Hydraulic electric control system of broadside derusting vehicle and control method of hydraulic electric control system

Abstract

The invention discloses a hydraulic electric control system of a broadside derusting vehicle and a control method of the hydraulic electric control system, and particularly relates to the technical field of high-altitude derusting devices for broadside derusting. The hydraulic electric control system of the broadside derusting vehicle comprises a data acquisition device, an arm lever device and a cleaning device, wherein the data acquisition device is used for acquiring monitoring data of the vehicle body, the arm lever device, the cleaning device and the working environment; and the hydraulic electric control device is connected with the data acquisition device and used for receiving the monitoring data and controlling and adjusting the working states of the vehicle body, the arm lever device and the cleaning device according to the monitoring data after a rust removal instruction is obtained, so that the cleaning device of the broadside rust removal vehicle is adsorbed to the broadside of the ship to execute broadside rust removal work. By arranging the data acquisition device and the hydraulic electric control device, an operator (a user) can automatically control the broadside derusting vehicle to derust the broadside of the ship, the misoperation risk of the operator in the broadside derusting process is reduced, and the operation convenience and safety are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of high-altitude rust removal devices for side rust removal, and in particular to a hydraulic electric control system of a side rust removal vehicle and a control method thereof. Background Art

[0002] Aerial work platforms are widely accepted by shipyards and purchased and used on a large scale due to their wide range of uses, good safety performance, and high operating efficiency. However, for the side rust removal solutions currently in use, operators need to remove rust from the side of the ship manually or by manual and mechanical methods at the operating table in the near-ground area, which poses a great challenge to the flexibility of vehicle use and the safety of operators. In addition, the shipyard environment is complex and the potential safety risks are huge. After more than 20 years of actual use, the demand for aerial work platforms in major ship repair and construction plants has also changed from the previous simple "having" to "excellent", and the requirements for equipment and personalized customization have gradually increased. As the safety and environmental protection requirements for ship cleaning continue to increase, it is urgent to upgrade the side rust removal vehicle to an intelligent one. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a hydraulic and electronic control system of a side rust removal vehicle and a control method thereof, so as to solve or reduce the safety problems encountered by the operator when removing rust from the side of a ship.

[0004] According to the first aspect, an embodiment of the present invention provides a hydraulic and electronic control system of a side rust removal vehicle, which is used to control the side rust removal vehicle to remove rust from the side of a ship, and the side rust removal vehicle comprises: a vehicle body, an arm device and a cleaning device; it is characterized in that the hydraulic and electronic control system of the side rust removal vehicle comprises: a data acquisition device, which is used to collect monitoring data of the vehicle body, the arm device, the cleaning device and the working environment; a hydraulic and electronic control device, which is connected to the data acquisition device, is used to receive the monitoring data, and after obtaining the rust removal instruction, controls and adjusts the working states of the vehicle body, the arm device and the cleaning device according to the monitoring data, so that the cleaning device of the side rust removal vehicle is adsorbed on the side of the ship to perform the side rust removal work.

[0005] Optionally, the data acquisition device includes at least one of a position sensor, a cylinder sensor, a level sensor, a pull rope sensor, a temperature sensor, a humidity sensor, and a pressure sensor.

[0006] Optionally, the hydraulic electronic control device includes: a vehicle control module, used to control the movement of the vehicle body around the side of the ship according to the vehicle displacement data and the vehicle running speed in the monitoring data; an arm device control module, used to control the movement and extension of the arm device according to the arm device displacement data and the offset angle in the monitoring data, and make the cleaning device adsorbed on the side of the ship; a cleaning device control module, used to control the cleaning device to remove rust on the side of the ship according to the posture data of the cleaning device and the switch state of the cleaning device in the monitoring data; a communication module, used to transmit the monitoring data and the rust removal instructions, and the communication module uses the CAN bus protocol for data communication.

