Chain saw self-adaptive control system and method for feller

Abstract

The invention discloses a chain saw adaptive control system and method for a feller, and the method comprises the steps: detecting the pressure of a chain saw motor when the feller is in a working state, and obtaining the rotating speed of the chain saw motor based on frequency domain conversion; judging whether the chain saw motor pressure and the chain saw motor rotating speed are within reasonable intervals or not, if not, adjusting the opening degree of a chain saw oil cylinder pilot valve and the opening degree of a chain saw motor pilot valve according to a preset adjustment decision, and finally achieving self-adaptive adjustment of the chain saw feeding speed and the cutting speed. The method is simple and convenient, the operation efficiency can be effectively improved by adjusting the feeding speed and the cutting speed, and the problems of saw blade damage and wood tearing caused by overload of the chain saw can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of felling machines, and more particularly to an adaptive control system and method for a chain saw of a felling machine. Background Art

[0002] Felling machines are important tools for mechanized felling in forests. With the continuous improvement of the degree of mechanization, timber harvesting has gradually shifted from manual to mechanized felling. From felling, pruning, cutting to timber collection, stacking and transportation, corresponding machines have been used to replace them. The application of forestry machinery has greatly improved the efficiency and safety of forestry operations.

[0003] A felling machine is a special equipment including a machine body and felling tools, which can perform multiple functions such as felling, pruning and cutting wood. The current chain saw control system of a felling machine is mainly the hydraulic control of the chain saw cylinder and the chain saw motor. More specifically, the hydraulic control refers to the flow quantity and overflow control of the maximum pressure of the chain saw cylinder and the chain saw motor. At present, the chain saw control of a felling machine is controlled by the pilot valve corresponding to the chain saw cylinder and the chain saw motor. The pressure comes from the main pump, and the chain saw cylinder and the chain saw motor are switched on and off by the operating handle. The cutting power of wood depends on the feed speed and cutting speed of the chain saw. The existing technology only switches the chain saw cylinder and the chain saw motor through the handle, which directly results in the chain saw cylinder and the chain saw motor being able to operate at a constant speed or be closed, without effective control of their feed speed and cutting speed. Summary of the invention

[0004] The object of the present invention is to provide a chainsaw adaptive control system and method for a logging machine, which takes a chainsaw motor pressure signal and a chainsaw motor speed signal as input, controls the chainsaw cylinder opening and the chainsaw motor opening through signal detection and judgment and based on a decision model, and finally realizes adaptive adjustment of the chainsaw feed speed and cutting speed.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a chain saw adaptive control method for a logging machine, comprising: an engine, a hydraulic pump, a chain saw and an operating handle, wherein a pressure sensor is provided at the chain saw for real-time monitoring of the chain saw motor pressure, and further comprising a controller and a proportional solenoid valve, wherein the engine, the hydraulic pump, the proportional solenoid valve, the pressure sensor at the chain saw and the operating handle are all connected to the controller. The controller is used to detect the chain saw motor pressure data in real time and perform pre-processing, obtain the chain saw motor speed based on the pre-processed chain saw motor pressure data, and send an adjustment decision to the proportional solenoid valve based on the chain saw motor pressure data and the chain saw motor speed; The proportional solenoid valve is used to output current to the chainsaw cylinder pilot valve and the chainsaw motor pilot valve based on the received adjustment decision, adjust the opening of the chainsaw cylinder pilot valve and the chainsaw motor pilot valve, and realize the control of the chainsaw cylinder speed, i.e. the feed speed, and the chainsaw motor speed, i.e. the cutting speed.

[0006] Preferably, the controller is specifically used to: De-noising the detected chain saw motor pressure data and filtering the target frequency range; Performing Fourier transformation on the pre-processed chain saw motor pressure data to obtain a frequency domain signal, and solving it to obtain a chain saw motor speed signal; as well as, It is determined whether the chain saw motor pressure data and the chain saw motor speed are within a reasonable range. If not, an adjustment decision is sent to the proportional solenoid valve.

