A walking auxiliary control method and system of a remote-controlled forced-entry robot

Abstract

The application discloses a kind of remote control breaking robot walking auxiliary control method and system, method includes: if engine speed is greater than or equal to starting speed, and system is powered on state, according to the inclination of swivel platform, arm one inclination, arm two inclination, arm three inclination, support oil cylinder large cavity setting pressure P1 is obtained by calculation;Determine arm rack orientation, if arm rack orientation is forward, control rear support oil cylinder stop action;If P1 is greater than 0, control electromagnetic proportional pressure regulating valve so that pressure regulating valve pressure P4 is equal to P1;Again control makes front support oil cylinder stop retraction action;If P4 is greater than front support oil cylinder large cavity pressure P2, control makes front support oil cylinder start to extend action, and control electromagnetic proportional pressure regulating valve so that P4 increases to gradually increase P2;Otherwise, control makes front support oil cylinder start to extend action, and control electromagnetic proportional pressure regulating valve so that P4 reduces to gradually reduce P2.

Description

Technical Field

[0001] This application belongs to the field of engineering machinery control technology, specifically relating to a remote-controlled demolition robot walking auxiliary control method and system. Background Technology

[0002] In practical applications, when a remote-controlled demolition robot moves to a new workstation, it needs to retract its four stabilizing legs. Due to the weight of the boom and tools, the center of gravity of the entire machine shifts forward, making it very easy to tilt forward during movement. At this time, the boom must be retracted and the center of gravity shifted backward to ensure the stability of movement. After moving to the new workstation, the legs must be lowered first, and then the boom extended for operation.

[0003] The existing technology has the following drawbacks: When the remote-controlled demolition robot is working, it needs to move frequently to a suitable work position. In order to ensure the stability of the center of gravity when moving, the boom needs to be retracted frequently before moving again, 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 remote-controlled demolition robots to solve the problem that the entire robot tilts forward due to the forward shift of the center of gravity of the boom during the extension and walking process of the remote-controlled demolition robot.

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

[0006] Firstly, a method for assisting the movement of a remote-controlled demolition robot is provided, including:

[0007] Get engine speed;

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

[0009] Obtain the tilt 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 these tilt angles. ;

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

[0011] If the boom is facing forward, control the solenoid valve of the rear support cylinder to stop the rear support cylinder from moving, and set the retraction time of the rear support cylinder to zero.

[0012] like If the value is greater than 0, control the electromagnetic proportional pressure regulating valve to adjust the pressure of the pressure regulating valve. equal ;

[0013] In response to equal Control the solenoid valve of the front support cylinder to stop the front support cylinder from retracting, and set the retraction time of the front support cylinder to zero.

[0014] judge Is it greater than the pressure in the large chamber of the front support cylinder? If so, control the solenoid valve for reversing the front support cylinder to initiate the extension action of the front support cylinder, and control the solenoid proportional pressure regulating valve to... Increase, thus Gradually increase; otherwise, control the front support cylinder reversing solenoid valve to make the front support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve to make Reduce, thus Gradually decrease.

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

[0016] If the boom is facing forward, control the solenoid valve of the rear support cylinder to stop the rear support cylinder from moving, and set the retraction time of the rear support cylinder to zero.

[0017] like The value is not greater than 0, controlling the electromagnetic proportional pressure regulating valve to adjust the pressure of the regulating valve. Equal to 0;

[0018] In response to When the value is 0, control the solenoid valve of the front support cylinder to stop the extension action of the front support cylinder; control the solenoid valve of the front support cylinder to retract the front support cylinder until the retraction action time of the front support cylinder is reached. Reaching the set time Control the solenoid valve of the front support cylinder to stop the front support cylinder from retracting.

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

[0020] If the boom is facing backward, control the solenoid valve of the front support cylinder to stop the front support cylinder from moving, and set the retraction time of the front support cylinder to zero.

[0021] like Greater than 0, control the electromagnetic proportional pressure regulating valve to make equal ;

[0022] In response to equal Control the solenoid valve 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.

