An automatic control method and system for a grab-type cleaning machine

A technology of cleaning machine and grab bucket, which is used in electric controllers, controllers with continuous output signals, and cleaning of open water surfaces. , increase equipment loss, etc.

Active Publication Date: 2021-07-27

WUHAN MUNICIPAL ENG DESIGN & RES INST

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AI-Extracted Technical Summary

Problems solved by technology

These two control modes are relatively simple to implement, but there are obvious disadvantages, that is, the preset time interval or liquid level difference should not be too large, otherwise there will be too much debris in front of the grid, and the amount of slag at one time will be too lar...

Method used

Control the relationship between the operating current Iact of the cleaning machine and the maximum load current Imax of the cleaning machine by the first preset condition, under the situation that the grab bucket of the cleaning machine does not drop to the lowest point, on the one hand It can avoid grab empty salvage and reduce no-load loss. On the other hand, before the electrical circuit overload protection, the action current of the cleaning machine can be controlled in advance within the maximum load range, which can avoid the waste of the cleaning machine when there is too much waste in the grab. The working current is too large, which greatly reduces the occurrence of overload faults and prolongs the service life of the equipment.

Control the relationship between the operating current Iact of the cleaning machine and the maximum load current Imax of the cleaning machine by the first preset condition, when the grab bucket of the cleaning machine does not drop to the lowest point, on the one hand It can avoid grab empty salvage and reduce no-load loss. On the other hand, before the electrical circuit overload protection, the action current of the cleaning machine can be controlled in advance within the maximum load range, which can avoid the waste of the cleaning machine when there is too much waste in the grab. The working current is too large, which greatly reduces the occurrence of overload faults and prolongs the service life of the equipment.

Determine the preset current range and the preset current value by the maximum load current of the grab type cleaning machine, thereby determine the first preset condition and the second preset condition, and then according to the grab type Whether the operating current value Iact of the cleaning machine satisfies the first...

Abstract

The invention relates to an automatic control method and system for a grab-type cleaning machine. The method includes initializing the grab-type cleaning machine, determining a first preset condition and a second preset condition; controlling the grab-type cleaning The grab bucket of the cleaning machine is lowered to grab slag, and the action current value of the grab type cleaning machine is obtained; when the action current value meets the first preset condition and/or the limit switch of the grab bucket of the cleaning machine is triggered, the grab type cleaning machine is controlled The grab bucket of the cleaning machine rises and transfers the waste residue in the grab bucket to complete a slag grab action; by repeating this, the maximum value of the action current signal for each slag grab action is obtained, until the continuous preset times of each slag grab action If the maximum value of the operating current signal satisfies the second preset condition, the slag grabbing process ends. The automatic control method of the grab-type cleaning machine of the present invention realizes the automatic operation of the grab-type cleaning machine, reduces the no-load loss of the grab-type cleaning machine, saves energy, and truly realizes the grabbing with intelligent control. The work of the bucket cleaner.

Application Domain

Water cleaningSoil-shifting machines/dredgers +1

Technology Topic

Automatic controlSlag +6

Image

Examples

Experimental program(1)

Example Embodiment

[0060] The principles and features of the present invention will be described below with reference to the accompanying drawings, and the exemplary examples are intended to be construed as they are intended to limit the scope of the invention.

[0061] like figure 1 As shown, an automatic control method of a grip-type cleavage machine includes the following steps:

[0062] Step 1: Initialize the grip type cleavage machine, obtain the initialization information of the grip-type clearing machine, the initialization information including the first preset condition and the second preset condition;

[0063] Step 2: Control the grip of the grip-type cleavage machine to drop the slag, obtain the operating current value IACT of the grip-type clearing machine;

[0064] Step 3: When the operation current value IACT satisfies the first preset condition and / or the limit switch triggered by the cleavage machine, control the grip of the grip-type cleavage machine rises and transferred Waste residue, complete a grab action;

[0065] Step 4: Repeat steps 2 and 3, get the maximum value of the operating current signal of each grab action actmax The maximum value of the operating current signal of each grab action until the number of consecutive times actmax All of the second preset conditions are met, then the grasping process is ended.

