Walking auxiliary control method and system for remote control forcible entry robot

Abstract

The method comprises the steps that if the rotating speed of an engine is larger than or equal to the starting rotating speed, and the system is in a power-on state, the set pressure P1 of a large cavity of a supporting oil cylinder is obtained through calculation according to the inclination angle of a rotating platform, the inclination angle of a first arm, the inclination angle of a second arm and the inclination angle of a third arm; the boom orientation is determined, and if the boom orientation is forward, the rear supporting oil cylinder is controlled to stop acting; if P1 is larger than 0, the electromagnetic proportional pressure regulating valve is controlled so that the pressure P4 of the pressure regulating valve can be equal to P1; then the front supporting oil cylinder is controlled to stop retracting action; if the P4 is larger than the pressure P2 of the large cavity of the front supporting oil cylinder, the front supporting oil cylinder is controlled to start to stretch out, and the electromagnetic proportional pressure regulating valve is controlled to increase the P4, so that the P2 is gradually increased; otherwise, the front supporting oil cylinder is controlled to start to stretch out, and the electromagnetic proportional pressure regulating valve is controlled to enable P4 to be reduced, so that P2 is gradually reduced.

Description

Technical Field

[0001] This application belongs to the technical field of construction machinery control, and specifically relates to a walking auxiliary control method and system for a remote-controlled demolition robot. Background Art

[0002] In the actual application process of existing remote-controlled demolition robots, when moving to a new working position, it is necessary to first retract the four stable outriggers. Due to the weight of the boom and tools, the center of gravity of the whole machine moves forward, so it is very easy to lean forward during walking. At this time, the boom must be retracted to move the center of gravity backward to ensure the stability of walking. After moving to the new working position, the outriggers need to be lowered first, and then the boom is extended for operation.

[0003] The existing technology has the following defects: When the remote-controlled demolition robot is working, it needs to frequently move to a suitable working position. To ensure the stability of the center of gravity during walking, it is necessary to frequently retract the boom before walking, which brings great inconvenience to the operator. Summary of the Invention

[0004] Objective: In view of at least one of the above technical problems, this application provides a walking auxiliary control method and system for a remote-controlled demolition robot, which solves the problem that the whole machine dives forward due to the forward movement of the center of gravity of the boom during the walking process of the remote-controlled demolition robot with the boom extended.

[0005] Technical Solution: To solve the above technical problems, the technical solution adopted in this application is as follows:

[0006] In the first aspect, a walking auxiliary control method for a remote-controlled demolition robot is provided, including:

[0007] Obtain the engine speed;

[0008] If the engine speed is greater than or equal to the starting speed and the system is in the powered-on state;

[0009] Obtain the inclination angle of the slewing platform, the inclination angle of arm one, the inclination angle of arm two, and the inclination angle of arm three, and calculate the set pressure of the large chamber of the support cylinder according to the inclination angle of the slewing platform, the inclination angle of arm one, the inclination angle of arm two, and the inclination angle of arm three ;

[0010] Determine the boom orientation, where the boom orientation is forward or backward;

[0011] If the boom orientation is forward, control the reversing solenoid valve of the rear support cylinder to stop the action of the rear support cylinder, and set the retraction action time of the rear support cylinder to zero;

[0012] If is greater than 0, control the electro-hydraulic proportional pressure regulating valve so that the pressure of the pressure regulating valve is equal to ;

[0013] In response to being equal to , control the forward support cylinder reversing solenoid valve to stop the retraction action of the forward support cylinder, and set the retraction action time of the forward support cylinder to zero;

[0014] Judge whether it is greater than the pressure in the large chamber of the forward support cylinder ; if so, control the forward support cylinder reversing solenoid valve to start the extension action of the forward support cylinder, and control the electro-hydraulic proportional pressure regulating valve to make increase, so that gradually increases; otherwise, control the forward support cylinder reversing solenoid valve to start the extension action of the forward support cylinder, and control the electro-hydraulic proportional pressure regulating valve to make decrease, so that gradually decreases.

[0015] In some embodiments, after determining the boom orientation, it further includes:

[0016] If the boom orientation is forward, control the rear support cylinder reversing solenoid valve to stop the action of the rear support cylinder, and set the retraction action time of the rear support cylinder to zero;

[0017] If is not greater than 0, control the electro-hydraulic proportional pressure regulating valve to make the pressure of the pressure regulating valve equal to 0;

[0018] In response to being equal to 0, control the forward support cylinder reversing solenoid valve to stop the extension action of the forward support cylinder; control the forward support cylinder reversing solenoid valve to retract the forward support cylinder until the retraction action time of the forward support cylinder reaches the set time , control the forward support cylinder reversing solenoid valve to stop the retraction action of the forward support cylinder.

[0019] In some embodiments, after determining the boom orientation, it further includes:

[0020] If the boom orientation is backward, control the forward support cylinder reversing solenoid valve to stop the action of the forward support cylinder, and set the retraction action time of the forward support cylinder to zero;

[0021] If is greater than 0, control the electro-hydraulic proportional pressure regulating valve to make equal to ;

[0022] In response to being equal to , control the rear support cylinder reversing solenoid valve to stop the retraction action of the rear support cylinder, and set the retraction action time of the rear support cylinder to zero;

[0023] Judge whether it is greater than the pressure in the large chamber of the rear support cylinder ; if so, control the reversing solenoid valve of the rear support cylinder to make the rear support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve to increase the pressure of the pressure regulating valve so that gradually increases; otherwise, control the reversing solenoid valve of the rear support cylinder to make the rear support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve to decrease, so that gradually decreases.

