Hydraulic system of flood drainage robot and hydraulic regulation and control method

Abstract

The invention relates to the technical field of hydraulic pressure of robots, and discloses a hydraulic system of a flood drainage robot and a hydraulic regulation and control method.The hydraulic system comprises a hydraulic driving module, a hydraulic power module and a control system module, and the hydraulic power module comprises a hydraulic motor, a hydraulic connector and a hydraulic water pump; the hydraulic power module comprises a hydraulic integrated assembly, and the hydraulic integrated assembly is configured to adjust the output flow direction of hydraulic oil; the control system module comprises a sensor assembly, a controller assembly and a pressurizing assembly. The sensor assembly is used for monitoring hydraulic parameters and pressure parameters at a water inlet and a water outlet of the hydraulic water pump. The controller assembly is electrically connected with the sensor assembly and the pressurizing assembly, and the controller assembly is configured to obtain data of the sensor assembly so as to control parameters of hydraulic oil output by the hydraulic power assembly by controlling the pressurizing assembly; the working state of the hydraulic water pump can be rapidly adjusted, and the hydraulic water pump can more rapidly adapt to and meet different water pumping requirements.

Description

Technical Field

[0001] This invention relates to the field of hydraulic technology, and in particular to a hydraulic system and hydraulic control method for a flood drainage robot. Background Technology

[0002] In urban flood control and firefighting operations, drainage robots can pump water out of low-lying areas, and the cascading of multiple drainage robots can greatly improve drainage efficiency.

[0003] When drainage robots work in flood-prone areas, they often face extremely complex and changeable working environments. However, existing drainage robots often have relatively simple functional structures. When faced with complex working environments, they often have difficulty obtaining information about their current working status and cannot quickly switch to different working states. As a result, they are even less able to adapt to the more complex and changeable working needs of actual drainage work. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: how to better control the hydraulic output state of the drainage robot to adapt to the more complex and changeable drainage working environment. In order to solve the above technical problem, the present invention provides a hydraulic system for a drainage robot, including a hydraulic drive module, a hydraulic power module and a control system module. The hydraulic drive module includes a hydraulic motor, a hydraulic interface, and a hydraulic water pump; at least one of each of the hydraulic motor, hydraulic interface, and hydraulic water pump is provided. The hydraulic motor is used to drive the drainage robot to move and turn; the hydraulic interface is used to connect different hydraulic auxiliary devices; and the hydraulic water pump is used to pump water for drainage. The hydraulic power module includes a hydraulic power component and a hydraulic integration component. The hydraulic power component is connected to the hydraulic integration component, and the hydraulic integration component is connected to the hydraulic motor, the hydraulic interface, and the hydraulic water pump. The hydraulic power component is used to output hydraulic oil to the hydraulic integration component. The hydraulic integration component is configured to adjust the output flow direction of the hydraulic oil and adjust the hydraulic oil parameters distributed to the hydraulic motor, the hydraulic auxiliary device, and the hydraulic water pump. The control system module includes a sensor assembly, a controller assembly, and a pressurization assembly. The sensor assembly is used to monitor the hydraulic parameters output by the hydraulic power assembly and the pressure parameters at the inlet and outlet of the hydraulic water pump. The pressurization assembly includes an engine connected to the hydraulic power assembly. The controller assembly is electrically connected to the sensor assembly and the engine, and is configured to acquire data from the sensor assembly to control the hydraulic oil parameters output by the hydraulic power assembly by controlling the engine.

[0005] Preferably, one hydraulic motor is provided on each side of the drainage robot, and at least one hydraulic interface and one hydraulic water pump are provided.

[0006] Preferably, the hydraulic power assembly includes a hydraulic pump, a replenishing pump, and a hydraulic oil tank. The two ends of the replenishing pump are respectively connected to the hydraulic pump and the hydraulic oil tank. The replenishing pump is used to draw hydraulic oil from the hydraulic oil tank and replenish it to the hydraulic pump.

[0007] Preferably, the hydraulic integrated assembly includes a travel control valve, an output control valve, and a water pumping control valve. Multiple travel control valves, output control valves, and water pumping control valves are provided and are respectively connected to the hydraulic motor, the hydraulic interface, and the hydraulic water pump.

