A dredge machine control system and method for a suction apparatus

Abstract

This invention discloses a control system and method for a sludge suction machine, belonging to the field of automated control of sanitation machinery and equipment. The method includes: acquiring sludge suction machine operating data; when the auger rotates forward, determining whether the auger is stuck based on a comparison between the hydraulic pressure signal and a preset pressure condition, and activating an anti-jamming control strategy for the auger; when the gasoline engine is remotely started or stopped, determining whether the electric actuator is in the start / stop position based on a comparison between the electric actuator position signal and a start / stop threshold, and activating an automatic control strategy for the electric actuator; and determining whether the sludge suction machine needs cooling during operation based on a comparison between the hydraulic temperature signal and a preset temperature condition, and activating the radiator. This invention can automatically control the auger to prevent jamming during the suction process, automatically control the electric actuator to adjust the gasoline engine speed and hydraulic system flow rate, and provide timely cooling for the entire machine during operation, thereby improving the lifespan of all components.

Description

Technical Field

[0001] This invention relates to a control system and method for a sludge removal machine using a suction device, belonging to the field of automated control of sanitation machinery and equipment. Background Technology

[0002] With the continuous development of urbanization, the discharge of domestic sewage and garbage is becoming increasingly serious, putting enormous pressure on urban underground pipe networks. Dredging of rivers and culverts is therefore urgently needed. Moreover, these working environments often involve hazardous gases and confined spaces that are inaccessible to personnel. Therefore, a highly automated dredging device is required that can be remotely controlled, has an auxiliary material collection function at the suction end, and can replace manual labor.

[0003] Currently, domestic dredging equipment is mainly equipped with either external or self-powered systems. Each configuration has its advantages and disadvantages. Externally powered systems allow for a smaller main unit size, enabling operation in smaller spaces, but are limited by the length of cables or hydraulic lines. Self-powered systems are not limited by pipeline length, but are relatively larger. Existing self-powered dredging machines mostly use gasoline or diesel engines, requiring local key start and manual lever control of speed. This leads to uneven matching between speed and hydraulic system flow, resulting in power loss. The suction end of the equipment is generally equipped with a bucket and a rotating auger for auxiliary feeding, but due to varying material sizes, the rotating auger is prone to jamming, affecting efficiency and damaging components such as the rotating auger, significantly reducing work efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a control system and method for a sludge removal machine using a suction device. During the suction process, when using a rotating auger to assist in feeding, the system combines hydraulic system pressure with an automatically controlled solenoid valve assembly to allow the rotating auger to flexibly switch between forward, reverse, lifting, and lowering operations, thus preventing jamming. Simultaneously, automatic control of the electric actuator adjusts the gasoline engine speed to match the hydraulic system flow, achieving optimal power and torque output from the gasoline engine and preventing damage. Furthermore, timely heat dissipation of the entire machine during operation further extends the lifespan of all components.

[0005] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution.

[0006] A method for controlling a sludge removal machine in a suction device, comprising:

[0007] Acquire the dredging machine's operating data, which includes: electric actuator gear signal, hydraulic pressure signal, and hydraulic temperature signal;

[0008] When the auger rotates forward, the system determines whether it is stuck based on the comparison between the hydraulic pressure signal and the preset pressure condition. If it is stuck, the auger anti-jamming control strategy is activated.

[0009] When the gasoline engine is remotely started or stopped, the electric actuator is compared with the start / stop position threshold to determine whether the electric actuator is in the start / stop position. If it is not in the start / stop position, the electric actuator automatic control strategy is activated.

[0010] The system determines whether the dredging machine needs cooling during operation based on the comparison between the hydraulic temperature signal and the preset temperature conditions. If cooling is required, the radiator is activated.

[0011] Optionally, based on the comparison between the hydraulic pressure signal and the preset pressure conditions, it is determined whether the rotary auger is stuck during forward rotation. If it is stuck, the rotary auger anti-jamming control strategy is activated, including:

[0012] If the hydraulic pressure signal is greater than or equal to the preset pressure threshold and within the preset delay time, the rotary auger is stuck, and the first stage control strategy for preventing the rotary auger from getting stuck is activated.

