Silt remover control system and method for suction equipment

Abstract

The invention discloses a silt remover control system and method for suction equipment, and belongs to the field of automation control of environmental sanitation mechanical equipment, and the method comprises the steps: obtaining the operation data of a silt remover; when the rotary auger rotates forwards, whether the rotary auger is clamped or not during forward rotation is judged according to a comparison result of the hydraulic pressure signal and a preset pressure condition, so that an anti-clamping control strategy of the rotary auger is started; when the gasoline engine is remotely started or stopped, whether the electric push rod is in a start-stop position or not is judged according to a comparison result of an electric push rod gear signal and a start-stop position threshold value, and an electric push rod automatic control strategy is started; and judging whether the silt remover needs to dissipate heat or not in the running process according to a comparison result of the hydraulic temperature signal and a preset temperature condition so as to start a radiator. The automatic control device can automatically control the packing auger to prevent blocking in the equipment suction process, meanwhile, the electric push rod is automatically controlled to adjust the rotating speed of the gasoline engine to be matched with the flow of a hydraulic system, the whole machine is cooled in time in the silt remover operation process, and the equipment service life of all parts of the whole machine is prolonged.

Description

Technical Field

[0001] The invention relates to a control system and method for a silt remover used in suction equipment, belonging to the field of automatic control of sanitation mechanical equipment. Background Art

[0002] With the continuous development of urbanization, the discharge of domestic sewage and garbage has become more and more serious, causing the urban underground pipe network system to be under tremendous pressure. The dredging of rivers and culverts is urgent. Moreover, such working environments are often accompanied by dangerous gases and narrow spaces, which are inaccessible to personnel. Therefore, a dredging equipment with remote control, auxiliary aggregate function at the suction end and high degree of automation is needed to replace manual work.

[0003] At present, domestic silt removal equipment is mainly powered by external power and self-powered. These two configurations have their own advantages and disadvantages. The external power type can make the main machine as small as possible, so that it can enter a smaller space for operation, but it is limited by the length of the cable or hydraulic pipeline; the self-powered type is not limited by the length of the pipeline, but the volume is relatively large. Existing self-powered silt removal machines are mostly gasoline and diesel engines, which require local keys to start and manual push rods to control the speed, resulting in uneven matching of the speed and the flow of the hydraulic system, causing power loss. The suction end of the equipment is generally equipped with a bucket and a rotary auger for auxiliary feeding, but due to the different sizes of the materials, it is easy to cause the rotary auger to get stuck, affecting the efficiency and causing damage to the rotary auger and other components, greatly reducing work efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a dredging machine control system and method for suction equipment, which can automatically control the solenoid valve assembly in combination with the hydraulic system pressure when using the auger rotation to assist in feeding during the suction process of the equipment, so that the rotating auger can be flexibly switched among forward, reverse, lifting and lowering operations to achieve the purpose of anti-jamming; at the same time, the gasoline engine speed is adjusted to match the hydraulic system flow through automatic control of the electric push rod to achieve the optimal power and torque output of the gasoline engine to avoid damage to the gasoline engine; and the whole machine is dissipated in time during the operation of the dredging machine to further improve the equipment life of each component of the whole machine.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions.

[0006] A method for controlling a silt remover for a suction device, comprising: Obtaining the operation data of the silt remover, which includes: electric push rod gear position signal, hydraulic pressure signal and hydraulic temperature signal; When the rotary auger rotates forward, it is determined whether the rotary auger is stuck according to the comparison result between the hydraulic pressure signal and the preset pressure condition. If it is stuck, the rotary auger anti-stuck control strategy is activated; When the gasoline engine is remotely started or shut down, the electric push rod is judged whether it is in the start-stop position according to the comparison result of the electric push rod gear position signal and the start-stop position threshold. If it is not in the start-stop position, the electric push rod automatic control strategy is started; According to the comparison result between the hydraulic temperature signal and the preset temperature condition, it is judged whether heat dissipation is required during the operation of the silt remover. If heat dissipation is required, the radiator is started.