[0023] judge Is it greater than the pressure in the large chamber of the rear support cylinder? If so, control the solenoid valve for reversing the rear support cylinder to initiate the extension action of the rear support cylinder, and control the electromagnetic proportional pressure regulating valve to adjust the pressure of the regulating valve. Increase, thus Gradually increase; otherwise, control the rear support cylinder reversing solenoid valve to make the rear support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve to make... Reduce, thus Gradually decrease.

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

[0025] If the boom is facing backward, control the solenoid valve of the front support cylinder to stop the front support cylinder from moving, and set the retraction time of the front support cylinder to zero.

[0026] like The value is not greater than 0, controlling the electromagnetic proportional pressure regulating valve to adjust the pressure of the regulating valve. Equal to 0;

[0027] In response to If the value is 0, control the rear support cylinder reversing solenoid valve to stop the rear support cylinder from extending; if the value is 0, control the rear support cylinder reversing solenoid valve to retract the rear support cylinder until the rear support cylinder retracts. Reaching the set time The solenoid valve for reversing the rear support cylinder is controlled to stop the retraction action of the rear support cylinder.

[0028] In some embodiments, the calculation of the set pressure of the large chamber of the support cylinder based on the tilt angle of the slewing platform, the tilt angle of boom one, the tilt angle of boom two, and the tilt angle of boom three includes:

[0029] Calculate the center of gravity of boom 1, boom 2, and boom 3 based on the tilt angles of the slewing platform, boom 1, boom 2, boom 3, and the machine.

[0030] Calculate the offset of the center of gravity of arm 1, arm 2, arm 3, and the machine from the initial state of each center of gravity relative to the central rotating body in the forward direction, and thus calculate the torque increment of the weight of arm 1, arm 2, arm 3, and the machine relative to the central rotating body in the forward direction;

[0031] The supporting force to be provided by the support wheel is obtained based on the torque increment and the distance between the support wheel and the central rotating body in the forward direction.

[0032] The set pressure of the large cavity of the support cylinder is calculated based on the support force to be provided by the support wheel and the diameter of the large cavity of the support cylinder.

[0033] Secondly, 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] Thirdly, a remote-controlled demolition robot walking assistance control system is provided, including the aforementioned controller.

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

[0038] The rear support cylinder large chamber pressure sensor is used to monitor the pressure in the rear support cylinder large chamber.

[0039] A pressure sensor for the large chamber of the front support cylinder is used to monitor the pressure in the large chamber of the front support cylinder.

[0040] A tilt sensor for the slewing platform is used to monitor the tilt angle of the slewing platform.

[0041] Arm tilt sensor, used to monitor arm tilt angle;

[0042] Arm tilt sensor for monitoring arm tilt angle;

[0043] Arm tilt sensor, used to monitor arm tilt angle;

[0044] Engine spindle speed sensor, used to monitor engine speed;

[0045] Proximity switch, used to determine the boom orientation based on the switch status;

[0046] The solenoid valve for reversing the front support cylinder is used to control the extension, retraction, or stopping of the front support cylinder.

[0047] The rear support cylinder reversing solenoid valve is used to control the extension, retraction, or stopping of the rear support cylinder.

[0048] The electromagnetic proportional pressure regulating valve is used for proportional control to adjust the pressure in the large chambers of the front and rear support cylinders.

[0049] The pressure sensor of the large chamber of the rear support cylinder, the pressure sensor of the large chamber of the front support cylinder, the tilt sensor of the rotating platform, the tilt sensor of arm one, the tilt sensor of arm two, the tilt sensor of arm three, the engine spindle speed sensor, the proximity switch, the reversing solenoid valve of the front support cylinder, the reversing solenoid valve of the rear support cylinder, and the electromagnetic proportional pressure regulating valve are all connected to the controller signal.

[0050] Fourthly, a remote-controlled demolition robot is provided, equipped with the aforementioned controller or the aforementioned remote-controlled demolition robot walking assistance control system.

[0051] In some embodiments, the remote-controlled demolition robot further includes a mechanical unit, which includes a front support cylinder, a rear support cylinder, support wheels, a tool, a third arm, a second arm, a first arm, and a rotating platform. The front support cylinder and the rear support cylinder are respectively connected and disposed at the front and rear of the frame, and support wheels are respectively connected and disposed below the front support cylinder and the rear support cylinder. The tool, the third arm, the second arm, and the first arm are hinged in sequence and are hinged to the rotating platform through the other end of the first arm.

