A control method for a loader leveling system and a loader leveling system

Abstract

This invention discloses a control method and a loader leveling system. The control method for the loader leveling system is applied to a remote-controlled loader, including: calculating the current relative angles of the boom and bucket based on detection data from the boom inertia measurement unit and the rocker arm inertia measurement unit; determining the difference between the current relative angles of the boom and bucket and the set leveling angle, and determining whether to exit the automatic leveling mode; setting a simultaneous action area and a bucket-first area, and determining the solenoid valves that need to be activated based on the distribution of the current relative angles of the boom and bucket; determining the current required by the solenoid valves based on the difference between the current relative angles of the boom and bucket and the set leveling angle; and determining a correction coefficient for the boom solenoid valve current based on the boom cylinder large chamber pressure and the boom angle increment. The control method for the loader leveling system of this invention has the advantages of high efficiency and low impact.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a control method for a loader leveling system and a loader leveling system. Background Technology

[0002] Loaders belong to the category of earthmoving and transport machinery and are widely used in the construction of highways, railways, buildings, hydropower, ports, and mines. Loaders have advantages such as high operating speed, high efficiency, good maneuverability, and easy operation, making them one of the main types of machinery used in earthmoving construction. They play a vital role in accelerating construction speed, reducing labor intensity, improving project quality, and lowering project costs, and are an indispensable piece of equipment in modern mechanized construction.

[0003] Currently, most loaders still rely on manual operation for leveling, resulting in low efficiency and high labor intensity for the driver. For remotely controlled loaders, the driver primarily relies on onboard cameras to capture video of the working device and performs leveling operations accordingly. However, since video is a two-dimensional image without a three-dimensional feel, it's difficult for the driver to rely on experience for leveling, and the efficiency and accuracy fail to meet operational requirements. While some loader leveling control methods use angle / cylinder displacement sensors, these methods are inefficient, typically requiring the bucket to be adjusted to the leveling position before the boom, leading to issues such as inability to move simultaneously and significant impact. Therefore, common loader leveling control methods suffer from low efficiency and significant impact. Summary of the Invention

[0004] This invention provides a control method and a loader leveling system, which has the advantages of high efficiency and low impact, and solves the problems of low efficiency and high impact in existing loader leveling control methods.

[0005] According to one aspect of the present invention, a control method for a loader leveling system is provided, applied to a remote-controlled loader. The control method for the loader leveling system includes:

[0006] The relative angles of the boom and bucket are calculated based on the detection data from the boom inertial measurement unit and the rocker arm inertial measurement unit.

[0007] Determine the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle, and determine whether it is necessary to exit the automatic leveling mode;

[0008] Set the simultaneous action area and the bucket lead area, and determine the solenoid valve that needs to be activated based on the distribution of the current relative angle of the boom and the relative angle of the bucket.

[0009] The current required by the solenoid valve is determined based on the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle.

[0010] The correction coefficient for the boom solenoid valve current is determined based on the pressure in the large chamber of the boom cylinder and the boom angle increment.

[0011] Optionally, before calculating the current relative angle of the boom and the relative angle of the bucket based on the detection data from the boom inertia measurement unit and the rocker arm inertia measurement unit, the method further includes:

[0012] Acquire the detection data from the boom inertial measurement unit, the rocker arm inertial measurement unit, and the chassis inertial measurement unit.

[0013] Optionally, calculating the current relative angle of the boom and the relative angle of the bucket based on the detection data from the boom inertia measurement unit and the rocker arm inertia measurement unit includes:

[0014] The relative angle of the boom to the vehicle in the vertical direction is obtained by correcting the data obtained from the boom inertial measurement unit.

[0015] The data from the rocker arm inertial measurement unit is corrected to obtain the relative angle of the rocker arm with respect to the vertical direction of the vehicle;

[0016] The relative angle of the bucket to the vertical direction of the vehicle is determined based on the relative angles of the boom and the rocker arm to the vertical direction of the vehicle.