[0013] Under the first-stage control strategy, start commands for the auger reversing solenoid valve, the auger speed regulating solenoid valve, and the buzzer are generated respectively. The rotating auger is controlled to first decelerate to the first speed, and then reverse at the first speed and maintain it for a set time. Then, energizing commands for the auger forward rotating solenoid valve and the auger speed regulating solenoid valve are generated again to make the rotating auger resume forward rotation.

[0014] After the rotary auger resumes forward rotation, if the hydraulic pressure signal is less than the preset pressure threshold and within the preset delay time, the rotary auger returns to normal and continues to perform auxiliary material collection; if the hydraulic pressure signal is still greater than or equal to the preset pressure threshold and within the preset delay time, the rotary auger is still stuck, and the second stage control strategy for preventing the rotary auger from getting stuck is activated.

[0015] Optionally, activate the second-stage control strategy for preventing the rotary auger from jamming, including:

[0016] Power-on commands are generated for the auger lifting solenoid valve and the auger forward rotation solenoid valve, respectively, to control the rotation of the auger for lifting and to acquire the boom end tilt angle signal;

[0017] When the auger is being lifted, if the tilt angle signal at the end of the boom reaches the preset lifting angle threshold, a de-energizing command is generated for the auger lifting solenoid valve and an energizing command is generated for the auger lowering solenoid valve. The auger lowering solenoid valve is controlled to stop lowering when it returns to the initial angle and continues to rotate forward to resume the rotating material collection operation.

[0018] Optionally, when the gasoline engine is remotely started, the system determines whether the electric actuator is in the start-stop position based on a comparison between the electric actuator position signal and the start-stop position threshold. If it is not in the start-stop position, the system activates the electric actuator automatic control strategy, including:

[0019] If the electric actuator position signal meets the start / stop position threshold, the electric actuator will be in the start / stop position, generating a gasoline engine start command;

[0020] If the electric actuator position signal does not meet the start / stop position threshold, the electric actuator is not in the start / stop position. A retraction command is generated to control the electric actuator to move the throttle actuator, so that the throttle is reduced to the minimum start position, until the electric actuator position signal meets the start / stop position threshold and stops, generating a gasoline engine start command.

[0021] Optional, also includes:

[0022] After the gasoline engine is started according to the gasoline engine start command, an electric actuator extension command is generated.

[0023] The electric actuator is controlled by extending the electric actuator to move the throttle actuator, increasing the throttle to the working position. The throttle stops when the electric actuator gear signal meets the working position threshold. The gasoline engine speed signal is also detected to obtain the gasoline engine speed value.

[0024] Optionally, when the gasoline engine is remotely shut off, the system determines whether the electric actuator is in the start-stop position based on a comparison between the electric actuator position signal and the start-stop position threshold. If it is not in the start-stop position, the system activates the electric actuator automatic control strategy, including:

[0025] If the electric actuator position signal meets the start / stop position threshold, the electric actuator will be in the start / stop position, generating a gasoline engine shutdown command;

[0026] If the electric actuator shift signal does not meet the start-stop position threshold, the electric actuator is not in the start-stop position. A retraction command is generated to control the electric actuator to move the throttle actuator, so that the throttle is reduced to the minimum start position, until the electric actuator shift signal meets the start-stop position threshold and stops, generating a gasoline engine shutdown command.

[0027] Optionally, the system determines whether the dredging machine needs cooling during operation based on a comparison between the hydraulic temperature signal and preset temperature conditions. If cooling is required, the radiator is activated, including:

[0028] If the hydraulic temperature signal is greater than or equal to the preset first temperature threshold and is delayed for a fixed time, a radiator start command is generated to control the radiator to dissipate heat for the whole machine.

[0029] When the whole machine is dissipating heat, if the hydraulic temperature signal is less than the preset second temperature threshold and is delayed for a fixed time, a radiator stop command is generated to control the radiator to shut down.

[0030] Optionally, the dredging machine's operating data may also include: overall machine tilt angle signal, overall machine wading signal, fuel quantity signal, and video monitoring signal;

[0031] Based on the comparison between the overall tilt angle signal and the preset overall tilt angle threshold, it is determined whether there is a risk of overturning, and an overturning alarm message is generated for forwarding and alerted through a buzzer alarm.

[0032] Based on the comparison between the whole machine's wading signal and the preset whole machine water level threshold, it is determined whether the whole machine is currently at risk of wading too deep, and a wading alarm message is generated for forwarding and alerted through a buzzer alarm.

