Ditching machine and speed control system thereof

Abstract

The utility model provides a trencher and a speed control system thereof, the control system comprises a driving unit and an execution unit, and the driving unit is connected with the execution unit; the monitoring unit is used for acquiring gradient data and speed data of the seabed ground where the trencher is located in real time; the control unit is in signal connection with the driving unit and the monitoring unit, a first operation program is written into the control unit, and the control unit controls the driving unit to drive the execution unit by running the first operation program, so that the trencher runs at a constant speed. According to the utility model, the control unit and the monitoring unit are arranged, the first operation program is written into the control unit, and the control unit controls the driving unit to drive the execution unit by running the first operation program, so that the trencher runs at a constant speed, and a speed control system considering the seabed slope environment is provided; and stable operation of the trencher on a seabed ground with a slope can be realized.

Description

Technical Field

[0001] This utility model relates to the field of underwater machine control technology, and in particular to a trenching machine and its speed control system. Background Technology

[0002] Due to the complex geological conditions of the seabed, the speed of the underwater trenching machine is usually controlled by a manual control handle during underwater operations. The manual reaction speed is slow, and the operation cannot be stable. Furthermore, when encountering uneven seabed sections, it is impossible to adjust the forward speed in time, and it is impossible to ensure the stability of the trenching machine's speed and smooth movement. Utility Model Content

[0003] In view of this, the purpose of this utility model is to provide a trenching machine and its speed control system to solve the problem that the current underwater trenching machine is usually controlled by a manual control handle during underwater operations. The manual reaction speed is slow, the operation is not stable, and when encountering uneven seabed sections, the forward speed cannot be adjusted in time, so as to ensure the stability of the trenching machine and make it move smoothly.

[0004] To solve the above-mentioned technical problems, the technical solution used in this utility model is as follows:

[0005] The present invention discloses a speed control system for a trenching machine, comprising a drive unit and an execution unit, wherein the drive unit is connected to the execution unit and is used to provide driving force to the execution unit;

[0006] The monitoring unit is used to acquire slope and speed data of the seabed surface where the trenching machine is located in real time;

[0007] The control unit is connected to the drive unit and the monitoring unit respectively. The control unit is programmed with a first calculation program. The control unit controls the drive unit to drive the execution unit by running the first calculation program, so that the trenching machine runs at a constant speed.

[0008] Preferably, the drive unit is a hydraulic system, the execution unit includes a first travel motor, the monitoring unit includes a slope monitor and a speedometer, the first travel motor is connected to the drive unit, and the drive unit, the slope monitor and the speedometer are respectively signal-connected to the control unit, and the speedometer is used to obtain the actual speed of the trenching machine.

[0009] More preferably, the drive unit includes a hydraulic pump and a first control valve, the first travel motor is connected to the hydraulic pump through the first control valve, and the first control valve is also signal-connected to the control unit.

[0010] More preferably, the speedometer includes a first encoder that is signal-connected to the control unit, and the first encoder is connected to the first walking motor.

[0011] More preferably, the execution unit further includes a second travel motor, and the drive unit further includes a second control valve. The second travel motor is connected to the hydraulic pump through the second control valve, and the second control valve is also signal-connected to the control unit.

[0012] More preferably, the speedometer further includes a second encoder that is signal-connected to the control unit, and the second encoder is connected to the second walking motor.

[0013] More preferably, the slope monitoring instrument is a fiber optic gyroscope.

[0014] Preferably, the drive unit includes a motor, a hydraulic pump, and a control valve group, wherein the motor is connected to the hydraulic pump via a drive, and the execution unit is connected to the hydraulic pump via the control valve group.

[0015] More preferably, the drive unit further includes an oil tank, the oil outlet of which is connected to the hydraulic pump, and the oil return port of which is connected to the execution unit.

[0016] Another objective of this utility model is to provide a trenching machine, including a machine body, wherein the machine body is provided with the aforementioned trenching machine speed control system.