[0066] The automatic control method of the grip-type cleavage machine according to the embodiment of the present invention is to collect the operating current value of the clearing machine in real time, and control the automatic lift of the grip according to the operating current value, and the automation of the grip-type clearing machine is realized. Operation, reducing the "empty salvage" controlled by the traditional time interval control and the level of liquid level, reducing the airborne loss of the grip-type clearing machine, saving energy, while reducing the staff on site observing the action and The number of pre-pool front pool grids before the pump station truly realized the work of intelligent control grip-type clearing machine.

[0067] It should be noted that in the embodiment of the present invention, the limit switch of the cleavage machine grip is triggered when the grab is lowered to the lowest point of the set, that is, during the process of slag, the grab down to the setting At the lowest point, the main control unit controls the hit by the trigger signal output by the limit switch, and the waste residue in the grabbing is transferred to the designated place after rising to a suitable height, such as transporting waste saga.

[0068] In an embodiment of the invention, the first preset condition is: the operating current value I act Meet the preset current range, the second preset condition is: the maximum value of the operating current signal of the slag action actmax Smaller than the preset current value; the preset current range and the preset current value are determined according to the maximum load current at the time of gripping.

[0069] The preset current range and the preset current value are determined by the maximum load current value of the grip type cleavage machine, thereby determining the first preset condition and the second preset condition, and then according to the grip type cleaning machine. Action current value I act Whether or not the first preset condition and the second preset condition are met to control the capture lift, achieve accurate control, automation control.

[0070] Specifically, the first preset condition is:

[0071] I act = Β * i max

[0072] Among them, I act The operating current value of the grip type cleaning machine, I max In order to grab the maximum load current value of the grip type cleavage machine, β is the first load coefficient, and 0.80 ≤ 1.00.

[0073] Controlling the action current I of the clearing machine by the first preset condition act Maximum load current I with clearing machines max In the case where the gripping machine does not drop to the lowest point, on the one hand, it can avoid catching the fishing and salvage, reducing the no-load loss, and on the other hand, before the electrical circuit overload protection, control cleans in advance. In the maximum load range, the operation current can avoid excessive operating current of the waste machine, which greatly reduces the occurrence of overload faults, extending the service life of the equipment.

[0074] Preferably, the first load coefficient β takes 0.90. The same reason, the first load coefficient β should not be too large, must be less than 1, ie action current I act It must be less than the maximum load current of the cleavage machine, otherwise it is easy to cause overload operation of the clearing machine, reduce its life; the first load coefficient β should not be too small, otherwise the amount of waste sagged every time the salvage will be very small, then The salvage efficiency will be greatly reduced.

[0075] Specifically, the second preset condition is: the maximum value of the operating current signal of the grabs per grab. actmax All are satisfied:

[0076] I actmax = Γ * i max

[0077] Among them, I actmax The maximum value of the action current signal in the grabs, I max For the maximum load current value of the grip-type clearing machine, γ is the second load coefficient, and γ γ0.4.

[0078] In the second preset conditions, the maximum value of the active current signal of the slag action can be made by continuously caught the slag operation. actmax To judge how much the waste sagging in the grower is to determine whether the waste residue in the front pool is sag, and automatically ends the grabs when the waste residue in the front pool is sag.

[0079] In practice, if the second load coefficient γ is less than 0.4, then it can be determined that the waste slag in the front pool has been sagged and can end the slag process.

[0080] Preferably, the automatic control method of the grip type cleavage machine also includes the step of acquiring the maximum load current value of the cleavage machine in advance, including:

[0081] Step 11: Get the airborne current signal when the grip-type cleavage machine is at a no-load;

[0082] Step 12: Filtering the no-load current signal;

[0083] Step 13: Repeat steps 11 and 12 until the sampling number of the no-load current signal reaches the number of target samples, and determines the reference current signal of the grip-type cleavage machine according to the N-pass-filtered process signals. I 0;

[0084] Step 14: According to the reference current signal I 0 Determine the maximum load current value I of the clearing machine max.

