WO2023040182A1 - 一种垂直举升排水车智能控制系统及方法 - Google Patents

一种垂直举升排水车智能控制系统及方法 Download PDF

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Publication number
WO2023040182A1
WO2023040182A1 PCT/CN2022/076804 CN2022076804W WO2023040182A1 WO 2023040182 A1 WO2023040182 A1 WO 2023040182A1 CN 2022076804 W CN2022076804 W CN 2022076804W WO 2023040182 A1 WO2023040182 A1 WO 2023040182A1
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WIPO (PCT)
Prior art keywords
drainage
mode
transmitter
vehicle
reel
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PCT/CN2022/076804
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English (en)
French (fr)
Inventor
汉京勇
段蒙蒙
管培鹏
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江苏徐工工程机械研究院有限公司
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Publication of WO2023040182A1 publication Critical patent/WO2023040182A1/zh

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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
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23051—Remote control, enter program remote, detachable programmer

Definitions

  • the invention relates to an intelligent control system and method for a vertical lifting drainage vehicle, belonging to the technical field of electric control.
  • the vertical lifting drainage vehicle is powered by a custom-made chassis diesel engine, which drives the working device on the vehicle through a complex hydraulic system, which requires very high intelligent control of the drainage vehicle.
  • a custom-made chassis diesel engine which drives the working device on the vehicle through a complex hydraulic system, which requires very high intelligent control of the drainage vehicle.
  • the water pump of the existing product in the market is driven by the main hydraulic pump, and the auxiliary mechanism is mainly driven by the auxiliary hydraulic pump.
  • Each operation requires the auxiliary pump and the auxiliary hydraulic pump to take power first. After the vehicle’s position and attitude are adjusted, turn off the auxiliary hydraulic pump, turn off the engine and then start the main hydraulic pump to take power, and then adjust the speed of the water pump through the speed control knob.
  • the existing technology in the market adopts secondary shutdown to take power, which is cumbersome to operate, and the degree of intelligence is not high.
  • the action of the working device is adjusted by the switch value, the fine-tuning effect is relatively poor, and the impact of the pipeline is relatively large.
  • the speed up of the water pump of the existing product is realized by manually adjusting the knob slowly, the operation is complicated and inconvenient, and the control accuracy depends heavily on the experience of the staff.
  • the purpose of the present invention is to provide an intelligent control system and method for a vertical lift drainage vehicle, by designing two control modes of near ground and remote wireless remote control of the vertical lift drainage vehicle, and using a combination of a variable pump and an electro-hydraulic proportional valve
  • the driving method eliminates pipeline impact, and does not require repeated ignition and power take-off twice, making the operation smooth, the operation steps simple, and the system reliable.
  • the present invention provides an intelligent control system for a vertical lift drainage vehicle, comprising: a transmitter, a wireless remote control receiver, a vehicle display, a chassis controller and a working device controller;
  • the transmitter is used to remotely configure the working mode of the working device controller through the wireless remote control receiver, and is used to issue work instructions through the wireless remote control receiver in different working modes;
  • the wireless remote control receiver is used to receive work instructions issued by the transmitter, and control the chassis controller and the working device controller to perform corresponding actions;
  • the on-board display is used to display vehicle parameters and alarm information for human-computer interaction
  • the chassis controller is used to control the engine and get off the vehicle to take power
  • the working device controller is used for leveling the drainage vehicle, adjusting the attitude of the vehicle arm frame and controlling the drainage vehicle to discharge water according to the work instruction.
  • the wireless remote control receiver is connected with the chassis controller and the working device controller through the CAN bus.
  • chassis controller is specifically used for
  • the controller of the working device is provided with several input ports; the input ports of the controller of the working device are respectively connected to the proximity switches of the left and right outriggers of the drainage truck, the proximity switches of the left and right legs, and the proximity switches of the left and right legs.
  • the controller of the working device is provided with several output ports; the output ports of the controller of the working device respectively pass through the electromagnetic valve and the arm frame turntable, the arm frame assembly, the outer pipe frame of the car arm frame, and the inner pipe frame of the car arm frame , the left and right outriggers of the drainage vehicle, the reel of the drainage vehicle are connected to the left and right reel platforms of the drainage vehicle; the output port of the controller of the working device is also connected to the hydraulic pump of the drainage vehicle and the water pump motor through a proportional valve;
  • the output port of the working device controller is also connected to a water-sealed relay.
  • the working device controller also includes fuses FU01 and FU02; the fuse FU01 is installed on the line between the left outrigger of the drainage vehicle and the proximity switch and the power supply, and the fuse FU02 is installed in the left outrigger of the drainage vehicle On the line between the pressure sensor and the power supply.
  • five single-axis electronic handles a power switch, a mode selection knob, a water seal switch and a water pump switch are set on the operation panel of the transmitter;
  • the first electronic handle is used to control the increase and decrease of the engine speed, the retraction of the first reel, the expansion and contraction of the left outrigger of the drainage vehicle and the rotation of the arm frame turntable;
  • the second electronic handle is used to control the retraction of the second reel, the lifting of the left outrigger of the drainage truck and the luffing and lowering of the boom frame;
  • the third electronic handle is used to control the retraction of the 3-reel and the translation and extension of the arm frame;
  • the fourth electronic handle is used to control the expansion and contraction of the outer tube frame of the arm frame, the retraction and release of the 4 reels and the lifting of the right leg of the drainage car;
  • the fifth electronic handle is used to control the increase or decrease of the rotation speed of the water pump of the drainage vehicle, the expansion and contraction of the pipe frame inside the arm frame, the expansion and contraction of the right leg of the drainage vehicle, and the retraction and retraction of the left and right reel platforms;
  • the power take-off switch is used to control the on-off of the power source of the drainage vehicle
  • the mode selection knob is used to configure working modes for the work equipment controller, including outrigger mode, reel mode, jib mode, water pump mode and lock mode.
  • the outrigger mode is used to level the drainage vehicle by controlling the stretching and lifting of the left and right outriggers of the drainage vehicle;
  • the reel mode is used to release or retract the drainage reel by controlling the reel motor
  • the boom mode is used to adjust the posture of the boom by controlling the boom turntable, the boom assembly, the outer tube frame and the inner tube frame of the boom frame;
  • the water pump mode is used for water pipe sealing, and adjustment and control of the water pump of the drainage truck;
  • the lockout mode is used to inhibit all operations on the transmitter operator panel except the emergency stop button.
  • a one-key retractable switch is also set on the operation panel of the transmitter;
  • the one-button retractable switch is used for automatic leveling of the drainage vehicle in the outrigger mode without using the electronic handle.
  • left and right platform selection switches are also set on the operation panel of the transmitter.
  • the left and right platform selection switches are used to control the retraction or release of the left and right reel platforms by controlling the controller of the working device in the reel mode; 1 reel and 2 reels are placed on the left reel platform; Place 3-reel and 4-reel on the reel platform.
  • the operation panel of the transmitter is also provided with,
  • the engine start button is used to start the engine
  • the engine stop button is used to turn off the engine
  • the transmitter start button is used to start the transmitter
  • the emergency stop button is used to shut down the chassis engine.
  • the boom frame is used for erecting water pipes, and the boom frame includes a turntable, a boom frame assembly, an outer pipe frame, an inner pipe frame, a water pump and a working light;
  • the arm frame assembly is installed on the turntable, and the outer tube frame and the inner tube frame are connected to the arm frame assembly through a connecting rod welding assembly;
  • the boom frame assembly is connected to the luffing oil cylinder and the translation oil cylinder;
  • the outer pipe frame is connected to the sliding oil cylinder of the outer pipe frame;
  • the inner pipe frame is connected to the sliding oil cylinder of the inner pipe frame;
  • the outer pipe frame and the inner pipe frame are used to fix the water pipe, the water pipe is connected to the water pump, and the connection between the water pipe and the water pump is provided with a water seal; the water pump is provided with a water pump speed sensor.
  • it also includes a 24V external power supply for powering the working device controller and sensors.
  • the present invention also provides an intelligent control method for a vertical lift drainage vehicle, including:
  • the power take-off signal is sent by the transmitter of the vertical lifting drainage vehicle intelligently controlling the electrical system
  • the power source of the chassis controller is transmitted to the hydraulic system of the boarding vehicle;
  • the transmitter sends work instructions to control the controller of the working device to perform corresponding actions to perform the leveling of the drainage vehicle, the adjustment of the attitude of the vehicle arm frame, and drainage;
  • the intelligent control electrical system of the vertical lift drainage vehicle is the intelligent control electrical system of the vertical lift drainage vehicle according to any one of claims 1 to 12.
  • the working mode of the intelligent control electrical system of the vertical lifting and drainage vehicle includes: outrigger mode, reel mode, jib mode, water pump mode and locking mode.
  • the flow of the hydraulic pump matches the engine speed set in this mode.