[0017] Compared with the prior art, the advantages of the trenching machine speed control system described in this utility model are mainly reflected in:

[0018] This invention provides a speed control system that considers the seabed slope environment. It includes a control unit and a monitoring unit for real-time acquisition of slope and speed data of the seabed surface where the trenching machine is located. The control unit is connected to both the drive unit and the monitoring unit. A first calculation program is written into the control unit. The control unit controls the drive unit to drive the execution unit by running the first calculation program, enabling the trenching machine to run at a constant speed. This provides a speed control system that considers the seabed slope environment, allowing the trenching machine to run smoothly on sloping seabed surfaces without the need for manual control of the trenching machine's speed. Therefore, it solves the problems of slow reaction time, unstable operation, and inability to adjust the speed promptly when encountering uneven seabed sections, which hinder the smooth movement of the trenching machine during underwater operations. Attached Figure Description

[0019] The above and other objects, features, and advantages of this invention will become clearer through a more detailed description of the preferred embodiments shown in the accompanying drawings. The same reference numerals indicate the same parts throughout the drawings, and the drawings are not intentionally drawn to scale with actual dimensions; the focus is on illustrating the gist of this invention.

[0020] Figure 1 A schematic diagram of the structure of a trenching machine speed control system provided in this embodiment of the utility model. Figure 1 ;

[0021] Figure 2 A schematic diagram of the structure of a trenching machine speed control system provided in this embodiment of the utility model. Figure 2 ; Attached image description:

[0023] Drive unit 100, hydraulic pump 101, first control valve 102, second control valve 103, motor 104, oil tank 105;

[0024] Execution unit 200, first travel motor 201, second travel motor 202;

[0025] Monitoring unit 300, slope monitor 301, first encoder 302, second encoder 303;

[0026] Control unit 400; Detailed Implementation

[0027] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand this utility model and implement it. However, the embodiments are not intended to limit this utility model. In this embodiment, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not 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 limiting this utility model.

[0028] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to and integrated with the other element, or there may be an intervening element present. The terms "mounted," "one end," "the other end," and similar expressions used in this invention are for illustrative purposes only.

[0029] This embodiment provides a speed control system for a trenching machine, such as... Figure 1As shown, it includes a drive unit 100 and an execution unit 200. The drive unit 100 is connected to the execution unit 200 and is used to provide driving force to the execution unit 200.

[0030] The monitoring unit 300 is used to acquire slope and speed data of the seabed surface where the trenching machine is located in real time.

[0031] The control unit 400 is connected to the drive unit 100 and the monitoring unit 300 by signal. The control unit 400 is programmed with a first calculation program. The control unit 400 controls the drive unit 100 to drive the execution unit 200 by running the first calculation program, so that the trenching machine runs at a constant speed.

[0032] This invention provides a speed control system that takes into account the seabed slope environment. It includes a control unit 400 and a monitoring unit 300 for real-time acquisition of slope and speed data of the seabed surface where the trenching machine is located. The control unit 400 is connected to both the drive unit 100 and the monitoring unit 300. A first calculation program is written into the control unit 400. The control unit 400 controls the drive unit 100 to drive the execution unit 200 by running the first calculation program, enabling the trenching machine to run at a constant speed. This provides a speed control system that considers the seabed slope environment, enabling the trenching machine to run smoothly on sloping seabed surfaces without the need for manual control of the trenching machine's speed. Therefore, it solves the problems of slow reaction time, unstable operation, and inability to adjust the speed in time when encountering uneven seabed sections, which prevent the trenching machine from maintaining a stable speed and moving smoothly.

[0033] In a preferred embodiment, the first calculation procedure includes the following steps:

[0034] S1: Obtain the slope α° of the seabed surface where the trenching machine is located, and determine the slope α° and the set speed V. eq Calculate the given speed V of the trenching machine. in ;

[0035] S2: Obtain the actual speed V of the trencher out Calculate the given velocity V in With actual speed V out The difference E is used to output the valve control signal S of the trenching machine, and the output speed V of the trenching machine is adjusted according to the valve control signal S.

[0036] This embodiment provides a trenching machine speed control method based on the slope α° of the seabed surface where the trenching machine is located and the actual speed V. outThis method determines the valve control signal of the trenching machine and adjusts the output speed accordingly. When the trenching machine encounters a sloping seabed, it can automatically process and output the valve control signal and calculate the output speed. This method has a fast response speed to the ground slope environment and can achieve stable operation of the trenching machine. It eliminates the need for manual control of the trenching machine to issue control signals. Therefore, it can solve the problem that the trenching machine is usually controlled by a manual control handle during underwater operations. The manual response speed is slow, and it cannot be operated smoothly. In addition, it is impossible to adjust the forward speed in time when encountering uneven seabed sections, which cannot ensure the smooth movement of the trenching machine.