[0024] In some embodiments, after determining the orientation of the boom, it further includes:

[0025] If the boom orientation is backward, control the reversing solenoid valve of the front support cylinder to stop the front support cylinder, and set the retraction action time of the front support cylinder to zero;

[0026] If is not greater than 0, control the electromagnetic proportional pressure regulating valve to make the pressure of the pressure regulating valve equal to 0;

[0027] In response to being equal to 0, control the reversing solenoid valve of the rear support cylinder to stop the rear support cylinder from extending; if so, control the reversing solenoid valve of the rear support cylinder to retract the rear support cylinder until the retraction action time of the rear support cylinder reaches the set time , control the reversing solenoid valve of the rear support cylinder to stop the rear support cylinder from retracting.

[0028] In some embodiments, calculating the set pressure of the large chamber of the support cylinder according to the inclination angle of the slewing platform, the inclination angle of the first boom, the inclination angle of the second boom, and the inclination angle of the third boom includes:

[0029] Calculate the center of gravity of the first boom, the second boom, the third boom, and the tool according to the inclination angle of the slewing platform, the inclination angle of the first boom, the inclination angle of the second boom, and the inclination angle of the third boom;

[0030] Calculate the offset of the center of gravity of the first boom, the second boom, the third boom, and the tool from the initial state of each center of gravity in the forward direction of the central slewing body, so as to calculate the sum of the torque increments of the weights of the first boom, the second boom, the third boom, and the tool relative to the central slewing body in the forward direction;

[0031] Obtain the supporting force to be provided by the supporting wheel according to the sum of the torque increments and the distance between the supporting wheel and the central slewing body in the forward direction;

[0032] Calculate the set pressure of the large chamber of the support cylinder according to the supporting force to be provided by the supporting wheel and the diameter of the large chamber of the support cylinder.

[0033] In a second aspect, a controller is provided, including a processor and a storage medium;

[0034] The storage medium is used to store instructions;

[0035] The processor is configured to operate according to the instructions to execute the method.

[0036] In a third aspect, a walking assistance control system for a remote-controlled demolition robot is provided, including the controller described above.

[0037] In some embodiments, the walking assistance control system for the remote-controlled demolition robot further includes:

[0038] A large chamber pressure sensor for the rear support cylinder, configured to monitor the pressure in the large chamber of the rear support cylinder;

[0039] A large chamber pressure sensor for the front support cylinder, configured to monitor the pressure in the large chamber of the front support cylinder;

[0040] A swing platform inclination sensor, configured to monitor the inclination of the swing platform;

[0041] An inclination sensor for the first arm, configured to monitor the inclination of the first arm;

[0042] An inclination sensor for the second arm, configured to monitor the inclination of the second arm;

[0043] An inclination sensor for the third arm, configured to monitor the inclination of the third arm;

[0044] An engine main shaft speed sensor, configured to monitor the engine speed;

[0045] A proximity switch, configured to determine the orientation of the boom according to the switch state;

[0046] A directional control solenoid valve for the front support cylinder, configured to control the extension, retraction or stop of the front support cylinder;

[0047] A directional control solenoid valve for the rear support cylinder, configured to control the extension, retraction or stop of the rear support cylinder;

[0048] An electro-hydraulic proportional pressure regulating valve, configured to perform proportional control to adjust the pressure in the large chambers of the front support cylinder and the rear support cylinder;

[0049] The large chamber pressure sensor for the rear support cylinder, the large chamber pressure sensor for the front support cylinder, the swing platform inclination sensor, the inclination sensor for the first arm, the inclination sensor for the second arm, the inclination sensor for the third arm, the engine main shaft speed sensor, the proximity switch, the directional control solenoid valve for the front support cylinder, the directional control solenoid valve for the rear support cylinder, and the electro-hydraulic proportional pressure regulating valve are all signal-connected to the controller.

[0050] In a fourth aspect, a remote-controlled demolition robot is provided, configured with the controller or the walking assistance control system for the remote-controlled demolition robot described above.

[0051] In some embodiments, the remotely controlled demolition robot further includes a mechanical unit, which includes a front support oil cylinder, a rear support oil cylinder, support wheels, a tool, Arm III, Arm II, Arm I, and a slewing platform. The front support oil cylinder and the rear support oil cylinder are respectively connected and arranged in front of and behind the vehicle frame, and support wheels are respectively connected and arranged below the front support oil cylinder and the rear support oil cylinder; the tool, Arm III, Arm II, and Arm I are sequentially hinged, and the other end of Arm I is hinged to the slewing platform.

[0052] In some embodiments, the remotely controlled demolition robot further includes a hydraulic system, which includes:

[0053] The oil outlet of the oil pump is respectively connected to the oil inlet A1 of the front support oil cylinder reversing solenoid valve and the oil inlet B1 of the rear support oil cylinder reversing solenoid valve. The oil return port A3 of the front support oil cylinder reversing solenoid valve and the oil return port B3 of the rear support oil cylinder reversing solenoid valve are connected to the hydraulic oil tank. The first working oil port A2 of the front support oil cylinder reversing solenoid valve is connected to the small chamber of the front support oil cylinder. The second working oil port A4 of the front support oil cylinder reversing solenoid valve is respectively connected to the large chamber of the front support oil cylinder and the oil inlet D1 of the electromagnetic proportional pressure regulating valve. The first working oil port B2 of the rear support oil cylinder reversing solenoid valve is connected to the small chamber of the rear support oil cylinder. The second working oil port B4 of the rear support oil cylinder reversing solenoid valve is respectively connected to the large chamber of the rear support oil cylinder and the oil inlet D1 of the electromagnetic proportional pressure regulating valve. The oil outlet D2 of the electromagnetic proportional pressure regulating valve is connected to the hydraulic oil tank;

[0054] Both the front support oil cylinder reversing solenoid valve and the rear support oil cylinder reversing solenoid valve are three-position four-way reversing valves, which have a first working position, a second working position, and a third working position, corresponding to the cylinder stopping action, retracting action, and extending action respectively.