[0008] Preferably, the sensor assembly includes an engine speed sensor, a hydraulic flow sensor, a hydraulic pressure sensor, an inlet pressure sensor, an outlet pressure sensor, and a temperature sensor. The hydraulic flow sensor and the hydraulic pressure sensor are used to detect the pressure and flow rate of the hydraulic oil input from the hydraulic pump into the hydraulic integrated assembly. The inlet pressure sensor and the outlet pressure sensor are used to monitor the pressure at the water pump inlet and outlet, respectively. Multiple temperature sensors are provided, and the multiple temperature sensors are respectively used to monitor the temperature of the hydraulic oil, the engine compartment, the engine oil and the engine coolant; The engine speed sensor is used to monitor the engine speed.

[0009] Preferably, the controller assembly includes a wireless communication device, a display device, and an intelligent control system; The wireless communication device is communicatively connected to the display device and the intelligent control system. The wireless communication device is used to send the data monitored by the engine speed sensor, hydraulic flow sensor, hydraulic pressure sensor and temperature sensor to the display device and the intelligent control system. The intelligent control system is electrically connected to the travel control valve, the output control valve, and the pumping control valve. The intelligent control system is configured to receive monitoring signals from the engine speed sensor, the hydraulic flow sensor, the hydraulic pressure sensor, and the temperature sensor, and to output control signals to the travel control valve, the output control valve, and the pumping control valve to control the hydraulic status of the hydraulic motor, the hydraulic interface, and the hydraulic water pump.

[0010] This invention also provides a hydraulic control method for a flood drainage robot, employing the hydraulic system of the flood drainage robot described above, comprising the following steps: S1. The sensor component acquires the hydraulic parameters output by the hydraulic power component and the pressure parameters at the inlet and outlet of the hydraulic water pump, and transmits the data to the controller component. S2. The controller component adjusts the opening and closing status of the valves in the hydraulic integrated component and the working status of the engine according to the current working conditions. S3. When the controller component detects that the hydraulic parameters are too low / too high, the controller component monitors and compares the current speed of the engine with the rated speed. S4. If the current engine speed is within the rated speed range, the controller component will issue an alarm; if the current engine speed is below / above the rated speed range, the controller component will control the engine to increase / decrease the speed and feed back the new current engine speed to the controller component. S5. The controller component compares the actual hydraulic parameters with the preset hydraulic threshold again, and repeats steps S3 to S4 until the actual hydraulic parameters are within the preset hydraulic threshold range.

[0011] Preferably, in S3, when the controller component detects that the pressure parameter at the inlet of the hydraulic water pump is greater than or less than the pressure parameter at the outlet of the same hydraulic water pump, the controller component controls the increase or decrease of the engine speed and continuously feeds back the pressure parameters at the inlet and outlet until the pressure parameter at the outlet is not less than the pressure parameter at the inlet.

[0012] Preferably, in S3, when the controller component detects that the pressure parameter at the inlet of the hydraulic water pump is lower than the preset pressure value and remains so for a preset time, and at the same time detects that the hydraulic parameters output by the hydraulic power component are within the hydraulic threshold range, the controller component issues an alarm signal.

[0013] Preferably, when the sensor assembly detects that the temperature of the hydraulic oil, engine compartment, engine oil, and engine coolant exceeds a preset temperature value, the controller assembly issues an alarm signal.

[0014] Compared with the prior art, the hydraulic system and hydraulic control method for a flood drainage robot provided in this embodiment of the invention have the following advantages: In this invention, the hydraulic power component provides hydraulic power to the hydraulic motor, hydraulic interface, and hydraulic water pump respectively. The hydraulic integration component is located between the hydraulic power component and the hydraulic drive module, and can adjust the direction of the hydraulic oil to achieve rapid switching between tasks such as walking, pumping water, and clearing obstacles. This allows the drainage robot to adapt to complex and changing working environments more quickly. The sensor component can monitor the output power of the hydraulic power component and the working status of the hydraulic water pump in real time. This allows the output status of the hydraulic power component to be adjusted more quickly through the pressurization component, thereby adjusting the working status of the hydraulic water pump and enabling the hydraulic water pump to adapt to and meet different pumping needs more quickly. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating the present invention; Figure 2 This is a connection diagram of the hydraulic pump and hydraulic drive module of the present invention; Figure 3 This is a block diagram of the judgment logic of the present invention; Figure 4 This is a simplified diagram of the hydraulic system connection state of the present invention; Figure 5 This is a simplified diagram of the return oil connection of the hydraulic system of the present invention.