  • the leveling of the drainage vehicle in the outrigger mode includes:
  • Drain control in reel mode includes:
  • the jib mode adjusts the attitude of the jib including:
  • the rotation of the turntable of the boom frame is controlled by the transmitter to issue work instructions to adjust the direction of suction and drainage;
  • the height of the arm frame is adjusted by controlling the lifting and telescoping of the arm frame assembly by issuing work instructions from the transmitter;
  • Adjustment and control of the water pump of the drainage truck in the water pump mode include:
  • the rotation of the water pump is controlled by issuing work instructions from the transmitter;
  • the leveling of the drainage vehicle in the outrigger mode also includes:
  • the controller of the working device automatically controls the extension of the left and right outriggers of the drainage vehicle according to the work instructions issued by the transmitter; when the left and right outriggers are outstretched, the proximity switch detects that the left and right outriggers are in place , the left and right outriggers will automatically stop when they stretch out; at the same time, the left and right outriggers will automatically descend, and the vehicle will be leveled according to the inclination sensor, the pressure sensor of the left and right outriggers and the program logic;
  • the controller of the working device automatically controls the left and right outriggers of the drainage truck to rise automatically according to the work instructions issued by the transmitter; , the left and right outriggers will automatically stop rising; at the same time, the left and right outriggers will automatically retract. .
  • the present invention proposes an intelligent control system and method for a vertical lift drainage vehicle, which realizes two control modes of near-ground and remote wireless remote control of the working device of the vertical lift drainage vehicle. Operation in this way makes the operation more intuitive and improves the safety and reliability of the drainage vehicle; the wireless remote control operation can realize the functions of starting, stopping, power taking, mode switching, throttle and water pump speed adjustment of the vertical lifting drainage vehicle, etc. At the same time, the remote control ensures that the operator is far away from the drainage site, which improves the safety of the drainage operation and improves the intelligence level of the vertical lifting drainage vehicle.
  • the present invention also realizes switching of working modes.
  • the modes of the working device can be divided into outrigger mode, reel mode, jib mode and water pump mode.
  • different engine speeds and hydraulic pump outlet flow rates are set in the program to realize
  • the power matching between the engine and the hydraulic pump eliminates the impact that may occur in various equipment and pipelines, reduces the number of operation buttons, makes the operation process simple and convenient, reduces the preparation time for vertical lifting and drainage work, and improves the safety of the working device. efficiency.
  • Fig. 1 is the electrical control principle diagram of the intelligent control system of the vertical lifting drainage vehicle of the present invention
  • Fig. 1 (a) is part one of the electric control principle diagram
  • Fig. 1 (b) is part two of the electric control principle diagram
  • Fig. 2 is a transmitter panel layout diagram of the present invention
  • Fig. 3 is a structural diagram of the boom working device of the present invention.
  • the present invention provides an intelligent control system for a vertical lift drainage vehicle, including a transmitter, a wireless remote control receiver, a boarding display, a chassis controller, and a working device controller , terminal resistance, outrigger control switch of drainage truck, pressure sensor of outrigger of drainage truck, speed sensor of water pump, and 24V external power supply for power supply of working device controller and sensor.
  • the transmitter is used to send work instructions to the wireless remote control receiver, and then control the working device controller;
  • the wireless remote control receiver is connected with the chassis controller and the working device controller through the CAN bus, and the wireless remote control receiver is used to receive the transmitter command and control
  • the chassis controller and the working device controller perform corresponding actions;
  • the on-board display is used to display vehicle parameters and alarm information for human-computer interaction;
  • the chassis controller is mainly used to control the engine and get off the vehicle to obtain engine parameters.
  • the input ports DI1, DI2, and DI3 of the working device controller are respectively connected to the left outrigger extension proximity switch +A-SQ01, the left outrigger retraction proximity switch +A-SQ02, and the left outrigger uplift switch +A-SQ03;
  • the input ports DI4, DI5, and DI6 of the working device controller are respectively connected to the right outrigger extension proximity switch +A-SQ04, the right outrigger retraction proximity switch +A-SQ05, and the right outrigger uplift switch +A-SQ06;
  • the input port DI7 of the working device controller is connected to the water pump motor speed sensor +A-SR01;
  • the input ports AI8, AI9 and AI10 of the working device controller are respectively connected to the pressure sensor of the left outrigger + A-SP01, the pressure sensor of the right outrigger + A-SP02, and the pressure sensor of the water pump motor + A-SP03;
  • the output ports OUT1 and OUT2 of the working device controller are respectively connected to the turntable left-turn solenoid valve +A-Y01, the turntable right-turn solenoid valve +A-Y02; the turntable left-turn solenoid valve +A-Y01 and the turntable right-turn solenoid valve +A-Y02 It is connected with the turntable motor of the arm frame of the drainage truck, and is used to control the turntable motor to drive the turntable to turn left or right, and then adjust the direction of suction and drainage;
  • the output ports OUT3 and OUT4 of the working device controller are respectively connected to the luffing up solenoid valve +A-Y03, the luffing down solenoid valve +A-Y04; the luffing up solenoid valve +A-Y03 and the luffing down solenoid valve +A-Y04 Connected with the luffing cylinder of the jib of the drainage truck, it is used to control the luffing cylinder to drive the jib of the drainage truck to rise or fall;
  • the output ports OUT5 and OUT6 of the working device controller are respectively connected to the translational extension solenoid valve + A-Y05, translational retraction solenoid valve + A-Y06; translational extension solenoid valve + A-Y05, translational retraction solenoid valve + A-Y06 It is connected with the translational oil cylinder of the arm frame of the drainage truck, and is used to control the translational oil cylinder to drive the arm frame of the drainage truck to extend or retract;
  • the output ports OUT7 and OUT8 of the controller of the working device are respectively connected to the solenoid valve + A-Y07 for the extension of the outer pipe frame and the retracting solenoid valve + A-Y08 for the outer pipe frame; the solenoid valve + A-Y07 for the extension of the outer pipe frame and the outer pipe frame
  • the retracting solenoid valve + A-Y08 is connected with the sliding oil cylinder of the outer pipe support of the drainage vehicle, and is used to control the sliding oil cylinder of the outer pipe support to drive the vertical expansion and contraction of the water pipe;
  • the output ports OUT9 and OUT10 of the controller of the working device are respectively connected to the solenoid valve + A-Y09 for extending the inner pipe frame, the retracting solenoid valve + A-Y10 for the inner pipe frame; the solenoid valve + A-Y09 for extending the inner pipe frame and the inner pipe frame
  • the retracting solenoid valve + A-Y10 is connected with the sliding cylinder of the inner pipe support of the drainage truck, and is used to control the sliding cylinder of the inner pipe support to drive the vertical expansion and contraction of the water pipe; the water pipe is used to transport drainage;
  • the output port OUT11 of the working device controller is connected to the hydraulic pump flow regulating proportional valve +A-Y11; the hydraulic pump flow regulating proportional valve +A-Y11 is connected to the hydraulic pump to control the flow of the hydraulic pump.
  • the output ports OUT12 and OUT13 of the working device controller are respectively connected to the forward rotation proportional valve of the water pump motor + A-Y12, the reverse rotation proportional valve of the water pump motor + A-Y13; the forward rotation proportional valve of the water pump motor + A-Y12 and the reverse rotation proportional valve of the water pump motor +A-Y13 is connected with a hydraulically driven submersible pump to provide energy for the drainage system;
  • the output ports OUT14, OUT15, and OUT16 of the working device controller are respectively connected to the left outrigger rising solenoid valve +A-Y14, the left outrigger down solenoid valve +A-Y15, the left outrigger extending solenoid valve +A-Y16; the left outrigger
  • the ascending solenoid valve +A-Y14 and the left outrigger descending solenoid valve +A-Y15 are connected with the left outrigger oil cylinder, which are used to control the left outrigger oil cylinder to drive the left outrigger to rise and fall;
  • the left outrigger stretches out the solenoid valve +A- Y16 is connected with the left outrigger oil cylinder, and is used to control the left outrigger oil cylinder to drive the left outrigger to extend;
  • the output ports OUT17, OUT18, and OUT19 of the working device controller are respectively connected to the right outrigger rising solenoid valve +A-Y17, the right outrigger down solenoid valve +A-Y18, the right outrigger extending solenoid valve +A-Y19; the right outrigger
  • the ascending solenoid valve +A-Y17 and the right outrigger descending solenoid valve +A-Y18 are connected with the right outrigger oil cylinder to control the right outrigger oil cylinder to drive the left outrigger to rise and fall;
  • the right outrigger stretches out the solenoid valve +A- Y19 is connected with the right outrigger oil cylinder, and is used to control the right outrigger oil cylinder to drive the right outrigger to extend;
  • the output port OUT20 of the working device controller is connected to the water sealing relay +P1-KA01; the water sealing relay +P1-KA01 is energized to seal the water pipe;
  • the output ports OUT21 and OUT22 of the working device controller are respectively connected to the left reel platform retracting solenoid valve +A-Y20, the left reel platform release solenoid valve +A-Y21; the left reel platform retracting solenoid valve +A-Y20 and the left reel
  • the platform release solenoid valve + A-Y21 is connected with the left reel platform oil cylinder, which is used to control the left reel platform oil cylinder to drive the left reel platform to retract or release;
  • the output ports OUT23 and OUT24 of the working device controller are respectively connected to the right reel platform retracting solenoid valve +A-Y22, the right reel platform release solenoid valve +A-Y23; the right reel platform retracting solenoid valve +A-Y22 and the right reel
  • the platform release solenoid valve + A-Y23 is connected with the right reel platform oil cylinder, which is used to control the right reel platform oil cylinder to drive the right reel platform to retract or release; the left and right reel platforms are used to move the left and right two reels Lowering from the high place on the vehicle to the low place, it is convenient for the operator to take the hose.