[0007] Optionally, based on the comparison result of the hydraulic pressure signal and the preset pressure condition, it is determined whether the rotary auger is stuck during forward rotation, and if stuck, the rotary auger anti-stuck control strategy is activated, including: If the hydraulic pressure signal is greater than or equal to the preset pressure threshold and the delay value is within the preset time, the rotary auger is stuck, and the first stage control strategy of the rotary auger anti-stuck is started; Under the first stage control strategy, the start-up instructions of the auger reversing solenoid valve, the auger speed regulating solenoid valve and the buzzer are generated respectively, and the rotating auger is controlled to first slow down to the first speed, and then the auger forward solenoid valve and the auger speed regulating solenoid valve are respectively generated again after reversing at the first speed and maintaining the set time, so that the rotating auger resumes forward rotation; After the rotary auger resumes forward rotation, if the hydraulic pressure signal is less than the preset pressure threshold and the delay value is within the preset time, the rotary auger returns to normal and continues to perform auxiliary aggregate collection; if the hydraulic pressure signal is still greater than or equal to the preset pressure threshold and the delay value is within the preset time, the rotary auger is still stuck, and the second stage control strategy for anti-stuck rotary auger is activated.

[0008] Optionally, the second stage control strategy for the rotary auger anti-jamming is initiated, including: Generate power-on instructions for the auger lifting solenoid valve and the auger forward rotation solenoid valve respectively, control the lifting of the rotary auger and obtain the inclination angle signal of the boom end; When the rotary auger is lifted, if the inclination angle signal at the end of the boom reaches the preset lifting angle threshold, a power-off command for the auger lifting solenoid valve and a power-on command for the auger lowering solenoid valve are generated respectively, and the auger lowering solenoid valve is controlled to stop lowering when it returns to the initial angle and continue to rotate forward to resume the rotary aggregate operation.

[0009] Optionally, when the gasoline engine is remotely started, whether the electric push rod is in the start-stop position is determined based on the comparison result of the electric push rod gear position signal and the start-stop position threshold. If it is not in the start-stop position, the electric push rod automatic control strategy is started, including: If the electric push rod gear position signal meets the start-stop position threshold, the electric push rod is in the start-stop position, generating a gasoline engine start command; If the electric push rod gear position signal does not meet the start-stop position threshold, the electric push rod is not in the start-stop position, and an electric push rod retraction command is generated to control the electric push rod to drive the throttle push rod to move, so that the throttle is reduced to the minimum starting position until the electric push rod gear position signal meets the start-stop position threshold and stops, generating a gasoline engine start command.

[0010] Optionally, also include: After the gasoline engine is started according to the gasoline engine start command, an electric push rod extension command is generated; Based on the electric push rod extension command, the electric push rod is controlled to drive the throttle push rod to move, so that the throttle is increased to the working position, and it stops when the electric push rod gear position signal meets the working position threshold, and the gasoline engine speed signal is detected to obtain the gasoline engine speed value.

[0011] Optionally, when the gasoline engine is remotely shut down, the electric push rod is judged whether it is in the start-stop position according to the comparison result of the electric push rod gear position signal and the start-stop position threshold. If it is not in the start-stop position, the electric push rod automatic control strategy is started, including: If the electric push rod gear position signal meets the start-stop position threshold, the electric push rod is in the start-stop position, and a gasoline engine shutdown command is generated; If the electric push rod gear position signal does not meet the start-stop position threshold, the electric push rod is not in the start-stop position, and an electric push rod retraction command is generated to control the electric push rod to drive the throttle push rod to move, so that the throttle is reduced to the minimum starting position until the electric push rod gear position signal meets the start-stop position threshold and stops, generating a gasoline engine shutdown command.

[0012] Optionally, judging whether heat dissipation is required during the operation of the silt remover according to the comparison result of the hydraulic temperature signal with the preset temperature condition, and starting the radiator if heat dissipation is required, including: If the hydraulic temperature signal is greater than or equal to the preset first temperature threshold and is delayed to a fixed time, a radiator start instruction is generated to control the radiator to dissipate heat for the entire machine; When the whole machine is cooling, when the hydraulic temperature signal is less than the preset second temperature threshold and is delayed to a fixed time, a radiator stop instruction is generated to control the radiator to close.

[0013] Optionally, the silt remover operation data also includes: a whole machine inclination angle signal, a whole machine wading signal, a fuel quantity signal, and a video monitoring signal; According to the comparison result between the whole machine tilt angle signal and the preset whole machine tilt angle threshold, it is judged whether the whole machine currently has the risk of overturning, and the overturning alarm information is generated for forwarding and prompting through the buzzer alarm; Based on the comparison result between the whole machine wading signal and the preset whole machine water level threshold, it is determined whether the whole machine currently has the risk of wading too deep, and a wading alarm message is generated for forwarding and prompted through a buzzer alarm; According to the comparison result between the fuel quantity signal and the preset remaining fuel threshold, it is judged whether there is a risk of low fuel quantity in the whole machine at present, and a low fuel quantity alarm message is generated for forwarding and prompting through a buzzer alarm; The video monitoring signal is forwarded to the terminal control platform for generating a remote monitoring screen, assisting the operator to observe the whole machine operating environment in real time.