[0017] Optionally, determining the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle, and judging whether to exit the automatic leveling mode, includes:

[0018] Calculate the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle. If the difference is less than the preset value, exit the automatic leveling mode.

[0019] Optionally, the solenoid valve that sets the simultaneous action area and the bucket leading area, and determines the required action based on the distribution of the current relative angles of the boom and the bucket includes:

[0020] If the relative angles of the boom and bucket are within the simultaneous action zone, the boom solenoid valve and bucket solenoid valve will open simultaneously. If the relative angles of the boom and bucket are within the bucket leading zone, the bucket solenoid valve will open. If the relative angles of the boom and bucket are outside the simultaneous action zone and the bucket leading zone, an alarm will be triggered.

[0021] Optionally, determining the current required for the solenoid valve based on the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle includes:

[0022] The current required by the solenoid valve is determined based on the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle, using a PID control algorithm.

[0023] Optionally, the correction factor for determining the boom solenoid valve current based on the boom cylinder large chamber pressure and boom angle increment includes:

[0024] If both the pressure in the large chamber of the boom cylinder and the boom angle increment are less than the set value, the correction factor for the boom solenoid valve current is the first correction factor; if either the pressure in the large chamber of the boom cylinder or the boom angle increment is greater than the set value, the correction factor for the boom solenoid valve current is the first correction factor; wherein, the first correction factor is greater than the second correction factor.

[0025] Optionally, after determining the correction coefficient of the boom solenoid valve current based on the boom cylinder large chamber pressure and boom angle increment, the method further includes: optimizing and adjusting the correction coefficient of the boom solenoid valve current through fuzzy control or optimal control.

[0026] According to another aspect of the present invention, a loader leveling system is provided, the loader leveling system comprising: a boom inertia measurement unit, a rocker arm inertia measurement unit, a frame inertia measurement unit, an actuation handle, a boom pressure sensor, a vehicle controller, a display screen, an integrated button panel, a boom solenoid valve, a bucket solenoid valve, a boom cylinder, and a bucket cylinder;

[0027] The control handle is installed in the cab or remote control cab, and is electrically connected to the vehicle controller. The control handle is used to perform related actions of the boom and bucket.

[0028] The boom pressure sensor is installed on the large chamber side of the boom cylinder and is electrically connected to the vehicle controller. The boom pressure sensor is used to collect the pressure in the large chamber of the boom cylinder in real time during the boom descent process.

[0029] The boom inertial measurement unit, the rocker arm inertial measurement unit, and the frame inertial measurement unit are respectively installed on the boom, the rocker arm, and the frame, and are all electrically connected to the vehicle controller. The boom inertial measurement unit is used to detect the angle of the boom relative to the vertical plane in real time, the rocker arm inertial measurement unit is used to detect the angle of the rocker arm relative to the vertical plane in real time, and the frame inertial measurement unit is used to detect the angle of the frame relative to the vertical plane in real time.

[0030] The integrated button panel and the display screen are both installed in the cab or remote control cab. The integrated button panel and the display screen are used to set the loader leveling parameters.

[0031] The boom solenoid valve is connected between the vehicle controller and the boom cylinder, and the boom solenoid valve is used to control the boom cylinder.

[0032] The bucket solenoid valve is connected between the vehicle controller and the bucket cylinder, and is used to control the bucket cylinder.

[0033] Optionally, the action handle is provided with a flattening button and an end flattening button, both of which are trigger-type buttons.

[0034] The technical solution of this invention proposes a control method for a loader leveling system, which achieves automatic leveling of the loader implements. Compared with solutions using angle sensors and cylinder displacement sensors, it can eliminate the influence of vehicle tilt on leveling accuracy. Based on the boom and bucket angles, a simultaneous action zone is defined, enabling simultaneous movement of the boom and bucket and improving leveling efficiency. Based on the boom cylinder pressure and boom angle increment, the boom descent speed is corrected, reducing the impact during boom descent. In summary, this invention overcomes the problems of low efficiency and high impact in existing loader leveling control methods.