[0007] Optionally, the hydraulic and electronic control system of the side rust removal vehicle also includes:

[0008] An indicating device, connected to the hydraulic electronic control device, for indicating the working status of the vehicle body, the arm device and the cleaning device to the user;

[0009] The warning device is connected to the hydraulic electric control device and is used to send a warning signal to the user when the hydraulic electric control device detects that the monitoring data is not within a preset range.

[0010] Optionally, the hydraulic and electronic control system of the side rust removal vehicle also includes:

[0011] A remote controller is communicatively connected with the hydraulic electric control device and is used for sending the rust removal instruction to the hydraulic electric control device according to a user instruction.

[0012] According to a second aspect, an embodiment of the present invention provides a control method for the hydraulic and electronic control of a side rust removal vehicle, the control method being applicable to the hydraulic and electronic control system of the side rust removal vehicle as described above, the control method comprising:

[0013] Obtain monitoring data of the vehicle body, boom device, cleaning device and working environment;

[0014] The monitoring data is received, and after obtaining the rust removal instruction, the working states of the vehicle body, the arm device and the cleaning device are controlled and adjusted according to the monitoring data, so that the cleaning device of the side rust removal vehicle is adsorbed on the side of the ship to perform the side rust removal work.

[0015] Optionally, the controlling and adjusting the working states of the vehicle body, the arm device and the cleaning device according to the monitoring data so that the cleaning device of the side rust removal vehicle is adsorbed on the side of the ship to perform the side rust removal work includes:

[0016] Controlling the vehicle body to move around the side of the ship according to the vehicle displacement data and the running speed of the vehicle in the monitoring data;

[0017] According to the displacement data and the offset angle of the arm device in the monitoring data, the arm device is controlled to move and retract, and the cleaning device is adsorbed on the side of the ship;

[0018] According to the posture data of the cleaning device and the switch state of the cleaning device in the monitoring data, the cleaning device is controlled to remove rust from the side of the ship.

[0019] Optionally, before obtaining the rust removal instruction, the method further includes:

[0020] Determining whether the monitoring data meets a first threshold interval;

[0021] If the monitoring data does not meet the first threshold range, a warning signal is output to prompt the user to perform troubleshooting.

[0022] Optionally, the controlling and adjusting the working states of the vehicle body, the arm device and the cleaning device according to the monitoring data so that the cleaning device of the side rust removal vehicle is adsorbed on the side of the ship to perform the side rust removal work includes:

[0023] Extract monitoring data within a preset time period;

[0024] When the monitoring data within the preset time period does not meet the second threshold interval, the working states of the vehicle body, the arm device and the cleaning device are corrected and compensated, and the first threshold interval is greater than the second threshold interval.

[0025] According to a third aspect, an embodiment of the present invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned hydraulic and electronic control method of the side rust removal vehicle.

[0026] The hydraulic and electronic control system of the side rust removal vehicle provided in the embodiment of the present application collects monitoring data of the vehicle body, the arm device, the cleaning device and the working environment by setting a data acquisition device, and then uses the monitoring data and the hydraulic and electronic control device to enable the operator (user) to automatically control the side rust removal vehicle to remove rust from the side of the ship, thereby reducing the risk of accidental touch (misoperation) of the operator during the side rust removal process and ensuring operational convenience and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic diagram of a side rust removal vehicle provided for this application;

[0029] Figure 2 A schematic diagram of the structural block diagram of the hydraulic and electronic control system of the side rust removal vehicle provided in this application;

[0030] Figure 3 A schematic diagram of the structure of the hydraulic electronic control device in the hydraulic electronic control system of the side rust removal vehicle provided in this application;

[0031] Figure 4 A schematic diagram of another structural block diagram of the hydraulic electric control system of the side rust removal vehicle provided in the present application;

[0032] Figure 5 A flow chart of a control method for a hydraulic and electronic control system of a side rust removal vehicle provided in the present application;

[0033] Figure 6 A schematic diagram of another structural block diagram of the hydraulic electric control system of the side rust removal vehicle provided in the present application;

[0034] Description of reference numerals:

[0035] 1-Hydraulic electronic control system; 2-Vehicle body; 3-Arm device; 4-Cleaning device; 10-Data acquisition device; 20-Hydraulic electronic control device; 201-Vehicle control module; 202-Arm device control module; 203-Cleaning device control module; 204-Communication module; 30-Indication device; 40-Warning device; 50-Remote controller; 51-Processor; 52-Memory. DETAILED DESCRIPTION

[0036] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] First, as Figure 1-2 As shown, an embodiment of the present application provides a hydraulic and electronic control system of a side rust removal vehicle for controlling the side rust removal vehicle to remove rust from the side of a ship, and the side rust removal vehicle in the embodiment of the present application includes: a vehicle body 2, an arm device 3 and a cleaning device 4.

[0041] Among them, the arm device 3 includes a boom part, a forearm part and a main arm part, the cleaning device 4 is adaptably connected to the arm device 3, and the cleaning device 4 and the arm device 3 are both installed on the vehicle body 2. The vehicle body 2 is used to move according to the target trajectory according to the control instructions sent by the hydraulic and electronic control system 1 of the side rust removal vehicle. The arm device 3 installed on the vehicle body 2 is telescopically moved through the coordination between the boom part, the forearm part and the main arm part, so that the cleaning device 4 adaptably connected to the arm device 3 is applied to the side of the ship, and then the rust removal of the side of the ship is started or stopped according to the control instructions of the hydraulic and electronic control system 1 of the side rust removal vehicle.

[0042] like Figure 2As shown, the hydraulic electronic control system of the side rust removal vehicle includes: a data acquisition device 10 and a hydraulic electronic control device 20, and the data acquisition device 10 and the hydraulic electronic control device 20 are communicatively connected, wherein the data acquisition device 10 is used to collect monitoring data of the vehicle body, the arm device, the cleaning device and the working environment; the hydraulic electronic control device 20 is used to receive the monitoring data, and after obtaining the rust removal instruction, control and adjust the working state of the vehicle body, the arm device and the cleaning device according to the monitoring data, so that the cleaning device of the side rust removal vehicle is adsorbed on the side of the ship to perform the side rust removal work.

[0043] In this embodiment, the data acquisition device 10 and the hydraulic electronic control device 20 are connected for communication and data transmission. The data acquisition device 10 is respectively arranged on the vehicle body, the arm device and the cleaning device, while the hydraulic electronic control device 20 is arranged in the vehicle body. The hydraulic electronic control device 20 can control the movement of the vehicle body, the arm device and the cleaning device in a wired or wireless manner, so that the operator can remotely operate the side rust removal vehicle to perform rust removal work, reduce the risk of close-to-ground operation and accidental operation by the operator, and ensure the operator's work safety. At the same time, the intelligent control of the side rust removal vehicle by the hydraulic electronic control device improves the flexible operation capability of the rust removal vehicle and the synchronization of operation implementation, thereby improving the removal efficiency of rust removal on the side of the ship.

[0044] Optionally, the data acquisition device 10 can be dispersedly arranged in the vehicle body, the arm device and the cleaning device, and the collected monitoring data can be the movement data, displacement data, and moving speed of the vehicle body, the deflection data, telescopic data, and movement data of the upper arm part, the lower arm part, and the main arm part of the arm device, the startup data of the cleaning device, the moving posture data (such as: deflection angle), the temperature or humidity data of the operation, and other data.

[0045] Optionally, the hydraulic electronic control device 20 includes a data processing module, which is used to perform real-time analysis and processing on the monitoring data collected by the data acquisition device 10, and generate or optimize and adjust the control strategy according to the real-time situation. For example, when performing rust removal operations on corners or edges, the hydraulic electronic control device 20 can calculate the corresponding rust removal vehicle movement trajectory and evaluate the working environment information based on the angle information, temperature information, humidity information and speed information collected by the data acquisition device 10, and perform rust removal on the side of the ship. When there is a target obstacle, the hydraulic electronic control device 20 will re-plan the rust removal route or correct the rust removal route according to the real-time situation.