[0014] A silt remover control system for a suction device, comprising: Control unit, detection unit, electric push rod control mechanism, rotary auger control mechanism and radiator; Wherein, the detection unit includes a number of sensors installed on the silt remover, which are used to obtain the operation data of the silt remover; The electric push rod in the electric push rod control mechanism is electrically connected to the control unit and is also connected to the gasoline engine throttle push rod, and is used to control the electric push rod to extend or retract under the command of the control unit when the gasoline engine is remotely started or shut down, so that the gasoline engine throttle push rod moves to adjust the gasoline engine speed; The rotary auger control mechanism is electrically connected to the control unit through the solenoid valve assembly, and the rotary auger is adjusted to rotate forward, reverse, lift and lower under the action of the control unit; The radiator is electrically connected to the control unit and is used to dissipate heat for the entire machine; The control unit communicates with the detection unit via a CAN bus or Ethernet to receive the operation data of the silt remover, and controls the electric push rod control mechanism, the rotary auger control mechanism and the radiator to execute the steps of the above method.

[0015] A silt remover control device for a suction device, comprising: Operation data detection module, auger anti-jamming control module, gasoline engine control module, radiator control module; The operation data detection module is used to obtain the operation data of the silt remover, and the operation data of the silt remover includes: an electric push rod gear position signal, a gasoline engine speed signal, a hydraulic pressure signal and a hydraulic temperature signal; The auger anti-stuck control module is used to determine whether the rotary auger is stuck when rotating forward according to the comparison result of the hydraulic pressure signal and the preset pressure condition when the rotary auger is rotating forward, so as to start the rotary auger anti-stuck control strategy; The gasoline engine control module is used to determine whether the electric push rod is in the start-stop position according to the comparison result of the electric push rod gear position signal and the start-stop position threshold when the gasoline engine is remotely started or shut down, and start the electric push rod automatic control strategy; The radiator control module is used to determine whether heat dissipation is required during the operation of the silt remover according to the comparison result of the hydraulic temperature signal and the preset temperature condition, so as to start the radiator.

[0016] Optionally, it also includes an alarm unit, which is used to receive alarm information of the whole machine inclination angle signal, the whole machine wading signal and the fuel quantity signal and prompt through a buzzer alarm.

[0017] Compared with the prior art, the technical effects achieved by the present invention are: 1. During the suction process of the equipment, when the auger is used to rotate and assist in feeding, the solenoid valve assembly is automatically controlled in combination with the hydraulic system pressure, so that the rotating auger can be flexibly switched in forward, reverse, lifting and lowering operations to achieve the purpose of preventing jamming; at the same time, the electric push rod is automatically controlled to adjust the gasoline engine speed to match the hydraulic system flow, so as to achieve the optimal power and torque output of the gasoline engine and avoid damage to the gasoline engine; and the whole machine is timely cooled during the operation of the dredging machine to further improve the equipment life of each component of the whole machine.

[0018] 2. When remotely controlling the solenoid valve assembly, you can also remotely observe the operation of the auger in combination with the video signal to avoid damage to the auger caused by special environments.

[0019] 3. Use multi-level thresholds to determine the cooling time and cooling temperature to avoid power loss caused by frequent start and stop of the radiator.

[0020] 4. When the gasoline engine stops working, the function design of reducing the speed of the electric push rod first can prevent the gasoline engine from stalling at a high speed and affecting its service life.

[0021] 5. The present invention also acquires other possible risks of the silt remover in real time by detecting various data such as the water level of the whole machine, the inclination angle of the whole machine and the control of the remaining oil volume, so as to make it meet the complex working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The figure shows a schematic diagram of the components of the various mechanisms of the silt remover of the present invention; Figure 2 The figure shows a schematic diagram of the composition of the remote throttle control unit of the present invention; Figure 3 It is a flow chart of the anti-stuck control strategy of the rotary auger of the dredging machine of the present invention; Figure 4 The figure shows a schematic diagram of the control system of the silt cleaning machine of the present invention; Figure 5 Shown is a flow chart of the electric push rod automatic control strategy and the radiator control strategy of the present invention.