[0035] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart of a control method for a loader leveling system according to an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of a linkage mechanism with an inclination angle according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of a loader working device according to an embodiment of the present invention;

[0040] Figure 4This is a schematic diagram of analysis and calculation of a loader working device according to an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of a simultaneous action area and a bucket advance area provided according to an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram illustrating the working principle of a fuzzy controller according to an embodiment of the present invention;

[0043] Figure 7 This is a flowchart of an automatic leveling control provided according to an embodiment of the present invention;

[0044] Figure 8 This is a schematic diagram of a loader leveling system according to an embodiment of the present invention;

[0045] Figure 9 This is a schematic diagram of the structure of an action handle and buttons according to an embodiment of the present invention;

[0046] Figure 10 This is a flowchart illustrating the process of entering an automatic flattening mode according to an embodiment of the present invention;

[0047] Figure 11 This is a schematic diagram of a loader's working control process according to an embodiment of the present invention. Detailed Implementation

[0048] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0049] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0050] Figure 1 This is a flowchart of a control method for a loader leveling system according to an embodiment of the present invention, with reference to... Figure 1 This invention provides a control method for a loader leveling system, applied to a remote-controlled loader. The control method for the loader leveling system specifically includes the following steps:

[0051] S110. Calculate the current relative angle of the boom and the relative angle of the bucket based on the detection data from the boom inertia measurement unit and the rocker arm inertia measurement unit.

[0052] Specifically, the acquired data from the boom inertial measurement unit is corrected to obtain the current relative angle of the boom relative to the vehicle in the vertical direction; the acquired data from the rocker arm inertial measurement unit is corrected to obtain the relative angle of the rocker arm relative to the vehicle in the vertical direction; a rectangular coordinate system is established with the boom's rotation center point as the center and the vehicle's forward direction as the X-axis, allowing the calculation of the coordinates of the rocker arm's rotation center point, the bucket's rotation center point, and the connection point between the rocker arm and the connecting rod. Based on the known data, the current relative angle of the bucket relative to the vehicle in the vertical direction is calculated. It is then determined whether the values ​​of the current relative angles of the boom and the bucket exceed the limits set by the mechanical structure. If they do, a data or vehicle malfunction is detected, and an alarm must be output.

[0053] S120: Determine the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle, and determine whether it is necessary to exit the automatic leveling mode.

[0054] Specifically, based on the current relative angle of the boom and the relative angle of the bucket, the difference between the current relative angle of the boom and the current relative angle of the bucket and the set leveling angle are calculated respectively. If the difference between the boom and bucket angles is less than the set value, it is determined that automatic leveling has been completed and the automatic leveling mode is exited.

[0055] S130, Set the simultaneous action area and the bucket leading area, and determine the solenoid valve that needs to be activated based on the distribution of the current relative angle of the boom and the relative angle of the bucket.

[0056] Specifically, if the relative angles of the boom and bucket are within the simultaneous operation zone, both the boom solenoid valve and the bucket solenoid valve will activate simultaneously. If the relative angles of the boom and bucket are within the bucket-leading zone, only the bucket solenoid valve will activate. If the relative angles of the boom and bucket are outside the simultaneous operation zone and the bucket-leading zone, an alarm will be triggered.

[0057] S140. Determine the current required by the solenoid valve based on the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle.

[0058] Specifically, based on the difference between the current relative angle of the boom and the set leveling angle, and the difference between the current relative angle of the bucket and the set leveling angle, the PID control algorithm is used to calculate the current required by the boom solenoid valve and the bucket solenoid valve, respectively.

[0059] S150, The correction coefficient for the boom solenoid valve current is determined based on the pressure in the large chamber of the boom cylinder and the boom angle increment.

[0060] Specifically, a correction factor for the boom solenoid valve current is calculated based on the pressure in the large chamber of the boom cylinder and the boom angle increment. If both the pressure in the large chamber of the boom cylinder and the boom angle increment are less than the set value, the correction factor is the first correction factor; if either the pressure in the large chamber of the boom cylinder or the boom angle increment is greater than the set value, the correction factor is the second correction factor. The second correction factor is a parameter less than the first correction factor, and is determined by actual testing.