  • reels 1 and 2 are on the left reel platform, which are located on the left edge of the middle of the vehicle, and reels 3 and 4 are on the right reel platform. on the center right edge of the vehicle.
  • the output ports OUT25 and OUT26 of the working device controller are respectively connected to the left outrigger retraction solenoid valve +A-Y24 and the right outrigger retraction solenoid valve +A-Y25 of the drainage truck;
  • the left outrigger retraction solenoid valve +A-Y24 is connected to
  • the left outrigger oil cylinder is connected to control the left outrigger oil cylinder to drive the left outrigger to retract;
  • the right outrigger retract solenoid valve + A-Y25 is connected to the right outrigger oil cylinder to control the right outrigger oil cylinder to drive the right outrigger to retract back;
  • the output ports OUT27, OUT29, OUT31, and OUT33 of the working device controller are respectively connected to the 1 reel discharge solenoid valve + A-Y26, the 2 reel discharge solenoid valve + A-Y28, the 3 reel discharge solenoid valve + A-Y30, and the 4 reel Reel release solenoid valve + A-Y32; working device controller output ports OUT28, OUT30, OUT32, OUT34 respectively connected to 1 reel retract solenoid valve + A-Y27, 2 reel retract solenoid valve + A-Y29, 3 reel retract Solenoid valve +A-Y31, 4 reel retraction solenoid valve +A-Y33.
  • 1 reel releasing solenoid valve + A-Y26 and 1 reel retracting solenoid valve + A-Y27 are connected with 1 reel motor, used to control 1 reel motor to drive the reel to release or retract;
  • the 2-reel release solenoid valve + A-Y28 and the 2-reel retraction solenoid valve + A-Y29 are connected to the 2-reel motor to control the 2-reel motor to drive the reel to release or retract;
  • the 3-reel releasing solenoid valve + A-Y30 and the 3-reel retracting solenoid valve + A-Y31 are connected with the 3-reel motor to control the 3-reel motor to drive the reel to release or retract;
  • the 4-reel releasing solenoid valve + A-Y32 and the 4-reel retracting solenoid valve + A-Y33 are connected with the 4-reel motor, which are used to control the 4-reel motor to drive the reel to release or retract.
  • fuse FU01 and FU02 Also include fuse FU01 and FU02; Wherein, fuse FU01 is installed on the circuit of control switch of outrigger of drainage vehicle and power supply, and fuse FU02 is installed on the circuit of sensor of outrigger of drainage vehicle and power supply.
  • the transmitter is used to send work instructions to the wireless remote control receiver, and then control the controller of the working device.
  • the settings on the transmitter operation panel are as follows:
  • the handle 2-1 is used to control the increase or decrease of the engine speed, the retraction of the 1 reel, the left branch The extension and contraction of the legs and the rotation of the turntable;
  • the handle 2-2 is used to control the retracting and unwinding of the 2 reel, the lifting of the left outrigger and the luffing and lowering of the arm frame;
  • the handle 2-3 is used to control the retracting and unwinding of the 3 reel The telescopic movement of the arm frame;
  • the handle 2-4 is used to control the expansion and contraction of the outer pipe frame, the retraction of the 4 reel and the lifting of the right leg;
  • the handle 2-5 is used to control the increase or decrease of the speed of the water pump, and the inner pipe frame Telescopic, stretching of the right outrigger and retraction of the left and right reel platforms.
  • Power take-off switch 2-6 dial up to get power on the car, so that the hydraulic system can obtain the power source, dial down to turn off the power take-off, and cut off the power source of the hydraulic system.
  • Outrigger one-key retractable switch 2-7 dial up to retract the outrigger with one key, and dial down to release and level the outrigger with one key.
  • Mode selection knobs 2-8 can respectively select outrigger mode, reel mode, jib mode, water pump mode and lock mode.
  • the left and right platform selection switches 2-9 dial up to be the left platform, and dial down to be the right platform.
  • Water seal switch 2-10 dial up for water seal to open, dial down for water seal to close.
  • the water pump switch 2-11 is turned up for the water pump to be turned on, and turned down for the water pump to be turned off.
  • the engine start button 2-12 is pressed to start the engine.
  • Transmitter start button 2-14 after pressing, the transmitter starts.
  • the emergency stop button 2-15 can make the chassis engine flame out after being pressed.
  • the boom device of the vertical lift drainage vehicle mainly includes:
  • the turntable 3-1 is mainly used to adjust the direction of suction and drainage;
  • the luffing cylinder 3-2 is mainly used to adjust the rise and fall of the boom;
  • the oil cylinder 3-5 of the translation mechanism is used to adjust the horizontal expansion and contraction of the water pipe 3-13;
  • the outer pipe support 3-6, the inner pipe support 3-7, the outer pipe support sliding cylinder 3-8, and the inner pipe support sliding cylinder 3-9 are used to adjust the vertical expansion and contraction of the water pipe 3-13;
  • Hydraulically driven submersible pumps 3-10 to provide energy to the drainage system
  • Water seal 3-11 is used to seal the telescopic water pipe
  • the water pump rotational speed sensor 3-12 is used to measure the rotational speed of the water pump
  • Telescopic water pipe 3-13 used for transporting drainage
  • the intelligent control process of the vertical lifting drainage vehicle of the present invention is as follows:
  • the operator presses the transmitter start button 2-14 on the transmitter to make the wireless remote control receiver in the power-on state; then presses the engine start button 2-12 of the transmitter, and the wireless remote control receiver will receive engine start Signal, send the signal to the chassis controller through the CAN bus to control the engine start; then toggle the power take-off switch 2-6 on the transmitter upwards, and the wireless remote control receiver will receive the power take-off signal at this time, and send the power take-off signal through the CAN bus Send the signal to the chassis controller, so that the power source of the chassis is transmitted to the hydraulic system of the boarding vehicle.
  • the transmitter sends the wireless signal to the wireless remote control receiver, and the wireless remote control receiver sends the signal to the working device controller through the CAN bus;
  • the corresponding output port OUT11 of the device controller outputs a PWM signal to adjust the opening of the hydraulic pump flow proportional valve +A-Y11, so that in this mode, the flow of the hydraulic pump matches the engine speed set in this mode; up/down Toggle the electronic handle 2-1 down, the transmitter sends the wireless signal to the wireless remote control receiver, the receiver sends the signal to the working device controller through the CAN bus, and the corresponding output port OUT16 or OUT25 of the working device controller will output a high Level, at this time the left outrigger extends the solenoid valve + A-Y16 or the left outrigger retracts the solenoid valve + A-Y24 is energized, and the left outrigger oil cylinder drives the left outrigger to extend or retract; dial up/down Move the electronic handle 2-2,
  • the right outrigger goes up and the solenoid valve+ A-Y17 or the right outrigger down solenoid valve + A-Y18 is energized, and the right outrigger cylinder drives the right outrigger to rise or fall; move the electronic handle 2-5 up/down, and the corresponding output port OUT19 of the working device controller Or OUT26 will output a high level, at this time the right outrigger extends the solenoid valve + A-Y19 or the right outrigger retracts the solenoid valve + A-Y25 is energized, and the right outrigger oil cylinder drives the right outrigger to extend or retract.
  • the working device controller makes the output port OUT14 or OUT17 output low level, and the left outrigger rise solenoid valve+ A-Y14 and the right outrigger rising solenoid valve + A-Y17 lose power, at the same time, the output port OUT25 or OUT26 corresponding to the working device controller outputs a high level, and the left outrigger retracts the solenoid valve + A-Y24 and the right outrigger
  • the retraction solenoid valve + A-Y25 is energized, and the left and right outrigger cylinders drive the outriggers to retract.
  • the working device controller makes the output port OUT25 or OUT26 output low level, the left outrigger retracts the solenoid valve +A-Y24 and the right outrigger retracts the solenoid valve +A-Y25 to lose power, and the outrigger retracts with one key .
  • the transmitter sends the wireless signal to the wireless remote control receiver, and the wireless remote control receiver sends the signal to the working device controller through the CAN bus, and then The corresponding output port OUT11 of the working device controller outputs PWM signal to adjust the opening degree of the hydraulic pump flow proportional valve +A-Y11, so that in this mode, the flow of the hydraulic pump matches the engine speed set in this mode; up/ Toggle the electronic handle 2-1 downward, the transmitter sends the wireless signal to the wireless remote control receiver, and the receiver sends the signal to the working device controller through the CAN bus, and then the corresponding output port OUT27 or OUT28 of the working device controller will be Output high level, at this time 1 reel release solenoid valve + A-Y26 or 1 reel retraction solenoid valve + A-Y27 is energized, 1 reel motor drives 1 reel drum to release or retract; dial up/down Move the electronic handle 2-2, and the output port OUT29 or OUT30 corresponding to the
  • the 2-reel release solenoid valve + A-Y28 or the 2-reel retract solenoid valve + A-Y29 is energized.