[0046] Optionally, an operator or user may receive monitoring data through a mobile device or terminal (such as a mobile phone, a remote control), and / or send control instructions to control the hydraulic electronic control system so that the hydraulic electronic control system controls the side rust removal vehicle to perform rust removal and ship cleaning work, wherein the control instructions may include action instructions for controlling the movement of the vehicle body, the extension and retraction of the arm device, and the cleaning device to perform rust removal.

[0047] Optionally, the hydraulic electronic control device 20 also includes: driving components for controlling the ultra-high pressure water knife disc (cleaning device), the arm device of the vehicle and the movement of the vehicle body, such as solenoid valves, pneumatic valves, etc.

[0048] The hydraulic and electronic control system 1 of the side rust removal vehicle provided in the embodiment of the present application, by setting a data acquisition device 10, collects monitoring data of the vehicle body, the arm device, the cleaning device and the working environment, and then uses the monitoring data and the hydraulic and electronic control device 20 to enable the operator (user) to automatically control the side rust removal vehicle to remove rust from the side of the ship, thereby reducing the risk of accidental touch (misoperation) of the operator during the side rust removal process and ensuring operational convenience and safety.

[0049] Optionally, the data acquisition device 10 includes at least one of a position sensor, a cylinder sensor, a level sensor, a pull rope sensor, a temperature sensor, a humidity sensor, and a pressure sensor.

[0050] In this embodiment, speed sensors and position sensors can be set at the positions of the four wheels of the vehicle body, and the moving speed and moving position data of the vehicle body can be collected to control the moving state of the vehicle body, so as to ensure that the vehicle body can move smoothly and the accuracy of the rust removal operation can be ensured; sensors, cylinder sensors, level sensors, and rope sensors can also be set on the arm device and the cleaning device to ensure that the arm device can drive the cleaning device to move smoothly, and when performing rust removal work, the cleaning device can be close to the side of the ship to ensure the accuracy of rust removal on the side. Optionally, the cleaning device can be an ultra-high pressure water knife disc.

[0051] like Figure 3 As shown, the hydraulic electronic control device comprises:

[0052] The vehicle control module 201 is used to control the vehicle body to move around the side of the ship according to the vehicle displacement data and the vehicle running speed in the monitoring data.

[0053] The arm device control module 202 is used to control the movement and extension of the arm device according to the arm device displacement data and offset angle in the monitoring data, and to make the cleaning device adsorbed to the side of the ship.

[0054] The cleaning device control module 203 is used to control the cleaning device to remove rust from the side of the ship according to the posture data of the cleaning device and the switch status of the cleaning device in the monitoring data. Optionally, the cleaning device control module 203 also includes: an environmental protection and energy-saving submodule, which is used to optimize the working parameters of the cleaning device according to the monitoring data to reduce energy consumption and environmental pollution.

[0055] The communication module 204 is used to transmit monitoring data and rust removal instructions. The communication module uses the CAN bus protocol for data communication.

[0056] Optionally, to facilitate users to view monitoring data, the communication module 204 can also be a remote control module that realizes remote monitoring and control through a wireless network, such as 5G, Wi-Fi.

[0057] like Figure 4 As shown, the hydraulic and electronic control system of the side rust removal vehicle provided in the embodiment of the present application also includes:

[0058] The indicating device 30 is connected to the hydraulic electronic control device 20 and is used to indicate the working status of the vehicle body, the arm device and the cleaning device to the user.

[0059] The warning device 40 is connected to the hydraulic electronic control device 20 and is used to send a warning signal to the user when the hydraulic electronic control device 20 detects that the monitoring data is not within a preset range.

[0060] Optionally, the warning device also includes: a safety protection module, which is communicated with the hydraulic electronic control device 20, and the safety protection module is used to automatically stop the system operation and issue an alarm when the monitoring data is abnormal. By setting the safety protection module in the warning device, the user can be quickly warned to ensure the accuracy of the rust removal on the side.

[0061] The remote controller 50 is in communication connection with the hydraulic electronic control device 20 and is used for sending rust removal instructions to the hydraulic electronic control device according to user instructions.