[0055] Compared with the prior art, the beneficial effects achieved by this application are as follows: This application has automatic perception of the overall machine posture, automatic recognition of the boom orientation, realizes automatic adjustment of the support force of the hydraulic cylinder, and the entire system does not require manual intervention during the walking process, reducing the operation steps during walking, improving work efficiency, and increasing the walking stability of the whole machine and the passing performance on complex road surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0057] Figure 1 It is a schematic structural diagram of the remotely controlled demolition robot according to the embodiment of the present application;

[0058] Figure 2 Schematic diagram of the walking assistance control hydraulic system of the remote-controlled demolition robot according to the embodiment of the present application;

[0059] Figure 3 Schematic diagram of the walking assistance control system of the remote-controlled demolition robot in the embodiment of the present application;

[0060] Figure 4 Schematic diagram of the flow of the walking assistance control method of the remote-controlled demolition robot in the embodiment of the present application. Detailed implementation manners

[0061] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way restrictive of the present application and its application or use.

[0062] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only used to explain the relative positional relationship and movement conditions between components in a specific posture. If this specific posture changes, the directional indication will also change accordingly. It is only for the convenience of describing the present application 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 thus cannot be understood as a limitation of the present application.

[0063] In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0064] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood through specific situations.

[0065] The definitions of the professional terms in the present application are as follows:

[0066] Support wheel --- Heavy-duty swivel caster

[0067] Support oil cylinder --- An oil cylinder for adjusting the support force

[0068] Forward tilt point --- The position where forward tilt is about to occur

[0069] Pressure of pressure regulating valve Indicates the pressure at the inlet of the electro-hydraulic proportional pressure regulating valve 15. The pressure of the pressure regulating valve can be adjusted by controlling the opening degree of the electro-hydraulic proportional pressure regulating valve 15 .

[0070] Such as Figure 1 , Figure 2 , Figure 3 As shown, the present application provides a remotely controlled demolition robot, including a mechanical unit, a hydraulic system and a control system; wherein the mechanical unit includes: a tool 1, an arm three 2, an arm two 3, an arm one 4, and a support wheel 6

[0071] Furthermore, as Figure 1 shown, the front support oil cylinder 5 and the rear support oil cylinder 7 are respectively connected and arranged in front of and behind the vehicle frame. Support wheels 6 are respectively connected and arranged below the front support oil cylinder 5 and the rear support oil cylinder 7; the tool 1, the arm three 2, the arm two 3, and the arm one 4 are sequentially hinged, and the other end of the arm one 4 is hinged to the slewing platform

[0072] Such as Figure 2 shown, the hydraulic system includes: a front support oil cylinder 5, a rear support oil cylinder 7, an oil pump 8, a front support oil cylinder reversing solenoid valve 9, a rear support oil cylinder reversing solenoid valve 10, a one-way valve 13 for the rear support oil cylinder pressure regulating pipeline, a one-way valve 14 for the front support oil cylinder pressure regulating pipeline, an electro-hydraulic proportional pressure regulating valve 15, and a hydraulic oil tank 16

[0073] The oil outlet of the oil pump 8 is respectively connected to the oil inlet A1 of the front support oil cylinder reversing solenoid valve 9 and the oil inlet B1 of the rear support oil cylinder reversing solenoid valve 10. The oil return port A3 of the front support oil cylinder reversing solenoid valve 9 and the oil return port B3 of the rear support oil cylinder reversing solenoid valve 10 are connected to the hydraulic oil tank 16. The first working oil port A2 of the front support oil cylinder reversing solenoid valve 9 is connected to the small chamber of the front support oil cylinder 5. The second working oil port A4 of the front support oil cylinder reversing solenoid valve 9 is respectively connected to the large chamber of the front support oil cylinder 5 and the oil inlet D1 of the electro-hydraulic proportional pressure regulating valve 15. The first working oil port B2 of the rear support oil cylinder reversing solenoid valve 10 is connected to the small chamber of the rear support oil cylinder 7. The second working oil port B4 of the rear support oil cylinder reversing solenoid valve 10 is respectively connected to the large chamber of the rear support oil cylinder 7 and the oil inlet D1 of the electro-hydraulic proportional pressure regulating valve 15. The oil outlet D2 of the electro-hydraulic proportional pressure regulating valve 15 is connected to the hydraulic oil tank 16

[0074] Further, the front support cylinder reversing solenoid valve 9 and the rear support cylinder reversing solenoid valve 10 are both three-position four-way reversing valves, having a first working position, a second working position, and a third working position, corresponding to the cylinder stopping action, retracting action, and extending action respectively.