  • the 2-reel drum is released or retracted;
  • the electronic handle 2-3 is moved up/down, and the output port OUT31 or OUT32 corresponding to the working device controller will output a high level, and the 3-reel is released at this time
  • Solenoid valve + A-Y30 or 2-reel retraction solenoid valve + A-Y31 is energized, and the 3-reel motor drives the 3-reel reel to release or retract; toggle the electronic handle 2-4 up/down, and the working device controller
  • the corresponding output port OUT33 or OUT34 will output high level.
  • the 4-reel releasing solenoid valve + A-Y32 or the 4-reel retracting solenoid valve + A-Y33 is energized, and the 4-reel motor drives the 4-reel drum to release or take back.
  • the left and right platform selection switch 2-9 is moved up, the switch is placed on the left platform, and the electronic handle 2-5 is moved up/down, and the output port OUT21 or OUT22 corresponding to the working device controller will output a high level.
  • the left reel platform retracting solenoid valve + A-Y20 or the left reel platform release solenoid valve + A-Y21 is energized, and the left reel platform cylinder drives the left reel platform to retract or release; when the left and right platform selection switch 2-9 is down When toggled, the switch is placed on the right platform, and the electronic handle 2-5 is toggled up/down, and the output port OUT23 or OUT24 corresponding to the working device controller will output a high level, and at this time the right reel platform retracts the solenoid valve +A -Y22 or the release solenoid valve of the right reel platform + A-Y23 is energized, and the oil cylinder of the right reel platform drives the left reel platform to retract or release.
  • the transmitter sends a wireless signal to the wireless remote control receiver, and the wireless remote control receiver sends the signal to the working device controller through the CAN bus, and then The corresponding output port OUT11 of the working device controller outputs PWM signal to adjust the opening degree of the hydraulic pump flow proportional valve +A-Y11, so that in this mode, the flow of the hydraulic pump matches the engine speed set in this mode; up/ Push down the electronic handle 2-1, the transmitter sends the wireless signal to the wireless remote control receiver, and the receiver sends the signal to the working device controller through the CAN bus, and then the corresponding output port OUT1 or OUT2 of the working device controller will be Output high level, at this time turntable left turn solenoid valve + A-Y01 or turntable right turn solenoid valve + A-Y02 is energized, the turntable motor drives the turntable to turn left or right; move the electronic handle 2-2 up/down , the output port OUT3 or OUT4 corresponding to the
  • the luffing up solenoid valve +A-Y03 or the luffing down solenoid valve +A-Y04 is energized, and the luffing cylinder drives the boom to rise or Down; move the electronic handle 2-3 up/down, and the corresponding output port OUT5 or OUT6 of the working device controller will output a high level.
  • the translation extends the solenoid valve +A-Y05 or the translation retracts the solenoid valve +A
  • the translation cylinder drives the boom to extend or retract; move the electronic handle 2-4 up/down, and the output port OUT7 or OUT8 corresponding to the controller of the working device will output a high level.
  • the outer tube frame The extension solenoid valve + A-Y07 or the outer tube frame retraction solenoid valve + A-Y08 is energized, and the outer tube frame oil cylinder drives the arm frame to extend or retract; move the electronic handle 2-5 up/down, and the working device
  • the output port OUT9 or OUT10 corresponding to the controller will output a high level.
  • the solenoid valve + A-Y09 for the extension of the inner pipe frame or the retraction solenoid valve + A-Y10 for the inner pipe frame will be energized, and the oil cylinder of the inner pipe frame will drive the arm frame extend or retract.
  • the transmitter sends a wireless signal to the wireless remote control receiver, and the wireless remote control receiver sends the signal to the working device controller through the CAN bus, and then works
