Forest fireproof isolation belt opening machine control strategy

Abstract

The invention discloses a vehicle-mounted forest fire barrier opening machine control strategy, and particularly relates to the technical field of forest fire control. The method is characterized in that the working state of the belt opening machine is judged according to monitoring information including the load of an overturning oil cylinder, the load of a large arm oil cylinder and the power of a hydraulic motor, so that corresponding control measures are taken, the normal working of the belt opening machine is ensured, the service life of equipment is prolonged, the equipment is prevented from being damaged, and the convenience, comfort and adaptability of operation are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of forest fire prevention belt opening machines, and particularly relates to a control strategy for a vehicle-mounted forest fire prevention isolation belt opening machine. Background Art

[0002] The forest fire prevention isolation belt opening machine, abbreviated as the belt opening machine, is a special machine for opening forest fire prevention isolation belts, mainly used for excavating forest fire prevention isolation belts, forest roads, emergency opening of isolation belts for rivers and emergency fire prevention passage opening and other working conditions, and is also applicable to bush cleaning and fire prevention isolation belt trimming, and is a modern machine for building a forest fire prevention isolation system.

[0003] When the traditional belt opening machine works in mountainous and hilly areas, due to the backward control strategy of the belt opening machine head, its adaptability is poor and the working reliability is insufficient. Therefore, inventing a control strategy for the belt opening machine with strong safety, reliability and adaptability better meets the current forest fire fighting requirements. Summary of the Invention

[0004] In order to achieve the above object, the present invention provides a control strategy for a vehicle-mounted forest fire prevention isolation belt opening machine, aiming to improve the environmental adaptability and working reliability of the belt opening machine. The control carrier of the method includes a boom cylinder, a tipping cylinder, the rotational speed of the belt opening machine cutter barrel, a hydraulic motor and a vehicle. The specific control steps are as follows:

[0005] Step 1: Belt opening machine operation preparation: After checking that the vehicle has no faults, turn on the mode conversion switch. The vehicle enters the belt opening mode from the normal driving mode. The hydraulic motor drives the rotational speed of the belt opening machine cutter barrel to reach the rated speed n = 2300 rpm, and at the same time, the vehicle driving speed v ≤ 10 km / h is restricted.

[0006] Step 2: After the system enters the normal working state, the sudden load increment F1 of the tipping cylinder, the power P of the hydraulic motor, and the sudden load increment F2 of the boom cylinder are used as monitoring targets, and at the same time, the vehicle driving speed v and the oil supply state of the cylinder are determined according to the monitoring target values. Specifically as follows:

[0007] A1: When the sudden load increment F1 of the tipping cylinder ≤ 2000 N, the vehicle driving speed v is determined according to the power P of the hydraulic motor:

[0008] S1: 130 kw < P ≤ 150 kw, restrict the vehicle driving speed v ≤ 10 km / h;

[0009] S2: 150 kw < P ≤ 170 kw, restrict the vehicle driving speed v ≤ 8 km / h;

[0010] S3: 170 kw < P ≤ 190 kw, restrict the vehicle driving speed v ≤ 7 km / h;

[0011] S4: When 190 kw < P ≤ 200 kw, limit the vehicle speed v ≤ 6 km / h;

[0012] S5: When P > 200 kw, the vehicle performs emergency braking.

[0013] A2: When the sudden load increment of the tipping cylinder F1 > 2000 N, determine the vehicle speed v according to F1:

[0014] S1: When 2000 N < F1 ≤ 4000 N, limit the vehicle speed v ≤ 4 km / h;

[0015] S2: When 4000 N < F1 ≤ 6000 N, limit the vehicle speed v ≤ 2 km / h;

[0016] S3: When F1 > 6000 N, the vehicle performs emergency braking.

[0017] A3: When the sudden load increment of the boom cylinder F2 > 3000 N, limit the vehicle speed v ≤ 2 km / h, and the boom cylinder enters the pressure-holding mode;

[0018] Step 3: Continuously monitor the three indicators of the sudden load increment of the tipping cylinder F1, the hydraulic motor power P, and the boom cylinder load F2. When these three indicators are outside the range of Step 2, the vehicle maintains the normal tape-opening mode and limits the driving speed v ≤ 10 km / h.

