
the security protection module includes: an emergency stop unit, an overload protection unit and an anti-overflow safety valve unit;
the emergency stopping unit is provided with an emergency stopping button which is manually triggered by an operator, an automatic emergency stopping system is arranged, and whether dangerous situations occur or not is judged by detecting sensor data;
the overload protection unit is integrated with an overload sensor, the overload sensor is arranged in the oil cylinder, the stress condition of the oil cylinder is detected, an overload protection algorithm is designed, and once overload is detected, the hydraulic system is immediately cut off;
the anti-overflow safety valve unit is provided with an anti-overflow valve to prevent the hydraulic system from being damaged due to overpressure, and the safety valve is arranged to ensure that the hydraulic pressure of the hydraulic system can be rapidly released under abnormal conditions, so that dangers are avoided.
6. The bulk grain transportation rollover-based hydraulic control system according to claim 5, wherein: the hydraulic control system is internally provided with a man-machine interaction module, the man-machine interaction module is connected with the rollover angle automatic determination module and the safety protection module through data signal lines, and the man-machine interaction module is used for intuitively knowing and controlling state information of the hydraulic system;
The man-machine interaction module comprises: the remote monitoring system comprises an operation panel unit, a remote monitoring unit and a fault diagnosis display unit;
The operation panel unit is a visual touch screen operation panel, displays the state, parameters and operation buttons of the hydraulic system, provides manual and automatic mode switching buttons and flexibly operates and controls;
The remote monitoring unit is provided with a communication module, supports WIFI and mobile network connection, provides an encrypted remote monitoring platform, and an operator can monitor the state of the hydraulic system through a remote end and receive real-time alarms;
The fault diagnosis display unit integrates a display screen, displays the state, fault codes and maintenance information of the hydraulic system, provides detailed fault diagnosis guidance, and is convenient for maintenance personnel to quickly solve the problems.
7. The hydraulic control system based on bulk grain transportation rollover as claimed in claim 4, wherein: the intelligent regulation module is connected with the rollover angle automatic determination module through a data signal line, and is used for detecting the state of the hydraulic system in real time and adaptively adjusting hydraulic parameters;
the intelligent regulation module includes: a sensor unit, a central controller unit and an ECU unit;
The sensor unit includes: a pressure sensor and an inertial sensor;
The pressure sensor is arranged in the hydraulic cylinder and used for detecting the oil pressure in the hydraulic cylinder in real time, the inertial sensor is arranged on the side surface of the outer wall of the vehicle and used for detecting the motion state of the vehicle and providing vehicle motion information for the hydraulic system;
The central controller unit is a high-performance embedded system, can process a large amount of real-time data, and is integrated with a redundant system, so that the hydraulic system can still safely operate when one unit fails;
The ECU unit is integrated with a program control logic algorithm and an emergency stop algorithm, unsafe rollover is prevented by actively cutting off a power supply and a valve, oil flow is regulated according to the inclination angle and the speed, a programmable interface is provided, and future system upgrading and function expansion are supported.
8. The hydraulic control system based on bulk grain transportation rollover as claimed in claim 4, wherein: the intelligent control algorithm is designed as follows:
Calculating rollover angle errors: the rollover angle data acquired through the vehicle-mounted sensor and the camera system is theta 1, the set target rollover angle is theta 2, and the error e represents the difference value between the actual rollover angle and the target rollover angle: e=θ 2-θ1;
PID control:
Wherein u (t) is the output of the controller, namely the control signal of the hydraulic system, K P、Ki、Kd is the proportional, integral and differential coefficients, e (t) is the rollover angle error at the current moment,/>, respectively Integration of the representation errors is used to handle errors over a long period of time,/>The differential representing the error is used to predict future trends.
9. The utility model provides a hydraulic control device based on bulk grain transportation is turned on one's side and is used, is applicable to the hydraulic control system based on bulk grain transportation is turned on one's side of any one of claims 1-8, its characterized in that: the hydraulic control device includes: the intelligent control system comprises a hydraulic cylinder, a valve, a vehicle-mounted sensor, a camera system, a touch screen operation panel, a display screen, a pressure sensor, an inertial sensor and a central controller, wherein the pressure sensor is arranged inside the hydraulic cylinder, the valve, the vehicle-mounted sensor, the camera system and the inertial sensor are all arranged on the outer wall of a vehicle body, and the touch screen operation panel and the central controller are arranged at an operation control center.
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| US20140336883A1 (en) * | 2011-12-02 | 2014-11-13 | Caterpillar Sarl | Determining the relative orientation of members of an articulated work machine |
| CN206012407U (en) * | 2016-09-09 | 2017-03-15 | 中粮工程科技（郑州）有限公司 | Self-tipping type bulk grain transportation vehicle |
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