Method for assisting the driving of a shovel

Abstract

The application discloses an auxiliary driving control method of a excavator, and belongs to the technical field of engineering machinery. The method solves the defects of the traditional excavator in the prior art, such as complex operation, fatigue of the handle after long-time operation, and poor operation effect of land leveling and slope repairing. The controller receives the voltage signal output by the sensor module in real time, converts the voltage signal into a displacement signal, and outputs the displacement signal to a display. The controller receives the auxiliary driving related parameters transmitted by the display, executes corresponding algorithms, calculates the current vehicle body posture of the excavator according to a mathematical model of the whole machine, obtains the required movement speed and movement direction of the swing arm, the bucket rod and the bucket according to a preset algorithm, and the required hydraulic oil flow. The controller converts the required movement speed and movement direction of the swing arm, the bucket rod and the bucket into a current signal and a digital signal, and outputs the current signal and the digital signal to a hydraulic system module and a power module. The controller receives the signal of an electric control handle to determine whether to start controlling the action of the excavator. The application is mainly used on the excavator and other engineering machinery.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of engineering machinery, and in particular relates to an auxiliary driving control method of an excavator. BACKGROUND

[0002] In actual construction engineering, there are often working conditions that require the use of excavators to level or repair slopes. When leveling or repairing slopes, the operator needs to control the movement speed and direction of the swing arm, dipper arm and bucket to make the bucket teeth or back parallel to the ground or slope to be leveled, thereby completing the leveling or slope repair work.

[0003] Currently, some excavator hydraulic systems on the market use negative flow hydraulic control systems, and some use hydraulic control positive flow hydraulic systems. These two types of hydraulic control systems can only rely on the manual operation of the operator's pilot handle to realize the action of the excavator's actuator. However, since the swing arm, dipper arm and bucket of the excavator need to be controlled simultaneously during leveling and slope repair work, manual leveling or slope repair work is complex to operate, requires a high level of operator skill and experience, and long-term operation of the handle can cause fatigue. In summary, the driving skills, operating experience, visual errors and fatigue levels of the operator can all become variable factors affecting the final results of leveling and slope repair work, which may ultimately result in poor leveling and slope repair work, affecting the quality and efficiency of construction. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art and provide an auxiliary driving control method for an excavator.

[0005] To achieve the above purpose, the present application adopts the following technical solutions:

[0006] An auxiliary driving control method for an excavator, comprising the following steps:

[0007] S1: Set the auxiliary driving mode through the display, select the leveling speed in the leveling mode, and select the high or low slope repair and the slope angle in the slope repair mode;

[0008] S2: The display transmits the auxiliary driving mode information set in step S1 to the controller, and the controller receives the voltage signal of the sensor module in real time and converts it into a displacement signal;

[0009] S3: The controller brings the displacement signal collected in step S2 into a preset algorithm, calculates the current machine posture, transmits the posture information to the display, and the display displays the movement posture of the machine in real time;

[0010] S4: operating the electric control handle, placing the bucket of the excavator to the starting position of the operation, pressing the button on the electric control handle, and the controller memorizes the current height of the bucket teeth and the angle of the bucket back;

[0011] S5: operating the electric control handle to perform the retraction action of the arm lever, after the controller detects the signal of the electric control handle, starting to substitute the target height of the bucket teeth and the actual height, the target angle of the bucket back and the actual angle data into the preset control model;

[0012] S6: through the calculation of step S5, the controller outputs the target movement speed of the boom, arm lever and bucket and the required hydraulic oil flow in real time, converts the speed signal and the required hydraulic oil flow into current signal and digital signal to output to the hydraulic system module and the power module, and receives the signal of the electric control handle to judge whether to start controlling the action of the excavator;

[0013] S7: in combination with step S6, the power module provides power and hydraulic oil flow according to the signal of the controller, and the hydraulic system module controls the movement speed and direction of the boom cylinder, arm cylinder and bucket cylinder in a closed loop according to the signal of the controller, thereby completing the grading or slope repairing operation.

[0014] Preferably, in step S6, the calculation formula of the target movement speed of the boom is:

[0015]

[0016] Z err =Z Tar –Z Act

[0017] Z Act =L1*sinα+L2*sin(α-β)+L3*sin(α-β+γ)+h

[0018] Wherein, V B is the target speed of the boom, Z err is the height error of the bucket teeth, Z Tar is the target height of the bucket teeth, Z Act is the actual height of the bucket teeth, L1 is the length of the boom, L2 is the length of the arm lever, L3 is the length of the bucket opening, α is the angle between the boom head-to-tail line and the horizontal plane, β is the angle between the boom head-to-tail line and the arm lever head-to-tail line, γ is the angle between the bucket opening line and the arm lever head-to-tail line, h is the distance between the boom and the upper frame hinge point and the ground, Kp is the proportional coefficient, Ki is the integral coefficient, Kd is the differential coefficient, Z err (t) is the current height error of the bucket teeth, ∫Z err (t)dt is the integral of the height error of the bucket teeth in the current time period, and dZ is the differential of the height error of the bucket teeth in the current time period.

