Control method and control device for remotely driving loader and medium

Abstract

The embodiment of the invention provides a control method and device for remotely driving a loading machine and a medium. The control method comprises the steps that the current hydraulic oil temperature of a pilot electromagnetic valve is obtained; when the current hydraulic oil temperature is lower than a first threshold value, heating current is output to a pilot electromagnetic valve, the heating current is smaller than first current, the first current is used for driving the pilot electromagnetic valve to be opened by a first opening degree, and the pressure of the released hydraulic oil corresponds to a valve opening pressure value for driving a multi-way valve to be opened; and after the control signal of the remote control end is received, the output of the heating current to the pilot electromagnetic valve is stopped, and the instantaneous step current is output to the pilot electromagnetic valve, so that the pilot electromagnetic valve can shorten the time of entering the working state under the conditions that the temperature is lower than a second threshold value and the control signal is received, and the working efficiency is improved. Therefore, according to the control method, additional operators do not need to heat the hydraulic oil at the pilot electromagnetic valve, the pilot electromagnetic valve can be automatically heated before the pilot electromagnetic valve works, and the opening speed of the pilot electromagnetic valve is increased.

Description

Technical Field

[0001] The present application relates to the technical field of remote-driven loaders, and more specifically, to a control method, a control device and a medium for a remote-driven loader. Background Art

[0002] Remote-driven loaders are currently cutting-edge technology. The vehicle control system is mainly divided into two parts: remote cockpit (driver side) control and vehicle cab (vehicle side) control. Currently, remote-driven loaders are mainly used in some harsh and dangerous working conditions, especially those that are harmful to the workers' health. This determines that the remote cockpit (driver side) and the vehicle body are generally not in the same location, and there may even be cross-regional operations.

[0003] In some cities, vehicles are shut down for a long time in winter. When they are turned on again, the performance challenge of the whole vehicle is very severe. After a long time of cooling outdoors, the temperature of the vehicle has dropped to minus 20 degrees or even lower. Hydraulic oil will become viscous at low temperatures, and even poor oil will directly form a waxy substance. At this time, in order to quickly heat up the hydraulic oil, the driver will generally take the direct fire to heat the hydraulic oil tank to heat it up, or add electric auxiliary heating, or keep the vehicle in a "pressurized state" for a long time, or slow down the work efficiency and slowly wait for the hydraulic oil of the whole vehicle to heat up. Long-term pressure holding will damage the hydraulic system. The practice of fire-baking the hydraulic oil tank is dangerous and requires on-site operation. Adding electric auxiliary heating will increase the cost of the whole vehicle and require on-site operation. The above method requires additional operators to go to the vehicle site to perform "warm-up" operations, which does not meet the original intention of using remote-driven loaders, and increases the workload and operation risks of operators. The oil circuit at the pilot solenoid valve is narrow, and the traditional heating driven by the flow of hydraulic oil will be slow. The viscosity of the hydraulic oil at the solenoid valve will increase the time it takes to build up and reduce pressure in the hydraulic oil circuit.

[0004] When the remote driving working mechanism needs to be controlled, a pilot controller is needed to control the pilot solenoid valve, and then control the opening of the multi-way valve to realize the lifting, lowering, bucket collection and bucket tipping actions (hereinafter referred to as the working mechanism actions). The pilot solenoid valve is a proportional valve, so a pilot controller is needed to output the voltage duty cycle to adjust the driving current of the solenoid valve, achieve different ratios of solenoid valve openings, and flow different oil pressures. When the vehicle is started at low temperature, if the remote control pilot handle is directly operated, the working mechanism will have problems such as valve jamming, delay, and large impact because the oil circuit has not yet heated up to the normal working temperature. If the work continues, the work efficiency will be greatly affected. There will be a delay when the pilot solenoid valve is opened, which affects the driver's feel for remote operation. Summary of the invention

[0005] The present application is provided to solve the above defects existing in the prior art. A control method, control device and medium for a remote driving loader are needed, which do not require additional operators to heat the hydraulic oil temperature at the pilot solenoid valve, automatically heat the pilot solenoid valve before the pilot solenoid valve works, and can increase the opening speed of the pilot solenoid valve.