[0019] Step 4: When the operation is completed, turn off the mode conversion switch, and the vehicle enters the normal driving mode from the tape-opening mode, canceling the driving speed limit.

[0020] Furthermore, the cylinder load is calculated based on the oil pressure multiplied by the cross-sectional area of the oil pressure action, that is, F = P × A. P is the cylinder oil pressure, and A is the cross-sectional area of the oil pressure action.

[0021] Furthermore, under the normal working state of the tape opener, the bottom surface A of the tape opener head is flush with the horizontal plane, the included angle α between the boom cylinder and the horizontal plane is within ±5°; the included angle β between the tipping cylinder and the horizontal plane is between 20° - 30°.

[0022] According to the above control scheme, the beneficial effects of the present invention are:

[0023] By monitoring the cylinder load and hydraulic motor power of the tape opener, reflecting its working state, thereby controlling the tape opener to travel at a reasonable speed, achieving the purpose of improving the environmental adaptability, working reliability of the tape opener, and reducing manual operation. Brief Description of the Drawings

[0024] Figure 1 It is a schematic diagram of the structure of the tape opener

[0025] Figure 2Flowchart of the control steps of the tape opener

[0026] Figure 3 The normal working posture diagram of the tape opener

[0027] Figure 4 The control logic diagram of the tape machine

[0028] In the figure: Note 1-opening head, 2-turning cylinder, 3-big arm cylinder, 4-hydraulic motor, 5-knife cylinder. DETAILED DESCRIPTION

[0029] The present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention:

[0030] like Figure 1 As shown, the controlled objects include a strip opening head (1), a tilting oil cylinder (2), two arm oil cylinders (3), a hydraulic motor (4), and a knife barrel (5). The tilting oil cylinder (2) controls the strip opening head (1) to flip, the arm oil cylinder (3) controls the strip opening head (1) to pitch to adapt to different working scenes, and the hydraulic motor (4) controls the knife barrel (5) to perform a rotary cutting motion.

[0031] like Figure 2 As shown, when it is determined that the belt opening machine is in good working condition, the conversion switch is turned on and the vehicle enters the belt opening operation mode. After entering the belt opening mode, the relative position relationship between each part and between each part and the horizontal plane under the adjustment of the belt opening machine is as follows: the angle α between the boom cylinder and the horizontal plane is at ±5°, the angle β between the flip cylinder and the horizontal plane is at 20°-30°, and the bottom surface A of the belt opening machine head is flush with the horizontal plane.

[0032] like Figure 3 As shown, a vehicle-mounted forest fire isolation zone opener control strategy includes the following steps:

[0033] Step 1: Preparation for the tape slitter operation: After checking that the vehicle has no faults, turn on the mode conversion switch, and the vehicle enters the tape slitter mode from the normal driving mode. The hydraulic motor drives the tape slitter knife drum to reach the rated speed n = 2300 rpm, and at the same time limits the vehicle driving speed to v ≤ 10 km / h.

[0034] Step 2: After the system enters normal working state, the sudden increase in the load of the flip cylinder F1, the hydraulic motor power P, and the sudden increase in the load of the boom cylinder F2 are used as monitoring targets. At the same time, the vehicle speed v and the status of the cylinder oil supply are determined according to the monitoring target values.

[0035] Step 3: Continuously monitor the three indicators of the sudden increase in the tilting cylinder load F1, the hydraulic motor power P, and the boom cylinder load F2. When these three indicators are outside the range of step 2, the vehicle maintains the normal driving mode and limits the driving speed to v≤10km / h.

[0036] Step 4: When the operation is completed, turn off the mode conversion switch. The vehicle enters the normal driving mode from the open belt mode, and the driving speed limit is cancelled.

[0037] As Figure 4 shown, in Step 2, the logical relationships for determining the vehicle driving speed v and the oil supply state of the oil cylinder by the sudden load increment F1 of the tipping cylinder, the power P of the hydraulic motor, and the sudden load increment F2 of the boom cylinder are as follows:

[0038] A1: When the sudden load increment F1 of the tipping cylinder ≤ 2000N, determine the vehicle driving speed v according to the power P of the hydraulic motor:

[0039] S1: 130kw < P ≤ 150kw, limit the vehicle driving speed v ≤ 10km / h;

[0040] S2: 150kw < P ≤ 170kw, limit the vehicle driving speed v ≤ 8km / h;

[0041] S3: 170kw < P ≤ 190kw, limit the vehicle driving speed v ≤ 7km / h;

[0042] S4: 190kw < P ≤ 200kw, limit the vehicle driving speed v ≤ 6km / h;

[0043] S5: 200kw < P, the vehicle makes an emergency brake.