[0023] In the figure: 11-control unit, 12-battery, 13-electric push rod control mechanism, 131-electric push rod, 132-push plate, 133-pin, 134-lock pin, 14-detection unit, 141-A-whole machine inclination sensor, 141-B-arm end inclination sensor, 142-speed sensor, 143-temperature sensor, 144-wading sensor, 145-pressure sensor, 146-fuel sensor, 15-video monitoring system, 16-wireless remote control, 17-radiator, 18-gasoline engine, 21-rotating auger control mechanism, 211-auger forward solenoid valve, 212-auger reverse solenoid valve, 213-auger lifting solenoid valve, 214-auger lowering solenoid valve, 215-auger speed regulating solenoid valve, 31-rotating auger, 41-support frame, 51-slewing platform, 61-arm end. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0025] The applicant believes that the prior art has the following three deficiencies: First, during the suction process of the equipment, when using the auger to rotate and assist in feeding, the auger is prone to get stuck when encountering large pieces of material. During remote control, it is difficult to observe the operation of the auger, which will cause the suction port to be blocked, reduce the suction efficiency, and easily cause damage to the auger.

[0026] Second, during the startup or operation of the equipment, the engine throttle needs to be controlled by a local hand-push push rod. The speed regulation accuracy is not high, and the flow matching cannot be optimal, resulting in power loss.

[0027] Third, during the operation of the equipment, there are few protective inspections, which may cause the risk of equipment damage and reduce its service life. Example

[0028] This embodiment provides a silt remover control system for a suction device to address the above technical issues, such as Figure 1 Shown include: Control unit 11, detection unit 14, electric push rod control mechanism 13, battery 12, video monitoring system 15, wireless remote control 16, radiator 17, gasoline engine 18, rotary auger control mechanism 21, rotary auger 31, support frame 41, rotary platform 51, boom end 61.

[0029] Among them, the control unit 11 includes a collection of a controller and a processor. The chassis of the control unit 11 is fixed to the support frame 41 by bolts, and is used to control the execution of the whole vehicle action; the battery 12 is fixed to the rotating platform 51 by bolts, and is used to provide 12V power for the whole vehicle control; the rotary auger control mechanism 21 is fixed to the rotating platform 51 by bolts, and is used to provide hydraulic power for each actuator; the rotary auger 31 is fixedly connected to the arm end 61 by a pin shaft, and is used to assist the suction end to collect materials and improve the suction efficiency.

[0030] like Figure 2 The electric push rod control mechanism 13 shown includes: an electric push rod 131, a push plate 132, a pin 133, and a locking pin 134; the electric push rod 131 is fixedly connected to the throttle push rod 181 of the gasoline engine 18 through the push plate 132 and the pin 133, and then the locking pin 134 is used to fix and lock the pins 133 at both ends to prevent them from falling off.

[0031] The detection unit 14 includes: a boom end inclination sensor 141-B, a whole machine inclination sensor 141-A, a speed sensor, a temperature sensor 143, a wading sensor 144, a hydraulic pressure sensor 145, a gear pressure sensor 145, a fuel sensor 146, etc., which are used to obtain the operation data of the silt remover; The rotary auger control mechanism 21 includes: an auger forward rotation solenoid valve 211, an auger reverse rotation solenoid valve 212, an auger speed regulation solenoid valve 215, an auger lifting solenoid valve 213 and an auger lowering solenoid valve 214; the radiator 17 is electrically connected to the control unit 11 for dissipating heat for the entire machine; the control unit 11 communicates with the detection unit 14 via a CAN bus or Ethernet to receive the dredging machine operation data, and controls the electric push rod control mechanism 13, the rotary auger control mechanism 21 and the radiator 17 to execute the steps of the following method.

[0032] Optionally, it also includes an alarm unit, which is used to receive alarm information of the whole machine inclination angle signal, the whole machine wading signal and the fuel quantity signal and prompt through a buzzer alarm. Example

[0033] This embodiment provides a method for controlling a silt remover for a suction device, such as Figure 3 and Figure 5 Shown include: Acquire the operation data of the silt remover, wherein the operation data of the silt remover includes: a gear position signal of the electric push rod 131, a speed signal of the gasoline engine 18, a hydraulic pressure signal, and a hydraulic temperature signal; When the rotary auger 31 rotates forward, it is determined whether the rotary auger 31 is stuck during forward rotation according to the comparison result between the hydraulic pressure signal and the preset pressure condition, so as to start the anti-stuck control strategy of the rotary auger 31; When the gasoline engine 18 is remotely started or shut down, the electric push rod 131 is judged whether it is in the start / stop position according to the comparison result of the gear position signal of the electric push rod 131 and the start / stop position threshold, and the automatic control strategy of the electric push rod 131 is started; According to the comparison result between the hydraulic temperature signal and the preset temperature condition, it is judged whether heat dissipation is required during the operation of the silt remover, so as to start the radiator 17 .