  • the corresponding output port OUT11 of the device controller outputs a PWM signal to adjust the opening of the hydraulic pump flow proportional valve +A-Y11, so that in this mode, the flow of the hydraulic pump matches the engine speed set in this mode; toggle up Water seal switch 2-10, the output port OUT20 corresponding to the working device controller will output high level, at this time the water seal relay +P1-KA01 is powered on, and then the water seal solenoid valve is powered on to seal the water pipe; move the water pump switch upward 2-11, the corresponding output port OUT12 of the working device controller outputs PWM signal to adjust the opening of the water pump forward proportional valve + A-Y12, and the water pump motor drives the water pump to rotate; move the electronic handle 2-5 up/down, the working device
  • the flow rate of the hydraulic pump controls the speed of the hydraulic motor, and the hydraulic motor coaxially drives the water pump, and the speed of the motor is the speed of the water pump.
  • the system program automatically sets the engine speed and the hydraulic pump outlet valve opening, the valve opening controls the flow of the hydraulic pump, and the flow of the hydraulic pump controls the speed of the water pump, that is, the matching of the engine speed and the water pump speed is realized.
  • the electronic handle 2-5 is used to adjust the flow rate of the hydraulic pump to adjust the speed of the water pump during the operation of the water pump to adapt to atypical working conditions.
  • the lock mode does not change the parameter settings in other modes, and is used to suppress all operations on the transmitter except the emergency stop button, preventing the operator from The danger caused by accidental collision can improve the safety of the vertical lift drainage vehicle.
  • all the functions on the transmitter can also be realized on the boarding display and the near-ground electronic control operation panel, and the same control can be realized on the vertical lift drainage vehicle.

Abstract

本发明公开了一种垂直举升排水车智能控制系统及方法，该控制系统包括发射器、无线遥控接收器、底盘控制器和工作装置控制器；其中，发射器用于远程通过无线遥控接收器配置工作装置控制器的工作模式，以及在不同工作模式下通过无线遥控接收器下发工作指令；无线遥控接收器用于根据发射器下发的工作指令，控制底盘控制器和工作装置控制器执行相应的动作；底盘控制器用于为排水车提供动力；工作装置控制器用于根据工作指令，调整排水车的位置姿态以及控制排水车进行排水。本发明设计了多模式控制，减少了操作按钮的布置，减少了人为操作调节，提高了控制的精准度，可使垂直举升排水车快速进入工作状态，提高了垂直举升排水车的智能化水平。

Description

一种垂直举升排水车智能控制系统及方法 技术领域
本发明涉及一种垂直举升排水车智能控制系统及方法，属于电气控制技术领域。
背景技术
随着城市洪涝灾害爆发的频率日渐加快，排水车技术也在快速的发展，对排水车的高机动性、智能化程度的要求也越来越高。垂直举升排水车是由定制底盘柴油机作为动力源，经过一套复杂的液压系统驱动上车工作装置进行运转，这就对排水车的智能化控制要求非常高。当车辆在进行排涝时，如何提高操作人员的舒适度、保障操作人员的作业安全性和提高排水车的工作效率。
目前市场现有产品的水泵由主液压泵驱动，辅助机构主要由辅助液压泵驱动。每次作业需要辅泵辅助液压泵先取力，整车位置姿态调整好后，关闭辅助液压泵，发动机熄火后再进行主液压泵取力，然后通过调速旋钮来调节水泵的转速。目前市场现有技术采用二次停机取力，操作繁琐，智能化程度不高，工作装置的动作采用开关量调节，微调效果比较差，管路冲击比较大。现有产品的水泵开机升速采用人工缓慢调节旋钮实现，操作复杂不便，控制精度严重依赖工作人员经验。操作按钮较多，操作步骤繁琐，排水车作业前准备时间较长，工作效率低下。
发明内容
本发明的目的在于提供一种垂直举升排水车智能控制系统及方法，通过设计垂直举升排水车的近地和远程无线遥控两种控制方式，以及采用变量泵与电液比例阀相结合的驱动方式，消除了管路冲击，且无需反复点火和两次取力，使得操作顺畅，操作步骤简单，系统工作可靠。
为实现上述目的，本发明采用的技术方案如下：
本发明提供一种垂直举升排水车智能控制系统，包括：发射器、无线遥控接收器、上车显示器、底盘控制器和工作装置控制器；
所述发射器用于远程通过无线遥控接收器配置工作装置控制器的工作模式，以及用于在不同工作模式下通过无线遥控接收器下发工作指令；
所述无线遥控接收器用于接收发射器下发的工作指令，控制底盘控制器和工作装置控制器执行相应的动作；
所述上车显示器用于显示整车参数与报警信息，进行人机交互；
所述底盘控制器用于用于控制发动机以及下车取力；
所述工作装置控制器用于根据工作指令，对排水车进行调平和车臂架姿态调整以及控制排水车进行排水。
进一步的，所述无线遥控接收器通过CAN总线与底盘控制器和工作装置控制器连接。
进一步的，所述底盘控制器具体用于，
接收无线遥控接收器转发的发动机启动信号，控制发动机启动；
以及，
接收无线遥控接收器转发的取力信号，将动力源传输到排水车的液压系统。
进一步的，所述工作装置控制器设有若干输入端口；所述工作装置控制器的输入端口分别连接排水车左、右支腿伸出接近开关，左、右支腿上升接近开关，左、右支腿缩回接近开关，排水车左、右支腿压力传感器，排水车水泵马达压力传感器和排水车水泵转速传感器；
所述工作装置控制器设有若干输出端口；所述工作装置控制器的输出端口分别通过电磁阀与车臂架转台，车臂架总成，车臂架外管架，车臂架内管架，排水车左、右支腿，排水车卷盘和排水车左、右卷盘平台连接；所述工作装置控制器的输出端口还通过比例阀与排水车液压泵和水泵马达连接；
所述工作装置控制器输出端口还连接水密封继电器。
进一步的，所述工作装置控制器还包括保险丝FU01与FU02；所述保险丝FU01安装在排水车左支腿伸出接近开关与电源之间的线路上，所述保险丝FU02安装在排水车左支腿压力传感器与电源之间的线路上。
进一步的，所述发射器的操作面板上设置五个单轴电子手柄，取力开关，模式选择旋钮，水密封开关和水泵开关；
第一电子手柄用于控制发动机转速的增减，1卷盘的收放，排水车左支腿的伸缩和车臂架转台的回转；
第二电子手柄用于控制2卷盘的收放，排水车左支腿的升降和车臂架的变幅升降；
第三电子手柄用于控制3卷盘的收放和车臂架的平移伸缩；
第四电子手柄用于控制车臂架外管架的伸缩，4卷盘的收放和排水车右支腿的升降；
第五电子手柄用于控制排水车水泵转速的增减，车臂架内管架的伸缩，排水车右支腿的伸缩和左、右卷盘平台的收放；
所述取力开关用于控制排水车动力源的通断；
所述模式选择旋钮用于为工作装置控制器配置工作模式，包括支腿模式、卷盘模式、臂架 模式、水泵模式和锁定模式。
进一步的，
所述支腿模式用于通过控制排水车左、右支腿的伸缩和升降对排水车进行调平；
所述卷盘模式用于通过控制卷盘马达对排水卷筒进行放出或收回；
所述臂架模式用于通过控制车臂架转台，车臂架总成，车臂架外管架和内管架，对车臂架姿态进行调整；
所述水泵模式用于水管密封，以及对排水车水泵进行调整控制；
所述锁定模式用于抑制发射器操作面板上除急停按钮外的所有操作。
进一步的，所述发射器的操作面板上还设置一键收放开关；
所述一键收放开关用于在支腿模式下，不使用电子手柄的情况下，对排水车进行自动调平。
进一步的，所述发射器的操作面板上还设置左右平台选择开关；