[0075] More specifically, when the front support cylinder reversing solenoid valve 9 is in the first working position (neutral position), the oil inlet A1, the oil return port A3, the first working oil port A2, and the second working oil port A4 are not communicated with each other; when the front support cylinder reversing solenoid valve 9 is in the second working position (right position), the oil inlet A1 is communicated with the first working oil port A2, and the second working oil port A4 is communicated with the oil return port A3 (the front support cylinder 5 retracts); when the front support cylinder reversing solenoid valve 9 is in the third working position (left position), the oil inlet A1 is communicated with the second working oil port A4, and the first working oil port A2 is communicated with the oil return port A3 (the front support cylinder 5 extends);

[0076] More specifically, when the rear support cylinder reversing solenoid valve 10 is in the first working position (neutral position), the oil inlet B1, the oil return port B3, the first working oil port B2, and the second working oil port B4 are not communicated with each other; when the rear support cylinder reversing solenoid valve 10 is in the second working position (right position), the oil inlet B1 is communicated with the first working oil port B2, and the second working oil port B4 is communicated with the oil return port B3 (the rear support cylinder 7 retracts); when the rear support cylinder reversing solenoid valve 10 is in the third working position (left position), the oil inlet B1 is communicated with the second working oil port B4, and the first working oil port B2 is communicated with the oil return port B3 (the rear support cylinder 7 extends).

[0077] In this embodiment, as Figure 2 shown, the hydraulic system further includes a one-way valve 14 in the pressure regulating pipeline of the front support cylinder and a one-way valve 13 in the pressure regulating pipeline of the rear support cylinder;

[0078] The second working oil port A4 of the front support cylinder reversing solenoid valve 9 and the large cavity of the front support cylinder 5 are unidirectionally communicated through the one-way valve 14 in the pressure regulating pipeline of the front support cylinder to the oil inlet D1 of the electro-hydraulic proportional pressure regulating valve 15;

[0079] The second working oil port B4 of the rear support cylinder reversing solenoid valve 10 and the large cavity of the rear support cylinder 7 are unidirectionally communicated through the one-way valve 13 in the pressure regulating pipeline of the rear support cylinder to the oil inlet D1 of the electro-hydraulic proportional pressure regulating valve 15. The one-way valve 13 in the pressure regulating pipeline of the rear support cylinder and the one-way valve 14 in the pressure regulating pipeline of the front support cylinder are connected in series in the pressure regulating pipeline. Under their combined action, the pressure regulating pipelines of the front and rear support cylinders can be made independent of each other, so that the two-way pressure detection is not affected.

[0080] As Figure 3As shown in the figure, the control system includes: a controller 23 and a sensing unit. The sensing unit includes: a rear support cylinder large chamber pressure sensor 11, a front support cylinder large chamber pressure sensor 12, a slewing platform inclination sensor 17, a boom one inclination sensor 18, a boom two inclination sensor 19, a boom three inclination sensor 20, an engine main shaft speed sensor 21, and a proximity switch 22.

[0081] Embodiment 1: As Figure 3 shown in the figure, the present application provides a remote-controlled demolition robot walking assistance control system, including a controller. The controller includes a processor and a storage medium; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the steps of the following remote-controlled demolition robot walking assistance control method.

[0082] As Figure 3 shown in the figure, the remote-controlled demolition robot walking assistance control system further includes:

[0083] The rear support cylinder large chamber pressure sensor 11 is used to monitor the pressure in the large chamber of the rear support cylinder.

[0084] The front support cylinder large chamber pressure sensor 12 is used to monitor the pressure in the large chamber of the front support cylinder.

[0085] The slewing platform inclination sensor 17 is used to monitor the inclination of the slewing platform.

[0086] The boom one inclination sensor 18 is used to monitor the inclination of the boom one.

[0087] The boom two inclination sensor 19 is used to monitor the inclination of the boom two.

[0088] The boom three inclination sensor 20 is used to monitor the inclination of the boom three.

[0089] The engine main shaft speed sensor 21 is used to monitor the engine speed.

[0090] The proximity switch 22 is used to determine the boom direction according to the switch state.

[0091] The front support cylinder reversing solenoid valve 9 and the rear support cylinder reversing solenoid valve 10 are respectively used to control the extension, retraction or stop actions of the front support cylinder 5 and the rear support cylinder 7.

[0092] The electromagnetic proportional pressure regulating valve 15 is used for proportional control to adjust the pressure in the large chambers of the front support cylinder 5 and the rear support cylinder 7.

[0093] The rear support cylinder large chamber pressure sensor 11, the front support cylinder large chamber pressure sensor 12, the slewing platform inclination sensor 17, the boom one inclination sensor 18, the boom two inclination sensor 19, the boom three inclination sensor 20, the engine main shaft speed sensor 21, the proximity switch 22, the front support cylinder reversing solenoid valve 9, the rear support cylinder reversing solenoid valve 10 and the electromagnetic proportional pressure regulating valve 15 are all signal-connected to the controller.

[0094] In this application, the implement 1, the boom three 2, the boom two 3, and the boom one 4 provide the weight and dimension parameter inputs for the logic calculation of the controller 23, and the support wheels 6 play the roles of walking and supporting; the rear support cylinder large chamber pressure sensor 11 and the front support cylinder large chamber pressure sensor 12 are respectively responsible for collecting the pressure of the rear support cylinder large chamber and the front support cylinder large chamber, and transmitting the real-time pressure of the pressure regulating system to the controller 23 for logic calculation to form a closed-loop control for the large chamber pressure setting. The slewing platform inclination sensor 17, the boom one inclination sensor 18, the boom two inclination sensor 19, and the boom three inclination sensor 20 provide the real-time mechanical structure inclination data for the controller 23. After the logic calculation of the controller 23, the overall machine attitude is sensed in real time, and the electromagnetic proportional pressure regulating valve 15 is used to perform real-time pressure setting. The engine main shaft speed sensor 21 is used to detect the engine speed, and the controller 23 monitors the engine speed and determines the working state of the engine; the proximity switch 22 sends the switch state to the controller 23, and the boom orientation is determined through logical judgment, so as to determine which support cylinder needs to be connected to the system for work. The front support cylinder 5 and the rear support cylinder 7 are the execution devices of the walking anti-tipping system and play a supporting role; the oil pump 8 provides a high-pressure oil source for the front support cylinder 5 and the rear support cylinder 7; the front support cylinder reversing solenoid valve 9 and the rear support cylinder reversing solenoid valve 10 can be controlled by the controller 23 to realize the extension, retraction or stop actions of the front support cylinder 5 and the rear support cylinder 7; the rear support cylinder pressure regulating pipeline check valve 13 and the front support cylinder pressure regulating pipeline check valve 14 are connected in series in the pressure regulating pipeline, and under their combined action, the front and rear support cylinder pressure regulating pipelines can be made independent of each other, so that the two-way pressure detection is not affected; the electromagnetic proportional pressure regulating valve 15 is proportionally controlled by the controller 23 to adjust the pressure of the large chambers of the front support cylinder 5 and the rear support cylinder 7 in real time; the hydraulic oil tank 16 is the oil return device of the hydraulic system; the controller 23 performs logical calculation on the known parameters and the various data collected by the sensor unit to realize the selection of the front support cylinder 5 or the rear support cylinder 7, and at the same time set the pressure of the large chamber of the support cylinder.