[0034] Optionally, judging whether the rotary auger 31 is stuck during forward rotation according to the comparison result between the hydraulic pressure signal and the preset pressure condition, so as to start the anti-stuck control strategy of the rotary auger 31, includes: If the hydraulic pressure signal is greater than or equal to the preset pressure threshold and the delay value is within the preset time, the rotary auger 31 is stuck, and the first stage control strategy for preventing the rotary auger 31 from getting stuck is initiated; Under the first stage control strategy, the start-up instructions of the auger reversing solenoid valve 212, the auger speed regulating solenoid valve 215 and the buzzer are generated respectively, and the rotating auger 31 is controlled to first slow down to the first speed, and then the auger forward solenoid valve 211 and the auger speed regulating solenoid valve 215 are respectively generated again after reversing at the first speed and maintaining the set time, so that the rotating auger 31 resumes forward rotation; After the rotary auger 31 resumes forward rotation, if the hydraulic pressure signal is less than the preset pressure threshold and the delay value is within the preset time, the rotary auger 31 returns to normal and continues to perform auxiliary aggregate collection; if the hydraulic pressure signal is still greater than or equal to the preset pressure threshold and the delay value is within the preset time, the rotary auger 31 is still stuck, and the second stage control strategy for preventing the rotary auger 31 from getting stuck is activated.

[0035] In the present embodiment, when the auger forward rotation solenoid valve 211 is energized and the rotary auger 31 starts to rotate forward, the pressure sensor 145 measures the hydraulic valve pressure value P≥P1 of the rotary auger 31 and after a delay of S1 seconds, it is proved that the auger is stuck. At this time, a buzzer is used to prompt the user that there is a stuck column, so that the user can observe the operation of the rotary auger 31 in conjunction with the video.

[0036] Optionally, the second stage control strategy for preventing the rotary auger 31 from being stuck is started, including: Generate power-on instructions for the auger lifting solenoid valve 213 and the auger forward rotation solenoid valve 211 respectively, control the lifting of the rotary auger 31 and obtain the inclination angle signal of the boom end 61; When the rotary auger 31 is lifted, if the inclination signal of the boom end 61 reaches the preset lifting angle threshold, a power-off command for the auger lifting solenoid valve 213 and a power-on command for the auger lowering solenoid valve 214 are generated respectively, and the auger lowering solenoid valve 214 is controlled to stop lowering when it returns to the initial angle and continue to rotate forward to resume the rotary aggregate operation.

[0037] In this embodiment, Figure 3 and Figure 4As shown, when the control unit is powered on for the first time, the auger forward rotation solenoid valve 211 is energized, the rotary auger 31 starts to rotate forward, and the pressure sensor 145 measures the rotary auger 31 hydraulic valve pressure value P≥P1 and delays for S1 seconds, proving that the auger has been stuck and executing the first-stage control logic.

[0038] The first stage: the control unit 11 simultaneously sends commands to the buzzer 161, the auger reversing solenoid valve 212 and the auger speed regulating solenoid valve 215, so that the auger rotation speed is reduced to R1, and the auger starts to reverse at R1 speed and maintains for S2 seconds, and then the control unit 11 sends commands to the auger forward solenoid valve 211 and the auger speed regulating solenoid valve 215 again, so that the auger rotation speed is restored to the initial value, and the auger starts to rotate forward. If the pressure value P is less than P1 and the delay is S1 seconds, the rotating auger 31 runs normally to achieve auxiliary aggregate. When the first stage control logic is executed, when the interval period T≥T1, if P≥P1 is detected again, the first stage control logic will continue to be executed, otherwise the second stage control logic will be executed.

[0039] The second stage: if the pressure value continues to be P≥P1 and after a delay of S1 seconds, the control unit 11 communicates with the arm end inclination sensor 141-B through the CAN bus, receives and records the angle value θ at this time, and the control unit 11 sends a command to the auger lifting solenoid valve 213 and the auger forward rotation solenoid valve 211. When the angle value of the arm end inclination sensor 141-B increases to θ1, the control unit 11 stops sending the auger lifting command, the auger lifting solenoid valve 213 loses power, and starts sending commands to the auger lowering solenoid valve 214 until the arm end inclination sensor 141-B returns to the initial angle value θ, and stops, and continues the rotating aggregate operation, realizing automatic anti-stuck control of the rotating auger 31, solving the problem of operator inability to observe properly, auger stuck, reducing suction efficiency and component damage.