[0033] Based on the comparison between the fuel quantity signal and the preset remaining fuel threshold, it is determined whether there is a risk of low fuel level in the engine, and a low fuel alarm message is generated for forwarding and alerted via a buzzer alarm.

[0034] The video monitoring signal is forwarded to the terminal control platform to generate remote monitoring images, assisting operators in observing the overall machine operating environment in real time.

[0035] A sludge removal machine control system for a suction device includes:

[0036] Control unit, detection unit, electric actuator control mechanism, rotary auger control mechanism, and radiator;

[0037] The detection unit includes several sensors installed on the dredging machine to acquire the dredging machine's operating data;

[0038] The electric actuator in the electric actuator control mechanism is electrically connected to the control unit and also connected to the gasoline engine throttle push rod. When the gasoline engine is remotely started or stopped, the electric actuator is extended or retracted under the command of the control unit, so that the gasoline engine throttle push rod moves to adjust the gasoline engine speed.

[0039] The rotary auger control mechanism is electrically connected to the control unit via a solenoid valve assembly, and adjusts the forward and reverse rotation, lifting and lowering of the rotary auger under the action of the control unit;

[0040] The heat sink is electrically connected to the control unit and is used to dissipate heat from the entire machine.

[0041] The control unit communicates with the detection unit via CAN bus or Ethernet to receive dredging machine operation data and to control the electric push rod control mechanism, the rotating auger control mechanism, and the radiator to perform the steps of the above method.

[0042] A sludge removal machine control device for a suction equipment, comprising:

[0043] Operating data detection module, auger anti-jamming control module, gasoline engine control module, radiator control module;

[0044] The operation data detection module is used to acquire the operation data of the dredging machine, which includes: electric actuator gear signal, gasoline engine speed signal, hydraulic pressure signal, and hydraulic temperature signal;

[0045] The auger anti-jamming control module is used to determine whether the auger is jammed when it rotates forward, based on the comparison between the hydraulic pressure signal and the preset pressure conditions, so as to activate the auger anti-jamming control strategy.

[0046] The gasoline engine control module is used to determine whether the electric actuator is in the start-stop position based on the comparison result between the electric actuator gear position signal and the start-stop position threshold when the gasoline engine is remotely started or stopped, and to activate the electric actuator automatic control strategy.

[0047] The radiator control module is used to determine whether the dredging machine needs to dissipate heat during operation based on the comparison result between the hydraulic temperature signal and the preset temperature conditions, so as to start the radiator.

[0048] Optionally, an alarm unit may also be included, which is used to receive alarm information such as the overall tilt angle signal, the overall water wading signal, and the fuel quantity signal and to provide a prompt through a buzzer alarm.

[0049] Compared with the prior art, the technical effects achieved by the present invention are as follows:

[0050] 1. During the suction process of the equipment, when using the auger to assist in feeding, the hydraulic system pressure is automatically controlled by the solenoid valve assembly, allowing the auger to flexibly switch between forward, reverse, lifting, and lowering operations to prevent jamming. At the same time, the automatic control of the electric actuator adjusts the gasoline engine speed to match the hydraulic system flow, achieving optimal power and torque output of the gasoline engine and preventing damage to the gasoline engine. Furthermore, timely heat dissipation of the entire machine during dredging operation further improves the service life of all components.

[0051] 2. When remotely controlling the solenoid valve assembly, the operation of the auger can also be observed remotely using video signals to avoid damage to the auger caused by special environments.

[0052] 3. By using multi-level thresholds to determine heat dissipation time and temperature, power loss caused by frequent start-up and shutdown of the radiator can be avoided.

[0053] 4. When the gasoline engine stops operating, the design also includes a function to reduce the speed of the electric actuator first, which prevents the gasoline engine from stalling at high speed and affecting its service life.

[0054] 5. This invention also acquires other potential risks of the dredging machine in real time by detecting the water level, tilt angle, and remaining oil volume of the entire machine, thus enabling it to meet the requirements of complex working environments. Attached Figure Description

[0055] Figure 1 The diagram shown is a schematic representation of the components of the dredging machine of the present invention.

[0056] Figure 2 The diagram shown is a schematic representation of the remote throttle control unit of the present invention.

