WO2011160580A1 - Intelligent control method for hydraulic excavator - Google Patents

Abstract

An intelligent control method for a hydraulic excavator is provided, wherein a database set in a main controller is divided into a setting area and a recovery area; and the main controller is connected with a display modification interface through a CAN bus. The operation method of the main controller comprises the following steps of: a. data modification, in which (1) the main controller detects data and obtains regulating ranges of excavator control parameters and engine output power by a logical operation; (2) an operator sets the excavator control parameters and the engine output power in the regulating ranges; and (3) modified self-defining data is stored in the setting area through a CAN bus and the excavator operates according to the data; and b. data recovery, in which the main controller calls the data in the recovery area and covers the self-defining data in the setting area. In this invention, data regulating ranges are given according to detected data; and the operator can modify the data according to implementing working conditions and habits so as to meet the requirements on site environment and user control and contribute to improving the operating performance of the excavator.

Description

 Intelligent control method for hydraulic excavator

 The invention relates to an intelligent control method for a hydraulic excavator. Background technique

 The electronically controlled operating system lays the foundation for the intelligentization of the excavator. Through the modification of the controller program, various performance indicators can be easily changed to achieve optimal control. The system structure includes: joystick, control unit E CU, pilot control proportional valve. (1) Joystick: The joystick is a resistive electronically controlled handle. Its structure is X and Y. Each axis has two coaxial connected potential sensors, which are used as position signals for positive and negative operation of each axis. The handle has a total of 4 analog signal outputs, which mainly output the position command signals of the four operating positions of the joystick to the control ECU, and their output signals change with the change of the operating position; (2) Control device ECU: In addition to receiving the left and right joysticks In addition to the eight operating position command signals, engine and hydraulic pump operating status information is also obtained from the power control ECU, and system control and fault information are transmitted to the display; four control, turning, boom, stick, bucket, etc. are used. The eight action pilots of the action mechanism control the proportional valve; (3) The pilot control proportional valve: The pilot control proportional valve is electromagnetically controlled. Under the control of the ECU current of the control device, the pilot hydraulic pressure of each action is controlled, thereby controlling each change. Opening and reversing to the valve.

 Based on the above electronic control system, an intelligent control method for the excavator is constructed, which is mainly used to improve the handling safety and motion accuracy of the excavator. Specifically, (1) Safety: The controller receives the pressure sensor and the handle detection parameters at various positions, and feedbacks such as the distance value, the digging force value, the pilot pressure, etc., and compares the safety values pre-stored in the controller to determine whether It can allow the excavator to continue the operation that is being or is about to be executed. If the range value is exceeded, the alarm signal will be sent out, or braking and other safety measures will be taken. (2) Accuracy of operation: When the excavator is shipped from the factory, various types of presets are preset in the controller. Under the working conditions, the corresponding control parameters are used for various operations. The operator only needs to select the action. The controller automatically controls the output pressure of the hydraulic valve to ensure the accuracy of the operation, and the requirements of the operator are also reduced accordingly. Experience to manipulate.

However, in terms of current control methods, it is still not enough to fully meet the needs of customers. Seeking, reflected as:

 1) During the on-site use of the excavator, the customer cannot customize the settings according to the on-site working environment and personal operating habits. For example, when the site requires the handle to be pressed to the end, the revolving speed cannot exceed a certain value. At present, it can only be achieved by notifying the manufacturer, the manufacturer sending engineers to modify the program, and changing the working environment to be reset.

 2) When the excavator is shipped from the factory, the function of the handle has been set. Due to different operating habits, some operators require the function of replacing the handle, such as changing the operation mode of the swing and bucket excavation, and can only be disassembled. Pilot road;

 3) When the excavator is designed, calibrated and tested, the working conditions of the simulation site are limited, so that the preset value set in the controller can not reflect the actual complex operating conditions of the site and the real needs of the customer, the actual needs of the site. Failure to provide timely and effective feedback to development designers.

 Therefore, we need a more intelligent control method that is closer to the actual operation. Summary of the invention

 The object of the present invention is to provide an intelligent control method for a hydraulic excavator, by which the actual handling capability of the excavator can be improved, and the needs of different customers can be better met.