[0016] In the diagram: 1. Hydraulic drive module; 11. Hydraulic motor; 12. Hydraulic interface; 13. Hydraulic water pump; 2. Hydraulic power assembly; 21. Hydraulic pump; 22. Make-up pump; 23. Hydraulic oil tank; 24. First hydraulic oil filter element; 25. Second hydraulic oil filter element; 26. Strong magnetic plug; 27. Throttle valve; 3. Hydraulic integrated components; 31. Travel control valve; 32. Output control valve; 33. Pumping control valve; 4. Sensor assemblies; 41. Engine speed sensor; 42. Hydraulic flow sensor; 43. Hydraulic pressure sensor; 44. Inlet pressure sensor; 45. Outlet pressure sensor; 5. Controller components; 51. Wireless communication device; 52. Display device; 53. Intelligent control system; 6. Pressurization components; 61. Engine. Detailed Implementation

[0017] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0018] like Figures 1 to 4 As shown, a preferred embodiment of the present invention provides a hydraulic system for a drainage robot, which includes a hydraulic drive module 1, a hydraulic power module, and a control system module; Hydraulic drive module 1 includes a hydraulic motor 11, a hydraulic interface 12, and a hydraulic water pump 13; at least one of each of the hydraulic motor 11, hydraulic interface 12, and hydraulic water pump 13 is provided. The hydraulic motor is used to drive the drainage robot to move and turn; the hydraulic interface 12 is used to connect different hydraulic auxiliary devices; and the hydraulic water pump 13 is used to pump water for drainage. The hydraulic power module includes a hydraulic power component 2 and a hydraulic integrated component 3. The hydraulic power component 2 and the hydraulic integrated component 3 are connected. The hydraulic integrated component 3 is connected to the hydraulic motor 11, the hydraulic interface 12 and the hydraulic water pump 13. The hydraulic power component 2 is used to output hydraulic oil to the hydraulic integrated component 3. The hydraulic integrated component 3 is configured to adjust the output flow direction of the hydraulic oil and adjust the hydraulic oil parameters distributed to the hydraulic motor 11, the hydraulic auxiliary device and the hydraulic water pump 13. The control system module includes a sensor assembly 4, a controller assembly 5, and a pressurization assembly 6. The sensor assembly 4 is used to monitor the hydraulic parameters output by the hydraulic power assembly 2 and the pressure parameters at the inlet and outlet of the hydraulic water pump 13. The pressurization assembly 6 includes an engine 61, which is connected to the hydraulic power assembly 2. The controller assembly 5 is electrically connected to the sensor assembly 4 and the engine 61. The controller assembly 5 is configured to acquire data from the sensor assembly 4 in order to control the hydraulic oil parameters output by the hydraulic power assembly 2 by controlling the engine 61.

[0019] Specifically, in this embodiment, the hydraulic power module of the drainage robot is mainly divided into three parts: the hydraulic motor 11 is used to drive the drainage robot to move, enabling it to move to different flooded areas; the hydraulic water pump 13 is used to pump water in the flooded areas to clear the water; and the hydraulic interface 12 can be connected to various detachable hydraulic tools, such as hydraulic pliers or hydraulic arms, etc. The hydraulic pliers can remove fallen trees to facilitate the transfer of the drainage robot and personnel and materials; the hydraulic arms can assist in transferring stones and bricks piled up in the flooded areas and are used for material rescue and transfer. The hydraulic motor 11, hydraulic water pump 13, and hydraulic auxiliary devices are all driven by the hydraulic oil output from the hydraulic power component 2. The core component of the hydraulic power component 2 is the hydraulic pump 21, which can output hydraulic oil of different pressures according to different working environments and usage requirements to meet the normal use of the hydraulic motor 11, hydraulic water pump 13, or hydraulic auxiliary devices. In actual operation, the hydraulic integrated component 3 is equipped with multiple valves. Through these valves, the hydraulic integrated component 3 can control the flow of hydraulic oil, directing the hydraulic oil to a specific hydraulic motor 11, hydraulic water pump 13, or hydraulic interface 12. This allows the drainage robot to quickly switch between walking and moving, pumping water and draining, and assisting in obstacle removal according to actual needs, enabling it to adapt to different work requirements more quickly.

[0020] Furthermore, the most important function of the drainage robot is to pump out and drain accumulated water. In this invention, a sensor component 4 and a pressurizing component 6 are also provided, which can simultaneously monitor the hydraulic parameters output by the hydraulic power component 2 and the pressure parameters of the hydraulic water pump 13. When the sensor component 4 detects that the hydraulic water pump 13 is not working properly, the controller component 5 can increase the pressure of the hydraulic oil output by the hydraulic power component 2 by driving the pressurizing component 6, thereby increasing the power of the hydraulic water pump 13. This allows the hydraulic water pump 13 to better adapt to different pumping environments and meet different pumping needs.