[0006] In a first aspect of the present application, a control method for a remote-controlled loader is provided, the control method comprising: Get the current hydraulic oil temperature of the pilot solenoid valve; When the current hydraulic oil temperature is lower than a first threshold, a heating current is output to the pilot solenoid valve, the heating current is less than a first current, the first current is used to drive the pilot solenoid valve to open a first opening, and the pressure of the released hydraulic oil corresponds to a valve opening pressure value that drives the multi-way valve to open; After receiving the control signal from the remote control end, the heating current is stopped from being output to the pilot solenoid valve, and an instantaneous step current is output to the pilot solenoid valve, so that the pilot solenoid valve can shorten the time to enter the working state when the temperature is lower than the second threshold and the control signal is received.

[0007] In a second aspect of the present application, a control device for a remotely driven loader is provided, the control device comprising a processor, wherein the processor is configured as follows: Get the current hydraulic oil temperature of the pilot solenoid valve; When the current hydraulic oil temperature is lower than a first threshold, a heating current is output to the pilot solenoid valve, the heating current is less than a first current, the first current is used to drive the pilot solenoid valve to open a first opening, and the pressure of the released hydraulic oil corresponds to a valve opening pressure value that drives the multi-way valve to open; After receiving the control signal from the remote control end, the heating current is stopped from being output to the pilot solenoid valve, and an instantaneous step current is output to the pilot solenoid valve, so that the pilot solenoid valve can shorten the time to enter the working state when the temperature is lower than the second threshold and the control signal is received.

[0008] A third aspect of the present application provides a non-transitory computer-readable medium having instructions stored thereon, which, when executed by a processor, execute the steps of the remote-driven loader control method as described in any embodiment of the present application.

[0009] The various embodiments of the present application provide a control method, a control device and a medium for a remote-driven loader. According to the current hydraulic oil temperature of the pilot solenoid valve, it is determined whether to output a heating current to the pilot solenoid valve, wherein the heating current is less than the first current, so that the pilot solenoid valve is heated at a low temperature. The temperature increase is conducive to the pilot solenoid valve at a low temperature to enter a working state more quickly, and avoids the problems of valve sticking, delay and large impact of the working mechanism when the pilot solenoid valve is operated manually and at a low temperature. After receiving the control signal of the remote control end, an instantaneous step current is output to the pilot solenoid valve, which can speed up the opening speed of the pilot solenoid valve, improve the response speed of the pilot solenoid valve to the control signal, and improve the driving experience of the driver during remote driving, especially the driving experience under low temperature conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In the drawings, which are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with letter suffixes or different letter suffixes may represent different instances of similar parts. The accompanying drawings generally illustrate various embodiments by way of example and not limitation, and together with the specification and claims, are used to illustrate the embodiments applied for. When appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

[0011] Figure 1 A flow chart showing a control method of a remote-driven loader according to an embodiment of the present application.

[0012] Figure 2 A schematic structural diagram of a control device for a remote-driven loader according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0013] In order to enable those skilled in the art to better understand the technical solution of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation examples. The embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and specific implementation examples, but are not intended to limit the present application.

[0014] The words "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish. The words "include" or "comprise" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements.

[0015] According to an embodiment of the present application, a control method for a remote-driven loader is provided. Figure 1A flow chart showing a control method for a remote-driven loader according to an embodiment of the present application is shown. The control method comprises the following steps: In step 101, the current hydraulic oil temperature of the pilot solenoid valve is obtained. In step 102, when the current hydraulic oil temperature is lower than a first threshold value, a heating current is output to the pilot solenoid valve, the heating current is less than a first current, the first current is for driving the pilot solenoid valve to open a first opening, and the pressure of the released hydraulic oil corresponds to the valve opening pressure value for driving the multi-way valve to open. In step 103, after receiving a control signal from the remote control end, the heating current output to the pilot solenoid valve is stopped, and an instantaneous step current is output to the pilot solenoid valve, so that the pilot solenoid valve can shorten the time to enter the working state when the temperature is lower than the second threshold value and a control signal is received.

[0016] The current hydraulic oil temperature can be obtained after obtaining the temperature signal of the hydraulic oil in the hydraulic oil tank of the pilot solenoid valve. The first threshold value can be set according to the temperature of the hydraulic oil under normal working conditions, and the first threshold value can be preset to directly judge the current working ambient temperature according to the temperature of the hydraulic oil. When the hydraulic oil temperature is lower than the first threshold value, it means that the hydraulic oil is in a low temperature condition. At this time, a heating current is output to the pilot solenoid valve, and the coil of the pilot solenoid valve quickly heats up under the action of the current, and the hydraulic oil also begins to heat up rapidly under the action of heat transfer. In this way, the pilot solenoid valve and the hydraulic oil at the solenoid valve can be quickly heated to ensure that the pilot solenoid valve has been heated before the pilot solenoid valve works.