[0085] By obtaining the no-load current signal of the cleavage machine, the reference current signal of the cleavage machine can be determined based on the filtered no-load current signal, so that according to the reference current signal, it can be used to combine the actual operation experience of the field and the load of the clearing machine. The determined maximum load current value.

[0086] In the embodiment of the present invention, in the step 13, the reference current signal I of the grip type cleavage machine is determined according to the no-load current signal after the N passes after filtering. 0 Specifically:

[0087] Take a plurality of the average value of the no-load current signal after filtering, as the reference current signal I of the clearing machine 0;

[0088] The reference current signal I in the step 14 0 Determine the maximum load current value I of the clearing machine max Specifically:

[0089] I max = Α * i 0

[0090] Among them, I max For the maximum load current of the grip type cleaning machine, I 0 For the reference current signal of the grip-type clearing machine, α is a conversion factor, and α∈ [2, 5].

[0091] By applying a plurality of the average value of the no-load current signal after the filtering process as the reference current signal of the cleavage machine, the reference current signal when the clerup machine can be more accurate, and the conversion factor is combined by the reference current signal. To determine the maximum load current value of the clearing machine.

[0092] Preferably, the conversion factor α takes 3. In practice, the conversion factor should not be too large, and if the conversion factor has been too large, the maximum load current I max The corresponding one will be relatively large, then the electric current I is working when the oven is working. act It is more likely to exceed its normal operating current range, so the equipment life will be greatly reduced; if the conversion factor has been smaller, the maximum load current I max The corresponding one will be relatively small, then it will greatly reduce the load capacity of the grip, thereby reducing the salvage efficiency.

[0093] It should be noted that the automatic control method of the grip-type cleavage machine of the present invention can be used with a simple time control method or a simple liquid level difference control method in the prior art, or use three as a triggering salvage. condition. For example, after the automatic control method of the grip-type cleavage machine according to the present invention, the combined time control method is combined, after the set time interval, the new round of slag is restarted, or the liquid level difference in the front pool is reached. When the threshold is fixed, start the new round of slag, or the first two will start a new round of slag.

[0094] Compared to the time control method in the prior art, the automatic control method of the grip-type reflusion machine according to the embodiment of the present invention binds to the time control method in the prior art, and the preset time interval of adjacent two rounds can be enlarged. The original 3-4 times; the automatic control method of the grip-type reflusion machine according to the embodiment of the present invention binds to the liquid level difference control method in the prior art, and the level of liquid level difference in the prior art, the grating front and rear liquid level The difference can be enlarged to the original 2-2.5 times, reducing the airborne loss of the grip-type clearing machine, saving a lot of energy.

[0095] like figure 2 As shown, the present invention also provides an automatic control system of a grip type cleavage machine, including an initialization unit and a main control unit;

[0096] The initialization unit is configured to initialize the grip type cleavage machine to acquire the initialization information of the grip type cleavage machine, the initialization information including the first preset condition and the second preset condition;

[0097] The primary control unit is used to control the grab of the grip-type cleavage machine, and the operation current value of the grip type cleavage machine is obtained. act It is also used to control the gripping machine of the grip type cleavage machine when the operation current value IACT satisfies the first preset condition and / or the shorter switch trigger of the cleavage machine. The waste residue is completed, which is repeated, and it is repeated, and the maximum value of the operating current signal of each grabs action is obtained. actmax The maximum value of the operating current signal of each grab action until the number of consecutive times actmax All of the second preset conditions are met, then the grasping process is ended.

[0098] The automatic control system of the grip-type cleavage machine of the present invention collects the operation current value of the clearing machine in real time, and controls the automatic lift of the grip according to the operating current value, and realizes the automated operation of the grip type cleavage machine. Reduced "empty salvage" controlled by traditional time intervals and liquid levels, reducing the airborne loss of grip-type cleavage machine, saving energy while reducing staff to observe the capture action and front pool The number of front debris is truly achieved with intelligent control grip-type clearing machine.

