[0028] The following illustrate specific embodiments of the accompanying drawings.
[0029] like figure 1 figure 2 , The present embodiment provides a working device location parameter data acquisition method for acquiring data loader working device location parameter. Working apparatus for automatically controlling the position parameter data loader.
[0030] Location parameter data acquiring steps are as follows:
[0031] S1: obtaining a pre-stored basic data;
[0032] S2: automatic loader working device control program group and detects a specific action to complete the calibration angle in the end of each particular action;
[0033] S3: calculated for each calibration angle corresponding to the angle of the boom lifting angle array limit position corresponding to the angular deviation;
[0034] S4: each angle of each angle element base data array corresponding to angular deviation calculating and storing summed obtained loader working device location parameter data.
[0035] Wherein the underlying data of a loader can be manually or automatically obtained by calibration. After obtaining the basic data, the same type of loader only needs to get data for a particular work position correction control apparatus required for calibration by the process steps of the present invention, in a data base.
[0036] Data base comprising: boom angle array BoomArr [], an array angle of the bucket held flat BucketArr [], bucket angle limit position closing bucket array BucketTiltArr [] and the discharge limit position bucket bucket angle array BucketDupArr [].
[0037] Boom angle array: referred to as BoomArr [] = {BoomArr [0], BoomArr [1], ......, BoomArr [n]}, is affixed to the boom from the flat state of the bucket up to the respective movable between extreme positions the arm rotational angle position of the boom angle combinations; i.e. manually lift the boom after acquiring the basic data or data for the automatic calibration process, the bucket flat and affixed to the flat bucket operation performed, the flat bucket in operation, the bucket does not perform operations retractable. Raise the bucket operation, as the lift boom and the boom angle recorded each lifting height (usually an angle relative to the front frame), requires that the height of the recording boom angle loader control required to decide, the first angle is typically affixed to the bucket in the flat state, as the angle of the first boom angle element array, i.e. BoomArr [0], the final angle of each element of the array boom is lifted to the boom when the angle limit position, referred to as BoomArr [n], from BoomArr [0] to BoomArr [n] corresponding to the angle monotonically.
[0038] Raise bucket angle array: referred to as BucketArr [] = {BucketArr [0], BucketArr [1], ......, BucketArr [n]}, the boom is held flat during bucket lifting boom arm at an angle array each bucket while the bucket angle combinations held flat movable relative to the boom when the angular position of the arm, i.e., based on data acquired during calibration, in each of the flat bucket operation record a respective movable arm angle value is also recorded a bucket angle with respect to the boom. Thus a flat on the first element of the array bucket angle BucketArr [0] is the angle of the bucket is affixed to the flat state relative to the boom, the angle is not the last operation of the bucket to maintain the bucket affixed flat state bucket angle with respect to the boom when the boom is lifted to the limit position, referred to as BoomArr [n]. Bucket hinged to the front end of the boom, bucket simultaneously connected via a link to the rocker arm rotatably mounted on the boom beam, the rocker arm and the bucket angle relative to the angle of the boom relative to the boom having a one to one relationship, Thus production practice, the relationship between the angle of the bucket and the boom angle is generally detected by a rocker arm movable relative to calculate the angle acquisition or directly with the rocker arm relative dynamic characterization.
[0039]Bucket angle limit position closing bucket array: referred to as BucketTiltArr [] = {BucketTiltArr [0], BucketTiltArr [1], ......, BucketTiltArr [n]}, is the process of lifting the bucket boom arm in a collapsed state, the movable limit closing arm in combination bucket bucket angle limit position angle of the boom when the respective array boom angle position of the bucket relative to the boom; i.e., kept at the bucket affixed flat state based on data acquired during calibration recording the bucket relative to the boom actuator for a constant height close operation of the bucket, the bucket tilt to the limit position, and then lift the boom, the boom and at an angle array BoomArr boom [] angular position corresponding to the elements the angle of the arm, i.e. close arm limit position of the first element of the array bucket angle BucketTiltArr [0] and the first element BoomArr boom angle array [1] corresponding to close bucket bucket angle limit position of the last element of the array BucketTiltArr [0] the last element BoomArr [n] and the corresponding boom angle array.
[0040] Bucket discharge limit position bucket angle array: referred to as BucketDupArr [] = {BucketDupArr [0], BucketDupArr [1], ......, BucketDupArr [m]}, is in the process of acquiring basic data calibration data, put in a bucket the boom lowered by the lifting bucket limit state limit position during a boom discharge hopper limit position at the angle of the bucket relative to the boom-bucket combination of the angle of each array boom boom angle position; since the discharge hopper to the limit position, a boom holding the lowermost position of the bucket at the same relative height of the lowest position of the bucket is affixed to the flat state decreased, thus lowering the boom arm at a limit position the bucket in the discharge state, the boom-down of (bucket tooth touchdown) than the bucket is placed flat on the ground height of the boom state. Therefore, for the discharge limit position bucket bucket angle array, the last element of the array angle BoomArr last element BucketDupArr [m] corresponding to the boom and the boom angle [n-], but put the bucket bucket angle limit position of the first array a height corresponding to the position after the elements BucketDupArr [0] corresponding to the boom angle and the boom is lifted to a certain height.