[0062] In combination with the above embodiments, the hydraulic and electronic control system of the side rust removal vehicle provided by the present application may include: a power supply part, a data acquisition device 10 for collecting data of the vehicle body, the arm device (including the upper arm, the lower arm and the main arm) installed on the vehicle body, and the ultra-high pressure water knife disc (cleaning device) (such as angle, movement speed, direction of movement of the ultra-high pressure water knife disc, and application status), a remote control 50, a hydraulic and electronic control device 20, a warning device 40, an indication device 30 and other driving components (such as: solenoid valves, pneumatic valves, etc.) that control the ultra-high pressure water knife disc (cleaning device), the arm device installed on the vehicle, and the hydraulic and electronic control system.

[0063] Specifically, a sensor is provided at each of the four wheels of the vehicle body, which can collect the angle information of the four wheels and control or adjust the state of the vehicle body in real time through the hydraulic electronic control device. In addition, the hydraulic electronic control device can also control the left and right swing, up and down lifting and retraction of the main arm, the forward and backward movement and steering of the vehicle chassis, the posture control of the ultra-high pressure water knife disc and the rotation of the water knife head, the ultra-high pressure water valve switch and other functions.

[0064] In the embodiment of the present application, the hydraulic electronic control system uses the CAN bus protocol for communication; in addition to active learning, the user can also control the motion of the vehicle body and the operation of the arm device of the vehicle body through remote sensing (remote control operation). In addition, to ensure the safety of use and operation, a warning unit is also provided in the hydraulic electronic control device to warn of some dangerous operations.

[0065] Specifically, when removing rust from the target hull, if the operator wants to use the automatic adsorption function, he must first select the adsorption direction on the intelligent terminal (such as the touch screen corresponding to the hydraulic electronic control system), and then use the lever on the remote control to adjust to the automatic adsorption gear. At this time, the system will automatically adjust the extension direction and attachment pressure of the hydraulic swing cylinder according to the current main arm position to ensure that the ultra-high pressure water knife disc continues to adhere to the surface of the ship.

[0066] If the main arm needs to move, the data of the built-in position sensor of the main arm swing cylinder can be collected first, and the current telescopic length of the cylinder can be monitored in real time. The current angle of the cylinder swing can be converted according to the feedback of the current stroke of the cylinder and the distance between the main arm fulcrum and the cylinder fulcrum. The swing cylinder is a cylinder that controls the horizontal swing of the main arm by ±30°. For example, when the feedback signal of the cylinder sensor is 11.5mA, the current position of the main arm is the middle position; when the feedback signal is 4-11.4mA, the main arm position is the corresponding angle in the negative direction, and the negative limit is 4mA, which corresponds to -30°; on the contrary, when the feedback signal is 11.6-20mA, the main arm is the corresponding angle of the positive swing, and the positive limit is 20mA, which corresponds to +30°.

[0067] When facing body tilt and limitation, users can sense the current body posture and tilt angle in real time based on the vehicle's own and XY dual-axis horizontal sensors. When the body tilt angle is greater than the set value, the system will limit the current main arm lifting height. This calculation formula is based on the safe working range curve to avoid the risk of body overturning. The limiting function is to limit the extension and retraction length of the main arm to no more than 12.2 meters when the horizontal sensor at the end of the main arm detects that the main arm is in a horizontal state, so as to prevent the body from overturning.

[0068] In addition, the hydraulic and electronic control system of the side rust removal vehicle can also use the external sensor - the pull rope sensor to measure the lifting angle and telescopic length of the main arm, and use the triangle formula to calculate the current lifting amplitude of the main arm, so as to monitor the current height of the vehicle's main arm in real time and display it on the touch screen of the electrical control box, so that the operator can understand the current vehicle status in real time.