所述左右平台选择开关用于在卷盘模式下，通过控制工作装置控制器控制左、右卷盘平台收回或放出；所述左卷盘平台上放置1卷盘和2卷盘；所述右卷盘平台上放置3卷盘和4卷盘。
进一步的，所述发射器的操作面板上还设置，
发动机启动按键用于启动发动机；
发动机停止按键用于关闭发动机；
发射器启动按键用于启动发射器；
和
急停按钮用于关闭底盘发动机。
进一步的，所述车臂架用于架设水管，所述车臂架包括转台，车臂架总成，外管架，内管架，水泵和工作灯；
所述车臂架总成安装在所述转台上，所述外管架和内管架通过连接杆焊接总成与所述车臂架总成连接；
所述车臂架总成连接变幅油缸和平移油缸；所述外管架连接外管架滑移油缸；所述内管架连接内管架滑移油缸；
所述外管架和内管架用于固定水管，所述水管与水泵连接，所述水管与水泵连接处设水密封；所述水泵处设水泵转速传感器。
进一步的，还包括用于给工作装置控制器和传感器供电的24V外接电源。
本发明还提供一种垂直举升排水车智能控制方法，包括：
依次开启垂直举升排水车智能控制电气系统中的发射器启动按键和发动机启动按键；
通过垂直举升排水车智能控制电气系统的发射器下发取力信号；
根据取力信号，使底盘控制器的动力源传输到上车的液压系统；
通过发射器下发工作指令，配置垂直举升排水车智能控制电气系统的工作模式；
在配置的工作模式下，通过发射器下发工作指令，控制工作装置控制器执行相应的动作，进行排水车调平和车臂架姿态调整以及排水；
所述垂直举升排水车智能控制电气系统为权利要求1至12任意一项所述的垂直举升排水车智能控制电气系统。
进一步的，所述配置垂直举升排水车智能控制电气系统的工作模式，包括：支腿模式、卷盘模式、臂架模式、水泵模式和锁定模式。
进一步的，任意工作模式下，通过调节液压泵流量比例阀的开度，使液压泵的流量与此模式下设置的发动机转速相匹配。
进一步的，支腿模式下进行排水车调平包括：
通过发射器下发工作指令控制排水车左、右支腿的伸缩和升降，实现排水车调平；
卷盘模式进行排水控制包括：
通过发射器下发工作指令控制卷盘马达带动卷筒放出或收回，实现排水控制；
臂架模式对车臂架姿态进行调整包括：
通过发射器下发工作指令控制车臂架转台的回转调整调节吸排水的方向；
通过发射器下发工作指令控制车臂架总成的升降和伸缩调整车臂架高度；
以及通过发射器下发工作指令控制车臂架外管架和内管架的伸缩调整水管姿态；
水泵模式下对排水车水泵进行调整控制包括：
通过发射器下发工作指令控制水管密封；
通过发射器下发工作指令控制水泵旋转；
通过发射器下发工作指令调整水泵转速；
以及通过发射器下发工作指令调整发动机转速，使其与水泵功率相匹配；
锁定模式下通过发射器下发工作指令抑制除急停外的所有操作。
进一步的，所述支腿模式下进行排水车调平还包括：
通过发射器下发一键放的工作指令，工作装置控制器根据工作指令自动控制排水车左、右支腿伸出；当左、右支腿伸出接近开关检测到左、右支腿伸到位时，左、右支腿伸出自动停止；同时，左、右支腿自动下降，根据倾角传感器、左、右支腿压力传感器以及程序逻辑使整车调平；
通过发射器下发一键放的工作指令，工作装置控制器根据工作指令自动控制排水车左、右 支腿自动上升；当左、右支腿上升接近开关检测到左、右支腿上升到位时，左、右支腿上升自动停止；同时，左、右支腿自动缩回，当左、右支腿缩回接近开关检测到左、右支腿缩回到位时，左、右支腿停止动作。
本发明的有益效果为：
本发明提出了一种垂直举升排水车智能控制系统及方法，实现垂直举升排水车工作装置的近地和远程无线遥控两种控制方式，近地模式采用上车显示器与电子手柄相结合的方式进行操作，使操作更加直观形象，提高了排水车工作的安全性与可靠性；无线遥控操作可以实现垂直举升排水车启动、停止、取力、模式切换、油门及水泵转速调节等功能，同时远程遥控保证操作人员远离排涝现场，提高了排水作业的安全性，提高了垂直举升排水车的智能化水平。
本发明还实现了工作模式切换，工作装置的模式可分为支腿模式、卷盘模式、臂架模式和水泵模式，每种工作模式在程序中设置不同的发动机转速与液压泵出口流量，实现发动机与液压泵之间的功率匹配，消除了各设备及管路中可能出现的冲击，使得操作按钮减少，操作流程简单方便，减小了垂直举升排水工作的准备时间，提高了工作装置的效率。
附图说明
图1为本发明的垂直举升排水车智能控制系统的电气控制原理图；图1(a)为电气控制原理图部分一；图1(b)为电气控制原理图部分二；
图2为本发明的发射器面板布置图；
图3为本发明的臂架工作装置结构图。
具体实施方式
下面对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。
如图1(a)和图1(b)所示，本发明提供一种垂直举升排水车智能控制系统，包括发射器、无线遥控接收器、上车显示器、底盘控制器、工作装置控制器、终端电阻、排水车支腿控制开关、排水车支腿压力传感器、水泵转速传感器、以及用于给工作装置控制器和传感器供电的24V外接电源。其中，发射器用于给无线遥控接收器发送工作指令，进而控制工作装置控制器；无线遥控接收器通过CAN总线与底盘控制器和工作装置控制器连接，无线遥控接收器用于接收发射器指令，控制底盘控制器与工作装置控制器执行相应动作；上车显示器用于显示整车参数与报警信息，进行人机交互；底盘控制器主要用于控制发动机以及下车取力，获取发动机参数。
具体的，工作装置控制器输入端口DI1、DI2、DI3分别连接左支腿伸出接近开关 +A-SQ01、左支腿缩回接近开关+A-SQ02、左支腿上升开关+A-SQ03；
工作装置控制器输入端口DI4、DI5、DI6分别连接右支腿伸出接近开关+A-SQ04、右支腿缩回接近开关+A-SQ05、右支腿上升开关+A-SQ06；
工作装置控制器输入端口DI7连接水泵马达转速传感器+A-SR01；
工作装置控制器输入端口AI8、AI9、AI10分别连接左支腿压力传感器+A-SP01、右支腿压力传感器+A-SP02、水泵马达压力传感器+A-SP03；
工作装置控制器输出端口OUT1、OUT2分别连接转台左转电磁阀+A-Y01、转台右转电磁阀+A-Y02；转台左转电磁阀+A-Y01和转台右转电磁阀+A-Y02与排水车车臂架的转台马达连接，用于控制转台马达带动转台左转或右转，进而调节吸排水的方向；
工作装置控制器输出端口OUT3、OUT4分别连接变幅上升电磁阀+A-Y03、变幅下降电磁阀+A-Y04；变幅上升电磁阀+A-Y03和变幅下降电磁阀+A-Y04与排水车车臂架的变幅油缸相连，用于控制变幅油缸带动排水车臂架上升或下降；
工作装置控制器输出端口OUT5、OUT6分别连接平移伸出电磁阀+A-Y05、平移缩回电磁阀+A-Y06；平移伸出电磁阀+A-Y05、平移缩回电磁阀+A-Y06与排水车车臂架的平移油缸相连，用于控制平移油缸带动排水车臂架伸出或缩回；
工作装置控制器输出端口OUT7、OUT8分别连接外管架伸出电磁阀+A-Y07、外管架缩回电磁阀+A-Y08；外管架伸出电磁阀+A-Y07和外管架缩回电磁阀+A-Y08与排水车外管支架滑移油缸相连，用于控制外管支架滑移油缸带动水管垂直伸缩；
工作装置控制器输出端口OUT9、OUT10分别连接内管架伸出电磁阀+A-Y09、内管架缩回电磁阀+A-Y10；内管架伸出电磁阀+A-Y09和内管架缩回电磁阀+A-Y10与排水车的内管支架滑移油缸相连，用于控制内管支架滑移油缸带动水管垂直伸缩；水管用来输送排水；
工作装置控制器输出端口OUT11连接液压泵流量调节比例阀+A-Y11；液压泵流量调节比例阀+A-Y11与液压泵连接，用于控制液压泵的流量。
工作装置控制器输出端口OUT12、OUT13分别连接水泵马达正转比例阀+A-Y12、水泵马达反转比例阀+A-Y13；水泵马达正转比例阀+A-Y12和水泵马达反转比例阀+A-Y13与液压驱动潜水泵连接，用于给排水系统提供能量；
工作装置控制器输出端口OUT14、OUT15、OUT16分别连接左支腿上升电磁阀+A-Y14、左支腿下降电磁阀+A-Y15、左支腿伸出电磁阀+A-Y16；左支腿上升电磁阀+A-Y14和左支腿下降电磁阀+A-Y15与左支腿油缸连接，用于控制左支腿油缸带动左支腿上升和下降；左支腿伸出电磁阀+A-Y16与左支腿油缸连接，用于控制左支腿油缸带动左支腿伸出；
工作装置控制器输出端口OUT17、OUT18、OUT19分别连接右支腿上升电磁阀+A-Y17、 右支腿下降电磁阀+A-Y18、右支腿伸出电磁阀+A-Y19；右支腿上升电磁阀+A-Y17和右支腿下降电磁阀+A-Y18与右支腿油缸连接，用于控制右支腿油缸带动左支腿升和下降；右支腿伸出电磁阀+A-Y19与右支腿油缸连接，用于控制右支腿油缸带动右支腿伸出；
工作装置控制器输出端口OUT20连接水密封继电器+P1-KA01；水密封继电器+P1-KA01得电使水管密封；
工作装置控制器输出端口OUT21、OUT22分别连接左卷盘平台收回电磁阀+A-Y20、左卷盘平台放出电磁阀+A-Y21；左卷盘平台收回电磁阀+A-Y20和左卷盘平台放出电磁阀+A-Y21与左卷盘平台油缸连接，用于控制左卷盘平台油缸带动左卷盘平台收回或放出；
工作装置控制器输出端口OUT23、OUT24分别连接右卷盘平台收回电磁阀+A-Y22、右卷盘平台放出电磁阀+A-Y23；右卷盘平台收回电磁阀+A-Y22和右卷盘平台放出电磁阀+A-Y23与右卷盘平台油缸连接，用于控制右卷盘平台油缸带动右卷盘平台收回或放出；左、右卷盘平台用于将左、右侧两个卷盘从上车高处下放到低处，便于操作人员拿取水带，其中，1、2卷盘在左卷盘平台上，位于所述车辆中部左侧边缘，3、4卷盘在右卷盘平台上，位于所述车辆中部右侧边缘。
工作装置控制器输出端口OUT25、OUT26分别连接排水车的左支腿缩回电磁阀+A-Y24、右支腿缩回电磁阀+A-Y25；左支腿缩回电磁阀+A-Y24与左支腿油缸连接，用于控制左支腿油缸带动左支腿缩回；右支腿缩回电磁阀+A-Y25与右支腿油缸连接，用于控制右支腿油缸带动右支腿缩回；
工作装置控制器输出端口OUT27、OUT29、OUT31、OUT33分别连接1卷盘放出电磁阀+A-Y26、2卷盘放出电磁阀+A-Y28、3卷盘放出电磁阀+A-Y30、4卷盘放出电磁阀+A-Y32；工作装置控制器输出端口OUT28、OUT30、OUT32、OUT34分别连接1卷盘收回电磁阀+A-Y27、2卷盘收回电磁阀+A-Y29、3卷盘收回电磁阀+A-Y31、4卷盘收回电磁阀+A-Y33。