[0040] Optionally, when the gasoline engine 18 is remotely started, whether the electric push rod 131 is in the start-stop position is determined based on the comparison result of the gear position signal of the electric push rod 131 and the start-stop position threshold, and the automatic control strategy of the electric push rod 131 is started, including: If the gear position signal of the electric push rod 131 meets the start-stop position threshold, the electric push rod 131 is in the start-stop position, and a gasoline engine 18 start command is generated; If the gear position signal of the electric push rod 131 does not meet the start-stop position threshold, the electric push rod 131 is not in the start-stop position, and a retraction command of the electric push rod 131 is generated, and the electric push rod 131 is controlled to drive the throttle push rod to move, so that the throttle is reduced to the minimum starting position until the gear position signal of the electric push rod 131 meets the start-stop position threshold and stops, and a start command of the gasoline engine 18 is generated; this can prevent the gasoline engine 18 from being damaged by starting at a high speed.

[0041] Optionally, also include: After the gasoline engine 18 is started according to the gasoline engine 18 start instruction, an electric push rod 131 extension instruction is generated; Based on the extension instruction of the electric push rod 131, the electric push rod 131 is controlled to drive the throttle push rod to move, so that the throttle is increased to the working position, and the electric push rod 131 gear position signal is obtained to stop when it meets the working position threshold, and the speed sensor 142 speed signal is detected to obtain the speed value of the gasoline engine 18, wherein the speed value of the gasoline engine 18 is transmitted to the display of the wireless remote control 16 through the CAN bus. After obtaining the speed value of the gasoline engine 18, this embodiment compares it with the preset speed to obtain the speed difference, and then calculates the speed compensation value of the gasoline engine 18, and converts it into a control instruction of the electric push rod 131 for controlling the electric push rod 131 to extend or retract, so that the throttle of the gasoline engine 18 changes and adjusts the gasoline engine 18 to achieve the optimal power and torque output.

[0042] Optionally, when the gasoline engine 18 is remotely shut down, whether the electric push rod 131 is in the start / stop position is determined based on the comparison result of the gear position signal of the electric push rod 131 and the start / stop position threshold, and the automatic control strategy of the electric push rod 131 is started, including: If the gear position signal of the electric push rod 131 meets the start-stop position threshold, the electric push rod 131 is in the start-stop position, and a shutdown command of the gasoline engine 18 is generated; If the gear position signal of the electric push rod 131 does not meet the start-stop position threshold, the electric push rod 131 is not in the start-stop position, and a retraction command of the electric push rod 131 is generated to control the electric push rod 131 to drive the throttle push rod to move, so that the throttle is reduced to the minimum starting position until the gear position signal of the electric push rod 131 meets the start-stop position threshold, and a gasoline engine 18 shutdown command is generated to prevent the gasoline engine 18 from shutting down at a high speed and affecting its service life.

[0043] Optionally, judging whether heat dissipation is required during the operation of the silt remover according to the comparison result between the hydraulic temperature signal and the preset temperature condition, so as to start the radiator 17, includes: If the hydraulic temperature signal is greater than or equal to the preset first temperature threshold and is delayed to a fixed time, a radiator 17 start instruction is generated to control the radiator 17 to dissipate heat for the entire machine; When the whole machine is cooling, when the hydraulic temperature signal is less than the preset second temperature threshold and is delayed to a fixed time, a radiator 17 stop instruction is generated to control the radiator 17 to be closed.

[0044] Optionally, the silt remover operation data also includes: a whole machine inclination angle signal, a whole machine wading signal, a fuel quantity signal, and a video monitoring signal; According to the comparison result between the whole machine tilt angle signal and the preset whole machine tilt angle threshold, it is judged whether the whole machine currently has the risk of overturning, and the overturning alarm information is generated for forwarding and prompting through the buzzer alarm; Based on the comparison result between the whole machine wading signal and the preset whole machine water level threshold, it is determined whether the whole machine currently has the risk of wading too deep, and a wading alarm message is generated for forwarding and prompted through a buzzer alarm; According to the comparison result between the fuel quantity signal and the preset remaining fuel threshold, it is judged whether there is a risk of low fuel quantity in the whole machine at present, and a low fuel quantity alarm message is generated for forwarding and prompting through a buzzer alarm; The video monitoring signal is forwarded to the terminal control platform for generating a remote monitoring screen, assisting the operator to observe the whole machine operating environment in real time.