[0052] In some embodiments, the remote-controlled demolition robot further includes a hydraulic system, the hydraulic system comprising:

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

[0054] Both the front support cylinder directional solenoid valve and the rear support cylinder directional solenoid valve are three-position four-way directional valves, with a first working position, a second working position, and a third working position, which correspond to the cylinder stop action, retraction action, and extension 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 identification of the boom orientation, and automatic adjustment of the hydraulic cylinder support force. The entire system does not require human intervention during the walking process, which reduces the number of operation steps during walking, improves work efficiency, and increases the overall walking stability and performance on complex road surfaces. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 This is a schematic diagram of the remote-controlled demolition robot structure according to an embodiment of this application;

[0058] Figure 2 This is a schematic diagram of the hydraulic system for assisting the walking of a remote-controlled demolition robot, as described in an embodiment of this application.

[0059] Figure 3 This is a schematic diagram of the walking assistance control system for the remote-controlled demolition robot in the embodiments of this application;

[0060] Figure 4 This is a schematic diagram of the walking assistance control method for a remote-controlled demolition robot in the embodiments of this application. Detailed Implementation

[0061] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use.

[0062] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to explain the relative positional relationship and movement between components in a specific orientation. If the specific orientation changes, the directional indication will also change accordingly. These terms are used only for the convenience of describing this application and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0063] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0064] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0065] The technical terms used in this application are defined as follows:

[0066] Support wheels --- Heavy-duty swivel wheels;

[0067] Support cylinder – A cylinder that adjusts the magnitude of the support force;

[0068] Lean forward point --- the position where leaning forward is about to occur;

[0069] Pressure regulating valve This indicates the inlet pressure of the electromagnetic proportional pressure regulating valve 15. The set pressure of the regulating valve can be adjusted by controlling the opening degree of the electromagnetic proportional pressure regulating valve 15. .

[0070] like Figure 1 , Figure 2 , Figure 3 As shown, this application provides a remote-controlled demolition robot, including a mechanical unit, a hydraulic system, and a control system; wherein the mechanical unit includes: a tool 1, a third arm 2, a second arm 3, a first arm 4, and a support wheel 6;

[0071] Furthermore, such as Figure 1 As shown, the front support cylinder 5 and the rear support cylinder 7 are respectively connected and installed at the front and rear of the frame. Support wheels 6 are respectively connected and installed below the front support cylinder 5 and the rear support cylinder 7. The tool 1, arm 3 2, arm 2 3, and arm 1 4 are hinged in sequence and are hinged to the rotary platform through the other end of arm 1 4.

[0072] like Figure 2 As shown, the hydraulic system includes: a front support cylinder 5, a rear support cylinder 7, an oil pump 8, a front support cylinder reversing solenoid valve 9, a rear support cylinder reversing solenoid valve 10, a rear support cylinder pressure regulating pipeline check valve 13, a front support cylinder pressure regulating pipeline check valve 14, an electromagnetic proportional pressure regulating valve 15, and a hydraulic oil tank 16.

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

[0074] Furthermore, 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, with a first working position, a second working position and a third working position, which correspond to the cylinder stop action, retraction action and extension action, respectively.

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

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

[0077] In this embodiment, as Figure 2 As shown, the hydraulic system also includes a one-way valve 14 for the front support cylinder pressure regulating line and a one-way valve 13 for the rear support cylinder pressure regulating line;

[0078] The second working port A4 of the front support cylinder reversing solenoid valve 9 and the large chamber of the front support cylinder 5 are connected to the inlet D1 of the electromagnetic proportional pressure regulating valve 15 through the one-way valve 14 of the front support cylinder pressure regulating pipeline.

[0079] The second working port B4 of the rear support cylinder reversing solenoid valve 10 and the large chamber of the rear support cylinder 7 are connected unidirectionally to the inlet D1 of the electromagnetic proportional pressure regulating valve 15 via the rear support cylinder pressure regulating pipeline check valve 13. 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. 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 pressure detection of the two lines is not affected.

[0080] like Figure 3As shown, 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 tilt sensor 17, an arm-one tilt sensor 18, an arm-two tilt sensor 19, an arm-three tilt sensor 20, an engine spindle speed sensor 21, and a proximity switch 22.