[0019] Preferably, in step S6, the calculation formula of the target movement speed of the arm is:

[0020] V A = V A1 + Kp1*V Aerr

[0021] Wherein, V A is the arm target speed, V A1 is the arm current speed, Kp1 is the proportional coefficient, V Aerr is the arm speed error.

[0022] Preferably, in step S6, the calculation formula of the target movement speed of the bucket is:

[0023] V Bkt = V Bkt1 + Kp2*V Berr

[0024] Wherein, V Bkt is the bucket target speed, V Bkt1 is the bucket current speed, Kp2 is the proportional coefficient, V Berr is the bucket speed error.

[0025] Preferably, in step S6, the calculation formula of the hydraulic oil flow is:

[0026] D r = (k1*P1+b1)*9k2*P2+b2)**k3*V B +b3)

[0027] Wherein, D r is the pump output displacement, P1 is the pressure of the two pumps; k1, b1 are the pressure adjustment coefficients of the first pump, k2, b2 are the pressure adjustment coefficients of the second pump, k3, b3 are the adjustment coefficients of the working device speed and the required displacement, the set value of which is determined by the current gear.

[0028] Preferably, the sensor module comprises a boom cylinder sensor, an arm cylinder sensor and a bucket cylinder sensor, in step S2, the boom cylinder sensor collects the displacement of the boom cylinder in real time, the arm cylinder sensor collects the displacement of the arm cylinder in real time, and the bucket cylinder sensor collects the displacement of the bucket cylinder in real time, and converts them into voltage signals respectively and transmits them to the controller.

[0029] Preferably, the boom cylinder sensor, the arm cylinder sensor and the bucket cylinder sensor are displacement sensors or inclination sensors.

[0030] Preferably, in step S6, the hydraulic system module includes a fully electric control master valve, the power module includes an engine and an electric control variable plunger pump, the engine receives the signal output target speed of the controller, and the electric control variable plunger pump receives the signal to change the current displacement of the controller to provide power for the operation of the excavator.

[0031] Compared with the prior art, the beneficial effects of the present application are:

[0032] 1. High degree of intelligence: through the fully electric control hydraulic system, the motion posture of the excavator can be automatically adjusted to realize automatic grading and slope repair operations;

[0033] 2. Improve operation accuracy: through the cylinder displacement sensor and the pre-set algorithm in the controller, the operation accuracy of the excavator can be accurately controlled to improve the operation quality;

[0034] 3. Simple operation: through the display, the operator can real-time understand the posture, position and motion state of the excavator, as well as the pre-set auxiliary driving mode and parameters, which is convenient for the operator to operate;

[0035] 4. High controllability: since the auxiliary driving for grading and slope repair operations is realized, the influence of the uneven level of operators and fatigue driving on the operation effect is reduced, and the controllability of the system is improved;

[0036] In summary, the present application can allow the operator to only provide an action signal to the controller, and the controller automatically adjusts the motion trajectory of the excavator boom, stick and bucket to complete grading, slope repair and other operations, thereby reducing the requirement for the operator's proficiency for grading and slope repair operations, reducing the labor intensity of the operator, improving the operation efficiency and operation quality, and also real-time grasping the whole machine action posture information, realizing the automatic adjustment of the motion speed and direction of the boom and bucket when the stick is operated, and completing the grading or slope repair operation. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a schematic diagram of the excavator in the present application;

[0038] Figure 2 is a schematic diagram of the angles in the present application;

[0039] Figure 3 is a schematic diagram of auxiliary grading in the present application;

[0040] Figure 4 is a schematic diagram of auxiliary slope repair in the present application.

[0041] In the figure: 1, controller; 2, display; 3, electric control handle; 4, boom; 5, stick; 6, bucket; 7, bucket back; 8, bucket tooth; 9, boom cylinder; 10, stick cylinder; 11, bucket cylinder; 12, boom cylinder sensor; 13, stick cylinder sensor; 14, bucket cylinder sensor; 15, engine; 16, electric control variable plunger pump; 17, full electric control master valve. DETAILED DESCRIPTION

[0042] The application will be further described below by specific examples and in conjunction with the drawings.