 In order to achieve the above object, the technical solution adopted by the present invention is: an intelligent control method for a hydraulic excavator, wherein a database set in the main controller is divided into a setting area and a recovery area, and factory default data is respectively stored in the setting area. And the recovery area, the main controller is connected to the display modification interface through the CAN bus, and the operation method is:

 a. Data modification:

 (1) The main controller detects the data, including the handle signal, the pressure sensor signal of each valve on the excavator, and the ambient temperature sensor signal. Through logic operation, the adjustment range of the excavator operating parameters and the engine output power is obtained;

 (2) The operator sets the excavator control parameter and the engine output power on the display modification interface within the adjustment range according to the on-site working environment and operating habits;

(3) The modified custom data is stored in the set area via the CAN bus and transmitted to the remote server via the wireless network, and the excavator starts to customize according to the set area. According to the operation;

 b. Data Recovery: The main controller calls the data in the recovery area to cover the custom data in the set area.

 In the above technical solution, the pressure sensor and the ambient temperature sensor can be set by using the prior art, and the main controller calls the detection data on the sensors to determine the adjustment range by a logic operation, and the logic operation is a software program prestored in the main controller. Under the premise of ensuring the normal operation and safety of the excavator, set the adjustment range, and adjust various parameters within the range, such as bucket excavation, unloading, stick excavation, unloading, boom raising, lowering, turning, etc. Speed and PQ curve, engine output efficiency, in accordance with the actual working conditions, when changing the working device (such as hydraulic shears, crushing rams, quick-change devices, etc.), adjust the flow according to different actuators, Meet the actual needs of the working device; At the same time, according to the ambient temperature, set the output power of the engine, for example, in winter, the cooling effect is good, the output power of the engine can be improved, and the output power of the engine can be reduced in summer.

 In the above technical solution, the excavator is provided with a GP S controller, the main controller is connected to the GPS controller via a CAN bus, and the GPS controller is connected to the cluster monitoring center via a wireless network, and the cluster monitoring The center includes a server, a database, and a parameter optimization automatic generation system. The main controller of each excavator transmits the customized data and the detection data to a database of the cluster monitoring center via a GPS controller and a wireless network. The parameter optimization automatic generation system analyzes and obtains the custom data with the most use of various models under various working conditions, and sets the optimized data, and feeds the optimized data to the manufacturer, and modifies the factory default data of the corresponding model. .

 In a further technical solution, the main controller of the excavator downloads the optimization data in the cluster monitoring center via a GPS controller and a wireless network, and modifies the customized data in the set area.

In the above, the main controller communicates with the GPS controller through the CAN bus, and the GPS controller transmits various detection data (including the handle signal, the pressure sensor signal of each valve on the excavator and the ambient temperature signal) to the cluster monitoring center (wirelessly). Network transmission, which can adopt the transmission technology in the prior art), the cluster monitoring center stores various sensor information and control information related to the customized data in real time to the server database, and the parameter optimization is automatic. The generation system automatically analyzes a large amount of real-time data according to the working environment, excavator model, frequency of use, etc., and obtains different working environments, different excavator models, and the most used custom parameters, and obtains optimized data for the whole machine work. . After a certain period of work, the manufacturer (engineer in charge of the cluster monitoring center) will then verify the final optimization data by telephone or on-site inspection with the customer or agent. After verification, the result will be used as follows:

1) as such models, the factory data in such working environments;

 2) The default parameters of the field use machine can be modified by the GPS remote download function;

3) It is recommended to use this same type of customer to select this optimized data in the same working environment.

 In the above technical solution, the excavator control parameters include: bucket excavation, unloading, arm excavation, unloading, boom raising, lowering, speed of rotation, and P-Q curve and handle button electrical signals. The PQ curve sets the absorption power of the main pump to achieve efficiency, heavy load or fuel economy. The custom setting of the handle button electric signal can realize the setting of the functions of the two handles in different directions, without changing the hydraulic circuit, by the main control. The device changes the signal output of the corresponding port of the main controller according to the modified data of the operator, so as to meet the needs of different operators, such as the left-handed or the habitual action customer, the manipulation is more humanized.

 In the above technical solution, a historical data storage interval is provided in the set area, and each of the customized data is stored in the historical data storage interval. The historical setting custom data is stored in the historical data storage interval, so that the operator can call the search. In the same situation, the data in the historical data storage interval can be directly called, and the setting is omitted. The historical data storage amount depends on the capacity of the storage interval, such as optional custom data storage of nearly 10 times, or more.

