Method of automatically recognizing material pronging for bucket and method of automatically controlling shovel-loading for loader

Abstract

A method of automatically recognizing material pronging for a bucket and a method of automatically controlling shovel-loading for a loader are provided. The invention relates to automatic shovel-loading of loaders. In order to simply, quickly and accurately sense whether a bucket prongs a material, the method of automatically recognizing material pronging for the bucket; the method includes the steps of acquiring loader speed in real time, calculating speed variation rate of a loader, judging whether the loader is in material sensing state according to the speed variation rate, if yes, acquiring pressure of a moving arm cylinder of the loader in real time, calculating variation rate of the pressure of the moving arm cylinder at fixed time intervals, and when the variation rate of the pressure of the moving arm cylinder is greater than preset variation rate of pressure, judging whether the bucket already prongs the material. By means of only the variation rate of speed and variation rate of the pressure of the moving arm cylinder in addition to loader state information, whether the bucket already prongs a material can be sensed simply, quickly and accurately.

Description

technical field [0001] The invention relates to an automatic shovel loading technology for a loader, and more specifically, to an automatic identification method for inserting materials into a bucket and a control method for automatic shovel loading by a loader. Background technique [0002] As the application of intelligent technology in construction machinery is gradually paid attention to, the application of automation technology in the shovel loading process on loaders will also be gradually paid attention to. The automatic shovel loading process of the loader can be divided into two main parts, material shovel loading preparation and material shovel loading. Material shoveling preparation includes loader status preparation and material perception. The loader status preparation adjusts the bucket, boom, brake system, engine and transmission system of the loader to a state that meets the conditions for automatic shoveling. Material perception is By obtaining some paramet...

AI Technical Summary

Problems solved by technology

This material perception method involves torque converter design parameters, other auxiliary parameters, models, etc., and the process of curing parameters is more complicated.

The other is to judge whether the bucket has been inserted into the material more intuitively by judging the pressure change of the boom cylinder alone. This method has a great influence on the speed change factor before the material is inserted, and there is a long judgment time and "misperception". ” or “can’t perceive” the balance point is difficult to grasp

Images