[0017] The first current drives the pilot solenoid valve to open to a first opening, and the pressure of the hydraulic oil released by the pilot solenoid valve corresponds to the valve opening pressure value driving the multi-way valve to open. Under the action of the first current, the pilot solenoid valve opens to a degree that enables the hydraulic oil to flow through the valve group and build up a certain pressure, which refers to the pressure of the low-pressure control oil circuit required when the multi-way valve is opened.

[0018] The second threshold in step 103 may be the temperature of the environment that causes the first threshold of the hydraulic oil temperature. For example, in winter, the second threshold may be -3°C or the like.

[0019] In this way, when the loader is used under low temperature conditions, the pilot solenoid valve can be heated directly through the signal of the remote control end, without the need for manual warm-up operation, reducing the workload of operators and avoiding exposure of personnel to harsh environments that affect their health. It can also reduce the damage to the hydraulic system when the loader is working at low temperatures. The pilot solenoid valve works more smoothly, can better control the multi-way valve and thus realize the normal operation of the working mechanism, and can avoid the problems of valve sticking, delay and large impact of the loader's working mechanism when the pilot solenoid valve works directly at low temperatures. The working mechanism here includes the mechanism for the loader to realize lifting, bucket collection, bucket tipping, and lowering.

[0020] The current value of the heating current must be smaller than the first current (needs to be calibrated based on actual conditions). If the operator is not operating the working mechanism in the remote cockpit (remote control terminal) at this time, this current will not cause the working mechanism to malfunction.

[0021] After the remote control terminal sends a control signal, the heating process is stopped by stopping the output of the heating current to the pilot solenoid valve. The instantaneous step current is output, so that the pilot solenoid valve receives an instantaneous large current, which helps the pilot solenoid valve to open quickly and allow the hydraulic oil to flow quickly, so that the working mechanism can be activated and the response speed of the pilot solenoid valve can be improved.

[0022] Therefore, through the effect of heating current and instantaneous step current on the pilot solenoid valve, the response speed of the pilot solenoid valve can be greatly improved, thereby improving the driving experience of the driver during remote driving, especially in low temperature conditions.

[0023] In some embodiments, the heating current is direct current. A direct current heating current is helpful in dealing with the electromagnetic induction phenomenon of the pilot solenoid valve, because when opening the pilot solenoid valve, the duty cycle of the solenoid valve voltage must be continuously and rapidly increased. However, according to Faraday's law of electromagnetic induction, the induced potential is related to the number of turns of the induction coil, the rate of change of the magnetic flux, and the rate of change of the self-inductance current. The coil inductance will generate an induced electromotive force, and the magnetic field is opposite to the original magnetic field, which further generates an induced current, and the current is also opposite to the original current. This will reduce the current acting on the pilot solenoid valve coil, which will in turn affect the response speed of the pilot solenoid valve. Through a constant heating current, the solenoid valve coil always has a direct current, thereby reducing the impact of electromagnetic induction. At the same time, this strategy can also simulate a "tremor current" to keep the pilot solenoid valve (proportional valve) active, so that static friction is converted to dynamic friction here, reducing the impact of friction and speeding up the opening speed of the valve. In some embodiments, the current value of the instantaneous step current is the current when the pilot solenoid valve is opened at a 100% rate, so that the pilot solenoid valve is input with an instantaneous large current, and the current value is the current when the opening rate is 100%, which can make the pilot solenoid valve open quickly, allowing the hydraulic oil to flow quickly, thereby causing the working mechanism to move.

[0024] In some embodiments, when the output current of the pilot solenoid valve is greater than or equal to the first current, the output of the instantaneous step current is stopped. When the actual output current of the pilot solenoid valve collected is the first current, the instantaneous step current is stopped to facilitate the rapid opening of the pilot solenoid valve.

[0025] In some embodiments, the control method further includes: obtaining the battery voltage of the pilot solenoid valve; when the battery voltage is greater than a third threshold, outputting a heating current to the pilot solenoid valve. The battery voltage value can be obtained through the battery voltage signal. Whether the voltage of the battery corresponding to the pilot solenoid valve meets the condition of outputting the heating current, that is, whether the voltage of the battery is greater than the third threshold, the third threshold here can be the standard voltage corresponding to the output heating current. For example, it is determined whether the battery voltage is greater than 25V. If it is less than 25V, the heating current may not be output as a condition for outputting the heating current, so as to better heat the pilot solenoid valve.