[0061] The pressure in the large chamber of the boom cylinder primarily indicates the magnitude of the load inside the bucket. The boom angle increment is the difference between the current relative boom angle and the set leveling angle, minus the difference between the current relative boom angle and the set leveling angle from the previous control cycle; this value represents the boom descent speed. If the load inside the bucket is too large, or the boom descent speed is too fast, it will cause significant vehicle vibration. Therefore, the actual boom descent speed needs to be corrected. The final current output to the boom solenoid valve is the product of the PID controller output value and the correction coefficient; the current to the bucket solenoid valve does not require correction.

[0062] The technical solution of this invention proposes a control method for a loader leveling system, which achieves automatic leveling of the loader implements. Compared with solutions using angle sensors and cylinder displacement sensors, it can eliminate the influence of vehicle tilt on leveling accuracy. Based on the boom and bucket angles, a simultaneous action zone is defined, enabling simultaneous movement of the boom and bucket and improving leveling efficiency. Based on the boom cylinder pressure and boom angle increment, the boom descent speed is corrected, reducing the impact during boom descent. In summary, this invention overcomes the problems of low efficiency and high impact in existing loader leveling control methods.

[0063] Optionally, before calculating the current relative angle of the boom and the relative angle of the bucket based on the detection data from the boom inertial measurement unit and the rocker arm inertial measurement unit, the following steps are also included:

[0064] Acquire the detection data from the boom inertial measurement unit, the rocker arm inertial measurement unit, and the chassis inertial measurement unit.

[0065] Figure 2 This is a schematic diagram of a linkage mechanism with an inclination angle according to an embodiment of the present invention. (Refer to...) Figure 2 Specifically, the detection data obtained above are all absolute angles relative to the ground plane. The angle between the vehicle frame and the ground plane in the direction of vehicle movement is defined as ω. It is necessary to first determine whether the value of ω is within the maximum allowable tilt angle range of the vehicle. If it exceeds the allowable range, there is a possibility of vehicle slippage and rollover, and an alarm needs to be output.

[0066] Figure 3 This is a structural schematic diagram of a loader working device according to an embodiment of the present invention. Figure 4 This is an analytical calculation schematic diagram of a loader working device according to an embodiment of the present invention, for reference. Figure 2 , Figure 3 and Figure 4 Optionally, calculating the current relative angle of the boom and the relative angle of the bucket based on the detection data from the boom inertial measurement unit and the rocker arm inertial measurement unit includes:

[0067] The relative angle of the boom to the vehicle in the vertical direction is obtained by correcting the data obtained from the boom inertial measurement unit.

[0068] The data from the rocker arm inertial measurement unit is corrected to obtain the relative angle of the rocker arm with respect to the vertical direction of the vehicle;

[0069] The relative angle of the bucket to the vertical direction of the vehicle is determined based on the relative angles of the boom and the rocker arm to the vertical direction of the vehicle.

[0070] Specifically, by correcting the acquired boom inertial measurement unit data based on ω, the relative angle α of the boom relative to the vehicle's vertical direction can be obtained. Similarly, by correcting the acquired rocker arm inertial measurement unit data based on ω, the relative angle β of the rocker arm relative to the vehicle's vertical direction can be obtained.

[0071] With the boom's rotation center point A as the center and the vehicle's forward direction as the X-axis, a rectangular coordinate system can be established. The coordinates (x, y) of the boom's rotation center point B can then be calculated. b y c ), the coordinates (x) of the bucket rotation center point C c y c ), the coordinates (x) of the connection point E between the rocker arm and the connecting rod e y e The specific calculation formula is as follows:

[0072] x c =L2*sinα

[0073] y c =-L2*cosα

[0074] xb =L1*sin(a1+α)

[0075] y b = -L1*cos(a1+α)

[0076] x e =x b +L3*sinβ

[0077] y e =y b +L3*cosβ

[0078] Where D is a point on the ground plane, F is a point on the connecting rod, and G is a point on the bucket.