[0045] In summary, during the suction process of the equipment, the present invention uses the auger rotation to assist in feeding, and automatically controls the solenoid valve assembly in combination with the hydraulic system pressure, so that the rotating auger 31 can be flexibly switched in the forward, reverse, lifting and lowering operations to achieve the purpose of anti-stuck; at the same time, the electric push rod 131 is automatically controlled to adjust the speed of the gasoline engine 18 to match the flow of the hydraulic system, so as to achieve the optimal power and torque output of the gasoline engine 18 and avoid damage to the gasoline engine 18; and the whole machine is timely cooled during the operation of the silt remover, so as to further improve the equipment life of each component of the whole machine. When the solenoid valve assembly is remotely controlled, the operation of the auger can also be remotely observed in combination with the video signal to avoid damage to the auger in special environments. The heat dissipation time and heat dissipation temperature are judged by multi-level thresholds to avoid power loss caused by frequent start and stop of the radiator 17. When the gasoline engine 18 stops working, the functional design of first reducing the speed of the electric push rod 131 can prevent the gasoline engine 18 from stalling at high speed and affecting its service life. The present invention also acquires other possible risks of the silt remover in real time by detecting various data such as the water level of the whole machine, the inclination angle of the whole machine and the control of the remaining oil volume, so as to make the silt remover meet the complex working environment.

[0046] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that instructions executed by the processor of a computer or other programmable data processing device generate instructions for implementing the functions in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0047] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0048] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0049] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A method for controlling a silt remover for a suction device, characterized in that: include: Obtaining the operation data of the silt remover, which includes: electric push rod gear position signal, hydraulic pressure signal and hydraulic temperature signal; When the rotary auger rotates forward, it is determined whether the rotary auger is stuck according to the comparison result between the hydraulic pressure signal and the preset pressure condition. If it is stuck, the rotary auger anti-stuck control strategy is activated; When the gasoline engine is remotely started or shut down, the electric push rod is judged whether it is in the start-stop position according to the comparison result of the electric push rod gear position signal and the start-stop position threshold. If it is not in the start-stop position, the electric push rod automatic control strategy is started; According to the comparison result between the hydraulic temperature signal and the preset temperature condition, it is judged whether heat dissipation is required during the operation of the silt remover. If heat dissipation is required, the radiator is started.

2. A method for controlling a silt remover for a suction device according to claim 1, characterized in that: According to the comparison result of the hydraulic pressure signal and the preset pressure condition, it is judged whether the rotary auger is stuck during forward rotation. If it is stuck, the rotary auger anti-stuck control strategy is activated, including: If the hydraulic pressure signal is greater than or equal to the preset pressure threshold and the delay value is within the preset time, the rotary auger is stuck, and the first stage control strategy of the rotary auger anti-stuck is started; Under the first stage control strategy, the start-up instructions of the auger reversing solenoid valve, the auger speed regulating solenoid valve and the buzzer are generated respectively, and the rotating auger is controlled to first slow down to the first speed, and then the auger forward solenoid valve and the auger speed regulating solenoid valve are respectively generated again after reversing at the first speed and maintaining the set time, so that the rotating auger resumes forward rotation; After the rotary auger resumes forward rotation, if the hydraulic pressure signal is less than the preset pressure threshold and the delay value is within the preset time, the rotary auger returns to normal and continues to perform auxiliary aggregate collection; if the hydraulic pressure signal is still greater than or equal to the preset pressure threshold and the delay value is within the preset time, the rotary auger is still stuck, and the second stage control strategy for anti-stuck rotary auger is activated.

3. A method for controlling a silt remover for a suction device according to claim 2, characterized in that: The second stage control strategy for the rotary auger anti-jamming is initiated, including: Generate power-on instructions for the auger lifting solenoid valve and the auger forward rotation solenoid valve respectively, control the lifting of the rotary auger and obtain the inclination angle signal of the boom end; When the rotary auger is lifted, if the inclination angle signal at the end of the boom reaches the preset lifting angle threshold, a power-off command for the auger lifting solenoid valve and a power-on command for the auger lowering solenoid valve are generated respectively, and the auger lowering solenoid valve is controlled to stop lowering when it returns to the initial angle and continue to rotate forward to resume the rotary aggregate operation.

4. A method for controlling a silt remover for a suction device according to claim 1, characterized in that: When the gasoline engine is started remotely, the electric push rod is judged whether it is in the start-stop position based on the comparison result of the electric push rod gear position signal and the start-stop position threshold. If it is not in the start-stop position, the electric push rod automatic control strategy is started, including: If the electric push rod gear position signal meets the start-stop position threshold, the electric push rod is in the start-stop position, generating a gasoline engine start command; If the electric push rod gear position signal does not meet the start-stop position threshold, the electric push rod is not in the start-stop position, and an electric push rod retraction command is generated to control the electric push rod to drive the throttle push rod to move, so that the throttle is reduced to the minimum starting position until the electric push rod gear position signal meets the start-stop position threshold and stops, generating a gasoline engine start command.