[0037] It should be noted that the set speed V eq This refers to the initial running speed set by the trencher; the actual speed V is... out This refers to the actual operating speed of the trenching machine, while the output speed V is the response speed of the trenching machine after receiving the valve control signal S.

[0038] In a preferred embodiment, in the SI step, a given velocity V in Equal to the maximum permissible speed V of the trenching machine max-eq V in =V max-eq ;

[0039] When the slope α° is non-negative (i.e., horizontal or uphill), the maximum permissible speed V is... max-eq =V eq +λ*|α|;

[0040] When the slope α° is negative (i.e., downhill), the maximum permissible speed V is... max-eq =V eq -λ*|α|;

[0041] Where λ is the coefficient ratio, and the specific value can be reasonably selected through debugging and testing, and |α| is the slope value of the seabed surface where the trenching machine is located.

[0042] Furthermore, trenching machines are typically equipped with a maximum speed V. max V max This is the maximum design speed of the trenching machine;

[0043] If V max-eq >V max Then V max-eq =V max ;

[0044] If V max-eq ≤V max Then V max-eq =V eq ±λ*|α|;

[0045] This avoids situations where the trencher's speed is excessively adjusted, exceeding the maximum design speed, which could lead to equipment damage or other risks, thus improving the safety of speed control.

[0046] In another preferred embodiment, in step S2, the control output is calculated based on the difference E. And according to the control output quantity Calculate the speed regulation amplitude V t The speed adjustment amplitude V t After analog-to-digital conversion, the corresponding valve control signal S is output.

[0047] Furthermore, the difference E is processed by PID control to obtain the control output. It can improve the accuracy of speed processing. The PID formula is:

[0048]

[0049] In the formula, u(t) is the control output speed, e(t) is the current error speed, t is the time taken for PID processing, and K P For proportional gain, K i For integral gain, K d The gain is the differential gain, and u(t) is equal to the control output. e(t) equals the difference E.

[0050] Furthermore, the speed regulation amplitude V t Equal to a given velocity V in With control output The sum of

[0051] Furthermore, the valve control signal S is an analog quantity, and the speed regulation amplitude V needs to be converted. t Analog-to-digital conversion is performed to obtain the corresponding analog signal value, specifically:

[0052] Valve control signal S = A0 + (V t / V max )×(A1-A0);

[0053] In the formula, A0 is the simulated value when the trencher speed is zero, and A1 is the maximum speed V of the equipment. max The corresponding analog values, A0 and A1, can be represented as current or voltage.

[0054] In a preferred embodiment, such as Figure 2As shown, the drive unit 100 is a hydraulic system, the execution unit 200 includes a first travel motor 201, and the monitoring unit 300 includes a slope monitor 301 and a speedometer. The first travel motor 201 is connected to the drive unit 100. The drive unit 100, the slope monitor 301, and the speedometer are respectively connected to the control unit 400 via signals. The slope monitor 301 is used to obtain the slope of the seabed bottom, and the speedometer is used to obtain the actual speed V of the trenching machine. out .

[0055] In a further preferred embodiment, the drive unit 100 includes a hydraulic pump 101 and a first control valve 102. The first travel motor 201 is connected to the hydraulic pump 101 via the first control valve 102, and the first control valve 102 is also signal-connected to the control unit 400. The hydraulic pump 101 pressurizes hydraulic oil and delivers it to the travel motor to make it run. The travel motor then drives the trencher's tracks, tires, and other walking mechanisms to rotate, causing the trencher to begin moving. In this embodiment, both the drive unit 100 and the first travel motor 201 can be directly utilized from the trencher's own configuration without the need for additional selection, resulting in lower costs and a simpler composition.