[0043] Example 1

[0044] As shown in the figure, an auxiliary driving control method of a excavator, comprising the following steps: Figure 1

[0045] S1: setting the auxiliary driving mode through the display 2, selecting the flat ground speed in the flat ground mode, selecting the high or low platform slope repair and the slope repair angle in the slope repair mode;

[0046] S2: the display 2 transmits the auxiliary driving mode information set in step S1 to the controller 1, and the controller 1 receives the voltage signal of the sensor module in real time and converts it into a displacement signal;

[0047] Among them, the controller 1 is used to receive the voltage signal output by the sensor module in real time and convert it into a displacement signal, and output to the display 2, receive the auxiliary driving related parameters transmitted by the display 2 and execute the corresponding algorithm, calculate the current vehicle body posture of the whole machine according to the mathematical model of the whole machine, and get the required movement speed and direction of the boom 4, stick 5 and bucket 6 and the required hydraulic oil flow according to the preset algorithm, convert it into current signal and digital signal and output to the hydraulic system module and power module, receive the signal of the electric control handle 3 to judge whether to start controlling the action of the excavator;

[0048] The display 2 is installed on the front side of the cab of the excavator, connected with the controller 1, receives the vehicle body posture information sent by the controller 1 in real time and displays the 2D guide animation on the screen, at the same time can carry on the man-machine interaction with the operator, the operator can set the related parameters of the auxiliary driving system through the display 2;

[0049] S3: the controller 1 brings the displacement signal collected in step S2 into the preset algorithm, calculates the current whole machine posture, transmits the posture information to the display 2, and the display 2 displays the movement posture of the whole machine in real time;

[0050] ​S4: operating the electric control handle 3, placing the bucket 6 of the excavator to the starting position of the operation, pressing the button on the electric control handle 3, and the controller 1 memorizes the current height of the bucket teeth 8 and the angle of the bucket back 7; wherein the electric control handle 3 is connected with the controller 1, and provides the action signal to the controller 1;

[0051] S5: operating the electric control handle 3 to perform the retraction action of the stick 5, and after the controller 1 detects the signal of the electric control handle 3, the target height of the bucket teeth 8 and the actual height, the target angle of the bucket back 7 and the actual angle data are substituted into the preset control model;

[0052] S6: through the calculation of step S5, the controller 1 outputs the target movement speed of the boom 4, the stick 5 and the bucket 6 and the required hydraulic oil flow in real time, converts the speed signal and the required hydraulic oil flow into current signal and digital signal, and outputs to the hydraulic system module and the power module, and receives the signal of the electric control handle 3 to judge whether to start controlling the action of the excavator;

[0053] S7: in combination with step S6, the power module provides power and hydraulic oil flow according to the signal of the controller 1, and the hydraulic system module controls the movement speed and direction of the boom cylinder 9, the stick cylinder 10 and the bucket cylinder 11 in a closed loop according to the signal of the controller 1, thereby completing the grading or slope repair operation.

[0054] Embodiment 2:

[0055] An auxiliary driving control method of an excavator, which is different from embodiment 1 in that in step S6, the calculation formula of the target movement speed of the boom 4 is:

[0056]

[0057] Z err =Z Tar –Z Act

[0058] Z Act =L1*sinα+L2*sin(α-β)+L3*sin(α-β+γ)+h

[0059] Wherein, V B is the target speed of the boom, Z err is the error of the bucket teeth height, Z Tar is the target height of the bucket teeth, Z Act is the actual height of the bucket teeth, L1 is the length of the boom, L2 is the length of the stick, L3 is the length of the bucket opening, α is the angle between the boom head-to-tail line and the horizontal plane, β is the angle between the boom head-to-tail line and the stick head-to-tail line, γ is the angle between the bucket opening line and the stick head-to-tail line, and h is the distance between the boom and the upper frame hinge point and the ground, as Figure 2As shown, Kp is the proportional coefficient, Ki is the integral coefficient, Kd is the differential coefficient, and Z... err (t) represents the current bucket tooth height error, ∫Z err (t)dt represents the integral of the bucket tooth height error within the current time period. This represents the differential of the bucket tooth height error within the current time period.

[0060] The direction of motion of boom cylinder 9 is: In the above formula, V B The larger the absolute value of V, the faster the speed of motion. B When the value is greater than 0, the boom cylinder 9 moves in the extension direction, V B When the value is less than 0, the boom cylinder 9 moves in the retracting direction.