 Due to the above technical solutions, the present invention has the following advantages over the prior art:

1. In the invention, the main controller calculates the adjustment range of the excavator control parameters and the engine output power under the conditions of ensuring safety and normal operation according to the detected individual sensor signals, the handle signal and the temperature signal, and the operator can according to the scene. The working condition adjusts the parameters and the output power value within the range to improve the handling performance and working ability of the excavator, and meet the operation requirements of excavating under different working conditions;

2. Since the main controller sets the range of the adjustment parameters in the present invention, it is pre-stored with the prior In terms of the fixed value in the main controller, the flexibility and adaptability are higher, and the selection of the limited types of working conditions can be made to meet the needs of the actual operation of the user;

 3. The main controller is connected to the GP S controller via the CAN bus, and sends the customized data and related environmental data to the cluster monitoring center through the wireless network. The parameter optimization automatically generates the system to count different working conditions and corresponding data of different models. , get the optimized data, on the one hand to the manufacturer, repair and supplement the factory default parameters, shorten the time for engineers to develop and simulate the working conditions, and the default parameters are more accurate and comprehensive; on the other hand, the user directly downloads information via the wireless network, and modifies Corresponding to the parameter values under the model to improve the performance of the excavator and achieve resource sharing;

 4. The custom modification of the electric signal of the handle button can change the function of the handle to meet the needs of different operators, such as left-handed or habitual action customers, without changing the hydraulic pipe;

 5. By adjusting the control parameters, the different requirements of the flow (hydraulic shear, crushing ram, quick change device, etc.) can be satisfied, and the working conditions and customer needs can be better adapted. DRAWINGS

 1 is a schematic view of a block diagram of a hydraulic circuit in Embodiment 1 of the present invention;

 2 is a block diagram showing the principle of remote communication according to Embodiment 1 of the present invention;

 FIG. 3 is a flow chart of the modification of the custom data in the first embodiment of the present invention. detailed description

 The present invention is further described below in conjunction with the accompanying drawings and embodiments:

 Embodiment 1: Referring to FIG. 1 to FIG. 3, an intelligent control method for a hydraulic excavator, a database set in a main controller is divided into a setting area and a recovery area, and factory default data is respectively stored in the setting area and In the recovery area, the main controller is connected to the display modification interface through the CAN bus, and the operation method is:

 a. Data modification:

(1) The main controller detects the data, as shown in Figure 1, including the handle signal, the pilot pressure sensor signals RV 1 to RV9 on the excavator, and the front and rear pump main pressure signals RV 10, RV 1 1 And the ambient temperature sensor signal, through logic operation, the adjustment range of the excavator control parameters and the engine output power is obtained;

 (2) The operator sets the excavator control parameter and the engine output power on the display modification interface within the adjustment range according to the on-site working environment and operating habits;

(3) The modified custom data is stored in the set area via the CAN bus and transmitted to the remote server via the wireless network, and the excavator starts to operate according to the customized data in the set area;

 b. Data Recovery: The main controller calls the data in the recovery area to cover the custom data in the set area.

 In this embodiment, the excavator control parameters include: bucket excavation, unloading, bucket excavation, unloading, boom raising, lowering, speed of rotation, and P-Q curve and handle button electrical signals. As shown in Figure 3, (1) parameters can be set according to the working environment and operating habits; (2) According to the operator's habits, the function settings can be entered; (3) According to the needs of the options, the options are set; 4) Restore the factory default data for one-click recovery.

 1 Parameter setting: Digger hand or customer can set parameters according to the working environment and operating habits of the site. It can set bucket excavation, unloading, arm excavation, unloading, boom raising, lowering, turning and other speed and PQ curve setting. The main pump absorbs power to achieve efficiency, heavy load or fuel economy. According to the ambient temperature, set the output power of the engine. For example, in winter, the cooling effect is good, the output power of the engine can be improved, and the output power of the engine can be reduced in the summer. The temperature change is detected by the ambient temperature sensor, and the MC can be used to set the changeable range for the customer to select. The set area is provided with a historical data storage interval, and each of the customized data is stored in the historical data storage interval, and the operator can set a data query for the history, and directly invoke the selected data.