1卷盘放出电磁阀+A-Y26和1卷盘收回电磁阀+A-Y27与1卷盘马达连接，用于控制1卷盘马达带动卷筒放出或收回；
2卷盘放出电磁阀+A-Y28和2卷盘收回电磁阀+A-Y29与2卷盘马达连接，用于控制2卷盘马达带动卷筒放出或收回；
3卷盘放出电磁阀+A-Y30和3卷盘收回电磁阀+A-Y31与3卷盘马达连接，用于控制3卷盘马达带动卷筒放出或收回；
4卷盘放出电磁阀+A-Y32和4卷盘收回电磁阀+A-Y33与4卷盘马达连接，用于控制4卷盘马达带动卷筒放出或收回。
还包括保险丝FU01与FU02；其中，保险丝FU01安装在排水车支腿控制开关与电 源的线路上，保险丝FU02安装在排水车支腿传感器与电源的线路上。
参见图2，发射器用于给无线遥控接收器发送工作指令，进而控制工作装置控制器，发射器操作面板上设置：
5个单轴电子手柄2-1、2-2、2-3、2-4、2-5；其中，手柄2-1用于控制发动机转速的增减，1卷盘的收放，左支腿的伸缩和转台的回转；手柄2-2用于控制2卷盘的收放，左支腿的升降和车臂架的变幅升降；手柄2-3用于控制3卷盘的收放和车臂架的平移伸缩；手柄2-4用于控制外管架的伸缩，4卷盘的收放和右支腿的升降；手柄2-5用于控制水泵转速的增减，内管架的伸缩，右支腿的伸缩和左、右卷盘平台的收放。
取力开关2-6，向上拨为上车取力，使液压系统获得动力源，向下拨为取力关闭，切断液压系统动力源。
支腿一键收放开关2-7，向上拨为支腿一键收，向下拨为支腿一键放出与调平。
模式选择旋钮2-8，分别可以选择支腿模式、卷盘模式、臂架模式、水泵模式和锁定模式。
左右平台选择开关2-9，向上拨为左平台，向下拨为右平台。
水密封开关2-10，向上拨为水密封开启，向下拨为水密封关闭。
水泵开关2-11，向上拨为水泵开启，向下拨为水泵关闭。
发动机启动按键2-12，按下后启动发动机。
发动机停止按键2-13，按下后发动机熄火。
发射器启动按键2-14，按下后发射器开机。
急停按钮2-15，按下后可使底盘发动机熄火。
参见图3，垂直举升排水车的臂架装置主要包括：
转台3-1，主要用来调节吸排水的方向；
变幅臂架总成3-3，
变幅油缸3-2，主要用来调节臂架的上升与下降；
连接杆焊接总成3-4，
平移机构油缸3-5，用来调节水管3-13的水平伸缩；
外管支架3-6，内管支架3-7，外管支架滑移油缸3-8，内管支架滑移油缸3-9，用来调节水管3-13的垂直伸缩；
液压驱动潜水泵3-10，用来给排水系统提供能量；
水密封3-11，用来使伸缩水管密封；
水泵转速传感器3-12，用来测量水泵的转速；
伸缩水管3-13，用于输送排水；
工作灯3-14，用于工作照明。
本发明的垂直举升排水车智能控制过程如下：
首先操作人员按下发射器上的发射器启动按键2-14，使无线遥控接收器处于开机状态；然后按下发射器的发动机启动按键2-12，此时无线遥控接收器将接收到发动机启动信号，通过CAN总线将该信号发送给底盘控制器，控制发动机启动；然后将发射器上的取力开关2-6向上拨动，此时无线遥控接收器将接收到取力信号，通过CAN总线将信号发送给底盘控制器，使底盘的动力源传输到上车的液压系统。
进一步的，当操作者将模式旋钮开关2-8置为支腿模式后，发射器将无线信号发送到无线遥控接收器，无线遥控接收器通过CAN总线将该信号发送给工作装置控制器；工作装置控制器对应的输出端口OUT11输出PWM信号调节液压泵流量比例阀+A-Y11的开度，以使在此模式下，液压泵的流量与此模式下设置的发动机转速相匹配；向上/向下拨动电子手柄2-1，发射器将无线信号发送到无线遥控接收器，接收器通过CAN总线将该信号发送给工作装置控制器，工作装置控制器对应的输出端口OUT16或OUT25将输出高电平，此时左支腿伸出电磁阀+A-Y16或左支腿缩回电磁阀+A-Y24得电，左支腿油缸带动左支腿伸出或缩回；向上/向下拨动电子手柄2-2，工作装置控制器对应的输出端口OUT14或OUT15将输出高电平，此时左支腿上升电磁阀+A-Y14或左支腿下降电磁阀+A-Y15得电，左支腿油缸带动左支腿上升或下降；向上/向下拨动电子手柄2-4，工作装置控制器对应的输出端口OUT17或OUT18将输出高电平，此时右支腿上升电磁阀+A-Y17或右支腿下降电磁阀+A-Y18得电，右支腿油缸带动右支腿上升或下降；向上/向下拨动电子手柄2-5，工作装置控制器对应的输出端口OUT19或OUT26将输出高电平，此时右支腿伸出电磁阀+A-Y19或右支腿缩回电磁阀+A-Y25得电，右支腿油缸带动右支腿伸出或缩回。当不用电子手柄收放支腿时，向下拨动一键收放开关2-7，首先工作装置控制器对应的输出端口OUT16与OUT19输出高电平，左支腿伸出电磁阀+A-Y16与右支腿伸出电磁阀+A-Y19得电，左右支腿油缸带动支腿伸出，当左支腿伸出接近开关+A-SQ01与右支腿伸出接近开关+A-SQ04检测到支腿伸到位时，工作装置控制器使输出端口OUT16或OUT19输出低电平，左支腿伸出电磁阀+A-Y16与右支腿伸出电磁阀+A-Y19失电，同时，工作装置控制器对应的输出端口OUT15或OUT18输出高电平，左支腿下降电磁阀+A-Y15与右支腿下降电磁阀+A-Y18得电，左右支腿油缸带动支腿下降，然后根据倾角传感器、左支腿压力传感器+A-SP01、右支腿压力传感器+A-SP02的参数以及程序逻辑使整车调平；若向上拨动一键收放开关2-7，首先工作装置控制器对应的输出端口OUT14或OUT17输出高电平，左支 腿上升电磁阀+A-Y14与右支腿上升电磁阀+A-Y17得电，左右支腿油缸带动支腿上升，当左支腿上升接近开关+A-SQ03与右支腿上升接近开关+A-SQ06检测到支腿上升到位时，工作装置控制器使输出端口OUT14或OUT17输出低电平，左支腿上升电磁阀+A-Y14与右支腿上升电磁阀+A-Y17失电，同时，工作装置控制器对应的输出端口OUT25或OUT26输出高电平，左支腿缩回电磁阀+A-Y24与右支腿缩回电磁阀+A-Y25得电，左右支腿油缸带动支腿缩回，当左支腿缩回接近开关+A-SQ02与右支腿缩回接近开关+A-SQ05检测到支腿缩回到位时，工作装置控制器使输出端口OUT25或OUT26输出低电平，左支腿缩回电磁阀+A-Y24与右支腿缩回电磁阀+A-Y25失电，支腿一键收回。
进一步的，当操作者将模式旋钮开关2-8置为卷盘模式后，发射器将无线信号发送到无线遥控接收器，无线遥控接收器通过CAN总线将该信号发送给工作装置控制器，然后工作装置控制器对应的输出端口OUT11输出PWM信号调节液压泵流量比例阀+A-Y11的开度，以使在此模式下，液压泵的流量与此模式下设置的发动机转速相匹配；向上/向下拨动电子手柄2-1，发射器将无线信号发送到无线遥控接收器，接收器通过CAN总线将该信号发送给工作装置控制器，然后工作装置控制器对应的输出端口OUT27或OUT28将输出高电平，此时1卷盘放出电磁阀+A-Y26或1卷盘收回电磁阀+A-Y27得电，1卷盘马达带动1卷盘卷筒放出或收回；向上/向下拨动电子手柄2-2，工作装置控制器对应的输出端口OUT29或OUT30将输出高电平，此时2卷盘放出电磁阀+A-Y28或2卷盘收回电磁阀+A-Y29得电，2卷盘马达带动，2卷盘卷筒放出或收回；向上/向下拨动电子手柄2-3，工作装置控制器对应的输出端口OUT31或OUT32将输出高电平，此时3卷盘放出电磁阀+A-Y30或2卷盘收回电磁阀+A-Y31得电，3卷盘马达带动3卷盘卷筒放出或收回；向上/向下拨动电子手柄2-4，工作装置控制器对应的输出端口OUT33或OUT34将输出高电平，此时4卷盘放出电磁阀+A-Y32或4卷盘收回电磁阀+A-Y33得电，4卷盘马达带动4卷盘卷筒放出或收回。当左右平台选择开关2-9向上拨动时，开关置于左平台，向上/向下拨动电子手柄2-5，工作装置控制器对应的输出端口OUT21或OUT22将输出高电平，此时左卷盘平台收回电磁阀+A-Y20或左卷盘平台放出电磁阀+A-Y21得电，左卷盘平台油缸带动左卷盘平台收回或放出；当左右平台选择开关2-9向下拨动时，开关置于右平台，向上/向下拨动电子手柄2-5，工作装置控制器对应的输出端口OUT23或OUT24将输出高电平，此时右卷盘平台收回电磁阀+A-Y22或右卷盘平台放出电磁阀+A-Y23得电，右卷盘平台油缸带动左卷盘平台收回或放出。
进一步的，当操作者将模式旋钮开关2-8置为臂架模式后，发射器将无线信号发送到无线遥控接收器，无线遥控接收器通过CAN总线将该信号发送给工作装置控制器，然 后工作装置控制器对应的输出端口OUT11输出PWM信号调节液压泵流量比例阀+A-Y11的开度，以使在此模式下，液压泵的流量与此模式下设置的发动机转速相匹配；向上/向下拨动电子手柄2-1，发射器将无线信号发送到无线遥控接收器，接收器通过CAN总线将该信号发送给工作装置控制器，然后工作装置控制器对应的输出端口OUT1或OUT2将输出高电平，此时转台左转电磁阀+A-Y01或转台右转电磁阀+A-Y02得电，转台马达带动转台左转或右转；向上/向下拨动电子手柄2-2，工作装置控制器对应的输出端口OUT3或OUT4将输出高电平，此时变幅上升电磁阀+A-Y03或变幅下降电磁阀+A-Y04得电，变幅油缸带动臂架上升或下降；向上/向下拨动电子手柄2-3，工作装置控制器对应的输出端口OUT5或OUT6将输出高电平，此时平移伸出电磁阀+A-Y05或平移缩回电磁阀+A-Y06得电，平移油缸带动臂架伸出或缩回；向上/向下拨动电子手柄2-4，工作装置控制器对应的输出端口OUT7或OUT8将输出高电平，此时外管架伸出电磁阀+A-Y07或外管架缩回电磁阀+A-Y08得电，外管架油缸带动臂架伸出或缩回；向上/向下拨动电子手柄2-5，工作装置控制器对应的输出端口OUT9或OUT10将输出高电平，此时内管架伸出电磁阀+A-Y09或内管架缩回电磁阀+A-Y10得电，内管架油缸带动臂架伸出或缩回。