[0007] In a second aspect, the present invention provides a chain saw adaptive control method for a felling machine, which is implemented based on the above-mentioned chain saw adaptive control system for a felling machine, and the method comprises: When the felling machine is in working state, the pressure data of the chain saw motor is detected and pre-processed; Obtaining a chain saw motor speed based on the pre-processed chain saw motor pressure data; Based on the chain saw motor pressure data and the chain saw motor speed, the chain saw oil cylinder pilot valve opening and the chain saw motor pilot valve opening are adjusted to adaptively control the chain saw feed speed and cutting speed.

[0008] Preferably, the detecting of the chain saw motor pressure data and pre-processing includes: The detected chain saw motor pressure data is denoised and the target frequency range is filtered.

[0009] Preferably, obtaining the chain saw motor speed based on the pre-processed chain saw motor pressure data comprises: The pre-processed chain saw motor pressure data is subjected to Fourier transformation to obtain a frequency domain signal, and the chain saw motor speed signal is obtained by solving the signal.

[0010] Preferably, the adjusting the chain saw oil cylinder pilot valve opening and the chain saw motor pilot valve opening based on the chain saw motor pressure data and the chain saw motor speed includes: Determine whether the chain saw motor pressure data and the chain saw motor speed are within a reasonable range, and if not, make the next adjustment decision; According to the preset adjustment decision, the output current is sent to the electromagnetic proportional valve, and the electromagnetic proportional valve is used to control the opening of the chain saw cylinder pilot valve and the chain saw motor pilot valve, so as to adaptively control the chain saw feed speed and cutting speed.

[0011] Preferably, the determining whether the chain saw motor pressure data and the chain saw motor speed are within a reasonable range includes: The detected chainsaw motor pressure is compared with the preset pressure. If the difference percentage between the two is greater than the preset pressure change value, and the chain saw motor speed change exceeds the preset speed change value, it is determined that the chainsaw motor pressure data and the chainsaw motor speed are not within a reasonable range.

[0012] Preferably, the preset value of the pressure change is set to 10%; The preset value of the rotation speed change is set to 5%.

[0013] Preferably, the preset adjustment decision is made based on wood cutting power, cutting specific work and wood productivity parameters.

[0014] The beneficial effects of the present invention are: The present invention provides a chain saw adaptive control method for a lumberjack, which detects and processes the pressure of a chain saw motor, takes the chain saw motor pressure signal and the chain saw motor speed signal as input, and controls the chain saw oil cylinder opening and the chain saw motor opening according to the signal detection and judgment and the decision model, and finally realizes the adaptive adjustment of the chain saw feed speed and cutting speed. The present invention has a simple device and a simple method, can effectively improve the working efficiency by adjusting the feed speed and cutting speed, and can avoid the problems of saw blade damage and wood tearing caused by overloading of the chain saw. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flow chart of the adaptive control method of a chain saw for a logging machine provided by the present invention; Figure 2 The adaptive control system architecture of the chainsaw for a logging machine provided by the present invention; Figure 3 A schematic diagram of the hydraulic principle of a chain saw adaptive control system for a logging machine provided by the present invention. DETAILED DESCRIPTION

[0016] The specific implementation of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The embodiments described below with reference to the accompanying drawings are illustrative and intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0017] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by terms such as “upper”, “lower”, “front”, “rear”, “end”, “bottom” and “side” are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0018] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "installation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a direct connection, or a connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0019] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0020] The specific embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0021] The first embodiment of the present invention provides a chain saw adaptive control system for a logging machine, see Figure 2 , including: engine, hydraulic pump, proportional solenoid valve, chain saw, operating handle and controller, The engine, hydraulic pump, proportional solenoid valve, chain saw and operating handle are all connected to the controller. A pressure sensor is arranged at the chain saw to monitor the chain saw motor pressure in real time.

[0022] A controller, for detecting and pre-processing the pressure of the chain saw motor, performing frequency domain conversion on the pre-processed pressure signal of the chain saw motor, obtaining the speed of the chain saw motor, and sending an adjustment decision to the proportional solenoid valve based on the pressure and speed of the chain saw motor; The proportional solenoid valve is used to output current to the chainsaw cylinder pilot valve and the chainsaw motor pilot valve based on the received adjustment decision, thereby adjusting the opening of the chainsaw cylinder pilot valve and the chainsaw motor pilot valve, thereby realizing the control of the chainsaw cylinder speed, i.e. the feed speed, and the chainsaw motor speed, i.e. the cutting speed.