[0057] Figure 3 The diagram shows the flowchart of the anti-jamming control strategy for the rotating auger of the dredging machine according to the present invention;

[0058] Figure 4 The diagram shown is a schematic representation of the control system of the dredging machine of the present invention.

[0059] Figure 5 The diagram shows the automatic control strategy for the electric actuator and the heat sink control strategy of the present invention.

[0060] In the diagram: 11-Control unit, 12-Battery, 13-Electric push rod control mechanism, 131-Electric push rod, 132-Push plate, 133-Pin, 134-Locking pin, 14-Detection unit, 141-A-Overall tilt sensor, 141-B-Boom end tilt 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-Gas engine, 21-Rotating auger control mechanism, 211-Auger forward rotation solenoid valve, 212-Auger reverse rotation solenoid valve, 213-Auger lifting solenoid valve, 214-Auger lowering solenoid valve, 215-Auger speed control solenoid valve, 31-Rotating auger, 41-Support frame, 51-Rotating platform, 61-Boom end. Detailed Implementation

[0061] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0062] The applicant believes that the existing technology has the following three shortcomings:

[0063] First, during the equipment's suction process, when using the auger to assist in feeding, the auger is prone to jamming when encountering large pieces of material. When operating remotely, it is difficult to observe the auger's operation, which will cause blockage of the suction port, reduce suction efficiency, and easily damage the auger.

[0064] Secondly, during equipment startup or operation, the engine throttle needs to be controlled locally by manually pushing a push rod, resulting in low speed regulation accuracy and inadequate matching with flow rate, leading to power loss.

[0065] Third, during equipment operation, there is insufficient protection and detection, which may pose a risk of equipment damage and reduce its service life. Example

[0066] This embodiment provides a control system for a sludge removal machine used in suction equipment to address the aforementioned technical problems, such as... Figure 1 The following are included:

[0067] Control unit 11, detection unit 14, electric actuator 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, slewing platform 51, boom end 61.

[0068] The control unit 11 includes a combination 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 vehicle's movements. The battery 12 is fixed to the slewing platform 51 by bolts and is used to provide 12V power for the vehicle control. The rotating auger control mechanism 21 is fixed to the slewing platform 51 by bolts and is used to provide hydraulic power for each actuator. The rotating auger 31 is fixedly connected to the boom end 61 by a pin and is used to assist the suction end in collecting materials and improve suction efficiency.

[0069] like Figure 2 The electric actuator control mechanism 13 shown includes: electric actuator 131, push plate 132, pin 133, and locking pin 134; the electric actuator 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 the locking pin 134 is used to fix and lock the pins 133 at both ends to prevent them from falling off.

[0070] The detection unit 14 includes: boom end tilt sensor 141-B, whole machine tilt sensor 141-A, speed sensor, temperature sensor 143, wading sensor 144, hydraulic pressure sensor 145, gear pressure sensor 145, fuel sensor 146, etc., used to acquire the dredging machine's operating data;

[0071] The rotating auger control mechanism 21 includes: an auger forward rotation solenoid valve 211, an auger reverse rotation solenoid valve 212, an auger speed control 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 and is used to dissipate heat for the entire machine; the control unit 11 communicates with the detection unit 14 via CAN bus or Ethernet to receive the dredging machine's operating data and controls the electric push rod control mechanism 13, the rotating auger control mechanism 21, and the radiator 17 to perform the steps of the following method.

[0072] Optionally, an alarm unit may also be included, which is used to receive alarm information such as the overall tilt angle signal, the overall water wading signal, and the fuel quantity signal and to provide a prompt through a buzzer alarm. Example

[0073] This embodiment provides a control method for a sludge removal machine used in suction equipment, such as... Figure 3 and Figure 5 The following are included:

[0074] Acquire the dredging machine's operating data, which includes: electric actuator 131 gear position signal, gasoline engine 18 speed signal, hydraulic pressure signal, and hydraulic temperature signal;

[0075] When the rotary auger 31 rotates forward, the system determines whether the rotary auger 31 is stuck when rotating forward based on the comparison between the hydraulic pressure signal and the preset pressure conditions, so as to activate the anti-jamming control strategy of the rotary auger 31.

[0076] When the gasoline engine 18 is remotely started or stopped, the electric actuator 131 is determined to be in the start-stop position based on the comparison between the gear signal of the electric actuator 131 and the start-stop position threshold, and the automatic control strategy of the electric actuator 131 is activated.