[0081] Example 1: As Figure 3 As shown, this application provides a remote-controlled demolition robot walking assistance control system, including a controller, the controller 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 steps of the following remote-controlled demolition robot walking assistance control method;

[0082] like Figure 3 As shown, the remote-controlled demolition robot's walking assistance control system also includes:

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

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

[0085] The slewing platform tilt sensor 17 is used to monitor the tilt angle of the slewing platform;

[0086] Arm tilt sensor 18 is used to monitor arm tilt angle;

[0087] Arm tilt sensor 19 is used to monitor the tilt angle of arm two.

[0088] Arm tilt sensor 20 is used to monitor arm tilt angle;

[0089] Engine spindle speed sensor 21 is used to monitor engine speed;

[0090] Proximity switch 22 is used to determine the boom orientation based on the switch state;

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

[0092] The electromagnetic proportional pressure regulating valve 15 is used for proportional control to adjust the pressure of the large chamber 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 tilt sensor 17, the arm one tilt sensor 18, the arm two tilt sensor 19, the arm three tilt sensor 20, the engine spindle 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 connected to the controller signal.

[0094] In this application, the weight and size parameters of the implement 1, arm 3 2, arm 2 3, and arm 1 4 provide the logic calculation of the controller 23. The support wheel 6 realizes the functions of walking and support. The rear support cylinder large chamber pressure sensor 11 and the front support cylinder large chamber pressure sensor 12 are responsible for collecting the pressure of the rear support cylinder large chamber and the front support cylinder large chamber, respectively, and transmitting the real-time pressure of the pressure regulating system to the controller 23 for logic calculation, so that the large chamber pressure setting forms a closed-loop control. The slewing platform tilt angle sensor 17, arm 1 tilt angle sensor 18, arm 2 tilt angle sensor 19, and arm 3 tilt angle sensor 20 provide the controller 23 with real-time mechanical structure tilt angle data. After the controller 23 performs logic calculation, it senses the overall machine posture in real time and realizes the real-time pressure setting of the electromagnetic proportional pressure regulating valve 15. The engine spindle speed sensor 21 is used to detect the engine speed. The controller 23 monitors the engine speed and determines the engine's working status. The proximity switch 22 sends the switch status to the controller 23. After logic judgment of the boom orientation, it determines which support cylinder needs to be connected to the system to work. The front support cylinder 5 and the rear support cylinder 7 are the actuators of the anti-tilt system, providing support. The oil pump 8 provides high-pressure oil to 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 extend, retract, or stop the front support cylinder 5 and the rear support cylinder 7. The one-way valve 13 of the rear support cylinder pressure regulating pipeline and the one-way valve 14 of the front support cylinder pressure regulating pipeline 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 pressure detection of the two lines is not affected. The electromagnetic proportional pressure regulating valve 15 is proportionally controlled by the controller 23 to adjust the pressure of the large chamber of the front support cylinder 5 and the rear support cylinder 7 in real time. The hydraulic oil tank 16 is the return oil device of the hydraulic system. The controller 23 performs logical calculations on the known parameters and the data collected by the sensor unit to select the front support cylinder 5 or the rear support cylinder 7, and at the same time adjust the pressure of the large chamber of the support cylinder.

[0095] Example 2: This application also provides a method for assisting the walking of a remote-controlled demolition robot, including:

[0096] S1. Obtain engine speed;

[0097] S2. If the engine speed is greater than or equal to the starting speed, and the system is powered on; obtain the tilt 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 tilt angles of the slewing platform, boom 1, boom 2, and boom 3. ;

[0098] In this embodiment, step S2, calculating the set pressure of the large chamber of the support cylinder based on the tilt angle of the slewing platform, the tilt angle of boom one, the tilt angle of boom two, and the tilt angle of boom three, includes:

[0099] Calculate the center of gravity of boom 1, boom 2, and boom 3 based on the tilt angles of the slewing platform, boom 1, boom 2, boom 3, and the machine.