[0095] Embodiment 2: This application also provides a remote control demolition robot walking auxiliary control method, including:

[0096] S1. Obtain the engine speed;

[0097] S2. If the engine speed is greater than or equal to the starting speed and the system is in the powered-on state, obtain the inclination angles of the slewing platform, boom 1, boom 2, and boom 3, and calculate the set pressure of the large chamber of the support cylinder based on the inclination angles of the slewing platform, boom 1, boom 2, and boom 3. ;

[0098] In this embodiment, in step S2, calculating the set pressure of the large chamber of the support cylinder based on the inclination angles of the slewing platform, boom 1, boom 2, and boom 3 includes:

[0099] Calculate the center of gravity of boom 1, boom 2, boom 3, and the implement according to the inclination angles of the slewing platform, boom 1, boom 2, and boom 3;

[0100] Calculate the offset of the center of gravity of boom 1, boom 2, boom 3, and the implement from the initial state of each center of gravity in the forward direction of the central slewing body, so as to calculate the sum of the torque increments of the weights of boom 1, boom 2, boom 3, and the implement relative to the central slewing body in the forward direction;

[0101] Obtain the supporting force to be provided by the supporting wheels according to the sum of the torque increments and the distance between the supporting wheels and the central slewing body in the forward direction;

[0102] Calculate the set pressure of the large chamber of the support cylinder according to the supporting force to be provided by the supporting wheels and the diameter of the large chamber of the support cylinder. 。

[0103] S3. Determine the boom orientation, where the boom orientation is forward or backward;

[0104] S4. According to the boom orientation, the set pressure of the large chamber of the support cylinder and the pressure of the large chamber of the front support cylinder and the pressure of the large chamber of the rear support cylinder , control the forward support cylinder reversing solenoid valve 9, the rear support cylinder reversing solenoid valve 10, and the electro-hydraulic proportional pressure regulating valve 15 to perform corresponding control actions. In this application, it is divided into the following four situations:

[0105] S41. If the boom orientation is forward, control the rear support cylinder reversing solenoid valve 10 to stop the action of the rear support cylinder, and set the retraction action time of the rear support cylinder to zero ( );

[0106] If is greater than 0, control the electro-hydraulic proportional pressure regulating valve 15 to make the pressure of the pressure regulating valve equal to ;

[0107] In response to being equal to , control the forward support cylinder reversing solenoid valve 9 to stop the retraction action of the forward support cylinder, and set the retraction action time of the forward support cylinder to zero ( );

[0108] Judge whether it is greater than the pressure in the large chamber of the front support cylinder ; if so, control the reversing solenoid valve 9 of the front support cylinder to make the front support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve 15 to make increase, so that gradually increases; otherwise, control the reversing solenoid valve 9 of the front support cylinder to make the front support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve 15 to make decrease, so that gradually decreases.

[0109] S42. If the boom orientation is forward, control the reversing solenoid valve 10 of the rear support cylinder to make the rear support cylinder stop operating, and set the retraction action time of the rear support cylinder to zero ( );

[0110] If is not greater than 0, control the electromagnetic proportional pressure regulating valve 15 to make the pressure of the pressure regulating valve equal to 0;

[0111] In response to being equal to 0, control the reversing solenoid valve 9 of the front support cylinder to make the front support cylinder stop extending; control the reversing solenoid valve 9 of the front support cylinder to make the front support cylinder retract until the retraction action time of the front support cylinder reaches the set time (the time required for the cylinder to retract) , control the reversing solenoid valve 9 of the front support cylinder to make the front support cylinder stop retracting.

[0112] Compare the retraction action time of the front support cylinder whether it is less than or equal to the set time (the time required for the cylinder to retract) , if so, control the reversing solenoid valve 9 of the front support cylinder to make the front support cylinder retract, start timing; otherwise, control the reversing solenoid valve 9 of the front support cylinder to make the front support cylinder stop retracting.

[0113] S43. If the boom orientation is backward, control the reversing solenoid valve 9 of the front support cylinder to make the front support cylinder stop operating, and set the retraction action time of the front support cylinder to zero ( );

[0114] If is greater than 0, control the electromagnetic proportional pressure regulating valve 15 to make equal to ;

[0115] In response to being equal to , control the reversing solenoid valve 10 of the rear support cylinder to stop the retraction action of the rear support cylinder, and set the retraction action time of the rear support cylinder to zero ( );

[0116] Judge Whether it is greater than the pressure in the large chamber of the rear support cylinder ; If so, control the reversing solenoid valve 10 of the rear support cylinder to start the extension action of the rear support cylinder, and control the electromagnetic proportional pressure regulating valve 15 to increase the pressure of the pressure regulating valve Increase, so that Gradually increase; otherwise, control the reversing solenoid valve 10 of the rear support cylinder to start the extension action of the rear support cylinder, and control the electromagnetic proportional pressure regulating valve 15 to Decrease, so that Gradually decrease.