[0077] Based on the comparison between the hydraulic temperature signal and the preset temperature conditions, determine whether the dredging machine needs to dissipate heat during operation, and then start the radiator 17.

[0078] Optionally, based on the comparison between the hydraulic pressure signal and the preset pressure conditions, it is determined whether the rotary auger 31 is stuck during forward rotation, thereby activating the anti-jamming control strategy for the rotary auger 31, including:

[0079] If the hydraulic pressure signal is greater than or equal to the preset pressure threshold and within the preset delay time, the rotary auger 31 will be stuck, and the first stage control strategy for preventing the rotary auger 31 from getting stuck will be activated.

[0080] Under the first stage control strategy, start commands for the auger reversing solenoid valve 212, the auger speed regulating solenoid valve 215 and the buzzer are generated respectively. The rotating auger 31 is controlled to first reduce its speed to the first speed, and then reverse at the first speed and maintain it for a set time. Then, energizing commands for the auger forward rotating solenoid valve 211 and the auger speed regulating solenoid valve 215 are generated again to make the rotating auger 31 resume forward rotation.

[0081] After the rotary auger 31 resumes forward rotation, if the hydraulic pressure signal is less than the preset pressure threshold and within the preset delay time, the rotary auger 31 returns to normal and continues to perform auxiliary material collection; if the hydraulic pressure signal is still greater than or equal to the preset pressure threshold and within the preset delay 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.

[0082] In this embodiment, when the auger forward rotation solenoid valve 211 is energized and the auger 31 starts to rotate forward, the pressure sensor 145 measures the hydraulic valve pressure value P of the auger 31 to be greater than or equal to P1. After a delay of S1 seconds, it is confirmed that the auger is stuck. At this time, a buzzer is used to indicate that there is a stuck situation, so that the user can observe the operation of the auger 31 in conjunction with the video.

[0083] Optionally, activate the second-stage control strategy for preventing jamming of the rotary auger 31, including:

[0084] Power-on commands are generated for the auger lifting solenoid valve 213 and the auger forward rotation solenoid valve 211, respectively, to control the rotating auger 31 to lift and obtain the tilt angle signal of the boom end 61;

[0085] When the rotating auger 31 is lifting, if the tilt signal at the end of the boom 61 reaches the preset lifting angle threshold, a de-energizing command is generated for the auger lifting solenoid valve 213 and an energizing command is generated for the auger lowering solenoid valve 214. The auger lowering solenoid valve 214 is controlled to stop lowering when it returns to the initial angle and continues to rotate forward to resume the rotating material collection operation.

[0086] In this embodiment, as shown... Figure 3 and Figure 4 As shown, when the control unit is powered on for the first time, the solenoid valve 211 that controls the auger to rotate forward is energized, and the rotating auger 31 starts to rotate forward. The pressure sensor 145 measures the hydraulic valve pressure value P of the rotating auger 31, which is greater than or equal to P1. After a delay of S1 seconds, it is confirmed that the auger has been stuck, and the first stage control logic is executed.

[0087] Phase 1: Control unit 11 simultaneously sends commands to buzzer 161, auger reversing solenoid valve 212, and auger speed regulating solenoid valve 215, reducing the auger rotation speed to R1. The auger begins to reverse at speed R1 and maintains this speed for S2 seconds. Then, control unit 11 sends commands again to auger forward rotating solenoid valve 211 and auger speed regulating solenoid valve 215, restoring the auger rotation speed to its initial value. The auger begins to rotate forward. If the pressure value P < P1 and there is a delay of S1 seconds, the rotating auger 31 operates normally, achieving auxiliary material collection. After the first-stage control logic is completed, if the interval T ≥ T1, and P ≥ P1 is detected again, the first-stage control logic continues to be executed; otherwise, the second-stage control logic is executed.

[0088] Second stage: If the pressure value continues to P≥P1 and there is a delay of S1 seconds, the control unit 11 communicates with the boom end tilt sensor 141-B via the CAN bus, receives and records the current angle value θ, and sends commands to the auger lifting solenoid valve 213 and the auger forward rotation solenoid valve 211. When the angle value of the boom end tilt sensor 141-B increases to θ1, the control unit 11 stops sending the auger lifting command, the auger lifting solenoid valve 213 is de-energized, and begins sending commands to the auger lowering solenoid valve 214 until the boom end tilt sensor 141-B returns to the initial angle value θ and stops, and continues the rotating material collection operation, realizing the automatic anti-jamming control of the rotating auger 31, which solves the problems of insufficient operator observation, auger jamming reducing suction efficiency and component damage.