[0100] Calculate the offset of the center of gravity of arm 1, arm 2, arm 3, and the machine from the initial state of each center of gravity relative to the central rotating body in the forward direction, and thus calculate the torque increment of the weight of arm 1, arm 2, arm 3, and the machine relative to the central rotating body in the forward direction;

[0101] The supporting force to be provided by the support wheel is obtained based on the torque increment and the distance between the support wheel and the central rotating body in the forward direction.

[0102] Calculate the set pressure of the large cavity of the support cylinder based on the support force to be provided by the support wheel and the diameter of the large cavity of the support cylinder. .

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

[0104] S4. Adjust the pressure according to the boom orientation and the large chamber of the support cylinder. and the pressure in the large chamber of the front support cylinder , rear support cylinder large chamber pressure The solenoid valves 9 (for the front support cylinder), 10 (for the rear support cylinder), and 15 (for the electromagnetic proportional pressure regulating valve) are controlled to perform corresponding control actions. This application categorizes these actions into the following four situations:

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

[0106] like If the value is greater than 0, control the electromagnetic proportional pressure regulating valve 15 to adjust the pressure of the pressure regulating valve. equal ;

[0107] In response to equal Control the solenoid valve 9 of the front support cylinder to stop the front support cylinder from retracting, and set the retraction time of the front support cylinder to zero. );

[0108] judge Is it greater than the pressure in the large chamber of the front support cylinder? If so, control the front support cylinder reversing solenoid valve 9 to make the front support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve 15 to make... Increase, thus Gradually increase; otherwise, control the front support cylinder reversing solenoid valve 9 to make the front support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve 15 to make Reduce, thus Gradually decrease.

[0109] S42. If the boom is facing forward, control the rear support cylinder reversing solenoid valve 10 to stop the rear support cylinder from moving, and set the rear support cylinder retraction time to zero. );

[0110] like The pressure is not greater than 0, and the electromagnetic proportional pressure regulating valve 15 is controlled to adjust the pressure of the regulating valve. Equal to 0;

[0111] In response to When the value is 0, control the solenoid valve 9 of the front support cylinder to stop the front support cylinder from extending; control the solenoid valve 9 of the front support cylinder to retract the front support cylinder until the front support cylinder retracts. The set time (the time required for the hydraulic cylinder to retract) is reached. Control the solenoid valve 9 of the front support cylinder to stop the front support cylinder from retracting.

[0112] Compare the retraction time of the front support cylinder Is it less than or equal to the set time (the time required for the hydraulic cylinder to retract)? If so, control the solenoid valve 9 of the front support cylinder to retract the front support cylinder. Timing; otherwise, control the solenoid valve 9 of the front support cylinder to stop the front support cylinder from retracting.

[0113] S43. If the boom is facing backward, control the solenoid valve 9 of the front support cylinder to stop the front support cylinder from moving, and set the retraction time of the front support cylinder to zero. );

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

[0115] In response to equal The solenoid valve 10 of the rear support cylinder is controlled to stop the retraction action of the rear support cylinder, and the retraction action time of the rear support cylinder is set to zero. );

[0116] judge Is it greater than the pressure in the large chamber of the rear support cylinder? If so, control the rear support cylinder reversing solenoid valve 10 to make the rear support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve 15 to adjust the pressure of the regulating valve. Increase, thus Gradually increase; otherwise, control the rear support cylinder reversing solenoid valve 10 to make the rear support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve 15 to make Reduce, thus Gradually decrease.

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

[0118] like The pressure is not greater than 0, and the electromagnetic proportional pressure regulating valve 15 is controlled to adjust the pressure of the regulating valve. Equal to 0;

[0119] In response to If the value is 0, control the rear support cylinder reversing solenoid valve 10 to stop the rear support cylinder from extending; if the value is 0, control the rear support cylinder reversing solenoid valve 10 to retract the rear support cylinder until the rear support cylinder retracts. The set time (the time required for the hydraulic cylinder to retract) is reached. The solenoid valve 10 of the rear support cylinder is controlled to stop the retraction action of the rear support cylinder.

[0120] Compare the retraction time of the support cylinder Is it less than or equal to the set time (the time required for the hydraulic cylinder to retract)? If so, control the rear support cylinder reversing solenoid valve 10 to retract the rear support cylinder. Timing; otherwise, control the rear support cylinder reversing solenoid valve 10 to stop the rear support cylinder from retracting.