[0079] Based on the known data, calculate the vertical angle γ between the bucket and the vehicle. The specific calculation formula is as follows:

[0080]

[0081] It also determines whether the relative angle α of the current boom and the relative angle γ of the current bucket exceed the limits of the mechanical structure. If they exceed the limits, a data or vehicle malfunction is detected, and an alarm needs to be output.

[0082] Optionally, determining the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle, and deciding whether to exit the automatic leveling mode, includes:

[0083] Calculate the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle. If the difference is less than the preset value, exit the automatic leveling mode.

[0084] Specifically, based on α and γ, the difference e between the current relative angle α of the boom and the set boom leveling angle α0 is calculated. α The difference e between the current relative angle γ of the bucket and the set bucket leveling angle γ0 γ The calculation formula is as follows:

[0085] |e α |=|α-α0|

[0086] |e γ |=|γ-γ0|

[0087] If e α e γ If all values ​​are less than the set value, it is determined that the loader has completed automatic leveling and exits the automatic leveling mode.

[0088] Figure 5 This is a schematic diagram of a simultaneous action area and a bucket leading area according to an embodiment of the present invention, for reference. Figure 5 Optionally, a simultaneous action zone and a bucket leading zone are set, and the solenoid valves that need to be activated are determined based on the distribution of the current relative angles of the boom and bucket, including:

[0089] If the relative angles of the boom and bucket (α, γ) are within the simultaneous action zone, the boom solenoid valve and bucket solenoid valve will open simultaneously. If the relative angles of the boom and bucket (α, γ) are within the bucket leading zone, the bucket solenoid valve will open. If the relative angles of the boom and bucket (α, γ) are outside the simultaneous action zone and the bucket leading zone, an alarm will be triggered.

[0090] Specifically, the simultaneous action zone and the bucket advance zone are set, among which, Figure 5 The area enclosed by S1-S2-S3-S4-S5 is the simultaneous action zone. The two vertical dashed lines correspond to the maximum and minimum boom angles (mechanical structural limitations), and the two horizontal dashed lines correspond to the maximum and minimum bucket angles (mechanical structural limitations). Specifically, point S1 corresponds to the bucket angle γ0 (the set bucket leveling angle), point S2 corresponds to the minimum boom angle required for leveling during simultaneous action when the bucket angle is minimum, and point S5 corresponds to the minimum boom angle required for leveling during simultaneous action when the bucket angle is maximum.

[0091] If the (α, γ) value is within the simultaneous action zone, the boom solenoid valve and the bucket solenoid valve will open simultaneously. If the (α, γ) value is within the bucket-first zone, only the bucket solenoid valve will open. If the (α, γ) value is outside the area indicated by the dotted line, an alarm will be triggered.

[0092] Optionally, the current required by the solenoid valve is determined based on the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle, including:

[0093] The current required by the solenoid valve is determined based on the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle, using a PID control algorithm.

[0094] Specifically, based on e α and e γ The PID control algorithm is used to calculate the current required by the boom solenoid valve and the bucket solenoid valve respectively.

[0095] Optionally, the correction factor for determining the boom solenoid valve current based on the boom cylinder large chamber pressure and boom angle increment includes:

[0096] If both the pressure in the large chamber of the boom cylinder and the boom angle increment are less than the set value, the correction factor for the boom solenoid valve current is the first correction factor; if either the pressure in the large chamber of the boom cylinder or the boom angle increment is greater than the set value, the correction factor for the boom solenoid valve current is the first correction factor; wherein, the first correction factor is greater than the second correction factor.