[0089] Optionally, when the gasoline engine 18 is remotely started, the system determines whether the electric actuator 131 is in the start-stop position based on the comparison between the position signal of the electric actuator 131 and the start-stop position threshold, and activates the automatic control strategy of the electric actuator 131, including:

[0090] If the position signal of the electric actuator 131 meets the start-stop position threshold, then the electric actuator 131 is in the start-stop position and generates a start command for the gasoline engine 18.

[0091] If the position signal of the electric actuator 131 does not meet the start-stop position threshold, the electric actuator 131 is not in the start-stop position. A retraction command for the electric actuator 131 is generated, which controls the electric actuator 131 to move the throttle push rod, so that the throttle is reduced to the minimum start position, until the position signal of the electric actuator 131 meets the start-stop position threshold and stops, generating a start command for the gasoline engine 18. This can prevent the gasoline engine 18 from being damaged when started at high speed.

[0092] Optional, also includes:

[0093] After the gasoline engine 18 is started according to the start command of the gasoline engine 18, a command is generated to extend the electric push rod 131.

[0094] Based on the extension command of the electric actuator 131, the electric actuator 131 is controlled to move the throttle actuator, increasing the throttle to the working position. The movement stops when the gear signal of the electric actuator 131 meets the working position threshold. The speed signal from the speed sensor 142 is detected to obtain the engine speed value of the gasoline engine 18. This engine speed value is transmitted to the display of the wireless remote control 16 via the CAN bus. In this embodiment, after obtaining the engine speed value, it is compared with a preset speed to obtain the speed difference. The resulting engine speed compensation value is then calculated and converted into a control command for the electric actuator 131. This command controls the extension or retraction of the electric actuator 131, adjusting the throttle of the gasoline engine 18 to achieve optimal power and torque output.

[0095] Optionally, when the gasoline engine 18 is remotely shut off, based on the comparison between the position signal of the electric actuator 131 and the start-stop position threshold, it is determined whether the electric actuator 131 is in the start-stop position, and the automatic control strategy of the electric actuator 131 is activated, including:

[0096] If the position signal of the electric actuator 131 meets the start-stop position threshold, then the electric actuator 131 is in the start-stop position and generates a gasoline engine 18 shutdown command;

[0097] If the gear signal of the electric actuator 131 does not meet the start-stop threshold, the electric actuator 131 is not in the start-stop position. A retraction command is generated for the electric actuator 131, which controls the electric actuator 131 to move the throttle push rod, so that the throttle is reduced to the minimum start position. The throttle is stopped when the gear signal of the electric actuator 131 meets the start-stop threshold. A shutdown command is generated for the gasoline engine 18 to prevent the gasoline engine 18 from shutting down at high speed and affecting its service life.

[0098] Optionally, based on the comparison between the hydraulic temperature signal and the preset temperature conditions, it is determined whether the dredging machine needs heat dissipation during operation, and the radiator 17 is activated, including:

[0099] If the hydraulic temperature signal is greater than or equal to the preset first temperature threshold and is delayed for a fixed time, a radiator 17 start command is generated to control the radiator 17 to dissipate heat for the whole machine.

[0100] When the whole machine is dissipating heat, if the hydraulic temperature signal is less than the preset second temperature threshold and is delayed for a fixed time, a stop command for radiator 17 is generated to control radiator 17 to shut down.

[0101] Optionally, the dredging machine's operating data may also include: overall machine tilt angle signal, overall machine wading signal, fuel quantity signal, and video monitoring signal;

[0102] Based on the comparison between the overall tilt angle signal and the preset overall tilt angle threshold, it is determined whether there is a risk of overturning, and an overturning alarm message is generated for forwarding and alerted through a buzzer alarm.

[0103] Based on the comparison between the whole machine's wading signal and the preset whole machine water level threshold, it is determined whether the whole machine is currently at risk of wading too deep, and a wading alarm message is generated for forwarding and alerted through a buzzer alarm.

[0104] Based on the comparison between the fuel quantity signal and the preset remaining fuel threshold, it is determined whether there is a risk of low fuel level in the engine, and a low fuel alarm message is generated for forwarding and alerted via a buzzer alarm.