[0061] Furthermore, in step S6, the formula for calculating the target movement speed of the stick 5 is:

[0062] V A =V A1 +Kp1*V Aerr

[0063] Among them, V A V is the target velocity on the stick. A1 The current speed of the stick is V, Kp1 is the proportional coefficient, and V is the current speed of the stick. Aerr The error is the stick speed; the direction of movement of stick 5 is: stick cylinder 10 moves continuously in the extended direction.

[0064] Furthermore, in step S6, the formula for calculating the target movement speed of the bucket 6 is:

[0065] V Bkt =V Bkt1 +Kp2*V Berr

[0066] Among them, V Bkt V represents the target speed of the bucket. Bkt1 V is the current speed of the bucket, Kp2 is the proportional coefficient, and V Berr For the bucket speed error; the direction of movement of bucket 6 is: In the formula, V Bkt The larger the absolute value of V, the faster the speed of motion. Bkt When the value is greater than 0, the bucket cylinder 11 moves in the extending direction, V Bkt When the value is less than 0, the bucket cylinder 11 moves in the retracting direction.

[0067] Furthermore, in step S6, the formula for calculating the hydraulic oil flow rate is:

[0068] D r =(k1*P1+b1)*(k2*P2+b2)*(k3*V B +b3)

[0069] Among them, D r P1 represents the pump output displacement, P2 represents the pressure of the two pumps, k1 and b1 represent the pressure adjustment coefficients of the first pump, k2 and b2 represent the pressure adjustment coefficients of the second pump, and k3 and b3 represent the adjustment coefficients of the working device speed and the required displacement, the set values ​​of which are determined by the current gear.

[0070] Furthermore, the sensor module includes a boom cylinder sensor 12, a stick cylinder sensor 13, and a bucket cylinder sensor 14. In step S2, the boom cylinder sensor 12 collects the displacement of the boom cylinder 9 in real time, the stick cylinder sensor 13 collects the displacement of the stick cylinder 10 in real time, and the bucket cylinder sensor 14 collects the displacement of the bucket cylinder 11 in real time, and converts them into voltage signals and transmits them to the controller 1.

[0071] Among them, boom cylinder sensor 12, stick cylinder sensor 13 and bucket cylinder sensor 14 are all displacement sensors or tilt sensors.

[0072] In this embodiment, the displacement of the left and right boom cylinders 9, stick cylinder 10, and bucket cylinder 11 of the excavator is collected in real time by boom cylinder sensor 12, stick cylinder sensor 13, and bucket cylinder sensor 14, and converted into voltage signals and transmitted to controller 1.

[0073] Furthermore, in step S6, the hydraulic system module includes a fully electronically controlled main control valve 17, and the power module includes an engine 15 and an electronically controlled variable displacement piston pump 16. The engine 15 receives a signal from the controller 1 and outputs a target speed, while the electronically controlled variable displacement piston pump 16 receives a signal from the controller 1 and changes its current displacement to provide power for the excavator's movement. The hydraulic system module is connected to the controller 1 and converts the current signal output by the controller 1 into a hydraulic pilot signal to control the overall movement of the excavator.

[0074] By using this method, the machine's movement and posture information can be monitored in real time. When operating the boom 5 for digging, the movement speed and direction of the boom 4 and bucket 6 can be automatically adjusted to complete leveling or slope repair operations. This can effectively reduce the driver's labor intensity, lower the requirements for the driver's skill level, and improve work efficiency and quality.

[0075] like Figure 3 As shown, the controller 1 processes sensor signals to maintain the horizontal height of the bucket teeth 8 during the excavator's movement, thus completing the auxiliary leveling operation.

[0076] like Figure 4 As shown, the controller 1 processes sensor signals and controls the bucket teeth 8 and the bucket back 7 to scrape out a slope at a fixed angle during the excavator's movement, thus completing the auxiliary leveling operation.