[0097] Specifically, if both the boom cylinder pressure in the large chamber and the boom angle increment are less than the set values, the correction factor for the boom solenoid valve current is K = K1 = 1. If either the boom cylinder pressure in the large chamber or the boom angle increment is greater than the set value, the correction factor for the boom solenoid valve current is K = K2. Here, K2 is a parameter less than 1, determined by actual testing. The table below shows the adjustment of the correction factors:

[0098]

[0099] Among them, the pressure in the large chamber of the boom cylinder mainly represents the magnitude of the load inside the bucket, and the boom angle increment Δe α For the current e α e from the previous control loop α The difference represents the speed at which the boom descends. Excessive load in the bucket or excessive boom descent speed can cause significant vehicle vibration, thus requiring correction to the actual boom descent speed. The final output current to the boom solenoid valve is the product of the PID controller output value and the correction coefficient K; the bucket current does not require correction.

[0100] Figure 6 This is a schematic diagram illustrating the working principle of a fuzzy controller according to an embodiment of the present invention. (Refer to...) Figure 6 Optionally, after determining the correction coefficient of the boom solenoid valve current based on the pressure in the large chamber of the boom cylinder and the boom angle increment, the method further includes: optimizing and adjusting the correction coefficient of the boom solenoid valve current through fuzzy control or optimal control.

[0101] Specifically, for cost and practicality considerations, the current correction of the boom solenoid valve was set using a K-value parameter based on pressure and angle changes, with only a limit applied. In practice, the K-value could be further refined using fuzzy control, optimal control, and other control methods to achieve more precise control.

[0102] Fuzzy rule: The greater the pressure P in the boom's large chamber, the smaller the coefficient K; the greater the boom angle increment Δe, the smaller the coefficient K.

[0103] Fuzzy rule table: Kmax is the maximum value of coefficient K, generally 1; Kmin is the minimum value of coefficient K, determined by testers under the most severe working conditions; coefficient K is divided into 5 levels: maximum (Kmax), slight decrease (NS), medium decrease (MS), large decrease (NB), and minimum (Kmin). The fuzzy rule table is shown below:

[0104]

[0105] A fuzzy controller is established based on fuzzy rules. The pressure P in the large chamber of the boom cylinder and the boom angle increment Δe are fuzzified, then fuzzy inference is performed according to fuzzy rules, and finally defuzzification is performed to obtain a more accurate current correction coefficient K.

[0106] Figure 7 This is a flowchart of an automatic leveling control according to an embodiment of the present invention, see reference. Figure 7 , Figure 7 The example illustrates the entire process of automatic leveling control judgment and execution by the loader.

[0107] Figure 8 This is a structural schematic diagram of a loader leveling system according to an embodiment of the present invention, with reference to... Figure 8This invention also provides a loader leveling system, which includes: a boom inertia measurement unit 10, a rocker arm inertia measurement unit 20, a frame inertia measurement unit 30, an operating handle 40, a boom pressure sensor 50, a vehicle controller 60, a display screen 70, an integrated button panel 80, a boom solenoid valve 90, a bucket solenoid valve 100, a boom cylinder 110, and a bucket cylinder 120. The operating handle 40 is installed in the cab or remote control cab and is electrically connected to the vehicle controller 60. The operating handle 40 is used to complete the relevant actions of the boom and bucket. The boom pressure sensor 50 is installed on the large chamber side of the boom cylinder 110 and is electrically connected to the vehicle controller 60. The boom pressure sensor 50 is used to collect the pressure in the large chamber of the boom cylinder 110 in real time during the boom descent process. The boom inertia measurement unit 10, the rocker arm inertia measurement unit 20, the frame inertia measurement unit 30, an operating handle 40, a boom pressure sensor 50, a vehicle controller 60, a display screen 70, an integrated button panel 80, a boom solenoid valve 90, a bucket solenoid valve 100, a boom cylinder 110, and a bucket cylinder 120. The inertial measurement unit 20 and the frame inertial measurement unit 30 are respectively installed on the boom, rocker arm, and frame, and are all electrically connected to the vehicle controller 60. The boom inertial measurement unit 10 is used to detect the angle of the boom relative to the vertical plane in real time, the rocker arm inertial measurement unit 20 is used to detect the angle of the rocker arm relative to the vertical plane in real time, and the frame inertial measurement unit 30 is used to detect the angle of the frame relative to the vertical plane in real time. The integrated button panel 80 and the display screen 70 are both installed in the cab or remote control cab. The integrated button panel 80 and the display screen 70 are used to set the leveling parameters of the loader. The boom solenoid valve 90 is connected between the vehicle controller 60 and the boom cylinder 110. The boom solenoid valve 90 is used to control the boom cylinder 110. The bucket solenoid valve 100 is connected between the vehicle controller 60 and the bucket cylinder 120. The bucket solenoid valve 100 is used to control the bucket cylinder 120.