[0021] In some embodiments, one hydraulic motor 11 is provided on each side of the drainage robot, and at least one hydraulic interface 12 and one hydraulic water pump 13 are provided. Specifically, in this embodiment of the invention, one hydraulic motor 11 is provided on each side of the drainage robot, and is used to drive the walking parts on both sides of the drainage robot. The hydraulic integrated component 3 can control whether the two hydraulic motors 11 are started by controlling the flow direction of hydraulic oil, thereby enabling the drainage robot to move and turn, allowing the drainage robot to move and move in complex drainage environments. Since the hydraulic interface 12 is detachably connected to different hydraulic auxiliary devices, at least one hydraulic interface 12 can be provided, and preferably two. Two hydraulic water pumps 13 are also preferably provided, which can simultaneously pump out accumulated water, greatly improving the pumping efficiency.

[0022] In some embodiments, the hydraulic power assembly 2 includes a hydraulic pump 21, a replenishing pump 22, and a hydraulic oil tank 23. The two ends of the replenishing pump 22 are connected to the hydraulic pump 21 and the hydraulic oil tank 23, respectively. The replenishing pump 22 is used to draw hydraulic oil from the hydraulic oil tank 23 and replenish it to the hydraulic pump 21.

[0023] Specifically, in this embodiment of the invention, the hydraulic pump 21 pressurizes the hydraulic oil and delivers the pressurized hydraulic oil to the hydraulic integrated component 3. The hydraulic integrated component 3 distributes and adjusts the flow direction of the hydraulic oil according to the actual working conditions. The replenishing pump 22 is set up to draw hydraulic oil from the hydraulic oil tank 23 into the hydraulic pump 21 when the hydraulic oil flow in the pipeline is insufficient, so as to replenish the hydraulic oil in the pipeline and avoid insufficient hydraulic oil flow in the pipeline, which would fail to meet the water pumping requirements of the hydraulic water pump 13. In addition, the hydraulic power component 2 also includes a hydraulic oil cooler. When the replenishing pump 22 replenishes the hydraulic oil of the hydraulic pump 21, the excess hydraulic oil and the return oil of the hydraulic pump 21 are delivered to the hydraulic oil cooler and eventually return to the hydraulic oil tank 23. The hydraulic oil cooler can dissipate heat from the hydraulic oil to ensure the stable and safe operation of the hydraulic system.

[0024] Furthermore, in some embodiments, a throttle valve 27 is provided between the hydraulic pump 21 and the replenishing pump 22 to control the flow rate of hydraulic oil. To reduce the risk of hydraulic system failure due to impurities, a first hydraulic oil filter element 24 is provided on the return path of the replenishing pump 22, that is, between the throttle valve 27 and the hydraulic oil tank 23, thereby filtering impurities in the hydraulic oil and ensuring the stability and reliability of the hydraulic system during long-term operation. In addition, this embodiment also uses a strong magnetic plug 26 for the drain plug of the hydraulic oil tank 23. Some iron filings and impurities in the hydraulic system will adhere to the strong magnetic plug 26 under the action of strong magnetism during the hydraulic oil rolling process, further filtering out most of the iron filings and further ensuring the stability and reliability of the hydraulic system.

[0025] Furthermore, a second hydraulic oil filter element 25 is provided between the oil outlet of the hydraulic motor 11, hydraulic interface 12, and hydraulic water pump 13 and the hydraulic pump 21. When the hydraulic pump 21 outputs hydraulic oil to the hydraulic motor 11, hydraulic interface 12, and hydraulic water pump 13, this hydraulic oil will flow back to the hydraulic pump 21 through the second hydraulic oil filter element 25. These second hydraulic oil filters 25 further filter and treat impurities in the hydraulic oil, ensuring the stable operation of the hydraulic motor 11, hydraulic water pump 13, and hydraulic auxiliary devices.

[0026] In some embodiments, the hydraulic integrated assembly 3 includes a travel control valve 31, an output control valve 32, and a pumping control valve 33. Multiple travel control valves 31, output control valves 32, and pumping control valves 33 are provided and are respectively connected to the hydraulic motor 11, the hydraulic interface 12, and the hydraulic water pump 13.