 2 Function setting: Digger hand or customer can customize the output of each electronic control handle, which can realize the setting of the function of two handles in different directions, so as to meet the needs of different operators, such as left-handed or Habitual action customers.

 3 Optional settings: For hydraulic shears, crushing tampers, quick-change devices and other options, customize the settings according to flow requirements, working environment, customer habits.

4 pairs of settings, the user can use the one-button recovery button to drive recovery in the main controller Program, after entering the correct password, display all current parameter values, press the enter key, the main controller calls the data in the recovery area, overwrites the data in the set area, and returns to the factory default settings.

 As shown in FIG. 2, the excavator is provided with a GP S controller, and the main controller is connected to the GP S controller via a CAN bus, and the GP S controller is connected to the cluster monitoring center via a wireless network. The cluster monitoring center includes a server, a database, a parameter optimization automatic generation system, and an automatic warning system for excavation operation. The main controller of each excavator transmits the customized data and the detection data to the GP S controller and the wireless network to In the database of the cluster monitoring center, the parameter optimization automatic generation system analyzes and obtains the custom data corresponding to the most used types under various working conditions, and sets the optimized data, and feeds the optimized data to Manufacturer or customer, for the following purposes:

 After a certain working period, the engineer in the cluster monitoring center will then conduct a telephone communication or on-site inspection with the customer or agent to verify the final optimization result. After verification, the result is as follows:

 1) As such a model, the factory default data in such a working environment;

 2) The setting data of the machine used in the field can be modified by the GP S remote download function;

3) It is recommended to use this same type of customer to select this optimized data in the same working environment.

 Through the above process, the cluster monitoring center will get more and more real-time data, and each optimization result will be re-verified by the customer, and then corrected, and the optimal correction result will be obtained and saved. In this way, when developing a new model or developing a deformation change of an existing model, the design change engineer will be very aware of the working conditions of the excavator and the customer's usage habits. It can be designed according to the latest optimized machine parameters of the cluster monitoring center, matching and debugging. Development and change cycles can be shortened, development is more successful, and customer needs are better met.

Claims

Claim 1 . An intelligent control method for a hydraulic excavator, characterized in that: a database set in the main controller is divided into a setting area and a recovery area, and factory default data is respectively stored in the setting area and the recovery area, The main controller is connected to the display modification interface through the CAN bus. The operation method is as follows:  a. Data modification:  (1) The main controller detects the data, including the handle signal, the pressure sensor signal of each valve on the excavator, and the ambient temperature sensor signal. Through logic operation, the adjustment range of the excavator operating parameters and the engine output power is obtained;  (2) The operator sets the excavator control parameter and the engine output power on the display modification interface within the adjustment range according to the on-site working environment and operating habits; (3) The modified custom data is stored in the set area via the CAN bus and transmitted to the remote server via the wireless network, and the excavator starts to operate according to the customized data in the set area;  b. Data Recovery: The main controller calls the data in the recovery area to cover the custom data in the set area.  2 . The intelligent control method of a hydraulic excavator according to claim 1 , wherein: the excavator is provided with a GP S controller, and the main controller is connected to the GP S controller via a CAN bus. The GP S controller is connected to the cluster monitoring center via a wireless network, and the cluster monitoring center includes a server, a database, and a parameter optimization automatic generation system, and the main controller of each excavator passes the customized data and the detection data through the GP. The S controller and the wireless network are transmitted to the database of the cluster monitoring center, and the parameter optimization automatic generation system analyzes and obtains the custom data corresponding to the most used models under various working conditions, and is set to be optimized. Data, feedback the optimized data to the manufacturer, and modify the factory default data of the corresponding model.  The intelligent control method of the hydraulic excavator according to claim 2, wherein: the excavator main controller downloads the optimization data in the cluster monitoring center via a GP S controller and a wireless network, and modifies The data in the set area is customized. 4. The intelligent control method of a hydraulic excavator according to claim 1, characterized by The following: The excavator control parameters include: bucket excavation, unloading, stick digging, unloading, boom raising, lowering, speed of rotation, and PQ curve and handle button electrical signals.  An intelligent control method for a hydraulic excavator according to claim 1, wherein: said set area is provided with a history data storage section, and each of said custom data is stored in said history data storage section.