[0117] S44. If the boom orientation is backward, control the reversing solenoid valve 9 of the front support cylinder to stop the action of the front support cylinder, and set the retraction action time of the front support cylinder to zero ( );

[0118] If Is not greater than 0, control the electromagnetic proportional pressure regulating valve 15 to make the pressure of the pressure regulating valve Equal to 0;

[0119] In response to Equal to 0, control the reversing solenoid valve 10 of the rear support cylinder to stop the extension action of the rear support cylinder; if so, control the reversing solenoid valve 10 of the rear support cylinder to retract the rear support cylinder until the retraction action time of the rear support cylinder Reaches the set time (the time required for the cylinder to retract) , control the reversing solenoid valve 10 of the rear support cylinder to stop the retraction action of the rear support cylinder.

[0120] Compare the retraction action time of the rear support cylinder Whether it is less than or equal to the set time (the time required for the cylinder to retract) , if so, control the reversing solenoid valve 10 of the rear support cylinder to retract the rear support cylinder, Time; otherwise, control the reversing solenoid valve 10 of the rear support cylinder to stop the retraction action of the rear support cylinder.

[0121] In some specific embodiments, as Figure 2 Shown, this embodiment provides a remote control demolition robot walking auxiliary control method, including:

[0122] Obtain the engine speed;

[0123] If the engine speed is greater than or equal to the starting speed (650 r / min) and the system is in the power-on state, obtain the slewing platform inclination angle 、Inclination angle of arm 1 、Inclination angle of arm 2 、Inclination angle of arm 3 ;

[0124] According to the inclination angle of the slewing platform 、Inclination angle of arm 1 、Inclination angle of arm 2 、Inclination angle of arm 3 , calculate the current postures of the slewing platform, arm 1, arm 2, and arm 3, and then calculate the center of gravity of arm 1, arm 2, arm 3, and the implement; calculate the offset of the center of gravity of arm 1, arm 2, arm 3, and the implement from the initial state of each center of gravity in the forward direction of the central slewing body, and calculate the sum of the torque increments of the weights of arm 1, arm 2, arm 3, and the implement relative to the central slewing body in the forward direction; convert the sum of the torque increments into the torque from the support wheel 6 to the central slewing body, calculate the support force that the support wheel needs to provide in combination with the distance L between the support wheel and the central slewing body in the forward direction, and then calculate the set pressure of the large chamber of the support oil cylinder according to the diameter of the large chamber of the support oil cylinder ; ;

[0125] Determine the orientation of the boom, where the orientation of the boom is forward or backward; in this embodiment, the orientation of the boom can be determined according to the switch state of the proximity switch 22

[0126] (1) If the orientation of the boom is forward (the switch state of the proximity switch 22 is ON), control the third solenoid valve Y3 and the fourth solenoid valve Y4 of the rear support oil cylinder reversing solenoid valve 10 to lose power ; And judge whether the set pressure of the large chamber of the support oil cylinder is greater than 0

[0127] (1A) If the set pressure of the large chamber of the support oil cylinder is greater than 0, control the electro-hydraulic proportional pressure regulating valve 15 so that (the pressure at the inlet of the electro-hydraulic proportional pressure regulating valve 15) the pressure regulating valve pressure is equal to the set pressure of the large chamber of the support oil cylinder , in response to being equal to , control the second solenoid valve Y2 of the front support oil cylinder reversing solenoid valve 9 to lose power ;

[0128] Judge whether the pressure regulating valve pressure is greater than the pressure of the large chamber of the front support oil cylinder ; If so, control the first solenoid valve Y1 of the front support oil cylinder reversing solenoid valve 9 to be energized (the front support oil cylinder extends), and control the electro-hydraulic proportional pressure regulating valve 15 to increase the pressure regulating valve pressure (so that the pressure of the large chamber of the front support oil cylinder gradually increase); otherwise, energize the first solenoid valve Y1 of the front support cylinder reversing solenoid valve 9 and control the electro-hydraulic proportional pressure regulating valve 15 to make the pressure of the pressure regulating valve decrease (so that the pressure in the large chamber of the front support cylinder gradually decreases);

[0129] (1B) If the set pressure of the large chamber of the support cylinder is not greater than 0, control the electro-hydraulic proportional pressure regulating valve 15 to make the pressure of the pressure regulating valve equal to 0. In response to being equal to 0, de-energize the first solenoid valve Y1 of the front support cylinder reversing solenoid valve 9 (return to the middle position); compare whether the retraction action time of the front support cylinder ( ) is less than or equal to the set time (the time required for the cylinder to retract) . If so, energize the second solenoid valve Y2 of the front support cylinder reversing solenoid valve 9 (the front support cylinder retracts), start timing (energization time); otherwise, de-energize the second solenoid valve Y2 of the front support cylinder reversing solenoid valve 9 (return to the middle position);

[0130] (2) If the boom orientation is backward (the switch state of the proximity switch 22 is OFF), de-energize the first solenoid valve Y1 and the second solenoid valve Y2 of the front support cylinder reversing solenoid valve 9, ; and judge whether the set pressure of the large chamber of the support cylinder is greater than 0;