[0023] The controller sends adjustment decisions to the proportional solenoid valve based on the pressure and speed of the chain saw motor, specifically, Compare the detected chain saw motor pressure with the preset pressure. If the difference percentage between the two is greater than 10% and the chain saw motor speed drops by more than 5%, it means that the chain saw resistance has increased. At this time, the feed speed needs to be reduced and the cutting speed needs to be increased according to the adjustment decision.

[0024] It should be noted that this embodiment only lists one case of changes in pressure and speed of the chain saw motor. Different decisions will be made when the pressure and speed change differently, which are not listed here one by one.

[0025] A second embodiment of the present invention provides a chain saw adaptive control method for a logging machine, see Figure 1 ,include: S1, the felling machine starts working, and the system initial pressure is given. The felling machine starts and starts working, such as Figure 3 As shown, the hydraulic system will give the chain saw cylinder and chain saw motor an initial pressure according to the product design.

[0026] S2. Detecting the chain saw motor pressure and performing pre-processing. In this step, the chain saw motor pressure is detected in real time by a pressure sensor, and the chain saw motor pressure signal is pre-processed, including but not limited to signal denoising, filtering and other operations.

[0027] S3, converting the pre-processed chain saw motor pressure signal into frequency domain to obtain the chain saw motor speed. In this step, frequency domain data can be obtained through Fourier transformation to obtain the chain saw motor speed signal.

[0028] S4, judging whether the pressure and speed of the chain saw motor are within a reasonable range. By judging whether the pressure and speed of the chain saw motor are too large, if so, the next adjustment is performed.

[0029] S5, adjusting the chain saw oil cylinder pressure and the chain saw motor speed. In this step, the chain saw oil cylinder pilot valve opening and the chain saw motor pilot valve opening are adjusted according to the adjustment decision, so as to control the chain saw oil cylinder speed, i.e., the feeding speed, and the chain saw motor speed, i.e., the cutting speed.

[0030] S6. End this cycle and proceed to the next cycle of detection and adjustment.

[0031] In the present invention, the terms are explained as follows: Cutting efficiency - Cutting efficiency refers to the efficiency of the felling machine in cutting operations, which is mainly affected by blade parameters, feed speed and cutting speed.

[0032] Feed rate - Feed rate refers to how fast the chain saw feeds when the felling machine is cutting, and it is an important parameter for cutting efficiency.

[0033] Cutting speed - The cutting speed of a feller is generally represented by the speed of the chainsaw motor, which is an important parameter for cutting efficiency.

[0034] In the present invention, by detecting the chain saw motor pressure, when encountering thicker trees or trees with greater hardness, the chain saw motor pressure increases due to increased cutting resistance. In this case, it is necessary to reduce the feed speed and increase the cutting speed. The present invention adjusts the feed speed based on the chain saw motor pressure self-adaptation.

[0035] In the present invention, the chain saw motor pressure is pre-processed for the purpose of removing noise in the signal and filtering the target frequency range to obtain more accurate data.

[0036] In the present invention, the pre-processed chain saw motor pressure signal is Fourier transformed to obtain a frequency domain signal, and the chain saw motor speed signal is solved. The increase in cutting resistance will also cause the chain saw motor speed to decrease. In the present invention, based on the comparison of the chain saw motor pressure and the chain saw motor speed with the preset value, the chain saw oil cylinder pilot valve opening and the chain saw motor pilot valve opening are adjusted.

[0037] In the present invention, the detected chain saw motor pressure is compared with the preset pressure. If the difference percentage between the two is greater than 10% and the chain saw motor speed drops by more than 5%, it means that the chain saw resistance increases. At this time, the feed speed needs to be reduced and the cutting speed needs to be increased according to the adjustment decision.

[0038] In the present invention, the chain saw cylinder pilot valve opening and the chain saw motor pilot valve opening are adjusted according to the adjustment decision. The logic of the adjustment decision can be formulated according to the current wood cutting power, cutting power ratio, wood productivity and other parameters. There are many relevant research literatures in the prior art, which can realize the adjustment decision required by the present technical solution, so they will not be repeated here.