[0027] Specifically, in this embodiment of the invention, each hydraulic motor 11, hydraulic interface 12, and hydraulic water pump 13 is respectively connected to a walking control valve 31, an output control valve 32, and a pumping control valve 33. In actual operation, the controller assembly 5 controls the opening and closing of different valves to control different hydraulic motors 11, hydraulic interfaces 12, and hydraulic water pumps 13, thereby achieving different functions and quickly switching between different working modes. This greatly improves the applicability and suitability of the drainage robot, as well as its stability and reliability during use. Secondly, a proportional pressure regulating device is connected in parallel to the hydraulic interface 12 on the pipeline. In actual use, by adjusting the proportional pressure regulating device, the pressure of the hydraulic oil output to the hydraulic oil interface can be adjusted, thus adapting to the use of hydraulic auxiliary devices with different hydraulic requirements, making it more versatile. The walking control valve 31 can be a proportional valve to adjust the hydraulic parameters at the hydraulic motor 11. In the alternative solution, the hydraulic pressure requirement of the hydraulic motor 11 is fixed, so a common solenoid valve can be used. The cooperation of two hydraulic motors 11 can achieve walking and steering, thereby reducing costs. The hydraulic water pump 13 generally requires a fixed hydraulic drive to pump out accumulated water. However, in special cases, the engine 61 is needed to pressurize the hydraulic pump 21, thereby increasing the pressure and flow rate of the hydraulic oil output by the hydraulic pump 21, and thus increasing the power and efficiency of the hydraulic water pump 13, thereby achieving higher pumping and drainage efficiency to meet the needs of different pumping and drainage working conditions.

[0028] In some embodiments, the sensor assembly 4 includes an engine speed sensor 41, a hydraulic flow sensor 42, a hydraulic pressure sensor 43, an inlet pressure sensor 44, an outlet pressure sensor 45, and a temperature sensor. The hydraulic flow sensor 42 and the hydraulic pressure sensor 43 are used to detect the pressure and flow rate of the hydraulic oil input from the hydraulic pump 21 into the hydraulic integrated assembly 3. The inlet pressure sensor 44 and the outlet pressure sensor 45 are used to monitor the pressure at the water pump inlet and outlet, respectively. Multiple temperature sensors are provided, which are used to monitor the temperature of hydraulic oil, engine compartment, engine oil, and engine coolant. Engine speed sensor 41 is used to monitor the speed of engine 61.

[0029] Specifically, in this embodiment of the invention, the hydraulic flow sensor 42 and the hydraulic pressure sensor 43 constantly monitor the pressure and flow status of the hydraulic oil output from the hydraulic pump 21 to the hydraulic integrated component 3. When the hydraulic oil flow is insufficient, the replenishing pump 22 will be activated. The replenishing pump 22 will draw hydraulic oil from the hydraulic oil tank 23 to replenish the hydraulic pipeline. The hydraulic oil pressure status information monitored by the hydraulic pressure sensor 43 will be synchronously sent to the controller component 5 to determine the working status of the entire drainage robot and whether it meets the pressure requirements of special working scenarios. The inlet pressure sensor 44 and the outlet pressure sensor 45 can monitor the pressure status at both ends of the hydraulic water pump 13. By comparing the pressure, the working status of the hydraulic water pump 13 can be determined. When the inlet pressure exceeds or falls below the preset pressure value, the speed of the engine 61 needs to be increased or decreased, thereby controlling the increase or decrease of the pressure parameter of the hydraulic oil output by the hydraulic water pump 13, thereby increasing or decreasing the working efficiency of the hydraulic water pump 13. This ensures that the pressure at the inlet of the hydraulic water pump 13 is always within the normal preset pressure value range, ensuring the normal and stable operation of the hydraulic water pump 13. In another embodiment, when the hydraulic pumps 13 of different drainage robots are connected in series, the pressure difference between the inlet and outlet of the same hydraulic pump 13 can be compared. When the inlet pressure is greater than the outlet pressure and the difference is too large, it indicates that the front-end hydraulic pump 13 is outputting too much water. Therefore, it is necessary to increase the working power of the current hydraulic pump 13 or decrease the working power of the front-end hydraulic pump 13. When the outlet pressure is greater than the inlet pressure and the difference is too large, it indicates that the front-end outputting is insufficient water and the current hydraulic pump 13 is at risk of dry suction. In this case, it is necessary to reduce the working efficiency of the current hydraulic pump 13 or increase the working efficiency of the front-end hydraulic pump 13. The increase and decrease of the working efficiency of the hydraulic pump 13 are achieved by adjusting the speed of the engine 61.