[0131] (2A) If the set pressure of the large chamber of the support cylinder is greater than 0, control the electro-hydraulic proportional pressure regulating valve 15 to make (the pressure at the inlet of the electro-hydraulic proportional pressure regulating valve 15) the pressure of the pressure regulating valve equal to the set pressure of the large chamber of the support cylinder . In response to being equal to , de-energize the fourth solenoid valve Y4 of the rear support cylinder reversing solenoid valve 10, ;

[0132] Judge whether the pressure of the pressure regulating valve is greater than the pressure in the large chamber of the rear support cylinder ; if so, energize the third solenoid valve Y3 of the rear support cylinder reversing solenoid valve 10 and control the electro-hydraulic proportional pressure regulating valve 15 to make the pressure of the pressure regulating valve increase (so that the pressure in the large chamber of the rear support cylinder gradually increases); otherwise, energize the third solenoid valve Y3 of the rear support cylinder reversing solenoid valve 10 and control the electro-hydraulic proportional pressure regulating valve 15 to make the pressure of the pressure regulating valve decrease (so that the pressure in the large chamber of the rear support cylinder gradually decreases);

[0133] (2B) If the set pressure of the large chamber of the support oil cylinder is not greater than 0, control the electromagnetic proportional pressure regulating valve 15 so that the pressure of the pressure regulating valve is equal to 0, in response to being equal to 0, control the third solenoid valve Y3 of the rear support oil cylinder reversing solenoid valve 10 to lose power; compare whether the retraction action time of the rear support oil cylinder ( ) is less than or equal to the set time , if so, control the fourth solenoid valve Y4 of the rear support oil cylinder reversing solenoid valve 10 to be energized, start timing; otherwise control the fourth solenoid valve Y4 of the rear support oil cylinder reversing solenoid valve 10 to lose power.

[0134] Embodiment 3: An embodiment of the present application provides a controller, including a processor and a storage medium;

[0135] The storage medium is used to store instructions;

[0136] The processor is used to operate according to the instructions to execute the method according to the method.

[0137] Embodiment 4: An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method is implemented.

[0138] Embodiment 5: An embodiment of the present application provides a remote-controlled demolition robot, configured with the controller or the remote-controlled demolition robot walking assistance control system described above.

[0139] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0140] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate for implementation in the process Figure 1One or more processes and / or boxes Figure 1 Apparatus for the functions specified in one or more boxes.

[0141] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction device that implements the processes Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes.

[0142] These computer program instructions may also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the processes Figure 1 One or more processes and / or boxes Figure 1 Steps for the functions specified in one or more boxes.

[0143] The above is only the preferred embodiment of the present application. It should be noted that: for those of ordinary skill in the art of this technology, those skilled in the art should understand that the present application will have various changes and improvements without departing from the principles and spirit, and these improvements should also be regarded as the protection scope of the present application and are not limited by the above embodiments.

Claims

1. A walking assistance control method for a remote-controlled demolition robot, characterized in that, Including: Obtain the engine speed; If the engine speed is greater than or equal to the starting speed and the system is in the powered-on state; Obtain the inclination angles of the slewing platform, boom 1, boom 2, and boom 3, and calculate the set pressure of the large chamber of the support cylinder based on the inclination angles of the slewing platform, boom 1, boom 2, and boom 3 ; Determine the boom orientation, where the boom orientation is forward or backward; If the boom orientation is forward, control the rear support cylinder reversing solenoid valve to stop the action of the rear support cylinder and set the retraction action time of the rear support cylinder to zero; If is greater than 0, control the electromagnetic proportional pressure regulating valve to make the pressure of the pressure regulating valve equal to ; In response to equal to , control the forward support cylinder reversing solenoid valve to stop the retraction action of the forward support cylinder, and set the retraction action time of the forward support cylinder to zero; Judge whether it is greater than the pressure in the large chamber of the front support cylinder ; if so, control the reversing solenoid valve of the front support cylinder to make the front support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve to make increase, so that gradually increases; otherwise, control the reversing solenoid valve of the front support cylinder to make the front support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve to make decrease, so that gradually decreases.

2. The walking assistance control method of the remote-controlled demolition robot according to claim 1, wherein, After determining the boom orientation, it further includes: If the boom orientation is forward, control the rear support cylinder reversing solenoid valve to stop the action of the rear support cylinder and set the retraction action time of the rear support cylinder to zero; If is not greater than 0, control the electromagnetic proportional pressure regulating valve so that the pressure of the pressure regulating valve equals 0; In response to being equal to 0, control the forward support cylinder reversing solenoid valve to stop the forward support cylinder from extending; control the forward support cylinder reversing solenoid valve to retract the forward support cylinder until the forward support cylinder retraction action time reaches the set time , control the forward support cylinder reversing solenoid valve to stop the forward support cylinder from retracting.

3. The walking assistance control method of the remote-controlled demolition robot according to claim 1, wherein, After determining the boom orientation, it further includes: If the boom orientation is backward, control the front support cylinder reversing solenoid valve to stop the action of the front support cylinder and set the retraction action time of the front support cylinder to zero; If is greater than 0, control the electromagnetic proportional pressure regulating valve to make equal to ; In response to equal to , control the reversing solenoid valve of the rear support cylinder to stop the retraction of the rear support cylinder, and set the retraction action time of the rear support cylinder to zero; Judge Is it greater than the pressure in the large chamber of the rear support cylinder ; If so, control the reversing solenoid valve of the rear support cylinder to make the rear support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve to increase the pressure of the pressure regulating valve So that Gradually increase; Otherwise, control the reversing solenoid valve of the rear support cylinder to make the rear support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve to Decrease, so that Gradually decrease.