[0026] The current hydraulic oil temperature is lower than the first threshold, or the current hydraulic oil temperature is lower than the first threshold and the battery voltage is greater than the third threshold at the same time, as a condition for outputting the heating current.

[0027] In some embodiments, after the remote control end is powered on, the remote control end sends a wake-up signal to the vehicle end. After the vehicle end receives the wake-up signal, the vehicle end is powered on and wakes up the pilot controller. After the remote control end is powered on, the network device can send a wake-up signal to the vehicle end. After the vehicle end receives the wake-up signal, the entire vehicle is powered on, the pilot controller is woken up, and other controllers can also be woken up.

[0028] According to an embodiment of the present application, a control device for a remote-driven loader is also provided. Figure 2 A schematic diagram of the structure of a control device for a remote-driven loader according to an embodiment of the present application is shown. The control device 200 includes a processor 201, and the processor 201 is configured as follows: Get the current hydraulic oil temperature of the pilot solenoid valve; When the current hydraulic oil temperature is lower than a first threshold, a heating current is output to the pilot solenoid valve, the heating current is less than a first current, the first current is used to drive the pilot solenoid valve to open a first opening, and the pressure of the released hydraulic oil corresponds to a valve opening pressure value that drives the multi-way valve to open; After receiving the control signal from the remote control end, the heating current is stopped from being output to the pilot solenoid valve, and an instantaneous step current is output to the pilot solenoid valve, so that the pilot solenoid valve can shorten the time to enter the working state when the temperature is lower than the second threshold and the control signal is received.

[0029] The control device of the remote-driven loader can quickly and automatically heat the pilot solenoid valve at the vehicle end before it works through the heating current. The hydraulic oil temperature at the solenoid valve can be heated without the need for additional operators, reducing the workload of the staff, avoiding exposure of personnel to harsh environments that affect their health, and avoiding problems such as valve jamming, delay, and large impact of the loader's working mechanism under low oil temperature conditions. The effect of heating current and instantaneous step current on the pilot solenoid valve can greatly improve the response speed of the pilot solenoid valve and improve the driver's driving experience during remote driving.

[0030] In some embodiments, the processor 201 is further configured to: obtain the output current of the pilot solenoid valve; and stop outputting the instantaneous step current when the output current of the pilot solenoid valve is greater than or equal to the first current.

[0031] In some embodiments, the processor 201 is further configured to: obtain a battery voltage of the pilot solenoid valve; and output a heating current to the pilot solenoid valve when the battery voltage is greater than a third threshold.

[0032] After the remote control terminal is turned on and powered on, the operator can send control signals through a handle, etc. The control signals can be sent to the vehicle end through a network device (one of a wired network device, a mobile network device, a wireless network device, etc.).

[0033] The processor 201 can be arranged inside the pilot controller or outside the pilot controller. After receiving the wake-up signal, the vehicle end controls the whole vehicle (loader) to power on, wakes up the pilot controller, and can also wake up other controllers. After the pilot controller is awakened, it outputs a heating current to the pilot solenoid valve. After the processor 201 receives the operation control signal, it stops outputting the heating current to the pilot solenoid valve, controls the battery to output an instantaneous step current to the pilot solenoid valve, and stops the battery from outputting an instantaneous step current to the pilot solenoid valve when the pilot solenoid valve outputs the first current. Then the pilot solenoid valve outputs current to the multi-way valve according to the operation control signal to control the operation of the corresponding working mechanism of the loader.

[0034] The processor 201 can be a microcontroller unit (MCU), which can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0035] According to an embodiment of the present application, a non-transitory computer-readable medium is also provided, on which instructions are stored. When executed by a processor, the instructions execute the steps of the control method of a remote-driven loader as described in any embodiment of the present application. The medium executes the steps of the control method of a remote-driven loader, and the pilot solenoid valve at the vehicle end can be quickly and automatically heated before it works through the heating current. The hydraulic oil temperature at the solenoid valve can be heated without the need for additional operators, thereby reducing the workload of the staff, avoiding exposure of personnel to harsh environments that affect their health, and avoiding problems such as valve jamming, delays, and large impacts in the working mechanism of the loader under low oil temperature conditions. Through the effect of the heating current and the instantaneous step current on the pilot solenoid valve, the response speed of the pilot solenoid valve can be greatly improved, thereby improving the driving experience of the driver during remote driving.