[0044] A2: When the sudden load increment F1 of the tipping cylinder > 2000N, determine the vehicle driving speed v according to F1:

[0045] S1: 2000N < F1 ≤ 4000N, limit the vehicle driving speed v ≤ 4km / h;

[0046] S2: 4000N < F1 ≤ 6000N, limit the vehicle driving speed v ≤ 2km / h;

[0047] S3: 6000N < F1, the vehicle makes an emergency brake.

[0048] A3: When the sudden load increment F2 of the boom cylinder > 3000N, limit the vehicle driving speed v ≤ 2km / h, and the boom cylinder enters the pressure-holding mode.

Claims

1. A vehicle-mounted forest fire isolation zone development machine control strategy, characterized in that: Judge the working state of the belt opener by monitoring information including the load of the tipping cylinder, the load of the boom cylinder, and the power of the hydraulic motor, and then take corresponding control measures. The specific steps are as follows: Step 1: Preparation for belt opening operation: Turn on the mode conversion switch, and the vehicle enters the belt opening mode from the normal driving mode, restricting the vehicle driving speed v ≤ 10 km / h. Step 2: Adjust the vehicle driving speed v and the oil supply state of the cylinder according to the sudden increase in load F1 of the tipping cylinder, the power P of the hydraulic motor, and the sudden increase in load F2 of the boom cylinder to adapt to the operating environment. Specifically as follows: A1: When the sudden increase in load F1 of the tipping cylinder ≤ 2000 N, determine the vehicle driving speed v according to the power P of the hydraulic motor: S1: 130 kw < P ≤ 150 kw, restrict the vehicle driving speed v ≤ 10 km / h; S2: 150 kw < P ≤ 170 kw, restrict the vehicle driving speed v ≤ 8 km / h; S3: 170 kw < P ≤ 190 kw, restrict the vehicle driving speed v ≤ 7 km / h; S4: 190 kw < P ≤ 200 kw, restrict the vehicle driving speed v ≤ 6 km / h; S5: 200 kw < P, the vehicle makes an emergency brake. A2: When the sudden increase in load F1 of the tipping cylinder > 2000 N, determine the vehicle driving speed v according to F1: S1: 2000 N < F1 ≤ 4000 N, restrict the vehicle driving speed v ≤ 4 km / h; S2: 4000 N < F1 ≤ 6000 N, restrict the vehicle driving speed v ≤ 2 km / h; S3: 6000 N < F1, the vehicle makes an emergency brake. A3: When the sudden increase in load F2 of the boom cylinder > 3000 N, restrict the vehicle driving speed v ≤ 2 km / h, and the boom cylinder enters the pressure-holding mode; Step 3: Continuously monitor the three indicators of the sudden increase in load F1 of the tipping cylinder, the power P of the hydraulic motor, and the load F2 of the boom cylinder. When these three indicators are outside the range of Step 2, the vehicle maintains the normal belt opening mode, restricting the driving speed v ≤ 10 km / h. Step 4: When the operation is completed, turn off the mode conversion switch, and the vehicle enters the normal driving mode from the belt opening mode, canceling the driving speed limit.

2. A vehicle-mounted forest fire isolation zone development machine control strategy according to claim 1, characterized in that: The cylinder load is calculated based on the oil pressure multiplied by the cross-sectional area of the oil pressure action, that is, F = P × A. P is the oil pressure of the cylinder, and A is the cross-sectional area of the oil pressure action.

3. A tape opening machine control strategy according to claim 1, characterized in that: During normal belt opening operation When the operation is in progress, the bottom surface a of the belt opener head is flush with the ground, and the angle α between the boom cylinder and the horizontal plane is within the range of ±5° The angle β between the tipping cylinder and the horizontal plane is 20° - 30°.

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