[0039] In the present invention, when the resistance of the chain saw increases, the chain saw oil cylinder pilot valve opening is reduced according to the decision to reduce the feed speed, and the chain saw motor pilot valve opening is increased to increase the chain saw motor speed and cutting speed, thereby realizing adaptive adjustment of the chain saw.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A chain saw adaptive control system for a logging machine, comprising: The invention relates to an engine, a hydraulic pump, a chain saw and an operating handle, wherein a pressure sensor is arranged at the chain saw for real-time monitoring of the pressure of the chain saw motor, and the invention is characterized in that the invention also comprises a controller and a proportional solenoid valve, wherein the engine, the hydraulic pump, the proportional solenoid valve, the pressure sensor at the chain saw and the operating handle are all connected to the controller, The controller is used to detect the chain saw motor pressure data in real time and perform pre-processing, obtain the chain saw motor speed based on the pre-processed chain saw motor pressure data, and send an adjustment decision to the proportional solenoid valve based on the chain saw motor pressure data and the chain saw motor speed; The proportional solenoid valve is used to output current to the chainsaw cylinder pilot valve and the chainsaw motor pilot valve based on the received adjustment decision, adjust the opening of the chainsaw cylinder pilot valve and the chainsaw motor pilot valve, and realize the control of the chainsaw cylinder speed, i.e. the feed speed, and the chainsaw motor speed, i.e. the cutting speed.

2. The chain saw adaptive control system for a logging machine according to claim 1, characterized in that: The controller is specifically used for: De-noising the detected chain saw motor pressure data and filtering the target frequency range; Performing Fourier transformation on the pre-processed chain saw motor pressure data to obtain a frequency domain signal, and solving it to obtain a chain saw motor speed signal; as well as, It is determined whether the chain saw motor pressure data and the chain saw motor speed are within a reasonable range. If not, an adjustment decision is sent to the proportional solenoid valve.

3. A chain saw adaptive control method for a logging machine, characterized in that: The method is implemented based on the chain saw adaptive control system for a logging machine according to any one of claims 1 or 2, and comprises: When the felling machine is in working state, the chain saw motor pressure data is detected and pre-processed; Obtaining a chain saw motor speed based on the pre-processed chain saw motor pressure data; Based on the chain saw motor pressure data and the chain saw motor speed, the chain saw oil cylinder pilot valve opening and the chain saw motor pilot valve opening are adjusted to adaptively control the chain saw feed speed and cutting speed.

4. The method for adaptively controlling a chainsaw for a logging machine according to claim 3, characterized in that: The detecting and pre-processing of the chain saw motor pressure data includes: The detected chain saw motor pressure data is denoised and the target frequency range is filtered.

5. The method for adaptively controlling a chainsaw for a logging machine according to claim 3, characterized in that: The obtaining of the chain saw motor speed based on the pre-processed chain saw motor pressure data comprises: The pre-processed chain saw motor pressure data is subjected to Fourier transformation to obtain a frequency domain signal, and the chain saw motor speed signal is obtained by solving the signal.

6. The method for adaptively controlling a chainsaw for a logging machine according to claim 5, characterized in that: The adjusting of the chain saw oil cylinder pilot valve opening and the chain saw motor pilot valve opening based on the chain saw motor pressure data and the chain saw motor speed includes: Determine whether the chain saw motor pressure data and the chain saw motor speed are within a reasonable range, and if not, make the next adjustment decision; According to the preset adjustment decision, the output current is sent to the electromagnetic proportional valve, and the electromagnetic proportional valve is used to control the opening of the chain saw cylinder pilot valve and the chain saw motor pilot valve, so as to adaptively control the chain saw feed speed and cutting speed.

7. The method for adaptively controlling a chain saw for a logging machine according to claim 6, characterized in that: The determining whether the chain saw motor pressure data and the chain saw motor speed are within a reasonable range includes: The detected chainsaw motor pressure is compared with the preset pressure. If the difference percentage between the two is greater than the preset pressure change value, and the chain saw motor speed change exceeds the preset speed change value, it is determined that the chainsaw motor pressure data and the chainsaw motor speed are not within a reasonable range.

8. The method for adaptively controlling a chain saw for a logging machine according to claim 7, characterized in that: The preset value of the pressure change is set to 10%; The preset value of the rotation speed change is set to 5%.

9. The method for adaptively controlling a chain saw for a logging machine according to claim 6, characterized in that: The preset adjustment decisions are made based on wood cutting power, specific cutting work and wood productivity parameters.

Images