Claims

1. An assisted driving control method of an excavator, characterized by: The method comprises the following steps: S1: setting the auxiliary driving mode through the display (2), selecting the flat ground speed in the flat ground mode, selecting the high or low platform slope repairing and the angle of slope repairing in the slope repairing mode; S2: the display (2) transmits the auxiliary driving mode information set in step S1 to the controller (1), and the controller (1) receives the voltage signals of the sensor module and converts them into displacement signals in real time; S3: the controller (1) brings the displacement signals collected in step S2 into the preset algorithm, calculates the current posture of the whole machine, transmits the posture information to the display (2), and the display (2) displays the movement posture of the whole machine in real time; S4: operating the electric control handle (3), placing the bucket (6) of the excavator at the starting position of the operation, pressing the button on the electric control handle (3), and the controller (1) remembers the height of the bucket teeth (8) and the angle of the bucket back (7) at present; S5: operating the electric control handle (3) to perform the retraction action of the dipper arm (5), and after the controller (1) detects the signal of the electric control handle (3), the target height of the bucket teeth (8) and the target angle of the bucket back (7) are substituted into the preset control model; S6: through the calculation of step S5, the controller (1) outputs the target movement speed of the boom (4), the dipper arm (5) and the bucket (6) and the required hydraulic oil flow in real time, converts the speed signal and the required hydraulic oil flow into current signals and digital signals, and outputs them to the hydraulic system module and the power module, and receives the signal of the electric control handle (3) to judge whether to start controlling the action of the excavator; S7: combining step S6, the power module provides power and hydraulic oil flow according to the signal of the controller (1), the hydraulic system module controls the movement speed and direction of the boom cylinder (9), the dipper arm cylinder (10) and the bucket cylinder (11) in a closed loop according to the signal of the controller (1), and then completes the flat ground or slope repairing operation; In step S6, the calculation formula of the target movement speed of the boom (4) is: Z err = Z Tar – z Act Z Act = L1 * sin a + L2 * sin (a - b) + L3 * sin (a - b + g) + h wherein V B is the target speed of the boom, Z err is the height error of the bucket, Z Tar is the target height of the bucket, Z Act is the actual height of the bucket, L1 is the length of the boom, L2 is the length of the stick, L3 is the length of the opening of the bucket, a is the angle between the line connecting the front and back of the boom and the horizontal plane, b is the angle between the line connecting the front and back of the boom and the line connecting the front and back of the stick, g is the angle between the line connecting the opening of the bucket and the line connecting the front and back of the stick, h is the distance between the hinge point of the boom and the upper frame and the ground, Kp is the proportional coefficient, Ki is the integral coefficient, Kd is the differential coefficient, Z err (t) is the current height error of the bucket, Z err (t)dt is the integral of the height error of the bucket in the current time period, is the differential of the height error of the bucket in the current time period.

2. The assisted driving control method of the excavator according to claim 1, characterized by: In step S6, the calculation formula of the target movement speed of the dipper arm (5) is: V A = V A1 + Kp1*V Aerr Vtarget = Vtarget + Kp1 * Verror A Vtarget = Vtarget + Kp1 * Verror A1 Vtarget = Vtarget + Kp1 * Verror Aerr Vtarget = Vtarget + Kp1 * Verror 3. The assisted driving control method of an excavator according to claim 2, characterized by: In step S6, the calculation formula of the target movement speed of the bucket (6) is: V Bkt = V Bkt1 + Kp2* V Berr V Bkt is a target speed of the bucket, V Bkt1 is a current speed of the bucket, Kp2 is a proportional coefficient, V Berr is a speed error of the bucket.

4. The assisted driving control method of an excavator according to claim 3, characterized by: In step S6, the calculation formula of the hydraulic oil flow is: D r = (k1*P1 + b1) * (k2*P2 + b2) * (k3*V + b3) B +b3) where D r is the pump output displacement, P1 is the pressure of both pumps; k1, b1 are the pressure regulation coefficients of the first pump, k2, b2 are the pressure regulation coefficients of the second pump, k3, b3 are the regulation coefficients of the working device speed and of the required displacement, the set value of which is determined by the current gear.

5. The assisted driving control method of an excavator according to any one of claims 1 to 4, characterized in that: The sensor module comprises a boom cylinder sensor (12), a dipper arm cylinder sensor (13) and a bucket cylinder sensor (14), the boom cylinder sensor (12) collects the displacement of the boom cylinder (9) in real time, the dipper arm cylinder sensor (13) collects the displacement of the dipper arm cylinder (10) in real time, and the bucket cylinder sensor (14) collects the displacement of the bucket cylinder (11) in real time, and converts them into voltage signals and transmits them to the controller (1).

6. The assisted driving control method of an excavator according to claim 5, characterized by: The boom cylinder sensor (12), the dipper arm cylinder sensor (13) and the bucket cylinder sensor (14) are displacement sensors or inclination angle sensors.

7. The assisted driving control method of an excavator according to claim 6, characterized by: In step S6, the hydraulic system module includes a fully electronically controlled master control valve (17), the power module includes an engine (15) and an electronically controlled variable displacement piston pump (16), the engine (15) receives the signal output target speed of the controller (1), and the electronically controlled variable displacement piston pump (16) receives the signal of the controller (1) to change the current displacement, thereby providing power for the action of the excavator.

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