[0036] In addition, although exemplary embodiments have been described herein, the scope includes any and all embodiments based on the present application with equivalent elements, modifications, omissions, combinations (e.g., various embodiments intersecting schemes), adaptations or changes. The elements in the claims are to be interpreted broadly based on the language adopted in the claims, and are not limited to the examples described in this specification or during the practice of this application, and the examples are to be interpreted as non-exclusive. Therefore, this specification and examples are intended to be considered as examples only, and the true scope and spirit are indicated by the following claims and the full scope of their equivalents.

[0037] The above description is intended to be illustrative rather than restrictive. For example, the above examples (or one or more schemes thereof) may be used in combination with each other. For example, a person of ordinary skill in the art may use other embodiments when reading the above description. In addition, in the above-mentioned specific embodiments, various features may be grouped together to simplify the present application. This should not be interpreted as an intention that a feature of an application that does not require protection is necessary for any claim. On the contrary, the subject matter of the present application may be less than all the features of an embodiment of a particular application. Thus, the following claims are incorporated herein in the specific embodiments as examples or embodiments, wherein each claim is independently a separate embodiment, and it is considered that these embodiments may be combined with each other in various combinations or arrangements. The scope of the present invention should be determined with reference to the appended claims and the full scope of equivalent forms granted by these claims.

[0038] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A control method for a remote-controlled loader, the loader comprising a pilot solenoid valve and a multi-way valve, characterized in that: The control method comprises: Acquiring the current hydraulic oil temperature of the pilot solenoid valve; When the current hydraulic oil temperature is lower than a first threshold, a heating current is output to the pilot solenoid valve, the heating current is less than a first current, the first current is used to drive the pilot solenoid valve to open a first opening, and the pressure of the released hydraulic oil corresponds to a valve opening pressure value that drives the multi-way valve to open; After receiving the control signal from the remote control end, the heating current is stopped from being output to the pilot solenoid valve, and an instantaneous step current is output to the pilot solenoid valve, so that the pilot solenoid valve can shorten the time to enter the working state when the temperature is lower than the second threshold and the control signal is received.

2. The control method according to claim 1, characterized in that: The heating current is direct current.

3. The control method according to claim 1, characterized in that: The current value of the instantaneous step current is the current when the opening ratio of the pilot solenoid valve is 100%.

4. The control method according to claim 1, characterized in that: When the output current of the pilot solenoid valve is greater than or equal to the first current, the pilot solenoid valve stops outputting the instantaneous step current.

5. The control method according to claim 1, characterized in that: The control method further comprises: The battery voltage of the pilot controller is obtained; when the battery voltage of the pilot solenoid valve is greater than a third threshold value, a heating current is output to the pilot solenoid valve.

6. The control method according to claim 1, characterized in that: After the remote control end is powered on, the remote control end sends a wake-up signal to the vehicle end. After the vehicle end receives the wake-up signal, the vehicle end is powered on and wakes up the pilot controller.

7. A control device for a remote-controlled loader, characterized in that: The control device comprises a processor, wherein the processor is configured to: Get the current hydraulic oil temperature of the pilot solenoid valve; When the current hydraulic oil temperature is lower than the normal working oil temperature, a heating current is output to the pilot solenoid valve, the heating current is less than a first current, the first current is used to drive the pilot solenoid valve to open a first opening, and the pressure of the released hydraulic oil corresponds to the valve opening pressure value that drives the multi-way valve to open; After receiving the control signal from the remote control end, the heating current is stopped from being output to the pilot solenoid valve, and an instantaneous step current is output to the pilot solenoid valve, so that the pilot solenoid valve can shorten the time to enter the working state when the temperature is lower than the first threshold and the control signal is received.

8. The control device according to claim 7, characterized in that: The processor is further configured to: obtain an output current of the pilot solenoid valve; and stop outputting the instantaneous step current when the output current of the pilot solenoid valve is greater than or equal to a first current.

9. The control device according to claim 7, characterized in that: The processor is further configured to: obtain a battery voltage of the pilot solenoid valve; and output a heating current to the pilot solenoid valve when the battery voltage is greater than a third threshold.

10. A non-transitory computer-readable medium having instructions stored thereon, which, when executed by a processor, execute the steps of the remote-drive loader control method according to any one of claims 1 to 6.

Images