[0041] For certain types of loaders, the manufacturer may be performed by a manual or automatic calibration loader obtain basic data and the basic data stored on another loader to the model, for calibration of other loaders, to obtain accurate operating device location parameter data.
[0042] In step S2, after acquiring the basic data stored in the automatic control apparatus by a control program loader working to complete a specific action set and calibrated detection angle in the end of each specific operation.
[0043] Specific action in the bucket group comprises a boom lift arm to lift the movable limit position of the bucket operation affixed to the flat flat state starts, the boom lift limit position the bucket to the discharge hopper discharge hopper discharge limit position operation, the bucket tilt bucket close to the operation limit position closing the bucket; the flat bucket operation specific group of actions, bucket discharge operation, bucket close operation completed consecutively, i.e. the bucket boom affixed flat lifted to the start state boom lifting limit position, and then holding the case where the boom is not fixed hopper discharge operation, the discharge hopper and bucket to the discharge limit position, followed by closing the bucket operation, in the case of maintaining the boom stationary under the bucket tilt to the limit.
[0044] The angle calibration includes calibration limit position angle of the boom, a bucket held flat angle calibration, calibration bucket discharge hopper angle limit position, close limit position bucket bucket angle calibration. End detected in the angle corresponding to a particular calibration operation, i.e. the detection limit of the boom angle calibration for the flat end of the bucket when the bucket lift operation peace angle calibration, calibration boom angle limit position denoted boom_max_ang; calibration flat on a bucket referred to as the angle bucket_flat_ang; detected at the end of the discharge operation of the discharge hopper calibration bucket bucket angle limit position, referred to as bucket_dum_ang; closed limit position when the bucket end to the closing operation of the bucket of the bucket angle calibration, referred to as bucket_tilt_ang.
[0045] In step S3, the calibration is calculated for each angle corresponding to the angle of the boom lifting angle array limit position corresponding to the angular deviation, i.e., calculated:
[0046] Boom angle deviation: Calibration of the boom limits the last element of the array BoomArr angle of the boom angle difference between the [n]: Δboom = boom_max_ang-BoomArr [n];
[0047] Raise bucket angle deviation: Raise the bucket angle calibration flat on the last bucket angle array element BucketArr difference between [n]: Δbuckflat = bucket_flat_ang-BucketArr [n];
[0048] Let Bucket bucket angle limit position deviation: discharge hopper angle calibration limit position of the bucket with the discharge element BucketDupArr last bucket bucket angle limit position difference between the array [m]: Δbuckdup = [m] bucket_dum_ang-BucketDupArr;
[0049] Bucket limit position closing bucket angle deviation: bucket close limit position of the bucket angle and the difference between the nominal yield bucket bucket angle limit position last element in the array BucketTiltArr [n]: Δbucktilt = bucket_tilt_ang-BucketTiltArr [n].
[0050] In step S4, according to each of the acquired deviation angle calculation, the angle of each of the basic elements in the data array of each angle is corrected, the working device location parameter data to obtain the revised calibration loader, and saved. Working device location parameter data comprises an array of calibrated corrected angle arm NewBoomArr [], an array angle of the bucket held flat NewBucketArr [], bucket angle limit position closing bucket array NewBucketTiltArr [], to put the bucket bucket angle limit position array NewBucketDupArr [ ]. The specific steps are:
[0051] Boom angle array NewBoomArr [] = {BoomArr [0] + Δboom, BoomArr [1] + Δboom, ......, [n] BoomArr + Δboom};
[0052] Raise bucket angle array NewBucketArr [] = {BucketArr [0] + Δbuckflat, BucketArr [1] + Δbuckflat, ......, BucketArr [n] + Δbuckflat};
[0053] Bucket angle limit position closing bucket array NewBucketTiltArr [] = {BucketTiltArr [0] + Δbucktilt, BucketTiltArr [1] + Δbucktilt, ......, BucketTiltArr [n] + Δbucktilt};
[0054] Bucket discharge limit position bucket angle array NewBucketDupArr [] = {BucketDupArr [0] + Δbuckdup, BucketDupArr [1] + Δbuckdup, ......, BucketDupArr [n] + Δbuckdup}.
[0055] Angle array data of the new device-specific work position after the correction is obtained and stored, and used to control buffer control and automatic movement of the loader arm and bucket limit position.
[0056] The present invention loader, comprising a controller trigger, the controller comprising a processor and a memory, the processor reads the memory stores a control program executed by the control program executed by the processor, the processor performing the step of obtaining the work process device location parameter data. Triggers for transmitting a trigger instruction execution control program to the processor.
[0057] In the present invention, the base data can be after a manual or automatic loaders calibration obtained, to obtain basic data, the same types of loaders requires only a simple calibration can be obtained above the working means necessary for controlling the position parameters data. Less calibration operation performed by this method, it can be simply and efficiently obtaining the position data of the working device.