[0099] In an embodiment of the present invention, the initialization unit is determined by the initialization information as: the operating current value I. act The preset current range is satisfied, the initialization unit determined according to the initialization information: the maximum operating current signal of the grabs per grabs I. actmax Smaller than the preset current value; the preset current range and the preset current value are determined according to the maximum load current of the grip type cleavage machine. The preset current range and the preset current value are determined by the maximum load current value of the grip type cleavage machine, thereby determining the first preset condition and the second preset condition, and then according to the grip type cleaning machine. Action current value I act Whether or not the first preset condition and the second preset condition are met to control the capture lift, achieve accurate control, automation control.

[0100] In an embodiment of the present invention, the initialization unit is specifically: according to the first preset conditions determined by the initialization information:

[0101] I act = Β * i max

[0102] Among them, I act The operating current value of the grip type cleaning machine, I max In order to grab the maximum load current value of the grip type cleavage machine, β is the first load coefficient, and 0.80 ≤ 1.00.

[0103] Controlling the action current I of the clearing machine by the first preset condition act Maximum load current I with clearing machines max In the case where the gripping machine does not drop to the lowest point, on the one hand, it can avoid catching the fishing and salvage, reducing the no-load loss, and on the other hand, before the electrical circuit overload protection, control cleans in advance. In the maximum load range, the operation current can avoid excessive operating current of the waste machine, which greatly reduces the occurrence of overload faults, extending the service life of the equipment.

[0104] Specifically, the initialization unit is specifically that the second preset condition determined according to the initialization information is: the maximum value of the operating current signal of each grab action ac t max All are satisfied:

[0105] I actmax = Γ * i max

[0106] Among them, I actmax The maximum value of the action current signal in the grabs, I max For the maximum load current value of the grip-type clearing machine, γ is the second load coefficient, and γ γ0.4.

[0107] In the second preset conditions, the maximum value of the active current signal of the slag action can be made by continuously caught the slag operation. actmax To judge how much the waste sagging in the grower is to determine whether the waste residue in the front pool is sag, and automatically ends the grabs when the waste residue in the front pool is sag.

[0108] In the embodiment of the present invention,

[0109] The automatic control system of the grip-type cleavage machine also includes a acquisition unit that is pre-acquired and stores a maximum load current value of the clearing machine, the acquisition unit specifically for:

[0110] Get the airborne current signal when the grip-type cleavage machine is on the no-load;

[0111] Filtering the no-load current signal;

[0112] Such repetitions, until the sample number of the no-load current signal reaches the number of target samples, and determines the reference current signal I of the grip-type cleavage machine according to the no-load current signal after the N passenger. 0;

[0113] According to the reference current signal I 0 Determine the maximum load current value I of the clearing machine max.

[0114] The no-load current signal of the cleavage machine is obtained by the initialization unit, and the reference current signal of the cleavage machine is determined according to the plurality of filtered no-load current signals, so that the actual operation of the actual operation experience and the load can be combined according to the reference current signal. The case determined the maximum load current value.

[0115] In an embodiment of the present invention, the acquisition unit determines a reference current signal I of the grip-type cleavage machine according to the no-load current signal after the filtered processed. 0 Specifically:

[0116] Take a plurality of the average value of the no-load current signal after filtering, as the reference current signal I of the clearing machine 0;

[0117] The main control unit is based on the reference current signal I 0 Determine the maximum load current value I of the clearing machine max Specifically:

[0118] I max = Α * i 0

[0119] Among them, I max For the maximum load current of the grip type cleaning machine, I 0 For the reference current signal of the grip-type clearing machine, α is a conversion factor, and α∈ [2, 5].

[0120] The average value of the no-load current signal after the main control unit is taken as the reference current signal of the cleavage machine, and can more accurately obtain the reference current signal when the clearing machine is operated, and then the reference current signal is passed. Combined with the conversion factor to determine the maximum load current of the clearing machine.

[0121] The present invention also provides a computer storage medium that stores a computer program that implements the automatic control method of the grip-type cleavage machine when executed by the processor.

[0122] The preferred embodiments of the present invention are not intended to limit the invention, and any modifications, equivalents, improvements, and the like, which may be contained in the present invention. Within the range.

PUM

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