[0030] Secondly, in this embodiment, multiple temperature sensors monitor the temperature at various locations on the drainage robot. When an abnormal temperature is detected, the controller component 5 issues an alarm signal, allowing the operator to promptly stop and inspect the drainage robot, ensuring its stable and reliable drainage operation. In one embodiment, the temperature sensors also include a hydraulic oil temperature sensor for monitoring the hydraulic oil temperature. Furthermore, other embodiments include sensors for the hydraulic oil level in the hydraulic tank 23, a fuel level sensor, a wading depth sensor, and a water level electrode. These sensors monitor the fuel level, hydraulic oil level, and wading depth of the drainage robot, respectively, ensuring stable and reliable operation.

[0031] In some embodiments, the controller assembly 5 includes a wireless communication device 51, a display device 52, and an intelligent control system 53; the wireless communication device 51 is communicatively connected to the display device 52 and the intelligent control system 53, and the wireless communication device 51 is used to send data monitored by the engine speed sensor 41, the hydraulic flow sensor 42, the hydraulic pressure sensor 43, and the temperature sensor to the display device 52 and the intelligent control system 53. The intelligent control system 53 is electrically connected to the travel control valve 31, the output control valve 32, and the water pumping control valve 33. The intelligent control system 53 is configured to receive monitoring signals from the engine speed sensor 41, the hydraulic flow sensor 42, the hydraulic pressure sensor 43, and the temperature sensor, and output control signals to the travel control valve 31, the output control valve 32, and the water pumping control valve 33 to control the hydraulic status of the hydraulic motor 11, the hydraulic interface 12, and the hydraulic water pump 13.

[0032] Specifically, the wireless communication device 51 includes a first end and a second end. The first end is installed on the main body of the drainage robot, while the second end can be installed on a portable device. The first end can acquire data signals monitored by various sensors in the sensor assembly 4 and send these signals to the portable device equipped with the second end. The portable device is equipped with a display device 52 and a control board. The control board has a built-in intelligent control system. In actual use, the signal data monitored by the sensors is sent to the portable device through the wireless communication device 51. After being analyzed and processed by the intelligent control system 53, this data is sent to the display device 52 for display, so that the staff can easily grasp the current working status of the drainage robot. The staff can also send instructions to the first end through the second end through the portable device to control the opening and closing status of each valve, so as to adjust the working status of the drainage robot in a timely manner according to the current working environment.

[0033] This invention also provides a hydraulic control method for a flood drainage robot, employing the hydraulic system of the flood drainage robot described above, comprising the following steps: S1. Sensor component 4 acquires the hydraulic parameters output by hydraulic power component 2 and the pressure parameters at the inlet and outlet of hydraulic water pump 13, and transmits the data to controller component 5. S2. The controller component 5 adjusts the opening and closing status of the valves in the hydraulic integrated component 3 and the working status of the engine 61 according to the current working conditions. S3. When the controller component 5 detects that the hydraulic parameters are too low / too high, the controller component 5 monitors and compares the current speed of the engine 61 with the rated speed. S4. If the current speed of engine 61 is within the rated speed range, the controller assembly 5 issues an alarm; if the current speed of engine 61 is lower or higher than the rated speed range, the controller assembly 5 controls engine 61 to increase or decrease its speed and feeds back the new current speed of engine 61 to the controller assembly 5. S5. The controller component 5 compares the actual hydraulic parameters with the preset hydraulic threshold again, and repeats steps S3 to S4 until the actual hydraulic parameters are within the preset hydraulic threshold range.

[0034] Specifically, in this embodiment, the hydraulic pressure sensor 43 and the hydraulic flow sensor 42 jointly monitor the hydraulic parameters of the hydraulic oil output by the hydraulic pump 21 and transmit the monitored hydraulic parameters to the intelligent control system 53. Then, the staff issues instructions to adjust the working state of the drainage robot to walking, pumping water, or assisting in obstacle removal according to the current working environment. These instructions are sent to the processor in the drainage robot body, which then issues signals to control the opening and closing states of different walking control valves 31, output control valves 32, and pumping control valves 33, thereby quickly switching the drainage robot to different working states, so that the drainage robot can better adapt to different working environments and work requirements. Then, when the hydraulic flow sensor 42 detects that the hydraulic oil flow is too low, the replenishing pump 22 is activated to replenish the hydraulic oil. When the hydraulic pressure sensor 43 detects that the hydraulic oil pressure is too low or too high, it starts monitoring whether the current speed of the engine 61 is within the rated speed range. When the hydraulic oil pressure is too low and the speed of the engine 61 is also lower than the rated speed, the speed of the engine 61 needs to be increased to the rated speed range so that the hydraulic oil pressure returns to the preset hydraulic threshold range. When the hydraulic oil pressure is too low, but the speed of the engine 61 is within the rated speed range, an alarm needs to be issued to remind the staff to carry out maintenance. When the hydraulic oil pressure is too high, the speed and power of the engine 61 need to be reduced to the rated speed range, or even the engine 61 needs to be stopped, and the hydraulic oil pressure needs to be checked to see if it has fallen back to the preset hydraulic threshold range.