[0108] The loader leveling system in this embodiment achieves automatic leveling of the loader implements. The operation handle can be triggered by a button, eliminating the need for the driver to hold it down continuously. Two exit options are provided: an exit button and an operation handle, making operation more convenient for the driver. By configuring a boom inertia measurement unit, a rocker arm inertia measurement unit, and a frame inertia measurement unit, the influence of vehicle tilt on leveling accuracy can be eliminated compared to solutions using angle sensors and cylinder displacement sensors. A simultaneous action zone is defined based on the boom and bucket angles, enabling simultaneous movement of the boom and bucket and improving leveling efficiency. The boom descent speed is corrected based on the boom cylinder pressure and boom angle increment, reducing the impact during boom descent.

[0109] Figure 9 This is a schematic diagram of an action handle and buttons according to an embodiment of the present invention. (Refer to...) Figure 9 Optionally, the action handle 40 is provided with a flattening button 41 and an end flattening button 42, both of which are trigger-type buttons.

[0110] Figure 10 This is a flowchart illustrating the process of entering an automatic flattening mode according to an embodiment of the present invention, see reference. Figure 9 and Figure 10 Specifically, when the leveling button 41 is triggered and the end leveling button 42 is not triggered, and the actuation handle 40 is within the neutral range, the loader enters the automatic leveling mode. At this time, pressing the end leveling button 42 or operating the actuation handle 40 in any direction will quickly exit the automatic leveling mode. Both the leveling button 41 and the end leveling button 42 are trigger-type buttons; a signal is output when the button is pressed and no signal is output when released. The neutral range of the actuation handle 40 is set according to the handle's performance, primarily considering the issue of center point drift of the actuation handle 40.

[0111] Figure 11 This is a schematic diagram of a loader's working control process according to an embodiment of the present invention, for reference. Figure 11 The vehicle controller processes the information obtained from the leveling angle, frame tilt angle, leveling switch on / off state, leveling switch opening degree, boom pressure sensor, boom inertia measurement unit, and bucket inertia measurement unit. It then controls the boom cylinder and bucket cylinder through the boom solenoid valve and bucket solenoid valve respectively, ultimately completing the displacement adjustment control of the boom and bucket.

[0112] It should be noted that the working states of the loader in the loader leveling system include: lifting limit state, simultaneous action can level, simultaneous action cannot level, and level state.

[0113] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control method for a loader leveling system, applied to a remote-controlled loader, characterized in that, include: The relative angles of the boom and bucket are calculated based on the detection data from the boom inertial measurement unit and the rocker arm inertial measurement unit. Determine the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle, and determine whether it is necessary to exit the automatic leveling mode; Set the simultaneous action area and the bucket lead area, and determine the solenoid valve that needs to be activated based on the distribution of the current relative angle of the boom and the relative angle of the bucket. The current required by the solenoid valve is determined based on the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle. The correction coefficient for the boom solenoid valve current is determined based on the pressure in the large chamber of the boom cylinder and the boom angle increment. The solenoid valve that sets the simultaneous action area and the bucket leading area, and determines the required action based on the distribution of the current relative angles of the boom and the bucket, includes: If the relative angles of the boom and bucket are within the simultaneous action zone, the boom solenoid valve and bucket solenoid valve will open simultaneously; if the relative angles of the boom and bucket are within the bucket leading zone, the bucket solenoid valve will open; if the relative angles of the boom and bucket are outside the simultaneous action zone and the bucket leading zone, an alarm will be triggered. The correction coefficient for determining the boom solenoid valve current based on the boom cylinder large chamber pressure and boom angle increment includes: If both the pressure in the large chamber of the boom cylinder and the boom angle increment are less than the set value, the correction factor for the boom solenoid valve current is the first correction factor; if either the pressure in the large chamber of the boom cylinder or the boom angle increment is greater than the set value, the correction factor for the boom solenoid valve current is the second correction factor; wherein, the first correction factor is greater than the second correction factor.