[0056] Furthermore, such as Figure 2 As shown, the speedometer includes a first encoder 302 connected to the control unit 400 via signal transmission, and the first encoder 302 is connected to the first travel motor 201. The execution unit 200 also includes a second travel motor 202, and the drive unit 100 also includes a second control valve 103. The second travel motor 202 is connected to the hydraulic pump 101 via the second control valve 103, and the second control valve 103 is also connected to the control unit 400 via signal transmission. In this embodiment, the hydraulic pump 101 can simultaneously supply oil to the first control valve 102 and the second control valve 103, while the control unit 400 can simultaneously control the opening degree of the first control valve 102 and the second control valve 103, enabling synchronous operation of the left and right travel mechanisms of the trencher.

[0057] In a further preferred embodiment, the speedometer also includes a second encoder 303 that is signal-connected to the control unit 400, and the second encoder 303 is connected to the second walking motor 202.

[0058] The slope monitoring instrument 301 is preferably a fiber optic gyroscope, which is connected to the body of the trenching machine to obtain the slope value of the seabed bottom. Preferably, the fiber optic gyroscope is horizontally mounted on the body of the trenching machine.

[0059] In another preferred embodiment, such as Figure 2As shown, the drive unit 100 includes a motor 104, a hydraulic pump 101, and a control valve assembly. The motor 104 is connected to the hydraulic pump 101 via a drive mechanism, and the execution unit 200 is connected to the hydraulic pump 101 via the control valve assembly. The drive unit 100 also includes an oil tank 105. The oil outlet of the oil tank 105 is connected to the hydraulic pump 101, and the oil return port of the oil tank 105 is connected to the execution unit 200. In this embodiment, the drive unit 100 can directly utilize the existing configuration of the trenching machine without the need for additional selection, resulting in lower cost and a simpler composition.

[0060] Furthermore, based on the aforementioned trenching machine speed control system, a trenching machine is also provided, including a body on which the aforementioned trenching machine speed control system is installed. The trenching machine of this embodiment can operate smoothly on sloping seabeds, reducing energy consumption and extending its service life.

[0061] In this specification, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0062] In the description of this specification, the references to terms such as "preferred embodiment," "another embodiment," "other embodiment," or "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0063] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A speed control system for a trenching machine, characterized in that: It includes a drive unit and an execution unit, wherein the drive unit is connected to the execution unit and is used to provide driving force to the execution unit; The monitoring unit is used to acquire slope and speed data of the seabed surface where the trenching machine is located in real time; The control unit is connected to the drive unit and the monitoring unit respectively. The control unit is programmed with a first calculation program. The control unit controls the drive unit to drive the execution unit by running the first calculation program, so that the trenching machine runs at a constant speed.

2. The trenching machine speed control system according to claim 1, characterized in that: The drive unit is a hydraulic system, the execution unit includes a first travel motor, and the monitoring unit includes a slope monitor and a speedometer. The first travel motor is connected to the drive unit, and the drive unit, the slope monitor, and the speedometer are respectively connected to the control unit. The speedometer is used to obtain the actual speed of the trenching machine.

3. The trenching machine speed control system according to claim 2, characterized in that: The drive unit includes a hydraulic pump and a first control valve. The first travel motor is connected to the hydraulic pump through the first control valve, and the first control valve is also signal-connected to the control unit.

4. The trenching machine speed control system according to claim 3, characterized in that: The speedometer includes a first encoder that is signal-connected to the control unit, and the first encoder is connected to the first walking motor.

5. The trenching machine speed control system according to claim 3, characterized in that: The execution unit further includes a second travel motor, and the drive unit further includes a second control valve. The second travel motor is connected to the hydraulic pump through the second control valve, and the second control valve is also signal-connected to the control unit.

6. The trenching machine speed control system according to claim 5, characterized in that: The speedometer also includes a second encoder that is signal-connected to the control unit, and the second encoder is connected to the second walking motor.

7. The trenching machine speed control system according to claim 2, characterized in that: The slope monitoring instrument is a fiber optic gyroscope.

8. The trenching machine speed control system according to claim 1, characterized in that: The drive unit includes a motor, a hydraulic pump, and a control valve group. The motor is connected to the hydraulic pump via a drive, and the execution unit is connected to the hydraulic pump via the control valve group.

9. A trenching machine speed control system according to claim 8, characterized in that: The drive unit also includes an oil tank, the oil outlet of which is connected to the hydraulic pump, and the oil return port of which is connected to the execution unit.

10. A trenching machine, comprising a body, characterized in that: The machine body is equipped with a trenching machine speed control system as described in any one of claims 1 to 9.

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