[0035] In some embodiments, in S3, when the controller component 5 detects that the pressure parameter at the inlet of the hydraulic water pump 13 is greater than / less than the pressure parameter at the outlet of the same hydraulic water pump 13, the controller component 5 controls the speed of the engine 61 to increase / decrease, and continuously feeds back the pressure parameters at the inlet and outlet until the pressure parameter at the outlet is not less than the pressure parameter at the inlet.

[0036] In some embodiments, in S3, when the controller component 5 detects that the pressure parameter at the inlet of the hydraulic water pump 13 is lower than a preset pressure value for a preset time, and at the same time detects that the hydraulic parameters output by the hydraulic power component 2 are within a preset hydraulic threshold range, the controller component 5 issues an alarm signal. Specifically, when the pressure at the inlet of the hydraulic water pump 13 is detected to be lower than the preset value for a preset time, while the hydraulic oil pressure output by the hydraulic power component 2 is within the normal range, it indicates that the accumulated water in the current area has been pumped out. At this time, the staff can switch the drainage robot to walking mode according to the alarm signal, and all the hydraulic oil is distributed to the hydraulic motor 11, thereby driving the drainage robot to move to the next pumping area.

[0037] In some embodiments, when the sensor assembly 4 detects that the temperatures of the hydraulic oil, engine compartment, engine oil, and engine coolant exceed preset temperature values, the controller assembly 5 issues an alarm signal. The abnormal temperature detected by the temperature sensor indicates a problem with the working status and internal structure of the drainage robot. Issuing an alarm signal allows staff to promptly stop the drainage robot and perform maintenance, ensuring the stability and reliability of the robot's operation.

[0038] In summary, the embodiments of the present invention provide a hydraulic system and hydraulic control method for a flood drainage robot, which has multiple working modes to adapt to different working environments. By switching the opening and closing states of multiple valves in the hydraulic integrated component 3, the working state can be quickly switched during actual use. By monitoring the output state of the hydraulic pump 21 and the working state of the hydraulic water pump 13 through sensors, the output state of the hydraulic pump 21 can be adjusted by adjusting the speed of the engine 61, thereby adjusting the working state of the hydraulic water pump 13, so that the hydraulic water pump 13 can better adapt to more complex and changeable usage environments.

[0039] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several improvements and substitutions without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A flood drainage robot hydraulic system, characterized by, The hydraulic drive module comprises a hydraulic motor, a hydraulic interface and a hydraulic water pump; the hydraulic motor, the hydraulic interface and the hydraulic water pump are each provided with at least one; the hydraulic motor is used to drive the movement and steering of the drainage robot; the hydraulic interface is used to connect different hydraulic auxiliary devices; and the hydraulic water pump is used to pump water for drainage; The hydraulic power module comprises a hydraulic power assembly and a hydraulic integrated assembly; the hydraulic power assembly is connected with the hydraulic integrated assembly; the hydraulic integrated assembly is connected with the hydraulic motor, the hydraulic interface and the hydraulic water pump; the hydraulic power assembly is used to output hydraulic oil to the hydraulic integrated assembly; the hydraulic integrated assembly is configured to adjust the output flow direction of the hydraulic oil and adjust the hydraulic oil parameters distributed and delivered to the hydraulic motor, the hydraulic auxiliary device and the hydraulic water pump; The control system module comprises a sensor assembly, a controller assembly and a pressurization assembly; the sensor assembly is used to monitor the hydraulic parameters output by the hydraulic power assembly and the pressure parameters at the water inlet and outlet of the hydraulic water pump; the pressurization assembly comprises an engine connected with the hydraulic power assembly; The controller assembly is electrically connected with the sensor assembly and the engine; the controller assembly is configured to acquire the data of the sensor assembly to control the hydraulic oil parameters output by the hydraulic power assembly by controlling the engine. The hydraulic motor is provided with at least one on both sides of the drainage robot; the hydraulic interface and the hydraulic water pump are each provided with at least one.