4. The walking assistance control method of the remote-controlled demolition robot according to claim 1, characterized in that After determining the boom orientation, it further includes: If the boom orientation is backward, control the front support cylinder reversing solenoid valve to stop the action of the front support cylinder and set the retraction action time of the front support cylinder to zero; If is not greater than 0, control the electromagnetic proportional pressure regulating valve so that the pressure of the pressure regulating valve equals 0; In response to being equal to 0, control the rear support cylinder reversing solenoid valve to stop the extension of the rear support cylinder; if so, control the rear support cylinder reversing solenoid valve to retract the rear support cylinder until the retraction action time of the rear support cylinder reaches the set time , control the rear support cylinder reversing solenoid valve to stop the retraction of the rear support cylinder.

5. The walking assistance control method of the remote-controlled demolition robot according to claim 1, characterized in that, Calculate the set pressure of the large chamber of the support cylinder according to the slewing platform inclination angle, the first boom inclination angle, the second boom inclination angle, and the third boom inclination angle, including: Calculate the center of gravity of the first boom, the second boom, the third boom, and the implement according to the slewing platform inclination angle, the first boom inclination angle, the second boom inclination angle, and the third boom inclination angle; Calculate the offset of the center of gravity of the first boom, the second boom, the third boom, and the implement from the initial state of each center of gravity in the forward direction of the central slewing body, so as to calculate the sum of the torque increments of the weights of the first boom, the second boom, the third boom, and the implement relative to the central slewing body in the forward direction; Obtain the supporting force to be provided by the support wheel according to the sum of the torque increments and the distance between the support wheel and the central slewing body in the forward direction; Calculate the set pressure of the large chamber of the support cylinder according to the supporting force to be provided by the support wheel and the diameter of the large chamber of the support cylinder.

6. A controller, characterized in that, Including a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the method according to any one of claims 1 to 5.

7. A walking assistance control system for a remote-controlled demolition robot, characterized in that, Including the controller according to claim 6, it further includes: A rear support cylinder large chamber pressure sensor for monitoring the pressure in the large chamber of the rear support cylinder; A front support cylinder large chamber pressure sensor for monitoring the pressure in the large chamber of the front support cylinder; A slewing platform inclination angle sensor for monitoring the inclination angle of the slewing platform; A first boom inclination angle sensor for monitoring the inclination angle of the first boom; A second boom inclination angle sensor for monitoring the inclination angle of the second boom; A third boom inclination angle sensor for monitoring the inclination angle of the third boom; An engine main shaft speed sensor for monitoring the engine speed; A proximity switch for determining the boom orientation according to the switch state; A front support cylinder reversing solenoid valve for controlling the extension, retraction, or stop of the front support cylinder; A rear support cylinder reversing solenoid valve for controlling the extension, retraction, or stop of the rear support cylinder; An electromagnetic proportional pressure regulating valve for performing proportional control and adjusting the pressure in the large chambers of the front support cylinder and the rear support cylinder; The rear support cylinder large chamber pressure sensor, the front support cylinder large chamber pressure sensor, the slewing platform inclination angle sensor, the first boom inclination angle sensor, the second boom inclination angle sensor, the third boom inclination angle sensor, the engine main shaft speed sensor, the proximity switch, the front support cylinder reversing solenoid valve, the rear support cylinder reversing solenoid valve, and the electromagnetic proportional pressure regulating valve are all signal-connected to the controller.

8. A remote-controlled demolition robot, characterized in that, Configured with the controller described in claim 7 or the remote-controlled demolition robot walking assistance control system described in claim 7.

9. The remote-controlled demolition robot according to claim 8, wherein, It further includes a mechanical unit, and the mechanical unit includes a front support oil cylinder, a rear support oil cylinder, support wheels, a tool, arm three, arm two, arm one and a slewing platform. The front support oil cylinder and the rear support oil cylinder are respectively connected and arranged in front of and behind the vehicle frame, and support wheels are respectively connected and arranged below the front support oil cylinder and the rear support oil cylinder; the tool, arm three, arm two and arm one are successively hinged, and the other end of arm one is hinged to the slewing platform.

10. The remote-controlled demolition robot according to claim 8 or 9, characterized in that, It further includes a hydraulic system, and the hydraulic system includes: The oil outlet of the oil pump is respectively connected to the oil inlet A1 of the front support oil cylinder reversing solenoid valve and the oil inlet B1 of the rear support oil cylinder reversing solenoid valve. The oil return port A3 of the front support oil cylinder reversing solenoid valve and the oil return port B3 of the rear support oil cylinder reversing solenoid valve are connected to the hydraulic oil tank. The first working oil port A2 of the front support oil cylinder reversing solenoid valve is connected to the small chamber of the front support oil cylinder. The second working oil port A4 of the front support oil cylinder reversing solenoid valve is respectively connected to the large chamber of the front support oil cylinder and the oil inlet D1 of the electromagnetic proportional pressure regulating valve. The first working oil port B2 of the rear support oil cylinder reversing solenoid valve is connected to the small chamber of the rear support oil cylinder. The second working oil port B4 of the rear support oil cylinder reversing solenoid valve is respectively connected to the large chamber of the rear support oil cylinder and the oil inlet D1 of the electromagnetic proportional pressure regulating valve. The oil outlet D2 of the electromagnetic proportional pressure regulating valve is connected to the hydraulic oil tank; Both the front support oil cylinder reversing solenoid valve and the rear support oil cylinder reversing solenoid valve are three-position four-way reversing valves, having a first working position, a second working position and a third working position, corresponding to the cylinder stop action, retraction action and extension action respectively.

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