[0069] In the hydraulic and electronic control system of the side rust removal vehicle provided in the embodiment of the present application, the status of the vehicle body, the arm device and the cleaning device can be monitored in real time according to the actual scenario, and the current operation posture and model can be generated according to the current sensor data for safety calculation to ensure the safety of the operation at all times; the control mode of the cleaning device can also be adjusted according to the specific application scenario to adapt to more irregular surfaces of the ship to be cleaned, such as: the outer arc surface from the bottom of the ship to the waterline, the inner and outer arc surfaces of the bulbous bow, the bow section and other scenarios and working conditions; in addition, since the vehicle body is a National IV diesel engine, the hydraulic and electronic control system needs to be equipped with an engine status monitoring module. When it is detected that the current exhaust emissions are not up to standard, the speed is increased in time to achieve self-cleaning and carbon removal treatment.

[0070] In addition, the original vehicle's step-switch boom amplitude detection has been upgraded to continuous analog detection, which can more accurately monitor the current boom extension and height information in real time, and display it in time on the vehicle's human-machine interface to facilitate the operator to judge the current boom extension status.

[0071] When a vehicle using the hydraulic electronic control system provided by the present application adopts a forward and backward movement method to sweep back and forth during the cleaning operation, the remote control is provided with an automatic adsorption function for the ultra-high pressure cleaning water knife disc, which can facilitate the operator to adjust other actions during the operation of the vehicle's return process, thereby greatly improving work efficiency.

[0072] The hydraulic and electronic control system of the side rust removal vehicle provided in this application can flexibly adjust the swing attachment angle and strength of the main arm at any time according to the actual scene requirements. It has wider adaptability and has better status monitoring for different parts and curved surfaces of the ship, which is convenient for operators to improve work efficiency.

[0073] Second, as Figure 5 As shown, the control method of the hydraulic electric control of the side rust removal vehicle provided in the embodiment of the present application is applicable to the hydraulic electric control system of the side rust removal vehicle as above, and the steps of the control method include:

[0074] S1, obtain monitoring data of the vehicle body, arm device, cleaning device and working environment.

[0075] S2, receiving monitoring data, and after obtaining the rust removal instruction, controlling and adjusting the working states of the vehicle body, the arm device and the cleaning device according to the monitoring data, so that the cleaning device of the side rust removal vehicle is adsorbed on the side of the ship to perform the side rust removal work.

[0076] In this embodiment, the data acquisition device in the hydraulic and electronic control system of the side rust removal vehicle collects monitoring data of the vehicle body, the arm device, the cleaning device and the working environment, and then outputs the collected data to the hydraulic and electronic control device. When the hydraulic and electronic control device receives the rust removal instruction, it controls the working status of the vehicle body, the arm device and the cleaning device, so that the cleaning device of the side rust removal vehicle is adsorbed on the side of the ship to perform the side rust removal work, so that the operator can remotely operate the side rust removal vehicle to perform rust removal work, reduce the risk of close-to-ground operation and accidental operation by the operator, and ensure the operator's work safety. At the same time, the intelligent control of the side rust removal vehicle by the hydraulic and electronic control device improves the flexible operation capability of the rust removal vehicle and the synchronization of operation implementation, thereby improving the removal efficiency of rust removal on the side of the ship.

[0077] The control method of the hydraulic electric control of the side rust removal vehicle provided in the embodiment of the present application, wherein step S2 further comprises the following steps:

[0078] S21, according to the vehicle displacement data and the vehicle running speed in the monitoring data, the vehicle body is controlled to move around the side of the ship.

[0079] S22, according to the displacement data and offset angle of the arm device in the monitoring data, the arm device is controlled to move and retract, and the cleaning device is adsorbed on the side of the ship.

[0080] S23, according to the posture data of the cleaning device and the switch state of the cleaning device in the monitoring data, the cleaning device is controlled to remove rust from the side of the ship.

[0081] The control method of the hydraulic electric control of the side rust removal vehicle provided in the embodiment of the present application, before obtaining the rust removal instruction, the method further includes:

[0082] S201, determining whether the monitoring data meets a first threshold interval;

[0083] S202: If the monitoring data does not meet the first threshold range, a warning signal is output to prompt the user to perform troubleshooting.