2. The flood drainage robot hydraulic system according to claim 1, wherein, The hydraulic power assembly comprises a hydraulic pump, an oil supplement pump and a hydraulic oil tank; the two ends of the oil supplement pump are respectively connected with the hydraulic pump and the hydraulic oil tank; the oil supplement pump is used to extract the hydraulic oil in the hydraulic oil tank and supplement it into the hydraulic pump.

3. The flood drainage robot hydraulic system according to claim 1, wherein, The hydraulic integrated assembly comprises a walking control valve, an output control valve and a water pumping control valve; the walking control valve, the output control valve and the water pumping control valve are each provided with a plurality of valves and are respectively connected with the hydraulic motor, the hydraulic interface and the hydraulic water pump.

4. The flood drainage robot hydraulic system according to claim 3, wherein, The sensor assembly comprises an engine speed sensor, a hydraulic flow sensor, a hydraulic pressure sensor, a water inlet pressure sensor and a water outlet pressure sensor; the hydraulic flow sensor and the hydraulic pressure sensor are used to detect the pressure and flow of the hydraulic oil input into the hydraulic integrated assembly by the hydraulic pump; the water inlet pressure sensor and the water outlet pressure sensor are respectively used to monitor the pressure at the water inlet and outlet of the water pump; 5. The flood drainage robot hydraulic system according to claim 4, wherein, The temperature sensor is provided with a plurality of temperature sensors; the plurality of temperature sensors are respectively used to monitor the temperature of the hydraulic oil, the engine compartment, the engine oil and the engine coolant; The engine speed sensor is used to monitor the speed of the engine. The controller assembly comprises a wireless communication device, a display device and an intelligent control system; 6. The flood drainage robot hydraulic system according to claim 5, wherein, ​ The wireless communication device is in communication connection with the display device and the intelligent control system, and is configured to send the data monitored by the engine speed sensor, the hydraulic flow sensor, the hydraulic pressure sensor and the temperature sensor to the display device and the intelligent control system. The intelligent control system is in electrical connection with the walking control valve, the output control valve and the water pumping control valve, and is configured to receive the monitoring signals output by the engine speed sensor, the hydraulic flow sensor, the hydraulic pressure sensor and the temperature sensor, and output control signals to the walking control valve, the output control valve and the water pumping control valve to control the hydraulic state of the hydraulic motor, the hydraulic interface and the hydraulic water pump.

7. A hydraulic control method of a flood drainage robot, using the hydraulic system of any one of claims 1 to 6, characterized in that, The method comprises the following steps: S1, the sensor assembly acquires the hydraulic parameters output by the hydraulic power assembly and the pressure parameters at the inlet and outlet of the hydraulic water pump, and transmits the data to the controller assembly; S2, the controller assembly adjusts the opening and closing state of the valve in the hydraulic integrated assembly and the working state of the engine according to the current working condition requirement; S3, when the controller assembly detects that the hydraulic parameter is too low / high, the controller assembly monitors and compares the current engine speed with the rated speed; S4, if the current engine speed is within the rated speed range, the controller assembly issues an alarm; if the current engine speed is lower / higher than the rated speed range, the controller assembly controls the engine to increase / decrease the speed, and feeds back the new current engine speed to the controller assembly; S5, the controller assembly compares the actual hydraulic parameter with the preset hydraulic threshold value again, and repeats steps S3 to S4 until the actual hydraulic parameter is within the preset hydraulic threshold value range.

8. The hydraulic regulation method of the flood drainage robot according to claim 7, wherein, In S3, when the controller assembly detects that the inlet pressure parameter of the hydraulic water pump is greater than / less than the outlet pressure parameter of the same hydraulic water pump, the controller assembly controls to increase / decrease the engine speed, and continuously feeds back the inlet pressure parameter and the outlet pressure parameter until the outlet pressure parameter is not less than the inlet pressure parameter.

9. The hydraulic regulation method of the flood drainage robot according to claim 7, wherein, In S3, when the controller assembly detects that the inlet pressure parameter of the hydraulic water pump is lower than the preset pressure value and lasts for a preset time, and at the same time monitors that the hydraulic parameter output by the hydraulic power assembly is within the hydraulic threshold value range, the controller assembly issues an alarm signal.

10. The hydraulic regulation method of the flood drainage robot according to claim 7, wherein, When the sensor assembly monitors that the temperature of the hydraulic oil, the cabin, the engine oil and the engine coolant exceeds the preset temperature value, the controller assembly issues an alarm signal.

Images