[0105] The video monitoring signal is forwarded to the terminal control platform to generate remote monitoring images, assisting operators in observing the overall machine operating environment in real time.

[0106] In summary, during the suction process of the equipment, when using the auger rotation to assist in feeding, the present invention, combined with the hydraulic system pressure automatic control solenoid valve assembly, allows the rotating auger 31 to flexibly switch between forward, reverse, lifting, and lowering operations, achieving the purpose of preventing jamming. Simultaneously, through automatic control of the electric actuator 131, the speed of the gasoline engine 18 is adjusted to match the hydraulic system flow, achieving optimal power and torque output of the gasoline engine 18 and preventing damage to it. Furthermore, timely heat dissipation of the entire machine during dredging operation further improves the lifespan of all components. When remotely controlling the solenoid valve assembly, the auger operation can also be remotely observed using video signals, preventing damage to the auger caused by special environments. Multi-level threshold judgment of heat dissipation time and temperature avoids power loss caused by frequent start-stop of the radiator 17. When the gasoline engine 18 stops operating, the design of first reducing the speed of the electric actuator 131 prevents the gasoline engine 18 from shutting down at high speeds, thus avoiding impacting its service life. This invention also acquires other potential risks of the dredging machine in real time by detecting various data such as the overall water level, overall tilt angle, and remaining oil volume, making it suitable for complex working environments.

[0107] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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 flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, produce implementations of the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0108] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0109] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0110] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for controlling a sludge removal machine in a suction device, characterized in that, include: Acquire the dredging machine's operating data, which includes: electric actuator gear signal, hydraulic pressure signal, and hydraulic temperature signal; When the auger rotates forward, the system determines whether it is stuck based on the comparison between the hydraulic pressure signal and the preset pressure condition. If it is stuck, the auger anti-jamming control strategy is activated. When the gasoline engine is remotely started or stopped, the electric actuator is compared with the start / stop position threshold to determine whether the electric actuator is in the start / stop position. If it is not in the start / stop position, the electric actuator automatic control strategy is activated. The system determines whether the dredging machine needs to dissipate heat during operation based on the comparison between the hydraulic temperature signal and the preset temperature conditions. If heat dissipation is required, the radiator is activated. Based on the comparison between the hydraulic pressure signal and the preset pressure condition, it is determined whether the rotary auger is stuck during forward rotation. If it is stuck, the rotary auger anti-jamming control strategy is activated, including: If the hydraulic pressure signal is greater than or equal to the preset pressure threshold and within the preset delay time, the rotary auger is stuck, and the first stage control strategy for preventing the rotary auger from getting stuck is activated. Under the first-stage control strategy, start commands for the auger reversing solenoid valve, the auger speed regulating solenoid valve, and the buzzer are generated respectively. The rotating auger is controlled to first decelerate to the first speed, and then reverse at the first speed and maintain it for a set time. Then, energizing commands for the auger forward rotating solenoid valve and the auger speed regulating solenoid valve are generated again to make the rotating auger resume forward rotation. After the rotary auger resumes forward rotation, if the hydraulic pressure signal is less than the preset pressure threshold and within the preset delay time, the rotary auger returns to normal and continues to perform auxiliary material collection; if the hydraulic pressure signal is still greater than or equal to the preset pressure threshold and within the preset delay time, the rotary auger is still stuck, and the second stage control strategy for preventing the rotary auger from getting stuck is activated. The second phase of the anti-jamming control strategy for the rotating auger is initiated, including: Power-on commands are generated for the auger lifting solenoid valve and the auger forward rotation solenoid valve, respectively, to control the rotation of the auger for lifting and to acquire the boom end tilt angle signal; When the auger is being lifted, if the tilt angle signal at the end of the boom reaches the preset lifting angle threshold, a de-energizing command for the auger lifting solenoid valve and an energizing command for the auger lowering solenoid valve are generated respectively. The auger lowering solenoid valve is controlled to stop lowering when it returns to the initial angle and continues to rotate forward to resume the rotating material collection operation. When the gasoline engine is remotely started, the system compares the electric actuator position signal with the start / stop position threshold to determine if the electric actuator is in the start / stop position. If it is not in the start / stop position, the automatic control strategy of the electric actuator is activated, including: If the electric actuator position signal meets the start / stop position threshold, the electric actuator will be in the start / stop position, generating a gasoline engine start command; If the electric actuator position signal does not meet the start / stop position threshold, the electric actuator is not in the start / stop position. A retraction command is generated to control the electric actuator to move the throttle actuator, so that the throttle is reduced to the minimum start position, until the electric actuator position signal meets the start / stop position threshold and stops, generating a gasoline engine start command.