[0084] In this embodiment, in order to improve the accuracy of rust removal on the side, after the hydraulic electronic control device obtains the monitoring data, it is necessary to determine whether there is a monitoring error in the requested data. If a monitoring error occurs, it is necessary to notify the operator to troubleshoot.

[0085] Specifically, the first threshold interval includes: data for measuring whether there is a monitoring error in the vehicle body, data for measuring whether there is a monitoring error in the arm device, and data for measuring whether there is a monitoring error in the cleaning device. The above data are accumulated based on actual experience and are not limited in detail here. After the hydraulic electronic control device obtains the monitoring data, the monitoring data can be classified first, and then abnormal data can be extracted from the classified data for judgment. When the abnormal data is error data, the fault point can be quickly locked according to the corresponding type of the error data, so as to quickly notify the operator to troubleshoot the fault.

[0086] The control method of the hydraulic electric control of the side rust removal vehicle provided in the embodiment of the present application, step S2, further includes:

[0087] S24, extracting monitoring data within a preset time period.

[0088] S25, when the monitoring data within the preset time period does not meet the second threshold interval, the working states of the vehicle body, the arm device and the cleaning device are corrected and compensated, and the first threshold interval is greater than the second threshold interval.

[0089] In order to further ensure that the rust removal can be carried out accurately and quickly, improve the work efficiency of the operator, and ensure the safety of the operator's work, in this embodiment, the operator can preset a time period (for example: 10 minutes, 20 minutes), extract one or more monitoring data within the preset time, and compare the monitoring data of the vehicle body, the arm device and the cleaning device with the second threshold interval, so as to determine whether there is a deviation in the working state of the vehicle body, the arm device and the cleaning device. If there is a deviation, the deviation data is compensated by the compensation data to ensure the normal operation of the side rust removal vehicle. If there is no deviation, the current side rust removal vehicle working mode is maintained.

[0090] The embodiment of the present invention also provides a hydraulic and electric control system for a side rust removal vehicle, such as Figure 6 As shown, the hydraulic electric control system of the side rust removal vehicle may include a processor 51 and a memory 52, wherein the processor 51 and the memory 52 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0091] The processor 51 may be a central processing unit (CPU). The processor 51 may 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, or a combination of the above chips.

[0092] The memory 52 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the control method of the hydraulic electric control of the side rust removal vehicle in the embodiment of the present invention (for example, Figure 2 The data acquisition device 10 and the hydraulic electronic control device 20 are shown. The processor 51 executes various functional applications and data processing of the processor by running the non-transient software programs, instructions and modules stored in the memory 52, that is, the control method of the hydraulic electronic control of the side rust removal vehicle in the above method embodiment is realized.

[0093] The memory 52 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created by the processor 51, etc. In addition, the memory 52 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 52 may optionally include a memory remotely arranged relative to the processor 51, and these remote memories may be connected to the processor 51 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0094] The one or more modules are stored in the memory 52 and when executed by the processor 51, perform the following steps: Figure 5 The hydraulic and electronic control method of the side rust removal vehicle in the illustrated embodiment.

[0095] The specific details of the hydraulic and electronic control device of the above-mentioned side rust removal vehicle can be found in Figures 1 to 5 The corresponding related descriptions and effects in the illustrated embodiments can be understood and will not be repeated here.

[0096] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0097] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A hydraulic and electric control system of a side rust removal vehicle, used to control the side rust removal vehicle to remove rust from the side of a ship, the side rust removal vehicle comprising: Vehicle body, arm device and cleaning device; characterized in that the hydraulic and electronic control system of the side rust removal vehicle includes: A data acquisition device, used to collect monitoring data of the vehicle body, the arm device, the cleaning device and the working environment; The hydraulic electric control device is connected to the data acquisition device, and is used to receive the monitoring data, and after obtaining the rust removal instruction, control and adjust the working states of the vehicle body, the arm device and the cleaning device according to the monitoring data, so that the cleaning device of the side rust removal vehicle is adsorbed on the side of the ship to perform the side rust removal work.