[0121] In some specific embodiments, such as Figure 2 As shown, this embodiment provides a method for assisting the movement of a remote-controlled demolition robot, including:

[0122] Get engine speed;

[0123] If the engine speed is greater than or equal to the starting speed (650 r / min) and the system is powered on, obtain the tilt angle of the slewing platform. Arm tilt angle Arm Two Inclination Angle Arm three-angle ;

[0124] According to the tilt angle of the slewing platform Arm tilt angle Arm Two Inclination Angle Arm three-angle The current posture of the rotating platform, arm 1, arm 2, and arm 3 is calculated, and the center of gravity of arm 1, arm 2, arm 3, and the machine is then calculated. The offset of the center of gravity of arm 1, arm 2, arm 3, and the machine from the initial state of each center of gravity relative to the central rotating body in the forward direction is calculated. The torque increment of arm 1, arm 2, arm 3, and the machine relative to the central rotating body in the forward direction is calculated. The torque increment is converted into the torque from the support wheel 6 to the central rotating body. Combined with the distance L between the support wheel and the central rotating body in the forward direction, the support force to be provided by the support wheel is calculated. Finally, the set pressure of the large cavity of the support cylinder is calculated based on the diameter of the large cavity of the support cylinder. ; ;

[0125] Determine the boom orientation, wherein the boom orientation is forward or backward; in this embodiment, the boom orientation can be determined based on the switching state of the proximity switch 22.

[0126] (1) If the boom is facing forward (the proximity switch 22 is in the ON state), the third solenoid valve Y3 and the fourth solenoid valve Y4 of the control rear support cylinder reversing solenoid valve 10 are de-energized. And determine the set pressure of the large chamber of the support cylinder. Is it greater than 0?

[0127] (1A) If the set pressure of the large chamber of the support cylinder is adjusted If the pressure is greater than 0, control the electromagnetic proportional pressure regulating valve 15 to make the pressure at the inlet of the electromagnetic proportional pressure regulating valve 15 equal to the pressure of the regulating valve. Equal to the set pressure of the large chamber of the hydraulic cylinder In response to equal The second solenoid valve Y2 of the control front support cylinder reversing solenoid valve 9 is de-energized. ;

[0128] Determine the pressure of the pressure regulating valve Is it greater than the pressure in the large chamber of the front support cylinder? If so, the first solenoid valve Y1 of the control front support cylinder reversing solenoid valve 9 is energized (the front support cylinder extends), and the electromagnetic proportional pressure regulating valve 15 is controlled to adjust the pressure of the regulating valve. Increase (thus increasing the pressure in the large chamber of the front support cylinder) (Gradually increase); otherwise, the first solenoid valve Y1 of the control front support cylinder reversing solenoid valve 9 is energized, and the electromagnetic proportional pressure regulating valve 15 is controlled to adjust the pressure of the regulating valve. Reduce (thus reducing the pressure in the large chamber of the front support cylinder) (gradually decrease)

[0129] (1B) If the set pressure of the large chamber of the support cylinder is adjusted The pressure is not greater than 0, and the electromagnetic proportional pressure regulating valve 15 is controlled to adjust the pressure of the regulating valve. Equal to 0, in response to When the value equals 0, the first solenoid valve Y1 of the control front support cylinder reversing solenoid valve 9 is de-energized (returns to the neutral position); compare the retraction action time of the front support cylinder ( Is it less than or equal to the set time (the time required for the hydraulic cylinder to retract)? If so, the second solenoid valve Y2 of the control front support cylinder reversing solenoid valve 9 is energized (the front support cylinder retracts). Timing (energization time); otherwise, the second solenoid valve Y2 of the control front support cylinder reversing solenoid valve 9 is de-energized (returns to the neutral position).

[0130] (2) If the boom is facing backward (the proximity switch 22 is in the OFF state), the first solenoid valve Y1 and the second solenoid valve Y2 of the control front support cylinder reversing solenoid valve 9 are de-energized. And determine the set pressure of the large chamber of the support cylinder. Is it greater than 0?