进一步的，当操作者将模式旋钮开关2-8置为水泵模式后，发射器将无线信号发送到无线遥控接收器，无线遥控接收器通过CAN总线将该信号发送给工作装置控制器，然后工作装置控制器对应的输出端口OUT11输出PWM信号调节液压泵流量比例阀+A-Y11的开度，以使在此模式下，液压泵的流量与此模式下设置的发动机转速相匹配；向上拨动水密封开关2-10，工作装置控制器对应的输出端口OUT20将输出高电平，此时水密封继电器+P1-KA01得电，进而水密封电磁阀得电使水管密封；向上拨动水泵开关2-11，工作装置控制器对应的输出端口OUT12输出PWM信号调节水泵正转比例阀+A-Y12的开度，水泵马达带动水泵旋转；向上/向下拨动电子手柄2-5，工作装置控制器对应的输出端口OUT11输出PWM信号调节液压泵流量比例阀+A-Y11的开度，使水泵的转速增大或减小；当发动机与水泵功率不匹配时，向上/向下拨动电子手柄2-1，发射器将无线信号发送到无线遥控接收器，无线遥控接收器通过CAN总线将该信号发送给底盘控制器，通过底盘控制器来增大或减小发动机的转速。
需要说明的是，液压泵流量的大小控制液压马达的转速，液压马达同轴带动水泵，马达转速即是水泵转速。系统程序自动设置发动机转速与液压泵出口阀开度，阀门开度控制液压泵流量，液压泵流量控制水泵转速，即实现了发动机转速与水泵转速相匹配。水泵模式下，电子手柄2-5是在水泵运行过程中调节液压泵流量以调节水泵转速，来适应非典型工况。
进一步的，当操作者将模式旋钮开关2-8置为锁定模式后，锁定模式不改变其它模式下的参数设置，且用于抑制发射器上除急停按钮外的所有操作，防止由于操作人员的误碰而造成的危险，提高垂直举升排水车工作的安全性。
进一步的，在上车显示器与近地电控操作面板上同样可实现发射器上具备的所有功能，对垂直举升排水车可实现同等控制。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。

Claims (17)

  1. 一种垂直举升排水车智能控制系统，其特征在于，包括：发射器、无线遥控接收器、上车显示器、底盘控制器和工作装置控制器；
    所述发射器用于远程通过无线遥控接收器配置工作装置控制器的工作模式，以及用于在不同工作模式下通过无线遥控接收器下发工作指令；
    所述无线遥控接收器用于接收发射器下发的工作指令，控制底盘控制器和工作装置控制器执行相应的动作；
    所述上车显示器用于显示整车参数与报警信息，进行人机交互；
    所述底盘控制器用于用于控制发动机以及下车取力；
    所述工作装置控制器用于根据工作指令，对排水车进行调平和车臂架姿态调整以及控制排水车进行排水。
  2. 根据权利要求1所述的一种垂直举升排水车智能控制系统，其特征在于，所述无线遥控接收器通过CAN总线与底盘控制器和工作装置控制器连接。
  3. 根据权利要求1所述的一种垂直举升排水车智能控制系统，其特征在于，所述底盘控制器具体用于，
    接收无线遥控接收器转发的发动机启动信号，控制发动机启动；
    以及，
    接收无线遥控接收器转发的取力信号，将动力源传输到排水车的液压系统。
  4. 根据权利要求1所述的一种垂直举升排水车智能控制系统，其特征在于，所述工作装置控制器设有若干输入端口；所述工作装置控制器的输入端口分别连接排水车左、右支腿伸出接近开关，左、右支腿上升接近开关，左、右支腿缩回接近开关，排水车左、右支腿压力传感器，排水车水泵马达压力传感器和排水车水泵转速传感器；
    所述工作装置控制器设有若干输出端口；所述工作装置控制器的输出端口分别通过电磁阀与车臂架转台，车臂架总成，车臂架外管架，车臂架内管架，排水车左、右支腿，排水车卷盘和排水车左、右卷盘平台连接；所述工作装置控制器的输出端口还通过比例阀与排水车液压泵和水泵马达连接；
    所述工作装置控制器输出端口还连接水密封继电器。
  5. 根据权利要求4所述的一种垂直举升排水车智能控制系统，其特征在于，所述工作装置控制器还包括保险丝FU01与FU02；所述保险丝FU01安装在排水车左支腿伸出接近开关与电源之间的线路上，所述保险丝FU02安装在排水车左支腿压力传感器与电源之间的线路上。
  6. 根据权利要求1所述的一种垂直举升排水车智能控制系统，其特征在于，所述发射器的 操作面板上设置五个单轴电子手柄，取力开关，模式选择旋钮，水密封开关和水泵开关；
    第一电子手柄用于控制发动机转速的增减，1卷盘的收放，排水车左支腿的伸缩和车臂架转台的回转；
    第二电子手柄用于控制2卷盘的收放，排水车左支腿的升降和车臂架的变幅升降；
    第三电子手柄用于控制3卷盘的收放和车臂架的平移伸缩；
    第四电子手柄用于控制车臂架外管架的伸缩，4卷盘的收放和排水车右支腿的升降；
    第五电子手柄用于控制排水车水泵转速的增减，车臂架内管架的伸缩，排水车右支腿的伸缩和左、右卷盘平台的收放；
    所述取力开关用于控制排水车动力源的通断；
    所述模式选择旋钮用于为工作装置控制器配置工作模式，包括支腿模式、卷盘模式、臂架模式、水泵模式和锁定模式。
  7. 根据权利要求6所述的一种垂直举升排水车智能控制系统，其特征在于，
    所述支腿模式用于通过控制排水车左、右支腿的伸缩和升降对排水车进行调平；
    所述卷盘模式用于通过控制卷盘马达对排水卷筒进行放出或收回；
    所述臂架模式用于通过控制车臂架转台，车臂架总成，车臂架外管架和内管架，对车臂架姿态进行调整；
    所述水泵模式用于水管密封，以及对排水车水泵进行调整控制；
    所述锁定模式用于抑制发射器操作面板上除急停按钮外的所有操作。
  8. 根据权利要求6所述的一种垂直举升排水车智能控制系统，其特征在于，所述发射器的操作面板上还设置一键收放开关；
    所述一键收放开关用于在支腿模式下，不使用电子手柄的情况下，对排水车进行自动调平。
  9. 根据权利要求6所述的一种垂直举升排水车智能控制系统，其特征在于，所述发射器的操作面板上还设置左右平台选择开关；
    所述左右平台选择开关用于在卷盘模式下，通过控制工作装置控制器控制左、右卷盘平台收回或放出；所述左卷盘平台上放置1卷盘和2卷盘；所述右卷盘平台上放置3卷盘和4卷盘。
  10. 根据权利要求6所述的一种垂直举升排水车智能控制系统，其特征在于，所述发射器的操作面板上还设置，
    发动机启动按键用于启动发动机；
    发动机停止按键用于关闭发动机；
    发射器启动按键用于启动发射器；
    和
    急停按钮用于关闭底盘发动机。
  11. 根据权利要求4或6所述的一种垂直举升排水车智能控制系统，其特征在于，所述车臂架用于架设水管，所述车臂架包括转台，车臂架总成，外管架，内管架，水泵和工作灯；
    所述车臂架总成安装在所述转台上，所述外管架和内管架通过连接杆焊接总成与所述车臂架总成连接；
    所述车臂架总成连接变幅油缸和平移油缸；所述外管架连接外管架滑移油缸；所述内管架连接内管架滑移油缸；
    所述外管架和内管架用于固定水管，所述水管与水泵连接，所述水管与水泵连接处设水密封；所述水泵处设水泵转速传感器。
  12. 根据权利要求1所述的一种垂直举升排水车智能控制系统，其特征在于，还包括用于给工作装置控制器和传感器供电的24V外接电源。
  13. 一种垂直举升排水车智能控制方法，其特征在于，包括：
    依次开启垂直举升排水车智能控制电气系统中的发射器启动按键和发动机启动按键；
    通过垂直举升排水车智能控制电气系统的发射器下发取力信号；
    根据取力信号，使底盘控制器的动力源传输到上车的液压系统；
    通过发射器下发工作指令，配置垂直举升排水车智能控制电气系统的工作模式；
    在配置的工作模式下，通过发射器下发工作指令，控制工作装置控制器执行相应的动作，进行排水车调平和车臂架姿态调整以及排水；
    所述垂直举升排水车智能控制电气系统为权利要求1至12任意一项所述的垂直举升排水车智能控制电气系统。
  14. 根据权利要求13所述的一种垂直举升排水车智能控制方法，其特征在于，所述配置垂直举升排水车智能控制电气系统的工作模式，包括：支腿模式、卷盘模式、臂架模式、水泵模式和锁定模式。
  15. 根据权利要求14所述的一种垂直举升排水车智能控制方法，其特征在于，任意工作模式下，通过调节液压泵流量比例阀的开度，使液压泵的流量与此模式下设置的发动机转速相匹配。
  16. 根据权利要求15所述的一种垂直举升排水车智能控制方法，其特征在于，支腿模式下进行排水车调平包括：
    通过发射器下发工作指令控制排水车左、右支腿的伸缩和升降，实现排水车调平；
    卷盘模式进行排水控制包括：
    通过发射器下发工作指令控制卷盘马达带动卷筒放出或收回，实现排水控制；
    臂架模式对车臂架姿态进行调整包括：
    通过发射器下发工作指令控制车臂架转台的回转调整调节吸排水的方向；
    通过发射器下发工作指令控制车臂架总成的升降和伸缩调整车臂架高度；
    以及通过发射器下发工作指令控制车臂架外管架和内管架的伸缩调整水管姿态；
    水泵模式下对排水车水泵进行调整控制包括：
    通过发射器下发工作指令控制水管密封；
    通过发射器下发工作指令控制水泵旋转；
    通过发射器下发工作指令调整水泵转速；
    以及通过发射器下发工作指令调整发动机转速，使其与水泵功率相匹配；
    锁定模式下通过发射器下发工作指令抑制除急停外的所有操作。
  17. 根据权利要求16所述的一种垂直举升排水车智能控制方法，其特征在于，所述支腿模式下进行排水车调平还包括：
    通过发射器下发一键放的工作指令，工作装置控制器根据工作指令自动控制排水车左、右支腿伸出；当左、右支腿伸出接近开关检测到左、右支腿伸到位时，左、右支腿伸出自动停止；同时，左、右支腿自动下降，根据倾角传感器、左、右支腿压力传感器以及程序逻辑使整车调平；
    通过发射器下发一键放的工作指令，工作装置控制器根据工作指令自动控制排水车左、右支腿自动上升；当左、右支腿上升接近开关检测到左、右支腿上升到位时，左、右支腿上升自动停止；同时，左、右支腿自动缩回，当左、右支腿缩回接近开关检测到左、右支腿缩回到位时，左、右支腿停止动作。
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