2. The method according to claim 1, characterized in that, Before calculating the relative angle of the boom and the relative angle of the bucket based on the detection data from the boom inertial measurement unit and the rocker arm inertial measurement unit, the following steps are also included: Acquire the detection data from the boom inertial measurement unit, the rocker arm inertial measurement unit, and the chassis inertial measurement unit.

3. The method according to claim 1, characterized in that, The calculation of the current relative angle of the boom and the relative angle of the bucket based on the detection data from the boom inertial measurement unit and the rocker arm inertial measurement unit includes: The relative angle of the boom to the vertical direction of the vehicle is obtained by correcting the data obtained from the boom inertial measurement unit. The data obtained from the rocker arm inertial measurement unit is corrected to obtain the relative angle of the rocker arm with respect to the vertical direction of the vehicle; The relative angle of the bucket to the vertical direction of the vehicle is determined based on the relative angles of the boom and the rocker arm to the vertical direction of the vehicle.

4. The method according to claim 1, characterized in that, The process of determining the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle, and then determining whether to exit the automatic leveling mode, includes: Calculate the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle. If the difference is less than the preset value, exit the automatic leveling mode.

5. The method according to claim 1, characterized in that, The process of determining the current required for the solenoid valve based on the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle includes: The current required by the solenoid valve is determined based on the difference between the current relative angle of the boom, the relative angle of the bucket, and the set leveling angle, using a PID control algorithm.

6. The method according to claim 1, characterized in that, After determining the correction coefficient of the boom solenoid valve current based on the pressure in the large chamber of the boom cylinder and the boom angle increment, the method further includes: optimizing and adjusting the correction coefficient of the boom solenoid valve current through fuzzy control or optimal control.

7. A loader leveling system, used to execute the control method for the loader leveling system according to any one of claims 1-6, characterized in that, include: Boom inertia measurement unit, rocker arm inertia measurement unit, chassis inertia measurement unit, action handle, boom pressure sensor, vehicle controller, display screen, integrated button panel, boom solenoid valve, bucket solenoid valve, boom cylinder and bucket cylinder; The control handle is installed in the cab or remote control cab, and is electrically connected to the vehicle controller. The control handle is used to perform related actions of the boom and bucket. The boom pressure sensor is installed on the large chamber side of the boom cylinder and is electrically connected to the vehicle controller. The boom pressure sensor is used to collect the pressure in the large chamber of the boom cylinder in real time during the boom descent process. The boom inertial measurement unit, the rocker arm inertial measurement unit, and the frame inertial measurement unit are respectively installed on the boom, the rocker arm, and the frame, and are all electrically connected to the vehicle controller. The boom inertial measurement unit is used to detect the angle of the boom relative to the vertical plane in real time, the rocker arm inertial measurement unit is used to detect the angle of the rocker arm relative to the vertical plane in real time, and the frame inertial measurement unit is used to detect the angle of the frame relative to the vertical plane in real time. The integrated button panel and the display screen are both installed in the cab or remote control cab. The integrated button panel and the display screen are used to set the loader leveling parameters. The boom solenoid valve is connected between the vehicle controller and the boom cylinder, and the boom solenoid valve is used to control the boom cylinder. The bucket solenoid valve is connected between the vehicle controller and the bucket cylinder, and is used to control the bucket cylinder.

8. The loader leveling system according to claim 7, characterized in that, The action handle is equipped with a flattening button and an end flattening button, both of which are trigger-type buttons.

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