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

[0132] Determine the pressure of the pressure regulating valve Is it greater than the pressure in the large chamber of the rear support cylinder? If so, the third solenoid valve Y3 of the control rear support cylinder reversing solenoid valve 10 is energized, and the electromagnetic proportional pressure regulating valve 15 is controlled to adjust the pressure of the regulating valve. Increase (thus increasing the pressure in the large chamber of the rear support cylinder) (Gradually increase); otherwise, the third solenoid valve Y3 of the control rear support cylinder reversing solenoid valve 10 is energized, and the electromagnetic proportional pressure regulating valve 15 is controlled to adjust the pressure of the pressure regulating valve. Reduce (thus reducing the pressure in the large chamber of the rear support cylinder) (gradually decrease)

[0133] (2B) If the set pressure of the large chamber of the support cylinder is adjusted The pressure is not greater than 0, and the electromagnetic proportional pressure regulating valve 15 is controlled to adjust the pressure of the regulating valve. Equal to 0, in response to When the value equals 0, the third solenoid valve Y3 of the control support cylinder reversing solenoid valve 10 is de-energized; the retraction time of the support cylinder is compared ( Is it less than or equal to the set time? If so, the fourth solenoid valve Y4 of the control rear support cylinder reversing solenoid valve 10 is energized. Timing is activated; otherwise, the fourth solenoid valve Y4 of the control rear support cylinder reversing solenoid valve 10 is de-energized.

[0134] Example 3: This application provides a controller, including a processor and a storage medium;

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

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

[0137] Example 4: This application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method.

[0138] Example 5: This application provides a remote-controlled demolition robot, which is equipped with the controller or the remote-controlled demolition robot walking assistance control system.

[0139] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0140] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0141] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0142] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0143] The above description is only a preferred embodiment of this application. It should be noted that those skilled in the art should understand that various changes and improvements may be made to this application without departing from the principles and spirit. These improvements should also be considered within the scope of protection of this application and are not limited to the above embodiments.

Claims

1. A method for assisting the movement of a remote-controlled demolition robot, characterized in that, The remote-controlled demolition robot includes: a mechanical unit comprising a front support cylinder, a rear support cylinder, support wheels, a tool, arm three, arm two, arm one, and a rotating platform. The front and rear support cylinders are respectively connected and installed at the front and rear of the frame. Support wheels are respectively connected and installed below the front and rear support cylinders. The tool, arm three, arm two, and arm one are sequentially hinged and connected to the rotating platform through the other end of arm one. A solenoid valve for reversing the front support cylinder is used to control the extension, retraction, or stopping of the front support cylinder. A solenoid valve for reversing the rear support cylinder is used to control the extension, retraction, or stopping of the rear support cylinder. An electromagnetic proportional pressure regulating valve is used for proportional control to adjust the pressure in the large chamber of the front and rear support cylinders. The method includes: Get engine speed; If the engine speed is greater than or equal to the starting speed, and the system is powered on; Obtain the tilt 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 these tilt angles. ; Determine the boom orientation, wherein the boom orientation is forward or backward; If the boom is facing forward, control the solenoid valve of the rear support cylinder to stop the rear support cylinder from moving, and set the retraction time of the rear support cylinder to zero. like If the value is greater than 0, control the electromagnetic proportional pressure regulating valve to adjust the pressure of the pressure regulating valve. equal ; In response to equal Control the solenoid valve of the front support cylinder to stop the front support cylinder from retracting, and set the retraction time of the front support cylinder to zero. judge Is it greater than the pressure in the large chamber of the front support cylinder? If so, control the solenoid valve for reversing the front support cylinder to initiate the extension action of the front support cylinder, and control the solenoid proportional pressure regulating valve to... Increase, thus Gradually increase; otherwise, control the front support cylinder reversing solenoid valve to make the front support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve to make Reduce, thus Gradually decrease.

2. The remote-controlled demolition robot walking assistance control method according to claim 1, characterized in that, After determining the boom orientation, the following is also included: If the boom is facing forward, control the solenoid valve of the rear support cylinder to stop the rear support cylinder from moving, and set the retraction time of the rear support cylinder to zero. like The value is not greater than 0, controlling the electromagnetic proportional pressure regulating valve to adjust the pressure of the regulating valve. Equals 0; In response to When the value is 0, control the solenoid valve of the front support cylinder to stop the extension action of the front support cylinder; control the solenoid valve of the front support cylinder to retract the front support cylinder until the retraction action time of the front support cylinder is reached. Reaching the set time Control the solenoid valve of the front support cylinder to stop the front support cylinder from retracting.