2. The hydraulic and electric control system of the side rust removal vehicle according to claim 1 is characterized in that: The data acquisition device includes: at least one of a position sensor, a cylinder sensor, a level sensor, a pull rope sensor, a temperature sensor, a humidity sensor, and a pressure sensor.

3. The hydraulic and electric control system of the side rust removal vehicle according to claim 1 is characterized in that: The hydraulic electric control device comprises: A vehicle control module, used for controlling the vehicle body to move around the side of the ship according to the vehicle displacement data and the running speed of the vehicle in the monitoring data; An arm device control module, used for controlling the movement and extension of the arm device according to the displacement data and the offset angle of the arm device in the monitoring data, and making the cleaning device adsorbed to the side of the ship; A cleaning device control module, used to control the cleaning device to remove rust from the ship's side according to the posture data of the cleaning device and the switch state of the cleaning device in the monitoring data; A communication module is used to transmit the monitoring data and the rust removal instruction, and the communication module uses the CAN bus protocol for data transmission.

4. The hydraulic and electric control system of the side rust removal vehicle according to claim 1 is characterized in that: Also includes: An indicating device, connected to the hydraulic electronic control device, for indicating to the user the working status of the vehicle body, the arm device and the cleaning device; The warning device is connected to the hydraulic electric control device and is used to send a warning signal to the user when the hydraulic electric control device detects that the monitoring data is not within a preset range.

5. The hydraulic and electric control system of the side rust removal vehicle according to claim 1 is characterized in that: Also includes: A remote controller is communicatively connected with the hydraulic electric control device and is used for sending the rust removal instruction to the hydraulic electric control device according to a user instruction.

6. A method for controlling the hydraulic and electric control of a side rust removal vehicle, characterized in that: The control method is applicable to the hydraulic and electric control system of the side rust removal vehicle according to any one of claims 1 to 5, and the control method comprises: Obtain monitoring data of the vehicle body, boom device, cleaning device and working environment; The monitoring data is received, and after obtaining the rust removal instruction, the working states of the vehicle body, the arm device and the cleaning device are controlled and adjusted according to the monitoring data, so that the cleaning device of the side rust removal vehicle is adsorbed on the side of the ship to perform the side rust removal work.

7. The method for controlling the hydraulic and electric control of the side rust removal vehicle according to claim 6, characterized in that: The controlling and adjusting the working states of the vehicle body, the arm device and the cleaning device according to the monitoring data so that the cleaning device of the side rust removal vehicle is adsorbed on the side of the ship to perform the side rust removal work includes: Controlling the vehicle body to move around the side of the ship according to the vehicle displacement data and the running speed of the vehicle in the monitoring data; According to the displacement data and the offset angle of the arm device in the monitoring data, the arm device is controlled to move and retract, and the cleaning device is adsorbed on the side of the ship; According to the posture data of the cleaning device and the switch state of the cleaning device in the monitoring data, the cleaning device is controlled to remove rust from the side of the ship.

8. The method for controlling the hydraulic and electric control of a side rust removal vehicle according to claim 6, characterized in that: Before obtaining the rust removal instruction, the method further includes: Determining whether the monitoring data meets a first threshold interval; If the monitoring data does not meet the first threshold range, a warning signal is output to prompt the user to perform troubleshooting.

9. The method for controlling the hydraulic and electric control of a side rust removal vehicle according to claim 8, characterized in that: The controlling and adjusting the working states of the vehicle body, the arm device and the cleaning device according to the monitoring data so that the cleaning device of the side rust removal vehicle is adsorbed on the side of the ship to perform the side rust removal work includes: Extract monitoring data within a preset time period; When the monitoring data within the preset time period does not meet the second threshold interval, the working states of the vehicle body, the arm device and the cleaning device are corrected and compensated, and the first threshold interval is greater than the second threshold interval.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the hydraulic and electronic control method of the side rust removal vehicle according to any one of claims 6 to 9.

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