2. The sludge removal machine control method for a suction device according to claim 1, characterized in that, it further includes... include: After the gasoline engine is started according to the gasoline engine start command, an electric actuator extension command is generated. The electric actuator is controlled by extending the electric actuator to move the throttle actuator, increasing the throttle to the working position. The throttle stops when the electric actuator gear signal meets the working position threshold. The gasoline engine speed signal is also detected to obtain the gasoline engine speed value.

3. The sludge removal machine control method for a suction device according to claim 1, characterized in that, When the gasoline engine is remotely shut off, the system compares the electric actuator position signal with the start-stop position threshold to determine if the electric actuator is in the start-stop position. If it is not in the start-stop position, the automatic control strategy of the electric actuator is activated, including: If the electric actuator position signal meets the start / stop position threshold, the electric actuator will be in the start / stop position, generating a gasoline engine shutdown command; If the electric actuator shift signal does not meet the start-stop position threshold, the electric actuator is not in the start-stop position. A retraction command is generated to control the electric actuator to move the throttle actuator, so that the throttle is reduced to the minimum start position, until the electric actuator shift signal meets the start-stop position threshold and stops, generating a gasoline engine shutdown command.

4. The sludge removal machine control method for a suction device according to claim 1, characterized in that, The system determines whether the dredging machine needs cooling during operation based on a comparison between the hydraulic temperature signal and the preset temperature conditions. If cooling is required, the radiator is activated, including: If the hydraulic temperature signal is greater than or equal to the preset first temperature threshold and is delayed for a fixed time, a radiator start command is generated to control the radiator to dissipate heat for the whole machine. When the whole machine is dissipating heat, if the hydraulic temperature signal is less than the preset second temperature threshold and is delayed for a fixed time, a radiator stop command is generated to control the radiator to shut down.

5. The sludge removal machine control method for a suction device according to claim 1, characterized in that, The dredging machine's operating data also includes: overall machine tilt angle signal, overall machine wading signal, fuel quantity signal, and video monitoring signal; Based on the comparison between the overall tilt angle signal and the preset overall tilt angle threshold, it is determined whether there is a risk of overturning, and an overturning alarm message is generated for forwarding and alerted through a buzzer alarm. Based on the comparison between the whole machine's wading signal and the preset whole machine water level threshold, it is determined whether the whole machine is currently at risk of wading too deep, and a wading alarm message is generated for forwarding and alerted through a buzzer alarm. Based on the comparison between the fuel quantity signal and the preset remaining fuel threshold, it is determined whether there is a risk of low fuel level in the engine, and a low fuel alarm message is generated for forwarding and alerted via a buzzer alarm. The video monitoring signal is forwarded to the terminal control platform to generate remote monitoring images, assisting operators in observing the overall machine operating environment in real time.

6. A sludge removal machine control system for a suction device, characterized in that, include: Control unit, detection unit, electric actuator control mechanism, rotary auger control mechanism, and radiator; The detection unit includes several sensors installed on the dredging machine to acquire the dredging machine's operating data; The electric actuator in the electric actuator control mechanism is electrically connected to the control unit and also connected to the gasoline engine throttle push rod. When the gasoline engine is remotely started or stopped, the electric actuator is extended or retracted under the command of the control unit, 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, it adjusts the rotary auger to perform forward, reverse, lifting, and lowering operations; The heat sink is electrically connected to the control unit and is used to dissipate heat from the entire machine. The control unit communicates with the detection unit via CAN bus or Ethernet to receive dredging machine operation data and to control the electric push rod control mechanism, the rotating auger control mechanism, and the radiator to execute the steps of the method described in claim 1.

7. A sludge removal machine control system for a suction device according to claim 6, characterized in that, It also includes an alarm unit, which is used to receive alarm information such as the overall tilt angle signal, the overall water wading signal, and the fuel quantity signal, and to provide a prompt through a buzzer alarm.

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