3. The remote-controlled demolition robot walking assistance control method according to claim 1, characterized in that, After determining the boom orientation, the following steps are also included: If the boom is facing backward, control the solenoid valve of the front support cylinder to stop the front support cylinder from moving, and set the retraction time of the front support cylinder to zero. like Greater than 0, control the electromagnetic proportional pressure regulating valve to make equal ; In response to equal Control the solenoid valve 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. judge Is it greater than the pressure in the large chamber of the rear support cylinder? If so, control the solenoid valve for reversing the rear support cylinder to initiate the extension action of the rear support cylinder, and control the electromagnetic proportional pressure regulating valve to adjust the pressure of the regulating valve. Increase, thus Gradually increase; otherwise, control the rear support cylinder reversing solenoid valve to make the rear support cylinder start to extend, and control the electromagnetic proportional pressure regulating valve to make... Reduce, thus Gradually decrease.

4. The remote-controlled demolition robot walking assistance control method according to claim 1, characterized in that, After determining the boom orientation, the following steps are also included: If the boom is facing backward, control the solenoid valve of the front support cylinder to stop the front support cylinder from moving, and set the retraction time of the front support cylinder to zero. like The value is not greater than 0, controlling the electromagnetic proportional pressure regulating valve to adjust the pressure of the regulating valve. Equals 0; In response to If the value is 0, control the rear support cylinder reversing solenoid valve to stop the rear support cylinder from extending; if the value is 0, control the rear support cylinder reversing solenoid valve to retract the rear support cylinder until the rear support cylinder retracts. Reaching the set time The solenoid valve for reversing the rear support cylinder is controlled to stop the retraction action of the rear support cylinder.

5. The remote-controlled demolition robot walking assistance control method according to claim 1, characterized in that, The set pressure of the large chamber of the support cylinder is calculated based on the tilt angles of the slewing platform, boom 1, boom 2, and boom 3, including: Calculate the center of gravity of boom 1, boom 2, and boom 3 based on the tilt angles of the slewing platform, boom 1, boom 2, boom 3, and the machine. Calculate the offset of the center of gravity of arm 1, arm 2, arm 3, and the machine from the initial state of each center of gravity relative to the central rotating body in the forward direction, and thus calculate the torque increment of the weight of arm 1, arm 2, arm 3, and the machine relative to the central rotating body in the forward direction; The supporting force to be provided by the support wheel is obtained based on the torque increment and the distance between the support wheel and the central rotating body in the forward direction. The set pressure of the large cavity of the support cylinder is calculated based on the support force to be provided by the support wheel and the diameter of the large cavity of the support cylinder.

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

7. A remote-controlled demolition robot walking assistance control system, characterized in that, Including the controller of claim 6, it further includes: The rear support cylinder large chamber pressure sensor is used to monitor the pressure in the rear support cylinder large chamber. A pressure sensor for the large chamber of the front support cylinder is used to monitor the pressure in the large chamber of the front support cylinder. A tilt sensor for the slewing platform is used to monitor the tilt angle of the slewing platform. Arm tilt sensor, used to monitor arm tilt angle; Arm tilt sensor for monitoring arm tilt angle; Arm tilt sensor, used to monitor arm tilt angle; Engine spindle speed sensor, used to monitor engine speed; Proximity switch, used to determine the boom orientation based on the switch status; The pressure sensor of the large chamber of the rear support cylinder, the pressure sensor of the large chamber of the front support cylinder, the tilt sensor of the rotating platform, the tilt sensor of arm one, the tilt sensor of arm two, the tilt sensor of arm three, the engine spindle speed sensor, the proximity switch, the reversing solenoid valve of the front support cylinder, the reversing solenoid valve of the rear support cylinder, and the electromagnetic proportional pressure regulating valve are all connected to the controller signal.

8. A remote-controlled demolition robot, characterized in that, It is equipped with the controller as described in claim 6 or the remote-controlled demolition robot walking assistance control system as described in claim 7.

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

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