5. A method for controlling a silt remover for a suction device according to claim 4, characterized in that: include: After the gasoline engine is started according to the gasoline engine start command, an electric push rod extension command is generated; Based on the electric push rod extension command, the electric push rod is controlled to drive the throttle push rod to move, so that the throttle is increased to the working position, and it stops when the electric push rod gear position signal meets the working position threshold, and the gasoline engine speed signal is detected to obtain the gasoline engine speed value.

6. A method for controlling a silt remover for a suction device according to claim 1, characterized in that: When the gasoline engine is shut down remotely, the electric push rod is judged whether it is in the start-stop position based on the comparison result of the electric push rod gear position signal and the start-stop position threshold. If it is not in the start-stop position, the electric push rod automatic control strategy is started, including: If the electric push rod gear position signal meets the start-stop position threshold, the electric push rod is in the start-stop position, and a gasoline engine shutdown command is generated; If the electric push rod gear position signal does not meet the start-stop position threshold, the electric push rod is not in the start-stop position, and an electric push rod retraction command is generated to control the electric push rod to drive the throttle push rod to move, so that the throttle is reduced to the minimum starting position until the electric push rod gear position signal meets the start-stop position threshold and stops, generating a gasoline engine shutdown command.

7. A method for controlling a silt remover for a suction device according to claim 1, characterized in that: According to the comparison result between the hydraulic temperature signal and the preset temperature condition, it is judged whether the silt remover needs to dissipate heat during operation. If heat dissipation is required, the radiator is started, including: If the hydraulic temperature signal is greater than or equal to the preset first temperature threshold and is delayed to a fixed time, a radiator start instruction is generated to control the radiator to dissipate heat for the entire machine; When the whole machine is cooling, when the hydraulic temperature signal is less than the preset second temperature threshold and is delayed to a fixed time, a radiator stop instruction is generated to control the radiator to close.

8. A method for controlling a silt remover for a suction device according to claim 1, characterized in that: The silt remover operation data also includes: whole machine inclination angle signal, whole machine wading signal, fuel quantity signal and video monitoring signal; According to the comparison result between the whole machine tilt angle signal and the preset whole machine tilt angle threshold, it is judged whether the whole machine currently has the risk of overturning, and the overturning alarm information is generated for forwarding and prompting through the buzzer alarm; Based on the comparison result between the whole machine wading signal and the preset whole machine water level threshold, it is determined whether the whole machine currently has the risk of wading too deep, and a wading alarm message is generated for forwarding and prompted through a buzzer alarm; According to the comparison result between the fuel quantity signal and the preset remaining fuel threshold, it is judged whether there is a risk of low fuel quantity in the whole machine at present, and a low fuel quantity alarm message is generated for forwarding and prompting through a buzzer alarm; The video monitoring signal is forwarded to the terminal control platform for generating a remote monitoring screen, assisting the operator to observe the whole machine operating environment in real time.

9. A silt remover control system for a suction device, characterized in that: include: Control unit, detection unit, electric push rod control mechanism, rotary auger control mechanism and radiator; Wherein, the detection unit includes a number of sensors installed on the silt remover, which are used to obtain the operation data of the silt remover; The electric push rod in the electric push rod control mechanism is electrically connected to the control unit and is also connected to the gasoline engine throttle push rod, and is used to control the electric push rod to extend or retract under the command of the control unit when the gasoline engine is remotely started or shut down, so that the gasoline engine throttle push rod moves to adjust the gasoline engine speed; The rotary auger control mechanism is electrically connected to the control unit, and under the action of the control unit, the rotary auger is adjusted to perform forward, reverse, lifting and lowering operations; The radiator is electrically connected to the control unit and is used to dissipate heat for the entire machine; The control unit communicates with the detection unit via a CAN bus or Ethernet to receive the operation data of the silt remover, and controls the electric push rod control mechanism, the rotary auger control mechanism and the radiator to execute the steps of the method according to claim 1.

10. A silt remover control system for a suction device according to claim 9, characterized in that: It also includes an alarm unit, which is used to receive alarm information of the whole machine inclination angle signal, the whole machine wading signal and the fuel quantity signal and prompt through a buzzer alarm.

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